commit 22dbc25cce141a8a5dcb609383ed24ab3fe1dd92
Author: Filip Orsag <orsag@fit.vutbr.cz>
Date:   Mon Jan 25 18:17:34 2016 +0100

    Initial commit.
    Final release of the project Anonymizer (2015).
    Project settings for the Qt Creator (ver. 3.6).

diff --git a/.gitignore b/.gitignore
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--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,9 @@
+.vs
+.git
+*.*sdf
+*.suo
+*.VC.*
+*.vcxproj.user
+*.user
+*.user.*
+Build/*
diff --git a/3rdparty/include/cereal/access.hpp b/3rdparty/include/cereal/access.hpp
new file mode 100644
index 0000000..60437e6
--- /dev/null
+++ b/3rdparty/include/cereal/access.hpp
@@ -0,0 +1,427 @@
+/*! \file access.hpp
+    \brief Access control, default construction, and serialization disambiguation */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ACCESS_HPP_
+#define CEREAL_ACCESS_HPP_
+
+#include <type_traits>
+#include <iostream>
+#include <cstdint>
+
+#include <cereal/macros.hpp>
+#include <cereal/details/helpers.hpp>
+
+namespace cereal
+{
+  // ######################################################################
+  //! A class that allows cereal to load smart pointers to types that have no default constructor
+  /*! If your class does not have a default constructor, cereal will not be able
+      to load any smart pointers to it unless you overload LoadAndConstruct
+      for your class, and provide an appropriate load_and_construct method.  You can also
+      choose to define a member static function instead of specializing this class.
+
+      The specialization of LoadAndConstruct must be placed within the cereal namespace:
+
+      @code{.cpp}
+      struct MyType
+      {
+        MyType( int x ); // note: no default ctor
+        int myX;
+
+        // Define a serialize or load/save pair as you normally would
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( myX );
+        }
+      };
+
+      // Provide a specialization for LoadAndConstruct for your type
+      namespace cereal
+      {
+        template <> struct LoadAndConstruct<MyType>
+        {
+          // load_and_construct will be passed the archive that you will be loading
+          // from as well as a construct object which you can use as if it were the
+          // constructor for your type.  cereal will handle all memory management for you.
+          template <class Archive>
+          static void load_and_construct( Archive & ar, cereal::construct<MyType> & construct )
+          {
+            int x;
+            ar( x );
+            construct( x );
+          }
+        };
+      } // end namespace cereal
+      @endcode
+
+      Please note that just as in using external serialization functions, you cannot get
+      access to non-public members of your class by befriending cereal::access.  If you
+      have the ability to modify the class you wish to serialize, it is recommended that you
+      use member serialize functions and a static member load_and_construct function.
+
+      @tparam T The type to specialize for
+      @ingroup Access */
+  template <class T>
+  struct LoadAndConstruct
+  {
+    //! Called by cereal if no default constructor exists to load and construct data simultaneously
+    /*! Overloads of this should return a pointer to T and expect an archive as a parameter */
+    static std::false_type load_and_construct(...)
+    { return std::false_type(); }
+  };
+
+  // forward decl for construct
+  //! @cond PRIVATE_NEVERDEFINED
+  namespace memory_detail{ template <class Ar, class T> struct LoadAndConstructLoadWrapper; }
+  //! @endcond
+
+  //! Used to construct types with no default constructor
+  /*! When serializing a type that has no default constructor, cereal
+      will attempt to call either the class static function load_and_construct
+      or the appropriate template specialization of LoadAndConstruct.  cereal
+      will pass that function a reference to the archive as well as a reference
+      to a construct object which should be used to perform the allocation once
+      data has been appropriately loaded.
+
+      @code{.cpp}
+      struct MyType
+      {
+        // note the lack of default constructor
+        MyType( int xx, int yy );
+
+        int x, y;
+        double notInConstructor;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( x, y );
+          ar( notInConstructor );
+        }
+
+        template <class Archive>
+        static void load_and_construct( Archive & ar, cereal::construct<MyType> & construct )
+        {
+          int x, y;
+          ar( x, y );
+
+          // use construct object to initialize with loaded data
+          construct( x, y );
+
+          // access to member variables and functions via -> operator
+          ar( construct->notInConstructor );
+
+          // could also do the above section by:
+          double z;
+          ar( z );
+          construct->notInConstructor = z;
+        }
+      };
+      @endcode
+
+      @tparam T The class type being serialized
+      */
+  template <class T>
+  class construct
+  {
+    public:
+      //! Construct and initialize the type T with the given arguments
+      /*! This will forward all arguments to the underlying type T,
+          calling an appropriate constructor.
+
+          Calling this function more than once will result in an exception
+          being thrown.
+
+          @param args The arguments to the constructor for T
+          @throw Exception If called more than once */
+      template <class ... Args>
+      void operator()( Args && ... args );
+      // implementation deferred due to reliance on cereal::access
+
+      //! Get a reference to the initialized underlying object
+      /*! This must be called after the object has been initialized.
+
+          @return A reference to the initialized object
+          @throw Exception If called before initialization */
+      T * operator->()
+      {
+        if( !itsValid )
+          throw Exception("Object must be initialized prior to accessing members");
+
+        return itsPtr;
+      }
+
+      //! Returns a raw pointer to the initialized underlying object
+      /*! This is mainly intended for use with passing an instance of
+          a constructed object to cereal::base_class.
+
+          It is strongly recommended to avoid using this function in
+          any other circumstance.
+
+          @return A raw pointer to the initialized type */
+      T * ptr()
+      {
+        return operator->();
+      }
+
+    private:
+      template <class A, class B> friend struct ::cereal::memory_detail::LoadAndConstructLoadWrapper;
+
+      construct( T * p ) : itsPtr( p ), itsValid( false ) {}
+      construct( construct const & ) = delete;
+      construct & operator=( construct const & ) = delete;
+
+      T * itsPtr;
+      bool itsValid;
+  };
+
+  // ######################################################################
+  //! A class that can be made a friend to give cereal access to non public functions
+  /*! If you desire non-public serialization functions within a class, cereal can only
+      access these if you declare cereal::access a friend.
+
+      @code{.cpp}
+      class MyClass
+      {
+        private:
+          friend class cereal::access; // gives access to the private serialize
+
+          template <class Archive>
+          void serialize( Archive & ar )
+          {
+            // some code
+          }
+      };
+      @endcode
+      @ingroup Access */
+  class access
+  {
+    public:
+      // ####### Standard Serialization ########################################
+      template<class Archive, class T> inline
+      static auto member_serialize(Archive & ar, T & t) -> decltype(t.CEREAL_SERIALIZE_FUNCTION_NAME(ar))
+      { return t.CEREAL_SERIALIZE_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T> inline
+      static auto member_save(Archive & ar, T const & t) -> decltype(t.CEREAL_SAVE_FUNCTION_NAME(ar))
+      { return t.CEREAL_SAVE_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T> inline
+      static auto member_save_non_const(Archive & ar, T & t) -> decltype(t.CEREAL_SAVE_FUNCTION_NAME(ar))
+      { return t.CEREAL_SAVE_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T> inline
+      static auto member_load(Archive & ar, T & t) -> decltype(t.CEREAL_LOAD_FUNCTION_NAME(ar))
+      { return t.CEREAL_LOAD_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T> inline
+      static auto member_save_minimal(Archive const & ar, T const & t) -> decltype(t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar))
+      { return t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T> inline
+      static auto member_save_minimal_non_const(Archive const & ar, T & t) -> decltype(t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar))
+      { return t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar); }
+
+      template<class Archive, class T, class U> inline
+      static auto member_load_minimal(Archive const & ar, T & t, U && u) -> decltype(t.CEREAL_LOAD_MINIMAL_FUNCTION_NAME(ar, std::forward<U>(u)))
+      { return t.CEREAL_LOAD_MINIMAL_FUNCTION_NAME(ar, std::forward<U>(u)); }
+
+      // ####### Versioned Serialization #######################################
+      template<class Archive, class T> inline
+      static auto member_serialize(Archive & ar, T & t, const std::uint32_t version ) -> decltype(t.CEREAL_SERIALIZE_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_SERIALIZE_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T> inline
+      static auto member_save(Archive & ar, T const & t, const std::uint32_t version ) -> decltype(t.CEREAL_SAVE_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_SAVE_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T> inline
+      static auto member_save_non_const(Archive & ar, T & t, const std::uint32_t version ) -> decltype(t.CEREAL_SAVE_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_SAVE_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T> inline
+      static auto member_load(Archive & ar, T & t, const std::uint32_t version ) -> decltype(t.CEREAL_LOAD_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_LOAD_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T> inline
+      static auto member_save_minimal(Archive const & ar, T const & t, const std::uint32_t version) -> decltype(t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T> inline
+      static auto member_save_minimal_non_const(Archive const & ar, T & t, const std::uint32_t version) -> decltype(t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar, version))
+      { return t.CEREAL_SAVE_MINIMAL_FUNCTION_NAME(ar, version); }
+
+      template<class Archive, class T, class U> inline
+      static auto member_load_minimal(Archive const & ar, T & t, U && u, const std::uint32_t version) -> decltype(t.CEREAL_LOAD_MINIMAL_FUNCTION_NAME(ar, std::forward<U>(u), version))
+      { return t.CEREAL_LOAD_MINIMAL_FUNCTION_NAME(ar, std::forward<U>(u), version); }
+
+      // ####### Other Functionality ##########################################
+      // for detecting inheritance from enable_shared_from_this
+      template <class T> inline
+      static auto shared_from_this(T & t) -> decltype(t.shared_from_this());
+
+      // for placement new
+      template <class T, class ... Args> inline
+      static void construct( T *& ptr, Args && ... args )
+      {
+        new (ptr) T( std::forward<Args>( args )... );
+      }
+
+      // for non-placement new with a default constructor
+      template <class T> inline
+      static T * construct()
+      {
+        return new T();
+      }
+
+      template <class T> inline
+      static std::false_type load_and_construct(...)
+      { return std::false_type(); }
+
+      template<class T, class Archive> inline
+      static auto load_and_construct(Archive & ar, ::cereal::construct<T> & construct) -> decltype(T::load_and_construct(ar, construct))
+      {
+        T::load_and_construct( ar, construct );
+      }
+  }; // end class access
+
+  // ######################################################################
+  //! A specifier used in conjunction with cereal::specialize to disambiguate
+  //! serialization in special cases
+  /*! @relates specialize
+      @ingroup Access */
+  enum class specialization
+  {
+    member_serialize,            //!< Force the use of a member serialize function
+    member_load_save,            //!< Force the use of a member load/save pair
+    member_load_save_minimal,    //!< Force the use of a member minimal load/save pair
+    non_member_serialize,        //!< Force the use of a non-member serialize function
+    non_member_load_save,        //!< Force the use of a non-member load/save pair
+    non_member_load_save_minimal //!< Force the use of a non-member minimal load/save pair
+  };
+
+  //! A class used to disambiguate cases where cereal cannot detect a unique way of serializing a class
+  /*! cereal attempts to figure out which method of serialization (member vs. non-member serialize
+      or load/save pair) at compile time.  If for some reason cereal cannot find a non-ambiguous way
+      of serializing a type, it will produce a static assertion complaining about this.
+
+      This can happen because you have both a serialize and load/save pair, or even because a base
+      class has a serialize (public or private with friend access) and a derived class does not
+      overwrite this due to choosing some other serialization type.
+
+      Specializing this class will tell cereal to explicitly use the serialization type you specify
+      and it will not complain about ambiguity in its compile time selection.  However, if cereal detects
+      an ambiguity in specializations, it will continue to issue a static assertion.
+
+      @code{.cpp}
+      class MyParent
+      {
+        friend class cereal::access;
+        template <class Archive>
+        void serialize( Archive & ar ) {}
+      };
+
+      // Although serialize is private in MyParent, to cereal::access it will look public,
+      // even through MyDerived
+      class MyDerived : public MyParent
+      {
+        public:
+          template <class Archive>
+          void load( Archive & ar ) {}
+
+          template <class Archive>
+          void save( Archive & ar ) {}
+      };
+
+      // The load/save pair in MyDerived is ambiguous because serialize in MyParent can
+      // be accessed from cereal::access.  This looks the same as making serialize public
+      // in MyParent, making it seem as though MyDerived has both a serialize and a load/save pair.
+      // cereal will complain about this at compile time unless we disambiguate:
+
+      namespace cereal
+      {
+        // This struct specialization will tell cereal which is the right way to serialize the ambiguity
+        template <class Archive> struct specialize<Archive, MyDerived, cereal::specialization::member_load_save> {};
+
+        // If we only had a disambiguation for a specific archive type, it would look something like this
+        template <> struct specialize<cereal::BinaryOutputArchive, MyDerived, cereal::specialization::member_load_save> {};
+      }
+      @endcode
+
+      You can also choose to use the macros CEREAL_SPECIALIZE_FOR_ALL_ARCHIVES or
+      CEREAL_SPECIALIZE_FOR_ARCHIVE if you want to type a little bit less.
+
+      @tparam T The type to specialize the serialization for
+      @tparam S The specialization type to use for T
+      @ingroup Access */
+  template <class Archive, class T, specialization S>
+  struct specialize : public std::false_type {};
+
+  //! Convenient macro for performing specialization for all archive types
+  /*! This performs specialization for the specific type for all types of archives.
+      This macro should be placed at the global namespace.
+
+      @code{cpp}
+      struct MyType {};
+      CEREAL_SPECIALIZE_FOR_ALL_ARCHIVES( MyType, cereal::specialization::member_load_save );
+      @endcode
+
+      @relates specialize
+      @ingroup Access */
+  #define CEREAL_SPECIALIZE_FOR_ALL_ARCHIVES( Type, Specialization )                                \
+  namespace cereal { template <class Archive> struct specialize<Archive, Type, Specialization> {}; }
+
+  //! Convenient macro for performing specialization for a single archive type
+  /*! This performs specialization for the specific type for a single type of archive.
+      This macro should be placed at the global namespace.
+
+      @code{cpp}
+      struct MyType {};
+      CEREAL_SPECIALIZE_FOR_ARCHIVE( cereal::XMLInputArchive, MyType, cereal::specialization::member_load_save );
+      @endcode
+
+      @relates specialize
+      @ingroup Access */
+  #define CEREAL_SPECIALIZE_FOR_ARCHIVE( Archive, Type, Specialization )               \
+  namespace cereal { template <> struct specialize<Archive, Type, Specialization> {}; }
+
+  // ######################################################################
+  // Deferred Implementation, see construct for more information
+  template <class T> template <class ... Args> inline
+  void construct<T>::operator()( Args && ... args )
+  {
+    if( itsValid )
+      throw Exception("Attempting to construct an already initialized object");
+
+    ::cereal::access::construct( itsPtr, std::forward<Args>( args )... );
+    itsValid = true;
+  }
+} // namespace cereal
+
+#endif // CEREAL_ACCESS_HPP_
diff --git a/3rdparty/include/cereal/archives/adapters.hpp b/3rdparty/include/cereal/archives/adapters.hpp
new file mode 100644
index 0000000..d9558ad
--- /dev/null
+++ b/3rdparty/include/cereal/archives/adapters.hpp
@@ -0,0 +1,163 @@
+/*! \file adapters.hpp
+    \brief Archive adapters that provide additional functionality
+           on top of an existing archive */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ARCHIVES_ADAPTERS_HPP_
+#define CEREAL_ARCHIVES_ADAPTERS_HPP_
+
+#include <cereal/details/helpers.hpp>
+#include <utility>
+
+namespace cereal
+{
+  #ifdef CEREAL_FUTURE_EXPERIMENTAL
+
+  // Forward declaration for friend access
+  template <class U, class A> U & get_user_data( A & );
+
+  //! Wraps an archive and gives access to user data
+  /*! This adapter is useful if you require access to
+      either raw pointers or references within your
+      serialization functions.
+
+      While cereal does not directly support serialization
+      raw pointers or references, it is sometimes the case
+      that you may want to supply something such as a raw
+      pointer or global reference to some constructor.
+      In this situation this adapter would likely be used
+      with the construct class to allow for non-default
+      constructors.
+
+      @note This feature is experimental and may be altered or removed in a future release. See issue #46.
+
+      @code{.cpp}
+      struct MyUserData
+      {
+        int * myRawPointer;
+        std::reference_wrapper<MyOtherType> myReference;
+      };
+
+      struct MyClass
+      {
+        // Note the raw pointer parameter
+        MyClass( int xx, int * rawP );
+
+        int x;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        { ar( x ); }
+
+        template <class Archive>
+        static void load_and_construct( Archive & ar, cereal::construct<MyClass> & construct )
+        {
+          int xx;
+          ar( xx );
+          // note the need to use get_user_data to retrieve user data from the archive
+          construct( xx, cereal::get_user_data<MyUserData>( ar ).myRawPointer );
+        }
+      };
+
+      int main()
+      {
+        {
+          MyUserData md;
+          md.myRawPointer = &something;
+          md.myReference = someInstanceOfType;
+
+          std::ifstream is( "data.xml" );
+          cereal::UserDataAdapter<MyUserData, cereal::XMLInputArchive> ar( md, is );
+
+          std::unique_ptr<MyClass> sc;
+          ar( sc ); // use as normal
+        }
+
+        return 0;
+      }
+      @endcode
+
+      @relates get_user_data
+
+      @tparam UserData The type to give the archive access to
+      @tparam Archive The archive to wrap */
+  template <class UserData, class Archive>
+  class UserDataAdapter : public Archive
+  {
+    public:
+      //! Construct the archive with some user data struct
+      /*! This will forward all arguments (other than the user
+          data) to the wrapped archive type.  The UserDataAdapter
+          can then be used identically to the wrapped archive type
+
+          @tparam Args The arguments to pass to the constructor of
+                       the archive. */
+      template <class ... Args>
+      UserDataAdapter( UserData & ud, Args && ... args ) :
+        Archive( std::forward<Args>( args )... ),
+        userdata( ud )
+      { }
+
+    private:
+      //! Overload the rtti function to enable dynamic_cast
+      void rtti() {}
+      friend UserData & get_user_data<UserData>( Archive & ar );
+      UserData & userdata; //!< The actual user data
+  };
+
+  //! Retrieves user data from an archive wrapped by UserDataAdapter
+  /*! This will attempt to retrieve the user data associated with
+      some archive wrapped by UserDataAdapter.  If this is used on
+      an archive that is not wrapped, a run-time exception will occur.
+
+      @note This feature is experimental and may be altered or removed in a future release. See issue #46.
+
+      @note The correct use of this function cannot be enforced at compile
+            time.
+
+      @relates UserDataAdapter
+      @tparam UserData The data struct contained in the archive
+      @tparam Archive The archive, which should be wrapped by UserDataAdapter
+      @param ar The archive
+      @throws Exception if the archive this is used upon is not wrapped with
+                        UserDataAdapter. */
+  template <class UserData, class Archive>
+  UserData & get_user_data( Archive & ar )
+  {
+    try
+    {
+      return dynamic_cast<UserDataAdapter<UserData, Archive> &>( ar ).userdata;
+    }
+    catch( std::bad_cast const & )
+    {
+      throw ::cereal::Exception("Attempting to get user data from archive not wrapped in UserDataAdapter");
+    }
+  }
+  #endif // CEREAL_FUTURE_EXPERIMENTAL
+} // namespace cereal
+
+#endif // CEREAL_ARCHIVES_ADAPTERS_HPP_
diff --git a/3rdparty/include/cereal/archives/binary.hpp b/3rdparty/include/cereal/archives/binary.hpp
new file mode 100644
index 0000000..f284582
--- /dev/null
+++ b/3rdparty/include/cereal/archives/binary.hpp
@@ -0,0 +1,165 @@
+/*! \file binary.hpp
+    \brief Binary input and output archives */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ARCHIVES_BINARY_HPP_
+#define CEREAL_ARCHIVES_BINARY_HPP_
+
+#include <cereal/cereal.hpp>
+#include <sstream>
+
+namespace cereal
+{
+  // ######################################################################
+  //! An output archive designed to save data in a compact binary representation
+  /*! This archive outputs data to a stream in an extremely compact binary
+      representation with as little extra metadata as possible.
+
+      This archive does nothing to ensure that the endianness of the saved
+      and loaded data is the same.  If you need to have portability over
+      architectures with different endianness, use PortableBinaryOutputArchive.
+
+      When using a binary archive and a file stream, you must use the
+      std::ios::binary format flag to avoid having your data altered
+      inadvertently.
+
+      \ingroup Archives */
+  class BinaryOutputArchive : public OutputArchive<BinaryOutputArchive, AllowEmptyClassElision>
+  {
+    public:
+      //! Construct, outputting to the provided stream
+      /*! @param stream The stream to output to.  Can be a stringstream, a file stream, or
+                        even cout! */
+      BinaryOutputArchive(std::ostream & stream) :
+        OutputArchive<BinaryOutputArchive, AllowEmptyClassElision>(this),
+        itsStream(stream)
+      { }
+
+      //! Writes size bytes of data to the output stream
+      void saveBinary( const void * data, std::size_t size )
+      {
+        auto const writtenSize = static_cast<std::size_t>( itsStream.rdbuf()->sputn( reinterpret_cast<const char*>( data ), size ) );
+
+        if(writtenSize != size)
+          throw Exception("Failed to write " + std::to_string(size) + " bytes to output stream! Wrote " + std::to_string(writtenSize));
+      }
+
+    private:
+      std::ostream & itsStream;
+  };
+
+  // ######################################################################
+  //! An input archive designed to load data saved using BinaryOutputArchive
+  /*  This archive does nothing to ensure that the endianness of the saved
+      and loaded data is the same.  If you need to have portability over
+      architectures with different endianness, use PortableBinaryOutputArchive.
+
+      When using a binary archive and a file stream, you must use the
+      std::ios::binary format flag to avoid having your data altered
+      inadvertently.
+
+      \ingroup Archives */
+  class BinaryInputArchive : public InputArchive<BinaryInputArchive, AllowEmptyClassElision>
+  {
+    public:
+      //! Construct, loading from the provided stream
+      BinaryInputArchive(std::istream & stream) :
+        InputArchive<BinaryInputArchive, AllowEmptyClassElision>(this),
+        itsStream(stream)
+    { }
+
+      //! Reads size bytes of data from the input stream
+      void loadBinary( void * const data, std::size_t size )
+      {
+        auto const readSize = static_cast<std::size_t>( itsStream.rdbuf()->sgetn( reinterpret_cast<char*>( data ), size ) );
+
+        if(readSize != size)
+          throw Exception("Failed to read " + std::to_string(size) + " bytes from input stream! Read " + std::to_string(readSize));
+      }
+
+    private:
+      std::istream & itsStream;
+  };
+
+  // ######################################################################
+  // Common BinaryArchive serialization functions
+
+  //! Saving for POD types to binary
+  template<class T> inline
+  typename std::enable_if<std::is_arithmetic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME(BinaryOutputArchive & ar, T const & t)
+  {
+    ar.saveBinary(std::addressof(t), sizeof(t));
+  }
+
+  //! Loading for POD types from binary
+  template<class T> inline
+  typename std::enable_if<std::is_arithmetic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME(BinaryInputArchive & ar, T & t)
+  {
+    ar.loadBinary(std::addressof(t), sizeof(t));
+  }
+
+  //! Serializing NVP types to binary
+  template <class Archive, class T> inline
+  CEREAL_ARCHIVE_RESTRICT(BinaryInputArchive, BinaryOutputArchive)
+  CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, NameValuePair<T> & t )
+  {
+    ar( t.value );
+  }
+
+  //! Serializing SizeTags to binary
+  template <class Archive, class T> inline
+  CEREAL_ARCHIVE_RESTRICT(BinaryInputArchive, BinaryOutputArchive)
+  CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, SizeTag<T> & t )
+  {
+    ar( t.size );
+  }
+
+  //! Saving binary data
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME(BinaryOutputArchive & ar, BinaryData<T> const & bd)
+  {
+    ar.saveBinary( bd.data, static_cast<std::size_t>( bd.size ) );
+  }
+
+  //! Loading binary data
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME(BinaryInputArchive & ar, BinaryData<T> & bd)
+  {
+    ar.loadBinary(bd.data, static_cast<std::size_t>(bd.size));
+  }
+} // namespace cereal
+
+// register archives for polymorphic support
+CEREAL_REGISTER_ARCHIVE(cereal::BinaryOutputArchive)
+CEREAL_REGISTER_ARCHIVE(cereal::BinaryInputArchive)
+
+// tie input and output archives together
+CEREAL_SETUP_ARCHIVE_TRAITS(cereal::BinaryInputArchive, cereal::BinaryOutputArchive)
+
+#endif // CEREAL_ARCHIVES_BINARY_HPP_
diff --git a/3rdparty/include/cereal/archives/json.hpp b/3rdparty/include/cereal/archives/json.hpp
new file mode 100644
index 0000000..068756e
--- /dev/null
+++ b/3rdparty/include/cereal/archives/json.hpp
@@ -0,0 +1,908 @@
+/*! \file json.hpp
+    \brief JSON input and output archives */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ARCHIVES_JSON_HPP_
+#define CEREAL_ARCHIVES_JSON_HPP_
+
+#include <cereal/cereal.hpp>
+#include <cereal/details/util.hpp>
+
+namespace cereal
+{
+  //! An exception thrown when rapidjson fails an internal assertion
+  /*! @ingroup Utility */
+  struct RapidJSONException : Exception
+  { RapidJSONException( const char * what_ ) : Exception( what_ ) {} };
+}
+
+// Override rapidjson assertions to throw exceptions by default
+#ifndef RAPIDJSON_ASSERT
+#define RAPIDJSON_ASSERT(x) if(!(x)){ \
+  throw ::cereal::RapidJSONException("rapidjson internal assertion failure: " #x); }
+#endif // RAPIDJSON_ASSERT
+
+#include <cereal/external/rapidjson/prettywriter.h>
+#include <cereal/external/rapidjson/genericstream.h>
+#include <cereal/external/rapidjson/reader.h>
+#include <cereal/external/rapidjson/document.h>
+#include <cereal/external/base64.hpp>
+
+#include <limits>
+#include <sstream>
+#include <stack>
+#include <vector>
+#include <string>
+
+namespace cereal
+{
+  // ######################################################################
+  //! An output archive designed to save data to JSON
+  /*! This archive uses RapidJSON to build serialie data to JSON.
+
+      JSON archives provides a human readable output but at decreased
+      performance (both in time and space) compared to binary archives.
+
+      JSON benefits greatly from name-value pairs, which if present, will
+      name the nodes in the output.  If these are not present, each level
+      of the output will be given an automatically generated delimited name.
+
+      The precision of the output archive controls the number of decimals output
+      for floating point numbers and should be sufficiently large (i.e. at least 20)
+      if there is a desire to have binary equality between the numbers output and
+      those read in.  In general you should expect a loss of precision when going
+      from floating point to text and back.
+
+      JSON archives do not output the size information for any dynamically sized structure
+      and instead infer it from the number of children for a node.  This means that data
+      can be hand edited for dynamic sized structures and will still be readable.  This
+      is accomplished through the cereal::SizeTag object, which will cause the archive
+      to output the data as a JSON array (e.g. marked by [] instead of {}), which indicates
+      that the container is variable sized and may be edited.
+
+      \ingroup Archives */
+  class JSONOutputArchive : public OutputArchive<JSONOutputArchive>, public traits::TextArchive
+  {
+    enum class NodeType { StartObject, InObject, StartArray, InArray };
+
+    typedef rapidjson::GenericWriteStream WriteStream;
+    typedef rapidjson::PrettyWriter<WriteStream> JSONWriter;
+
+    public:
+      /*! @name Common Functionality
+          Common use cases for directly interacting with an JSONOutputArchive */
+      //! @{
+
+      //! A class containing various advanced options for the JSON archive
+      class Options
+      {
+        public:
+          //! Default options
+          static Options Default(){ return Options(); }
+
+          //! Default options with no indentation
+          static Options NoIndent(){ return Options( std::numeric_limits<double>::max_digits10, IndentChar::space, 0 ); }
+
+          //! The character to use for indenting
+          enum class IndentChar : char
+          {
+            space = ' ',
+            tab = '\t',
+            newline = '\n',
+            carriage_return = '\r'
+          };
+
+          //! Specify specific options for the JSONOutputArchive
+          /*! @param precision The precision used for floating point numbers
+              @param indentChar The type of character to indent with
+              @param indentLength The number of indentChar to use for indentation
+                             (0 corresponds to no indentation) */
+          explicit Options( int precision = std::numeric_limits<double>::max_digits10,
+                            IndentChar indentChar = IndentChar::space,
+                            unsigned int indentLength = 4 ) :
+            itsPrecision( precision ),
+            itsIndentChar( static_cast<char>(indentChar) ),
+            itsIndentLength( indentLength ) { }
+
+        private:
+          friend class JSONOutputArchive;
+          int itsPrecision;
+          char itsIndentChar;
+          unsigned int itsIndentLength;
+      };
+
+      //! Construct, outputting to the provided stream
+      /*! @param stream The stream to output to.
+          @param options The JSON specific options to use.  See the Options struct
+                         for the values of default parameters */
+      JSONOutputArchive(std::ostream & stream, Options const & options = Options::Default() ) :
+        OutputArchive<JSONOutputArchive>(this),
+        itsWriteStream(stream),
+        itsWriter(itsWriteStream, options.itsPrecision),
+        itsNextName(nullptr)
+      {
+        itsWriter.SetIndent( options.itsIndentChar, options.itsIndentLength );
+        itsNameCounter.push(0);
+        itsNodeStack.push(NodeType::StartObject);
+      }
+
+      //! Destructor, flushes the JSON
+      ~JSONOutputArchive()
+      {
+        if (itsNodeStack.top() == NodeType::InObject)
+          itsWriter.EndObject();
+      }
+
+      //! Saves some binary data, encoded as a base64 string, with an optional name
+      /*! This will create a new node, optionally named, and insert a value that consists of
+          the data encoded as a base64 string */
+      void saveBinaryValue( const void * data, size_t size, const char * name = nullptr )
+      {
+        setNextName( name );
+        writeName();
+
+        auto base64string = base64::encode( reinterpret_cast<const unsigned char *>( data ), size );
+        saveValue( base64string );
+      };
+
+      //! @}
+      /*! @name Internal Functionality
+          Functionality designed for use by those requiring control over the inner mechanisms of
+          the JSONOutputArchive */
+      //! @{
+
+      //! Starts a new node in the JSON output
+      /*! The node can optionally be given a name by calling setNextName prior
+          to creating the node
+
+          Nodes only need to be started for types that are themselves objects or arrays */
+      void startNode()
+      {
+        writeName();
+        itsNodeStack.push(NodeType::StartObject);
+        itsNameCounter.push(0);
+      }
+
+      //! Designates the most recently added node as finished
+      void finishNode()
+      {
+        // if we ended up serializing an empty object or array, writeName
+        // will never have been called - so start and then immediately end
+        // the object/array.
+        //
+        // We'll also end any object/arrays we happen to be in
+        switch(itsNodeStack.top())
+        {
+          case NodeType::StartArray:
+            itsWriter.StartArray();
+          case NodeType::InArray:
+            itsWriter.EndArray();
+            break;
+          case NodeType::StartObject:
+            itsWriter.StartObject();
+          case NodeType::InObject:
+            itsWriter.EndObject();
+            break;
+        }
+
+        itsNodeStack.pop();
+        itsNameCounter.pop();
+      }
+
+      //! Sets the name for the next node created with startNode
+      void setNextName( const char * name )
+      {
+        itsNextName = name;
+      }
+
+      //! Saves a bool to the current node
+      void saveValue(bool b)                { itsWriter.Bool_(b);                                                         }
+      //! Saves an int to the current node
+      void saveValue(int i)                 { itsWriter.Int(i);                                                          }
+      //! Saves a uint to the current node
+      void saveValue(unsigned u)            { itsWriter.Uint(u);                                                         }
+      //! Saves an int64 to the current node
+      void saveValue(int64_t i64)           { itsWriter.Int64(i64);                                                      }
+      //! Saves a uint64 to the current node
+      void saveValue(uint64_t u64)          { itsWriter.Uint64(u64);                                                     }
+      //! Saves a double to the current node
+      void saveValue(double d)              { itsWriter.Double(d);                                                       }
+      //! Saves a string to the current node
+      void saveValue(std::string const & s) { itsWriter.String(s.c_str(), static_cast<rapidjson::SizeType>( s.size() )); }
+      //! Saves a const char * to the current node
+      void saveValue(char const * s)        { itsWriter.String(s);                                                       }
+
+    private:
+      // Some compilers/OS have difficulty disambiguating the above for various flavors of longs, so we provide
+      // special overloads to handle these cases.
+
+      //! 32 bit signed long saving to current node
+      template <class T, traits::EnableIf<sizeof(T) == sizeof(std::int32_t),
+                                          std::is_signed<T>::value> = traits::sfinae> inline
+      void saveLong(T l){ saveValue( static_cast<std::int32_t>( l ) ); }
+
+      //! non 32 bit signed long saving to current node
+      template <class T, traits::EnableIf<sizeof(T) != sizeof(std::int32_t),
+                                          std::is_signed<T>::value> = traits::sfinae> inline
+      void saveLong(T l){ saveValue( static_cast<std::int64_t>( l ) ); }
+
+      //! 32 bit unsigned long saving to current node
+      template <class T, traits::EnableIf<sizeof(T) == sizeof(std::int32_t),
+                                          std::is_unsigned<T>::value> = traits::sfinae> inline
+      void saveLong(T lu){ saveValue( static_cast<std::uint32_t>( lu ) ); }
+
+      //! non 32 bit unsigned long saving to current node
+      template <class T, traits::EnableIf<sizeof(T) != sizeof(std::int32_t),
+                                          std::is_unsigned<T>::value> = traits::sfinae> inline
+      void saveLong(T lu){ saveValue( static_cast<std::uint64_t>( lu ) ); }
+
+    public:
+#ifdef _MSC_VER
+      //! MSVC only long overload to current node
+      void saveValue( unsigned long lu ){ saveLong( lu ); };
+#else // _MSC_VER
+      //! Serialize a long if it would not be caught otherwise
+      template <class T, traits::EnableIf<std::is_same<T, long>::value,
+                                          !std::is_same<T, std::int32_t>::value,
+                                          !std::is_same<T, std::int64_t>::value> = traits::sfinae> inline
+      void saveValue( T t ){ saveLong( t ); }
+
+      //! Serialize an unsigned long if it would not be caught otherwise
+      template <class T, traits::EnableIf<std::is_same<T, unsigned long>::value,
+                                          !std::is_same<T, std::uint32_t>::value,
+                                          !std::is_same<T, std::uint64_t>::value> = traits::sfinae> inline
+      void saveValue( T t ){ saveLong( t ); }
+#endif // _MSC_VER
+
+      //! Save exotic arithmetic as strings to current node
+      /*! Handles long long (if distinct from other types), unsigned long (if distinct), and long double */
+      template <class T, traits::EnableIf<std::is_arithmetic<T>::value,
+                                          !std::is_same<T, long>::value,
+                                          !std::is_same<T, unsigned long>::value,
+                                          !std::is_same<T, std::int64_t>::value,
+                                          !std::is_same<T, std::uint64_t>::value,
+                                          (sizeof(T) >= sizeof(long double) || sizeof(T) >= sizeof(long long))> = traits::sfinae> inline
+      void saveValue(T const & t)
+      {
+        std::stringstream ss; ss.precision( std::numeric_limits<long double>::max_digits10 );
+        ss << t;
+        saveValue( ss.str() );
+      }
+
+      //! Write the name of the upcoming node and prepare object/array state
+      /*! Since writeName is called for every value that is output, regardless of
+          whether it has a name or not, it is the place where we will do a deferred
+          check of our node state and decide whether we are in an array or an object.
+
+          The general workflow of saving to the JSON archive is:
+
+            1. (optional) Set the name for the next node to be created, usually done by an NVP
+            2. Start the node
+            3. (if there is data to save) Write the name of the node (this function)
+            4. (if there is data to save) Save the data (with saveValue)
+            5. Finish the node
+          */
+      void writeName()
+      {
+        NodeType const & nodeType = itsNodeStack.top();
+
+        // Start up either an object or an array, depending on state
+        if(nodeType == NodeType::StartArray)
+        {
+          itsWriter.StartArray();
+          itsNodeStack.top() = NodeType::InArray;
+        }
+        else if(nodeType == NodeType::StartObject)
+        {
+          itsNodeStack.top() = NodeType::InObject;
+          itsWriter.StartObject();
+        }
+
+        // Array types do not output names
+        if(nodeType == NodeType::InArray) return;
+
+        if(itsNextName == nullptr)
+        {
+          std::string name = "value" + std::to_string( itsNameCounter.top()++ ) + "\0";
+          saveValue(name);
+        }
+        else
+        {
+          saveValue(itsNextName);
+          itsNextName = nullptr;
+        }
+      }
+
+      //! Designates that the current node should be output as an array, not an object
+      void makeArray()
+      {
+        itsNodeStack.top() = NodeType::StartArray;
+      }
+
+      //! @}
+
+    private:
+      WriteStream itsWriteStream;          //!< Rapidjson write stream
+      JSONWriter itsWriter;                //!< Rapidjson writer
+      char const * itsNextName;            //!< The next name
+      std::stack<uint32_t> itsNameCounter; //!< Counter for creating unique names for unnamed nodes
+      std::stack<NodeType> itsNodeStack;
+  }; // JSONOutputArchive
+
+  // ######################################################################
+  //! An input archive designed to load data from JSON
+  /*! This archive uses RapidJSON to read in a JSON archive.
+
+      Input JSON should have been produced by the JSONOutputArchive.  Data can
+      only be added to dynamically sized containers (marked by JSON arrays) -
+      the input archive will determine their size by looking at the number of child nodes.
+      Only JSON originating from a JSONOutputArchive is officially supported, but data
+      from other sources may work if properly formatted.
+
+      The JSONInputArchive does not require that nodes are loaded in the same
+      order they were saved by JSONOutputArchive.  Using name value pairs (NVPs),
+      it is possible to load in an out of order fashion or otherwise skip/select
+      specific nodes to load.
+
+      The default behavior of the input archive is to read sequentially starting
+      with the first node and exploring its children.  When a given NVP does
+      not match the read in name for a node, the archive will search for that
+      node at the current level and load it if it exists.  After loading an out of
+      order node, the archive will then proceed back to loading sequentially from
+      its new position.
+
+      Consider this simple example where loading of some data is skipped:
+
+      @code{cpp}
+      // imagine the input file has someData(1-9) saved in order at the top level node
+      ar( someData1, someData2, someData3 );        // XML loads in the order it sees in the file
+      ar( cereal::make_nvp( "hello", someData6 ) ); // NVP given does not
+                                                    // match expected NVP name, so we search
+                                                    // for the given NVP and load that value
+      ar( someData7, someData8, someData9 );        // with no NVP given, loading resumes at its
+                                                    // current location, proceeding sequentially
+      @endcode
+
+      \ingroup Archives */
+  class JSONInputArchive : public InputArchive<JSONInputArchive>, public traits::TextArchive
+  {
+    private:
+      typedef rapidjson::GenericReadStream ReadStream;
+      typedef rapidjson::GenericValue<rapidjson::UTF8<>> JSONValue;
+      typedef JSONValue::ConstMemberIterator MemberIterator;
+      typedef JSONValue::ConstValueIterator ValueIterator;
+      typedef rapidjson::Document::GenericValue GenericValue;
+
+    public:
+      /*! @name Common Functionality
+          Common use cases for directly interacting with an JSONInputArchive */
+      //! @{
+
+      //! Construct, reading from the provided stream
+      /*! @param stream The stream to read from */
+      JSONInputArchive(std::istream & stream) :
+        InputArchive<JSONInputArchive>(this),
+        itsNextName( nullptr ),
+        itsReadStream(stream)
+      {
+        itsDocument.ParseStream<0>(itsReadStream);
+        itsIteratorStack.emplace_back(itsDocument.MemberBegin(), itsDocument.MemberEnd());
+      }
+
+      //! Loads some binary data, encoded as a base64 string
+      /*! This will automatically start and finish a node to load the data, and can be called directly by
+          users.
+
+          Note that this follows the same ordering rules specified in the class description in regards
+          to loading in/out of order */
+      void loadBinaryValue( void * data, size_t size, const char * name = nullptr )
+      {
+        itsNextName = name;
+
+        std::string encoded;
+        loadValue( encoded );
+        auto decoded = base64::decode( encoded );
+
+        if( size != decoded.size() )
+          throw Exception("Decoded binary data size does not match specified size");
+
+        std::memcpy( data, decoded.data(), decoded.size() );
+        itsNextName = nullptr;
+      };
+
+    private:
+      //! @}
+      /*! @name Internal Functionality
+          Functionality designed for use by those requiring control over the inner mechanisms of
+          the JSONInputArchive */
+      //! @{
+
+      //! An internal iterator that handles both array and object types
+      /*! This class is a variant and holds both types of iterators that
+          rapidJSON supports - one for arrays and one for objects. */
+      class Iterator
+      {
+        public:
+          Iterator() : itsIndex( 0 ), itsType(Null_) {}
+
+          Iterator(MemberIterator begin, MemberIterator end) :
+            itsMemberItBegin(begin), itsMemberItEnd(end), itsIndex(0), itsType(Member)
+          { }
+
+          Iterator(ValueIterator begin, ValueIterator end) :
+            itsValueItBegin(begin), itsValueItEnd(end), itsIndex(0), itsType(Value)
+          { }
+
+          //! Advance to the next node
+          Iterator & operator++()
+          {
+            ++itsIndex;
+            return *this;
+          }
+
+          //! Get the value of the current node
+          GenericValue const & value()
+          {
+            switch(itsType)
+            {
+              case Value : return itsValueItBegin[itsIndex];
+              case Member: return itsMemberItBegin[itsIndex].value;
+              default: throw cereal::Exception("Invalid Iterator Type!");
+            }
+          }
+
+          //! Get the name of the current node, or nullptr if it has no name
+          const char * name() const
+          {
+            if( itsType == Member && (itsMemberItBegin + itsIndex) != itsMemberItEnd )
+              return itsMemberItBegin[itsIndex].name.GetString();
+            else
+              return nullptr;
+          }
+
+          //! Adjust our position such that we are at the node with the given name
+          /*! @throws Exception if no such named node exists */
+          inline void search( const char * searchName )
+          {
+            const auto len = std::strlen( searchName );
+            size_t index = 0;
+            for( auto it = itsMemberItBegin; it != itsMemberItEnd; ++it, ++index )
+              if( std::strncmp( searchName, it->name.GetString(), len ) == 0 )
+              {
+                itsIndex = index;
+                return;
+              }
+
+            throw Exception("JSON Parsing failed - provided NVP not found");
+          }
+
+        private:
+          MemberIterator itsMemberItBegin, itsMemberItEnd; //!< The member iterator (object)
+          ValueIterator itsValueItBegin, itsValueItEnd;    //!< The value iterator (array)
+          size_t itsIndex;                                 //!< The current index of this iterator
+          enum Type {Value, Member, Null_} itsType;    //!< Whether this holds values (array) or members (objects) or nothing
+      };
+
+      //! Searches for the expectedName node if it doesn't match the actualName
+      /*! This needs to be called before every load or node start occurs.  This function will
+          check to see if an NVP has been provided (with setNextName) and if so, see if that name matches the actual
+          next name given.  If the names do not match, it will search in the current level of the JSON for that name.
+          If the name is not found, an exception will be thrown.
+
+          Resets the NVP name after called.
+
+          @throws Exception if an expectedName is given and not found */
+      inline void search()
+      {
+        // The name an NVP provided with setNextName()
+        if( itsNextName )
+        {
+          // The actual name of the current node
+          auto const actualName = itsIteratorStack.back().name();
+
+          // Do a search if we don't see a name coming up, or if the names don't match
+          if( !actualName || std::strcmp( itsNextName, actualName ) != 0 )
+            itsIteratorStack.back().search( itsNextName );
+        }
+
+        itsNextName = nullptr;
+      }
+
+    public:
+      //! Starts a new node, going into its proper iterator
+      /*! This places an iterator for the next node to be parsed onto the iterator stack.  If the next
+          node is an array, this will be a value iterator, otherwise it will be a member iterator.
+
+          By default our strategy is to start with the document root node and then recursively iterate through
+          all children in the order they show up in the document.
+          We don't need to know NVPs to do this; we'll just blindly load in the order things appear in.
+
+          If we were given an NVP, we will search for it if it does not match our the name of the next node
+          that would normally be loaded.  This functionality is provided by search(). */
+      void startNode()
+      {
+        search();
+
+        if(itsIteratorStack.back().value().IsArray())
+          itsIteratorStack.emplace_back(itsIteratorStack.back().value().Begin(), itsIteratorStack.back().value().End());
+        else
+          itsIteratorStack.emplace_back(itsIteratorStack.back().value().MemberBegin(), itsIteratorStack.back().value().MemberEnd());
+      }
+
+      //! Finishes the most recently started node
+      void finishNode()
+      {
+        itsIteratorStack.pop_back();
+        ++itsIteratorStack.back();
+      }
+
+      //! Retrieves the current node name
+      /*! @return nullptr if no name exists */
+      const char * getNodeName() const
+      {
+        return itsIteratorStack.back().name();
+      }
+
+      //! Sets the name for the next node created with startNode
+      void setNextName( const char * name )
+      {
+        itsNextName = name;
+      }
+
+      //! Loads a value from the current node - small signed overload
+      template <class T, traits::EnableIf<std::is_signed<T>::value,
+                                          sizeof(T) < sizeof(int64_t)> = traits::sfinae> inline
+      void loadValue(T & val)
+      {
+        search();
+
+        val = static_cast<T>( itsIteratorStack.back().value().GetInt() );
+        ++itsIteratorStack.back();
+      }
+
+      //! Loads a value from the current node - small unsigned overload
+      template <class T, traits::EnableIf<std::is_unsigned<T>::value,
+                                          sizeof(T) < sizeof(uint64_t),
+                                          !std::is_same<bool, T>::value> = traits::sfinae> inline
+      void loadValue(T & val)
+      {
+        search();
+
+        val = static_cast<T>( itsIteratorStack.back().value().GetUint() );
+        ++itsIteratorStack.back();
+      }
+
+      //! Loads a value from the current node - bool overload
+      void loadValue(bool & val)        { search(); val = itsIteratorStack.back().value().GetBool_();   ++itsIteratorStack.back(); }
+      //! Loads a value from the current node - int64 overload
+      void loadValue(int64_t & val)     { search(); val = itsIteratorStack.back().value().GetInt64();  ++itsIteratorStack.back(); }
+      //! Loads a value from the current node - uint64 overload
+      void loadValue(uint64_t & val)    { search(); val = itsIteratorStack.back().value().GetUint64(); ++itsIteratorStack.back(); }
+      //! Loads a value from the current node - float overload
+      void loadValue(float & val)       { search(); val = static_cast<float>(itsIteratorStack.back().value().GetDouble()); ++itsIteratorStack.back(); }
+      //! Loads a value from the current node - double overload
+      void loadValue(double & val)      { search(); val = itsIteratorStack.back().value().GetDouble(); ++itsIteratorStack.back(); }
+      //! Loads a value from the current node - string overload
+      void loadValue(std::string & val) { search(); val = itsIteratorStack.back().value().GetString(); ++itsIteratorStack.back(); }
+
+      // Special cases to handle various flavors of long, which tend to conflict with
+      // the int32_t or int64_t on various compiler/OS combinations.  MSVC doesn't need any of this.
+      #ifndef _MSC_VER
+    private:
+      //! 32 bit signed long loading from current node
+      template <class T> inline
+      typename std::enable_if<sizeof(T) == sizeof(std::int32_t) && std::is_signed<T>::value, void>::type
+      loadLong(T & l){ loadValue( reinterpret_cast<std::int32_t&>( l ) ); }
+
+      //! non 32 bit signed long loading from current node
+      template <class T> inline
+      typename std::enable_if<sizeof(T) == sizeof(std::int64_t) && std::is_signed<T>::value, void>::type
+      loadLong(T & l){ loadValue( reinterpret_cast<std::int64_t&>( l ) ); }
+
+      //! 32 bit unsigned long loading from current node
+      template <class T> inline
+      typename std::enable_if<sizeof(T) == sizeof(std::uint32_t) && !std::is_signed<T>::value, void>::type
+      loadLong(T & lu){ loadValue( reinterpret_cast<std::uint32_t&>( lu ) ); }
+
+      //! non 32 bit unsigned long loading from current node
+      template <class T> inline
+      typename std::enable_if<sizeof(T) == sizeof(std::uint64_t) && !std::is_signed<T>::value, void>::type
+      loadLong(T & lu){ loadValue( reinterpret_cast<std::uint64_t&>( lu ) ); }
+            
+    public:
+      //! Serialize a long if it would not be caught otherwise
+      template <class T> inline
+      typename std::enable_if<std::is_same<T, long>::value &&
+                              !std::is_same<T, std::int32_t>::value &&
+                              !std::is_same<T, std::int64_t>::value, void>::type
+      loadValue( T & t ){ loadLong(t); }
+
+      //! Serialize an unsigned long if it would not be caught otherwise
+      template <class T> inline
+      typename std::enable_if<std::is_same<T, unsigned long>::value &&
+                              !std::is_same<T, std::uint32_t>::value &&
+                              !std::is_same<T, std::uint64_t>::value, void>::type
+      loadValue( T & t ){ loadLong(t); }
+      #endif // _MSC_VER
+
+    private:
+      //! Convert a string to a long long
+      void stringToNumber( std::string const & str, long long & val ) { val = std::stoll( str ); }
+      //! Convert a string to an unsigned long long
+      void stringToNumber( std::string const & str, unsigned long long & val ) { val = std::stoull( str ); }
+      //! Convert a string to a long double
+      void stringToNumber( std::string const & str, long double & val ) { val = std::stold( str ); }
+
+    public:
+      //! Loads a value from the current node - long double and long long overloads
+      template <class T, traits::EnableIf<std::is_arithmetic<T>::value,
+                                          !std::is_same<T, long>::value,
+                                          !std::is_same<T, unsigned long>::value,
+                                          !std::is_same<T, std::int64_t>::value,
+                                          !std::is_same<T, std::uint64_t>::value,
+                                          (sizeof(T) >= sizeof(long double) || sizeof(T) >= sizeof(long long))> = traits::sfinae>
+      inline void loadValue(T & val)
+      {
+        std::string encoded;
+        loadValue( encoded );
+        stringToNumber( encoded, val );
+      }
+
+      //! Loads the size for a SizeTag
+      void loadSize(size_type & size)
+      {
+        size = (itsIteratorStack.rbegin() + 1)->value().Size();
+      }
+
+      //! @}
+
+    private:
+      const char * itsNextName;               //!< Next name set by NVP
+      ReadStream itsReadStream;               //!< Rapidjson write stream
+      std::vector<Iterator> itsIteratorStack; //!< 'Stack' of rapidJSON iterators
+      rapidjson::Document itsDocument;        //!< Rapidjson document
+  };
+
+  // ######################################################################
+  // JSONArchive prologue and epilogue functions
+  // ######################################################################
+
+  // ######################################################################
+  //! Prologue for NVPs for JSON archives
+  /*! NVPs do not start or finish nodes - they just set up the names */
+  template <class T> inline
+  void prologue( JSONOutputArchive &, NameValuePair<T> const & )
+  { }
+
+  //! Prologue for NVPs for JSON archives
+  template <class T> inline
+  void prologue( JSONInputArchive &, NameValuePair<T> const & )
+  { }
+
+  // ######################################################################
+  //! Epilogue for NVPs for JSON archives
+  /*! NVPs do not start or finish nodes - they just set up the names */
+  template <class T> inline
+  void epilogue( JSONOutputArchive &, NameValuePair<T> const & )
+  { }
+
+  //! Epilogue for NVPs for JSON archives
+  /*! NVPs do not start or finish nodes - they just set up the names */
+  template <class T> inline
+  void epilogue( JSONInputArchive &, NameValuePair<T> const & )
+  { }
+
+  // ######################################################################
+  //! Prologue for SizeTags for JSON archives
+  /*! SizeTags are strictly ignored for JSON, they just indicate
+      that the current node should be made into an array */
+  template <class T> inline
+  void prologue( JSONOutputArchive & ar, SizeTag<T> const & )
+  {
+    ar.makeArray();
+  }
+
+  //! Prologue for SizeTags for JSON archives
+  template <class T> inline
+  void prologue( JSONInputArchive &, SizeTag<T> const & )
+  { }
+
+  // ######################################################################
+  //! Epilogue for SizeTags for JSON archives
+  /*! SizeTags are strictly ignored for JSON */
+  template <class T> inline
+  void epilogue( JSONOutputArchive &, SizeTag<T> const & )
+  { }
+
+  //! Epilogue for SizeTags for JSON archives
+  template <class T> inline
+  void epilogue( JSONInputArchive &, SizeTag<T> const & )
+  { }
+
+  // ######################################################################
+  //! Prologue for all other types for JSON archives (except minimal types)
+  /*! Starts a new node, named either automatically or by some NVP,
+      that may be given data by the type about to be archived
+
+      Minimal types do not start or finish nodes */
+  template <class T, traits::DisableIf<std::is_arithmetic<T>::value ||
+                                       traits::has_minimal_base_class_serialization<T, traits::has_minimal_output_serialization, JSONOutputArchive>::value ||
+                                       traits::has_minimal_output_serialization<T, JSONOutputArchive>::value> = traits::sfinae>
+  inline void prologue( JSONOutputArchive & ar, T const & )
+  {
+    ar.startNode();
+  }
+
+  //! Prologue for all other types for JSON archives
+  template <class T, traits::DisableIf<std::is_arithmetic<T>::value ||
+                                       traits::has_minimal_base_class_serialization<T, traits::has_minimal_input_serialization, JSONInputArchive>::value ||
+                                       traits::has_minimal_input_serialization<T, JSONInputArchive>::value> = traits::sfinae>
+  inline void prologue( JSONInputArchive & ar, T const & )
+  {
+    ar.startNode();
+  }
+
+  // ######################################################################
+  //! Epilogue for all other types other for JSON archives (except minimal types
+  /*! Finishes the node created in the prologue
+
+      Minimal types do not start or finish nodes */
+  template <class T, traits::DisableIf<std::is_arithmetic<T>::value ||
+                                       traits::has_minimal_base_class_serialization<T, traits::has_minimal_output_serialization, JSONOutputArchive>::value ||
+                                       traits::has_minimal_output_serialization<T, JSONOutputArchive>::value> = traits::sfinae>
+  inline void epilogue( JSONOutputArchive & ar, T const & )
+  {
+    ar.finishNode();
+  }
+
+  //! Epilogue for all other types other for JSON archives
+  template <class T, traits::DisableIf<std::is_arithmetic<T>::value ||
+                                       traits::has_minimal_base_class_serialization<T, traits::has_minimal_input_serialization, JSONInputArchive>::value ||
+                                       traits::has_minimal_input_serialization<T, JSONInputArchive>::value> = traits::sfinae>
+  inline void epilogue( JSONInputArchive & ar, T const & )
+  {
+    ar.finishNode();
+  }
+
+  // ######################################################################
+  //! Prologue for arithmetic types for JSON archives
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void prologue( JSONOutputArchive & ar, T const & )
+  {
+    ar.writeName();
+  }
+
+  //! Prologue for arithmetic types for JSON archives
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void prologue( JSONInputArchive &, T const & )
+  { }
+
+  // ######################################################################
+  //! Epilogue for arithmetic types for JSON archives
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void epilogue( JSONOutputArchive &, T const & )
+  { }
+
+  //! Epilogue for arithmetic types for JSON archives
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void epilogue( JSONInputArchive &, T const & )
+  { }
+
+  // ######################################################################
+  //! Prologue for strings for JSON archives
+  template<class CharT, class Traits, class Alloc> inline
+  void prologue(JSONOutputArchive & ar, std::basic_string<CharT, Traits, Alloc> const &)
+  {
+    ar.writeName();
+  }
+
+  //! Prologue for strings for JSON archives
+  template<class CharT, class Traits, class Alloc> inline
+  void prologue(JSONInputArchive &, std::basic_string<CharT, Traits, Alloc> const &)
+  { }
+
+  // ######################################################################
+  //! Epilogue for strings for JSON archives
+  template<class CharT, class Traits, class Alloc> inline
+  void epilogue(JSONOutputArchive &, std::basic_string<CharT, Traits, Alloc> const &)
+  { }
+
+  //! Epilogue for strings for JSON archives
+  template<class CharT, class Traits, class Alloc> inline
+  void epilogue(JSONInputArchive &, std::basic_string<CharT, Traits, Alloc> const &)
+  { }
+
+  // ######################################################################
+  // Common JSONArchive serialization functions
+  // ######################################################################
+  //! Serializing NVP types to JSON
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( JSONOutputArchive & ar, NameValuePair<T> const & t )
+  {
+    ar.setNextName( t.name );
+    ar( t.value );
+  }
+
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME( JSONInputArchive & ar, NameValuePair<T> & t )
+  {
+    ar.setNextName( t.name );
+    ar( t.value );
+  }
+
+  //! Saving for arithmetic to JSON
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void CEREAL_SAVE_FUNCTION_NAME(JSONOutputArchive & ar, T const & t)
+  {
+    ar.saveValue( t );
+  }
+
+  //! Loading arithmetic from JSON
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void CEREAL_LOAD_FUNCTION_NAME(JSONInputArchive & ar, T & t)
+  {
+    ar.loadValue( t );
+  }
+
+  //! saving string to JSON
+  template<class CharT, class Traits, class Alloc> inline
+  void CEREAL_SAVE_FUNCTION_NAME(JSONOutputArchive & ar, std::basic_string<CharT, Traits, Alloc> const & str)
+  {
+    ar.saveValue( str );
+  }
+
+  //! loading string from JSON
+  template<class CharT, class Traits, class Alloc> inline
+  void CEREAL_LOAD_FUNCTION_NAME(JSONInputArchive & ar, std::basic_string<CharT, Traits, Alloc> & str)
+  {
+    ar.loadValue( str );
+  }
+
+  // ######################################################################
+  //! Saving SizeTags to JSON
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( JSONOutputArchive &, SizeTag<T> const & )
+  {
+    // nothing to do here, we don't explicitly save the size
+  }
+
+  //! Loading SizeTags from JSON
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME( JSONInputArchive & ar, SizeTag<T> & st )
+  {
+    ar.loadSize( st.size );
+  }
+} // namespace cereal
+
+// register archives for polymorphic support
+CEREAL_REGISTER_ARCHIVE(cereal::JSONInputArchive)
+CEREAL_REGISTER_ARCHIVE(cereal::JSONOutputArchive)
+
+// tie input and output archives together
+CEREAL_SETUP_ARCHIVE_TRAITS(cereal::JSONInputArchive, cereal::JSONOutputArchive)
+
+#endif // CEREAL_ARCHIVES_JSON_HPP_
diff --git a/3rdparty/include/cereal/archives/portable_binary.hpp b/3rdparty/include/cereal/archives/portable_binary.hpp
new file mode 100644
index 0000000..36fb149
--- /dev/null
+++ b/3rdparty/include/cereal/archives/portable_binary.hpp
@@ -0,0 +1,245 @@
+/*! \file binary.hpp
+    \brief Binary input and output archives */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ARCHIVES_PORTABLE_BINARY_HPP_
+#define CEREAL_ARCHIVES_PORTABLE_BINARY_HPP_
+
+#include <cereal/cereal.hpp>
+#include <sstream>
+#include <limits>
+
+namespace cereal
+{
+  namespace portable_binary_detail
+  {
+    //! Returns true if the current machine is little endian
+    /*! @ingroup Internal */
+    inline bool is_little_endian()
+    {
+      static std::int32_t test = 1;
+      return *reinterpret_cast<std::int8_t*>( &test ) == 1;
+    }
+
+    //! Swaps the order of bytes for some chunk of memory
+    /*! @param data The data as a uint8_t pointer
+        @tparam DataSize The true size of the data
+        @ingroup Internal */
+    template <std::size_t DataSize>
+    inline void swap_bytes( std::uint8_t * data )
+    {
+      for( std::size_t i = 0, end = DataSize / 2; i < end; ++i )
+        std::swap( data[i], data[DataSize - i - 1] );
+    }
+  } // end namespace portable_binary_detail
+
+  // ######################################################################
+  //! An output archive designed to save data in a compact binary representation portable over different architectures
+  /*! This archive outputs data to a stream in an extremely compact binary
+      representation with as little extra metadata as possible.
+
+      This archive will record the endianness of the data and assuming that
+      the user takes care of ensuring serialized types are the same size
+      across machines, is portable over different architectures.
+
+      When using a binary archive and a file stream, you must use the
+      std::ios::binary format flag to avoid having your data altered
+      inadvertently.
+
+      \warning This archive has not been thoroughly tested across different architectures.
+               Please report any issues, optimizations, or feature requests at
+               <a href="www.github.com/USCiLab/cereal">the project github</a>.
+
+    \ingroup Archives */
+  class PortableBinaryOutputArchive : public OutputArchive<PortableBinaryOutputArchive, AllowEmptyClassElision>
+  {
+    public:
+      //! Construct, outputting to the provided stream
+      /*! @param stream The stream to output to.  Can be a stringstream, a file stream, or
+        even cout! */
+      PortableBinaryOutputArchive(std::ostream & stream) :
+        OutputArchive<PortableBinaryOutputArchive, AllowEmptyClassElision>(this),
+        itsStream(stream)
+      {
+        this->operator()( portable_binary_detail::is_little_endian() );
+      }
+
+      //! Writes size bytes of data to the output stream
+      void saveBinary( const void * data, std::size_t size )
+      {
+        auto const writtenSize = static_cast<std::size_t>( itsStream.rdbuf()->sputn( reinterpret_cast<const char*>( data ), size ) );
+
+        if(writtenSize != size)
+          throw Exception("Failed to write " + std::to_string(size) + " bytes to output stream! Wrote " + std::to_string(writtenSize));
+      }
+
+    private:
+      std::ostream & itsStream;
+  };
+
+  // ######################################################################
+  //! An input archive designed to load data saved using PortableBinaryOutputArchive
+  /*! This archive outputs data to a stream in an extremely compact binary
+      representation with as little extra metadata as possible.
+
+      This archive will load the endianness of the serialized data and
+      if necessary transform it to match that of the local machine.  This comes
+      at a significant performance cost compared to non portable archives if
+      the transformation is necessary, and also causes a small performance hit
+      even if it is not necessary.
+
+      It is recommended to use portable archives only if you know that you will
+      be sending binary data to machines with different endianness.
+
+      The archive will do nothing to ensure types are the same size - that is
+      the responsibility of the user.
+
+      When using a binary archive and a file stream, you must use the
+      std::ios::binary format flag to avoid having your data altered
+      inadvertently.
+
+      \warning This archive has not been thoroughly tested across different architectures.
+               Please report any issues, optimizations, or feature requests at
+               <a href="www.github.com/USCiLab/cereal">the project github</a>.
+
+    \ingroup Archives */
+  class PortableBinaryInputArchive : public InputArchive<PortableBinaryInputArchive, AllowEmptyClassElision>
+  {
+    public:
+      //! Construct, loading from the provided stream
+      /*! @param stream The stream to read from. */
+      PortableBinaryInputArchive(std::istream & stream) :
+        InputArchive<PortableBinaryInputArchive, AllowEmptyClassElision>(this),
+        itsStream(stream),
+        itsConvertEndianness( false )
+      {
+        bool streamLittleEndian;
+        this->operator()( streamLittleEndian );
+        itsConvertEndianness = portable_binary_detail::is_little_endian() ^ streamLittleEndian;
+      }
+
+      //! Reads size bytes of data from the input stream
+      /*! @param data The data to save
+          @param size The number of bytes in the data
+          @tparam DataSize T The size of the actual type of the data elements being loaded */
+      template <std::size_t DataSize>
+      void loadBinary( void * const data, std::size_t size )
+      {
+        // load data
+        auto const readSize = static_cast<std::size_t>( itsStream.rdbuf()->sgetn( reinterpret_cast<char*>( data ), size ) );
+
+        if(readSize != size)
+          throw Exception("Failed to read " + std::to_string(size) + " bytes from input stream! Read " + std::to_string(readSize));
+
+        // flip bits if needed
+        if( itsConvertEndianness )
+        {
+          std::uint8_t * ptr = reinterpret_cast<std::uint8_t*>( data );
+          for( std::size_t i = 0; i < size; i += DataSize )
+            portable_binary_detail::swap_bytes<DataSize>( ptr );
+        }
+      }
+
+    private:
+      std::istream & itsStream;
+      bool itsConvertEndianness; //!< If set to true, we will need to swap bytes upon loading
+  };
+
+  // ######################################################################
+  // Common BinaryArchive serialization functions
+
+  //! Saving for POD types to portable binary
+  template<class T> inline
+  typename std::enable_if<std::is_arithmetic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME(PortableBinaryOutputArchive & ar, T const & t)
+  {
+    static_assert( !std::is_floating_point<T>::value ||
+                   (std::is_floating_point<T>::value && std::numeric_limits<T>::is_iec559),
+                   "Portable binary only supports IEEE 754 standardized floating point" );
+    ar.saveBinary(std::addressof(t), sizeof(t));
+  }
+
+  //! Loading for POD types from portable binary
+  template<class T> inline
+  typename std::enable_if<std::is_arithmetic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME(PortableBinaryInputArchive & ar, T & t)
+  {
+    static_assert( !std::is_floating_point<T>::value ||
+                   (std::is_floating_point<T>::value && std::numeric_limits<T>::is_iec559),
+                   "Portable binary only supports IEEE 754 standardized floating point" );
+    ar.template loadBinary<sizeof(T)>(std::addressof(t), sizeof(t));
+  }
+
+  //! Serializing NVP types to portable binary
+  template <class Archive, class T> inline
+  CEREAL_ARCHIVE_RESTRICT(PortableBinaryInputArchive, PortableBinaryOutputArchive)
+  CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, NameValuePair<T> & t )
+  {
+    ar( t.value );
+  }
+
+  //! Serializing SizeTags to portable binary
+  template <class Archive, class T> inline
+  CEREAL_ARCHIVE_RESTRICT(PortableBinaryInputArchive, PortableBinaryOutputArchive)
+  CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, SizeTag<T> & t )
+  {
+    ar( t.size );
+  }
+
+  //! Saving binary data to portable binary
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME(PortableBinaryOutputArchive & ar, BinaryData<T> const & bd)
+  {
+    typedef typename std::remove_pointer<T>::type TT;
+    static_assert( !std::is_floating_point<TT>::value ||
+                   (std::is_floating_point<TT>::value && std::numeric_limits<TT>::is_iec559),
+                   "Portable binary only supports IEEE 754 standardized floating point" );
+
+    ar.saveBinary( bd.data, static_cast<std::size_t>( bd.size ) );
+  }
+
+  //! Loading binary data from portable binary
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME(PortableBinaryInputArchive & ar, BinaryData<T> & bd)
+  {
+    typedef typename std::remove_pointer<T>::type TT;
+    static_assert( !std::is_floating_point<TT>::value ||
+                   (std::is_floating_point<TT>::value && std::numeric_limits<TT>::is_iec559),
+                   "Portable binary only supports IEEE 754 standardized floating point" );
+
+    ar.template loadBinary<sizeof(TT)>( bd.data, static_cast<std::size_t>( bd.size ) );
+  }
+} // namespace cereal
+
+// register archives for polymorphic support
+CEREAL_REGISTER_ARCHIVE(cereal::PortableBinaryOutputArchive)
+CEREAL_REGISTER_ARCHIVE(cereal::PortableBinaryInputArchive)
+
+// tie input and output archives together
+CEREAL_SETUP_ARCHIVE_TRAITS(cereal::PortableBinaryInputArchive, cereal::PortableBinaryOutputArchive)
+
+#endif // CEREAL_ARCHIVES_PORTABLE_BINARY_HPP_
diff --git a/3rdparty/include/cereal/archives/xml.hpp b/3rdparty/include/cereal/archives/xml.hpp
new file mode 100644
index 0000000..d04cf6a
--- /dev/null
+++ b/3rdparty/include/cereal/archives/xml.hpp
@@ -0,0 +1,882 @@
+/*! \file xml.hpp
+    \brief XML input and output archives */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_ARCHIVES_XML_HPP_
+#define CEREAL_ARCHIVES_XML_HPP_
+#include <cereal/cereal.hpp>
+#include <cereal/details/util.hpp>
+
+#include <cereal/external/rapidxml/rapidxml.hpp>
+#include <cereal/external/rapidxml/rapidxml_print.hpp>
+#include <cereal/external/base64.hpp>
+
+#include <sstream>
+#include <stack>
+#include <vector>
+#include <limits>
+#include <string>
+#include <cstring>
+#include <cmath>
+
+namespace cereal
+{
+  namespace xml_detail
+  {
+    #ifndef CEREAL_XML_STRING_VALUE
+    //! The default name for the root node in a cereal xml archive.
+    /*! You can define CEREAL_XML_STRING_VALUE to be different assuming you do so
+        before this file is included. */
+    #define CEREAL_XML_STRING_VALUE "cereal"
+    #endif // CEREAL_XML_STRING_VALUE
+
+    //! The name given to the root node in a cereal xml archive
+    static const char * CEREAL_XML_STRING = CEREAL_XML_STRING_VALUE;
+
+    //! Returns true if the character is whitespace
+    inline bool isWhitespace( char c )
+    {
+      return c == ' ' || c == '\t' || c == '\n' || c == '\r';
+    }
+  }
+
+  // ######################################################################
+  //! An output archive designed to save data to XML
+  /*! This archive uses RapidXML to build an in memory XML tree of the
+      data it serializes before outputting it to its stream upon destruction.
+      The envisioned way of using this archive is in an RAII fashion, letting
+      the automatic destruction of the object cause the flush to its stream.
+
+      XML archives provides a human readable output but at decreased
+      performance (both in time and space) compared to binary archives.
+
+      XML benefits greatly from name-value pairs, which if present, will
+      name the nodes in the output.  If these are not present, each level
+      of the output tree will be given an automatically generated delimited name.
+
+      The precision of the output archive controls the number of decimals output
+      for floating point numbers and should be sufficiently large (i.e. at least 20)
+      if there is a desire to have binary equality between the numbers output and
+      those read in.  In general you should expect a loss of precision when going
+      from floating point to text and back.
+
+      XML archives can optionally print the type of everything they serialize, which
+      adds an attribute to each node.
+
+      XML archives do not output the size information for any dynamically sized structure
+      and instead infer it from the number of children for a node.  This means that data
+      can be hand edited for dynamic sized structures and will still be readable.  This
+      is accomplished through the cereal::SizeTag object, which will also add an attribute
+      to its parent field.
+      \ingroup Archives */
+  class XMLOutputArchive : public OutputArchive<XMLOutputArchive>, public traits::TextArchive
+  {
+    public:
+      /*! @name Common Functionality
+          Common use cases for directly interacting with an XMLOutputArchive */
+      //! @{
+
+      //! A class containing various advanced options for the XML archive
+      class Options
+      {
+        public:
+          //! Default options
+          static Options Default(){ return Options(); }
+
+          //! Default options with no indentation
+          static Options NoIndent(){ return Options( std::numeric_limits<double>::max_digits10, false ); }
+
+          //! Specify specific options for the XMLOutputArchive
+          /*! @param precision The precision used for floating point numbers
+              @param indent Whether to indent each line of XML
+              @param outputType Whether to output the type of each serialized object as an attribute */
+          explicit Options( int precision = std::numeric_limits<double>::max_digits10,
+                            bool indent = true,
+                            bool outputType = false ) :
+            itsPrecision( precision ),
+            itsIndent( indent ),
+            itsOutputType( outputType ) { }
+
+        private:
+          friend class XMLOutputArchive;
+          int itsPrecision;
+          bool itsIndent;
+          bool itsOutputType;
+      };
+
+      //! Construct, outputting to the provided stream upon destruction
+      /*! @param stream  The stream to output to.  Note that XML is only guaranteed to flush
+                         its output to the stream upon destruction.
+          @param options The XML specific options to use.  See the Options struct
+                         for the values of default parameters */
+      XMLOutputArchive( std::ostream & stream, Options const & options = Options::Default() ) :
+        OutputArchive<XMLOutputArchive>(this),
+        itsStream(stream),
+        itsOutputType( options.itsOutputType ),
+        itsIndent( options.itsIndent )
+      {
+        // rapidxml will delete all allocations when xml_document is cleared
+        auto node = itsXML.allocate_node( rapidxml::node_declaration );
+        node->append_attribute( itsXML.allocate_attribute( "version", "1.0" ) );
+        node->append_attribute( itsXML.allocate_attribute( "encoding", "utf-8" ) );
+        itsXML.append_node( node );
+
+        // allocate root node
+        auto root = itsXML.allocate_node( rapidxml::node_element, xml_detail::CEREAL_XML_STRING );
+        itsXML.append_node( root );
+        itsNodes.emplace( root );
+
+        // set attributes on the streams
+        itsStream << std::boolalpha;
+        itsStream.precision( options.itsPrecision );
+        itsOS << std::boolalpha;
+        itsOS.precision( options.itsPrecision );
+      }
+
+      //! Destructor, flushes the XML
+      ~XMLOutputArchive()
+      {
+        const int flags = itsIndent ? 0x0 : rapidxml::print_no_indenting;
+        rapidxml::print( itsStream, itsXML, flags );
+        itsXML.clear();
+      }
+
+      //! Saves some binary data, encoded as a base64 string, with an optional name
+      /*! This can be called directly by users and it will automatically create a child node for
+          the current XML node, populate it with a base64 encoded string, and optionally name
+          it.  The node will be finished after it has been populated.  */
+      void saveBinaryValue( const void * data, size_t size, const char * name = nullptr )
+      {
+        itsNodes.top().name = name;
+
+        startNode();
+
+        auto base64string = base64::encode( reinterpret_cast<const unsigned char *>( data ), size );
+        saveValue( base64string );
+
+        if( itsOutputType )
+          itsNodes.top().node->append_attribute( itsXML.allocate_attribute( "type", "cereal binary data" ) );
+
+        finishNode();
+      };
+
+      //! @}
+      /*! @name Internal Functionality
+          Functionality designed for use by those requiring control over the inner mechanisms of
+          the XMLOutputArchive */
+      //! @{
+
+      //! Creates a new node that is a child of the node at the top of the stack
+      /*! Nodes will be given a name that has either been pre-set by a name value pair,
+          or generated based upon a counter unique to the parent node.  If you want to
+          give a node a specific name, use setNextName prior to calling startNode.
+
+          The node will then be pushed onto the node stack. */
+      void startNode()
+      {
+        // generate a name for this new node
+        const auto nameString = itsNodes.top().getValueName();
+
+        // allocate strings for all of the data in the XML object
+        auto namePtr = itsXML.allocate_string( nameString.data(), nameString.length() + 1 );
+
+        // insert into the XML
+        auto node = itsXML.allocate_node( rapidxml::node_element, namePtr, nullptr, nameString.size() );
+        itsNodes.top().node->append_node( node );
+        itsNodes.emplace( node );
+      }
+
+      //! Designates the most recently added node as finished
+      void finishNode()
+      {
+        itsNodes.pop();
+      }
+
+      //! Sets the name for the next node created with startNode
+      void setNextName( const char * name )
+      {
+        itsNodes.top().name = name;
+      }
+
+      //! Saves some data, encoded as a string, into the current top level node
+      /*! The data will be be named with the most recent name if one exists,
+          otherwise it will be given some default delimited value that depends upon
+          the parent node */
+      template <class T> inline
+      void saveValue( T const & value )
+      {
+        itsOS.clear(); itsOS.seekp( 0, std::ios::beg );
+        itsOS << value << std::ends;
+
+        const auto strValue = itsOS.str();
+
+        // If the first or last character is a whitespace, add xml:space attribute
+        // the string always contains a '\0' added by std::ends, so the last character is at len-2 and an 'empty' 
+        // string has a length of 1 or lower
+        const auto len = strValue.length();
+        if ( len > 1 && ( xml_detail::isWhitespace( strValue[0] ) || xml_detail::isWhitespace( strValue[len - 2] ) ) )
+        {
+          itsNodes.top().node->append_attribute( itsXML.allocate_attribute( "xml:space", "preserve" ) );
+        }
+
+        // allocate strings for all of the data in the XML object
+        auto dataPtr = itsXML.allocate_string( itsOS.str().c_str(), itsOS.str().length() + 1 );
+
+        // insert into the XML
+        itsNodes.top().node->append_node( itsXML.allocate_node( rapidxml::node_data, nullptr, dataPtr ) );
+      }
+
+      //! Overload for uint8_t prevents them from being serialized as characters
+      void saveValue( uint8_t const & value )
+      {
+        saveValue( static_cast<uint32_t>( value ) );
+      }
+
+      //! Overload for int8_t prevents them from being serialized as characters
+      void saveValue( int8_t const & value )
+      {
+        saveValue( static_cast<int32_t>( value ) );
+      }
+
+      //! Causes the type to be appended as an attribute to the most recently made node if output type is set to true
+      template <class T> inline
+      void insertType()
+      {
+        if( !itsOutputType )
+          return;
+
+        // generate a name for this new node
+        const auto nameString = util::demangledName<T>();
+
+        // allocate strings for all of the data in the XML object
+        auto namePtr = itsXML.allocate_string( nameString.data(), nameString.length() + 1 );
+
+        itsNodes.top().node->append_attribute( itsXML.allocate_attribute( "type", namePtr ) );
+      }
+
+      //! Appends an attribute to the current top level node
+      void appendAttribute( const char * name, const char * value )
+      {
+        auto namePtr =  itsXML.allocate_string( name );
+        auto valuePtr = itsXML.allocate_string( value );
+        itsNodes.top().node->append_attribute( itsXML.allocate_attribute( namePtr, valuePtr ) );
+      }
+
+    protected:
+      //! A struct that contains metadata about a node
+      struct NodeInfo
+      {
+        NodeInfo( rapidxml::xml_node<> * n = nullptr,
+                  const char * nm = nullptr ) :
+          node( n ),
+          counter( 0 ),
+          name( nm )
+        { }
+
+        rapidxml::xml_node<> * node; //!< A pointer to this node
+        size_t counter;              //!< The counter for naming child nodes
+        const char * name;           //!< The name for the next child node
+
+        //! Gets the name for the next child node created from this node
+        /*! The name will be automatically generated using the counter if
+            a name has not been previously set.  If a name has been previously
+            set, that name will be returned only once */
+        std::string getValueName()
+        {
+          if( name )
+          {
+            auto n = name;
+            name = nullptr;
+            return {n};
+          }
+          else
+            return "value" + std::to_string( counter++ ) + "\0";
+        }
+      }; // NodeInfo
+
+      //! @}
+
+    private:
+      std::ostream & itsStream;        //!< The output stream
+      rapidxml::xml_document<> itsXML; //!< The XML document
+      std::stack<NodeInfo> itsNodes;   //!< A stack of nodes added to the document
+      std::ostringstream itsOS;        //!< Used to format strings internally
+      bool itsOutputType;              //!< Controls whether type information is printed
+      bool itsIndent;                  //!< Controls whether indenting is used
+  }; // XMLOutputArchive
+
+  // ######################################################################
+  //! An output archive designed to load data from XML
+  /*! This archive uses RapidXML to build an in memory XML tree of the
+      data in the stream it is given before loading any types serialized.
+
+      Input XML should have been produced by the XMLOutputArchive.  Data can
+      only be added to dynamically sized containers - the input archive will
+      determine their size by looking at the number of child nodes.  Data that
+      did not originate from an XMLOutputArchive is not officially supported,
+      but may be possible to use if properly formatted.
+
+      The XMLInputArchive does not require that nodes are loaded in the same
+      order they were saved by XMLOutputArchive.  Using name value pairs (NVPs),
+      it is possible to load in an out of order fashion or otherwise skip/select
+      specific nodes to load.
+
+      The default behavior of the input archive is to read sequentially starting
+      with the first node and exploring its children.  When a given NVP does
+      not match the read in name for a node, the archive will search for that
+      node at the current level and load it if it exists.  After loading an out of
+      order node, the archive will then proceed back to loading sequentially from
+      its new position.
+
+      Consider this simple example where loading of some data is skipped:
+
+      @code{cpp}
+      // imagine the input file has someData(1-9) saved in order at the top level node
+      ar( someData1, someData2, someData3 );        // XML loads in the order it sees in the file
+      ar( cereal::make_nvp( "hello", someData6 ) ); // NVP given does not
+                                                    // match expected NVP name, so we search
+                                                    // for the given NVP and load that value
+      ar( someData7, someData8, someData9 );        // with no NVP given, loading resumes at its
+                                                    // current location, proceeding sequentially
+      @endcode
+
+      \ingroup Archives */
+  class XMLInputArchive : public InputArchive<XMLInputArchive>, public traits::TextArchive
+  {
+    public:
+      /*! @name Common Functionality
+          Common use cases for directly interacting with an XMLInputArchive */
+      //! @{
+
+      //! Construct, reading in from the provided stream
+      /*! Reads in an entire XML document from some stream and parses it as soon
+          as serialization starts
+
+          @param stream The stream to read from.  Can be a stringstream or a file. */
+      XMLInputArchive( std::istream & stream ) :
+        InputArchive<XMLInputArchive>( this ),
+        itsData( std::istreambuf_iterator<char>( stream ), std::istreambuf_iterator<char>() )
+      {
+        try
+        {
+          itsData.push_back('\0'); // rapidxml will do terrible things without the data being null terminated
+          itsXML.parse<rapidxml::parse_trim_whitespace | rapidxml::parse_no_data_nodes | rapidxml::parse_declaration_node>( reinterpret_cast<char *>( itsData.data() ) );
+        }
+        catch( rapidxml::parse_error const & )
+        {
+          //std::cerr << "-----Original-----" << std::endl;
+          //stream.seekg(0);
+          //std::cout << std::string( std::istreambuf_iterator<char>( stream ), std::istreambuf_iterator<char>() ) << std::endl;
+
+          //std::cerr << "-----Error-----" << std::endl;
+          //std::cerr << e.what() << std::endl;
+          //std::cerr << e.where<char>() << std::endl;
+          throw Exception("XML Parsing failed - likely due to invalid characters or invalid naming");
+        }
+
+        // Parse the root
+        auto root = itsXML.first_node( xml_detail::CEREAL_XML_STRING );
+        if( root == nullptr )
+          throw Exception("Could not detect cereal root node - likely due to empty or invalid input");
+        else
+          itsNodes.emplace( root );
+      }
+
+      //! Loads some binary data, encoded as a base64 string, optionally specified by some name
+      /*! This will automatically start and finish a node to load the data, and can be called directly by
+          users.
+
+          Note that this follows the same ordering rules specified in the class description in regards
+          to loading in/out of order */
+      void loadBinaryValue( void * data, size_t size, const char * name = nullptr )
+      {
+        setNextName( name );
+        startNode();
+
+        std::string encoded;
+        loadValue( encoded );
+
+        auto decoded = base64::decode( encoded );
+
+        if( size != decoded.size() )
+          throw Exception("Decoded binary data size does not match specified size");
+
+        std::memcpy( data, decoded.data(), decoded.size() );
+
+        finishNode();
+      };
+
+      //! @}
+      /*! @name Internal Functionality
+          Functionality designed for use by those requiring control over the inner mechanisms of
+          the XMLInputArchive */
+      //! @{
+
+      //! Prepares to start reading the next node
+      /*! This places the next node to be parsed onto the nodes stack.
+
+          By default our strategy is to start with the document root node and then
+          recursively iterate through all children in the order they show up in the document.
+          We don't need to know NVPs do to this; we'll just blindly load in the order things appear in.
+
+          We check to see if the specified NVP matches what the next automatically loaded node is.  If they
+          match, we just continue as normal, going in order.  If they don't match, we attempt to find a node
+          named after the NVP that is being loaded.  If that NVP does not exist, we throw an exception. */
+      void startNode()
+      {
+        auto next = itsNodes.top().child; // By default we would move to the next child node
+        auto const expectedName = itsNodes.top().name; // this is the expected name from the NVP, if provided
+
+        // If we were given an NVP name, look for it in the current level of the document.
+        //    We only need to do this if either we have exhausted the siblings of the current level or
+        //    the NVP name does not match the name of the node we would normally read next
+        if( expectedName && ( next == nullptr || std::strcmp( next->name(), expectedName ) != 0 ) )
+        {
+          next = itsNodes.top().search( expectedName );
+
+          if( next == nullptr )
+            throw Exception("XML Parsing failed - provided NVP not found");
+        }
+
+        itsNodes.emplace( next );
+      }
+
+      //! Finishes reading the current node
+      void finishNode()
+      {
+        // remove current
+        itsNodes.pop();
+
+        // advance parent
+        itsNodes.top().advance();
+
+        // Reset name
+        itsNodes.top().name = nullptr;
+      }
+
+      //! Retrieves the current node name
+      //! will return @c nullptr if the node does not have a name
+      const char * getNodeName() const
+      {
+        return itsNodes.top().node->name();
+      }
+
+      //! Sets the name for the next node created with startNode
+      void setNextName( const char * name )
+      {
+        itsNodes.top().name = name;
+      }
+
+      //! Loads a bool from the current top node
+      template <class T, traits::EnableIf<std::is_unsigned<T>::value,
+                                          std::is_same<T, bool>::value> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        std::istringstream is( itsNodes.top().node->value() );
+        is.setf( std::ios::boolalpha );
+        is >> value;
+      }
+
+      //! Loads a char (signed or unsigned) from the current top node
+      template <class T, traits::EnableIf<std::is_integral<T>::value,
+                                          !std::is_same<T, bool>::value,
+                                          sizeof(T) == sizeof(char)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = *reinterpret_cast<T*>( itsNodes.top().node->value() );
+      }
+
+      //! Load an int8_t from the current top node (ensures we parse entire number)
+      void loadValue( int8_t & value )
+      {
+        int32_t val; loadValue( val ); value = static_cast<int8_t>( val );
+      }
+
+      //! Load a uint8_t from the current top node (ensures we parse entire number)
+      void loadValue( uint8_t & value )
+      {
+        uint32_t val; loadValue( val ); value = static_cast<uint8_t>( val );
+      }
+
+      //! Loads a type best represented as an unsigned long from the current top node
+      template <class T, traits::EnableIf<std::is_unsigned<T>::value,
+                                          !std::is_same<T, bool>::value,
+                                          !std::is_same<T, unsigned char>::value,
+                                          sizeof(T) < sizeof(long long)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = static_cast<T>( std::stoul( itsNodes.top().node->value() ) );
+      }
+
+      //! Loads a type best represented as an unsigned long long from the current top node
+      template <class T, traits::EnableIf<std::is_unsigned<T>::value,
+                                          !std::is_same<T, bool>::value,
+                                          sizeof(T) >= sizeof(long long)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = static_cast<T>( std::stoull( itsNodes.top().node->value() ) );
+      }
+
+      //! Loads a type best represented as an int from the current top node
+      template <class T, traits::EnableIf<std::is_signed<T>::value,
+                                          !std::is_same<T, char>::value,
+                                          sizeof(T) <= sizeof(int)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = static_cast<T>( std::stoi( itsNodes.top().node->value() ) );
+      }
+
+      //! Loads a type best represented as a long from the current top node
+      template <class T, traits::EnableIf<std::is_signed<T>::value,
+                                          (sizeof(T) > sizeof(int)),
+                                          sizeof(T) <= sizeof(long)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = static_cast<T>( std::stol( itsNodes.top().node->value() ) );
+      }
+
+      //! Loads a type best represented as a long long from the current top node
+      template <class T, traits::EnableIf<std::is_signed<T>::value,
+                                          (sizeof(T) > sizeof(long)),
+                                          sizeof(T) <= sizeof(long long)> = traits::sfinae> inline
+      void loadValue( T & value )
+      {
+        value = static_cast<T>( std::stoll( itsNodes.top().node->value() ) );
+      }
+
+      //! Loads a type best represented as a float from the current top node
+      void loadValue( float & value )
+      {
+        try
+        {
+          value = std::stof( itsNodes.top().node->value() );
+        }
+        catch( std::out_of_range const & )
+        {
+          // special case for denormalized values
+          std::istringstream is( itsNodes.top().node->value() );
+          is >> value;
+          if( std::fpclassify( value ) != FP_SUBNORMAL )
+            throw;
+        }
+      }
+
+      //! Loads a type best represented as a double from the current top node
+      void loadValue( double & value )
+      {
+        try
+        {
+          value = std::stod( itsNodes.top().node->value() );
+        }
+        catch( std::out_of_range const & )
+        {
+          // special case for denormalized values
+          std::istringstream is( itsNodes.top().node->value() );
+          is >> value;
+          if( std::fpclassify( value ) != FP_SUBNORMAL )
+            throw;
+        }
+      }
+
+      //! Loads a type best represented as a long double from the current top node
+      void loadValue( long double & value )
+      {
+        try
+        {
+          value = std::stold( itsNodes.top().node->value() );
+        }
+        catch( std::out_of_range const & )
+        {
+          // special case for denormalized values
+          std::istringstream is( itsNodes.top().node->value() );
+          is >> value;
+          if( std::fpclassify( value ) != FP_SUBNORMAL )
+            throw;
+        }
+      }
+
+      //! Loads a string from the current node from the current top node
+      template<class CharT, class Traits, class Alloc> inline
+      void loadValue( std::basic_string<CharT, Traits, Alloc> & str )
+      {
+        std::basic_istringstream<CharT, Traits> is( itsNodes.top().node->value() );
+
+        str.assign( std::istreambuf_iterator<CharT, Traits>( is ),
+                    std::istreambuf_iterator<CharT, Traits>() );
+      }
+
+      //! Loads the size of the current top node
+      template <class T> inline
+      void loadSize( T & value )
+      {
+        value = getNumChildren( itsNodes.top().node );
+      }
+
+    protected:
+      //! Gets the number of children (usually interpreted as size) for the specified node
+      static size_t getNumChildren( rapidxml::xml_node<> * node )
+      {
+        size_t size = 0;
+        node = node->first_node(); // get first child
+
+        while( node != nullptr )
+        {
+          ++size;
+          node = node->next_sibling();
+        }
+
+        return size;
+      }
+
+      //! A struct that contains metadata about a node
+      /*! Keeps track of some top level node, its number of
+          remaining children, and the current active child node */
+      struct NodeInfo
+      {
+        NodeInfo( rapidxml::xml_node<> * n = nullptr ) :
+          node( n ),
+          child( n->first_node() ),
+          size( XMLInputArchive::getNumChildren( n ) ),
+          name( nullptr )
+        { }
+
+        //! Advances to the next sibling node of the child
+        /*! If this is the last sibling child will be null after calling */
+        void advance()
+        {
+          if( size > 0 )
+          {
+            --size;
+            child = child->next_sibling();
+          }
+        }
+
+        //! Searches for a child with the given name in this node
+        /*! @param searchName The name to search for (must be null terminated)
+            @return The node if found, nullptr otherwise */
+        rapidxml::xml_node<> * search( const char * searchName )
+        {
+          if( searchName )
+          {
+            size_t new_size = XMLInputArchive::getNumChildren( node );
+            const size_t name_size = rapidxml::internal::measure( searchName );
+
+            for( auto new_child = node->first_node(); new_child != nullptr; new_child = new_child->next_sibling() )
+            {
+              if( rapidxml::internal::compare( new_child->name(), new_child->name_size(), searchName, name_size, true ) )
+              {
+                size = new_size;
+                child = new_child;
+
+                return new_child;
+              }
+              --new_size;
+            }
+          }
+
+          return nullptr;
+        }
+
+        rapidxml::xml_node<> * node;  //!< A pointer to this node
+        rapidxml::xml_node<> * child; //!< A pointer to its current child
+        size_t size;                  //!< The remaining number of children for this node
+        const char * name;            //!< The NVP name for next next child node
+      }; // NodeInfo
+
+      //! @}
+
+    private:
+      std::vector<char> itsData;       //!< The raw data loaded
+      rapidxml::xml_document<> itsXML; //!< The XML document
+      std::stack<NodeInfo> itsNodes;   //!< A stack of nodes read from the document
+  };
+
+  // ######################################################################
+  // XMLArchive prologue and epilogue functions
+  // ######################################################################
+
+  // ######################################################################
+  //! Prologue for NVPs for XML output archives
+  /*! NVPs do not start or finish nodes - they just set up the names */
+  template <class T> inline
+  void prologue( XMLOutputArchive &, NameValuePair<T> const & )
+  { }
+
+  //! Prologue for NVPs for XML input archives
+  template <class T> inline
+  void prologue( XMLInputArchive &, NameValuePair<T> const & )
+  { }
+
+  // ######################################################################
+  //! Epilogue for NVPs for XML output archives
+  /*! NVPs do not start or finish nodes - they just set up the names */
+  template <class T> inline
+  void epilogue( XMLOutputArchive &, NameValuePair<T> const & )
+  { }
+
+  //! Epilogue for NVPs for XML input archives
+  template <class T> inline
+  void epilogue( XMLInputArchive &, NameValuePair<T> const & )
+  { }
+
+  // ######################################################################
+  //! Prologue for SizeTags for XML output archives
+  /*! SizeTags do not start or finish nodes */
+  template <class T> inline
+  void prologue( XMLOutputArchive & ar, SizeTag<T> const & )
+  {
+    ar.appendAttribute( "size", "dynamic" );
+  }
+
+  template <class T> inline
+  void prologue( XMLInputArchive &, SizeTag<T> const & )
+  { }
+
+  //! Epilogue for SizeTags for XML output archives
+  /*! SizeTags do not start or finish nodes */
+  template <class T> inline
+  void epilogue( XMLOutputArchive &, SizeTag<T> const & )
+  { }
+
+  template <class T> inline
+  void epilogue( XMLInputArchive &, SizeTag<T> const & )
+  { }
+
+  // ######################################################################
+  //! Prologue for all other types for XML output archives (except minimal types)
+  /*! Starts a new node, named either automatically or by some NVP,
+      that may be given data by the type about to be archived
+
+      Minimal types do not start or end nodes */
+  template <class T, traits::DisableIf<traits::has_minimal_base_class_serialization<T, traits::has_minimal_output_serialization, XMLOutputArchive>::value ||
+                                       traits::has_minimal_output_serialization<T, XMLOutputArchive>::value> = traits::sfinae> inline
+  void prologue( XMLOutputArchive & ar, T const & )
+  {
+    ar.startNode();
+    ar.insertType<T>();
+  }
+
+  //! Prologue for all other types for XML input archives (except minimal types)
+  template <class T, traits::DisableIf<traits::has_minimal_base_class_serialization<T, traits::has_minimal_input_serialization, XMLInputArchive>::value ||
+                                       traits::has_minimal_input_serialization<T, XMLInputArchive>::value> = traits::sfinae> inline
+  void prologue( XMLInputArchive & ar, T const & )
+  {
+    ar.startNode();
+  }
+
+  // ######################################################################
+  //! Epilogue for all other types other for XML output archives (except minimal types)
+  /*! Finishes the node created in the prologue
+
+      Minimal types do not start or end nodes */
+  template <class T, traits::DisableIf<traits::has_minimal_base_class_serialization<T, traits::has_minimal_output_serialization, XMLOutputArchive>::value ||
+                                       traits::has_minimal_output_serialization<T, XMLOutputArchive>::value> = traits::sfinae> inline
+  void epilogue( XMLOutputArchive & ar, T const & )
+  {
+    ar.finishNode();
+  }
+
+  //! Epilogue for all other types other for XML output archives (except minimal types)
+  template <class T, traits::DisableIf<traits::has_minimal_base_class_serialization<T, traits::has_minimal_input_serialization, XMLInputArchive>::value ||
+                                       traits::has_minimal_input_serialization<T, XMLInputArchive>::value> = traits::sfinae> inline
+  void epilogue( XMLInputArchive & ar, T const & )
+  {
+    ar.finishNode();
+  }
+
+  // ######################################################################
+  // Common XMLArchive serialization functions
+  // ######################################################################
+
+  //! Saving NVP types to XML
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( XMLOutputArchive & ar, NameValuePair<T> const & t )
+  {
+    ar.setNextName( t.name );
+    ar( t.value );
+  }
+
+  //! Loading NVP types from XML
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME( XMLInputArchive & ar, NameValuePair<T> & t )
+  {
+    ar.setNextName( t.name );
+    ar( t.value );
+  }
+
+  // ######################################################################
+  //! Saving SizeTags to XML
+  template <class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( XMLOutputArchive &, SizeTag<T> const & )
+  { }
+
+  //! Loading SizeTags from XML
+  template <class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME( XMLInputArchive & ar, SizeTag<T> & st )
+  {
+    ar.loadSize( st.size );
+  }
+
+  // ######################################################################
+  //! Saving for POD types to xml
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void CEREAL_SAVE_FUNCTION_NAME(XMLOutputArchive & ar, T const & t)
+  {
+    ar.saveValue( t );
+  }
+
+  //! Loading for POD types from xml
+  template <class T, traits::EnableIf<std::is_arithmetic<T>::value> = traits::sfinae> inline
+  void CEREAL_LOAD_FUNCTION_NAME(XMLInputArchive & ar, T & t)
+  {
+    ar.loadValue( t );
+  }
+
+  // ######################################################################
+  //! saving string to xml
+  template<class CharT, class Traits, class Alloc> inline
+  void CEREAL_SAVE_FUNCTION_NAME(XMLOutputArchive & ar, std::basic_string<CharT, Traits, Alloc> const & str)
+  {
+    ar.saveValue( str );
+  }
+
+  //! loading string from xml
+  template<class CharT, class Traits, class Alloc> inline
+  void CEREAL_LOAD_FUNCTION_NAME(XMLInputArchive & ar, std::basic_string<CharT, Traits, Alloc> & str)
+  {
+    ar.loadValue( str );
+  }
+} // namespace cereal
+
+// register archives for polymorphic support
+CEREAL_REGISTER_ARCHIVE(cereal::XMLOutputArchive)
+CEREAL_REGISTER_ARCHIVE(cereal::XMLInputArchive)
+
+// tie input and output archives together
+CEREAL_SETUP_ARCHIVE_TRAITS(cereal::XMLInputArchive, cereal::XMLOutputArchive)
+
+#endif // CEREAL_ARCHIVES_XML_HPP_
diff --git a/3rdparty/include/cereal/cereal.hpp b/3rdparty/include/cereal/cereal.hpp
new file mode 100644
index 0000000..040366d
--- /dev/null
+++ b/3rdparty/include/cereal/cereal.hpp
@@ -0,0 +1,955 @@
+/*! \file cereal.hpp
+    \brief Main cereal functionality */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_CEREAL_HPP_
+#define CEREAL_CEREAL_HPP_
+
+#include <type_traits>
+#include <string>
+#include <memory>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+
+#include <cereal/macros.hpp>
+#include <cereal/details/traits.hpp>
+#include <cereal/details/helpers.hpp>
+#include <cereal/types/base_class.hpp>
+
+namespace cereal
+{
+  // ######################################################################
+  //! Creates a name value pair
+  /*! @relates NameValuePair
+      @ingroup Utility */
+  template <class T> inline
+  NameValuePair<T> make_nvp( std::string const & name, T && value )
+  {
+    return {name.c_str(), std::forward<T>(value)};
+  }
+
+  //! Creates a name value pair
+  /*! @relates NameValuePair
+      @ingroup Utility */
+  template <class T> inline
+  NameValuePair<T> make_nvp( const char * name, T && value )
+  {
+    return {name, std::forward<T>(value)};
+  }
+
+  //! Creates a name value pair for the variable T with the same name as the variable
+  /*! @relates NameValuePair
+      @ingroup Utility */
+  #define CEREAL_NVP(T) ::cereal::make_nvp(#T, T)
+
+  // ######################################################################
+  //! Convenience function to create binary data for both const and non const pointers
+  /*! @param data Pointer to beginning of the data
+      @param size The size in bytes of the data
+      @relates BinaryData
+      @ingroup Utility */
+  template <class T> inline
+  BinaryData<T> binary_data( T && data, size_t size )
+  {
+    return {std::forward<T>(data), size};
+  }
+
+  // ######################################################################
+  //! Creates a size tag from some variable.
+  /*! Will normally be used to serialize size (e.g. size()) information for
+      variable size containers.  If you have a variable sized container,
+      the very first thing it serializes should be its size, wrapped in
+      a SizeTag.
+
+      @relates SizeTag
+      @ingroup Utility */
+  template <class T>
+  SizeTag<T> make_size_tag( T && sz )
+  {
+    return {std::forward<T>(sz)};
+  }
+
+  // ######################################################################
+  //! Called before a type is serialized to set up any special archive state
+  //! for processing some type
+  /*! If designing a serializer that needs to set up any kind of special
+      state or output extra information for a type, specialize this function
+      for the archive type and the types that require the extra information.
+      @ingroup Internal */
+  template <class Archive, class T>
+  void prologue( Archive & /* archive */, T const & /* data */)
+  { }
+
+  //! Called after a type is serialized to tear down any special archive state
+  //! for processing some type
+  /*! @ingroup Internal */
+  template <class Archive, class T>
+  void epilogue( Archive & /* archive */, T const & /* data */)
+  { }
+
+  // ######################################################################
+  //! Special flags for archives
+  /*! AllowEmptyClassElision
+        This allows for empty classes to be serialized even if they do not provide
+        a serialization function.  Classes with no data members are considered to be
+        empty.  Be warned that if this is enabled and you attempt to serialize an
+        empty class with improperly formed serialize or load/save functions, no
+        static error will occur - the error will propogate silently and your
+        intended serialization functions may not be called.  You can manually
+        ensure that your classes that have custom serialization are correct
+        by using the traits is_output_serializable and is_input_serializable
+        in cereal/details/traits.hpp.
+      @ingroup Internal */
+  enum Flags { AllowEmptyClassElision = 1 };
+
+  // ######################################################################
+  //! Registers a specific Archive type with cereal
+  /*! This registration should be done once per archive.  A good place to
+      put this is immediately following the definition of your archive.
+      Archive registration is only strictly necessary if you wish to
+      support pointers to polymorphic data types.  All archives that
+      come with cereal are already registered.
+      @ingroup Internal */
+  #define CEREAL_REGISTER_ARCHIVE(Archive)                              \
+  namespace cereal { namespace detail {                                 \
+  template <class T, class BindingTag>                                  \
+  typename polymorphic_serialization_support<Archive, T>::type          \
+  instantiate_polymorphic_binding( T*, Archive*, BindingTag, adl_tag ); \
+  } } /* end namespaces */
+
+  // ######################################################################
+  //! Defines a class version for some type
+  /*! Versioning information is optional and adds some small amount of
+      overhead to serialization.  This overhead will occur both in terms of
+      space in the archive (the version information for each class will be
+      stored exactly once) as well as runtime (versioned serialization functions
+      must check to see if they need to load or store version information).
+
+      Versioning is useful if you plan on fundamentally changing the way some
+      type is serialized in the future.  Versioned serialization functions
+      cannot be used to load non-versioned data.
+
+      By default, all types have an assumed version value of zero.  By
+      using this macro, you may change the version number associated with
+      some type.  cereal will then use this value as a second parameter
+      to your serialization functions.
+
+      The interface for the serialization functions is nearly identical
+      to non-versioned serialization with the addition of a second parameter,
+      const std::uint32_t version, which will be supplied with the correct
+      version number.  Serializing the version number on a save happens
+      automatically.
+
+      Versioning cannot be mixed with non-versioned serialization functions.
+      Having both types will result result in a compile time error.  Data
+      serialized without versioning cannot be loaded by a serialization
+      function with added versioning support.
+
+      Example interface for versioning on a non-member serialize function:
+
+      @code{cpp}
+      CEREAL_CLASS_VERSION( Mytype, 77 ); // register class version
+
+      template <class Archive>
+      void serialize( Archive & ar, Mytype & t, const std::uint32_t version )
+      {
+        // When performing a load, the version associated with the class
+        // is whatever it was when that data was originally serialized
+        //
+        // When we save, we'll use the version that is defined in the macro
+
+        if( version >= some_number )
+          // do this
+        else
+          // do that
+      }
+      @endcode
+
+      Interfaces for other forms of serialization functions is similar.  This
+      macro should be placed at global scope.
+      @ingroup Utility */
+  #define CEREAL_CLASS_VERSION(TYPE, VERSION_NUMBER)                             \
+  namespace cereal { namespace detail {                                          \
+    template <> struct Version<TYPE>                                             \
+    {                                                                            \
+      static const std::uint32_t version;                                        \
+      static std::uint32_t registerVersion()                                     \
+      {                                                                          \
+        ::cereal::detail::StaticObject<Versions>::getInstance().mapping.emplace( \
+             std::type_index(typeid(TYPE)).hash_code(), VERSION_NUMBER );        \
+        return VERSION_NUMBER;                                                   \
+      }                                                                          \
+      static void unused() { (void)version; }                                    \
+    }; /* end Version */                                                         \
+    const std::uint32_t Version<TYPE>::version =                                 \
+      Version<TYPE>::registerVersion();                                          \
+  } } // end namespaces
+
+  // ######################################################################
+  //! The base output archive class
+  /*! This is the base output archive for all output archives.  If you create
+      a custom archive class, it should derive from this, passing itself as
+      a template parameter for the ArchiveType.
+
+      The base class provides all of the functionality necessary to
+      properly forward data to the correct serialization functions.
+
+      Individual archives should use a combination of prologue and
+      epilogue functions together with specializations of serialize, save,
+      and load to alter the functionality of their serialization.
+
+      @tparam ArchiveType The archive type that derives from OutputArchive
+      @tparam Flags Flags to control advanced functionality.  See the Flags
+                    enum for more information.
+      @ingroup Internal */
+  template<class ArchiveType, std::uint32_t Flags = 0>
+  class OutputArchive : public detail::OutputArchiveBase
+  {
+    public:
+      //! Construct the output archive
+      /*! @param derived A pointer to the derived ArchiveType (pass this from the derived archive) */
+      OutputArchive(ArchiveType * const derived) : self(derived), itsCurrentPointerId(1), itsCurrentPolymorphicTypeId(1)
+      { }
+
+      OutputArchive & operator=( OutputArchive const & ) = delete;
+
+      //! Serializes all passed in data
+      /*! This is the primary interface for serializing data with an archive */
+      template <class ... Types> inline
+      ArchiveType & operator()( Types && ... args )
+      {
+        self->process( std::forward<Types>( args )... );
+        return *self;
+      }
+
+      /*! @name Boost Transition Layer
+          Functionality that mirrors the syntax for Boost.  This is useful if you are transitioning
+          a large project from Boost to cereal.  The preferred interface for cereal is using operator(). */
+      //! @{
+
+      //! Serializes passed in data
+      /*! This is a boost compatability layer and is not the preferred way of using
+          cereal.  If you are transitioning from boost, use this until you can
+          transition to the operator() overload */
+      template <class T> inline
+      ArchiveType & operator&( T && arg )
+      {
+        self->process( std::forward<T>( arg ) );
+        return *self;
+      }
+
+      //! Serializes passed in data
+      /*! This is a boost compatability layer and is not the preferred way of using
+          cereal.  If you are transitioning from boost, use this until you can
+          transition to the operator() overload */
+      template <class T> inline
+      ArchiveType & operator<<( T && arg )
+      {
+        self->process( std::forward<T>( arg ) );
+        return *self;
+      }
+
+      //! @}
+
+      //! Registers a shared pointer with the archive
+      /*! This function is used to track shared pointer targets to prevent
+          unnecessary saves from taking place if multiple shared pointers
+          point to the same data.
+
+          @internal
+          @param addr The address (see shared_ptr get()) pointed to by the shared pointer
+          @return A key that uniquely identifies the pointer */
+      inline std::uint32_t registerSharedPointer( void const * addr )
+      {
+        // Handle null pointers by just returning 0
+        if(addr == 0) return 0;
+
+        auto id = itsSharedPointerMap.find( addr );
+        if( id == itsSharedPointerMap.end() )
+        {
+          auto ptrId = itsCurrentPointerId++;
+          itsSharedPointerMap.insert( {addr, ptrId} );
+          return ptrId | detail::msb_32bit; // mask MSB to be 1
+        }
+        else
+          return id->second;
+      }
+
+      //! Registers a polymorphic type name with the archive
+      /*! This function is used to track polymorphic types to prevent
+          unnecessary saves of identifying strings used by the polymorphic
+          support functionality.
+
+          @internal
+          @param name The name to associate with a polymorphic type
+          @return A key that uniquely identifies the polymorphic type name */
+      inline std::uint32_t registerPolymorphicType( char const * name )
+      {
+        auto id = itsPolymorphicTypeMap.find( name );
+        if( id == itsPolymorphicTypeMap.end() )
+        {
+          auto polyId = itsCurrentPolymorphicTypeId++;
+          itsPolymorphicTypeMap.insert( {name, polyId} );
+          return polyId | detail::msb_32bit; // mask MSB to be 1
+        }
+        else
+          return id->second;
+      }
+
+    private:
+      //! Serializes data after calling prologue, then calls epilogue
+      template <class T> inline
+      void process( T && head )
+      {
+        prologue( *self, head );
+        self->processImpl( head );
+        epilogue( *self, head );
+      }
+
+      //! Unwinds to process all data
+      template <class T, class ... Other> inline
+      void process( T && head, Other && ... tail )
+      {
+        self->process( std::forward<T>( head ) );
+        self->process( std::forward<Other>( tail )... );
+      }
+
+      //! Serialization of a virtual_base_class wrapper
+      /*! \sa virtual_base_class */
+      template <class T> inline
+      ArchiveType & processImpl(virtual_base_class<T> const & b)
+      {
+        traits::detail::base_class_id id(b.base_ptr);
+        if(itsBaseClassSet.count(id) == 0)
+        {
+          itsBaseClassSet.insert(id);
+          self->processImpl( *b.base_ptr );
+        }
+        return *self;
+      }
+
+      //! Serialization of a base_class wrapper
+      /*! \sa base_class */
+      template <class T> inline
+      ArchiveType & processImpl(base_class<T> const & b)
+      {
+        self->processImpl( *b.base_ptr );
+        return *self;
+      }
+
+      //! Helper macro that expands the requirements for activating an overload
+      /*! Requirements:
+            Has the requested serialization function
+            Does not have version and unversioned at the same time
+            Is output serializable AND
+              is specialized for this type of function OR
+              has no specialization at all */
+      #define PROCESS_IF(name)                                                             \
+      traits::EnableIf<traits::has_##name<T, ArchiveType>::value,                          \
+                       !traits::has_invalid_output_versioning<T, ArchiveType>::value,      \
+                       (traits::is_output_serializable<T, ArchiveType>::value &&           \
+                        (traits::is_specialized_##name<T, ArchiveType>::value ||           \
+                         !traits::is_specialized<T, ArchiveType>::value))> = traits::sfinae
+
+      //! Member serialization
+      template <class T, PROCESS_IF(member_serialize)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        access::member_serialize(*self, const_cast<T &>(t));
+        return *self;
+      }
+
+      //! Non member serialization
+      template <class T, PROCESS_IF(non_member_serialize)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        CEREAL_SERIALIZE_FUNCTION_NAME(*self, const_cast<T &>(t));
+        return *self;
+      }
+
+      //! Member split (save)
+      template <class T, PROCESS_IF(member_save)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        access::member_save(*self, t);
+        return *self;
+      }
+
+      //! Non member split (save)
+      template <class T, PROCESS_IF(non_member_save)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        CEREAL_SAVE_FUNCTION_NAME(*self, t);
+        return *self;
+      }
+
+      //! Member split (save_minimal)
+      template <class T, PROCESS_IF(member_save_minimal)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        self->process( access::member_save_minimal(*self, t) );
+        return *self;
+      }
+
+      //! Non member split (save_minimal)
+      template <class T, PROCESS_IF(non_member_save_minimal)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        self->process( CEREAL_SAVE_MINIMAL_FUNCTION_NAME(*self, t) );
+        return *self;
+      }
+
+      //! Empty class specialization
+      template <class T, traits::EnableIf<(Flags & AllowEmptyClassElision),
+                                          !traits::is_output_serializable<T, ArchiveType>::value,
+                                          std::is_empty<T>::value> = traits::sfinae> inline
+      ArchiveType & processImpl(T const &)
+      {
+        return *self;
+      }
+
+      //! No matching serialization
+      /*! Invalid if we have invalid output versioning or
+          we are not output serializable, and either
+          don't allow empty class ellision or allow it but are not serializing an empty class */
+      template <class T, traits::EnableIf<traits::has_invalid_output_versioning<T, ArchiveType>::value ||
+                                          (!traits::is_output_serializable<T, ArchiveType>::value &&
+                                           (!(Flags & AllowEmptyClassElision) || ((Flags & AllowEmptyClassElision) && !std::is_empty<T>::value)))> = traits::sfinae> inline
+      ArchiveType & processImpl(T const &)
+      {
+        static_assert(traits::detail::count_output_serializers<T, ArchiveType>::value != 0,
+            "cereal could not find any output serialization functions for the provided type and archive combination. \n\n "
+            "Types must either have a serialize function, load/save pair, or load_minimal/save_minimal pair (you may not mix these). \n "
+            "Serialize functions generally have the following signature: \n\n "
+            "template<class Archive> \n "
+            "  void serialize(Archive & ar) \n "
+            "  { \n "
+            "    ar( member1, member2, member3 ); \n "
+            "  } \n\n " );
+
+        static_assert(traits::detail::count_output_serializers<T, ArchiveType>::value < 2,
+            "cereal found more than one compatible output serialization function for the provided type and archive combination. \n\n "
+            "Types must either have a serialize function, load/save pair, or load_minimal/save_minimal pair (you may not mix these). \n "
+            "Use specialization (see access.hpp) if you need to disambiguate between serialize vs load/save functions.  \n "
+            "Note that serialization functions can be inherited which may lead to the aforementioned ambiguities. \n "
+            "In addition, you may not mix versioned with non-versioned serialization functions. \n\n ");
+
+        return *self;
+      }
+
+      //! Registers a class version with the archive and serializes it if necessary
+      /*! If this is the first time this class has been serialized, we will record its
+          version number and serialize that.
+
+          @tparam T The type of the class being serialized
+          @param version The version number associated with it */
+      template <class T> inline
+      std::uint32_t registerClassVersion()
+      {
+        static const auto hash = std::type_index(typeid(T)).hash_code();
+        const auto insertResult = itsVersionedTypes.insert( hash );
+        const auto version =
+          detail::StaticObject<detail::Versions>::getInstance().find( hash, detail::Version<T>::version );
+
+        if( insertResult.second ) // insertion took place, serialize the version number
+          process( make_nvp<ArchiveType>("cereal_class_version", version) );
+
+        return version;
+      }
+
+      //! Member serialization
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_serialize)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        access::member_serialize(*self, const_cast<T &>(t), registerClassVersion<T>());
+        return *self;
+      }
+
+      //! Non member serialization
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_serialize)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        CEREAL_SERIALIZE_FUNCTION_NAME(*self, const_cast<T &>(t), registerClassVersion<T>());
+        return *self;
+      }
+
+      //! Member split (save)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_save)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        access::member_save(*self, t, registerClassVersion<T>());
+        return *self;
+      }
+
+      //! Non member split (save)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_save)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        CEREAL_SAVE_FUNCTION_NAME(*self, t, registerClassVersion<T>());
+        return *self;
+      }
+
+      //! Member split (save_minimal)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_save_minimal)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        self->process( access::member_save_minimal(*self, t, registerClassVersion<T>()) );
+        return *self;
+      }
+
+      //! Non member split (save_minimal)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_save_minimal)> inline
+      ArchiveType & processImpl(T const & t)
+      {
+        self->process( CEREAL_SAVE_MINIMAL_FUNCTION_NAME(*self, t, registerClassVersion<T>()) );
+        return *self;
+      }
+
+    #undef PROCESS_IF
+
+    private:
+      ArchiveType * const self;
+
+      //! A set of all base classes that have been serialized
+      std::unordered_set<traits::detail::base_class_id, traits::detail::base_class_id_hash> itsBaseClassSet;
+
+      //! Maps from addresses to pointer ids
+      std::unordered_map<void const *, std::uint32_t> itsSharedPointerMap;
+
+      //! The id to be given to the next pointer
+      std::uint32_t itsCurrentPointerId;
+
+      //! Maps from polymorphic type name strings to ids
+      std::unordered_map<char const *, std::uint32_t> itsPolymorphicTypeMap;
+
+      //! The id to be given to the next polymorphic type name
+      std::uint32_t itsCurrentPolymorphicTypeId;
+
+      //! Keeps track of classes that have versioning information associated with them
+      std::unordered_set<size_type> itsVersionedTypes;
+  }; // class OutputArchive
+
+  // ######################################################################
+  //! The base input archive class
+  /*! This is the base input archive for all input archives.  If you create
+      a custom archive class, it should derive from this, passing itself as
+      a template parameter for the ArchiveType.
+
+      The base class provides all of the functionality necessary to
+      properly forward data to the correct serialization functions.
+
+      Individual archives should use a combination of prologue and
+      epilogue functions together with specializations of serialize, save,
+      and load to alter the functionality of their serialization.
+
+      @tparam ArchiveType The archive type that derives from InputArchive
+      @tparam Flags Flags to control advanced functionality.  See the Flags
+                    enum for more information.
+      @ingroup Internal */
+  template<class ArchiveType, std::uint32_t Flags = 0>
+  class InputArchive : public detail::InputArchiveBase
+  {
+    public:
+      //! Construct the output archive
+      /*! @param derived A pointer to the derived ArchiveType (pass this from the derived archive) */
+      InputArchive(ArchiveType * const derived) :
+        self(derived),
+        itsBaseClassSet(),
+        itsSharedPointerMap(),
+        itsPolymorphicTypeMap(),
+        itsVersionedTypes()
+      { }
+
+      InputArchive & operator=( InputArchive const & ) = delete;
+
+      //! Serializes all passed in data
+      /*! This is the primary interface for serializing data with an archive */
+      template <class ... Types> inline
+      ArchiveType & operator()( Types && ... args )
+      {
+        process( std::forward<Types>( args )... );
+        return *self;
+      }
+
+      /*! @name Boost Transition Layer
+          Functionality that mirrors the syntax for Boost.  This is useful if you are transitioning
+          a large project from Boost to cereal.  The preferred interface for cereal is using operator(). */
+      //! @{
+
+      //! Serializes passed in data
+      /*! This is a boost compatability layer and is not the preferred way of using
+          cereal.  If you are transitioning from boost, use this until you can
+          transition to the operator() overload */
+      template <class T> inline
+      ArchiveType & operator&( T && arg )
+      {
+        self->process( std::forward<T>( arg ) );
+        return *self;
+      }
+
+      //! Serializes passed in data
+      /*! This is a boost compatability layer and is not the preferred way of using
+          cereal.  If you are transitioning from boost, use this until you can
+          transition to the operator() overload */
+      template <class T> inline
+      ArchiveType & operator>>( T && arg )
+      {
+        self->process( std::forward<T>( arg ) );
+        return *self;
+      }
+
+      //! @}
+
+      //! Retrieves a shared pointer given a unique key for it
+      /*! This is used to retrieve a previously registered shared_ptr
+          which has already been loaded.
+
+          @param id The unique id that was serialized for the pointer
+          @return A shared pointer to the data
+          @throw Exception if the id does not exist */
+      inline std::shared_ptr<void> getSharedPointer(std::uint32_t const id)
+      {
+        if(id == 0) return std::shared_ptr<void>(nullptr);
+
+        auto iter = itsSharedPointerMap.find( id );
+        if(iter == itsSharedPointerMap.end())
+          throw Exception("Error while trying to deserialize a smart pointer. Could not find id " + std::to_string(id));
+
+        return iter->second;
+      }
+
+      //! Registers a shared pointer to its unique identifier
+      /*! After a shared pointer has been allocated for the first time, it should
+          be registered with its loaded id for future references to it.
+
+          @param id The unique identifier for the shared pointer
+          @param ptr The actual shared pointer */
+      inline void registerSharedPointer(std::uint32_t const id, std::shared_ptr<void> ptr)
+      {
+        std::uint32_t const stripped_id = id & ~detail::msb_32bit;
+        itsSharedPointerMap[stripped_id] = ptr;
+      }
+
+      //! Retrieves the string for a polymorphic type given a unique key for it
+      /*! This is used to retrieve a string previously registered during
+          a polymorphic load.
+
+          @param id The unique id that was serialized for the polymorphic type
+          @return The string identifier for the tyep */
+      inline std::string getPolymorphicName(std::uint32_t const id)
+      {
+        auto name = itsPolymorphicTypeMap.find( id );
+        if(name == itsPolymorphicTypeMap.end())
+        {
+          throw Exception("Error while trying to deserialize a polymorphic pointer. Could not find type id " + std::to_string(id));
+        }
+        return name->second;
+      }
+
+      //! Registers a polymorphic name string to its unique identifier
+      /*! After a polymorphic type has been loaded for the first time, it should
+          be registered with its loaded id for future references to it.
+
+          @param id The unique identifier for the polymorphic type
+          @param name The name associated with the tyep */
+      inline void registerPolymorphicName(std::uint32_t const id, std::string const & name)
+      {
+        std::uint32_t const stripped_id = id & ~detail::msb_32bit;
+        itsPolymorphicTypeMap.insert( {stripped_id, name} );
+      }
+
+    private:
+      //! Serializes data after calling prologue, then calls epilogue
+      template <class T> inline
+      void process( T && head )
+      {
+        prologue( *self, head );
+        self->processImpl( head );
+        epilogue( *self, head );
+      }
+
+      //! Unwinds to process all data
+      template <class T, class ... Other> inline
+      void process( T && head, Other && ... tail )
+      {
+        process( std::forward<T>( head ) );
+        process( std::forward<Other>( tail )... );
+      }
+
+      //! Serialization of a virtual_base_class wrapper
+      /*! \sa virtual_base_class */
+      template <class T> inline
+      ArchiveType & processImpl(virtual_base_class<T> & b)
+      {
+        traits::detail::base_class_id id(b.base_ptr);
+        if(itsBaseClassSet.count(id) == 0)
+        {
+          itsBaseClassSet.insert(id);
+          self->processImpl( *b.base_ptr );
+        }
+        return *self;
+      }
+
+      //! Serialization of a base_class wrapper
+      /*! \sa base_class */
+      template <class T> inline
+      ArchiveType & processImpl(base_class<T> & b)
+      {
+        self->processImpl( *b.base_ptr );
+        return *self;
+      }
+
+      //! Helper macro that expands the requirements for activating an overload
+      /*! Requirements:
+            Has the requested serialization function
+            Does not have version and unversioned at the same time
+            Is input serializable AND
+              is specialized for this type of function OR
+              has no specialization at all */
+      #define PROCESS_IF(name)                                                              \
+      traits::EnableIf<traits::has_##name<T, ArchiveType>::value,                           \
+                       !traits::has_invalid_input_versioning<T, ArchiveType>::value,        \
+                       (traits::is_input_serializable<T, ArchiveType>::value &&             \
+                        (traits::is_specialized_##name<T, ArchiveType>::value ||            \
+                         !traits::is_specialized<T, ArchiveType>::value))> = traits::sfinae
+
+      //! Member serialization
+      template <class T, PROCESS_IF(member_serialize)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        access::member_serialize(*self, t);
+        return *self;
+      }
+
+      //! Non member serialization
+      template <class T, PROCESS_IF(non_member_serialize)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        CEREAL_SERIALIZE_FUNCTION_NAME(*self, t);
+        return *self;
+      }
+
+      //! Member split (load)
+      template <class T, PROCESS_IF(member_load)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        access::member_load(*self, t);
+        return *self;
+      }
+
+      //! Non member split (load)
+      template <class T, PROCESS_IF(non_member_load)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        CEREAL_LOAD_FUNCTION_NAME(*self, t);
+        return *self;
+      }
+
+      //! Member split (load_minimal)
+      template <class T, PROCESS_IF(member_load_minimal)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        using OutArchiveType = typename traits::detail::get_output_from_input<ArchiveType>::type;
+        typename traits::has_member_save_minimal<T, OutArchiveType>::type value;
+        self->process( value );
+        access::member_load_minimal(*self, t, value);
+        return *self;
+      }
+
+      //! Non member split (load_minimal)
+      template <class T, PROCESS_IF(non_member_load_minimal)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        using OutArchiveType = typename traits::detail::get_output_from_input<ArchiveType>::type;
+        typename traits::has_non_member_save_minimal<T, OutArchiveType>::type value;
+        self->process( value );
+        CEREAL_LOAD_MINIMAL_FUNCTION_NAME(*self, t, value);
+        return *self;
+      }
+
+      //! Empty class specialization
+      template <class T, traits::EnableIf<(Flags & AllowEmptyClassElision),
+                                          !traits::is_input_serializable<T, ArchiveType>::value,
+                                          std::is_empty<T>::value> = traits::sfinae> inline
+      ArchiveType & processImpl(T const &)
+      {
+        return *self;
+      }
+
+      //! No matching serialization
+      /*! Invalid if we have invalid input versioning or
+          we are not input serializable, and either
+          don't allow empty class ellision or allow it but are not serializing an empty class */
+      template <class T, traits::EnableIf<traits::has_invalid_input_versioning<T, ArchiveType>::value ||
+                                          (!traits::is_input_serializable<T, ArchiveType>::value &&
+                                           (!(Flags & AllowEmptyClassElision) || ((Flags & AllowEmptyClassElision) && !std::is_empty<T>::value)))> = traits::sfinae> inline
+      ArchiveType & processImpl(T const &)
+      {
+        static_assert(traits::detail::count_input_serializers<T, ArchiveType>::value != 0,
+            "cereal could not find any input serialization functions for the provided type and archive combination. \n\n "
+            "Types must either have a serialize function, load/save pair, or load_minimal/save_minimal pair (you may not mix these). \n "
+            "Serialize functions generally have the following signature: \n\n "
+            "template<class Archive> \n "
+            "  void serialize(Archive & ar) \n "
+            "  { \n "
+            "    ar( member1, member2, member3 ); \n "
+            "  } \n\n " );
+
+        static_assert(traits::detail::count_input_serializers<T, ArchiveType>::value < 2,
+            "cereal found more than one compatible input serialization function for the provided type and archive combination. \n\n "
+            "Types must either have a serialize function, load/save pair, or load_minimal/save_minimal pair (you may not mix these). \n "
+            "Use specialization (see access.hpp) if you need to disambiguate between serialize vs load/save functions.  \n "
+            "Note that serialization functions can be inherited which may lead to the aforementioned ambiguities. \n "
+            "In addition, you may not mix versioned with non-versioned serialization functions. \n\n ");
+
+        return *self;
+      }
+
+      //! Registers a class version with the archive and serializes it if necessary
+      /*! If this is the first time this class has been serialized, we will record its
+          version number and serialize that.
+
+          @tparam T The type of the class being serialized
+          @param version The version number associated with it */
+      template <class T> inline
+      std::uint32_t loadClassVersion()
+      {
+        static const auto hash = std::type_index(typeid(T)).hash_code();
+        auto lookupResult = itsVersionedTypes.find( hash );
+
+        if( lookupResult != itsVersionedTypes.end() ) // already exists
+          return lookupResult->second;
+        else // need to load
+        {
+          std::uint32_t version;
+
+          process( make_nvp<ArchiveType>("cereal_class_version", version) );
+          itsVersionedTypes.emplace_hint( lookupResult, hash, version );
+
+          return version;
+        }
+      }
+
+      //! Member serialization
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_serialize)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        const auto version = loadClassVersion<T>();
+        access::member_serialize(*self, t, version);
+        return *self;
+      }
+
+      //! Non member serialization
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_serialize)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        const auto version = loadClassVersion<T>();
+        CEREAL_SERIALIZE_FUNCTION_NAME(*self, t, version);
+        return *self;
+      }
+
+      //! Member split (load)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_load)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        const auto version = loadClassVersion<T>();
+        access::member_load(*self, t, version);
+        return *self;
+      }
+
+      //! Non member split (load)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_load)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        const auto version = loadClassVersion<T>();
+        CEREAL_LOAD_FUNCTION_NAME(*self, t, version);
+        return *self;
+      }
+
+      //! Member split (load_minimal)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(member_versioned_load_minimal)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        using OutArchiveType = typename traits::detail::get_output_from_input<ArchiveType>::type;
+        const auto version = loadClassVersion<T>();
+        typename traits::has_member_versioned_save_minimal<T, OutArchiveType>::type value;
+        self->process(value);
+        access::member_load_minimal(*self, t, value, version);
+        return *self;
+      }
+
+      //! Non member split (load_minimal)
+      /*! Versioning implementation */
+      template <class T, PROCESS_IF(non_member_versioned_load_minimal)> inline
+      ArchiveType & processImpl(T & t)
+      {
+        using OutArchiveType = typename traits::detail::get_output_from_input<ArchiveType>::type;
+        const auto version = loadClassVersion<T>();
+        typename traits::has_non_member_versioned_save_minimal<T, OutArchiveType>::type value;
+        self->process(value);
+        CEREAL_LOAD_MINIMAL_FUNCTION_NAME(*self, t, value, version);
+        return *self;
+      }
+
+      #undef PROCESS_IF
+
+    private:
+      ArchiveType * const self;
+
+      //! A set of all base classes that have been serialized
+      std::unordered_set<traits::detail::base_class_id, traits::detail::base_class_id_hash> itsBaseClassSet;
+
+      //! Maps from pointer ids to metadata
+      std::unordered_map<std::uint32_t, std::shared_ptr<void>> itsSharedPointerMap;
+
+      //! Maps from name ids to names
+      std::unordered_map<std::uint32_t, std::string> itsPolymorphicTypeMap;
+
+      //! Maps from type hash codes to version numbers
+      std::unordered_map<std::size_t, std::uint32_t> itsVersionedTypes;
+  }; // class InputArchive
+} // namespace cereal
+
+// This include needs to come after things such as binary_data, make_nvp, etc
+#include <cereal/types/common.hpp>
+
+#endif // CEREAL_CEREAL_HPP_
diff --git a/3rdparty/include/cereal/details/helpers.hpp b/3rdparty/include/cereal/details/helpers.hpp
new file mode 100644
index 0000000..5ed8b6b
--- /dev/null
+++ b/3rdparty/include/cereal/details/helpers.hpp
@@ -0,0 +1,360 @@
+/*! \file helpers.hpp
+    \brief Internal helper functionality
+    \ingroup Internal */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_DETAILS_HELPERS_HPP_
+#define CEREAL_DETAILS_HELPERS_HPP_
+
+#include <type_traits>
+#include <cstdint>
+#include <utility>
+#include <memory>
+#include <unordered_map>
+#include <stdexcept>
+
+#include <cereal/macros.hpp>
+#include <cereal/details/static_object.hpp>
+
+namespace cereal
+{
+  // ######################################################################
+  //! An exception class thrown when things go wrong at runtime
+  /*! @ingroup Utility */
+  struct Exception : public std::runtime_error
+  {
+    explicit Exception( const std::string & what_ ) : std::runtime_error(what_) {}
+    explicit Exception( const char * what_ ) : std::runtime_error(what_) {}
+  };
+
+  // ######################################################################
+  //! The size type used by cereal
+  /*! To ensure compatability between 32, 64, etc bit machines, we need to use
+      a fixed size type instead of size_t, which may vary from machine to
+      machine. */
+  using size_type = uint64_t;
+
+  // forward decls
+  class BinaryOutputArchive;
+  class BinaryInputArchive;
+
+  // ######################################################################
+  namespace detail
+  {
+    struct NameValuePairCore {}; //!< Traits struct for NVPs
+  }
+
+  //! For holding name value pairs
+  /*! This pairs a name (some string) with some value such that an archive
+      can potentially take advantage of the pairing.
+
+      In serialization functions, NameValuePairs are usually created like so:
+      @code{.cpp}
+      struct MyStruct
+      {
+        int a, b, c, d, e;
+
+        template<class Archive>
+        void serialize(Archive & archive)
+        {
+          archive( CEREAL_NVP(a),
+                   CEREAL_NVP(b),
+                   CEREAL_NVP(c),
+                   CEREAL_NVP(d),
+                   CEREAL_NVP(e) );
+        }
+      };
+      @endcode
+
+      Alternatively, you can give you data members custom names like so:
+      @code{.cpp}
+      struct MyStruct
+      {
+        int a, b, my_embarrassing_variable_name, d, e;
+
+        template<class Archive>
+        void serialize(Archive & archive)
+        {
+          archive( CEREAL_NVP(a),
+                   CEREAL_NVP(b),
+                   cereal::make_nvp("var", my_embarrassing_variable_name) );
+                   CEREAL_NVP(d),
+                   CEREAL_NVP(e) );
+        }
+      };
+      @endcode
+
+      There is a slight amount of overhead to creating NameValuePairs, so there
+      is a third method which will elide the names when they are not used by
+      the Archive:
+
+      @code{.cpp}
+      struct MyStruct
+      {
+        int a, b;
+
+        template<class Archive>
+        void serialize(Archive & archive)
+        {
+          archive( cereal::make_nvp<Archive>(a),
+                   cereal::make_nvp<Archive>(b) );
+        }
+      };
+      @endcode
+
+      This third method is generally only used when providing generic type
+      support.  Users writing their own serialize functions will normally
+      explicitly control whether they want to use NVPs or not.
+
+      @internal */
+  template <class T>
+  class NameValuePair : detail::NameValuePairCore
+  {
+    private:
+      // If we get passed an array, keep the type as is, otherwise store
+      // a reference if we were passed an l value reference, else copy the value
+      using Type = typename std::conditional<std::is_array<typename std::remove_reference<T>::type>::value,
+                                             typename std::remove_cv<T>::type,
+                                             typename std::conditional<std::is_lvalue_reference<T>::value,
+                                                                       T,
+                                                                       typename std::decay<T>::type>::type>::type;
+
+      // prevent nested nvps
+      static_assert( !std::is_base_of<detail::NameValuePairCore, T>::value,
+                     "Cannot pair a name to a NameValuePair" );
+
+      NameValuePair & operator=( NameValuePair const & ) = delete;
+
+    public:
+      //! Constructs a new NameValuePair
+      /*! @param n The name of the pair
+          @param v The value to pair.  Ideally this should be an l-value reference so that
+                   the value can be both loaded and saved to.  If you pass an r-value reference,
+                   the NameValuePair will store a copy of it instead of a reference.  Thus you should
+                   only pass r-values in cases where this makes sense, such as the result of some
+                   size() call.
+          @internal */
+      NameValuePair( char const * n, T && v ) : name(n), value(std::forward<T>(v)) {}
+
+      char const * name;
+      Type value;
+  };
+
+  //! A specialization of make_nvp<> that simply forwards the value for binary archives
+  /*! @relates NameValuePair
+      @internal */
+  template<class Archive, class T> inline
+  typename
+  std::enable_if<std::is_same<Archive, ::cereal::BinaryInputArchive>::value ||
+                 std::is_same<Archive, ::cereal::BinaryOutputArchive>::value,
+  T && >::type
+  make_nvp( const char *, T && value )
+  {
+    return std::forward<T>(value);
+  }
+
+  //! A specialization of make_nvp<> that actually creates an nvp for non-binary archives
+  /*! @relates NameValuePair
+      @internal */
+  template<class Archive, class T> inline
+  typename
+  std::enable_if<!std::is_same<Archive, ::cereal::BinaryInputArchive>::value &&
+                 !std::is_same<Archive, ::cereal::BinaryOutputArchive>::value,
+  NameValuePair<T> >::type
+  make_nvp( const char * name, T && value)
+  {
+    return {name, std::forward<T>(value)};
+  }
+
+  //! Convenience for creating a templated NVP
+  /*! For use in inteneral generic typing functions which have an
+      Archive type declared
+      @internal */
+  #define CEREAL_NVP_(name, value) ::cereal::make_nvp<Archive>(name, value)
+
+  // ######################################################################
+  //! A wrapper around data that can be serialized in a binary fashion
+  /*! This class is used to demarcate data that can safely be serialized
+      as a binary chunk of data.  Individual archives can then choose how
+      best represent this during serialization.
+
+      @internal */
+  template <class T>
+  struct BinaryData
+  {
+    //! Internally store the pointer as a void *, keeping const if created with
+    //! a const pointer
+    using PT = typename std::conditional<std::is_const<typename std::remove_pointer<T>::type>::value,
+                                         const void *,
+                                         void *>::type;
+
+    BinaryData( T && d, uint64_t s ) : data(std::forward<T>(d)), size(s) {}
+
+    PT data;       //!< pointer to beginning of data
+    uint64_t size; //!< size in bytes
+  };
+
+  // ######################################################################
+  namespace detail
+  {
+    // base classes for type checking
+    /* The rtti virtual function only exists to enable an archive to
+       be used in a polymorphic fashion, if necessary.  See the
+       archive adapters for an example of this */
+    class OutputArchiveBase { private: virtual void rtti(){} };
+    class InputArchiveBase { private: virtual void rtti(){} };
+
+    // forward decls for polymorphic support
+    template <class Archive, class T> struct polymorphic_serialization_support;
+    struct adl_tag;
+
+    // used during saving pointers
+    static const int32_t msb_32bit  = 0x80000000;
+    static const int32_t msb2_32bit = 0x40000000;
+  }
+
+  // ######################################################################
+  //! A wrapper around size metadata
+  /*! This class provides a way for archives to have more flexibility over how
+      they choose to serialize size metadata for containers.  For some archive
+      types, the size may be implicitly encoded in the output (e.g. JSON) and
+      not need an explicit entry.  Specializing serialize or load/save for
+      your archive and SizeTags allows you to choose what happens.
+
+      @internal */
+  template <class T>
+  class SizeTag
+  {
+    private:
+      // Store a reference if passed an lvalue reference, otherwise
+      // make a copy of the data
+      using Type = typename std::conditional<std::is_lvalue_reference<T>::value,
+                                             T,
+                                             typename std::decay<T>::type>::type;
+
+      SizeTag & operator=( SizeTag const & ) = delete;
+
+    public:
+      SizeTag( T && sz ) : size(std::forward<T>(sz)) {}
+
+      Type size;
+  };
+
+  // ######################################################################
+  //! A wrapper around a key and value for serializing data into maps.
+  /*! This class just provides a grouping of keys and values into a struct for
+      human readable archives. For example, XML archives will use this wrapper
+      to write maps like so:
+
+      @code{.xml}
+      <mymap>
+        <item0>
+          <key>MyFirstKey</key>
+          <value>MyFirstValue</value>
+        </item0>
+        <item1>
+          <key>MySecondKey</key>
+          <value>MySecondValue</value>
+        </item1>
+      </mymap>
+      @endcode
+
+      \sa make_map_item
+      @internal */
+  template <class Key, class Value>
+  struct MapItem
+  {
+    using KeyType = typename std::conditional<
+      std::is_lvalue_reference<Key>::value,
+      Key,
+      typename std::decay<Key>::type>::type;
+
+    using ValueType = typename std::conditional<
+      std::is_lvalue_reference<Value>::value,
+      Value,
+      typename std::decay<Value>::type>::type;
+
+    //! Construct a MapItem from a key and a value
+    /*! @internal */
+    MapItem( Key && key_, Value && value_ ) : key(std::forward<Key>(key_)), value(std::forward<Value>(value_)) {}
+
+    MapItem & operator=( MapItem const & ) = delete;
+
+    KeyType key;
+    ValueType value;
+
+    //! Serialize the MapItem with the NVPs "key" and "value"
+    template <class Archive> inline
+    void CEREAL_SERIALIZE_FUNCTION_NAME(Archive & archive)
+    {
+      archive( make_nvp<Archive>("key",   key),
+               make_nvp<Archive>("value", value) );
+    }
+  };
+
+  //! Create a MapItem so that human readable archives will group keys and values together
+  /*! @internal
+      @relates MapItem */
+  template <class KeyType, class ValueType> inline
+  MapItem<KeyType, ValueType> make_map_item(KeyType && key, ValueType && value)
+  {
+    return {std::forward<KeyType>(key), std::forward<ValueType>(value)};
+  }
+
+  namespace detail
+  {
+    //! Tag for Version, which due to its anonymous namespace, becomes a different
+    //! type in each translation unit
+    /*! This allows CEREAL_CLASS_VERSION to be safely called in a header file */
+    namespace{ struct version_binding_tag {}; }
+
+    // ######################################################################
+    //! Version information class
+    /*! This is the base case for classes that have not been explicitly
+        registered */
+    template <class T, class BindingTag = version_binding_tag> struct Version
+    {
+      static const std::uint32_t version = 0;
+      // we don't need to explicitly register these types since they
+      // always get a version number of 0
+    };
+
+    //! Holds all registered version information
+    struct Versions
+    {
+      std::unordered_map<std::size_t, std::uint32_t> mapping;
+
+      std::uint32_t find( std::size_t hash, std::uint32_t version )
+      {
+        const auto result = mapping.emplace( hash, version );
+        return result.first->second;
+      }
+    }; // struct Versions
+  } // namespace detail
+} // namespace cereal
+
+#endif // CEREAL_DETAILS_HELPERS_HPP_
diff --git a/3rdparty/include/cereal/details/polymorphic_impl.hpp b/3rdparty/include/cereal/details/polymorphic_impl.hpp
new file mode 100644
index 0000000..cd05ccb
--- /dev/null
+++ b/3rdparty/include/cereal/details/polymorphic_impl.hpp
@@ -0,0 +1,437 @@
+/*! \file polymorphic_impl.hpp
+    \brief Internal polymorphism support
+    \ingroup Internal */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+
+/* This code is heavily inspired by the boost serialization implementation by the following authors
+
+   (C) Copyright 2002 Robert Ramey - http://www.rrsd.com .
+   Use, modification and distribution is subject to the Boost Software
+   License, Version 1.0. (See http://www.boost.org/LICENSE_1_0.txt)
+
+    See http://www.boost.org for updates, documentation, and revision history.
+
+   (C) Copyright 2006 David Abrahams - http://www.boost.org.
+
+   See /boost/serialization/export.hpp and /boost/archive/detail/register_archive.hpp for their
+   implementation.
+*/
+#ifndef CEREAL_DETAILS_POLYMORPHIC_IMPL_HPP_
+#define CEREAL_DETAILS_POLYMORPHIC_IMPL_HPP_
+
+#include <cereal/details/static_object.hpp>
+#include <cereal/types/memory.hpp>
+#include <cereal/types/string.hpp>
+#include <functional>
+#include <typeindex>
+#include <map>
+
+//! Binds a polymorhic type to all registered archives
+/*! This binds a polymorphic type to all compatible registered archives that
+    have been registered with CEREAL_REGISTER_ARCHIVE.  This must be called
+    after all archives are registered (usually after the archives themselves
+    have been included). */
+#define CEREAL_BIND_TO_ARCHIVES(T)                   \
+    namespace cereal {                               \
+    namespace detail {                               \
+    template<>                                       \
+    struct init_binding<T> {                         \
+        static bind_to_archives<T> const & b;        \
+        static void unused() { (void)b; }            \
+    };                                               \
+    bind_to_archives<T> const & init_binding<T>::b = \
+        ::cereal::detail::StaticObject<              \
+            bind_to_archives<T>                      \
+        >::getInstance().bind();                     \
+    }} /* end namespaces */
+
+namespace cereal
+{
+  namespace detail
+  {
+    //! Binds a compile time type with a user defined string
+    template <class T>
+    struct binding_name {};
+
+    //! A structure holding a map from type_indices to output serializer functions
+    /*! A static object of this map should be created for each registered archive
+        type, containing entries for every registered type that describe how to
+        properly cast the type to its real type in polymorphic scenarios for
+        shared_ptr, weak_ptr, and unique_ptr. */
+    template <class Archive>
+    struct OutputBindingMap
+    {
+      //! A serializer function
+      /*! Serializer functions return nothing and take an archive as
+          their first parameter (will be cast properly inside the function,
+          and a pointer to actual data (contents of smart_ptr's get() function)
+          as their second parameter */
+      typedef std::function<void(void*, void const *)> Serializer;
+
+      //! Struct containing the serializer functions for all pointer types
+      struct Serializers
+      {
+        Serializer shared_ptr, //!< Serializer function for shared/weak pointers
+                   unique_ptr; //!< Serializer function for unique pointers
+      };
+
+      //! A map of serializers for pointers of all registered types
+      std::map<std::type_index, Serializers> map;
+    };
+
+    //! An empty noop deleter
+    template<class T> struct EmptyDeleter { void operator()(T *) const {} };
+
+    //! A structure holding a map from type name strings to input serializer functions
+    /*! A static object of this map should be created for each registered archive
+        type, containing entries for every registered type that describe how to
+        properly cast the type to its real type in polymorphic scenarios for
+        shared_ptr, weak_ptr, and unique_ptr. */
+    template <class Archive>
+    struct InputBindingMap
+    {
+      //! Shared ptr serializer function
+      /*! Serializer functions return nothing and take an archive as
+          their first parameter (will be cast properly inside the function,
+          and a shared_ptr (or unique_ptr for the unique case) of any base
+          type.  Internally it will properly be loaded and cast to the
+          correct type. */
+      typedef std::function<void(void*, std::shared_ptr<void> & )> SharedSerializer;
+      //! Unique ptr serializer function
+      typedef std::function<void(void*, std::unique_ptr<void, EmptyDeleter<void>> & )> UniqueSerializer;
+
+      //! Struct containing the serializer functions for all pointer types
+      struct Serializers
+      {
+        SharedSerializer shared_ptr; //!< Serializer function for shared/weak pointers
+        UniqueSerializer unique_ptr; //!< Serializer function for unique pointers
+      };
+
+      //! A map of serializers for pointers of all registered types
+      std::map<std::string, Serializers> map;
+    };
+
+    // forward decls for archives from cereal.hpp
+    class InputArchiveBase;
+    class OutputArchiveBase;
+
+    //! Creates a binding (map entry) between an input archive type and a polymorphic type
+    /*! Bindings are made when types are registered, assuming that at least one
+        archive has already been registered.  When this struct is created,
+        it will insert (at run time) an entry into a map that properly handles
+        casting for serializing polymorphic objects */
+    template <class Archive, class T> struct InputBindingCreator
+    {
+      //! Initialize the binding
+      InputBindingCreator()
+      {
+        auto & map = StaticObject<InputBindingMap<Archive>>::getInstance().map;
+        auto key = std::string(binding_name<T>::name());
+        auto lb = map.lower_bound(key);
+
+        if (lb != map.end() && lb->first == key)
+          return;
+
+        typename InputBindingMap<Archive>::Serializers serializers;
+
+        serializers.shared_ptr =
+          [](void * arptr, std::shared_ptr<void> & dptr)
+          {
+            Archive & ar = *static_cast<Archive*>(arptr);
+            std::shared_ptr<T> ptr;
+
+            ar( CEREAL_NVP_("ptr_wrapper", ::cereal::memory_detail::make_ptr_wrapper(ptr)) );
+
+            dptr = ptr;
+          };
+
+        serializers.unique_ptr =
+          [](void * arptr, std::unique_ptr<void, EmptyDeleter<void>> & dptr)
+          {
+            Archive & ar = *static_cast<Archive*>(arptr);
+            std::unique_ptr<T> ptr;
+
+            ar( CEREAL_NVP_("ptr_wrapper", ::cereal::memory_detail::make_ptr_wrapper(ptr)) );
+
+            dptr.reset(ptr.release());
+          };
+
+        map.insert( lb, { std::move(key), std::move(serializers) } );
+      }
+    };
+
+    //! Creates a binding (map entry) between an output archive type and a polymorphic type
+    /*! Bindings are made when types are registered, assuming that at least one
+        archive has already been registered.  When this struct is created,
+        it will insert (at run time) an entry into a map that properly handles
+        casting for serializing polymorphic objects */
+    template <class Archive, class T> struct OutputBindingCreator
+    {
+      //! Writes appropriate metadata to the archive for this polymorphic type
+      static void writeMetadata(Archive & ar)
+      {
+        // Register the polymorphic type name with the archive, and get the id
+        char const * name = binding_name<T>::name();
+        std::uint32_t id = ar.registerPolymorphicType(name);
+
+        // Serialize the id
+        ar( CEREAL_NVP_("polymorphic_id", id) );
+
+        // If the msb of the id is 1, then the type name is new, and we should serialize it
+        if( id & detail::msb_32bit )
+        {
+          std::string namestring(name);
+          ar( CEREAL_NVP_("polymorphic_name", namestring) );
+        }
+      }
+
+      //! Holds a properly typed shared_ptr to the polymorphic type
+      class PolymorphicSharedPointerWrapper
+      {
+        public:
+          /*! Wrap a raw polymorphic pointer in a shared_ptr to its true type
+
+              The wrapped pointer will not be responsible for ownership of the held pointer
+              so it will not attempt to destroy it; instead the refcount of the wrapped
+              pointer will be tied to a fake 'ownership pointer' that will do nothing
+              when it ultimately goes out of scope.
+
+              The main reason for doing this, other than not to destroy the true object
+              with our wrapper pointer, is to avoid meddling with the internal reference
+              count in a polymorphic type that inherits from std::enable_shared_from_this.
+
+              @param dptr A void pointer to the contents of the shared_ptr to serialize */
+          PolymorphicSharedPointerWrapper( void const * dptr ) : refCount()
+          {
+            #ifdef _LIBCPP_VERSION
+            // libc++ needs this hacky workaround, see http://llvm.org/bugs/show_bug.cgi?id=18843
+            wrappedPtr = std::shared_ptr<T const>(
+                std::const_pointer_cast<T const>(
+                  std::shared_ptr<T>( refCount, static_cast<T *>(const_cast<void *>(dptr) ))));
+            #else // NOT _LIBCPP_VERSION
+            wrappedPtr = std::shared_ptr<T const>( refCount, static_cast<T const *>(dptr) );
+            #endif // _LIBCPP_VERSION
+          }
+
+          //! Get the wrapped shared_ptr */
+          inline std::shared_ptr<T const> const & operator()() const { return wrappedPtr; }
+
+        private:
+          std::shared_ptr<void> refCount;      //!< The ownership pointer
+          std::shared_ptr<T const> wrappedPtr; //!< The wrapped pointer
+      };
+
+      //! Does the actual work of saving a polymorphic shared_ptr
+      /*! This function will properly create a shared_ptr from the void * that is passed in
+          before passing it to the archive for serialization.
+
+          In addition, this will also preserve the state of any internal enable_shared_from_this mechanisms
+
+          @param ar The archive to serialize to
+          @param dptr Pointer to the actual data held by the shared_ptr */
+      static inline void savePolymorphicSharedPtr( Archive & ar, void const * dptr, std::true_type /* has_shared_from_this */ )
+      {
+        ::cereal::memory_detail::EnableSharedStateHelper<T> state( static_cast<T *>(const_cast<void *>(dptr)) );
+        PolymorphicSharedPointerWrapper psptr( dptr );
+        ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( psptr() ) ) );
+      }
+
+      //! Does the actual work of saving a polymorphic shared_ptr
+      /*! This function will properly create a shared_ptr from the void * that is passed in
+          before passing it to the archive for serialization.
+
+          This version is for types that do not inherit from std::enable_shared_from_this.
+
+          @param ar The archive to serialize to
+          @param dptr Pointer to the actual data held by the shared_ptr */
+      static inline void savePolymorphicSharedPtr( Archive & ar, void const * dptr, std::false_type /* has_shared_from_this */ )
+      {
+        PolymorphicSharedPointerWrapper psptr( dptr );
+        ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( psptr() ) ) );
+      }
+
+      //! Initialize the binding
+      OutputBindingCreator()
+      {
+        auto & map = StaticObject<OutputBindingMap<Archive>>::getInstance().map;
+        auto key = std::type_index(typeid(T));
+        auto lb = map.lower_bound(key);
+
+        if (lb != map.end() && lb->first == key)
+          return;
+
+        typename OutputBindingMap<Archive>::Serializers serializers;
+
+        serializers.shared_ptr =
+          [&](void * arptr, void const * dptr)
+          {
+            Archive & ar = *static_cast<Archive*>(arptr);
+
+            writeMetadata(ar);
+
+            #ifdef _MSC_VER
+            savePolymorphicSharedPtr( ar, dptr, ::cereal::traits::has_shared_from_this<T>::type() ); // MSVC doesn't like typename here
+            #else // not _MSC_VER
+            savePolymorphicSharedPtr( ar, dptr, typename ::cereal::traits::has_shared_from_this<T>::type() );
+            #endif // _MSC_VER
+          };
+
+        serializers.unique_ptr =
+          [&](void * arptr, void const * dptr)
+          {
+            Archive & ar = *static_cast<Archive*>(arptr);
+
+            writeMetadata(ar);
+
+            std::unique_ptr<T const, EmptyDeleter<T const>> const ptr(static_cast<T const *>(dptr));
+
+            ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper(ptr)) );
+          };
+
+        map.insert( { std::move(key), std::move(serializers) } );
+      }
+    };
+
+    //! Used to help out argument dependent lookup for finding potential overloads
+    //! of instantiate_polymorphic_binding
+    struct adl_tag {};
+
+    //! Tag for init_binding, bind_to_archives and instantiate_polymorphic_binding. Due to the use of anonymous
+    //! namespace it becomes a different type in each translation unit.
+    namespace { struct polymorphic_binding_tag {}; }
+
+    //! Causes the static object bindings between an archive type and a serializable type T
+    template <class Archive, class T>
+    struct create_bindings
+    {
+      static const InputBindingCreator<Archive, T> &
+      load(std::true_type)
+      {
+        return cereal::detail::StaticObject<InputBindingCreator<Archive, T>>::getInstance();
+      }
+
+      static const OutputBindingCreator<Archive, T> &
+      save(std::true_type)
+      {
+        return cereal::detail::StaticObject<OutputBindingCreator<Archive, T>>::getInstance();
+      }
+
+      inline static void load(std::false_type) {}
+      inline static void save(std::false_type) {}
+    };
+
+    //! When specialized, causes the compiler to instantiate its parameter
+    template <void(*)()>
+    struct instantiate_function {};
+
+    /*! This struct is used as the return type of instantiate_polymorphic_binding
+        for specific Archive types.  When the compiler looks for overloads of
+        instantiate_polymorphic_binding, it will be forced to instantiate this
+        struct during overload resolution, even though it will not be part of a valid
+        overload */
+    template <class Archive, class T>
+    struct polymorphic_serialization_support
+    {
+      #if defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+      //! Creates the appropriate bindings depending on whether the archive supports
+      //! saving or loading
+      virtual CEREAL_DLL_EXPORT void instantiate() CEREAL_USED;
+      #else // NOT _MSC_VER
+      //! Creates the appropriate bindings depending on whether the archive supports
+      //! saving or loading
+      static CEREAL_DLL_EXPORT void instantiate() CEREAL_USED;
+      //! This typedef causes the compiler to instantiate this static function
+      typedef instantiate_function<instantiate> unused;
+      #endif // _MSC_VER
+    };
+
+    // instantiate implementation
+    template <class Archive, class T>
+    CEREAL_DLL_EXPORT void polymorphic_serialization_support<Archive,T>::instantiate()
+    {
+      create_bindings<Archive,T>::save( std::integral_constant<bool,
+                                          std::is_base_of<detail::OutputArchiveBase, Archive>::value &&
+                                          traits::is_output_serializable<T, Archive>::value>{} );
+
+      create_bindings<Archive,T>::load( std::integral_constant<bool,
+                                          std::is_base_of<detail::InputArchiveBase, Archive>::value &&
+                                          traits::is_input_serializable<T, Archive>::value>{} );
+    }
+
+    //! Begins the binding process of a type to all registered archives
+    /*! Archives need to be registered prior to this struct being instantiated via
+        the CEREAL_REGISTER_ARCHIVE macro.  Overload resolution will then force
+        several static objects to be made that allow us to bind together all
+        registered archive types with the parameter type T. */
+    template <class T, class Tag = polymorphic_binding_tag>
+    struct bind_to_archives
+    {
+      //! Binding for non abstract types
+      void bind(std::false_type) const
+	    {
+		    instantiate_polymorphic_binding((T*) 0, 0, Tag{}, adl_tag{});
+      }
+
+      //! Binding for abstract types
+      void bind(std::true_type) const
+      { }
+
+      //! Binds the type T to all registered archives
+      /*! If T is abstract, we will not serialize it and thus
+          do not need to make a binding */
+      bind_to_archives const & bind() const
+      {
+        static_assert( std::is_polymorphic<T>::value,
+                       "Attempting to register non polymorphic type" );
+        bind( std::is_abstract<T>() );
+        return *this;
+      }
+    };
+
+    //! Used to hide the static object used to bind T to registered archives
+    template <class T, class Tag = polymorphic_binding_tag>
+    struct init_binding;
+
+    //! Base case overload for instantiation
+    /*! This will end up always being the best overload due to the second
+        parameter always being passed as an int.  All other overloads will
+        accept pointers to archive types and have lower precedence than int.
+
+        Since the compiler needs to check all possible overloads, the
+        other overloads created via CEREAL_REGISTER_ARCHIVE, which will have
+        lower precedence due to requring a conversion from int to (Archive*),
+        will cause their return types to be instantiated through the static object
+        mechanisms even though they are never called.
+
+        See the documentation for the other functions to try and understand this */
+    template <class T, typename BindingTag>
+    void instantiate_polymorphic_binding( T*, int, BindingTag, adl_tag ) {}
+  } // namespace detail
+} // namespace cereal
+
+#endif // CEREAL_DETAILS_POLYMORPHIC_IMPL_HPP_
diff --git a/3rdparty/include/cereal/details/static_object.hpp b/3rdparty/include/cereal/details/static_object.hpp
new file mode 100644
index 0000000..c172ac3
--- /dev/null
+++ b/3rdparty/include/cereal/details/static_object.hpp
@@ -0,0 +1,90 @@
+/*! \file static_object.hpp
+    \brief Internal polymorphism static object support
+    \ingroup Internal */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_DETAILS_STATIC_OBJECT_HPP_
+#define CEREAL_DETAILS_STATIC_OBJECT_HPP_
+
+//! Prevent link optimization from removing non-referenced static objects
+/*! Especially for polymorphic support, we create static objects which
+    may not ever be explicitly referenced.  Most linkers will detect this
+    and remove the code causing various unpleasant runtime errors.  These
+    macros, adopted from Boost (see force_include.hpp) prevent this
+    (C) Copyright 2002 Robert Ramey - http://www.rrsd.com .
+    Use, modification and distribution is subject to the Boost Software
+    License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+    http://www.boost.org/LICENSE_1_0.txt) */
+
+#ifdef _MSC_VER
+#   define CEREAL_DLL_EXPORT __declspec(dllexport)
+#   define CEREAL_USED
+#else // clang or gcc
+#   define CEREAL_DLL_EXPORT
+#   define CEREAL_USED __attribute__ ((__used__))
+#endif
+
+namespace cereal
+{
+  namespace detail
+  {
+    //! A static, pre-execution object
+    /*! This class will create a single copy (singleton) of some
+        type and ensures that merely referencing this type will
+        cause it to be instantiated and initialized pre-execution.
+        For example, this is used heavily in the polymorphic pointer
+        serialization mechanisms to bind various archive types with
+        different polymorphic classes */
+    template <class T>
+    class CEREAL_DLL_EXPORT StaticObject
+    {
+      private:
+        //! Forces instantiation at pre-execution time
+        static void instantiate( T const & ) {}
+
+        static T & create()
+        {
+          static T t;
+          instantiate(instance);
+          return t;
+        }
+
+        StaticObject( StaticObject const & /*other*/ ) {}
+
+      public:
+        static T & getInstance()
+        {
+          return create();
+        }
+
+      private:
+        static T & instance;
+    };
+
+    template <class T> T & StaticObject<T>::instance = StaticObject<T>::create();
+  } // namespace detail
+} // namespace cereal
+
+#endif // CEREAL_DETAILS_STATIC_OBJECT_HPP_
\ No newline at end of file
diff --git a/3rdparty/include/cereal/details/traits.hpp b/3rdparty/include/cereal/details/traits.hpp
new file mode 100644
index 0000000..b268f9e
--- /dev/null
+++ b/3rdparty/include/cereal/details/traits.hpp
@@ -0,0 +1,1325 @@
+/*! \file traits.hpp
+    \brief Internal type trait support
+    \ingroup Internal */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_DETAILS_TRAITS_HPP_
+#define CEREAL_DETAILS_TRAITS_HPP_
+
+#ifndef __clang__
+#if (__GNUC__ == 4 && __GNUC_MINOR__ <= 7)
+#define CEREAL_OLDER_GCC
+#endif // gcc 4.7 or earlier
+#endif // __clang__
+
+#include <type_traits>
+#include <typeindex>
+
+#include <cereal/macros.hpp>
+#include <cereal/access.hpp>
+
+namespace cereal
+{
+  namespace traits
+  {
+    using yes = std::true_type;
+    using no  = std::false_type;
+
+    namespace detail
+    {
+      // ######################################################################
+      //! Used to delay a static_assert until template instantiation
+      template <class T>
+      struct delay_static_assert : std::false_type {};
+
+      // ######################################################################
+      // SFINAE Helpers
+      #ifdef CEREAL_OLDER_GCC // when VS supports better SFINAE, we can use this as the default
+      template<typename> struct Void { typedef void type; };
+      #endif // CEREAL_OLDER_GCC
+
+      //! Return type for SFINAE Enablers
+      enum class sfinae {};
+
+      // ######################################################################
+      // Helper functionality for boolean integral constants and Enable/DisableIf
+      template <bool H, bool ... T> struct meta_bool_and : std::integral_constant<bool, H && meta_bool_and<T...>::value> {};
+      template <bool B> struct meta_bool_and<B> : std::integral_constant<bool, B> {};
+
+      template <bool H, bool ... T> struct meta_bool_or : std::integral_constant<bool, H || meta_bool_or<T...>::value> {};
+      template <bool B> struct meta_bool_or<B> : std::integral_constant<bool, B> {};
+
+      // workaround needed due to bug in MSVC 2013, see
+      // http://connect.microsoft.com/VisualStudio/feedback/details/800231/c-11-alias-template-issue
+      template <bool ... Conditions>
+      struct EnableIfHelper : std::enable_if<meta_bool_and<Conditions...>::value, sfinae> {};
+
+      template <bool ... Conditions>
+      struct DisableIfHelper : std::enable_if<!meta_bool_or<Conditions...>::value, sfinae> {};
+    } // namespace detail
+
+    //! Used as the default value for EnableIf and DisableIf template parameters
+    /*! @relates EnableIf
+        @relates DisableIf */
+    static const detail::sfinae sfinae = {};
+
+    // ######################################################################
+    //! Provides a way to enable a function if conditions are met
+    /*! This is intended to be used in a near identical fashion to std::enable_if
+        while being significantly easier to read at the cost of not allowing for as
+        complicated of a condition.
+
+        This will compile (allow the function) if every condition evaluates to true.
+        at compile time.  This should be used with SFINAE to ensure that at least
+        one other candidate function works when one fails due to an EnableIf.
+
+        This should be used as the las template parameter to a function as
+        an unnamed parameter with a default value of cereal::traits::sfinae:
+
+        @code{cpp}
+        // using by making the last template argument variadic
+        template <class T, EnableIf<std::is_same<T, bool>::value> = sfinae>
+        void func(T t );
+        @endcode
+
+        Note that this performs a logical AND of all conditions, so you will need
+        to construct more complicated requirements with this fact in mind.
+
+        @relates DisableIf
+        @relates sfinae
+        @tparam Conditions The conditions which will be logically ANDed to enable the function. */
+    template <bool ... Conditions>
+    using EnableIf = typename detail::EnableIfHelper<Conditions...>::type;
+
+    // ######################################################################
+    //! Provides a way to disable a function if conditions are met
+    /*! This is intended to be used in a near identical fashion to std::enable_if
+        while being significantly easier to read at the cost of not allowing for as
+        complicated of a condition.
+
+        This will compile (allow the function) if every condition evaluates to false.
+        This should be used with SFINAE to ensure that at least one other candidate
+        function works when one fails due to a DisableIf.
+
+        This should be used as the las template parameter to a function as
+        an unnamed parameter with a default value of cereal::traits::sfinae:
+
+        @code{cpp}
+        // using by making the last template argument variadic
+        template <class T, DisableIf<std::is_same<T, bool>::value> = sfinae>
+        void func(T t );
+        @endcode
+
+        This is often used in conjunction with EnableIf to form an enable/disable pair of
+        overloads.
+
+        Note that this performs a logical AND of all conditions, so you will need
+        to construct more complicated requirements with this fact in mind.  If all conditions
+        hold, the function will be disabled.
+
+        @relates EnableIf
+        @relates sfinae
+        @tparam Conditions The conditions which will be logically ANDed to disable the function. */
+    template <bool ... Conditions>
+    using DisableIf = typename detail::DisableIfHelper<Conditions...>::type;
+
+    // ######################################################################
+    namespace detail
+    {
+      template <class InputArchive>
+      struct get_output_from_input : no
+      {
+        static_assert( detail::delay_static_assert<InputArchive>::value,
+            "Could not find an associated output archive for input archive." );
+      };
+
+      template <class OutputArchive>
+      struct get_input_from_output : no
+      {
+        static_assert( detail::delay_static_assert<OutputArchive>::value,
+            "Could not find an associated input archive for output archive." );
+      };
+    }
+
+    //! Sets up traits that relate an input archive to an output archive
+    #define CEREAL_SETUP_ARCHIVE_TRAITS(InputArchive, OutputArchive)  \
+    namespace cereal { namespace traits { namespace detail {          \
+      template <> struct get_output_from_input<InputArchive>          \
+      { using type = OutputArchive; };                                \
+      template <> struct get_input_from_output<OutputArchive>         \
+      { using type = InputArchive; }; } } } /* end namespaces */
+
+    // ######################################################################
+    //! Used to convert a MAKE_HAS_XXX macro into a versioned variant
+    #define CEREAL_MAKE_VERSIONED_TEST ,0
+
+    // ######################################################################
+    //! Creates a test for whether a non const member function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param name The name of the function to test for (e.g. serialize, load, save)
+        @param test_name The name to give the test for the function being tested for (e.g. serialize, versioned_serialize)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #ifdef CEREAL_OLDER_GCC
+    #define CEREAL_MAKE_HAS_MEMBER_TEST(name, test_name, versioned)                                                                         \
+    template <class T, class A, class SFINAE = void>                                                                                        \
+    struct has_member_##test_name : no {};                                                                                                  \
+    template <class T, class A>                                                                                                             \
+    struct has_member_##test_name<T, A,                                                                                                     \
+      typename detail::Void< decltype( cereal::access::member_##name( std::declval<A&>(), std::declval<T&>() versioned ) ) >::type> : yes {}
+    #else // NOT CEREAL_OLDER_GCC
+    #define CEREAL_MAKE_HAS_MEMBER_TEST(name, test_name, versioned)                                                                     \
+    namespace detail                                                                                                                    \
+    {                                                                                                                                   \
+      template <class T, class A>                                                                                                       \
+      struct has_member_##name##_##versioned##_impl                                                                                     \
+      {                                                                                                                                 \
+        template <class TT, class AA>                                                                                                   \
+        static auto test(int) -> decltype( cereal::access::member_##name( std::declval<AA&>(), std::declval<TT&>() versioned ), yes()); \
+        template <class, class>                                                                                                         \
+        static no test(...);                                                                                                            \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;                                                    \
+      };                                                                                                                                \
+    } /* end namespace detail */                                                                                                        \
+    template <class T, class A>                                                                                                         \
+    struct has_member_##test_name : std::integral_constant<bool, detail::has_member_##name##_##versioned##_impl<T, A>::value> {}
+    #endif // NOT CEREAL_OLDER_GCC
+
+    // ######################################################################
+    //! Creates a test for whether a non const non-member function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper non-member function for the given archive. */
+    #define CEREAL_MAKE_HAS_NON_MEMBER_TEST(test_name, func, versioned)                                                         \
+    namespace detail                                                                                                            \
+    {                                                                                                                           \
+      template <class T, class A>                                                                                               \
+      struct has_non_member_##test_name##_impl                                                                                  \
+      {                                                                                                                         \
+        template <class TT, class AA>                                                                                           \
+        static auto test(int) -> decltype( func( std::declval<AA&>(), std::declval<TT&>() versioned ), yes());                  \
+        template <class, class>                                                                                                 \
+        static no test( ... );                                                                                                  \
+        static const bool value = std::is_same<decltype( test<T, A>( 0 ) ), yes>::value;                                        \
+      };                                                                                                                        \
+    } /* end namespace detail */                                                                                                \
+    template <class T, class A>                                                                                                 \
+    struct has_non_member_##test_name : std::integral_constant<bool, detail::has_non_member_##test_name##_impl<T, A>::value> {}
+
+    // ######################################################################
+    // Member Serialize
+    CEREAL_MAKE_HAS_MEMBER_TEST(serialize, serialize,);
+
+    // ######################################################################
+    // Member Serialize (versioned)
+    CEREAL_MAKE_HAS_MEMBER_TEST(serialize, versioned_serialize, CEREAL_MAKE_VERSIONED_TEST);
+
+    // ######################################################################
+    // Non Member Serialize
+    CEREAL_MAKE_HAS_NON_MEMBER_TEST(serialize, CEREAL_SERIALIZE_FUNCTION_NAME,);
+
+    // ######################################################################
+    // Non Member Serialize (versioned)
+    CEREAL_MAKE_HAS_NON_MEMBER_TEST(versioned_serialize, CEREAL_SERIALIZE_FUNCTION_NAME, CEREAL_MAKE_VERSIONED_TEST);
+
+    // ######################################################################
+    // Member Load
+    CEREAL_MAKE_HAS_MEMBER_TEST(load, load,);
+
+    // ######################################################################
+    // Member Load (versioned)
+    CEREAL_MAKE_HAS_MEMBER_TEST(load, versioned_load, CEREAL_MAKE_VERSIONED_TEST);
+
+    // ######################################################################
+    // Non Member Load
+    CEREAL_MAKE_HAS_NON_MEMBER_TEST(load, CEREAL_LOAD_FUNCTION_NAME,);
+
+    // ######################################################################
+    // Non Member Load (versioned)
+    CEREAL_MAKE_HAS_NON_MEMBER_TEST(versioned_load, CEREAL_LOAD_FUNCTION_NAME, CEREAL_MAKE_VERSIONED_TEST);
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_NON_MEMBER_TEST
+    #undef CEREAL_MAKE_HAS_MEMBER_TEST
+
+    // ######################################################################
+    //! Creates a test for whether a member save function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param test_name The name to give the test (e.g. save or versioned_save)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #ifdef CEREAL_OLDER_GCC
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_IMPL(test_name, versioned)                                                                  \
+    namespace detail                                                                                                                \
+    {                                                                                                                               \
+    template <class T, class A>                                                                                                     \
+    struct has_member_##test_name##_impl                                                                                            \
+      {                                                                                                                             \
+        template <class TT, class AA, class SFINAE = void> struct test : no {};                                                     \
+        template <class TT, class AA>                                                                                               \
+        struct test<TT, AA,                                                                                                         \
+          typename detail::Void< decltype( cereal::access::member_save( std::declval<AA&>(),                                        \
+                                                                        std::declval<TT const &>() versioned ) ) >::type> : yes {}; \
+        static const bool value = test<T, A>();                                                                                     \
+                                                                                                                                    \
+        template <class TT, class AA, class SFINAE = void> struct test2 : no {};                                                    \
+        template <class TT, class AA>                                                                                               \
+        struct test2<TT, AA,                                                                                                        \
+          typename detail::Void< decltype( cereal::access::member_save_non_const(                                                   \
+                                            std::declval<AA&>(),                                                                    \
+                                            std::declval<typename std::remove_const<TT>::type&>() versioned ) ) >::type> : yes {};  \
+        static const bool not_const_type = test2<T, A>();                                                                           \
+      };                                                                                                                            \
+    } /* end namespace detail */
+    #else /* NOT CEREAL_OLDER_GCC =================================== */
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_IMPL(test_name, versioned)                                                                  \
+    namespace detail                                                                                                                \
+    {                                                                                                                               \
+    template <class T, class A>                                                                                                     \
+    struct has_member_##test_name##_impl                                                                                            \
+      {                                                                                                                             \
+        template <class TT, class AA>                                                                                               \
+        static auto test(int) -> decltype( cereal::access::member_save( std::declval<AA&>(),                                        \
+                                                                        std::declval<TT const &>() versioned ), yes());             \
+        template <class, class> static no test(...);                                                                                \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;                                                \
+                                                                                                                                    \
+        template <class TT, class AA>                                                                                               \
+        static auto test2(int) -> decltype( cereal::access::member_save_non_const(                                                  \
+                                              std::declval<AA &>(),                                                                 \
+                                              std::declval<typename std::remove_const<TT>::type&>() versioned ), yes());            \
+        template <class, class> static no test2(...);                                                                               \
+        static const bool not_const_type = std::is_same<decltype(test2<T, A>(0)), yes>::value;                                      \
+      };                                                                                                                            \
+    } /* end namespace detail */
+    #endif /* NOT CEREAL_OLDER_GCC */
+
+    // ######################################################################
+    // Member Save
+    CEREAL_MAKE_HAS_MEMBER_SAVE_IMPL(save, )
+
+    template <class T, class A>
+    struct has_member_save : std::integral_constant<bool, detail::has_member_save_impl<T, A>::value>
+    {
+      typedef typename detail::has_member_save_impl<T, A> check;
+      static_assert( check::value || !check::not_const_type,
+        "cereal detected a non-const save. \n "
+        "save member functions must always be const" );
+    };
+
+    // ######################################################################
+    // Member Save (versioned)
+    CEREAL_MAKE_HAS_MEMBER_SAVE_IMPL(versioned_save, CEREAL_MAKE_VERSIONED_TEST)
+
+    template <class T, class A>
+    struct has_member_versioned_save : std::integral_constant<bool, detail::has_member_versioned_save_impl<T, A>::value>
+    {
+      typedef typename detail::has_member_versioned_save_impl<T, A> check;
+      static_assert( check::value || !check::not_const_type,
+        "cereal detected a versioned non-const save. \n "
+        "save member functions must always be const" );
+    };
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_MEMBER_SAVE_IMPL
+
+    // ######################################################################
+    //! Creates a test for whether a non-member save function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper non-member function for the given archive.
+
+        @param test_name The name to give the test (e.g. save or versioned_save)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #define CEREAL_MAKE_HAS_NON_MEMBER_SAVE_TEST(test_name, versioned)                                                       \
+    namespace detail                                                                                                         \
+    {                                                                                                                        \
+      template <class T, class A>                                                                                            \
+      struct has_non_member_##test_name##_impl                                                                               \
+      {                                                                                                                      \
+        template <class TT, class AA>                                                                                        \
+        static auto test(int) -> decltype( CEREAL_SAVE_FUNCTION_NAME(                                                        \
+                                              std::declval<AA&>(),                                                           \
+                                              std::declval<TT const &>() versioned ), yes());                                \
+        template <class, class> static no test(...);                                                                         \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;                                         \
+                                                                                                                             \
+        template <class TT, class AA>                                                                                        \
+        static auto test2(int) -> decltype( CEREAL_SAVE_FUNCTION_NAME(                                                       \
+                                              std::declval<AA &>(),                                                          \
+                                              std::declval<typename std::remove_const<TT>::type&>() versioned ), yes());     \
+        template <class, class> static no test2(...);                                                                        \
+        static const bool not_const_type = std::is_same<decltype(test2<T, A>(0)), yes>::value;                               \
+      };                                                                                                                     \
+    } /* end namespace detail */                                                                                             \
+                                                                                                                             \
+    template <class T, class A>                                                                                              \
+    struct has_non_member_##test_name : std::integral_constant<bool, detail::has_non_member_##test_name##_impl<T, A>::value> \
+    {                                                                                                                        \
+      using check = typename detail::has_non_member_##test_name##_impl<T, A>;                                                \
+      static_assert( check::value || !check::not_const_type,                                                                 \
+        "cereal detected a non-const type parameter in non-member " #test_name ". \n "                                       \
+        #test_name " non-member functions must always pass their types as const" );                                          \
+    };
+
+    // ######################################################################
+    // Non Member Save
+    CEREAL_MAKE_HAS_NON_MEMBER_SAVE_TEST(save, )
+
+    // ######################################################################
+    // Non Member Save (versioned)
+    CEREAL_MAKE_HAS_NON_MEMBER_SAVE_TEST(versioned_save, CEREAL_MAKE_VERSIONED_TEST)
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_NON_MEMBER_SAVE_TEST
+
+    // ######################################################################
+    // Minimal Utilities
+    namespace detail
+    {
+      // Determines if the provided type is an std::string
+      template <class> struct is_string : std::false_type {};
+
+      template <class CharT, class Traits, class Alloc>
+      struct is_string<std::basic_string<CharT, Traits, Alloc>> : std::true_type {};
+    }
+
+    // Determines if the type is valid for use with a minimal serialize function
+    template <class T>
+    struct is_minimal_type : std::integral_constant<bool,
+      detail::is_string<T>::value || std::is_arithmetic<T>::value> {};
+
+    // ######################################################################
+    //! Creates implementation details for whether a member save_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param test_name The name to give the test (e.g. save_minimal or versioned_save_minimal)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #ifdef CEREAL_OLDER_GCC
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_IMPL(test_name, versioned)                                                                        \
+    namespace detail                                                                                                                              \
+    {                                                                                                                                             \
+      template <class T, class A>                                                                                                                 \
+      struct has_member_##test_name##_impl                                                                                                        \
+      {                                                                                                                                           \
+        template <class TT, class AA, class SFINAE = void> struct test : no {};                                                                   \
+        template <class TT, class AA>                                                                                                             \
+        struct test<TT, AA, typename detail::Void< decltype(                                                                                      \
+            cereal::access::member_save_minimal( std::declval<AA const &>(),                                                                      \
+                                                 std::declval<TT const &>() versioned ) ) >::type> : yes {};                                      \
+                                                                                                                                                  \
+        static const bool value = test<T, A>();                                                                                                   \
+                                                                                                                                                  \
+        template <class TT, class AA, class SFINAE = void> struct test2 : no {};                                                                  \
+        template <class TT, class AA>                                                                                                             \
+        struct test2<TT, AA, typename detail::Void< decltype(                                                                                     \
+            cereal::access::member_save_minimal_non_const( std::declval<AA const &>(),                                                            \
+                                                           std::declval<typename std::remove_const<TT>::type&>() versioned ) ) >::type> : yes {}; \
+        static const bool not_const_type = test2<T, A>();                                                                                         \
+                                                                                                                                                  \
+        static const bool valid = value || !not_const_type;                                                                                       \
+      };                                                                                                                                          \
+    } /* end namespace detail */
+    #else /* NOT CEREAL_OLDER_GCC =================================== */
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_IMPL(test_name, versioned)                     \
+    namespace detail                                                                           \
+    {                                                                                          \
+      template <class T, class A>                                                              \
+      struct has_member_##test_name##_impl                                                     \
+      {                                                                                        \
+        template <class TT, class AA>                                                          \
+        static auto test(int) -> decltype( cereal::access::member_save_minimal(                \
+              std::declval<AA const &>(),                                                      \
+              std::declval<TT const &>() versioned ), yes());                                  \
+        template <class, class> static no test(...);                                           \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;           \
+                                                                                               \
+        template <class TT, class AA>                                                          \
+        static auto test2(int) -> decltype( cereal::access::member_save_minimal_non_const(     \
+              std::declval<AA const &>(),                                                      \
+              std::declval<typename std::remove_const<TT>::type&>() versioned ), yes());       \
+        template <class, class> static no test2(...);                                          \
+        static const bool not_const_type = std::is_same<decltype(test2<T, A>(0)), yes>::value; \
+                                                                                               \
+        static const bool valid = value || !not_const_type;                                    \
+      };                                                                                       \
+    } /* end namespace detail */
+    #endif // NOT CEREAL_OLDER_GCC
+
+    // ######################################################################
+    //! Creates helpers for minimal save functions
+    /*! The get_member_*_type structs allow access to the return type of a save_minimal,
+        assuming that the function actually exists.  If the function does not
+        exist, the type will be void.
+
+        @param test_name The name to give the test (e.g. save_minimal or versioned_save_minimal)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_HELPERS_IMPL(test_name, versioned)                           \
+    namespace detail                                                                                         \
+    {                                                                                                        \
+      template <class T, class A, bool Valid>                                                                \
+      struct get_member_##test_name##_type { using type = void; };                                           \
+                                                                                                             \
+      template <class T, class A>                                                                            \
+      struct get_member_##test_name##_type<T, A, true>                                                       \
+      {                                                                                                      \
+        using type = decltype( cereal::access::member_save_minimal( std::declval<A const &>(),               \
+                                                                    std::declval<T const &>() versioned ) ); \
+      };                                                                                                     \
+    } /* end namespace detail */
+
+    // ######################################################################
+    //! Creates a test for whether a member save_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param test_name The name to give the test (e.g. save_minimal or versioned_save_minimal) */
+    #define CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_TEST(test_name)                                                      \
+    template <class T, class A>                                                                                      \
+    struct has_member_##test_name : std::integral_constant<bool, detail::has_member_##test_name##_impl<T, A>::value> \
+    {                                                                                                                \
+      using check = typename detail::has_member_##test_name##_impl<T, A>;                                            \
+      static_assert( check::valid,                                                                                   \
+        "cereal detected a non-const member " #test_name ". \n "                                                     \
+        #test_name " member functions must always be const" );                                                       \
+                                                                                                                     \
+      using type = typename detail::get_member_##test_name##_type<T, A, check::value>::type;                         \
+      static_assert( (check::value && is_minimal_type<type>::value) || !check::value,                                \
+        "cereal detected a member " #test_name " with an invalid return type. \n "                                   \
+        "return type must be arithmetic or string" );                                                                \
+    };
+
+    // ######################################################################
+    // Member Save Minimal
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_IMPL(save_minimal, )
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_HELPERS_IMPL(save_minimal, )
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_TEST(save_minimal)
+
+    // ######################################################################
+    // Member Save Minimal (versioned)
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_IMPL(versioned_save_minimal, CEREAL_MAKE_VERSIONED_TEST)
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_HELPERS_IMPL(versioned_save_minimal, CEREAL_MAKE_VERSIONED_TEST)
+    CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_TEST(versioned_save_minimal)
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_IMPL
+    #undef CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_HELPERS_IMPL
+    #undef CEREAL_MAKE_HAS_MEMBER_SAVE_MINIMAL_TEST
+
+    // ######################################################################
+    //! Creates a test for whether a non-member save_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param test_name The name to give the test (e.g. save_minimal or versioned_save_minimal)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #define CEREAL_MAKE_HAS_NON_MEMBER_SAVE_MINIMAL_TEST(test_name, versioned)                                               \
+    namespace detail                                                                                                         \
+    {                                                                                                                        \
+      template <class T, class A>                                                                                            \
+      struct has_non_member_##test_name##_impl                                                                               \
+      {                                                                                                                      \
+        template <class TT, class AA>                                                                                        \
+        static auto test(int) -> decltype( CEREAL_SAVE_MINIMAL_FUNCTION_NAME(                                                \
+              std::declval<AA const &>(),                                                                                    \
+              std::declval<TT const &>() versioned ), yes());                                                                \
+        template <class, class> static no test(...);                                                                         \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;                                         \
+                                                                                                                             \
+        template <class TT, class AA>                                                                                        \
+        static auto test2(int) -> decltype( CEREAL_SAVE_MINIMAL_FUNCTION_NAME(                                               \
+              std::declval<AA const &>(),                                                                                    \
+              std::declval<typename std::remove_const<TT>::type&>() versioned ), yes());                                     \
+        template <class, class> static no test2(...);                                                                        \
+        static const bool not_const_type = std::is_same<decltype(test2<T, A>(0)), yes>::value;                               \
+                                                                                                                             \
+        static const bool valid = value || !not_const_type;                                                                  \
+      };                                                                                                                     \
+                                                                                                                             \
+      template <class T, class A, bool Valid>                                                                                \
+      struct get_non_member_##test_name##_type { using type = void; };                                                       \
+                                                                                                                             \
+      template <class T, class A>                                                                                            \
+      struct get_non_member_##test_name##_type <T, A, true>                                                                  \
+      {                                                                                                                      \
+        using type = decltype( CEREAL_SAVE_MINIMAL_FUNCTION_NAME( std::declval<A const &>(),                                 \
+                                                                  std::declval<T const &>() versioned ) );                   \
+      };                                                                                                                     \
+    } /* end namespace detail */                                                                                             \
+                                                                                                                             \
+    template <class T, class A>                                                                                              \
+    struct has_non_member_##test_name : std::integral_constant<bool, detail::has_non_member_##test_name##_impl<T, A>::value> \
+    {                                                                                                                        \
+      using check = typename detail::has_non_member_##test_name##_impl<T, A>;                                                \
+      static_assert( check::valid,                                                                                           \
+        "cereal detected a non-const type parameter in non-member " #test_name ". \n "                                       \
+        #test_name " non-member functions must always pass their types as const" );                                          \
+                                                                                                                             \
+      using type = typename detail::get_non_member_##test_name##_type<T, A, check::value>::type;                             \
+      static_assert( (check::value && is_minimal_type<type>::value) || !check::value,                                        \
+        "cereal detected a non-member " #test_name " with an invalid return type. \n "                                       \
+        "return type must be arithmetic or string" );                                                                        \
+    };
+
+    // ######################################################################
+    // Non-Member Save Minimal
+    CEREAL_MAKE_HAS_NON_MEMBER_SAVE_MINIMAL_TEST(save_minimal, )
+
+    // ######################################################################
+    // Non-Member Save Minimal (versioned)
+    CEREAL_MAKE_HAS_NON_MEMBER_SAVE_MINIMAL_TEST(versioned_save_minimal, CEREAL_MAKE_VERSIONED_TEST)
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_NON_MEMBER_SAVE_MINIMAL_TEST
+
+    // ######################################################################
+    // Load Minimal Utilities
+    namespace detail
+    {
+      //! Used to help strip away conversion wrappers
+      /*! If someone writes a non-member load/save minimal function that accepts its
+          parameter as some generic template type and needs to perform trait checks
+          on that type, our NoConvert wrappers will interfere with this.  Using
+          the struct strip_minmal, users can strip away our wrappers to get to
+          the underlying type, allowing traits to work properly */
+      struct NoConvertBase {};
+
+      //! A struct that prevents implicit conversion
+      /*! Any type instantiated with this struct will be unable to implicitly convert
+          to another type.  Is designed to only allow conversion to Source const &.
+
+          @tparam Source the type of the original source */
+      template <class Source>
+      struct NoConvertConstRef : NoConvertBase
+      {
+        using type = Source; //!< Used to get underlying type easily
+
+        template <class Dest, class = typename std::enable_if<std::is_same<Source, Dest>::value>::type>
+        operator Dest () = delete;
+
+        //! only allow conversion if the types are the same and we are converting into a const reference
+        template <class Dest, class = typename std::enable_if<std::is_same<Source, Dest>::value>::type>
+        operator Dest const & ();
+      };
+
+      //! A struct that prevents implicit conversion
+      /*! Any type instantiated with this struct will be unable to implicitly convert
+          to another type.  Is designed to only allow conversion to Source &.
+
+          @tparam Source the type of the original source */
+      template <class Source>
+      struct NoConvertRef : NoConvertBase
+      {
+        using type = Source; //!< Used to get underlying type easily
+
+        template <class Dest, class = typename std::enable_if<std::is_same<Source, Dest>::value>::type>
+        operator Dest () = delete;
+
+        #ifdef __clang__
+        template <class Dest, class = typename std::enable_if<std::is_same<Source, Dest>::value>::type>
+        operator Dest const & () = delete;
+        #endif // __clang__
+
+        //! only allow conversion if the types are the same and we are converting into a const reference
+        template <class Dest, class = typename std::enable_if<std::is_same<Source, Dest>::value>::type>
+        operator Dest & ();
+      };
+
+      //! A type that can implicitly convert to anything else
+      struct AnyConvert
+      {
+        template <class Dest>
+        operator Dest & ();
+
+        template <class Dest>
+        operator Dest const & () const;
+      };
+    } // namespace detail
+
+    // ######################################################################
+    //! Creates a test for whether a member load_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        Our strategy here is to first check if a function matching the signature more or less exists
+        (allow anything like load_minimal(xxx) using AnyConvert, and then secondly enforce
+        that it has the correct signature using NoConvertConstRef
+
+        @param test_name The name to give the test (e.g. load_minimal or versioned_load_minimal)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #ifdef CEREAL_OLDER_GCC
+    #define CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_IMPL(test_name, versioned)                                                    \
+    namespace detail                                                                                                          \
+    {                                                                                                                         \
+      template <class T, class A, class SFINAE = void> struct has_member_##test_name##_impl : no {};                          \
+      template <class T, class A>                                                                                             \
+      struct has_member_##test_name##_impl<T, A, typename detail::Void< decltype(                                             \
+          cereal::access::member_load_minimal( std::declval<A const &>(),                                                     \
+                                               std::declval<T &>(), AnyConvert() versioned ) ) >::type> : yes {};             \
+                                                                                                                              \
+        template <class T, class A, class U, class SFINAE = void> struct has_member_##test_name##_type_impl : no {};          \
+        template <class T, class A, class U>                                                                                  \
+        struct has_member_##test_name##_type_impl<T, A, U, typename detail::Void< decltype(                                   \
+            cereal::access::member_load_minimal( std::declval<A const &>(),                                                   \
+                                                 std::declval<T &>(), NoConvertConstRef<U>() versioned ) ) >::type> : yes {}; \
+    } /* end namespace detail */
+    #else /* NOT CEREAL_OLDER_GCC =================================== */
+    #define CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_IMPL(test_name, versioned)              \
+    namespace detail                                                                    \
+    {                                                                                   \
+      template <class T, class A>                                                       \
+      struct has_member_##test_name##_impl                                              \
+      {                                                                                 \
+        template <class TT, class AA>                                                   \
+        static auto test(int) -> decltype( cereal::access::member_load_minimal(         \
+              std::declval<AA const &>(),                                               \
+              std::declval<TT &>(), AnyConvert() versioned ), yes());                   \
+        template <class, class> static no test(...);                                    \
+        static const bool value = std::is_same<decltype(test<T, A>(0)), yes>::value;    \
+      };                                                                                \
+      template <class T, class A, class U>                                              \
+      struct has_member_##test_name##_type_impl                                         \
+      {                                                                                 \
+        template <class TT, class AA, class UU>                                         \
+        static auto test(int) -> decltype( cereal::access::member_load_minimal(         \
+              std::declval<AA const &>(),                                               \
+              std::declval<TT &>(), NoConvertConstRef<UU>() versioned ), yes());        \
+        template <class, class, class> static no test(...);                             \
+        static const bool value = std::is_same<decltype(test<T, A, U>(0)), yes>::value; \
+                                                                                        \
+      };                                                                                \
+    } /* end namespace detail */
+    #endif // NOT CEREAL_OLDER_GCC
+
+    // ######################################################################
+    //! Creates helpers for minimal load functions
+    /*! The has_member_*_wrapper structs ensure that the load and save types for the
+        requested function type match appropriately.
+
+        @param load_test_name The name to give the test (e.g. load_minimal or versioned_load_minimal)
+        @param save_test_name The name to give the test (e.g. save_minimal or versioned_save_minimal,
+                              should match the load name.
+        @param save_test_prefix The name to give the test (e.g. save_minimal or versioned_save_minimal,
+                              should match the load name, without the trailing "_minimal" (e.g.
+                              save or versioned_save).  Needed because the preprocessor is an abomination.
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #define CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_HELPERS_IMPL(load_test_name, save_test_name, save_test_prefix, versioned) \
+    namespace detail                                                                                                      \
+    {                                                                                                                     \
+      template <class T, class A, bool Valid>                                                                             \
+      struct has_member_##load_test_name##_wrapper : std::false_type {};                                                  \
+                                                                                                                          \
+      template <class T, class A>                                                                                         \
+      struct has_member_##load_test_name##_wrapper<T, A, true>                                                            \
+      {                                                                                                                   \
+        using AOut = typename detail::get_output_from_input<A>::type;                                                     \
+                                                                                                                          \
+        static_assert( has_member_##save_test_prefix##_minimal<T, AOut>::value,                                           \
+          "cereal detected member " #load_test_name " but no valid member " #save_test_name ". \n "                       \
+          "cannot evaluate correctness of " #load_test_name " without valid " #save_test_name "." );                      \
+                                                                                                                          \
+        using SaveType = typename detail::get_member_##save_test_prefix##_minimal_type<T, AOut, true>::type;              \
+        const static bool value = has_member_##load_test_name##_impl<T, A>::value;                                        \
+        const static bool valid = has_member_##load_test_name##_type_impl<T, A, SaveType>::value;                         \
+                                                                                                                          \
+        static_assert( valid || !value, "cereal detected different or invalid types in corresponding member "             \
+            #load_test_name " and " #save_test_name " functions. \n "                                                     \
+            "the paramater to " #load_test_name " must be a constant reference to the type that "                         \
+            #save_test_name " returns." );                                                                                \
+      };                                                                                                                  \
+    } /* end namespace detail */
+
+    // ######################################################################
+    //! Creates a test for whether a member load_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        @param load_test_name The name to give the test (e.g. load_minimal or versioned_load_minimal)
+        @param load_test_prefix The above parameter minus the trailing "_minimal" */
+    #define CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_TEST(load_test_name, load_test_prefix)                                         \
+    template <class T, class A>                                                                                                \
+    struct has_member_##load_test_prefix##_minimal : std::integral_constant<bool,                                              \
+      detail::has_member_##load_test_name##_wrapper<T, A, detail::has_member_##load_test_name##_impl<T, A>::value>::value> {};
+
+    // ######################################################################
+    // Member Load Minimal
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_IMPL(load_minimal, )
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_HELPERS_IMPL(load_minimal, save_minimal, save, )
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_TEST(load_minimal, load)
+
+    // ######################################################################
+    // Member Load Minimal (versioned)
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_IMPL(versioned_load_minimal, CEREAL_MAKE_VERSIONED_TEST)
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_HELPERS_IMPL(versioned_load_minimal, versioned_save_minimal, versioned_save, CEREAL_MAKE_VERSIONED_TEST)
+    CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_TEST(versioned_load_minimal, versioned_load)
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_IMPL
+    #undef CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_HELPERS_IMPL
+    #undef CEREAL_MAKE_HAS_MEMBER_LOAD_MINIMAL_TEST
+
+    // ######################################################################
+    // Non-Member Load Minimal
+    namespace detail
+    {
+      #ifdef CEREAL_OLDER_GCC
+      void CEREAL_LOAD_MINIMAL_FUNCTION_NAME(); // prevents nonsense complaining about not finding this
+      void CEREAL_SAVE_MINIMAL_FUNCTION_NAME();
+      #endif // CEREAL_OLDER_GCC
+    } // namespace detail
+
+    // ######################################################################
+    //! Creates a test for whether a non-member load_minimal function exists
+    /*! This creates a class derived from std::integral_constant that will be true if
+        the type has the proper member function for the given archive.
+
+        See notes from member load_minimal implementation.
+
+        @param test_name The name to give the test (e.g. load_minimal or versioned_load_minimal)
+        @param save_name The corresponding name the save test would have (e.g. save_minimal or versioned_save_minimal)
+        @param versioned Either blank or the macro CEREAL_MAKE_VERSIONED_TEST */
+    #define CEREAL_MAKE_HAS_NON_MEMBER_LOAD_MINIMAL_TEST(test_name, save_name, versioned)                                    \
+    namespace detail                                                                                                         \
+    {                                                                                                                        \
+      template <class T, class A, class U = void>                                                                            \
+      struct has_non_member_##test_name##_impl                                                                               \
+      {                                                                                                                      \
+        template <class TT, class AA>                                                                                        \
+        static auto test(int) -> decltype( CEREAL_LOAD_MINIMAL_FUNCTION_NAME(                                                \
+              std::declval<AA const &>(), std::declval<TT&>(), AnyConvert() versioned ), yes() );                            \
+        template <class, class> static no test( ... );                                                                       \
+        static const bool exists = std::is_same<decltype( test<T, A>( 0 ) ), yes>::value;                                    \
+                                                                                                                             \
+        template <class TT, class AA, class UU>                                                                              \
+        static auto test2(int) -> decltype( CEREAL_LOAD_MINIMAL_FUNCTION_NAME(                                               \
+              std::declval<AA const &>(), std::declval<TT&>(), NoConvertConstRef<UU>() versioned ), yes() );                 \
+        template <class, class, class> static no test2( ... );                                                               \
+        static const bool valid = std::is_same<decltype( test2<T, A, U>( 0 ) ), yes>::value;                                 \
+                                                                                                                             \
+        template <class TT, class AA>                                                                                        \
+        static auto test3(int) -> decltype( CEREAL_LOAD_MINIMAL_FUNCTION_NAME(                                               \
+              std::declval<AA const &>(), NoConvertRef<TT>(), AnyConvert() versioned ), yes() );                             \
+        template <class, class> static no test3( ... );                                                                      \
+        static const bool const_valid = std::is_same<decltype( test3<T, A>( 0 ) ), yes>::value;                              \
+      };                                                                                                                     \
+                                                                                                                             \
+      template <class T, class A, bool Valid>                                                                                \
+      struct has_non_member_##test_name##_wrapper : std::false_type {};                                                      \
+                                                                                                                             \
+      template <class T, class A>                                                                                            \
+      struct has_non_member_##test_name##_wrapper<T, A, true>                                                                \
+      {                                                                                                                      \
+        using AOut = typename detail::get_output_from_input<A>::type;                                                        \
+                                                                                                                             \
+        static_assert( detail::has_non_member_##save_name##_impl<T, AOut>::valid,                                            \
+          "cereal detected non-member " #test_name " but no valid non-member " #save_name ". \n "                            \
+          "cannot evaluate correctness of " #test_name " without valid " #save_name "." );                                   \
+                                                                                                                             \
+        using SaveType = typename detail::get_non_member_##save_name##_type<T, AOut, true>::type;                            \
+        using check = has_non_member_##test_name##_impl<T, A, SaveType>;                                                     \
+        static const bool value = check::exists;                                                                             \
+                                                                                                                             \
+        static_assert( check::valid || !check::exists, "cereal detected different types in corresponding non-member "        \
+            #test_name " and " #save_name " functions. \n "                                                                  \
+            "the paramater to " #test_name " must be a constant reference to the type that " #save_name " returns." );       \
+        static_assert( check::const_valid || !check::exists,                                                                 \
+            "cereal detected an invalid serialization type parameter in non-member " #test_name ".  "                        \
+            #test_name " non-member functions must accept their serialization type by non-const reference" );                \
+      };                                                                                                                     \
+    } /* namespace detail */                                                                                                 \
+                                                                                                                             \
+    template <class T, class A>                                                                                              \
+    struct has_non_member_##test_name : std::integral_constant<bool,                                                         \
+      detail::has_non_member_##test_name##_wrapper<T, A, detail::has_non_member_##test_name##_impl<T, A>::exists>::value> {};
+
+    // ######################################################################
+    // Non-Member Load Minimal
+    CEREAL_MAKE_HAS_NON_MEMBER_LOAD_MINIMAL_TEST(load_minimal, save_minimal, )
+
+    // ######################################################################
+    // Non-Member Load Minimal (versioned)
+    CEREAL_MAKE_HAS_NON_MEMBER_LOAD_MINIMAL_TEST(versioned_load_minimal, versioned_save_minimal, CEREAL_MAKE_VERSIONED_TEST)
+
+    // ######################################################################
+    #undef CEREAL_MAKE_HAS_NON_MEMBER_LOAD_MINIMAL_TEST
+
+    // ######################################################################
+    // End of serialization existence tests
+    #undef CEREAL_MAKE_VERSIONED_TEST
+
+    // ######################################################################
+    template <class T, class InputArchive, class OutputArchive>
+    struct has_member_split : std::integral_constant<bool,
+      (has_member_load<T, InputArchive>::value && has_member_save<T, OutputArchive>::value) ||
+      (has_member_versioned_load<T, InputArchive>::value && has_member_versioned_save<T, OutputArchive>::value)> {};
+
+    // ######################################################################
+    template <class T, class InputArchive, class OutputArchive>
+    struct has_non_member_split : std::integral_constant<bool,
+      (has_non_member_load<T, InputArchive>::value && has_non_member_save<T, OutputArchive>::value) ||
+      (has_non_member_versioned_load<T, InputArchive>::value && has_non_member_versioned_save<T, OutputArchive>::value)> {};
+
+    // ######################################################################
+    template <class T, class OutputArchive>
+    struct has_invalid_output_versioning : std::integral_constant<bool,
+      (has_member_versioned_save<T, OutputArchive>::value && has_member_save<T, OutputArchive>::value) ||
+      (has_non_member_versioned_save<T, OutputArchive>::value && has_non_member_save<T, OutputArchive>::value) ||
+      (has_member_versioned_serialize<T, OutputArchive>::value && has_member_serialize<T, OutputArchive>::value) ||
+      (has_non_member_versioned_serialize<T, OutputArchive>::value && has_non_member_serialize<T, OutputArchive>::value) ||
+      (has_member_versioned_save_minimal<T, OutputArchive>::value && has_member_save_minimal<T, OutputArchive>::value) ||
+      (has_non_member_versioned_save_minimal<T, OutputArchive>::value &&  has_non_member_save_minimal<T, OutputArchive>::value)> {};
+
+    // ######################################################################
+    template <class T, class InputArchive>
+    struct has_invalid_input_versioning : std::integral_constant<bool,
+      (has_member_versioned_load<T, InputArchive>::value && has_member_load<T, InputArchive>::value) ||
+      (has_non_member_versioned_load<T, InputArchive>::value && has_non_member_load<T, InputArchive>::value) ||
+      (has_member_versioned_serialize<T, InputArchive>::value && has_member_serialize<T, InputArchive>::value) ||
+      (has_non_member_versioned_serialize<T, InputArchive>::value && has_non_member_serialize<T, InputArchive>::value) ||
+      (has_member_versioned_load_minimal<T, InputArchive>::value && has_member_load_minimal<T, InputArchive>::value) ||
+      (has_non_member_versioned_load_minimal<T, InputArchive>::value &&  has_non_member_load_minimal<T, InputArchive>::value)> {};
+
+    // ######################################################################
+    namespace detail
+    {
+      //! Create a test for a cereal::specialization entry
+      #define CEREAL_MAKE_IS_SPECIALIZED_IMPL(name)                                          \
+      template <class T, class A>                                                            \
+      struct is_specialized_##name : std::integral_constant<bool,                            \
+        !std::is_base_of<std::false_type, specialize<A, T, specialization::name>>::value> {}
+
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(member_serialize);
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(member_load_save);
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(member_load_save_minimal);
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(non_member_serialize);
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(non_member_load_save);
+      CEREAL_MAKE_IS_SPECIALIZED_IMPL(non_member_load_save_minimal);
+
+      #undef CEREAL_MAKE_IS_SPECIALIZED_IMPL
+
+      //! Number of specializations detected
+      template <class T, class A>
+      struct count_specializations : std::integral_constant<int,
+        is_specialized_member_serialize<T, A>::value +
+        is_specialized_member_load_save<T, A>::value +
+        is_specialized_member_load_save_minimal<T, A>::value +
+        is_specialized_non_member_serialize<T, A>::value +
+        is_specialized_non_member_load_save<T, A>::value +
+        is_specialized_non_member_load_save_minimal<T, A>::value> {};
+    } // namespace detail
+
+    //! Check if any specialization exists for a type
+    template <class T, class A>
+    struct is_specialized : std::integral_constant<bool,
+      detail::is_specialized_member_serialize<T, A>::value ||
+      detail::is_specialized_member_load_save<T, A>::value ||
+      detail::is_specialized_member_load_save_minimal<T, A>::value ||
+      detail::is_specialized_non_member_serialize<T, A>::value ||
+      detail::is_specialized_non_member_load_save<T, A>::value ||
+      detail::is_specialized_non_member_load_save_minimal<T, A>::value>
+    {
+      static_assert(detail::count_specializations<T, A>::value <= 1, "More than one explicit specialization detected for type.");
+    };
+
+    //! Create the static assertion for some specialization
+    /*! This assertion will fail if the type is indeed specialized and does not have the appropriate
+        type of serialization functions */
+    #define CEREAL_MAKE_IS_SPECIALIZED_ASSERT(name, versioned_name, print_name, spec_name)                      \
+    static_assert( (is_specialized<T, A>::value && detail::is_specialized_##spec_name<T, A>::value &&           \
+                   (has_##name<T, A>::value || has_##versioned_name<T, A>::value))                              \
+                   || !(is_specialized<T, A>::value && detail::is_specialized_##spec_name<T, A>::value),        \
+                   "cereal detected " #print_name " specialization but no " #print_name " serialize function" )
+
+    //! Generates a test for specialization for versioned and unversioned functions
+    /*! This creates checks that can be queried to see if a given type of serialization function
+        has been specialized for this type */
+    #define CEREAL_MAKE_IS_SPECIALIZED(name, versioned_name, spec_name)                     \
+    template <class T, class A>                                                             \
+    struct is_specialized_##name : std::integral_constant<bool,                             \
+      is_specialized<T, A>::value && detail::is_specialized_##spec_name<T, A>::value>       \
+    { CEREAL_MAKE_IS_SPECIALIZED_ASSERT(name, versioned_name, name, spec_name); };          \
+    template <class T, class A>                                                             \
+    struct is_specialized_##versioned_name : std::integral_constant<bool,                   \
+      is_specialized<T, A>::value && detail::is_specialized_##spec_name<T, A>::value>       \
+    { CEREAL_MAKE_IS_SPECIALIZED_ASSERT(name, versioned_name, versioned_name, spec_name); }
+
+    CEREAL_MAKE_IS_SPECIALIZED(member_serialize, member_versioned_serialize, member_serialize);
+    CEREAL_MAKE_IS_SPECIALIZED(non_member_serialize, non_member_versioned_serialize, non_member_serialize);
+
+    CEREAL_MAKE_IS_SPECIALIZED(member_save, member_versioned_save, member_load_save);
+    CEREAL_MAKE_IS_SPECIALIZED(non_member_save, non_member_versioned_save, non_member_load_save);
+    CEREAL_MAKE_IS_SPECIALIZED(member_load, member_versioned_load, member_load_save);
+    CEREAL_MAKE_IS_SPECIALIZED(non_member_load, non_member_versioned_load, non_member_load_save);
+
+    CEREAL_MAKE_IS_SPECIALIZED(member_save_minimal, member_versioned_save_minimal, member_load_save_minimal);
+    CEREAL_MAKE_IS_SPECIALIZED(non_member_save_minimal, non_member_versioned_save_minimal, non_member_load_save_minimal);
+    CEREAL_MAKE_IS_SPECIALIZED(member_load_minimal, member_versioned_load_minimal, member_load_save_minimal);
+    CEREAL_MAKE_IS_SPECIALIZED(non_member_load_minimal, non_member_versioned_load_minimal, non_member_load_save_minimal);
+
+    #undef CEREAL_MAKE_IS_SPECIALIZED_ASSERT
+    #undef CEREAL_MAKE_IS_SPECIALIZED
+
+    // ######################################################################
+    // detects if a type has any active minimal output serialization
+    template <class T, class OutputArchive>
+    struct has_minimal_output_serialization : std::integral_constant<bool,
+      is_specialized_member_save_minimal<T, OutputArchive>::value ||
+      ((has_member_save_minimal<T, OutputArchive>::value ||
+        has_non_member_save_minimal<T, OutputArchive>::value ||
+        has_member_versioned_save_minimal<T, OutputArchive>::value ||
+        has_non_member_versioned_save_minimal<T, OutputArchive>::value) &&
+       !(is_specialized_member_serialize<T, OutputArchive>::value ||
+         is_specialized_member_save<T, OutputArchive>::value))> {};
+
+    // ######################################################################
+    // detects if a type has any active minimal input serialization
+    template <class T, class InputArchive>
+    struct has_minimal_input_serialization : std::integral_constant<bool,
+      is_specialized_member_load_minimal<T, InputArchive>::value ||
+      ((has_member_load_minimal<T, InputArchive>::value ||
+        has_non_member_load_minimal<T, InputArchive>::value ||
+        has_member_versioned_load_minimal<T, InputArchive>::value ||
+        has_non_member_versioned_load_minimal<T, InputArchive>::value) &&
+       !(is_specialized_member_serialize<T, InputArchive>::value ||
+         is_specialized_member_load<T, InputArchive>::value))> {};
+
+    // ######################################################################
+    namespace detail
+    {
+      //! The number of output serialization functions available
+      /*! If specialization is being used, we'll count only those; otherwise we'll count everything */
+      template <class T, class OutputArchive>
+      struct count_output_serializers : std::integral_constant<int,
+        count_specializations<T, OutputArchive>::value ? count_specializations<T, OutputArchive>::value :
+        has_member_save<T, OutputArchive>::value +
+        has_non_member_save<T, OutputArchive>::value +
+        has_member_serialize<T, OutputArchive>::value +
+        has_non_member_serialize<T, OutputArchive>::value +
+        has_member_save_minimal<T, OutputArchive>::value +
+        has_non_member_save_minimal<T, OutputArchive>::value +
+        /*-versioned---------------------------------------------------------*/
+        has_member_versioned_save<T, OutputArchive>::value +
+        has_non_member_versioned_save<T, OutputArchive>::value +
+        has_member_versioned_serialize<T, OutputArchive>::value +
+        has_non_member_versioned_serialize<T, OutputArchive>::value +
+        has_member_versioned_save_minimal<T, OutputArchive>::value +
+        has_non_member_versioned_save_minimal<T, OutputArchive>::value> {};
+    }
+
+    template <class T, class OutputArchive>
+    struct is_output_serializable : std::integral_constant<bool,
+      detail::count_output_serializers<T, OutputArchive>::value == 1> {};
+
+    // ######################################################################
+    namespace detail
+    {
+      //! The number of input serialization functions available
+      /*! If specialization is being used, we'll count only those; otherwise we'll count everything */
+      template <class T, class InputArchive>
+      struct count_input_serializers : std::integral_constant<int,
+        count_specializations<T, InputArchive>::value ? count_specializations<T, InputArchive>::value :
+        has_member_load<T, InputArchive>::value +
+        has_non_member_load<T, InputArchive>::value +
+        has_member_serialize<T, InputArchive>::value +
+        has_non_member_serialize<T, InputArchive>::value +
+        has_member_load_minimal<T, InputArchive>::value +
+        has_non_member_load_minimal<T, InputArchive>::value +
+        /*-versioned---------------------------------------------------------*/
+        has_member_versioned_load<T, InputArchive>::value +
+        has_non_member_versioned_load<T, InputArchive>::value +
+        has_member_versioned_serialize<T, InputArchive>::value +
+        has_non_member_versioned_serialize<T, InputArchive>::value +
+        has_member_versioned_load_minimal<T, InputArchive>::value +
+        has_non_member_versioned_load_minimal<T, InputArchive>::value> {};
+    }
+
+    template <class T, class InputArchive>
+    struct is_input_serializable : std::integral_constant<bool,
+      detail::count_input_serializers<T, InputArchive>::value == 1> {};
+
+    // ######################################################################
+    // Base Class Support
+    namespace detail
+    {
+      struct base_class_id
+      {
+        template<class T>
+          base_class_id(T const * const t) :
+          type(typeid(T)),
+          ptr(t),
+          hash(std::hash<std::type_index>()(typeid(T)) ^ (std::hash<void const *>()(t) << 1))
+          { }
+
+          bool operator==(base_class_id const & other) const
+          { return (type == other.type) && (ptr == other.ptr); }
+
+          std::type_index type;
+          void const * ptr;
+          size_t hash;
+      };
+      struct base_class_id_hash { size_t operator()(base_class_id const & id) const { return id.hash; }  };
+    } // namespace detail
+
+    namespace detail
+    {
+      //! Common base type for base class casting
+      struct BaseCastBase {};
+
+      template <class>
+      struct get_base_class;
+
+      template <template<typename> class Cast, class Base>
+      struct get_base_class<Cast<Base>>
+      {
+        using type = Base;
+      };
+
+      //! Base class cast, behave as the test
+      template <class Cast, template<class, class> class Test, class Archive,
+                bool IsBaseCast = std::is_base_of<BaseCastBase, Cast>::value>
+      struct has_minimal_base_class_serialization_impl : Test<typename get_base_class<Cast>::type, Archive>
+      { };
+
+      //! Not a base class cast
+      template <class Cast, template<class, class> class Test, class Archive>
+      struct has_minimal_base_class_serialization_impl<Cast,Test, Archive, false> : std::false_type
+      { };
+    }
+
+    //! Checks to see if the base class used in a cast has a minimal serialization
+    /*! @tparam Cast Either base_class or virtual_base_class wrapped type
+        @tparam Test A has_minimal test (for either input or output)
+        @tparam Archive The archive to use with the test */
+    template <class Cast, template<class, class> class Test, class Archive>
+    struct has_minimal_base_class_serialization : detail::has_minimal_base_class_serialization_impl<Cast, Test, Archive>
+    { };
+
+
+    // ######################################################################
+    namespace detail
+    {
+      struct shared_from_this_wrapper
+      {
+        template <class U>
+        static auto check( U const & t ) -> decltype( ::cereal::access::shared_from_this(t), std::true_type() );
+
+        static auto check( ... ) -> decltype( std::false_type() );
+
+        template <class U>
+        static auto get( U const & t ) -> decltype( t.shared_from_this() );
+      };
+    }
+
+    //! Determine if T or any base class of T has inherited from std::enable_shared_from_this
+    template<class T>
+    struct has_shared_from_this : decltype(detail::shared_from_this_wrapper::check(std::declval<T>()))
+    { };
+
+    //! Get the type of the base class of T which inherited from std::enable_shared_from_this
+    template <class T>
+    struct get_shared_from_this_base
+    {
+      private:
+        using PtrType = decltype(detail::shared_from_this_wrapper::get(std::declval<T>()));
+      public:
+        //! The type of the base of T that inherited from std::enable_shared_from_this
+        using type = typename std::decay<typename PtrType::element_type>::type;
+    };
+
+    // ######################################################################
+    //! Extracts the true type from something possibly wrapped in a cereal NoConvert
+    /*! Internally cereal uses some wrapper classes to test the validity of non-member
+        minimal load and save functions.  This can interfere with user type traits on
+        templated load and save minimal functions.  To get to the correct underlying type,
+        users should use strip_minimal when performing any enable_if type type trait checks.
+
+        See the enum serialization in types/common.hpp for an example of using this */
+    template <class T, bool IsCerealMinimalTrait = std::is_base_of<detail::NoConvertBase, T>::value>
+    struct strip_minimal
+    {
+      using type = T;
+    };
+
+    //! Specialization for types wrapped in a NoConvert
+    template <class T>
+    struct strip_minimal<T, true>
+    {
+      using type = typename T::type;
+    };
+
+    // ######################################################################
+    //! Member load and construct check
+    template<typename T, typename A>
+    struct has_member_load_and_construct : std::integral_constant<bool,
+      std::is_same<decltype( access::load_and_construct<T>( std::declval<A&>(), std::declval< ::cereal::construct<T>&>() ) ), void>::value>
+    { };
+
+    // ######################################################################
+    //! Non member load and construct check
+    template<typename T, typename A>
+    struct has_non_member_load_and_construct : std::integral_constant<bool,
+      std::is_same<decltype( LoadAndConstruct<T>::load_and_construct( std::declval<A&>(), std::declval< ::cereal::construct<T>&>() ) ), void>::value>
+    { };
+
+    // ######################################################################
+    //! Has either a member or non member allocate
+    template<typename T, typename A>
+    struct has_load_and_construct : std::integral_constant<bool,
+      has_member_load_and_construct<T, A>::value || has_non_member_load_and_construct<T, A>::value>
+    { };
+
+    // ######################################################################
+    //! Determines whether the class T can be default constructed by cereal::access
+    template <class T>
+    struct is_default_constructible
+    {
+      #ifdef CEREAL_OLDER_GCC
+      template <class TT, class SFINAE = void>
+      struct test : no {};
+      template <class TT>
+      struct test<TT, typename detail::Void< decltype( cereal::access::construct<TT>() ) >::type> : yes {};
+      static const bool value = test<T>();
+      #else // NOT CEREAL_OLDER_GCC =========================================
+      template <class TT>
+      static auto test(int) -> decltype( cereal::access::construct<TT>(), yes());
+      template <class>
+      static no test(...);
+      static const bool value = std::is_same<decltype(test<T>(0)), yes>::value;
+      #endif // NOT CEREAL_OLDER_GCC
+    };
+
+    // ######################################################################
+    namespace detail
+    {
+      //! Removes all qualifiers and minimal wrappers from an archive
+      template <class A>
+      using decay_archive = typename std::decay<typename strip_minimal<A>::type>::type;
+    }
+
+    //! Checks if the provided archive type is equal to some cereal archive type
+    /*! This automatically does things such as std::decay and removing any other wrappers that may be
+        on the Archive template parameter.
+
+        Example use:
+        @code{cpp}
+        // example use to disable a serialization function
+        template <class Archive, EnableIf<cereal::traits::is_same_archive<Archive, cereal::BinaryOutputArchive>::value> = sfinae>
+        void save( Archive & ar, MyType const & mt );
+        @endcode */
+    template <class ArchiveT, class CerealArchiveT>
+    struct is_same_archive : std::integral_constant<bool,
+      std::is_same<detail::decay_archive<ArchiveT>, CerealArchiveT>::value>
+    { };
+
+    // ######################################################################
+    //! A macro to use to restrict which types of archives your function will work for.
+    /*! This requires you to have a template class parameter named Archive and replaces the void return
+        type for your function.
+
+        INTYPE refers to the input archive type you wish to restrict on.
+        OUTTYPE refers to the output archive type you wish to restrict on.
+
+        For example, if we want to limit a serialize to only work with binary serialization:
+
+        @code{.cpp}
+        template <class Archive>
+        CEREAL_ARCHIVE_RESTRICT(BinaryInputArchive, BinaryOutputArchive)
+        serialize( Archive & ar, MyCoolType & m )
+        {
+          ar & m;
+        }
+        @endcode
+
+        If you need to do more restrictions in your enable_if, you will need to do this by hand.
+     */
+    #define CEREAL_ARCHIVE_RESTRICT(INTYPE, OUTTYPE) \
+    typename std::enable_if<cereal::traits::is_same_archive<Archive, INTYPE>::value || cereal::traits::is_same_archive<Archive, OUTTYPE>::value, void>::type
+
+    //! Type traits only struct used to mark an archive as human readable (text based)
+    /*! Archives that wish to identify as text based/human readable should inherit from
+        this struct */
+    struct TextArchive {};
+
+    //! Checks if an archive is a text archive (human readable)
+    template <class A>
+    struct is_text_archive : std::integral_constant<bool,
+      std::is_base_of<TextArchive, detail::decay_archive<A>>::value>
+    { };
+  } // namespace traits
+
+  // ######################################################################
+  namespace detail
+  {
+    template <class T, class A, bool Member = traits::has_member_load_and_construct<T, A>::value, bool NonMember = traits::has_non_member_load_and_construct<T, A>::value>
+    struct Construct
+    {
+      static_assert( cereal::traits::detail::delay_static_assert<T>::value,
+        "Cereal detected both member and non member load_and_construct functions!" );
+      static T * load_andor_construct( A & /*ar*/, construct<T> & /*construct*/ )
+      { return nullptr; }
+    };
+
+    template <class T, class A>
+    struct Construct<T, A, false, false>
+    {
+      static_assert( ::cereal::traits::is_default_constructible<T>::value,
+                     "Trying to serialize a an object with no default constructor. \n\n "
+                     "Types must either be default constructible or define either a member or non member Construct function. \n "
+                     "Construct functions generally have the signature: \n\n "
+                     "template <class Archive> \n "
+                     "static void load_and_construct(Archive & ar, cereal::construct<T> & construct) \n "
+                     "{ \n "
+                     "  var a; \n "
+                     "  ar( a ) \n "
+                     "  construct( a ); \n "
+                     "} \n\n" );
+      static T * load_andor_construct()
+      { return ::cereal::access::construct<T>(); }
+    };
+
+    template <class T, class A>
+    struct Construct<T, A, true, false>
+    {
+      static void load_andor_construct( A & ar, construct<T> & construct )
+      {
+        access::load_and_construct<T>( ar, construct );
+      }
+    };
+
+    template <class T, class A>
+    struct Construct<T, A, false, true>
+    {
+      static void load_andor_construct( A & ar, construct<T> & construct )
+      {
+        LoadAndConstruct<T>::load_and_construct( ar, construct );
+      }
+    };
+  } // namespace detail
+} // namespace cereal
+
+#endif // CEREAL_DETAILS_TRAITS_HPP_
diff --git a/3rdparty/include/cereal/details/util.hpp b/3rdparty/include/cereal/details/util.hpp
new file mode 100644
index 0000000..ba24813
--- /dev/null
+++ b/3rdparty/include/cereal/details/util.hpp
@@ -0,0 +1,84 @@
+/*! \file util.hpp
+    \brief Internal misc utilities
+    \ingroup Internal */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_DETAILS_UTIL_HPP_
+#define CEREAL_DETAILS_UTIL_HPP_
+
+#include <typeinfo>
+#include <string>
+
+#ifdef _MSC_VER
+namespace cereal
+{
+  namespace util
+  {
+    //! Demangles the type encoded in a string
+    /*! @internal */
+    inline std::string demangle( std::string const & name )
+    { return name; }
+
+    //! Gets the demangled name of a type
+    /*! @internal */
+    template <class T> inline
+    std::string demangledName()
+    { return typeid( T ).name(); }
+  } // namespace util
+} // namespace cereal
+#else // clang or gcc
+#include <cxxabi.h>
+#include <cstdlib>
+namespace cereal
+{
+  namespace util
+  {
+    //! Demangles the type encoded in a string
+    /*! @internal */
+    inline std::string demangle(std::string mangledName)
+    {
+      int status = 0;
+      char *demangledName = nullptr;
+      std::size_t len;
+
+      demangledName = abi::__cxa_demangle(mangledName.c_str(), 0, &len, &status);
+
+      std::string retName(demangledName);
+      free(demangledName);
+
+      return retName;
+    }
+
+    //! Gets the demangled name of a type
+    /*! @internal */
+    template<class T> inline
+    std::string demangledName()
+    { return demangle(typeid(T).name()); }
+  }
+} // namespace cereal
+#endif // clang or gcc branch of _MSC_VER
+#endif // CEREAL_DETAILS_UTIL_HPP_
diff --git a/3rdparty/include/cereal/external/base64.hpp b/3rdparty/include/cereal/external/base64.hpp
new file mode 100644
index 0000000..66ff63d
--- /dev/null
+++ b/3rdparty/include/cereal/external/base64.hpp
@@ -0,0 +1,125 @@
+/*
+   Copyright (C) 2004-2008 René Nyffenegger
+
+   This source code is provided 'as-is', without any express or implied
+   warranty. In no event will the author be held liable for any damages
+   arising from the use of this software.
+
+   Permission is granted to anyone to use this software for any purpose,
+   including commercial applications, and to alter it and redistribute it
+   freely, subject to the following restrictions:
+
+   1. The origin of this source code must not be misrepresented; you must not
+      claim that you wrote the original source code. If you use this source code
+      in a product, an acknowledgment in the product documentation would be
+      appreciated but is not required.
+
+   2. Altered source versions must be plainly marked as such, and must not be
+      misrepresented as being the original source code.
+
+   3. This notice may not be removed or altered from any source distribution.
+
+   René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+*/
+
+#ifndef CEREAL_EXTERNAL_BASE64_HPP_
+#define CEREAL_EXTERNAL_BASE64_HPP_
+
+#include <string>
+
+namespace base64
+{
+  static const std::string chars =
+    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+    "abcdefghijklmnopqrstuvwxyz"
+    "0123456789+/";
+
+  static inline bool is_base64(unsigned char c) {
+    return (isalnum(c) || (c == '+') || (c == '/'));
+  }
+
+  inline std::string encode(unsigned char const* bytes_to_encode, size_t in_len) {
+    std::string ret;
+    int i = 0;
+    int j = 0;
+    unsigned char char_array_3[3];
+    unsigned char char_array_4[4];
+
+    while (in_len--) {
+      char_array_3[i++] = *(bytes_to_encode++);
+      if (i == 3) {
+        char_array_4[0] = (unsigned char) ((char_array_3[0] & 0xfc) >> 2);
+        char_array_4[1] = (unsigned char) ( ( ( char_array_3[0] & 0x03 ) << 4 ) + ( ( char_array_3[1] & 0xf0 ) >> 4 ) );
+        char_array_4[2] = (unsigned char) ( ( ( char_array_3[1] & 0x0f ) << 2 ) + ( ( char_array_3[2] & 0xc0 ) >> 6 ) );
+        char_array_4[3] = (unsigned char) ( char_array_3[2] & 0x3f );
+
+        for(i = 0; (i <4) ; i++)
+          ret += chars[char_array_4[i]];
+        i = 0;
+      }
+    }
+
+    if (i)
+    {
+      for(j = i; j < 3; j++)
+        char_array_3[j] = '\0';
+
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+      char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for (j = 0; (j < i + 1); j++)
+        ret += chars[char_array_4[j]];
+
+      while((i++ < 3))
+        ret += '=';
+
+    }
+
+    return ret;
+
+  }
+
+  inline std::string decode(std::string const& encoded_string) {
+    size_t in_len = encoded_string.size();
+    size_t i = 0;
+    size_t j = 0;
+    int in_ = 0;
+    unsigned char char_array_4[4], char_array_3[3];
+    std::string ret;
+
+    while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) {
+      char_array_4[i++] = encoded_string[in_]; in_++;
+      if (i ==4) {
+        for (i = 0; i <4; i++)
+          char_array_4[i] = (unsigned char) chars.find( char_array_4[i] );
+
+        char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+        char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+        char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+        for (i = 0; (i < 3); i++)
+          ret += char_array_3[i];
+        i = 0;
+      }
+    }
+
+    if (i) {
+      for (j = i; j <4; j++)
+        char_array_4[j] = 0;
+
+      for (j = 0; j <4; j++)
+        char_array_4[j] = (unsigned char) chars.find( char_array_4[j] );
+
+      char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+      char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+      char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+      for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
+    }
+
+    return ret;
+  }
+} // base64
+#endif // CEREAL_EXTERNAL_BASE64_HPP_
diff --git a/3rdparty/include/cereal/external/rapidjson/document.h b/3rdparty/include/cereal/external/rapidjson/document.h
new file mode 100644
index 0000000..d350191
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/document.h
@@ -0,0 +1,821 @@
+#ifndef RAPIDJSON_DOCUMENT_H_
+#define RAPIDJSON_DOCUMENT_H_
+
+#include "reader.h"
+#include "internal/strfunc.h"
+#include <new>		// placement new
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4127) // conditional expression is constant
+#endif
+
+namespace rapidjson {
+
+///////////////////////////////////////////////////////////////////////////////
+// GenericValue
+
+//! Represents a JSON value. Use Value for UTF8 encoding and default allocator.
+/*!
+	A JSON value can be one of 7 types. This class is a variant type supporting
+	these types.
+
+	Use the Value if UTF8 and default allocator
+
+	\tparam Encoding	Encoding of the value. (Even non-string values need to have the same encoding in a document)
+	\tparam Allocator	Allocator type for allocating memory of object, array and string.
+*/
+#pragma pack (push, 4)
+template <typename Encoding, typename Allocator = MemoryPoolAllocator<> >
+class GenericValue {
+public:
+	//! Name-value pair in an object.
+	struct Member {
+		GenericValue<Encoding, Allocator> name;		//!< name of member (must be a string)
+		GenericValue<Encoding, Allocator> value;	//!< value of member.
+	};
+
+	typedef Encoding EncodingType;					//!< Encoding type from template parameter.
+	typedef Allocator AllocatorType;				//!< Allocator type from template parameter.
+	typedef typename Encoding::Ch Ch;				//!< Character type derived from Encoding.
+	typedef Member* MemberIterator;					//!< Member iterator for iterating in object.
+	typedef const Member* ConstMemberIterator;		//!< Constant member iterator for iterating in object.
+	typedef GenericValue* ValueIterator;			//!< Value iterator for iterating in array.
+	typedef const GenericValue* ConstValueIterator;	//!< Constant value iterator for iterating in array.
+
+	//!@name Constructors and destructor.
+	//@{
+
+	//! Default constructor creates a null value.
+	GenericValue() : flags_(kNull_Flag) {}
+
+	//! Copy constructor is not permitted.
+private:
+	GenericValue(const GenericValue& rhs);
+
+public:
+
+	//! Constructor with JSON value type.
+	/*! This creates a Value of specified type with default content.
+		\param type	Type of the value.
+		\note Default content for number is zero.
+	*/
+	GenericValue(Type type) {
+		static const unsigned defaultFlags[7] = {
+			kNull_Flag, kFalseFlag, kTrueFlag, kObjectFlag, kArrayFlag, kConstStringFlag,
+			kNumberFlag | kIntFlag | kUintFlag | kInt64Flag | kUint64Flag | kDoubleFlag
+		};
+		RAPIDJSON_ASSERT(type <= kNumberType);
+		flags_ = defaultFlags[type];
+		memset(&data_, 0, sizeof(data_));
+	}
+
+	//! Constructor for boolean value.
+	GenericValue(bool b) : flags_(b ? kTrueFlag : kFalseFlag) {}
+
+	//! Constructor for int value.
+	GenericValue(int i) : flags_(kNumberIntFlag) {
+		data_.n.i64 = i;
+		if (i >= 0)
+			flags_ |= kUintFlag | kUint64Flag;
+	}
+
+	//! Constructor for unsigned value.
+	GenericValue(unsigned u) : flags_(kNumberUintFlag) {
+		data_.n.u64 = u;
+		if (!(u & 0x80000000))
+			flags_ |= kIntFlag | kInt64Flag;
+	}
+
+	//! Constructor for int64_t value.
+	GenericValue(int64_t i64) : flags_(kNumberInt64Flag) {
+		data_.n.i64 = i64;
+		if (i64 >= 0) {
+			flags_ |= kNumberUint64Flag;
+			if (!(i64 & 0xFFFFFFFF00000000LL))
+				flags_ |= kUintFlag;
+			if (!(i64 & 0xFFFFFFFF80000000LL))
+				flags_ |= kIntFlag;
+		}
+		else if (i64 >= -2147483648LL)
+			flags_ |= kIntFlag;
+	}
+
+	//! Constructor for uint64_t value.
+	GenericValue(uint64_t u64) : flags_(kNumberUint64Flag) {
+		data_.n.u64 = u64;
+		if (!(u64 & 0x8000000000000000ULL))
+			flags_ |= kInt64Flag;
+		if (!(u64 & 0xFFFFFFFF00000000ULL))
+			flags_ |= kUintFlag;
+		if (!(u64 & 0xFFFFFFFF80000000ULL))
+			flags_ |= kIntFlag;
+	}
+
+	//! Constructor for double value.
+	GenericValue(double d) : flags_(kNumberDoubleFlag) { data_.n.d = d; }
+
+	//! Constructor for constant string (i.e. do not make a copy of string)
+	GenericValue(const Ch* s, SizeType length) {
+		RAPIDJSON_ASSERT(s != NULL);
+		flags_ = kConstStringFlag;
+		data_.s.str = s;
+		data_.s.length = length;
+	}
+
+	//! Constructor for constant string (i.e. do not make a copy of string)
+	GenericValue(const Ch* s) { SetStringRaw(s, internal::StrLen(s)); }
+
+	//! Constructor for copy-string (i.e. do make a copy of string)
+	GenericValue(const Ch* s, SizeType length, Allocator& allocator) { SetStringRaw(s, length, allocator); }
+
+	//! Constructor for copy-string (i.e. do make a copy of string)
+	GenericValue(const Ch*s, Allocator& allocator) { SetStringRaw(s, internal::StrLen(s), allocator); }
+
+	//! Destructor.
+	/*! Need to destruct elements of array, members of object, or copy-string.
+	*/
+	~GenericValue() {
+		if (Allocator::kNeedFree) {	// Shortcut by Allocator's trait
+			switch(flags_) {
+			case kArrayFlag:
+				for (GenericValue* v = data_.a.elements; v != data_.a.elements + data_.a.size; ++v)
+					v->~GenericValue();
+				Allocator::Free(data_.a.elements);
+				break;
+
+			case kObjectFlag:
+				for (Member* m = data_.o.members; m != data_.o.members + data_.o.size; ++m) {
+					m->name.~GenericValue();
+					m->value.~GenericValue();
+				}
+				Allocator::Free(data_.o.members);
+				break;
+
+			case kCopyStringFlag:
+				Allocator::Free(const_cast<Ch*>(data_.s.str));
+				break;
+			}
+		}
+	}
+
+	//@}
+
+	//!@name Assignment operators
+	//@{
+
+	//! Assignment with move semantics.
+	/*! \param rhs Source of the assignment. It will become a null value after assignment.
+	*/
+	GenericValue& operator=(GenericValue& rhs) {
+		RAPIDJSON_ASSERT(this != &rhs);
+		this->~GenericValue();
+		memcpy(this, &rhs, sizeof(GenericValue));
+		rhs.flags_ = kNull_Flag;
+		return *this;
+	}
+
+	//! Assignment with primitive types.
+	/*! \tparam T Either Type, int, unsigned, int64_t, uint64_t, const Ch*
+		\param value The value to be assigned.
+	*/
+	template <typename T>
+	GenericValue& operator=(T value) {
+		this->~GenericValue();
+		new (this) GenericValue(value);
+		return *this;
+	}
+	//@}
+
+	//!@name Type
+	//@{
+
+	Type GetType()	const { return static_cast<Type>(flags_ & kTypeMask); }
+	bool IsNull_()	const { return flags_ == kNull_Flag; }
+	bool IsFalse()	const { return flags_ == kFalseFlag; }
+	bool IsTrue()	const { return flags_ == kTrueFlag; }
+	bool IsBool_()	const { return (flags_ & kBool_Flag) != 0; }
+	bool IsObject()	const { return flags_ == kObjectFlag; }
+	bool IsArray()	const { return flags_ == kArrayFlag; }
+	bool IsNumber() const { return (flags_ & kNumberFlag) != 0; }
+	bool IsInt()	const { return (flags_ & kIntFlag) != 0; }
+	bool IsUint()	const { return (flags_ & kUintFlag) != 0; }
+	bool IsInt64()	const { return (flags_ & kInt64Flag) != 0; }
+	bool IsUint64()	const { return (flags_ & kUint64Flag) != 0; }
+	bool IsDouble() const { return (flags_ & kDoubleFlag) != 0; }
+	bool IsString() const { return (flags_ & kStringFlag) != 0; }
+
+	//@}
+
+	//!@name Null_
+	//@{
+
+	GenericValue& SetNull_() { this->~GenericValue(); new (this) GenericValue(); return *this; }
+
+	//@}
+
+	//!@name Bool_
+	//@{
+
+	bool GetBool_() const { RAPIDJSON_ASSERT(IsBool_()); return flags_ == kTrueFlag; }
+	GenericValue& SetBool_(bool b) { this->~GenericValue(); new (this) GenericValue(b); return *this; }
+
+	//@}
+
+	//!@name Object
+	//@{
+
+	//! Set this value as an empty object.
+	GenericValue& SetObject() { this->~GenericValue(); new (this) GenericValue(kObjectType); return *this; }
+
+	//! Get the value associated with the object's name.
+	GenericValue& operator[](const Ch* name) {
+		if (Member* member = FindMember(name))
+			return member->value;
+		else {
+			static GenericValue Null_Value;
+			return Null_Value;
+		}
+	}
+	const GenericValue& operator[](const Ch* name) const { return const_cast<GenericValue&>(*this)[name]; }
+
+	//! Member iterators.
+	ConstMemberIterator MemberBegin() const	{ RAPIDJSON_ASSERT(IsObject()); return data_.o.members; }
+	ConstMemberIterator MemberEnd()	const	{ RAPIDJSON_ASSERT(IsObject()); return data_.o.members + data_.o.size; }
+	MemberIterator MemberBegin()			{ RAPIDJSON_ASSERT(IsObject()); return data_.o.members; }
+	MemberIterator MemberEnd()				{ RAPIDJSON_ASSERT(IsObject()); return data_.o.members + data_.o.size; }
+
+	//! Check whether a member exists in the object.
+	bool HasMember(const Ch* name) const { return FindMember(name) != 0; }
+
+	//! Add a member (name-value pair) to the object.
+	/*! \param name A string value as name of member.
+		\param value Value of any type.
+	    \param allocator Allocator for reallocating memory.
+	    \return The value itself for fluent API.
+	    \note The ownership of name and value will be transfered to this object if success.
+	*/
+	GenericValue& AddMember(GenericValue& name, GenericValue& value, Allocator& allocator) {
+		RAPIDJSON_ASSERT(IsObject());
+		RAPIDJSON_ASSERT(name.IsString());
+		Object& o = data_.o;
+		if (o.size >= o.capacity) {
+			if (o.capacity == 0) {
+				o.capacity = kDefaultObjectCapacity;
+				o.members = (Member*)allocator.Malloc(o.capacity * sizeof(Member));
+			}
+			else {
+				SizeType oldCapacity = o.capacity;
+				o.capacity *= 2;
+				o.members = (Member*)allocator.Realloc(o.members, oldCapacity * sizeof(Member), o.capacity * sizeof(Member));
+			}
+		}
+		o.members[o.size].name.RawAssign(name);
+		o.members[o.size].value.RawAssign(value);
+		o.size++;
+		return *this;
+	}
+
+	GenericValue& AddMember(const Ch* name, Allocator& nameAllocator, GenericValue& value, Allocator& allocator) {
+		GenericValue n(name, internal::StrLen(name), nameAllocator);
+		return AddMember(n, value, allocator);
+	}
+
+	GenericValue& AddMember(const Ch* name, GenericValue& value, Allocator& allocator) {
+		GenericValue n(name, internal::StrLen(name));
+		return AddMember(n, value, allocator);
+	}
+
+	template <typename T>
+	GenericValue& AddMember(const Ch* name, T value, Allocator& allocator) {
+		GenericValue n(name, internal::StrLen(name));
+		GenericValue v(value);
+		return AddMember(n, v, allocator);
+	}
+
+	//! Remove a member in object by its name.
+	/*! \param name Name of member to be removed.
+	    \return Whether the member existed.
+	    \note Removing member is implemented by moving the last member. So the ordering of members is changed.
+	*/
+	bool RemoveMember(const Ch* name) {
+		RAPIDJSON_ASSERT(IsObject());
+		if (Member* m = FindMember(name)) {
+			RAPIDJSON_ASSERT(data_.o.size > 0);
+			RAPIDJSON_ASSERT(data_.o.members != 0);
+
+			Member* last = data_.o.members + (data_.o.size - 1);
+			if (data_.o.size > 1 && m != last) {
+				// Move the last one to this place
+				m->name = last->name;
+				m->value = last->value;
+			}
+			else {
+				// Only one left, just destroy
+				m->name.~GenericValue();
+				m->value.~GenericValue();
+			}
+			--data_.o.size;
+			return true;
+		}
+		return false;
+	}
+
+	//@}
+
+	//!@name Array
+	//@{
+
+	//! Set this value as an empty array.
+	GenericValue& SetArray() {	this->~GenericValue(); new (this) GenericValue(kArrayType); return *this; }
+
+	//! Get the number of elements in array.
+	SizeType Size() const { RAPIDJSON_ASSERT(IsArray()); return data_.a.size; }
+
+	//! Get the capacity of array.
+	SizeType Capacity() const { RAPIDJSON_ASSERT(IsArray()); return data_.a.capacity; }
+
+	//! Check whether the array is empty.
+	bool Empty() const { RAPIDJSON_ASSERT(IsArray()); return data_.a.size == 0; }
+
+	//! Remove all elements in the array.
+	/*! This function do not deallocate memory in the array, i.e. the capacity is unchanged.
+	*/
+	void Clear() {
+		RAPIDJSON_ASSERT(IsArray());
+		for (SizeType i = 0; i < data_.a.size; ++i)
+			data_.a.elements[i].~GenericValue();
+		data_.a.size = 0;
+	}
+
+	//! Get an element from array by index.
+	/*! \param index Zero-based index of element.
+		\note
+\code
+Value a(kArrayType);
+a.PushBack(123);
+int x = a[0].GetInt();				// Error: operator[ is ambiguous, as 0 also mean a null pointer of const char* type.
+int y = a[SizeType(0)].GetInt();	// Cast to SizeType will work.
+int z = a[0u].GetInt();				// This works too.
+\endcode
+	*/
+	GenericValue& operator[](SizeType index) {
+		RAPIDJSON_ASSERT(IsArray());
+		RAPIDJSON_ASSERT(index < data_.a.size);
+		return data_.a.elements[index];
+	}
+	const GenericValue& operator[](SizeType index) const { return const_cast<GenericValue&>(*this)[index]; }
+
+	//! Element iterator
+	ValueIterator Begin() { RAPIDJSON_ASSERT(IsArray()); return data_.a.elements; }
+	ValueIterator End() { RAPIDJSON_ASSERT(IsArray()); return data_.a.elements + data_.a.size; }
+	ConstValueIterator Begin() const { return const_cast<GenericValue&>(*this).Begin(); }
+	ConstValueIterator End() const { return const_cast<GenericValue&>(*this).End(); }
+
+	//! Request the array to have enough capacity to store elements.
+	/*! \param newCapacity	The capacity that the array at least need to have.
+		\param allocator	The allocator for allocating memory. It must be the same one use previously.
+		\return The value itself for fluent API.
+	*/
+	GenericValue& Reserve(SizeType newCapacity, Allocator &allocator) {
+		RAPIDJSON_ASSERT(IsArray());
+		if (newCapacity > data_.a.capacity) {
+			data_.a.elements = (GenericValue*)allocator.Realloc(data_.a.elements, data_.a.capacity * sizeof(GenericValue), newCapacity * sizeof(GenericValue));
+			data_.a.capacity = newCapacity;
+		}
+		return *this;
+	}
+
+	//! Append a value at the end of the array.
+	/*! \param value		The value to be appended.
+	    \param allocator	The allocator for allocating memory. It must be the same one use previously.
+	    \return The value itself for fluent API.
+	    \note The ownership of the value will be transfered to this object if success.
+	    \note If the number of elements to be appended is known, calls Reserve() once first may be more efficient.
+	*/
+	GenericValue& PushBack(GenericValue& value, Allocator& allocator) {
+		RAPIDJSON_ASSERT(IsArray());
+		if (data_.a.size >= data_.a.capacity)
+			Reserve(data_.a.capacity == 0 ? kDefaultArrayCapacity : data_.a.capacity * 2, allocator);
+		data_.a.elements[data_.a.size++].RawAssign(value);
+		return *this;
+	}
+
+	template <typename T>
+	GenericValue& PushBack(T value, Allocator& allocator) {
+		GenericValue v(value);
+		return PushBack(v, allocator);
+	}
+
+	//! Remove the last element in the array.
+	GenericValue& PopBack() {
+		RAPIDJSON_ASSERT(IsArray());
+		RAPIDJSON_ASSERT(!Empty());
+		data_.a.elements[--data_.a.size].~GenericValue();
+		return *this;
+	}
+	//@}
+
+	//!@name Number
+	//@{
+
+	int GetInt() const			{ RAPIDJSON_ASSERT(flags_ & kIntFlag);   return data_.n.i.i;   }
+	unsigned GetUint() const	{ RAPIDJSON_ASSERT(flags_ & kUintFlag);  return data_.n.u.u;   }
+	int64_t GetInt64() const	{ RAPIDJSON_ASSERT(flags_ & kInt64Flag); return data_.n.i64; }
+	uint64_t GetUint64() const	{ RAPIDJSON_ASSERT(flags_ & kUint64Flag); return data_.n.u64; }
+
+	double GetDouble() const {
+		RAPIDJSON_ASSERT(IsNumber());
+		if ((flags_ & kDoubleFlag) != 0)				return data_.n.d;	// exact type, no conversion.
+		if ((flags_ & kIntFlag) != 0)					return data_.n.i.i;	// int -> double
+		if ((flags_ & kUintFlag) != 0)					return data_.n.u.u;	// unsigned -> double
+		if ((flags_ & kInt64Flag) != 0)					return (double)data_.n.i64; // int64_t -> double (may lose precision)
+		RAPIDJSON_ASSERT((flags_ & kUint64Flag) != 0);	return (double)data_.n.u64;	// uint64_t -> double (may lose precision)
+	}
+
+	GenericValue& SetInt(int i)				{ this->~GenericValue(); new (this) GenericValue(i);	return *this; }
+	GenericValue& SetUint(unsigned u)		{ this->~GenericValue(); new (this) GenericValue(u);	return *this; }
+	GenericValue& SetInt64(int64_t i64)		{ this->~GenericValue(); new (this) GenericValue(i64);	return *this; }
+	GenericValue& SetUint64(uint64_t u64)	{ this->~GenericValue(); new (this) GenericValue(u64);	return *this; }
+	GenericValue& SetDouble(double d)		{ this->~GenericValue(); new (this) GenericValue(d);	return *this; }
+
+	//@}
+
+	//!@name String
+	//@{
+
+	const Ch* GetString() const { RAPIDJSON_ASSERT(IsString()); return data_.s.str; }
+
+	//! Get the length of string.
+	/*! Since rapidjson permits "\u0000" in the json string, strlen(v.GetString()) may not equal to v.GetStringLength().
+	*/
+	SizeType GetStringLength() const { RAPIDJSON_ASSERT(IsString()); return data_.s.length; }
+
+	//! Set this value as a string without copying source string.
+	/*! This version has better performance with supplied length, and also support string containing null character.
+		\param s source string pointer.
+		\param length The length of source string, excluding the trailing null terminator.
+		\return The value itself for fluent API.
+	*/
+	GenericValue& SetString(const Ch* s, SizeType length) { this->~GenericValue(); SetStringRaw(s, length); return *this; }
+
+	//! Set this value as a string without copying source string.
+	/*! \param s source string pointer.
+		\return The value itself for fluent API.
+	*/
+	GenericValue& SetString(const Ch* s) { return SetString(s, internal::StrLen(s)); }
+
+	//! Set this value as a string by copying from source string.
+	/*! This version has better performance with supplied length, and also support string containing null character.
+		\param s source string.
+		\param length The length of source string, excluding the trailing null terminator.
+		\param allocator Allocator for allocating copied buffer. Commonly use document.GetAllocator().
+		\return The value itself for fluent API.
+	*/
+	GenericValue& SetString(const Ch* s, SizeType length, Allocator& allocator) { this->~GenericValue(); SetStringRaw(s, length, allocator); return *this; }
+
+	//! Set this value as a string by copying from source string.
+	/*!	\param s source string.
+		\param allocator Allocator for allocating copied buffer. Commonly use document.GetAllocator().
+		\return The value itself for fluent API.
+	*/
+	GenericValue& SetString(const Ch* s, Allocator& allocator) {	SetString(s, internal::StrLen(s), allocator); return *this; }
+
+	//@}
+
+	//! Generate events of this value to a Handler.
+	/*! This function adopts the GoF visitor pattern.
+		Typical usage is to output this JSON value as JSON text via Writer, which is a Handler.
+		It can also be used to deep clone this value via GenericDocument, which is also a Handler.
+		\tparam Handler type of handler.
+		\param handler An object implementing concept Handler.
+	*/
+	template <typename Handler>
+	const GenericValue& Accept(Handler& handler) const {
+		switch(GetType()) {
+		case kNull_Type:		handler.Null_(); break;
+		case kFalseType:	handler.Bool_(false); break;
+		case kTrueType:		handler.Bool_(true); break;
+
+		case kObjectType:
+			handler.StartObject();
+			for (Member* m = data_.o.members; m != data_.o.members + data_.o.size; ++m) {
+				handler.String(m->name.data_.s.str, m->name.data_.s.length, false);
+				m->value.Accept(handler);
+			}
+			handler.EndObject(data_.o.size);
+			break;
+
+		case kArrayType:
+			handler.StartArray();
+			for (GenericValue* v = data_.a.elements; v != data_.a.elements + data_.a.size; ++v)
+				v->Accept(handler);
+			handler.EndArray(data_.a.size);
+			break;
+
+		case kStringType:
+			handler.String(data_.s.str, data_.s.length, false);
+			break;
+
+		case kNumberType:
+			if (IsInt())			handler.Int(data_.n.i.i);
+			else if (IsUint())		handler.Uint(data_.n.u.u);
+			else if (IsInt64())		handler.Int64(data_.n.i64);
+			else if (IsUint64())	handler.Uint64(data_.n.u64);
+			else					handler.Double(data_.n.d);
+			break;
+		}
+		return *this;
+	}
+
+private:
+	template <typename, typename>
+	friend class GenericDocument;
+
+	enum {
+		kBool_Flag = 0x100,
+		kNumberFlag = 0x200,
+		kIntFlag = 0x400,
+		kUintFlag = 0x800,
+		kInt64Flag = 0x1000,
+		kUint64Flag = 0x2000,
+		kDoubleFlag = 0x4000,
+		kStringFlag = 0x100000,
+		kCopyFlag = 0x200000,
+
+		// Initial flags of different types.
+		kNull_Flag = kNull_Type,
+		kTrueFlag = kTrueType | kBool_Flag,
+		kFalseFlag = kFalseType | kBool_Flag,
+		kNumberIntFlag = kNumberType | kNumberFlag | kIntFlag | kInt64Flag,
+		kNumberUintFlag = kNumberType | kNumberFlag | kUintFlag | kUint64Flag | kInt64Flag,
+		kNumberInt64Flag = kNumberType | kNumberFlag | kInt64Flag,
+		kNumberUint64Flag = kNumberType | kNumberFlag | kUint64Flag,
+		kNumberDoubleFlag = kNumberType | kNumberFlag | kDoubleFlag,
+		kConstStringFlag = kStringType | kStringFlag,
+		kCopyStringFlag = kStringType | kStringFlag | kCopyFlag,
+		kObjectFlag = kObjectType,
+		kArrayFlag = kArrayType,
+
+		kTypeMask = 0xFF	// bitwise-and with mask of 0xFF can be optimized by compiler
+	};
+
+	static const SizeType kDefaultArrayCapacity = 16;
+	static const SizeType kDefaultObjectCapacity = 16;
+
+	struct String {
+		const Ch* str;
+		SizeType length;
+		unsigned hashcode;	//!< reserved
+	};	// 12 bytes in 32-bit mode, 16 bytes in 64-bit mode
+
+	// By using proper binary layout, retrieval of different integer types do not need conversions.
+	union Number {
+#if RAPIDJSON_ENDIAN == RAPIDJSON_LITTLEENDIAN
+		struct I {
+			int i;
+			char padding[4];
+		}i;
+		struct U {
+			unsigned u;
+			char padding2[4];
+		}u;
+#else
+		struct I {
+			char padding[4];
+			int i;
+		}i;
+		struct U {
+			char padding2[4];
+			unsigned u;
+		}u;
+#endif
+		int64_t i64;
+		uint64_t u64;
+		double d;
+	};	// 8 bytes
+
+	struct Object {
+		Member* members;
+		SizeType size;
+		SizeType capacity;
+	};	// 12 bytes in 32-bit mode, 16 bytes in 64-bit mode
+
+	struct Array {
+		GenericValue<Encoding, Allocator>* elements;
+		SizeType size;
+		SizeType capacity;
+	};	// 12 bytes in 32-bit mode, 16 bytes in 64-bit mode
+
+	union Data {
+		String s;
+		Number n;
+		Object o;
+		Array a;
+	};	// 12 bytes in 32-bit mode, 16 bytes in 64-bit mode
+
+	//! Find member by name.
+	Member* FindMember(const Ch* name) {
+		RAPIDJSON_ASSERT(name);
+		RAPIDJSON_ASSERT(IsObject());
+
+		SizeType length = internal::StrLen(name);
+
+		Object& o = data_.o;
+		for (Member* member = o.members; member != data_.o.members + data_.o.size; ++member)
+			if (length == member->name.data_.s.length && memcmp(member->name.data_.s.str, name, length * sizeof(Ch)) == 0)
+				return member;
+
+		return 0;
+	}
+	const Member* FindMember(const Ch* name) const { return const_cast<GenericValue&>(*this).FindMember(name); }
+
+	// Initialize this value as array with initial data, without calling destructor.
+	void SetArrayRaw(GenericValue* values, SizeType count, Allocator& alloctaor) {
+		flags_ = kArrayFlag;
+		data_.a.elements = (GenericValue*)alloctaor.Malloc(count * sizeof(GenericValue));
+		memcpy(data_.a.elements, values, count * sizeof(GenericValue));
+		data_.a.size = data_.a.capacity = count;
+	}
+
+	//! Initialize this value as object with initial data, without calling destructor.
+	void SetObjectRaw(Member* members, SizeType count, Allocator& alloctaor) {
+		flags_ = kObjectFlag;
+		data_.o.members = (Member*)alloctaor.Malloc(count * sizeof(Member));
+		memcpy(data_.o.members, members, count * sizeof(Member));
+		data_.o.size = data_.o.capacity = count;
+	}
+
+	//! Initialize this value as constant string, without calling destructor.
+	void SetStringRaw(const Ch* s, SizeType length) {
+		RAPIDJSON_ASSERT(s != NULL);
+		flags_ = kConstStringFlag;
+		data_.s.str = s;
+		data_.s.length = length;
+	}
+
+	//! Initialize this value as copy string with initial data, without calling destructor.
+	void SetStringRaw(const Ch* s, SizeType length, Allocator& allocator) {
+		RAPIDJSON_ASSERT(s != NULL);
+		flags_ = kCopyStringFlag;
+		data_.s.str = (Ch *)allocator.Malloc((length + 1) * sizeof(Ch));
+		data_.s.length = length;
+		memcpy(const_cast<Ch*>(data_.s.str), s, length * sizeof(Ch));
+		const_cast<Ch*>(data_.s.str)[length] = '\0';
+	}
+
+	//! Assignment without calling destructor
+	void RawAssign(GenericValue& rhs) {
+		memcpy(this, &rhs, sizeof(GenericValue));
+		rhs.flags_ = kNull_Flag;
+	}
+
+	Data data_;
+	unsigned flags_;
+};
+#pragma pack (pop)
+
+//! Value with UTF8 encoding.
+typedef GenericValue<UTF8<> > Value;
+
+///////////////////////////////////////////////////////////////////////////////
+// GenericDocument
+
+//! A document for parsing JSON text as DOM.
+/*!
+	\implements Handler
+	\tparam Encoding encoding for both parsing and string storage.
+	\tparam Alloactor allocator for allocating memory for the DOM, and the stack during parsing.
+*/
+template <typename Encoding, typename Allocator = MemoryPoolAllocator<> >
+class GenericDocument : public GenericValue<Encoding, Allocator> {
+public:
+	typedef typename Encoding::Ch Ch;						//!< Character type derived from Encoding.
+	typedef GenericValue<Encoding, Allocator> ValueType;	//!< Value type of the document.
+	typedef Allocator AllocatorType;						//!< Allocator type from template parameter.
+
+	//! Constructor
+	/*! \param allocator		Optional allocator for allocating stack memory.
+		\param stackCapacity	Initial capacity of stack in bytes.
+	*/
+	GenericDocument(Allocator* allocator = 0, size_t stackCapacity = kDefaultStackCapacity) : stack_(allocator, stackCapacity), parseError_(0), errorOffset_(0) {}
+
+	//! Parse JSON text from an input stream.
+	/*! \tparam parseFlags Combination of ParseFlag.
+		\param stream Input stream to be parsed.
+		\return The document itself for fluent API.
+	*/
+	template <unsigned parseFlags, typename Stream>
+	GenericDocument& ParseStream(Stream& stream) {
+		ValueType::SetNull_(); // Remove existing root if exist
+		GenericReader<Encoding, Allocator> reader;
+		if (reader.template Parse<parseFlags>(stream, *this)) {
+			RAPIDJSON_ASSERT(stack_.GetSize() == sizeof(ValueType)); // Got one and only one root object
+			this->RawAssign(*stack_.template Pop<ValueType>(1));	// Add this-> to prevent issue 13.
+			parseError_ = 0;
+			errorOffset_ = 0;
+		}
+		else {
+			parseError_ = reader.GetParseError();
+			errorOffset_ = reader.GetErrorOffset();
+			ClearStack();
+		}
+		return *this;
+	}
+
+	//! Parse JSON text from a mutable string.
+	/*! \tparam parseFlags Combination of ParseFlag.
+		\param str Mutable zero-terminated string to be parsed.
+		\return The document itself for fluent API.
+	*/
+	template <unsigned parseFlags>
+	GenericDocument& ParseInsitu(Ch* str) {
+		GenericInsituStringStream<Encoding> s(str);
+		return ParseStream<parseFlags | kParseInsituFlag>(s);
+	}
+
+	//! Parse JSON text from a read-only string.
+	/*! \tparam parseFlags Combination of ParseFlag (must not contain kParseInsituFlag).
+		\param str Read-only zero-terminated string to be parsed.
+	*/
+	template <unsigned parseFlags>
+	GenericDocument& Parse(const Ch* str) {
+		RAPIDJSON_ASSERT(!(parseFlags & kParseInsituFlag));
+		GenericStringStream<Encoding> s(str);
+		return ParseStream<parseFlags>(s);
+	}
+
+	//! Whether a parse error was occured in the last parsing.
+	bool HasParseError() const { return parseError_ != 0; }
+
+	//! Get the message of parsing error.
+	const char* GetParseError() const { return parseError_; }
+
+	//! Get the offset in character of the parsing error.
+	size_t GetErrorOffset() const { return errorOffset_; }
+
+	//! Get the allocator of this document.
+	Allocator& GetAllocator() {	return stack_.GetAllocator(); }
+
+	//! Get the capacity of stack in bytes.
+	size_t GetStackCapacity() const { return stack_.GetCapacity(); }
+
+private:
+	// Prohibit assignment
+	GenericDocument& operator=(const GenericDocument&);
+
+	friend class GenericReader<Encoding, Allocator>;	// for Reader to call the following private handler functions
+
+	// Implementation of Handler
+	void Null_()	{ new (stack_.template Push<ValueType>()) ValueType(); }
+	void Bool_(bool b) { new (stack_.template Push<ValueType>()) ValueType(b); }
+	void Int(int i) { new (stack_.template Push<ValueType>()) ValueType(i); }
+	void Uint(unsigned i) { new (stack_.template Push<ValueType>()) ValueType(i); }
+	void Int64(int64_t i) { new (stack_.template Push<ValueType>()) ValueType(i); }
+	void Uint64(uint64_t i) { new (stack_.template Push<ValueType>()) ValueType(i); }
+	void Double(double d) { new (stack_.template Push<ValueType>()) ValueType(d); }
+
+	void String(const Ch* str, SizeType length, bool copy) {
+		if (copy)
+			new (stack_.template Push<ValueType>()) ValueType(str, length, GetAllocator());
+		else
+			new (stack_.template Push<ValueType>()) ValueType(str, length);
+	}
+
+	void StartObject() { new (stack_.template Push<ValueType>()) ValueType(kObjectType); }
+
+	void EndObject(SizeType memberCount) {
+		typename ValueType::Member* members = stack_.template Pop<typename ValueType::Member>(memberCount);
+		stack_.template Top<ValueType>()->SetObjectRaw(members, (SizeType)memberCount, GetAllocator());
+	}
+
+	void StartArray() { new (stack_.template Push<ValueType>()) ValueType(kArrayType); }
+
+	void EndArray(SizeType elementCount) {
+		ValueType* elements = stack_.template Pop<ValueType>(elementCount);
+		stack_.template Top<ValueType>()->SetArrayRaw(elements, elementCount, GetAllocator());
+	}
+
+	void ClearStack() {
+		if (Allocator::kNeedFree)
+			while (stack_.GetSize() > 0)	// Here assumes all elements in stack array are GenericValue (Member is actually 2 GenericValue objects)
+				(stack_.template Pop<ValueType>(1))->~ValueType();
+		else
+			stack_.Clear();
+	}
+
+	static const size_t kDefaultStackCapacity = 1024;
+	internal::Stack<Allocator> stack_;
+	const char* parseError_;
+	size_t errorOffset_;
+};
+
+typedef GenericDocument<UTF8<> > Document;
+
+} // namespace rapidjson
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#endif // RAPIDJSON_DOCUMENT_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/filestream.h b/3rdparty/include/cereal/external/rapidjson/filestream.h
new file mode 100644
index 0000000..2aeb2c1
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/filestream.h
@@ -0,0 +1,47 @@
+#ifndef RAPIDJSON_FILESTREAM_H_
+#define RAPIDJSON_FILESTREAM_H_
+
+#include <cstdio>
+
+namespace rapidjson {
+
+//! Wrapper of C file stream for input or output.
+/*!
+	This simple wrapper does not check the validity of the stream.
+	\implements Stream
+*/
+class FileStream {
+public:
+	typedef char Ch;	//!< Character type. Only support char.
+
+	FileStream(FILE* fp) : fp_(fp), count_(0) { Read(); }
+
+	char Peek() const   { return current_; }
+	char Take()         { char c = current_; Read(); return c; }
+	size_t Tell() const { return count_; }
+	void Put(char c)    { fputc(c, fp_); }
+
+	// Not implemented
+	char* PutBegin()     { return 0; }
+	size_t PutEnd(char*) { return 0; }
+
+private:
+	void Read() {
+		RAPIDJSON_ASSERT(fp_ != 0);
+		int c = fgetc(fp_);
+		if (c != EOF) {
+			current_ = (char)c;
+			count_++;
+		}
+		else
+			current_ = '\0';
+	}
+
+	FILE* fp_;
+	char current_;
+	size_t count_;
+};
+
+} // namespace rapidjson
+
+#endif // RAPIDJSON_FILESTREAM_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/genericstream.h b/3rdparty/include/cereal/external/rapidjson/genericstream.h
new file mode 100644
index 0000000..197a4e9
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/genericstream.h
@@ -0,0 +1,105 @@
+// Generic*Stream code from https://code.google.com/p/rapidjson/issues/detail?id=20
+#ifndef RAPIDJSON_GENERICSTREAM_H_
+#define RAPIDJSON_GENERICSTREAM_H_
+
+#include "rapidjson.h"
+#include <iostream>
+
+#ifdef _MSC_VER
+  #pragma warning(push)
+  #pragma warning(disable: 4127) // conditional expression is constant
+  #pragma warning(disable: 4512) // assignment operator could not be generated
+  #pragma warning(disable: 4100) // unreferenced formal parameter
+#endif
+
+namespace rapidjson {
+
+  //! Wrapper of std::istream for input.
+  class GenericReadStream {
+    public:
+      typedef char Ch;    //!< Character type (byte).
+
+      //! Constructor.
+      /*!
+        \param is Input stream.
+        */
+      GenericReadStream(std::istream & is) : is_(&is) {
+      }
+
+
+      Ch Peek() const {
+        if(is_->eof()) return '\0';
+        return static_cast<char>(is_->peek());
+      }
+
+      Ch Take() {
+        if(is_->eof()) return '\0';
+        return static_cast<char>(is_->get());
+      }
+
+      size_t Tell() const {
+        return (int)is_->tellg();
+      }
+
+      // Not implemented
+      void Put(Ch)       { RAPIDJSON_ASSERT(false); }
+      void Flush()       { RAPIDJSON_ASSERT(false); }
+      Ch* PutBegin()     { RAPIDJSON_ASSERT(false); return 0; }
+      size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
+
+      std::istream * is_;
+  };
+
+
+  //! Wrapper of std::ostream for output.
+  class GenericWriteStream {
+    public:
+      typedef char Ch;    //!< Character type. Only support char.
+
+      //! Constructor
+      /*!
+        \param os Output stream.
+        */
+      GenericWriteStream(std::ostream& os) : os_(os) {
+      }
+
+      void Put(char c) {
+        os_.put(c);
+      }
+
+      void PutN(char c, size_t n) {
+        for (size_t i = 0; i < n; ++i) {
+          Put(c);
+        }
+      }
+
+      void Flush() {
+        os_.flush();
+      }
+
+      size_t Tell() const {
+        return (int)os_.tellp();
+      }
+
+      // Not implemented
+      char Peek() const    { RAPIDJSON_ASSERT(false); }
+      char Take()          { RAPIDJSON_ASSERT(false); }
+      char* PutBegin()     { RAPIDJSON_ASSERT(false); return 0; }
+      size_t PutEnd(char*) { RAPIDJSON_ASSERT(false); return 0; }
+
+    private:
+      std::ostream& os_;
+  };
+
+  template<>
+    inline void PutN(GenericWriteStream& stream, char c, size_t n) {
+      stream.PutN(c, n);
+    }
+
+} // namespace rapidjson
+
+// On MSVC, restore warnings state
+#ifdef _MSC_VER
+    #pragma warning(pop)
+#endif
+#endif // RAPIDJSON_GENERICSTREAM_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/internal/pow10.h b/3rdparty/include/cereal/external/rapidjson/internal/pow10.h
new file mode 100644
index 0000000..bf3a9af
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/internal/pow10.h
@@ -0,0 +1,54 @@
+#ifndef RAPIDJSON_POW10_
+#define RAPIDJSON_POW10_
+
+namespace rapidjson {
+namespace internal {
+
+//! Computes integer powers of 10 in double (10.0^n).
+/*! This function uses lookup table for fast and accurate results.
+	\param n positive/negative exponent. Must <= 308.
+	\return 10.0^n
+*/
+inline double Pow10(int n) {
+	static const double e[] = { // 1e-308...1e308: 617 * 8 bytes = 4936 bytes
+		1e-308,1e-307,1e-306,1e-305,1e-304,1e-303,1e-302,1e-301,1e-300,
+		1e-299,1e-298,1e-297,1e-296,1e-295,1e-294,1e-293,1e-292,1e-291,1e-290,1e-289,1e-288,1e-287,1e-286,1e-285,1e-284,1e-283,1e-282,1e-281,1e-280,
+		1e-279,1e-278,1e-277,1e-276,1e-275,1e-274,1e-273,1e-272,1e-271,1e-270,1e-269,1e-268,1e-267,1e-266,1e-265,1e-264,1e-263,1e-262,1e-261,1e-260,
+		1e-259,1e-258,1e-257,1e-256,1e-255,1e-254,1e-253,1e-252,1e-251,1e-250,1e-249,1e-248,1e-247,1e-246,1e-245,1e-244,1e-243,1e-242,1e-241,1e-240,
+		1e-239,1e-238,1e-237,1e-236,1e-235,1e-234,1e-233,1e-232,1e-231,1e-230,1e-229,1e-228,1e-227,1e-226,1e-225,1e-224,1e-223,1e-222,1e-221,1e-220,
+		1e-219,1e-218,1e-217,1e-216,1e-215,1e-214,1e-213,1e-212,1e-211,1e-210,1e-209,1e-208,1e-207,1e-206,1e-205,1e-204,1e-203,1e-202,1e-201,1e-200,
+		1e-199,1e-198,1e-197,1e-196,1e-195,1e-194,1e-193,1e-192,1e-191,1e-190,1e-189,1e-188,1e-187,1e-186,1e-185,1e-184,1e-183,1e-182,1e-181,1e-180,
+		1e-179,1e-178,1e-177,1e-176,1e-175,1e-174,1e-173,1e-172,1e-171,1e-170,1e-169,1e-168,1e-167,1e-166,1e-165,1e-164,1e-163,1e-162,1e-161,1e-160,
+		1e-159,1e-158,1e-157,1e-156,1e-155,1e-154,1e-153,1e-152,1e-151,1e-150,1e-149,1e-148,1e-147,1e-146,1e-145,1e-144,1e-143,1e-142,1e-141,1e-140,
+		1e-139,1e-138,1e-137,1e-136,1e-135,1e-134,1e-133,1e-132,1e-131,1e-130,1e-129,1e-128,1e-127,1e-126,1e-125,1e-124,1e-123,1e-122,1e-121,1e-120,
+		1e-119,1e-118,1e-117,1e-116,1e-115,1e-114,1e-113,1e-112,1e-111,1e-110,1e-109,1e-108,1e-107,1e-106,1e-105,1e-104,1e-103,1e-102,1e-101,1e-100,
+		1e-99, 1e-98, 1e-97, 1e-96, 1e-95, 1e-94, 1e-93, 1e-92, 1e-91, 1e-90, 1e-89, 1e-88, 1e-87, 1e-86, 1e-85, 1e-84, 1e-83, 1e-82, 1e-81, 1e-80, 
+		1e-79, 1e-78, 1e-77, 1e-76, 1e-75, 1e-74, 1e-73, 1e-72, 1e-71, 1e-70, 1e-69, 1e-68, 1e-67, 1e-66, 1e-65, 1e-64, 1e-63, 1e-62, 1e-61, 1e-60, 
+		1e-59, 1e-58, 1e-57, 1e-56, 1e-55, 1e-54, 1e-53, 1e-52, 1e-51, 1e-50, 1e-49, 1e-48, 1e-47, 1e-46, 1e-45, 1e-44, 1e-43, 1e-42, 1e-41, 1e-40, 
+		1e-39, 1e-38, 1e-37, 1e-36, 1e-35, 1e-34, 1e-33, 1e-32, 1e-31, 1e-30, 1e-29, 1e-28, 1e-27, 1e-26, 1e-25, 1e-24, 1e-23, 1e-22, 1e-21, 1e-20, 
+		1e-19, 1e-18, 1e-17, 1e-16, 1e-15, 1e-14, 1e-13, 1e-12, 1e-11, 1e-10, 1e-9,  1e-8,  1e-7,  1e-6,  1e-5,  1e-4,  1e-3,  1e-2,  1e-1,  1e+0,  
+		1e+1,  1e+2,  1e+3,  1e+4,  1e+5,  1e+6,  1e+7,  1e+8,  1e+9,  1e+10, 1e+11, 1e+12, 1e+13, 1e+14, 1e+15, 1e+16, 1e+17, 1e+18, 1e+19, 1e+20, 
+		1e+21, 1e+22, 1e+23, 1e+24, 1e+25, 1e+26, 1e+27, 1e+28, 1e+29, 1e+30, 1e+31, 1e+32, 1e+33, 1e+34, 1e+35, 1e+36, 1e+37, 1e+38, 1e+39, 1e+40,
+		1e+41, 1e+42, 1e+43, 1e+44, 1e+45, 1e+46, 1e+47, 1e+48, 1e+49, 1e+50, 1e+51, 1e+52, 1e+53, 1e+54, 1e+55, 1e+56, 1e+57, 1e+58, 1e+59, 1e+60,
+		1e+61, 1e+62, 1e+63, 1e+64, 1e+65, 1e+66, 1e+67, 1e+68, 1e+69, 1e+70, 1e+71, 1e+72, 1e+73, 1e+74, 1e+75, 1e+76, 1e+77, 1e+78, 1e+79, 1e+80,
+		1e+81, 1e+82, 1e+83, 1e+84, 1e+85, 1e+86, 1e+87, 1e+88, 1e+89, 1e+90, 1e+91, 1e+92, 1e+93, 1e+94, 1e+95, 1e+96, 1e+97, 1e+98, 1e+99, 1e+100,
+		1e+101,1e+102,1e+103,1e+104,1e+105,1e+106,1e+107,1e+108,1e+109,1e+110,1e+111,1e+112,1e+113,1e+114,1e+115,1e+116,1e+117,1e+118,1e+119,1e+120,
+		1e+121,1e+122,1e+123,1e+124,1e+125,1e+126,1e+127,1e+128,1e+129,1e+130,1e+131,1e+132,1e+133,1e+134,1e+135,1e+136,1e+137,1e+138,1e+139,1e+140,
+		1e+141,1e+142,1e+143,1e+144,1e+145,1e+146,1e+147,1e+148,1e+149,1e+150,1e+151,1e+152,1e+153,1e+154,1e+155,1e+156,1e+157,1e+158,1e+159,1e+160,
+		1e+161,1e+162,1e+163,1e+164,1e+165,1e+166,1e+167,1e+168,1e+169,1e+170,1e+171,1e+172,1e+173,1e+174,1e+175,1e+176,1e+177,1e+178,1e+179,1e+180,
+		1e+181,1e+182,1e+183,1e+184,1e+185,1e+186,1e+187,1e+188,1e+189,1e+190,1e+191,1e+192,1e+193,1e+194,1e+195,1e+196,1e+197,1e+198,1e+199,1e+200,
+		1e+201,1e+202,1e+203,1e+204,1e+205,1e+206,1e+207,1e+208,1e+209,1e+210,1e+211,1e+212,1e+213,1e+214,1e+215,1e+216,1e+217,1e+218,1e+219,1e+220,
+		1e+221,1e+222,1e+223,1e+224,1e+225,1e+226,1e+227,1e+228,1e+229,1e+230,1e+231,1e+232,1e+233,1e+234,1e+235,1e+236,1e+237,1e+238,1e+239,1e+240,
+		1e+241,1e+242,1e+243,1e+244,1e+245,1e+246,1e+247,1e+248,1e+249,1e+250,1e+251,1e+252,1e+253,1e+254,1e+255,1e+256,1e+257,1e+258,1e+259,1e+260,
+		1e+261,1e+262,1e+263,1e+264,1e+265,1e+266,1e+267,1e+268,1e+269,1e+270,1e+271,1e+272,1e+273,1e+274,1e+275,1e+276,1e+277,1e+278,1e+279,1e+280,
+		1e+281,1e+282,1e+283,1e+284,1e+285,1e+286,1e+287,1e+288,1e+289,1e+290,1e+291,1e+292,1e+293,1e+294,1e+295,1e+296,1e+297,1e+298,1e+299,1e+300,
+		1e+301,1e+302,1e+303,1e+304,1e+305,1e+306,1e+307,1e+308
+	};
+	RAPIDJSON_ASSERT(n <= 308);
+	return n < -308 ? 0.0 : e[n + 308];
+}
+
+} // namespace internal
+} // namespace rapidjson
+
+#endif // RAPIDJSON_POW10_
diff --git a/3rdparty/include/cereal/external/rapidjson/internal/stack.h b/3rdparty/include/cereal/external/rapidjson/internal/stack.h
new file mode 100644
index 0000000..966893b
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/internal/stack.h
@@ -0,0 +1,82 @@
+#ifndef RAPIDJSON_INTERNAL_STACK_H_
+#define RAPIDJSON_INTERNAL_STACK_H_
+
+namespace rapidjson {
+namespace internal {
+
+///////////////////////////////////////////////////////////////////////////////
+// Stack
+
+//! A type-unsafe stack for storing different types of data.
+/*! \tparam Allocator Allocator for allocating stack memory.
+*/
+template <typename Allocator>
+class Stack {
+public:
+	Stack(Allocator* allocator, size_t stack_capacity) : allocator_(allocator), own_allocator_(0), stack_(0), stack_top_(0), stack_end_(0), stack_capacity_(stack_capacity) {
+		RAPIDJSON_ASSERT(stack_capacity_ > 0);
+		if (!allocator_)
+			own_allocator_ = allocator_ = new Allocator();
+		stack_top_ = stack_ = (char*)allocator_->Malloc(stack_capacity_);
+		stack_end_ = stack_ + stack_capacity_;
+	}
+
+	~Stack() {
+		Allocator::Free(stack_);
+		delete own_allocator_; // Only delete if it is owned by the stack
+	}
+
+	void Clear() { /*stack_top_ = 0;*/ stack_top_ = stack_; }
+
+	template<typename T>
+	T* Push(size_t count = 1) {
+		 // Expand the stack if needed
+		if (stack_top_ + sizeof(T) * count >= stack_end_) {
+			size_t new_capacity = stack_capacity_ * 2;
+			size_t size = GetSize();
+			size_t new_size = GetSize() + sizeof(T) * count;
+			if (new_capacity < new_size)
+				new_capacity = new_size;
+			stack_ = (char*)allocator_->Realloc(stack_, stack_capacity_, new_capacity);
+			stack_capacity_ = new_capacity;
+			stack_top_ = stack_ + size;
+			stack_end_ = stack_ + stack_capacity_;
+		}
+		T* ret = (T*)stack_top_;
+		stack_top_ += sizeof(T) * count;
+		return ret;
+	}
+
+	template<typename T>
+	T* Pop(size_t count) {
+		RAPIDJSON_ASSERT(GetSize() >= count * sizeof(T));
+		stack_top_ -= count * sizeof(T);
+		return (T*)stack_top_;
+	}
+
+	template<typename T>
+	T* Top() { 
+		RAPIDJSON_ASSERT(GetSize() >= sizeof(T));
+		return (T*)(stack_top_ - sizeof(T));
+	}
+
+	template<typename T>
+	T* Bottom() { return (T*)stack_; }
+
+	Allocator& GetAllocator() { return *allocator_; }
+	size_t GetSize() const { return stack_top_ - stack_; }
+	size_t GetCapacity() const { return stack_capacity_; }
+
+private:
+	Allocator* allocator_;
+	Allocator* own_allocator_;
+	char *stack_;
+	char *stack_top_;
+	char *stack_end_;
+	size_t stack_capacity_;
+};
+
+} // namespace internal
+} // namespace rapidjson
+
+#endif // RAPIDJSON_STACK_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/internal/strfunc.h b/3rdparty/include/cereal/external/rapidjson/internal/strfunc.h
new file mode 100644
index 0000000..bbf444f
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/internal/strfunc.h
@@ -0,0 +1,24 @@
+#ifndef RAPIDJSON_INTERNAL_STRFUNC_H_
+#define RAPIDJSON_INTERNAL_STRFUNC_H_
+
+namespace rapidjson {
+namespace internal {
+
+//! Custom strlen() which works on different character types.
+/*!	\tparam Ch Character type (e.g. char, wchar_t, short)
+	\param s Null-terminated input string.
+	\return Number of characters in the string. 
+	\note This has the same semantics as strlen(), the return value is not number of Unicode codepoints.
+*/
+template <typename Ch>
+inline SizeType StrLen(const Ch* s) {
+	const Ch* p = s;
+	while (*p != '\0')
+		++p;
+	return SizeType(p - s);
+}
+
+} // namespace internal
+} // namespace rapidjson
+
+#endif // RAPIDJSON_INTERNAL_STRFUNC_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/license.txt b/3rdparty/include/cereal/external/rapidjson/license.txt
new file mode 100644
index 0000000..03d97d1
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/license.txt
@@ -0,0 +1,19 @@
+Copyright (C) 2011 Milo Yip
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
\ No newline at end of file
diff --git a/3rdparty/include/cereal/external/rapidjson/prettywriter.h b/3rdparty/include/cereal/external/rapidjson/prettywriter.h
new file mode 100644
index 0000000..107a263
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/prettywriter.h
@@ -0,0 +1,156 @@
+#ifndef RAPIDJSON_PRETTYWRITER_H_
+#define RAPIDJSON_PRETTYWRITER_H_
+
+#include "writer.h"
+
+namespace rapidjson {
+
+//! Writer with indentation and spacing.
+/*!
+	\tparam Stream Type of ouptut stream.
+	\tparam Encoding Encoding of both source strings and output.
+	\tparam Allocator Type of allocator for allocating memory of stack.
+*/
+template<typename Stream, typename Encoding = UTF8<>, typename Allocator = MemoryPoolAllocator<> >
+class PrettyWriter : public Writer<Stream, Encoding, Allocator> {
+public:
+	typedef Writer<Stream, Encoding, Allocator> Base;
+	typedef typename Base::Ch Ch;
+
+	//! Constructor
+	/*! \param stream Output stream.
+		\param allocator User supplied allocator. If it is null, it will create a private one.
+		\param levelDepth Initial capacity of
+	*/
+	PrettyWriter(Stream& stream, int precision = 20, Allocator* allocator = 0, size_t levelDepth = Base::kDefaultLevelDepth) :
+		Base(stream, precision, allocator, levelDepth), indentChar_(' '), indentCharCount_(4) {}
+
+	//! Set custom indentation.
+	/*! \param indentChar		Character for indentation. Must be whitespace character (' ', '\t', '\n', '\r').
+		\param indentCharCount	Number of indent characters for each indentation level.
+		\note The default indentation is 4 spaces.
+	*/
+	PrettyWriter& SetIndent(Ch indentChar, unsigned indentCharCount) {
+		RAPIDJSON_ASSERT(indentChar == ' ' || indentChar == '\t' || indentChar == '\n' || indentChar == '\r');
+		indentChar_ = indentChar;
+		indentCharCount_ = indentCharCount;
+		return *this;
+	}
+
+	//@name Implementation of Handler.
+	//@{
+
+	PrettyWriter& Null_()				{ PrettyPrefix(kNull_Type);   Base::WriteNull_();			return *this; }
+	PrettyWriter& Bool_(bool b)			{ PrettyPrefix(b ? kTrueType : kFalseType); Base::WriteBool_(b); return *this; }
+	PrettyWriter& Int(int i)			{ PrettyPrefix(kNumberType); Base::WriteInt(i);			return *this; }
+	PrettyWriter& Uint(unsigned u)		{ PrettyPrefix(kNumberType); Base::WriteUint(u);		return *this; }
+	PrettyWriter& Int64(int64_t i64)	{ PrettyPrefix(kNumberType); Base::WriteInt64(i64);		return *this; }
+	PrettyWriter& Uint64(uint64_t u64)	{ PrettyPrefix(kNumberType); Base::WriteUint64(u64);	return *this; }
+	PrettyWriter& Double(double d)		{ PrettyPrefix(kNumberType); Base::WriteDouble(d);		return *this; }
+
+	PrettyWriter& String(const Ch* str, SizeType length, bool copy = false) {
+		(void)copy;
+		PrettyPrefix(kStringType);
+		Base::WriteString(str, length);
+		return *this;
+	}
+
+	PrettyWriter& StartObject() {
+		PrettyPrefix(kObjectType);
+		new (Base::level_stack_.template Push<typename Base::Level>()) typename Base::Level(false);
+		Base::WriteStartObject();
+		return *this;
+	}
+
+	PrettyWriter& EndObject(SizeType memberCount = 0) {
+		(void)memberCount;
+		RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= sizeof(typename Base::Level));
+		RAPIDJSON_ASSERT(!Base::level_stack_.template Top<typename Base::Level>()->inArray);
+		bool empty = Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount == 0;
+
+		if (!empty) {
+			Base::stream_.Put('\n');
+			WriteIndent();
+		}
+		Base::WriteEndObject();
+		return *this;
+	}
+
+	PrettyWriter& StartArray() {
+		PrettyPrefix(kArrayType);
+		new (Base::level_stack_.template Push<typename Base::Level>()) typename Base::Level(true);
+		Base::WriteStartArray();
+		return *this;
+	}
+
+	PrettyWriter& EndArray(SizeType memberCount = 0) {
+		(void)memberCount;
+		RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= sizeof(typename Base::Level));
+		RAPIDJSON_ASSERT(Base::level_stack_.template Top<typename Base::Level>()->inArray);
+		bool empty = Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount == 0;
+
+		if (!empty) {
+			Base::stream_.Put('\n');
+			WriteIndent();
+		}
+		Base::WriteEndArray();
+		return *this;
+	}
+
+	//@}
+
+	//! Simpler but slower overload.
+	PrettyWriter& String(const Ch* str) { return String(str, internal::StrLen(str)); }
+
+protected:
+	void PrettyPrefix(Type type) {
+		(void)type;
+		if (Base::level_stack_.GetSize() != 0) { // this value is not at root
+			typename Base::Level* level = Base::level_stack_.template Top<typename Base::Level>();
+
+			if (level->inArray) {
+				if (level->valueCount > 0) {
+					Base::stream_.Put(','); // add comma if it is not the first element in array
+					Base::stream_.Put('\n');
+				}
+				else
+					Base::stream_.Put('\n');
+				WriteIndent();
+			}
+			else {	// in object
+				if (level->valueCount > 0) {
+					if (level->valueCount % 2 == 0) {
+						Base::stream_.Put(',');
+						Base::stream_.Put('\n');
+					}
+					else {
+						Base::stream_.Put(':');
+						Base::stream_.Put(' ');
+					}
+				}
+				else
+					Base::stream_.Put('\n');
+
+				if (level->valueCount % 2 == 0)
+					WriteIndent();
+			}
+			if (!level->inArray && level->valueCount % 2 == 0)
+				RAPIDJSON_ASSERT(type == kStringType);  // if it's in object, then even number should be a name
+			level->valueCount++;
+		}
+		else
+			RAPIDJSON_ASSERT(type == kObjectType || type == kArrayType);
+	}
+
+	void WriteIndent()  {
+		size_t count = (Base::level_stack_.GetSize() / sizeof(typename Base::Level)) * indentCharCount_;
+		PutN(Base::stream_, indentChar_, count);
+	}
+
+	Ch indentChar_;
+	unsigned indentCharCount_;
+};
+
+} // namespace rapidjson
+
+#endif // RAPIDJSON_RAPIDJSON_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/rapidjson.h b/3rdparty/include/cereal/external/rapidjson/rapidjson.h
new file mode 100644
index 0000000..e7a8729
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/rapidjson.h
@@ -0,0 +1,525 @@
+#ifndef RAPIDJSON_RAPIDJSON_H_
+#define RAPIDJSON_RAPIDJSON_H_
+
+// Copyright (c) 2011-2012 Milo Yip (miloyip@gmail.com)
+// Version 0.11
+
+#include <cstdlib>	// malloc(), realloc(), free()
+#include <cstring>	// memcpy()
+
+///////////////////////////////////////////////////////////////////////////////
+// RAPIDJSON_NO_INT64DEFINE
+
+// Here defines int64_t and uint64_t types in global namespace.
+// If user have their own definition, can define RAPIDJSON_NO_INT64DEFINE to disable this.
+#ifndef RAPIDJSON_NO_INT64DEFINE
+#ifdef _MSC_VER
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+#else
+#include <inttypes.h>
+#endif
+#endif // RAPIDJSON_NO_INT64TYPEDEF
+
+///////////////////////////////////////////////////////////////////////////////
+// RAPIDJSON_ENDIAN
+#define RAPIDJSON_LITTLEENDIAN	0	//!< Little endian machine
+#define RAPIDJSON_BIGENDIAN		1	//!< Big endian machine
+
+//! Endianness of the machine.
+/*!	GCC provided macro for detecting endianness of the target machine. But other
+	compilers may not have this. User can define RAPIDJSON_ENDIAN to either
+	RAPIDJSON_LITTLEENDIAN or RAPIDJSON_BIGENDIAN.
+*/
+#ifndef RAPIDJSON_ENDIAN
+#ifdef __BYTE_ORDER__
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
+#else
+#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
+#endif // __BYTE_ORDER__
+#else
+#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN	// Assumes little endian otherwise.
+#endif
+#endif // RAPIDJSON_ENDIAN
+
+///////////////////////////////////////////////////////////////////////////////
+// RAPIDJSON_SSE2/RAPIDJSON_SSE42/RAPIDJSON_SIMD
+
+// Enable SSE2 optimization.
+//#define RAPIDJSON_SSE2
+
+// Enable SSE4.2 optimization.
+//#define RAPIDJSON_SSE42
+
+#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42)
+#define RAPIDJSON_SIMD
+#endif
+
+///////////////////////////////////////////////////////////////////////////////
+// RAPIDJSON_NO_SIZETYPEDEFINE
+
+#ifndef RAPIDJSON_NO_SIZETYPEDEFINE
+namespace rapidjson {
+//! Use 32-bit array/string indices even for 64-bit platform, instead of using size_t.
+/*! User may override the SizeType by defining RAPIDJSON_NO_SIZETYPEDEFINE.
+*/
+typedef unsigned SizeType;
+} // namespace rapidjson
+#endif
+
+///////////////////////////////////////////////////////////////////////////////
+// RAPIDJSON_ASSERT
+
+//! Assertion.
+/*! By default, rapidjson uses C assert() for assertion.
+	User can override it by defining RAPIDJSON_ASSERT(x) macro.
+*/
+#ifndef RAPIDJSON_ASSERT
+#include <cassert>
+#define RAPIDJSON_ASSERT(x) assert(x)
+#endif // RAPIDJSON_ASSERT
+
+///////////////////////////////////////////////////////////////////////////////
+// Helpers
+
+#define RAPIDJSON_MULTILINEMACRO_BEGIN do {  
+#define RAPIDJSON_MULTILINEMACRO_END \
+} while((void)0, 0)
+
+namespace rapidjson {
+
+///////////////////////////////////////////////////////////////////////////////
+// Allocator
+
+/*! \class rapidjson::Allocator
+	\brief Concept for allocating, resizing and freeing memory block.
+	
+	Note that Malloc() and Realloc() are non-static but Free() is static.
+	
+	So if an allocator need to support Free(), it needs to put its pointer in 
+	the header of memory block.
+
+\code
+concept Allocator {
+	static const bool kNeedFree;	//!< Whether this allocator needs to call Free().
+
+	// Allocate a memory block.
+	// \param size of the memory block in bytes.
+	// \returns pointer to the memory block.
+	void* Malloc(size_t size);
+
+	// Resize a memory block.
+	// \param originalPtr The pointer to current memory block. Null_ pointer is permitted.
+	// \param originalSize The current size in bytes. (Design issue: since some allocator may not book-keep this, explicitly pass to it can save memory.)
+	// \param newSize the new size in bytes.
+	void* Realloc(void* originalPtr, size_t originalSize, size_t newSize);
+
+	// Free a memory block.
+	// \param pointer to the memory block. Null_ pointer is permitted.
+	static void Free(void *ptr);
+};
+\endcode
+*/
+
+///////////////////////////////////////////////////////////////////////////////
+// CrtAllocator
+
+//! C-runtime library allocator.
+/*! This class is just wrapper for standard C library memory routines.
+	\implements Allocator
+*/
+class CrtAllocator {
+public:
+	static const bool kNeedFree = true;
+	void* Malloc(size_t size) { return malloc(size); }
+	void* Realloc(void* originalPtr, size_t originalSize, size_t newSize) { (void)originalSize; return realloc(originalPtr, newSize); }
+	static void Free(void *ptr) { free(ptr); }
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// MemoryPoolAllocator
+
+//! Default memory allocator used by the parser and DOM.
+/*! This allocator allocate memory blocks from pre-allocated memory chunks. 
+
+    It does not free memory blocks. And Realloc() only allocate new memory.
+
+    The memory chunks are allocated by BaseAllocator, which is CrtAllocator by default.
+
+    User may also supply a buffer as the first chunk.
+
+    If the user-buffer is full then additional chunks are allocated by BaseAllocator.
+
+    The user-buffer is not deallocated by this allocator.
+
+    \tparam BaseAllocator the allocator type for allocating memory chunks. Default is CrtAllocator.
+	\implements Allocator
+*/
+template <typename BaseAllocator = CrtAllocator>
+class MemoryPoolAllocator {
+public:
+	static const bool kNeedFree = false;	//!< Tell users that no need to call Free() with this allocator. (concept Allocator)
+
+	//! Constructor with chunkSize.
+	/*! \param chunkSize The size of memory chunk. The default is kDefaultChunkSize.
+		\param baseAllocator The allocator for allocating memory chunks.
+	*/
+	MemoryPoolAllocator(size_t chunkSize = kDefaultChunkCapacity, BaseAllocator* baseAllocator = 0) : 
+		chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(0), baseAllocator_(baseAllocator), ownBaseAllocator_(0)
+	{
+		if (!baseAllocator_)
+			ownBaseAllocator_ = baseAllocator_ = new BaseAllocator();
+		AddChunk(chunk_capacity_);
+	}
+
+	//! Constructor with user-supplied buffer.
+	/*! The user buffer will be used firstly. When it is full, memory pool allocates new chunk with chunk size.
+
+		The user buffer will not be deallocated when this allocator is destructed.
+
+		\param buffer User supplied buffer.
+		\param size Size of the buffer in bytes. It must at least larger than sizeof(ChunkHeader).
+		\param chunkSize The size of memory chunk. The default is kDefaultChunkSize.
+		\param baseAllocator The allocator for allocating memory chunks.
+	*/
+	MemoryPoolAllocator(char *buffer, size_t size, size_t chunkSize = kDefaultChunkCapacity, BaseAllocator* baseAllocator = 0) :
+		chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(buffer), baseAllocator_(baseAllocator), ownBaseAllocator_(0)
+	{
+		RAPIDJSON_ASSERT(buffer != 0);
+		RAPIDJSON_ASSERT(size > sizeof(ChunkHeader));
+		chunkHead_ = (ChunkHeader*)buffer;
+		chunkHead_->capacity = size - sizeof(ChunkHeader);
+		chunkHead_->size = 0;
+		chunkHead_->next = 0;
+	}
+
+	//! Destructor.
+	/*! This deallocates all memory chunks, excluding the user-supplied buffer.
+	*/
+	~MemoryPoolAllocator() {
+		Clear();
+		delete ownBaseAllocator_;
+	}
+
+	//! Deallocates all memory chunks, excluding the user-supplied buffer.
+	void Clear() {
+		while(chunkHead_ != 0 && chunkHead_ != (ChunkHeader *)userBuffer_) {
+			ChunkHeader* next = chunkHead_->next;
+			baseAllocator_->Free(chunkHead_);
+			chunkHead_ = next;
+		}
+	}
+
+	//! Computes the total capacity of allocated memory chunks.
+	/*! \return total capacity in bytes.
+	*/
+	size_t Capacity() {
+		size_t capacity = 0;
+		for (ChunkHeader* c = chunkHead_; c != 0; c = c->next)
+			capacity += c->capacity;
+		return capacity;
+	}
+
+	//! Computes the memory blocks allocated.
+	/*! \return total used bytes.
+	*/
+	size_t Size() {
+		size_t size = 0;
+		for (ChunkHeader* c = chunkHead_; c != 0; c = c->next)
+			size += c->size;
+		return size;
+	}
+
+	//! Allocates a memory block. (concept Allocator)
+	void* Malloc(size_t size) {
+		size = (size + 3) & ~3;	// Force aligning size to 4
+
+		if (chunkHead_->size + size > chunkHead_->capacity)
+			AddChunk(chunk_capacity_ > size ? chunk_capacity_ : size);
+
+		char *buffer = (char *)(chunkHead_ + 1) + chunkHead_->size;
+		RAPIDJSON_ASSERT(((uintptr_t)buffer & 3) == 0);	// returned buffer is aligned to 4
+		chunkHead_->size += size;
+
+		return buffer;
+	}
+
+	//! Resizes a memory block (concept Allocator)
+	void* Realloc(void* originalPtr, size_t originalSize, size_t newSize) {
+		if (originalPtr == 0)
+			return Malloc(newSize);
+
+		// Do not shrink if new size is smaller than original
+		if (originalSize >= newSize)
+			return originalPtr;
+
+		// Simply expand it if it is the last allocation and there is sufficient space
+		if (originalPtr == (char *)(chunkHead_ + 1) + chunkHead_->size - originalSize) {
+			size_t increment = newSize - originalSize;
+			increment = (increment + 3) & ~3;	// Force aligning size to 4
+			if (chunkHead_->size + increment <= chunkHead_->capacity) {
+				chunkHead_->size += increment;
+				RAPIDJSON_ASSERT(((uintptr_t)originalPtr & 3) == 0);	// returned buffer is aligned to 4
+				return originalPtr;
+			}
+		}
+
+		// Realloc process: allocate and copy memory, do not free original buffer.
+		void* newBuffer = Malloc(newSize);
+		RAPIDJSON_ASSERT(newBuffer != 0);	// Do not handle out-of-memory explicitly.
+		return memcpy(newBuffer, originalPtr, originalSize);
+	}
+
+	//! Frees a memory block (concept Allocator)
+	static void Free(void *) {} // Do nothing
+
+private:
+	//! Creates a new chunk.
+	/*! \param capacity Capacity of the chunk in bytes.
+	*/
+	void AddChunk(size_t capacity) {
+		ChunkHeader* chunk = (ChunkHeader*)baseAllocator_->Malloc(sizeof(ChunkHeader) + capacity);
+		chunk->capacity = capacity;
+		chunk->size = 0;
+		chunk->next = chunkHead_;
+		chunkHead_ =  chunk;
+	}
+
+	static const int kDefaultChunkCapacity = 64 * 1024; //!< Default chunk capacity.
+
+	//! Chunk header for perpending to each chunk.
+	/*! Chunks are stored as a singly linked list.
+	*/
+	struct ChunkHeader {
+		size_t capacity;	//!< Capacity of the chunk in bytes (excluding the header itself).
+		size_t size;		//!< Current size of allocated memory in bytes.
+		ChunkHeader *next;	//!< Next chunk in the linked list.
+	};
+
+	ChunkHeader *chunkHead_;	//!< Head of the chunk linked-list. Only the head chunk serves allocation.
+	size_t chunk_capacity_;		//!< The minimum capacity of chunk when they are allocated.
+	char *userBuffer_;			//!< User supplied buffer.
+	BaseAllocator* baseAllocator_;	//!< base allocator for allocating memory chunks.
+	BaseAllocator* ownBaseAllocator_;	//!< base allocator created by this object.
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// Encoding
+
+/*! \class rapidjson::Encoding
+	\brief Concept for encoding of Unicode characters.
+
+\code
+concept Encoding {
+	typename Ch;	//! Type of character.
+
+	//! \brief Encode a Unicode codepoint to a buffer.
+	//! \param buffer pointer to destination buffer to store the result. It should have sufficient size of encoding one character.
+	//! \param codepoint An unicode codepoint, ranging from 0x0 to 0x10FFFF inclusively.
+	//! \returns the pointer to the next character after the encoded data.
+	static Ch* Encode(Ch *buffer, unsigned codepoint);
+};
+\endcode
+*/
+
+///////////////////////////////////////////////////////////////////////////////
+// UTF8
+
+//! UTF-8 encoding.
+/*! http://en.wikipedia.org/wiki/UTF-8
+	\tparam CharType Type for storing 8-bit UTF-8 data. Default is char.
+	\implements Encoding
+*/
+template<typename CharType = char>
+struct UTF8 {
+	typedef CharType Ch;
+
+	static Ch* Encode(Ch *buffer, unsigned codepoint) {
+		if (codepoint <= 0x7F) 
+			*buffer++ = codepoint & 0xFF;
+		else if (codepoint <= 0x7FF) {
+			*buffer++ = 0xC0 | ((codepoint >> 6) & 0xFF);
+			*buffer++ = 0x80 | ((codepoint & 0x3F));
+		}
+		else if (codepoint <= 0xFFFF) {
+			*buffer++ = 0xE0 | ((codepoint >> 12) & 0xFF);
+			*buffer++ = 0x80 | ((codepoint >> 6) & 0x3F);
+			*buffer++ = 0x80 | (codepoint & 0x3F);
+		}
+		else {
+			RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
+			*buffer++ = 0xF0 | ((codepoint >> 18) & 0xFF);
+			*buffer++ = 0x80 | ((codepoint >> 12) & 0x3F);
+			*buffer++ = 0x80 | ((codepoint >> 6) & 0x3F);
+			*buffer++ = 0x80 | (codepoint & 0x3F);
+		}
+		return buffer;
+	}
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// UTF16
+
+//! UTF-16 encoding.
+/*! http://en.wikipedia.org/wiki/UTF-16
+	\tparam CharType Type for storing 16-bit UTF-16 data. Default is wchar_t. C++11 may use char16_t instead.
+	\implements Encoding
+*/
+template<typename CharType = wchar_t>
+struct UTF16 {
+	typedef CharType Ch;
+
+	static Ch* Encode(Ch* buffer, unsigned codepoint) {
+		if (codepoint <= 0xFFFF) {
+			RAPIDJSON_ASSERT(codepoint < 0xD800 || codepoint > 0xDFFF); // Code point itself cannot be surrogate pair 
+			*buffer++ = static_cast<Ch>(codepoint);
+		}
+		else {
+			RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
+			unsigned v = codepoint - 0x10000;
+			*buffer++ = static_cast<Ch>((v >> 10) + 0xD800);
+			*buffer++ = (v & 0x3FF) + 0xDC00;
+		}
+		return buffer;
+	}
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// UTF32
+
+//! UTF-32 encoding. 
+/*! http://en.wikipedia.org/wiki/UTF-32
+	\tparam Ch Type for storing 32-bit UTF-32 data. Default is unsigned. C++11 may use char32_t instead.
+	\implements Encoding
+*/
+template<typename CharType = unsigned>
+struct UTF32 {
+	typedef CharType Ch;
+
+	static Ch *Encode(Ch* buffer, unsigned codepoint) {
+		RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
+		*buffer++ = codepoint;
+		return buffer;
+	}
+};
+
+///////////////////////////////////////////////////////////////////////////////
+//  Stream
+
+/*! \class rapidjson::Stream
+	\brief Concept for reading and writing characters.
+
+	For read-only stream, no need to implement PutBegin(), Put() and PutEnd().
+
+	For write-only stream, only need to implement Put().
+
+\code
+concept Stream {
+	typename Ch;	//!< Character type of the stream.
+
+	//! Read the current character from stream without moving the read cursor.
+	Ch Peek() const;
+
+	//! Read the current character from stream and moving the read cursor to next character.
+	Ch Take();
+
+	//! Get the current read cursor.
+	//! \return Number of characters read from start.
+	size_t Tell();
+
+	//! Begin writing operation at the current read pointer.
+	//! \return The begin writer pointer.
+	Ch* PutBegin();
+
+	//! Write a character.
+	void Put(Ch c);
+
+	//! End the writing operation.
+	//! \param begin The begin write pointer returned by PutBegin().
+	//! \return Number of characters written.
+	size_t PutEnd(Ch* begin);
+}
+\endcode
+*/
+
+//! Put N copies of a character to a stream.
+template<typename Stream, typename Ch>
+inline void PutN(Stream& stream, Ch c, size_t n) {
+	for (size_t i = 0; i < n; i++)
+		stream.Put(c);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// StringStream
+
+//! Read-only string stream.
+/*! \implements Stream
+*/
+template <typename Encoding>
+struct GenericStringStream {
+	typedef typename Encoding::Ch Ch;
+
+	GenericStringStream(const Ch *src) : src_(src), head_(src) {}
+
+	Ch Peek() const { return *src_; }
+	Ch Take() { return *src_++; }
+	size_t Tell() const { return src_ - head_; }
+
+	Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
+	void Put(Ch) { RAPIDJSON_ASSERT(false); }
+	size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
+
+	const Ch* src_;		//!< Current read position.
+	const Ch* head_;	//!< Original head of the string.
+};
+
+typedef GenericStringStream<UTF8<> > StringStream;
+
+///////////////////////////////////////////////////////////////////////////////
+// InsituStringStream
+
+//! A read-write string stream.
+/*! This string stream is particularly designed for in-situ parsing.
+	\implements Stream
+*/
+template <typename Encoding>
+struct GenericInsituStringStream {
+	typedef typename Encoding::Ch Ch;
+
+	GenericInsituStringStream(Ch *src) : src_(src), dst_(0), head_(src) {}
+
+	// Read
+	Ch Peek() { return *src_; }
+	Ch Take() { return *src_++; }
+	size_t Tell() { return src_ - head_; }
+
+	// Write
+	Ch* PutBegin() { return dst_ = src_; }
+	void Put(Ch c) { RAPIDJSON_ASSERT(dst_ != 0); *dst_++ = c; }
+	size_t PutEnd(Ch* begin) { return dst_ - begin; }
+
+	Ch* src_;
+	Ch* dst_;
+	Ch* head_;
+};
+
+typedef GenericInsituStringStream<UTF8<> > InsituStringStream;
+
+///////////////////////////////////////////////////////////////////////////////
+// Type
+
+//! Type of JSON value
+enum Type {
+	kNull_Type = 0,		//!< null
+	kFalseType = 1,		//!< false
+	kTrueType = 2,		//!< true
+	kObjectType = 3,	//!< object
+	kArrayType = 4,		//!< array 
+	kStringType = 5,	//!< string
+	kNumberType = 6,	//!< number
+};
+
+} // namespace rapidjson
+
+#endif // RAPIDJSON_RAPIDJSON_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/reader.h b/3rdparty/include/cereal/external/rapidjson/reader.h
new file mode 100644
index 0000000..a12149b
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/reader.h
@@ -0,0 +1,749 @@
+#ifndef RAPIDJSON_READER_H_
+#define RAPIDJSON_READER_H_
+
+// Copyright (c) 2011 Milo Yip (miloyip@gmail.com)
+// Version 0.1
+
+#include "rapidjson.h"
+#include "internal/pow10.h"
+#include "internal/stack.h"
+#include <csetjmp>
+
+// All part of denormalized parsing
+#include <limits> // for numeric_limits
+#include <cmath> // for fpclassify
+#include <sstream>
+
+#ifdef RAPIDJSON_SSE42
+#include <nmmintrin.h>
+#elif defined(RAPIDJSON_SSE2)
+#include <emmintrin.h>
+#endif
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4127) // conditional expression is constant
+#pragma warning(disable : 4702) // uncreachable code
+#endif
+
+#ifndef RAPIDJSON_PARSE_ERROR
+#define RAPIDJSON_PARSE_ERROR(msg, offset) \
+	RAPIDJSON_MULTILINEMACRO_BEGIN \
+	parseError_ = msg; \
+	errorOffset_ = offset; \
+	longjmp(jmpbuf_, 1); \
+	RAPIDJSON_MULTILINEMACRO_END
+#endif
+namespace rapidjson {
+
+///////////////////////////////////////////////////////////////////////////////
+// ParseFlag
+
+//! Combination of parseFlags
+enum ParseFlag {
+	kParseDefaultFlags = 0,			//!< Default parse flags. Non-destructive parsing. Text strings are decoded into allocated buffer.
+	kParseInsituFlag = 1			//!< In-situ(destructive) parsing.
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// Handler
+
+/*!	\class rapidjson::Handler
+	\brief Concept for receiving events from GenericReader upon parsing.
+\code
+concept Handler {
+	typename Ch;
+
+	void Null_();
+	void Bool_(bool b);
+	void Int(int i);
+	void Uint(unsigned i);
+	void Int64(int64_t i);
+	void Uint64(uint64_t i);
+	void Double(double d);
+	void String(const Ch* str, SizeType length, bool copy);
+	void StartObject();
+	void EndObject(SizeType memberCount);
+	void StartArray();
+	void EndArray(SizeType elementCount);
+};
+\endcode
+*/
+///////////////////////////////////////////////////////////////////////////////
+// BaseReaderHandler
+
+//! Default implementation of Handler.
+/*! This can be used as base class of any reader handler.
+	\implements Handler
+*/
+template<typename Encoding = UTF8<> >
+struct BaseReaderHandler {
+	typedef typename Encoding::Ch Ch;
+
+	void Default() {}
+	void Null_() { Default(); }
+	void Bool_(bool) { Default(); }
+	void Int(int) { Default(); }
+	void Uint(unsigned) { Default(); }
+	void Int64(int64_t) { Default(); }
+	void Uint64(uint64_t) { Default(); }
+	void Double(double) { Default(); }
+	void String(const Ch*, SizeType, bool) { Default(); }
+	void StartObject() { Default(); }
+	void EndObject(SizeType) { Default(); }
+	void StartArray() { Default(); }
+	void EndArray(SizeType) { Default(); }
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// SkipWhitespace
+
+//! Skip the JSON white spaces in a stream.
+/*! \param stream A input stream for skipping white spaces.
+	\note This function has SSE2/SSE4.2 specialization.
+*/
+template<typename Stream>
+void SkipWhitespace(Stream& stream) {
+	Stream s = stream;	// Use a local copy for optimization
+	while (s.Peek() == ' ' || s.Peek() == '\n' || s.Peek() == '\r' || s.Peek() == '\t')
+		s.Take();
+	stream = s;
+}
+
+#ifdef RAPIDJSON_SSE42
+//! Skip whitespace with SSE 4.2 pcmpistrm instruction, testing 16 8-byte characters at once.
+inline const char *SkipWhitespace_SIMD(const char* p) {
+	static const char whitespace[16] = " \n\r\t";
+	__m128i w = _mm_loadu_si128((const __m128i *)&whitespace[0]);
+
+	for (;;) {
+		__m128i s = _mm_loadu_si128((const __m128i *)p);
+		unsigned r = _mm_cvtsi128_si32(_mm_cmpistrm(w, s, _SIDD_UBYTE_OPS | _SIDD_CMP_EQUAL_ANY | _SIDD_BIT_MASK | _SIDD_NEGATIVE_POLARITY));
+		if (r == 0)	// all 16 characters are whitespace
+			p += 16;
+		else {		// some of characters may be non-whitespace
+#ifdef _MSC_VER		// Find the index of first non-whitespace
+			unsigned long offset;
+			if (_BitScanForward(&offset, r))
+				return p + offset;
+#else
+			if (r != 0)
+				return p + __builtin_ffs(r) - 1;
+#endif
+		}
+	}
+}
+
+#elif defined(RAPIDJSON_SSE2)
+
+//! Skip whitespace with SSE2 instructions, testing 16 8-byte characters at once.
+inline const char *SkipWhitespace_SIMD(const char* p) {
+	static const char whitespaces[4][17] = {
+		"                ",
+		"\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",
+		"\r\r\r\r\r\r\r\r\r\r\r\r\r\r\r\r",
+		"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t"};
+
+	__m128i w0 = _mm_loadu_si128((const __m128i *)&whitespaces[0][0]);
+	__m128i w1 = _mm_loadu_si128((const __m128i *)&whitespaces[1][0]);
+	__m128i w2 = _mm_loadu_si128((const __m128i *)&whitespaces[2][0]);
+	__m128i w3 = _mm_loadu_si128((const __m128i *)&whitespaces[3][0]);
+
+	for (;;) {
+		__m128i s = _mm_loadu_si128((const __m128i *)p);
+		__m128i x = _mm_cmpeq_epi8(s, w0);
+		x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w1));
+		x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w2));
+		x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w3));
+		unsigned short r = ~_mm_movemask_epi8(x);
+		if (r == 0)	// all 16 characters are whitespace
+			p += 16;
+		else {		// some of characters may be non-whitespace
+#ifdef _MSC_VER		// Find the index of first non-whitespace
+			unsigned long offset;
+			if (_BitScanForward(&offset, r))
+				return p + offset;
+#else
+			if (r != 0)
+				return p + __builtin_ffs(r) - 1;
+#endif
+		}
+	}
+}
+
+#endif // RAPIDJSON_SSE2
+
+#ifdef RAPIDJSON_SIMD
+//! Template function specialization for InsituStringStream
+template<> inline void SkipWhitespace(InsituStringStream& stream) {
+	stream.src_ = const_cast<char*>(SkipWhitespace_SIMD(stream.src_));
+}
+
+//! Template function specialization for StringStream
+template<> inline void SkipWhitespace(StringStream& stream) {
+	stream.src_ = SkipWhitespace_SIMD(stream.src_);
+}
+#endif // RAPIDJSON_SIMD
+
+///////////////////////////////////////////////////////////////////////////////
+// GenericReader
+
+//! SAX-style JSON parser. Use Reader for UTF8 encoding and default allocator.
+/*! GenericReader parses JSON text from a stream, and send events synchronously to an
+    object implementing Handler concept.
+
+    It needs to allocate a stack for storing a single decoded string during
+    non-destructive parsing.
+
+    For in-situ parsing, the decoded string is directly written to the source
+    text string, no temporary buffer is required.
+
+    A GenericReader object can be reused for parsing multiple JSON text.
+
+    \tparam Encoding Encoding of both the stream and the parse output.
+    \tparam Allocator Allocator type for stack.
+*/
+template <typename Encoding, typename Allocator = MemoryPoolAllocator<> >
+class GenericReader {
+public:
+	typedef typename Encoding::Ch Ch;
+
+	//! Constructor.
+	/*! \param allocator Optional allocator for allocating stack memory. (Only use for non-destructive parsing)
+		\param stackCapacity stack capacity in bytes for storing a single decoded string.  (Only use for non-destructive parsing)
+	*/
+	GenericReader(Allocator* allocator = 0, size_t stackCapacity = kDefaultStackCapacity) : stack_(allocator, stackCapacity), parseError_(0), errorOffset_(0) {}
+
+	//! Parse JSON text.
+	/*! \tparam parseFlags Combination of ParseFlag.
+		 \tparam Stream Type of input stream.
+		 \tparam Handler Type of handler which must implement Handler concept.
+		 \param stream Input stream to be parsed.
+		 \param handler The handler to receive events.
+		 \return Whether the parsing is successful.
+	*/
+	template <unsigned parseFlags, typename Stream, typename Handler>
+	bool Parse(Stream& stream, Handler& handler) {
+		parseError_ = 0;
+		errorOffset_ = 0;
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4611) // interaction between '_setjmp' and C++ object destruction is non-portable
+#endif
+		if (setjmp(jmpbuf_)) {
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+			stack_.Clear();
+			return false;
+		}
+
+		SkipWhitespace(stream);
+
+		if (stream.Peek() == '\0')
+			RAPIDJSON_PARSE_ERROR("Text only contains white space(s)", stream.Tell());
+		else {
+			switch (stream.Peek()) {
+				case '{': ParseObject<parseFlags>(stream, handler); break;
+				case '[': ParseArray<parseFlags>(stream, handler); break;
+				default: RAPIDJSON_PARSE_ERROR("Expect either an object or array at root", stream.Tell());
+			}
+			SkipWhitespace(stream);
+
+			if (stream.Peek() != '\0' && stream.Peek() != static_cast<Ch>(std::char_traits<Ch>::eof()))
+				RAPIDJSON_PARSE_ERROR("Nothing should follow the root object or array.", stream.Tell());
+		}
+
+		return true;
+	}
+
+	bool HasParseError() const { return parseError_ != 0; }
+	const char* GetParseError() const { return parseError_; }
+	size_t GetErrorOffset() const { return errorOffset_; }
+
+private:
+	// Parse object: { string : value, ... }
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseObject(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == '{');
+		stream.Take();	// Skip '{'
+		handler.StartObject();
+		SkipWhitespace(stream);
+
+		if (stream.Peek() == '}') {
+			stream.Take();
+			handler.EndObject(0);	// empty object
+			return;
+		}
+
+		for (SizeType memberCount = 0;;) {
+			if (stream.Peek() != '"') {
+				RAPIDJSON_PARSE_ERROR("Name of an object member must be a string", stream.Tell());
+				break;
+			}
+
+			ParseString<parseFlags>(stream, handler);
+			SkipWhitespace(stream);
+
+			if (stream.Take() != ':') {
+				RAPIDJSON_PARSE_ERROR("There must be a colon after the name of object member", stream.Tell());
+				break;
+			}
+			SkipWhitespace(stream);
+
+			ParseValue<parseFlags>(stream, handler);
+			SkipWhitespace(stream);
+
+			++memberCount;
+
+			switch(stream.Take()) {
+				case ',': SkipWhitespace(stream); break;
+				case '}': handler.EndObject(memberCount); return;
+				default:  RAPIDJSON_PARSE_ERROR("Must be a comma or '}' after an object member", stream.Tell());
+			}
+		}
+	}
+
+	// Parse array: [ value, ... ]
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseArray(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == '[');
+		stream.Take();	// Skip '['
+		handler.StartArray();
+		SkipWhitespace(stream);
+
+		if (stream.Peek() == ']') {
+			stream.Take();
+			handler.EndArray(0); // empty array
+			return;
+		}
+
+		for (SizeType elementCount = 0;;) {
+			ParseValue<parseFlags>(stream, handler);
+			++elementCount;
+			SkipWhitespace(stream);
+
+			switch (stream.Take()) {
+				case ',': SkipWhitespace(stream); break;
+				case ']': handler.EndArray(elementCount); return;
+				default:  RAPIDJSON_PARSE_ERROR("Must be a comma or ']' after an array element.", stream.Tell());
+			}
+		}
+	}
+
+  // Parses for null or NaN
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseNaNNull_(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == 'n');
+		stream.Take();
+
+    if( stream.Peek() == 'a' && stream.Take() == 'a' && stream.Take() == 'n' )
+      handler.Double( std::numeric_limits<double>::quiet_NaN() );
+    else if (stream.Take() == 'u' && stream.Take() == 'l' && stream.Take() == 'l')
+			handler.Null_();
+    else
+			RAPIDJSON_PARSE_ERROR("Invalid value", stream.Tell() - 1);
+	}
+
+  // Parses for infinity
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseInfinity(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == 'i');
+		stream.Take();
+
+    if (stream.Take() == 'n' && stream.Take() == 'f')
+      handler.Double( std::numeric_limits<double>::infinity() );
+    else
+			RAPIDJSON_PARSE_ERROR("Invalid value", stream.Tell() - 1);
+	}
+
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseTrue(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == 't');
+		stream.Take();
+
+		if (stream.Take() == 'r' && stream.Take() == 'u' && stream.Take() == 'e')
+			handler.Bool_(true);
+		else
+			RAPIDJSON_PARSE_ERROR("Invalid value", stream.Tell());
+	}
+
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseFalse(Stream& stream, Handler& handler) {
+		RAPIDJSON_ASSERT(stream.Peek() == 'f');
+		stream.Take();
+
+		if (stream.Take() == 'a' && stream.Take() == 'l' && stream.Take() == 's' && stream.Take() == 'e')
+			handler.Bool_(false);
+		else
+			RAPIDJSON_PARSE_ERROR("Invalid value", stream.Tell() - 1);
+	}
+
+	// Helper function to parse four hexidecimal digits in \uXXXX in ParseString().
+	template<typename Stream>
+	unsigned ParseHex4(Stream& stream) {
+		Stream s = stream;	// Use a local copy for optimization
+		unsigned codepoint = 0;
+		for (int i = 0; i < 4; i++) {
+			Ch c = s.Take();
+			codepoint <<= 4;
+			codepoint += c;
+			if (c >= '0' && c <= '9')
+				codepoint -= '0';
+			else if (c >= 'A' && c <= 'F')
+				codepoint -= 'A' - 10;
+			else if (c >= 'a' && c <= 'f')
+				codepoint -= 'a' - 10;
+			else
+				RAPIDJSON_PARSE_ERROR("Incorrect hex digit after \\u escape", s.Tell() - 1);
+		}
+		stream = s; // Restore stream
+		return codepoint;
+	}
+
+  // cereal Temporary until constexpr support is added in RTM
+#ifdef _MSC_VER
+  template <class Ch>
+  bool characterOk( Ch c )
+  {
+    return c < 256;
+  }
+
+  template <>
+  bool characterOk<char>( char )
+  {
+    return true;
+  }
+
+#else
+  // As part of a fix for GCC 4.7
+  template <class T>
+  static constexpr int to_int( T t ){ return t; }
+
+  template<class Ch>
+  typename std::enable_if < to_int(std::numeric_limits<Ch>::max()) < to_int(256), bool>::type
+    characterOk( Ch )
+  {
+    return true;
+  }
+
+  template<class Ch>
+  typename std::enable_if< to_int(std::numeric_limits<Ch>::max()) >= to_int(256), bool>::type
+    characterOk(Ch c)
+  { return c < 256; }
+#endif
+
+	// Parse string, handling the prefix and suffix double quotes and escaping.
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseString(Stream& stream, Handler& handler) {
+#define Z16 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+		static const Ch escape[256] = {
+			Z16, Z16, 0, 0,'\"', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,'/',
+			Z16, Z16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,'\\', 0, 0, 0,
+			0, 0,'\b', 0, 0, 0,'\f', 0, 0, 0, 0, 0, 0, 0,'\n', 0,
+			0, 0,'\r', 0,'\t', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+			Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16
+		};
+#undef Z16
+
+		Stream s = stream;	// Use a local copy for optimization
+		RAPIDJSON_ASSERT(s.Peek() == '\"');
+		s.Take();	// Skip '\"'
+		Ch *head;
+		SizeType len;
+		if (parseFlags & kParseInsituFlag)
+			head = s.PutBegin();
+		else
+			len = 0;
+
+#define RAPIDJSON_PUT(x) \
+	do { \
+		if (parseFlags & kParseInsituFlag) \
+			s.Put(x); \
+		else { \
+			*stack_.template Push<Ch>() = x; \
+			++len; \
+		} \
+	} while(false)
+
+		for (;;) {
+			Ch c = s.Take();
+			if (c == '\\') {	// Escape
+				Ch e = s.Take();
+				if ((sizeof(Ch) == 1 || characterOk(e)) && escape[(unsigned char)e])
+					RAPIDJSON_PUT(escape[(unsigned char)e]);
+				else if (e == 'u') {	// Unicode
+					unsigned codepoint = ParseHex4(s);
+					if (codepoint >= 0xD800 && codepoint <= 0xDBFF) { // Handle UTF-16 surrogate pair
+						if (s.Take() != '\\' || s.Take() != 'u') {
+							RAPIDJSON_PARSE_ERROR("Missing the second \\u in surrogate pair", s.Tell() - 2);
+							return;
+						}
+						unsigned codepoint2 = ParseHex4(s);
+						if (codepoint2 < 0xDC00 || codepoint2 > 0xDFFF) {
+							RAPIDJSON_PARSE_ERROR("The second \\u in surrogate pair is invalid", s.Tell() - 2);
+							return;
+						}
+						codepoint = (((codepoint - 0xD800) << 10) | (codepoint2 - 0xDC00)) + 0x10000;
+					}
+
+					Ch buffer[4];
+					SizeType count = SizeType(Encoding::Encode(buffer, codepoint) - &buffer[0]);
+
+					if (parseFlags & kParseInsituFlag)
+						for (SizeType i = 0; i < count; i++)
+							s.Put(buffer[i]);
+					else {
+						memcpy(stack_.template Push<Ch>(count), buffer, count * sizeof(Ch));
+						len += count;
+					}
+				}
+				else {
+					RAPIDJSON_PARSE_ERROR("Unknown escape character", stream.Tell() - 1);
+					return;
+				}
+			}
+			else if (c == '"') {	// Closing double quote
+				if (parseFlags & kParseInsituFlag) {
+					size_t length = s.PutEnd(head);
+					RAPIDJSON_ASSERT(length <= 0xFFFFFFFF);
+					RAPIDJSON_PUT('\0');	// null-terminate the string
+					handler.String(head, SizeType(length), false);
+				}
+				else {
+					RAPIDJSON_PUT('\0');
+					handler.String(stack_.template Pop<Ch>(len), len - 1, true);
+				}
+				stream = s;	// restore stream
+				return;
+			}
+			else if (c == '\0') {
+				RAPIDJSON_PARSE_ERROR("lacks ending quotation before the end of string", stream.Tell() - 1);
+				return;
+			}
+			else if ((unsigned)c < 0x20) {	// RFC 4627: unescaped = %x20-21 / %x23-5B / %x5D-10FFFF
+				RAPIDJSON_PARSE_ERROR("Incorrect unescaped character in string", stream.Tell() - 1);
+				return;
+			}
+			else
+				RAPIDJSON_PUT(c);	// Normal character, just copy
+		}
+#undef RAPIDJSON_PUT
+	}
+
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseNumber(Stream& stream, Handler& handler) {
+		Stream s = stream; // Local copy for optimization
+
+		// Parse minus
+		bool minus = false;
+		if (s.Peek() == '-') {
+			minus = true;
+			s.Take();
+		}
+
+		// Parse int: zero / ( digit1-9 *DIGIT )
+		unsigned i;
+		bool try64bit = false;
+		if (s.Peek() == '0') {
+			i = 0;
+			s.Take();
+		}
+		else if (s.Peek() >= '1' && s.Peek() <= '9') {
+			i = s.Take() - '0';
+
+			if (minus)
+				while (s.Peek() >= '0' && s.Peek() <= '9') {
+					if (i >= 214748364) { // 2^31 = 2147483648
+						if (i != 214748364 || s.Peek() > '8') {
+							try64bit = true;
+							break;
+						}
+					}
+					i = i * 10 + (s.Take() - '0');
+				}
+			else
+				while (s.Peek() >= '0' && s.Peek() <= '9') {
+					if (i >= 429496729) { // 2^32 - 1 = 4294967295
+						if (i != 429496729 || s.Peek() > '5') {
+							try64bit = true;
+							break;
+						}
+					}
+					i = i * 10 + (s.Take() - '0');
+				}
+		}
+		else {
+			RAPIDJSON_PARSE_ERROR("Expect a value here.", stream.Tell());
+			return;
+		}
+
+		// Parse 64bit int
+		uint64_t i64 = 0;
+		bool useDouble = false;
+		if (try64bit) {
+			i64 = i;
+			if (minus)
+				while (s.Peek() >= '0' && s.Peek() <= '9') {
+					if (i64 >= 922337203685477580uLL) // 2^63 = 9223372036854775808
+						if (i64 != 922337203685477580uLL || s.Peek() > '8') {
+							useDouble = true;
+							break;
+						}
+					i64 = i64 * 10 + (s.Take() - '0');
+				}
+			else
+				while (s.Peek() >= '0' && s.Peek() <= '9') {
+					if (i64 >= 1844674407370955161uLL) // 2^64 - 1 = 18446744073709551615
+						if (i64 != 1844674407370955161uLL || s.Peek() > '5') {
+							useDouble = true;
+							break;
+						}
+					i64 = i64 * 10 + (s.Take() - '0');
+				}
+		}
+
+		// Force double for big integer
+		double d = 0.0;
+		if (useDouble) {
+			d = (double)i64;
+			while (s.Peek() >= '0' && s.Peek() <= '9') {
+				if (d >= 1E307) {
+					RAPIDJSON_PARSE_ERROR("Number too big to store in double", stream.Tell());
+					return;
+				}
+				d = d * 10 + (s.Take() - '0');
+			}
+		}
+
+		// Parse frac = decimal-point 1*DIGIT
+		int expFrac = 0;
+		if (s.Peek() == '.') {
+			if (!useDouble) {
+				d = try64bit ? (double)i64 : (double)i;
+				useDouble = true;
+			}
+			s.Take();
+
+			if (s.Peek() >= '0' && s.Peek() <= '9') {
+				d = d * 10 + (s.Take() - '0');
+				--expFrac;
+			}
+			else {
+				RAPIDJSON_PARSE_ERROR("At least one digit in fraction part", stream.Tell());
+				return;
+			}
+
+			while (s.Peek() >= '0' && s.Peek() <= '9') {
+				if (expFrac > -20) {
+					d = d * 10 + (s.Peek() - '0');
+					--expFrac;
+				}
+				s.Take();
+			}
+		}
+
+		// Parse exp = e [ minus / plus ] 1*DIGIT
+		int exp = 0;
+		if (s.Peek() == 'e' || s.Peek() == 'E') {
+			if (!useDouble) {
+				d = try64bit ? (double)i64 : (double)i;
+				useDouble = true;
+			}
+			s.Take();
+
+			bool expMinus = false;
+			if (s.Peek() == '+')
+				s.Take();
+			else if (s.Peek() == '-') {
+				s.Take();
+				expMinus = true;
+			}
+
+			if (s.Peek() >= '0' && s.Peek() <= '9') {
+				exp = s.Take() - '0';
+				while (s.Peek() >= '0' && s.Peek() <= '9') {
+					exp = exp * 10 + (s.Take() - '0');
+					if (exp > 308) {
+            // Attempt denormalized construction
+            std::stringstream ss;
+            ss.precision( std::numeric_limits<double>::max_digits10 );
+            ss << d * internal::Pow10(expFrac) << 'e' << (expMinus ? '-' : '+') << exp;
+
+            double dd;
+            ss >> dd;
+
+            if( std::fpclassify( dd ) == FP_SUBNORMAL )
+              handler.Double( dd );
+            else
+						  RAPIDJSON_PARSE_ERROR("Number too big to store in double", stream.Tell());
+
+						return;
+					}
+				}
+			}
+			else {
+				RAPIDJSON_PARSE_ERROR("At least one digit in exponent", s.Tell());
+				return;
+			}
+
+			if (expMinus)
+				exp = -exp;
+		}
+
+		// Finish parsing, call event according to the type of number.
+		if (useDouble) {
+			d *= internal::Pow10(exp + expFrac);
+			handler.Double(minus ? -d : d);
+		}
+		else {
+			if (try64bit) {
+				if (minus)
+					handler.Int64(-(int64_t)i64);
+				else
+					handler.Uint64(i64);
+			}
+			else {
+				if (minus)
+					handler.Int(-(int)i);
+				else
+					handler.Uint(i);
+			}
+		}
+
+		stream = s; // restore stream
+	}
+
+	// Parse any JSON value
+	template<unsigned parseFlags, typename Stream, typename Handler>
+	void ParseValue(Stream& stream, Handler& handler) {
+		switch (stream.Peek()) {
+			case 'n': ParseNaNNull_  <parseFlags>(stream, handler); break;
+			case 'i': ParseInfinity  <parseFlags>(stream, handler); break;
+			case 't': ParseTrue      <parseFlags>(stream, handler); break;
+			case 'f': ParseFalse     <parseFlags>(stream, handler); break;
+			case '"': ParseString    <parseFlags>(stream, handler); break;
+			case '{': ParseObject    <parseFlags>(stream, handler); break;
+			case '[': ParseArray     <parseFlags>(stream, handler); break;
+			default : ParseNumber    <parseFlags>(stream, handler);
+		}
+	}
+
+	static const size_t kDefaultStackCapacity = 256;	//!< Default stack capacity in bytes for storing a single decoded string.
+	internal::Stack<Allocator> stack_;	//!< A stack for storing decoded string temporarily during non-destructive parsing.
+	jmp_buf jmpbuf_;					//!< setjmp buffer for fast exit from nested parsing function calls.
+	const char* parseError_;
+	size_t errorOffset_;
+}; // class GenericReader
+
+//! Reader with UTF8 encoding and default allocator.
+typedef GenericReader<UTF8<> > Reader;
+
+} // namespace rapidjson
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#endif // RAPIDJSON_READER_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/stringbuffer.h b/3rdparty/include/cereal/external/rapidjson/stringbuffer.h
new file mode 100644
index 0000000..269ae10
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/stringbuffer.h
@@ -0,0 +1,49 @@
+#ifndef RAPIDJSON_STRINGBUFFER_H_
+#define RAPIDJSON_STRINGBUFFER_H_
+
+#include "rapidjson.h"
+#include "internal/stack.h"
+
+namespace rapidjson {
+
+//! Represents an in-memory output stream.
+/*!
+	\tparam Encoding Encoding of the stream.
+	\tparam Allocator type for allocating memory buffer.
+	\implements Stream
+*/
+template <typename Encoding, typename Allocator = CrtAllocator>
+struct GenericStringBuffer {
+	typedef typename Encoding::Ch Ch;
+
+	GenericStringBuffer(Allocator* allocator = 0, size_t capacity = kDefaultCapacity) : stack_(allocator, capacity) {}
+
+	void Put(Ch c) { *stack_.template Push<Ch>() = c; }
+
+	void Clear() { stack_.Clear(); }
+
+	const char* GetString() const {
+		// Push and pop a null terminator. This is safe.
+		*stack_.template Push<Ch>() = '\0';
+		stack_.template Pop<Ch>(1);
+
+		return stack_.template Bottom<Ch>();
+	}
+
+	size_t Size() const { return stack_.GetSize(); }
+
+	static const size_t kDefaultCapacity = 256;
+	mutable internal::Stack<Allocator> stack_;
+};
+
+typedef GenericStringBuffer<UTF8<> > StringBuffer;
+
+//! Implement specialized version of PutN() with memset() for better performance.
+template<>
+inline void PutN(GenericStringBuffer<UTF8<> >& stream, char c, size_t n) {
+	memset(stream.stack_.Push<char>(n), c, n * sizeof(c));
+}
+
+} // namespace rapidjson
+
+#endif // RAPIDJSON_STRINGBUFFER_H_
diff --git a/3rdparty/include/cereal/external/rapidjson/writer.h b/3rdparty/include/cereal/external/rapidjson/writer.h
new file mode 100644
index 0000000..ad9776a
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidjson/writer.h
@@ -0,0 +1,330 @@
+#ifndef RAPIDJSON_WRITER_H_
+#define RAPIDJSON_WRITER_H_
+
+#include "rapidjson.h"
+#include "internal/stack.h"
+#include "internal/strfunc.h"
+#include <cstdio>	// snprintf() or _sprintf_s()
+#include <new>		// placement new
+#include <limits>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4127) // conditional expression is constant
+#endif
+
+namespace rapidjson {
+
+//! JSON writer
+/*! Writer implements the concept Handler.
+	It generates JSON text by events to an output stream.
+
+	User may programmatically calls the functions of a writer to generate JSON text.
+
+	On the other side, a writer can also be passed to objects that generates events,
+
+	for example Reader::Parse() and Document::Accept().
+
+	\tparam Stream Type of ouptut stream.
+	\tparam Encoding Encoding of both source strings and output.
+	\implements Handler
+*/
+template<typename Stream, typename Encoding = UTF8<>, typename Allocator = MemoryPoolAllocator<> >
+class Writer {
+public:
+	typedef typename Encoding::Ch Ch;
+
+	Writer(Stream& stream, int precision = 20, Allocator* allocator = 0, size_t levelDepth = kDefaultLevelDepth) :
+		stream_(stream), level_stack_(allocator, levelDepth * sizeof(Level))
+  {
+#if _MSC_VER
+    (void) sprintf_s(double_format, sizeof(double_format), "%%0.%dg", precision);
+    (void) sprintf_s( long_double_format, sizeof( long_double_format ), "%%0.%dLg", precision );
+#else
+    (void) snprintf(double_format, sizeof(double_format), "%%0.%dg", precision);
+    (void) snprintf( long_double_format, sizeof( long_double_format ), "%%0.%dLg", precision );
+#endif
+
+  }
+
+protected:
+  char double_format[32];
+  char long_double_format[32];
+public:
+
+	//@name Implementation of Handler
+	//@{
+
+	Writer& Null_()                          { Prefix(kNull_Type);   WriteNull_();			return *this;             }
+	Writer& Bool_(bool b)                    { Prefix(b ? kTrueType : kFalseType); WriteBool_(b); return *this; }
+	Writer& Int(int i)                      { Prefix(kNumberType); WriteInt(i);			return *this;             }
+	Writer& Uint(unsigned u)                { Prefix(kNumberType); WriteUint(u);		return *this;             }
+	Writer& Int64(int64_t i64)              { Prefix(kNumberType); WriteInt64(i64);		return *this;           }
+	Writer& Uint64(uint64_t u64)            { Prefix(kNumberType); WriteUint64(u64);	return *this;           }
+	Writer& Double(double d)                { Prefix(kNumberType); WriteDouble(d);		return *this;           }
+	Writer& LongDouble(long double d)       { Prefix(kNumberType); WriteLongDouble(d);		return *this;       }
+	Writer& LongLong(long long d)           { Prefix(kNumberType); WriteLongLong(d);		return *this;         }
+	Writer& ULongLong(unsigned long long d) { Prefix(kNumberType); WriteULongLong(d);		return *this;         }
+
+	Writer& String(const Ch* str, SizeType length, bool copy = false) {
+		(void)copy;
+		Prefix(kStringType);
+		WriteString(str, length);
+		return *this;
+	}
+
+	Writer& StartObject() {
+		Prefix(kObjectType);
+		new (level_stack_.template Push<Level>()) Level(false);
+		WriteStartObject();
+		return *this;
+	}
+
+	Writer& EndObject(SizeType memberCount = 0) {
+		(void)memberCount;
+		RAPIDJSON_ASSERT(level_stack_.GetSize() >= sizeof(Level));
+		RAPIDJSON_ASSERT(!level_stack_.template Top<Level>()->inArray);
+		level_stack_.template Pop<Level>(1);
+		WriteEndObject();
+		return *this;
+	}
+
+	Writer& StartArray() {
+		Prefix(kArrayType);
+		new (level_stack_.template Push<Level>()) Level(true);
+		WriteStartArray();
+		return *this;
+	}
+
+	Writer& EndArray(SizeType elementCount = 0) {
+		(void)elementCount;
+		RAPIDJSON_ASSERT(level_stack_.GetSize() >= sizeof(Level));
+		RAPIDJSON_ASSERT(level_stack_.template Top<Level>()->inArray);
+		level_stack_.template Pop<Level>(1);
+		WriteEndArray();
+		return *this;
+	}
+	//@}
+
+	//! Simpler but slower overload.
+	Writer& String(const Ch* str) { return String(str, internal::StrLen(str)); }
+
+protected:
+	//! Information for each nested level
+	struct Level {
+		Level(bool inArray_) : inArray(inArray_), valueCount(0) {}
+		bool inArray;		//!< true if in array, otherwise in object
+		size_t valueCount;	//!< number of values in this level
+	};
+
+	static const size_t kDefaultLevelDepth = 32;
+
+	void WriteNull_()  {
+		stream_.Put('n'); stream_.Put('u'); stream_.Put('l'); stream_.Put('l');
+	}
+
+	void WriteBool_(bool b)  {
+		if (b) {
+			stream_.Put('t'); stream_.Put('r'); stream_.Put('u'); stream_.Put('e');
+		}
+		else {
+			stream_.Put('f'); stream_.Put('a'); stream_.Put('l'); stream_.Put('s'); stream_.Put('e');
+		}
+	}
+
+	void WriteInt(int i) {
+		if (i < 0) {
+			stream_.Put('-');
+			i = -i;
+		}
+		WriteUint((unsigned)i);
+	}
+
+	void WriteUint(unsigned u) {
+		char buffer[10];
+		char *p = buffer;
+		do {
+			*p++ = (u % 10) + '0';
+			u /= 10;
+		} while (u > 0);
+
+		do {
+			--p;
+			stream_.Put(*p);
+		} while (p != buffer);
+	}
+
+	void WriteInt64(int64_t i64) {
+		if (i64 < 0) {
+			stream_.Put('-');
+			i64 = -i64;
+		}
+		WriteUint64((uint64_t)i64);
+	}
+
+	void WriteUint64(uint64_t u64) {
+		char buffer[20];
+		char *p = buffer;
+		do {
+			*p++ = char(u64 % 10) + '0';
+			u64 /= 10;
+		} while (u64 > 0);
+
+		do {
+			--p;
+			stream_.Put(*p);
+		} while (p != buffer);
+	}
+
+  // cereal Temporary until constexpr support is added in RTM
+#ifdef _MSC_VER
+  template <class Ch>
+  bool characterOk( Ch c )
+  {
+    return c < 256;
+  }
+
+  template <>
+  bool characterOk<char>( char )
+  {
+    return true;
+  }
+
+#else
+  // As part of a fix for GCC 4.7
+  template <class T>
+  static constexpr int to_int( T t ){ return t; }
+
+  template<class Ch>
+  typename std::enable_if < to_int(std::numeric_limits<Ch>::max()) < to_int(256), bool>::type
+    characterOk( Ch )
+  {
+    return true;
+  }
+
+  template<class Ch>
+  typename std::enable_if< to_int(std::numeric_limits<Ch>::max()) >= to_int(256), bool>::type
+    characterOk(Ch c)
+  { return c < 256; }
+#endif
+
+	//! \todo Optimization with custom double-to-string converter.
+	void WriteDouble(double d) {
+		char buffer[100];
+#if _MSC_VER
+		int ret = sprintf_s(buffer, sizeof(buffer), double_format, d);
+#else
+		int ret = snprintf(buffer, sizeof(buffer), double_format, d);
+#endif
+		RAPIDJSON_ASSERT(ret >= 1);
+		for (int i = 0; i < ret; i++)
+			stream_.Put(buffer[i]);
+	}
+
+	void WriteLongDouble(long double d) {
+		char buffer[256];
+#if _MSC_VER
+		int ret = sprintf_s(buffer, sizeof(buffer), long_double_format, d);
+#else
+		int ret = snprintf(buffer, sizeof(buffer), long_double_format, d);
+#endif
+		RAPIDJSON_ASSERT(ret >= 1);
+		for (int i = 0; i < ret; i++)
+			stream_.Put(buffer[i]);
+	}
+
+	void WriteLongLong(long long d) {
+		char buffer[256];
+#if _MSC_VER
+		int ret = sprintf_s(buffer, sizeof(buffer), "%lld", d);
+#else
+		int ret = snprintf(buffer, sizeof(buffer), "%lld", d);
+#endif
+		RAPIDJSON_ASSERT(ret >= 1);
+		for (int i = 0; i < ret; i++)
+			stream_.Put(buffer[i]);
+	}
+
+	void WriteULongLong(unsigned long long d) {
+		char buffer[256];
+#if _MSC_VER
+		int ret = sprintf_s(buffer, sizeof(buffer), "%llu", d);
+#else
+		int ret = snprintf(buffer, sizeof(buffer), "%llu", d);
+#endif
+		RAPIDJSON_ASSERT(ret >= 1);
+		for (int i = 0; i < ret; i++)
+			stream_.Put(buffer[i]);
+	}
+
+	void WriteString(const Ch* str, SizeType length)  {
+		static const char hexDigits[] = "0123456789ABCDEF";
+		static const char escape[256] = {
+#define Z16 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+			//0    1    2    3    4    5    6    7    8    9    A    B    C    D    E    F
+			'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'b', 't', 'n', 'u', 'f', 'r', 'u', 'u', // 00
+			'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', // 10
+			  0,   0, '"',   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 20
+			Z16, Z16,																		// 30~4F
+			  0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,'\\',   0,   0,   0, // 50
+			Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16								// 60~FF
+#undef Z16
+		};
+
+		stream_.Put('\"');
+		for (const Ch* p = str; p != str + length; ++p) {
+			if ((sizeof(Ch) == 1 || characterOk(*p)) && escape[(unsigned char)*p])  {
+			//if ((sizeof(Ch) == 1 || *p < 256) && escape[(unsigned char)*p])  {
+				stream_.Put('\\');
+				stream_.Put(escape[(unsigned char)*p]);
+				if (escape[(unsigned char)*p] == 'u') {
+					stream_.Put('0');
+					stream_.Put('0');
+					stream_.Put(hexDigits[(*p) >> 4]);
+					stream_.Put(hexDigits[(*p) & 0xF]);
+				}
+			}
+			else
+				stream_.Put(*p);
+		}
+		stream_.Put('\"');
+	}
+
+	void WriteStartObject()	{ stream_.Put('{'); }
+	void WriteEndObject()	{ stream_.Put('}'); }
+	void WriteStartArray()	{ stream_.Put('['); }
+	void WriteEndArray()	{ stream_.Put(']'); }
+
+	void Prefix(Type type) {
+		(void)type;
+		if (level_stack_.GetSize() != 0) { // this value is not at root
+			Level* level = level_stack_.template Top<Level>();
+			if (level->valueCount > 0) {
+				if (level->inArray)
+					stream_.Put(','); // add comma if it is not the first element in array
+				else  // in object
+					stream_.Put((level->valueCount % 2 == 0) ? ',' : ':');
+			}
+			if (!level->inArray && level->valueCount % 2 == 0)
+				RAPIDJSON_ASSERT(type == kStringType);  // if it's in object, then even number should be a name
+			level->valueCount++;
+		}
+		else
+			RAPIDJSON_ASSERT(type == kObjectType || type == kArrayType);
+	}
+
+	Stream& stream_;
+	internal::Stack<Allocator> level_stack_;
+
+private:
+	// Prohibit assignment for VC C4512 warning
+	Writer& operator=(const Writer& w);
+};
+
+} // namespace rapidjson
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#endif // RAPIDJSON_RAPIDJSON_H_
diff --git a/3rdparty/include/cereal/external/rapidxml/license.txt b/3rdparty/include/cereal/external/rapidxml/license.txt
new file mode 100644
index 0000000..1409831
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/license.txt
@@ -0,0 +1,52 @@
+Use of this software is granted under one of the following two licenses,
+to be chosen freely by the user.
+
+1. Boost Software License - Version 1.0 - August 17th, 2003
+===============================================================================
+
+Copyright (c) 2006, 2007 Marcin Kalicinski
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+
+2. The MIT License
+===============================================================================
+
+Copyright (c) 2006, 2007 Marcin Kalicinski
+
+Permission is hereby granted, free of charge, to any person obtaining a copy 
+of this software and associated documentation files (the "Software"), to deal 
+in the Software without restriction, including without limitation the rights 
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies 
+of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all 
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
+IN THE SOFTWARE.
diff --git a/3rdparty/include/cereal/external/rapidxml/manual.html b/3rdparty/include/cereal/external/rapidxml/manual.html
new file mode 100644
index 0000000..2c42270
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/manual.html
@@ -0,0 +1,406 @@
+<html><head><style type="text/css">
+
+          body
+          {
+          font-family: sans-serif;
+          font-size: 90%;
+          margin: 8pt 8pt 8pt 8pt;
+          text-align: justify;
+          background-color: White;
+          }
+
+          h1 { font-weight: bold; text-align: left;  }
+          h2 { font: 140% sans-serif; font-weight: bold; text-align: left;  }
+          h3 { font: 120% sans-serif; font-weight: bold; text-align: left;  }
+          h4 { font: bold 100% sans-serif; font-weight: bold; text-align: left;  }
+          h5 { font: italic 100% sans-serif; font-weight: bold; text-align: left;  }
+          h6 { font: small-caps 100% sans-serif; font-weight: bold; text-align: left;  }
+
+          code
+          {
+          font-family: &quot;Courier New&quot;, Courier, mono;
+          }
+
+          pre
+          {
+          border-top: gray 0.5pt solid;
+          border-right: gray 0.5pt solid;
+          border-left: gray 0.5pt solid;
+          border-bottom: gray 0.5pt solid;
+          padding-top: 2pt;
+          padding-right: 2pt;
+          padding-left: 2pt;
+          padding-bottom: 2pt;
+          display: block;
+          font-family: &quot;courier new&quot;, courier, mono;
+          background-color: #eeeeee;
+          }
+
+          a
+          {
+          color: #000080;
+          text-decoration: none;
+          }
+
+          a:hover
+          {
+          text-decoration: underline;
+          }
+
+          .reference-header
+          {
+          border-top: gray 0.5pt solid;
+          border-right: gray 0.5pt solid;
+          border-left: gray 0.5pt solid;
+          border-bottom: gray 0.5pt solid;
+          padding-top: 2pt;
+          padding-right: 2pt;
+          padding-left: 2pt;
+          padding-bottom: 2pt;
+          background-color: #dedede;
+          }
+
+          .parameter-name
+          {
+          font-style: italic;
+          }
+
+          .indented
+          {
+          margin-left: 0.5cm;
+          }
+
+          a.toc1
+          {
+          margin-left: 0.0cm;
+          }
+
+          a.toc2
+          {
+          margin-left: 0.75cm;
+          }
+
+          a.toc3
+          {
+          margin-left: 1.5cm;
+          }
+
+        </style></head><body><h1>RAPIDXML Manual</h1><h3>Version 1.13</h3><detaileddescription xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"><para><i>Copyright (C) 2006, 2009 Marcin Kalicinski</i><br/><i>See accompanying file <a href="license.txt">license.txt</a> for license information.</i><hr/><h2 level="2">Table of Contents</h2></para><para><toc><toc-contents><a href="#namespacerapidxml_1what_is_rapidxml" class="toc1">1. What is RapidXml?</a><br/><a href="#namespacerapidxml_1dependencies_and_compatibility" class="toc2">1.1 Dependencies And Compatibility</a><br/><a href="#namespacerapidxml_1character_types_and_encodings" class="toc2">1.2 Character Types And Encodings</a><br/><a href="#namespacerapidxml_1error_handling" class="toc2">1.3 Error Handling</a><br/><a href="#namespacerapidxml_1memory_allocation" class="toc2">1.4 Memory Allocation</a><br/><a href="#namespacerapidxml_1w3c_compliance" class="toc2">1.5 W3C Compliance</a><br/><a href="#namespacerapidxml_1api_design" class="toc2">1.6 API Design</a><br/><a href="#namespacerapidxml_1reliability" class="toc2">1.7 Reliability</a><br/><a href="#namespacerapidxml_1acknowledgements" class="toc2">1.8 Acknowledgements</a><br/><a href="#namespacerapidxml_1two_minute_tutorial" class="toc1">2. Two Minute Tutorial</a><br/><a href="#namespacerapidxml_1parsing" class="toc2">2.1 Parsing</a><br/><a href="#namespacerapidxml_1accessing_dom_tree" class="toc2">2.2 Accessing The DOM Tree</a><br/><a href="#namespacerapidxml_1modifying_dom_tree" class="toc2">2.3 Modifying The DOM Tree</a><br/><a href="#namespacerapidxml_1printing" class="toc2">2.4 Printing XML</a><br/><a href="#namespacerapidxml_1differences" class="toc1">3. Differences From Regular XML Parsers</a><br/><a href="#namespacerapidxml_1lifetime_of_source_text" class="toc2">3.1 Lifetime Of Source Text</a><br/><a href="#namespacerapidxml_1ownership_of_strings" class="toc2">3.2 Ownership Of Strings</a><br/><a href="#namespacerapidxml_1destructive_non_destructive" class="toc2">3.3 Destructive Vs Non-Destructive Mode</a><br/><a href="#namespacerapidxml_1performance" class="toc1">4. Performance</a><br/><a href="#namespacerapidxml_1performance_charts" class="toc2">4.1 Comparison With Other Parsers</a><br/><a href="#namespacerapidxml_1reference" class="toc1">5. Reference</a><br/></toc-contents></toc><br/></para><sect1><h2 id="namespacerapidxml_1what_is_rapidxml">1. What is RapidXml?</h2><para><a href="http://rapidxml.sourceforge.net">RapidXml</a> is an attempt to create the fastest XML DOM parser possible, while retaining useability, portability and reasonable W3C compatibility. It is an in-situ parser written in C++, with parsing speed approaching that of <code>strlen()</code> function executed on the same data. <br/><br/>
+ Entire parser is contained in a single header file, so no building or linking is neccesary. To use it you just need to copy <code>rapidxml.hpp</code> file to a convenient place (such as your project directory), and include it where needed. You may also want to use printing functions contained in header <code>rapidxml_print.hpp</code>.</para><sect2><h3 id="namespacerapidxml_1dependencies_and_compatibility">1.1 Dependencies And Compatibility</h3><para>RapidXml has <i>no dependencies</i> other than a very small subset of standard C++ library (<code>&lt;cassert&gt;</code>, <code>&lt;cstdlib&gt;</code>, <code>&lt;new&gt;</code> and <code>&lt;exception&gt;</code>, unless exceptions are disabled). It should compile on any reasonably conformant compiler, and was tested on Visual C++ 2003, Visual C++ 2005, Visual C++ 2008, gcc 3, gcc 4, and Comeau 4.3.3. Care was taken that no warnings are produced on these compilers, even with highest warning levels enabled.</para></sect2><sect2><h3 id="namespacerapidxml_1character_types_and_encodings">1.2 Character Types And Encodings</h3><para>RapidXml is character type agnostic, and can work both with narrow and wide characters. Current version does not fully support UTF-16 or UTF-32, so use of wide characters is somewhat incapacitated. However, it should succesfully parse <code>wchar_t</code> strings containing UTF-16 or UTF-32 if endianness of the data matches that of the machine. UTF-8 is fully supported, including all numeric character references, which are expanded into appropriate UTF-8 byte sequences (unless you enable parse_no_utf8 flag). <br/><br/>
+ Note that RapidXml performs no decoding - strings returned by name() and value() functions will contain text encoded using the same encoding as source file. Rapidxml understands and expands the following character references: <code>&amp;apos; &amp;amp; &amp;quot; &amp;lt; &amp;gt; &amp;#...;</code> Other character references are not expanded.</para></sect2><sect2><h3 id="namespacerapidxml_1error_handling">1.3 Error Handling</h3><para>By default, RapidXml uses C++ exceptions to report errors. If this behaviour is undesirable, RAPIDXML_NO_EXCEPTIONS can be defined to suppress exception code. See <a href="#classrapidxml_1_1parse__error" kindref="compound">parse_error</a> class and <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1" kindref="member">parse_error_handler()</a> function for more information.</para></sect2><sect2><h3 id="namespacerapidxml_1memory_allocation">1.4 Memory Allocation</h3><para>RapidXml uses a special memory pool object to allocate nodes and attributes, because direct allocation using <code>new</code> operator would be far too slow. Underlying memory allocations performed by the pool can be customized by use of <a href="#classrapidxml_1_1memory__pool_c0a55a6ef0837dca67572e357100d78a_1c0a55a6ef0837dca67572e357100d78a" kindref="member">memory_pool::set_allocator()</a> function. See class <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> for more information.</para></sect2><sect2><h3 id="namespacerapidxml_1w3c_compliance">1.5 W3C Compliance</h3><para>RapidXml is not a W3C compliant parser, primarily because it ignores DOCTYPE declarations. There is a number of other, minor incompatibilities as well. Still, it can successfully parse and produce complete trees of all valid XML files in W3C conformance suite (over 1000 files specially designed to find flaws in XML processors). In destructive mode it performs whitespace normalization and character entity substitution for a small set of built-in entities.</para></sect2><sect2><h3 id="namespacerapidxml_1api_design">1.6 API Design</h3><para>RapidXml API is minimalistic, to reduce code size as much as possible, and facilitate use in embedded environments. Additional convenience functions are provided in separate headers: <code>rapidxml_utils.hpp</code> and <code><a href="#rapidxml__print_8hpp" kindref="compound">rapidxml_print.hpp</a></code>. Contents of these headers is not an essential part of the library, and is currently not documented (otherwise than with comments in code).</para></sect2><sect2><h3 id="namespacerapidxml_1reliability">1.7 Reliability</h3><para>RapidXml is very robust and comes with a large harness of unit tests. Special care has been taken to ensure stability of the parser no matter what source text is thrown at it. One of the unit tests produces 100,000 randomly corrupted variants of XML document, which (when uncorrupted) contains all constructs recognized by RapidXml. RapidXml passes this test when it correctly recognizes that errors have been introduced, and does not crash or loop indefinitely. <br/><br/>
+ Another unit test puts RapidXml head-to-head with another, well estabilished XML parser, and verifies that their outputs match across a wide variety of small and large documents. <br/><br/>
+ Yet another test feeds RapidXml with over 1000 test files from W3C compliance suite, and verifies that correct results are obtained. There are also additional tests that verify each API function separately, and test that various parsing modes work as expected.</para></sect2><sect2><h3 id="namespacerapidxml_1acknowledgements">1.8 Acknowledgements</h3><para>I would like to thank Arseny Kapoulkine for his work on <a href="http://code.google.com/p/pugixml">pugixml</a>, which was an inspiration for this project. Additional thanks go to Kristen Wegner for creating <a href="http://www.codeproject.com/soap/pugxml.asp">pugxml</a>, from which pugixml was derived. Janusz Wohlfeil kindly ran RapidXml speed tests on hardware that I did not have access to, allowing me to expand performance comparison table.</para></sect2></sect1><sect1><h2 id="namespacerapidxml_1two_minute_tutorial">2. Two Minute Tutorial</h2><sect2><h3 id="namespacerapidxml_1parsing">2.1 Parsing</h3><para>The following code causes RapidXml to parse a zero-terminated string named <code>text</code>: <pre>using namespace rapidxml;
+xml_document&lt;&gt; doc;    // character type defaults to char
+doc.parse&lt;0&gt;(text);    // 0 means default parse flags
+</pre><code>doc</code> object is now a root of DOM tree containing representation of the parsed XML. Because all RapidXml interface is contained inside namespace <code>rapidxml</code>, users must either bring contents of this namespace into scope, or fully qualify all the names. Class <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a> represents a root of the DOM hierarchy. By means of public inheritance, it is also an <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a> and a <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a>. Template parameter of <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function is used to specify parsing flags, with which you can fine-tune behaviour of the parser. Note that flags must be a compile-time constant.</para></sect2><sect2><h3 id="namespacerapidxml_1accessing_dom_tree">2.2 Accessing The DOM Tree</h3><para>To access the DOM tree, use methods of <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a> and <a href="#classrapidxml_1_1xml__attribute" kindref="compound">xml_attribute</a> classes: <pre>cout &lt;&lt; &quot;Name of my first node is: &quot; &lt;&lt; doc.first_node()-&gt;name() &lt;&lt; &quot;\n&quot;;
+xml_node&lt;&gt; *node = doc.first_node(&quot;foobar&quot;);
+cout &lt;&lt; &quot;Node foobar has value &quot; &lt;&lt; node-&gt;value() &lt;&lt; &quot;\n&quot;;
+for (xml_attribute&lt;&gt; *attr = node-&gt;first_attribute();
+     attr; attr = attr-&gt;next_attribute())
+{
+    cout &lt;&lt; &quot;Node foobar has attribute &quot; &lt;&lt; attr-&gt;name() &lt;&lt; &quot; &quot;;
+    cout &lt;&lt; &quot;with value &quot; &lt;&lt; attr-&gt;value() &lt;&lt; &quot;\n&quot;;
+}
+</pre></para></sect2><sect2><h3 id="namespacerapidxml_1modifying_dom_tree">2.3 Modifying The DOM Tree</h3><para>DOM tree produced by the parser is fully modifiable. Nodes and attributes can be added/removed, and their contents changed. The below example creates a HTML document, whose sole contents is a link to google.com website: <pre>xml_document&lt;&gt; doc;
+xml_node&lt;&gt; *node = doc.allocate_node(node_element, &quot;a&quot;, &quot;Google&quot;);
+doc.append_node(node);
+xml_attribute&lt;&gt; *attr = doc.allocate_attribute(&quot;href&quot;, &quot;google.com&quot;);
+node-&gt;append_attribute(attr);
+</pre> One quirk is that nodes and attributes <i>do not own</i> the text of their names and values. This is because normally they only store pointers to the source text. So, when assigning a new name or value to the node, care must be taken to ensure proper lifetime of the string. The easiest way to achieve it is to allocate the string from the <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a> memory pool. In the above example this is not necessary, because we are only assigning character constants. But the code below uses <a href="#classrapidxml_1_1memory__pool_69729185bc59b0875192d667c47b8859_169729185bc59b0875192d667c47b8859" kindref="member">memory_pool::allocate_string()</a> function to allocate node name (which will have the same lifetime as the document), and assigns it to a new node: <pre>xml_document&lt;&gt; doc;
+char *node_name = doc.allocate_string(name);        // Allocate string and copy name into it
+xml_node&lt;&gt; *node = doc.allocate_node(node_element, node_name);  // Set node name to node_name
+</pre> Check <a href="#namespacerapidxml_1reference" kindref="member">Reference</a>  section for description of the entire interface.</para></sect2><sect2><h3 id="namespacerapidxml_1printing">2.4 Printing XML</h3><para>You can print <code><a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a></code> and <code><a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a></code> objects into an XML string. Use <a href="#namespacerapidxml_b94d570fc4c4ab2423813cd0243326b1_1b94d570fc4c4ab2423813cd0243326b1" kindref="member">print()</a> function or operator &lt;&lt;, which are defined in <code><a href="#rapidxml__print_8hpp" kindref="compound">rapidxml_print.hpp</a></code> header. <pre>using namespace rapidxml;
+xml_document&lt;&gt; doc;    // character type defaults to char
+// ... some code to fill the document
+
+// Print to stream using operator &lt;&lt;
+std::cout &lt;&lt; doc;   
+
+// Print to stream using print function, specifying printing flags
+print(std::cout, doc, 0);   // 0 means default printing flags
+
+// Print to string using output iterator
+std::string s;
+print(std::back_inserter(s), doc, 0);
+
+// Print to memory buffer using output iterator
+char buffer[4096];                      // You are responsible for making the buffer large enough!
+char *end = print(buffer, doc, 0);      // end contains pointer to character after last printed character
+*end = 0;                               // Add string terminator after XML
+</pre></para></sect2></sect1><sect1><h2 id="namespacerapidxml_1differences">3. Differences From Regular XML Parsers</h2><para>RapidXml is an <i>in-situ parser</i>, which allows it to achieve very high parsing speed. In-situ means that parser does not make copies of strings. Instead, it places pointers to the <i>source text</i> in the DOM hierarchy.</para><sect2><h3 id="namespacerapidxml_1lifetime_of_source_text">3.1 Lifetime Of Source Text</h3><para>In-situ parsing requires that source text lives at least as long as the document object. If source text is destroyed, names and values of nodes in DOM tree will become destroyed as well. Additionally, whitespace processing, character entity translation, and zero-termination of strings require that source text be modified during parsing (but see non-destructive mode). This makes the text useless for further processing once it was parsed by RapidXml. <br/><br/>
+ In many cases however, these are not serious issues.</para></sect2><sect2><h3 id="namespacerapidxml_1ownership_of_strings">3.2 Ownership Of Strings</h3><para>Nodes and attributes produced by RapidXml do not own their name and value strings. They merely hold the pointers to them. This means you have to be careful when setting these values manually, by using <a href="#classrapidxml_1_1xml__base_e099c291e104a0d277307fe71f5e0f9e_1e099c291e104a0d277307fe71f5e0f9e" kindref="member">xml_base::name(const Ch *)</a> or <a href="#classrapidxml_1_1xml__base_18c7469acdca771de9b4f3054053029c_118c7469acdca771de9b4f3054053029c" kindref="member">xml_base::value(const Ch *)</a> functions. Care must be taken to ensure that lifetime of the string passed is at least as long as lifetime of the node/attribute. The easiest way to achieve it is to allocate the string from <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> owned by the document. Use <a href="#classrapidxml_1_1memory__pool_69729185bc59b0875192d667c47b8859_169729185bc59b0875192d667c47b8859" kindref="member">memory_pool::allocate_string()</a> function for this purpose.</para></sect2><sect2><h3 id="namespacerapidxml_1destructive_non_destructive">3.3 Destructive Vs Non-Destructive Mode</h3><para>By default, the parser modifies source text during the parsing process. This is required to achieve character entity translation, whitespace normalization, and zero-termination of strings. <br/><br/>
+ In some cases this behaviour may be undesirable, for example if source text resides in read only memory, or is mapped to memory directly from file. By using appropriate parser flags (parse_non_destructive), source text modifications can be disabled. However, because RapidXml does in-situ parsing, it obviously has the following side-effects:<ul><li><para>no whitespace normalization is done</para></li><li><para>no entity reference translation is done</para></li><li><para>names and values are not zero-terminated, you must use <a href="#classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c" kindref="member">xml_base::name_size()</a> and <a href="#classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db" kindref="member">xml_base::value_size()</a> functions to tell where they end</para></li></ul></para></sect2></sect1><sect1><h2 id="namespacerapidxml_1performance">4. Performance</h2><para>RapidXml achieves its speed through use of several techniques:<ul><li><para>In-situ parsing. When building DOM tree, RapidXml does not make copies of string data, such as node names and values. Instead, it stores pointers to interior of the source text.</para></li><li><para>Use of template metaprogramming techniques. This allows it to move much of the work to compile time. Through magic of the templates, C++ compiler generates a separate copy of parsing code for any combination of parser flags you use. In each copy, all possible decisions are made at compile time and all unused code is omitted.</para></li><li><para>Extensive use of lookup tables for parsing.</para></li><li><para>Hand-tuned C++ with profiling done on several most popular CPUs.</para></li></ul></para><para>This results in a very small and fast code: a parser which is custom tailored to exact needs with each invocation.</para><sect2><h3 id="namespacerapidxml_1performance_charts">4.1 Comparison With Other Parsers</h3><para>The table below compares speed of RapidXml to some other parsers, and to <code>strlen()</code> function executed on the same data. On a modern CPU (as of 2007), you can expect parsing throughput to be close to 1 GB/s. As a rule of thumb, parsing speed is about 50-100x faster than Xerces DOM, 30-60x faster than TinyXml, 3-12x faster than pugxml, and about 5% - 30% faster than pugixml, the fastest XML parser I know of.</para><para><ul><li><para>The test file is a real-world, 50kB large, moderately dense XML file. </para></li><li><para>All timing is done by using RDTSC instruction present in Pentium-compatible CPUs. </para></li><li><para>No profile-guided optimizations are used. </para></li><li><para>All parsers are running in their fastest modes. </para></li><li><para>The results are given in CPU cycles per character, so frequency of CPUs is irrelevant. </para></li><li><para>The results are minimum values from a large number of runs, to minimize effects of operating system activity, task switching, interrupt handling etc. </para></li><li><para>A single parse of the test file takes about 1/10th of a millisecond, so with large number of runs there is a good chance of hitting at least one no-interrupt streak, and obtaining undisturbed results. </para></li></ul><table rows="9" cols="7" border="1" cellpadding="3pt"><tr><th thead="yes"><para><center>Platform</center></para></th><th thead="yes"><para><center>Compiler</center></para></th><th thead="yes"><para>strlen() </para></th><th thead="yes"><para>RapidXml </para></th><th thead="yes"><para>pugixml 0.3 </para></th><th thead="yes"><para>pugxml </para></th><th thead="yes"><para>TinyXml  </para></th></tr><tr><td thead="no"><para><center>Pentium 4</center></para></td><td thead="no"><para><center>MSVC 8.0</center></para></td><td thead="no"><para><center>2.5</center></para></td><td thead="no"><para><center>5.4</center></para></td><td thead="no"><para><center>7.0</center></para></td><td thead="no"><para><center>61.7</center></para></td><td thead="no"><para><center>298.8</center></para></td></tr><tr><td thead="no"><para><center>Pentium 4</center></para></td><td thead="no"><para><center>gcc 4.1.1</center></para></td><td thead="no"><para><center>0.8</center></para></td><td thead="no"><para><center>6.1</center></para></td><td thead="no"><para><center>9.5</center></para></td><td thead="no"><para><center>67.0</center></para></td><td thead="no"><para><center>413.2</center></para></td></tr><tr><td thead="no"><para><center>Core 2</center></para></td><td thead="no"><para><center>MSVC 8.0</center></para></td><td thead="no"><para><center>1.0</center></para></td><td thead="no"><para><center>4.5</center></para></td><td thead="no"><para><center>5.0</center></para></td><td thead="no"><para><center>24.6</center></para></td><td thead="no"><para><center>154.8</center></para></td></tr><tr><td thead="no"><para><center>Core 2</center></para></td><td thead="no"><para><center>gcc 4.1.1</center></para></td><td thead="no"><para><center>0.6</center></para></td><td thead="no"><para><center>4.6</center></para></td><td thead="no"><para><center>5.4</center></para></td><td thead="no"><para><center>28.3</center></para></td><td thead="no"><para><center>229.3</center></para></td></tr><tr><td thead="no"><para><center>Athlon XP</center></para></td><td thead="no"><para><center>MSVC 8.0</center></para></td><td thead="no"><para><center>3.1</center></para></td><td thead="no"><para><center>7.7</center></para></td><td thead="no"><para><center>8.0</center></para></td><td thead="no"><para><center>25.5</center></para></td><td thead="no"><para><center>182.6</center></para></td></tr><tr><td thead="no"><para><center>Athlon XP</center></para></td><td thead="no"><para><center>gcc 4.1.1</center></para></td><td thead="no"><para><center>0.9</center></para></td><td thead="no"><para><center>8.2</center></para></td><td thead="no"><para><center>9.2</center></para></td><td thead="no"><para><center>33.7</center></para></td><td thead="no"><para><center>265.2</center></para></td></tr><tr><td thead="no"><para><center>Pentium 3</center></para></td><td thead="no"><para><center>MSVC 8.0</center></para></td><td thead="no"><para><center>2.0</center></para></td><td thead="no"><para><center>6.3</center></para></td><td thead="no"><para><center>7.0</center></para></td><td thead="no"><para><center>30.9</center></para></td><td thead="no"><para><center>211.9</center></para></td></tr><tr><td thead="no"><para><center>Pentium 3</center></para></td><td thead="no"><para><center>gcc 4.1.1</center></para></td><td thead="no"><para><center>1.0</center></para></td><td thead="no"><para><center>6.7</center></para></td><td thead="no"><para><center>8.9</center></para></td><td thead="no"><para><center>35.3</center></para></td><td thead="no"><para><center>316.0</center></para></td></tr></table><i>(*) All results are in CPU cycles per character of source text</i></para></sect2></sect1><sect1><h2 id="namespacerapidxml_1reference">5. Reference</h2><para>This section lists all classes, functions, constants etc. and describes them in detail. </para></sect1></detaileddescription><dl><dt>class
+								  template
+							   <a href="#classrapidxml_1_1memory__pool">rapidxml::memory_pool</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1memory__pool_f8fb3c8f1a564f8045c40bcd07a89866_1f8fb3c8f1a564f8045c40bcd07a89866">memory_pool()</a></dt><dt class="indented">
+				destructor
+			 <a href="#classrapidxml_1_1memory__pool_6f8c7990d9ec1ed2acf6558b238570eb_16f8c7990d9ec1ed2acf6558b238570eb">~memory_pool()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_750ba3c610b129ac057d817509d08f41_1750ba3c610b129ac057d817509d08f41">allocate_node(node_type type, const Ch *name=0, const Ch *value=0, std::size_t name_size=0, std::size_t value_size=0)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_462de142669e0ff649e8e615b82bf457_1462de142669e0ff649e8e615b82bf457">allocate_attribute(const Ch *name=0, const Ch *value=0, std::size_t name_size=0, std::size_t value_size=0)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_69729185bc59b0875192d667c47b8859_169729185bc59b0875192d667c47b8859">allocate_string(const Ch *source=0, std::size_t size=0)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_95c49fcb056e9103ec906a59e3e01d76_195c49fcb056e9103ec906a59e3e01d76">clone_node(const xml_node&lt; Ch &gt; *source, xml_node&lt; Ch &gt; *result=0)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_c8bb3912a3ce86b15842e79d0b421204_1c8bb3912a3ce86b15842e79d0b421204">clear()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1memory__pool_c0a55a6ef0837dca67572e357100d78a_1c0a55a6ef0837dca67572e357100d78a">set_allocator(alloc_func *af, free_func *ff)</a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><p/><p/><dt>class <a href="#classrapidxml_1_1parse__error">rapidxml::parse_error</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1parse__error_4dd8d1bdbd9221df4dcb90cafaee3332_14dd8d1bdbd9221df4dcb90cafaee3332">parse_error(const char *what, void *where)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1parse__error_ff06f49065b54a8a86e02e9a2441a8ba_1ff06f49065b54a8a86e02e9a2441a8ba">what() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1parse__error_377be7d201d95221c318682c35377aca_1377be7d201d95221c318682c35377aca">where() const </a></dt><dt class="indented"/><dt class="indented"/><p/><dt>class
+								  template
+							   <a href="#classrapidxml_1_1xml__attribute">rapidxml::xml_attribute</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1xml__attribute_d5464aadf08269a886b730993525db34_1d5464aadf08269a886b730993525db34">xml_attribute()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__attribute_77aea7d8d996ba4f6bd61cc478a4e72d_177aea7d8d996ba4f6bd61cc478a4e72d">document() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__attribute_5c4a98d2b75f9b41b12c110108fd55ab_15c4a98d2b75f9b41b12c110108fd55ab">previous_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__attribute_1b8a814d0d3a7165396b08433eee8a91_11b8a814d0d3a7165396b08433eee8a91">next_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><p/><dt>class
+								  template
+							   <a href="#classrapidxml_1_1xml__base">rapidxml::xml_base</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1xml__base_23630d2c130a9e0e3f3afa7584a9b218_123630d2c130a9e0e3f3afa7584a9b218">xml_base()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_622eade29fdf7806d3ef93ac4d90e707_1622eade29fdf7806d3ef93ac4d90e707">name() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c">name_size() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_c54fa4987fb503916a7b541eb15c9c7f_1c54fa4987fb503916a7b541eb15c9c7f">value() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db">value_size() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_4e7e23d06d48126c65b1f6266acfba5c_14e7e23d06d48126c65b1f6266acfba5c">name(const Ch *name, std::size_t size)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_e099c291e104a0d277307fe71f5e0f9e_1e099c291e104a0d277307fe71f5e0f9e">name(const Ch *name)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_d9640aa3f5374673cb72a5289b6c91eb_1d9640aa3f5374673cb72a5289b6c91eb">value(const Ch *value, std::size_t size)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_18c7469acdca771de9b4f3054053029c_118c7469acdca771de9b4f3054053029c">value(const Ch *value)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__base_798e8df7ea53ade4d9f0701017dce80e_1798e8df7ea53ade4d9f0701017dce80e">parent() const </a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><p/><dt>class
+								  template
+							   <a href="#classrapidxml_1_1xml__document">rapidxml::xml_document</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1xml__document_6ce266cc52d549c42abe3a3d5e8af9ba_16ce266cc52d549c42abe3a3d5e8af9ba">xml_document()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c">parse(Ch *text)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__document_c8bb3912a3ce86b15842e79d0b421204_1c8bb3912a3ce86b15842e79d0b421204">clear()</a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><p/><p/><p/><p/><p/><p/><p/><p/><p/><dt>class
+								  template
+							   <a href="#classrapidxml_1_1xml__node">rapidxml::xml_node</a></dt><dt class="indented">
+				constructor
+			 <a href="#classrapidxml_1_1xml__node_34c55af3504549a475e5b9dfcaa6adf5_134c55af3504549a475e5b9dfcaa6adf5">xml_node(node_type type)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_975e86937621ae4afe6a423219de30d0_1975e86937621ae4afe6a423219de30d0">type() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_77aea7d8d996ba4f6bd61cc478a4e72d_177aea7d8d996ba4f6bd61cc478a4e72d">document() const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_7823e36687669e59c2afdf66334ef35a_17823e36687669e59c2afdf66334ef35a">first_node(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_fcb6e2209b591a36d2dadba20d2bc7cc_1fcb6e2209b591a36d2dadba20d2bc7cc">last_node(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_ac2f6886c0107e9d5f156e9542546df6_1ac2f6886c0107e9d5f156e9542546df6">previous_sibling(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_b3ead2cefecc03a813836203e3f6f38f_1b3ead2cefecc03a813836203e3f6f38f">next_sibling(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_5810a09f82f8d53efbe9456286dcec83_15810a09f82f8d53efbe9456286dcec83">first_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_16953d66751b5b949ee4ee2d9c0bc63a_116953d66751b5b949ee4ee2d9c0bc63a">last_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const </a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_a78759bfa429fa2ab6bc5fe617cfa3cf_1a78759bfa429fa2ab6bc5fe617cfa3cf">type(node_type type)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_0c39df6617e709eb2fba11300dea63f2_10c39df6617e709eb2fba11300dea63f2">prepend_node(xml_node&lt; Ch &gt; *child)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_86de2e22276826089b7baed2599f8dee_186de2e22276826089b7baed2599f8dee">append_node(xml_node&lt; Ch &gt; *child)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_780972a57fc447250ab47cc8f421b65e_1780972a57fc447250ab47cc8f421b65e">insert_node(xml_node&lt; Ch &gt; *where, xml_node&lt; Ch &gt; *child)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_9a31d861e1bddc710839c551a5d2b3a4_19a31d861e1bddc710839c551a5d2b3a4">remove_first_node()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_87addf2bc127ee31aa4b5295d3c9b530_187addf2bc127ee31aa4b5295d3c9b530">remove_last_node()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_9316463a2201631e7e2062b17729f9cd_19316463a2201631e7e2062b17729f9cd">remove_node(xml_node&lt; Ch &gt; *where)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_0218147d13e41d5fa60ced4e7a7e9726_10218147d13e41d5fa60ced4e7a7e9726">remove_all_nodes()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_f6dffa513da74cc0be71a7ba84f8265e_1f6dffa513da74cc0be71a7ba84f8265e">prepend_attribute(xml_attribute&lt; Ch &gt; *attribute)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_8fbd4f5ef7169d493da9f8d87ac04b77_18fbd4f5ef7169d493da9f8d87ac04b77">append_attribute(xml_attribute&lt; Ch &gt; *attribute)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_070d5888b0557fe06a5b24961de1b988_1070d5888b0557fe06a5b24961de1b988">insert_attribute(xml_attribute&lt; Ch &gt; *where, xml_attribute&lt; Ch &gt; *attribute)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_4eea4a7f6cb484ca9944f7eafe6e1843_14eea4a7f6cb484ca9944f7eafe6e1843">remove_first_attribute()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_37d87c4d5d89fa0cf05b72ee8d4cba3b_137d87c4d5d89fa0cf05b72ee8d4cba3b">remove_last_attribute()</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_c75154db2e768c0e5b541fc8cd0775ab_1c75154db2e768c0e5b541fc8cd0775ab">remove_attribute(xml_attribute&lt; Ch &gt; *where)</a></dt><dt class="indented">function <a href="#classrapidxml_1_1xml__node_59e6ad4cfd5e8096c052e71d79561eda_159e6ad4cfd5e8096c052e71d79561eda">remove_all_attributes()</a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><p/><dt>namespace <a href="#namespacerapidxml">rapidxml</a></dt><dt class="indented">enum <a href="#namespacerapidxml_6a276b85e2da28c5f9c3dbce61c55682_16a276b85e2da28c5f9c3dbce61c55682">node_type</a></dt><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented"/><dt class="indented">function <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1">parse_error_handler(const char *what, void *where)</a></dt><dt class="indented">function <a href="#namespacerapidxml_b94d570fc4c4ab2423813cd0243326b1_1b94d570fc4c4ab2423813cd0243326b1">print(OutIt out, const xml_node&lt; Ch &gt; &amp;node, int flags=0)</a></dt><dt class="indented">function <a href="#namespacerapidxml_13bc37d6d1047acb0efdbc1689221a5e_113bc37d6d1047acb0efdbc1689221a5e">print(std::basic_ostream&lt; Ch &gt; &amp;out, const xml_node&lt; Ch &gt; &amp;node, int flags=0)</a></dt><dt class="indented">function <a href="#namespacerapidxml_5619b38000d967fb223b2b0a8c17463a_15619b38000d967fb223b2b0a8c17463a">operator&lt;&lt;(std::basic_ostream&lt; Ch &gt; &amp;out, const xml_node&lt; Ch &gt; &amp;node)</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_87e8bbab53702cf3b438bd553c10b6b9_187e8bbab53702cf3b438bd553c10b6b9">parse_no_data_nodes</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_97e2c4fdc04fae17126f9971a4fc993e_197e2c4fdc04fae17126f9971a4fc993e">parse_no_element_values</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_9cae3801e70437cbc410c24bf6be691c_19cae3801e70437cbc410c24bf6be691c">parse_no_string_terminators</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_7223b7815c4fb8b42e6e4e77e1ea6b97_17223b7815c4fb8b42e6e4e77e1ea6b97">parse_no_entity_translation</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_ccde57f6054857ee4042a1b4d98c83b9_1ccde57f6054857ee4042a1b4d98c83b9">parse_no_utf8</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_52e2c934ad9c845a5f4cc49570470556_152e2c934ad9c845a5f4cc49570470556">parse_declaration_node</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_0f7479dacbc868456d07897a8c072784_10f7479dacbc868456d07897a8c072784">parse_comment_nodes</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_8e187746ba1ca04f107951ad32df962e_18e187746ba1ca04f107951ad32df962e">parse_doctype_node</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_1c20b2b2b75711cd76423e119c49f830_11c20b2b2b75711cd76423e119c49f830">parse_pi_nodes</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_a5daff9d61c7d4eaf98e4d42efe628ee_1a5daff9d61c7d4eaf98e4d42efe628ee">parse_validate_closing_tags</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_ac1f06b1afd47b812732fb521b146fd9_1ac1f06b1afd47b812732fb521b146fd9">parse_trim_whitespace</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_88f95d4e275ba01408fefde83078651b_188f95d4e275ba01408fefde83078651b">parse_normalize_whitespace</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_45751cf2f38fd6915f35b3122b46d5b6_145751cf2f38fd6915f35b3122b46d5b6">parse_default</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_a97ba1a0a79a6d66f4eef3612508d943_1a97ba1a0a79a6d66f4eef3612508d943">parse_non_destructive</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_398c5476e76102f8bd76c10bb0abbe10_1398c5476e76102f8bd76c10bb0abbe10">parse_fastest</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_b4f2515265facb42291570307924bd57_1b4f2515265facb42291570307924bd57">parse_full</a></dt><dt class="indented">
+				constant
+			 <a href="#namespacerapidxml_b08b8d4293c203b69ed6c5ae77ac1907_1b08b8d4293c203b69ed6c5ae77ac1907">print_no_indenting</a></dt><p/><p/><p/><p/></dl><hr/><h3 class="reference-header" id="classrapidxml_1_1memory__pool">class
+									  template
+								   rapidxml::memory_pool</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/>
+								  Base class for
+								  <a href="#classrapidxml_1_1xml__document">xml_document</a> <h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">This class is used by the parser to create new nodes and attributes, without overheads of dynamic memory allocation. In most cases, you will not need to use this class directly. However, if you need to create nodes manually or modify names/values of nodes, you are encouraged to use <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> of relevant <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a> to allocate the memory. Not only is this faster than allocating them by using <code>new</code> operator, but also their lifetime will be tied to the lifetime of document, possibly simplyfing memory management. <br/><br/>
+ Call <a href="#classrapidxml_1_1memory__pool_750ba3c610b129ac057d817509d08f41_1750ba3c610b129ac057d817509d08f41" kindref="member">allocate_node()</a> or <a href="#classrapidxml_1_1memory__pool_462de142669e0ff649e8e615b82bf457_1462de142669e0ff649e8e615b82bf457" kindref="member">allocate_attribute()</a> functions to obtain new nodes or attributes from the pool. You can also call <a href="#classrapidxml_1_1memory__pool_69729185bc59b0875192d667c47b8859_169729185bc59b0875192d667c47b8859" kindref="member">allocate_string()</a> function to allocate strings. Such strings can then be used as names or values of nodes without worrying about their lifetime. Note that there is no <code>free()</code> function -- all allocations are freed at once when <a href="#classrapidxml_1_1memory__pool_c8bb3912a3ce86b15842e79d0b421204_1c8bb3912a3ce86b15842e79d0b421204" kindref="member">clear()</a> function is called, or when the pool is destroyed. <br/><br/>
+ It is also possible to create a standalone <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a>, and use it to allocate nodes, whose lifetime will not be tied to any document. <br/><br/>
+ Pool maintains <code>RAPIDXML_STATIC_POOL_SIZE</code> bytes of statically allocated memory. Until static memory is exhausted, no dynamic memory allocations are done. When static memory is exhausted, pool allocates additional blocks of memory of size <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> each, by using global <code>new[]</code> and <code>delete[]</code> operators. This behaviour can be changed by setting custom allocation routines. Use <a href="#classrapidxml_1_1memory__pool_c0a55a6ef0837dca67572e357100d78a_1c0a55a6ef0837dca67572e357100d78a" kindref="member">set_allocator()</a> function to set them. <br/><br/>
+ Allocations for nodes, attributes and strings are aligned at <code>RAPIDXML_ALIGNMENT</code> bytes. This value defaults to the size of pointer on target architecture. <br/><br/>
+ To obtain absolutely top performance from the parser, it is important that all nodes are allocated from a single, contiguous block of memory. Otherwise, cache misses when jumping between two (or more) disjoint blocks of memory can slow down parsing quite considerably. If required, you can tweak <code>RAPIDXML_STATIC_POOL_SIZE</code>, <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> and <code>RAPIDXML_ALIGNMENT</code> to obtain best wasted memory to performance compromise. To do it, define their values before <a href="#rapidxml_8hpp" kindref="compound">rapidxml.hpp</a> file is included. </para><h4>Parameters</h4><dl><dt class="parameter-name">Ch</dt><dd>Character type of created nodes. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_f8fb3c8f1a564f8045c40bcd07a89866_1f8fb3c8f1a564f8045c40bcd07a89866">
+				constructor
+			 memory_pool::memory_pool</h3><h4>Synopsis</h4><code class="synopsis">memory_pool();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Constructs empty pool with default allocator functions. </para><p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_6f8c7990d9ec1ed2acf6558b238570eb_16f8c7990d9ec1ed2acf6558b238570eb">
+				destructor
+			 memory_pool::~memory_pool</h3><h4>Synopsis</h4><code class="synopsis">~memory_pool();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Destroys pool and frees all the memory. This causes memory occupied by nodes allocated by the pool to be freed. Nodes allocated from the pool are no longer valid. </para><p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_750ba3c610b129ac057d817509d08f41_1750ba3c610b129ac057d817509d08f41">function memory_pool::allocate_node</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* allocate_node(node_type type, const Ch *name=0, const Ch *value=0, std::size_t name_size=0, std::size_t value_size=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Allocates a new node from the pool, and optionally assigns name and value to it. If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>. If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function will call <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1" kindref="member">rapidxml::parse_error_handler()</a> function. </para><h4>Parameters</h4><dl><dt class="parameter-name">type</dt><dd class="parameter-def">Type of node to create. </dd></dl><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name to assign to the node, or 0 to assign no name. </dd></dl><dl><dt class="parameter-name">value</dt><dd class="parameter-def">Value to assign to the node, or 0 to assign no value. </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name to assign, or 0 to automatically calculate size from name string. </dd></dl><dl><dt class="parameter-name">value_size</dt><dd class="parameter-def">Size of value to assign, or 0 to automatically calculate size from value string. </dd></dl><h4>Returns</h4>Pointer to allocated node. This pointer will never be NULL. <p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_462de142669e0ff649e8e615b82bf457_1462de142669e0ff649e8e615b82bf457">function memory_pool::allocate_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute&lt;Ch&gt;* allocate_attribute(const Ch *name=0, const Ch *value=0, std::size_t name_size=0, std::size_t value_size=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Allocates a new attribute from the pool, and optionally assigns name and value to it. If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>. If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function will call <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1" kindref="member">rapidxml::parse_error_handler()</a> function. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name to assign to the attribute, or 0 to assign no name. </dd></dl><dl><dt class="parameter-name">value</dt><dd class="parameter-def">Value to assign to the attribute, or 0 to assign no value. </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name to assign, or 0 to automatically calculate size from name string. </dd></dl><dl><dt class="parameter-name">value_size</dt><dd class="parameter-def">Size of value to assign, or 0 to automatically calculate size from value string. </dd></dl><h4>Returns</h4>Pointer to allocated attribute. This pointer will never be NULL. <p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_69729185bc59b0875192d667c47b8859_169729185bc59b0875192d667c47b8859">function memory_pool::allocate_string</h3><h4>Synopsis</h4><code class="synopsis">Ch* allocate_string(const Ch *source=0, std::size_t size=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Allocates a char array of given size from the pool, and optionally copies a given string to it. If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>. If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function will call <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1" kindref="member">rapidxml::parse_error_handler()</a> function. </para><h4>Parameters</h4><dl><dt class="parameter-name">source</dt><dd class="parameter-def">String to initialize the allocated memory with, or 0 to not initialize it. </dd></dl><dl><dt class="parameter-name">size</dt><dd class="parameter-def">Number of characters to allocate, or zero to calculate it automatically from source string length; if size is 0, source string must be specified and null terminated. </dd></dl><h4>Returns</h4>Pointer to allocated char array. This pointer will never be NULL. <p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_95c49fcb056e9103ec906a59e3e01d76_195c49fcb056e9103ec906a59e3e01d76">function memory_pool::clone_node</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* clone_node(const xml_node&lt; Ch &gt; *source, xml_node&lt; Ch &gt; *result=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Clones an <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a> and its hierarchy of child nodes and attributes. Nodes and attributes are allocated from this memory pool. Names and values are not cloned, they are shared between the clone and the source. Result node can be optionally specified as a second parameter, in which case its contents will be replaced with cloned source node. This is useful when you want to clone entire document. </para><h4>Parameters</h4><dl><dt class="parameter-name">source</dt><dd class="parameter-def">Node to clone. </dd></dl><dl><dt class="parameter-name">result</dt><dd class="parameter-def">Node to put results in, or 0 to automatically allocate result node </dd></dl><h4>Returns</h4>Pointer to cloned node. This pointer will never be NULL. <p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_c8bb3912a3ce86b15842e79d0b421204_1c8bb3912a3ce86b15842e79d0b421204">function memory_pool::clear</h3><h4>Synopsis</h4><code class="synopsis">void clear();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Clears the pool. This causes memory occupied by nodes allocated by the pool to be freed. Any nodes or strings allocated from the pool will no longer be valid. </para><p/><h3 class="reference-header" id="classrapidxml_1_1memory__pool_c0a55a6ef0837dca67572e357100d78a_1c0a55a6ef0837dca67572e357100d78a">function memory_pool::set_allocator</h3><h4>Synopsis</h4><code class="synopsis">void set_allocator(alloc_func *af, free_func *ff);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets or resets the user-defined memory allocation functions for the pool. This can only be called when no memory is allocated from the pool yet, otherwise results are undefined. Allocation function must not return invalid pointer on failure. It should either throw, stop the program, or use <code>longjmp()</code> function to pass control to other place of program. If it returns invalid pointer, results are undefined. <br/><br/>
+ User defined allocation functions must have the following forms: <br/><code><br/>
+void *allocate(std::size_t size); <br/>
+void free(void *pointer); </code><br/></para><h4>Parameters</h4><dl><dt class="parameter-name">af</dt><dd class="parameter-def">Allocation function, or 0 to restore default function </dd></dl><dl><dt class="parameter-name">ff</dt><dd class="parameter-def">Free function, or 0 to restore default function </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1parse__error">class rapidxml::parse_error</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse error exception. This exception is thrown by the parser when an error occurs. Use <a href="#classrapidxml_1_1parse__error_ff06f49065b54a8a86e02e9a2441a8ba_1ff06f49065b54a8a86e02e9a2441a8ba" kindref="member">what()</a> function to get human-readable error message. Use <a href="#classrapidxml_1_1parse__error_377be7d201d95221c318682c35377aca_1377be7d201d95221c318682c35377aca" kindref="member">where()</a> function to get a pointer to position within source text where error was detected. <br/><br/>
+ If throwing exceptions by the parser is undesirable, it can be disabled by defining RAPIDXML_NO_EXCEPTIONS macro before <a href="#rapidxml_8hpp" kindref="compound">rapidxml.hpp</a> is included. This will cause the parser to call <a href="#namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1" kindref="member">rapidxml::parse_error_handler()</a> function instead of throwing an exception. This function must be defined by the user. <br/><br/>
+ This class derives from <code>std::exception</code> class. </para><p/><h3 class="reference-header" id="classrapidxml_1_1parse__error_4dd8d1bdbd9221df4dcb90cafaee3332_14dd8d1bdbd9221df4dcb90cafaee3332">
+				constructor
+			 parse_error::parse_error</h3><h4>Synopsis</h4><code class="synopsis">parse_error(const char *what, void *where);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Constructs parse error. </para><p/><h3 class="reference-header" id="classrapidxml_1_1parse__error_ff06f49065b54a8a86e02e9a2441a8ba_1ff06f49065b54a8a86e02e9a2441a8ba">function parse_error::what</h3><h4>Synopsis</h4><code class="synopsis">virtual const char* what() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets human readable description of error. </para><h4>Returns</h4>Pointer to null terminated description of the error. <p/><h3 class="reference-header" id="classrapidxml_1_1parse__error_377be7d201d95221c318682c35377aca_1377be7d201d95221c318682c35377aca">function parse_error::where</h3><h4>Synopsis</h4><code class="synopsis">Ch* where() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets pointer to character data where error happened. Ch should be the same as char type of <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a> that produced the error. </para><h4>Returns</h4>Pointer to location within the parsed string where error occured. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__attribute">class
+									  template
+								   rapidxml::xml_attribute</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/>
+								  Inherits from
+								  <a href="#classrapidxml_1_1xml__base">xml_base</a> <br/><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Class representing attribute node of XML document. Each attribute has name and value strings, which are available through <a href="#classrapidxml_1_1xml__base_622eade29fdf7806d3ef93ac4d90e707_1622eade29fdf7806d3ef93ac4d90e707" kindref="member">name()</a> and <a href="#classrapidxml_1_1xml__base_c54fa4987fb503916a7b541eb15c9c7f_1c54fa4987fb503916a7b541eb15c9c7f" kindref="member">value()</a> functions (inherited from <a href="#classrapidxml_1_1xml__base" kindref="compound">xml_base</a>). Note that after parse, both name and value of attribute will point to interior of source text used for parsing. Thus, this text must persist in memory for the lifetime of attribute. </para><h4>Parameters</h4><dl><dt class="parameter-name">Ch</dt><dd>Character type to use. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__attribute_d5464aadf08269a886b730993525db34_1d5464aadf08269a886b730993525db34">
+				constructor
+			 xml_attribute::xml_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Constructs an empty attribute with the specified type. Consider using <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> of appropriate <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a> if allocating attributes manually. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__attribute_77aea7d8d996ba4f6bd61cc478a4e72d_177aea7d8d996ba4f6bd61cc478a4e72d">function xml_attribute::document</h3><h4>Synopsis</h4><code class="synopsis">xml_document&lt;Ch&gt;* document() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets document of which attribute is a child. </para><h4>Returns</h4>Pointer to document that contains this attribute, or 0 if there is no parent document. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__attribute_5c4a98d2b75f9b41b12c110108fd55ab_15c4a98d2b75f9b41b12c110108fd55ab">function xml_attribute::previous_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute&lt;Ch&gt;* previous_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets previous attribute, optionally matching attribute name. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of attribute to find, or 0 to return previous attribute regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found attribute, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__attribute_1b8a814d0d3a7165396b08433eee8a91_11b8a814d0d3a7165396b08433eee8a91">function xml_attribute::next_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute&lt;Ch&gt;* next_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets next attribute, optionally matching attribute name. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of attribute to find, or 0 to return next attribute regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found attribute, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__base">class
+									  template
+								   rapidxml::xml_base</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/>
+								  Base class for
+								  <a href="#classrapidxml_1_1xml__attribute">xml_attribute</a> <a href="#classrapidxml_1_1xml__node">xml_node</a> <h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Base class for <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a> and <a href="#classrapidxml_1_1xml__attribute" kindref="compound">xml_attribute</a> implementing common functions: <a href="#classrapidxml_1_1xml__base_622eade29fdf7806d3ef93ac4d90e707_1622eade29fdf7806d3ef93ac4d90e707" kindref="member">name()</a>, <a href="#classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c" kindref="member">name_size()</a>, <a href="#classrapidxml_1_1xml__base_c54fa4987fb503916a7b541eb15c9c7f_1c54fa4987fb503916a7b541eb15c9c7f" kindref="member">value()</a>, <a href="#classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db" kindref="member">value_size()</a> and <a href="#classrapidxml_1_1xml__base_798e8df7ea53ade4d9f0701017dce80e_1798e8df7ea53ade4d9f0701017dce80e" kindref="member">parent()</a>. </para><h4>Parameters</h4><dl><dt class="parameter-name">Ch</dt><dd>Character type to use </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_23630d2c130a9e0e3f3afa7584a9b218_123630d2c130a9e0e3f3afa7584a9b218">
+				constructor
+			 xml_base::xml_base</h3><h4>Synopsis</h4><code class="synopsis">xml_base();
+									  </code><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_622eade29fdf7806d3ef93ac4d90e707_1622eade29fdf7806d3ef93ac4d90e707">function xml_base::name</h3><h4>Synopsis</h4><code class="synopsis">Ch* name() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets name of the node. Interpretation of name depends on type of node. Note that name will not be zero-terminated if <a href="#namespacerapidxml_9cae3801e70437cbc410c24bf6be691c_19cae3801e70437cbc410c24bf6be691c" kindref="member">rapidxml::parse_no_string_terminators</a> option was selected during parse. <br/><br/>
+ Use <a href="#classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c" kindref="member">name_size()</a> function to determine length of the name. </para><h4>Returns</h4>Name of node, or empty string if node has no name. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c">function xml_base::name_size</h3><h4>Synopsis</h4><code class="synopsis">std::size_t name_size() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets size of node name, not including terminator character. This function works correctly irrespective of whether name is or is not zero terminated. </para><h4>Returns</h4>Size of node name, in characters. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_c54fa4987fb503916a7b541eb15c9c7f_1c54fa4987fb503916a7b541eb15c9c7f">function xml_base::value</h3><h4>Synopsis</h4><code class="synopsis">Ch* value() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets value of node. Interpretation of value depends on type of node. Note that value will not be zero-terminated if <a href="#namespacerapidxml_9cae3801e70437cbc410c24bf6be691c_19cae3801e70437cbc410c24bf6be691c" kindref="member">rapidxml::parse_no_string_terminators</a> option was selected during parse. <br/><br/>
+ Use <a href="#classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db" kindref="member">value_size()</a> function to determine length of the value. </para><h4>Returns</h4>Value of node, or empty string if node has no value. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db">function xml_base::value_size</h3><h4>Synopsis</h4><code class="synopsis">std::size_t value_size() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets size of node value, not including terminator character. This function works correctly irrespective of whether value is or is not zero terminated. </para><h4>Returns</h4>Size of node value, in characters. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_4e7e23d06d48126c65b1f6266acfba5c_14e7e23d06d48126c65b1f6266acfba5c">function xml_base::name</h3><h4>Synopsis</h4><code class="synopsis">void name(const Ch *name, std::size_t size);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets name of node to a non zero-terminated string. See <a href="#namespacerapidxml_1ownership_of_strings" kindref="member">Ownership Of Strings</a> . <br/><br/>
+ Note that node does not own its name or value, it only stores a pointer to it. It will not delete or otherwise free the pointer on destruction. It is reponsibility of the user to properly manage lifetime of the string. The easiest way to achieve it is to use <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> of the document to allocate the string - on destruction of the document the string will be automatically freed. <br/><br/>
+ Size of name must be specified separately, because name does not have to be zero terminated. Use <a href="#classrapidxml_1_1xml__base_e099c291e104a0d277307fe71f5e0f9e_1e099c291e104a0d277307fe71f5e0f9e" kindref="member">name(const Ch *)</a> function to have the length automatically calculated (string must be zero terminated). </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of node to set. Does not have to be zero terminated. </dd></dl><dl><dt class="parameter-name">size</dt><dd class="parameter-def">Size of name, in characters. This does not include zero terminator, if one is present. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_e099c291e104a0d277307fe71f5e0f9e_1e099c291e104a0d277307fe71f5e0f9e">function xml_base::name</h3><h4>Synopsis</h4><code class="synopsis">void name(const Ch *name);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets name of node to a zero-terminated string. See also <a href="#namespacerapidxml_1ownership_of_strings" kindref="member">Ownership Of Strings</a>  and <a href="#classrapidxml_1_1xml__base_4e7e23d06d48126c65b1f6266acfba5c_14e7e23d06d48126c65b1f6266acfba5c" kindref="member">xml_node::name(const Ch *, std::size_t)</a>. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of node to set. Must be zero terminated. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_d9640aa3f5374673cb72a5289b6c91eb_1d9640aa3f5374673cb72a5289b6c91eb">function xml_base::value</h3><h4>Synopsis</h4><code class="synopsis">void value(const Ch *value, std::size_t size);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets value of node to a non zero-terminated string. See <a href="#namespacerapidxml_1ownership_of_strings" kindref="member">Ownership Of Strings</a> . <br/><br/>
+ Note that node does not own its name or value, it only stores a pointer to it. It will not delete or otherwise free the pointer on destruction. It is reponsibility of the user to properly manage lifetime of the string. The easiest way to achieve it is to use <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> of the document to allocate the string - on destruction of the document the string will be automatically freed. <br/><br/>
+ Size of value must be specified separately, because it does not have to be zero terminated. Use <a href="#classrapidxml_1_1xml__base_18c7469acdca771de9b4f3054053029c_118c7469acdca771de9b4f3054053029c" kindref="member">value(const Ch *)</a> function to have the length automatically calculated (string must be zero terminated). <br/><br/>
+ If an element has a child node of type node_data, it will take precedence over element value when printing. If you want to manipulate data of elements using values, use parser flag <a href="#namespacerapidxml_87e8bbab53702cf3b438bd553c10b6b9_187e8bbab53702cf3b438bd553c10b6b9" kindref="member">rapidxml::parse_no_data_nodes</a> to prevent creation of data nodes by the parser. </para><h4>Parameters</h4><dl><dt class="parameter-name">value</dt><dd class="parameter-def">value of node to set. Does not have to be zero terminated. </dd></dl><dl><dt class="parameter-name">size</dt><dd class="parameter-def">Size of value, in characters. This does not include zero terminator, if one is present. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_18c7469acdca771de9b4f3054053029c_118c7469acdca771de9b4f3054053029c">function xml_base::value</h3><h4>Synopsis</h4><code class="synopsis">void value(const Ch *value);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets value of node to a zero-terminated string. See also <a href="#namespacerapidxml_1ownership_of_strings" kindref="member">Ownership Of Strings</a>  and <a href="#classrapidxml_1_1xml__base_d9640aa3f5374673cb72a5289b6c91eb_1d9640aa3f5374673cb72a5289b6c91eb" kindref="member">xml_node::value(const Ch *, std::size_t)</a>. </para><h4>Parameters</h4><dl><dt class="parameter-name">value</dt><dd class="parameter-def">Vame of node to set. Must be zero terminated. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__base_798e8df7ea53ade4d9f0701017dce80e_1798e8df7ea53ade4d9f0701017dce80e">function xml_base::parent</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* parent() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets node parent. </para><h4>Returns</h4>Pointer to parent node, or 0 if there is no parent. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__document">class
+									  template
+								   rapidxml::xml_document</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/>
+								  Inherits from
+								  <a href="#classrapidxml_1_1xml__node">xml_node</a> <a href="#classrapidxml_1_1memory__pool">memory_pool</a> <br/><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">This class represents root of the DOM hierarchy. It is also an <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a> and a <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> through public inheritance. Use <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">parse()</a> function to build a DOM tree from a zero-terminated XML text string. <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">parse()</a> function allocates memory for nodes and attributes by using functions of <a href="#classrapidxml_1_1xml__document" kindref="compound">xml_document</a>, which are inherited from <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a>. To access root node of the document, use the document itself, as if it was an <a href="#classrapidxml_1_1xml__node" kindref="compound">xml_node</a>. </para><h4>Parameters</h4><dl><dt class="parameter-name">Ch</dt><dd>Character type to use. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__document_6ce266cc52d549c42abe3a3d5e8af9ba_16ce266cc52d549c42abe3a3d5e8af9ba">
+				constructor
+			 xml_document::xml_document</h3><h4>Synopsis</h4><code class="synopsis">xml_document();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Constructs empty XML document. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c">function xml_document::parse</h3><h4>Synopsis</h4><code class="synopsis">void parse(Ch *text);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parses zero-terminated XML string according to given flags. Passed string will be modified by the parser, unless <a href="#namespacerapidxml_a97ba1a0a79a6d66f4eef3612508d943_1a97ba1a0a79a6d66f4eef3612508d943" kindref="member">rapidxml::parse_non_destructive</a> flag is used. The string must persist for the lifetime of the document. In case of error, <a href="#classrapidxml_1_1parse__error" kindref="compound">rapidxml::parse_error</a> exception will be thrown. <br/><br/>
+ If you want to parse contents of a file, you must first load the file into the memory, and pass pointer to its beginning. Make sure that data is zero-terminated. <br/><br/>
+ Document can be parsed into multiple times. Each new call to parse removes previous nodes and attributes (if any), but does not clear memory pool. </para><h4>Parameters</h4><dl><dt class="parameter-name">text</dt><dd class="parameter-def">XML data to parse; pointer is non-const to denote fact that this data may be modified by the parser. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__document_c8bb3912a3ce86b15842e79d0b421204_1c8bb3912a3ce86b15842e79d0b421204">function xml_document::clear</h3><h4>Synopsis</h4><code class="synopsis">void clear();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Clears the document by deleting all nodes and clearing the memory pool. All nodes owned by document pool are destroyed. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node">class
+									  template
+								   rapidxml::xml_node</h3>
+
+							  Defined in <a href="rapidxml.hpp">rapidxml.hpp</a><br/>
+								  Inherits from
+								  <a href="#classrapidxml_1_1xml__base">xml_base</a> <br/>
+								  Base class for
+								  <a href="#classrapidxml_1_1xml__document">xml_document</a> <h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Class representing a node of XML document. Each node may have associated name and value strings, which are available through <a href="#classrapidxml_1_1xml__base_622eade29fdf7806d3ef93ac4d90e707_1622eade29fdf7806d3ef93ac4d90e707" kindref="member">name()</a> and <a href="#classrapidxml_1_1xml__base_c54fa4987fb503916a7b541eb15c9c7f_1c54fa4987fb503916a7b541eb15c9c7f" kindref="member">value()</a> functions. Interpretation of name and value depends on type of the node. Type of node can be determined by using <a href="#classrapidxml_1_1xml__node_975e86937621ae4afe6a423219de30d0_1975e86937621ae4afe6a423219de30d0" kindref="member">type()</a> function. <br/><br/>
+ Note that after parse, both name and value of node, if any, will point interior of source text used for parsing. Thus, this text must persist in the memory for the lifetime of node. </para><h4>Parameters</h4><dl><dt class="parameter-name">Ch</dt><dd>Character type to use. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_34c55af3504549a475e5b9dfcaa6adf5_134c55af3504549a475e5b9dfcaa6adf5">
+				constructor
+			 xml_node::xml_node</h3><h4>Synopsis</h4><code class="synopsis">xml_node(node_type type);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Constructs an empty node with the specified type. Consider using <a href="#classrapidxml_1_1memory__pool" kindref="compound">memory_pool</a> of appropriate document to allocate nodes manually. </para><h4>Parameters</h4><dl><dt class="parameter-name">type</dt><dd class="parameter-def">Type of node to construct. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_975e86937621ae4afe6a423219de30d0_1975e86937621ae4afe6a423219de30d0">function xml_node::type</h3><h4>Synopsis</h4><code class="synopsis">node_type type() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets type of node. </para><h4>Returns</h4>Type of node. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_77aea7d8d996ba4f6bd61cc478a4e72d_177aea7d8d996ba4f6bd61cc478a4e72d">function xml_node::document</h3><h4>Synopsis</h4><code class="synopsis">xml_document&lt;Ch&gt;* document() const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets document of which node is a child. </para><h4>Returns</h4>Pointer to document that contains this node, or 0 if there is no parent document. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_7823e36687669e59c2afdf66334ef35a_17823e36687669e59c2afdf66334ef35a">function xml_node::first_node</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* first_node(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets first child node, optionally matching node name. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of child to find, or 0 to return first child regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found child, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_fcb6e2209b591a36d2dadba20d2bc7cc_1fcb6e2209b591a36d2dadba20d2bc7cc">function xml_node::last_node</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* last_node(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets last child node, optionally matching node name. Behaviour is undefined if node has no children. Use <a href="#classrapidxml_1_1xml__node_7823e36687669e59c2afdf66334ef35a_17823e36687669e59c2afdf66334ef35a" kindref="member">first_node()</a> to test if node has children. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of child to find, or 0 to return last child regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found child, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_ac2f6886c0107e9d5f156e9542546df6_1ac2f6886c0107e9d5f156e9542546df6">function xml_node::previous_sibling</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* previous_sibling(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets previous sibling node, optionally matching node name. Behaviour is undefined if node has no parent. Use <a href="#classrapidxml_1_1xml__base_798e8df7ea53ade4d9f0701017dce80e_1798e8df7ea53ade4d9f0701017dce80e" kindref="member">parent()</a> to test if node has a parent. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of sibling to find, or 0 to return previous sibling regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found sibling, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_b3ead2cefecc03a813836203e3f6f38f_1b3ead2cefecc03a813836203e3f6f38f">function xml_node::next_sibling</h3><h4>Synopsis</h4><code class="synopsis">xml_node&lt;Ch&gt;* next_sibling(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets next sibling node, optionally matching node name. Behaviour is undefined if node has no parent. Use <a href="#classrapidxml_1_1xml__base_798e8df7ea53ade4d9f0701017dce80e_1798e8df7ea53ade4d9f0701017dce80e" kindref="member">parent()</a> to test if node has a parent. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of sibling to find, or 0 to return next sibling regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found sibling, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_5810a09f82f8d53efbe9456286dcec83_15810a09f82f8d53efbe9456286dcec83">function xml_node::first_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute&lt;Ch&gt;* first_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets first attribute of node, optionally matching attribute name. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of attribute to find, or 0 to return first attribute regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found attribute, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_16953d66751b5b949ee4ee2d9c0bc63a_116953d66751b5b949ee4ee2d9c0bc63a">function xml_node::last_attribute</h3><h4>Synopsis</h4><code class="synopsis">xml_attribute&lt;Ch&gt;* last_attribute(const Ch *name=0, std::size_t name_size=0, bool case_sensitive=true) const;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Gets last attribute of node, optionally matching attribute name. </para><h4>Parameters</h4><dl><dt class="parameter-name">name</dt><dd class="parameter-def">Name of attribute to find, or 0 to return last attribute regardless of its name; this string doesn&apos;t have to be zero-terminated if name_size is non-zero </dd></dl><dl><dt class="parameter-name">name_size</dt><dd class="parameter-def">Size of name, in characters, or 0 to have size calculated automatically from string </dd></dl><dl><dt class="parameter-name">case_sensitive</dt><dd class="parameter-def">Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters </dd></dl><h4>Returns</h4>Pointer to found attribute, or 0 if not found. <p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_a78759bfa429fa2ab6bc5fe617cfa3cf_1a78759bfa429fa2ab6bc5fe617cfa3cf">function xml_node::type</h3><h4>Synopsis</h4><code class="synopsis">void type(node_type type);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Sets type of node. </para><h4>Parameters</h4><dl><dt class="parameter-name">type</dt><dd class="parameter-def">Type of node to set. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_0c39df6617e709eb2fba11300dea63f2_10c39df6617e709eb2fba11300dea63f2">function xml_node::prepend_node</h3><h4>Synopsis</h4><code class="synopsis">void prepend_node(xml_node&lt; Ch &gt; *child);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Prepends a new child node. The prepended child becomes the first child, and all existing children are moved one position back. </para><h4>Parameters</h4><dl><dt class="parameter-name">child</dt><dd class="parameter-def">Node to prepend. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_86de2e22276826089b7baed2599f8dee_186de2e22276826089b7baed2599f8dee">function xml_node::append_node</h3><h4>Synopsis</h4><code class="synopsis">void append_node(xml_node&lt; Ch &gt; *child);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Appends a new child node. The appended child becomes the last child. </para><h4>Parameters</h4><dl><dt class="parameter-name">child</dt><dd class="parameter-def">Node to append. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_780972a57fc447250ab47cc8f421b65e_1780972a57fc447250ab47cc8f421b65e">function xml_node::insert_node</h3><h4>Synopsis</h4><code class="synopsis">void insert_node(xml_node&lt; Ch &gt; *where, xml_node&lt; Ch &gt; *child);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Inserts a new child node at specified place inside the node. All children after and including the specified node are moved one position back. </para><h4>Parameters</h4><dl><dt class="parameter-name">where</dt><dd class="parameter-def">Place where to insert the child, or 0 to insert at the back. </dd></dl><dl><dt class="parameter-name">child</dt><dd class="parameter-def">Node to insert. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_9a31d861e1bddc710839c551a5d2b3a4_19a31d861e1bddc710839c551a5d2b3a4">function xml_node::remove_first_node</h3><h4>Synopsis</h4><code class="synopsis">void remove_first_node();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes first child node. If node has no children, behaviour is undefined. Use <a href="#classrapidxml_1_1xml__node_7823e36687669e59c2afdf66334ef35a_17823e36687669e59c2afdf66334ef35a" kindref="member">first_node()</a> to test if node has children. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_87addf2bc127ee31aa4b5295d3c9b530_187addf2bc127ee31aa4b5295d3c9b530">function xml_node::remove_last_node</h3><h4>Synopsis</h4><code class="synopsis">void remove_last_node();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes last child of the node. If node has no children, behaviour is undefined. Use <a href="#classrapidxml_1_1xml__node_7823e36687669e59c2afdf66334ef35a_17823e36687669e59c2afdf66334ef35a" kindref="member">first_node()</a> to test if node has children. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_9316463a2201631e7e2062b17729f9cd_19316463a2201631e7e2062b17729f9cd">function xml_node::remove_node</h3><h4>Synopsis</h4><code class="synopsis">void remove_node(xml_node&lt; Ch &gt; *where);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes specified child from the node. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_0218147d13e41d5fa60ced4e7a7e9726_10218147d13e41d5fa60ced4e7a7e9726">function xml_node::remove_all_nodes</h3><h4>Synopsis</h4><code class="synopsis">void remove_all_nodes();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes all child nodes (but not attributes). </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_f6dffa513da74cc0be71a7ba84f8265e_1f6dffa513da74cc0be71a7ba84f8265e">function xml_node::prepend_attribute</h3><h4>Synopsis</h4><code class="synopsis">void prepend_attribute(xml_attribute&lt; Ch &gt; *attribute);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Prepends a new attribute to the node. </para><h4>Parameters</h4><dl><dt class="parameter-name">attribute</dt><dd class="parameter-def">Attribute to prepend. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_8fbd4f5ef7169d493da9f8d87ac04b77_18fbd4f5ef7169d493da9f8d87ac04b77">function xml_node::append_attribute</h3><h4>Synopsis</h4><code class="synopsis">void append_attribute(xml_attribute&lt; Ch &gt; *attribute);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Appends a new attribute to the node. </para><h4>Parameters</h4><dl><dt class="parameter-name">attribute</dt><dd class="parameter-def">Attribute to append. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_070d5888b0557fe06a5b24961de1b988_1070d5888b0557fe06a5b24961de1b988">function xml_node::insert_attribute</h3><h4>Synopsis</h4><code class="synopsis">void insert_attribute(xml_attribute&lt; Ch &gt; *where, xml_attribute&lt; Ch &gt; *attribute);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Inserts a new attribute at specified place inside the node. All attributes after and including the specified attribute are moved one position back. </para><h4>Parameters</h4><dl><dt class="parameter-name">where</dt><dd class="parameter-def">Place where to insert the attribute, or 0 to insert at the back. </dd></dl><dl><dt class="parameter-name">attribute</dt><dd class="parameter-def">Attribute to insert. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_4eea4a7f6cb484ca9944f7eafe6e1843_14eea4a7f6cb484ca9944f7eafe6e1843">function xml_node::remove_first_attribute</h3><h4>Synopsis</h4><code class="synopsis">void remove_first_attribute();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes first attribute of the node. If node has no attributes, behaviour is undefined. Use <a href="#classrapidxml_1_1xml__node_5810a09f82f8d53efbe9456286dcec83_15810a09f82f8d53efbe9456286dcec83" kindref="member">first_attribute()</a> to test if node has attributes. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_37d87c4d5d89fa0cf05b72ee8d4cba3b_137d87c4d5d89fa0cf05b72ee8d4cba3b">function xml_node::remove_last_attribute</h3><h4>Synopsis</h4><code class="synopsis">void remove_last_attribute();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes last attribute of the node. If node has no attributes, behaviour is undefined. Use <a href="#classrapidxml_1_1xml__node_5810a09f82f8d53efbe9456286dcec83_15810a09f82f8d53efbe9456286dcec83" kindref="member">first_attribute()</a> to test if node has attributes. </para><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_c75154db2e768c0e5b541fc8cd0775ab_1c75154db2e768c0e5b541fc8cd0775ab">function xml_node::remove_attribute</h3><h4>Synopsis</h4><code class="synopsis">void remove_attribute(xml_attribute&lt; Ch &gt; *where);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes specified attribute from node. </para><h4>Parameters</h4><dl><dt class="parameter-name">where</dt><dd class="parameter-def">Pointer to attribute to be removed. </dd></dl><p/><h3 class="reference-header" id="classrapidxml_1_1xml__node_59e6ad4cfd5e8096c052e71d79561eda_159e6ad4cfd5e8096c052e71d79561eda">function xml_node::remove_all_attributes</h3><h4>Synopsis</h4><code class="synopsis">void remove_all_attributes();
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Removes all attributes of node. </para><p/><h3 class="reference-header" id="namespacerapidxml_6a276b85e2da28c5f9c3dbce61c55682_16a276b85e2da28c5f9c3dbce61c55682">enum node_type</h3><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Enumeration listing all node types produced by the parser. Use <a href="#classrapidxml_1_1xml__node_975e86937621ae4afe6a423219de30d0_1975e86937621ae4afe6a423219de30d0" kindref="member">xml_node::type()</a> function to query node type. </para><h4>Values</h4><dl><dt class="parameter-name">node_document</dt><dd class="parameter-def">A document node. Name and value are empty. </dd></dl><dl><dt class="parameter-name">node_element</dt><dd class="parameter-def">An element node. Name contains element name. Value contains text of first data node. </dd></dl><dl><dt class="parameter-name">node_data</dt><dd class="parameter-def">A data node. Name is empty. Value contains data text. </dd></dl><dl><dt class="parameter-name">node_cdata</dt><dd class="parameter-def">A CDATA node. Name is empty. Value contains data text. </dd></dl><dl><dt class="parameter-name">node_comment</dt><dd class="parameter-def">A comment node. Name is empty. Value contains comment text. </dd></dl><dl><dt class="parameter-name">node_declaration</dt><dd class="parameter-def">A declaration node. Name and value are empty. Declaration parameters (version, encoding and standalone) are in node attributes. </dd></dl><dl><dt class="parameter-name">node_doctype</dt><dd class="parameter-def">A DOCTYPE node. Name is empty. Value contains DOCTYPE text. </dd></dl><dl><dt class="parameter-name">node_pi</dt><dd class="parameter-def">A PI node. Name contains target. Value contains instructions. </dd></dl><p/><h3 class="reference-header" id="namespacerapidxml_ff5d67f74437199d316d2b2660653ae1_1ff5d67f74437199d316d2b2660653ae1">function parse_error_handler</h3><h4>Synopsis</h4><code class="synopsis">void rapidxml::parse_error_handler(const char *what, void *where);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">When exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function is called to notify user about the error. It must be defined by the user. <br/><br/>
+ This function cannot return. If it does, the results are undefined. <br/><br/>
+ A very simple definition might look like that: <preformatted>
+        void rapidxml::parse_error_handler(const char *what, void *where)
+        {
+            std::cout &lt;&lt; &quot;Parse error: &quot; &lt;&lt; what &lt;&lt; &quot;\n&quot;;
+            std::abort();
+        }
+        </preformatted></para><h4>Parameters</h4><dl><dt class="parameter-name">what</dt><dd class="parameter-def">Human readable description of the error. </dd></dl><dl><dt class="parameter-name">where</dt><dd class="parameter-def">Pointer to character data where error was detected. </dd></dl><p/><h3 class="reference-header" id="namespacerapidxml_b94d570fc4c4ab2423813cd0243326b1_1b94d570fc4c4ab2423813cd0243326b1">function print</h3><h4>Synopsis</h4><code class="synopsis">OutIt rapidxml::print(OutIt out, const xml_node&lt; Ch &gt; &amp;node, int flags=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Prints XML to given output iterator. </para><h4>Parameters</h4><dl><dt class="parameter-name">out</dt><dd class="parameter-def">Output iterator to print to. </dd></dl><dl><dt class="parameter-name">node</dt><dd class="parameter-def">Node to be printed. Pass xml_document to print entire document. </dd></dl><dl><dt class="parameter-name">flags</dt><dd class="parameter-def">Flags controlling how XML is printed. </dd></dl><h4>Returns</h4>Output iterator pointing to position immediately after last character of printed text. <p/><h3 class="reference-header" id="namespacerapidxml_13bc37d6d1047acb0efdbc1689221a5e_113bc37d6d1047acb0efdbc1689221a5e">function print</h3><h4>Synopsis</h4><code class="synopsis">std::basic_ostream&lt;Ch&gt;&amp; rapidxml::print(std::basic_ostream&lt; Ch &gt; &amp;out, const xml_node&lt; Ch &gt; &amp;node, int flags=0);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Prints XML to given output stream. </para><h4>Parameters</h4><dl><dt class="parameter-name">out</dt><dd class="parameter-def">Output stream to print to. </dd></dl><dl><dt class="parameter-name">node</dt><dd class="parameter-def">Node to be printed. Pass xml_document to print entire document. </dd></dl><dl><dt class="parameter-name">flags</dt><dd class="parameter-def">Flags controlling how XML is printed. </dd></dl><h4>Returns</h4>Output stream. <p/><h3 class="reference-header" id="namespacerapidxml_5619b38000d967fb223b2b0a8c17463a_15619b38000d967fb223b2b0a8c17463a">function operator&lt;&lt;</h3><h4>Synopsis</h4><code class="synopsis">std::basic_ostream&lt;Ch&gt;&amp; rapidxml::operator&lt;&lt;(std::basic_ostream&lt; Ch &gt; &amp;out, const xml_node&lt; Ch &gt; &amp;node);
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Prints formatted XML to given output stream. Uses default printing flags. Use <a href="#namespacerapidxml_b94d570fc4c4ab2423813cd0243326b1_1b94d570fc4c4ab2423813cd0243326b1" kindref="member">print()</a> function to customize printing process. </para><h4>Parameters</h4><dl><dt class="parameter-name">out</dt><dd class="parameter-def">Output stream to print to. </dd></dl><dl><dt class="parameter-name">node</dt><dd class="parameter-def">Node to be printed. </dd></dl><h4>Returns</h4>Output stream. <p/><h3 class="reference-header" id="namespacerapidxml_87e8bbab53702cf3b438bd553c10b6b9_187e8bbab53702cf3b438bd553c10b6b9">
+				constant
+			 parse_no_data_nodes</h3><h4>Synopsis</h4><code class="synopsis">const int parse_no_data_nodes
+											  = 0x1;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to not create data nodes. Text of first data node will still be placed in value of parent element, unless <a href="#namespacerapidxml_97e2c4fdc04fae17126f9971a4fc993e_197e2c4fdc04fae17126f9971a4fc993e" kindref="member">rapidxml::parse_no_element_values</a> flag is also specified. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_97e2c4fdc04fae17126f9971a4fc993e_197e2c4fdc04fae17126f9971a4fc993e">
+				constant
+			 parse_no_element_values</h3><h4>Synopsis</h4><code class="synopsis">const int parse_no_element_values
+											  = 0x2;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to not use text of first data node as a value of parent element. Can be combined with other flags by use of | operator. Note that child data nodes of element node take precendence over its value when printing. That is, if element has one or more child data nodes <i>and</i> a value, the value will be ignored. Use <a href="#namespacerapidxml_87e8bbab53702cf3b438bd553c10b6b9_187e8bbab53702cf3b438bd553c10b6b9" kindref="member">rapidxml::parse_no_data_nodes</a> flag to prevent creation of data nodes if you want to manipulate data using values of elements. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_9cae3801e70437cbc410c24bf6be691c_19cae3801e70437cbc410c24bf6be691c">
+				constant
+			 parse_no_string_terminators</h3><h4>Synopsis</h4><code class="synopsis">const int parse_no_string_terminators
+											  = 0x4;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to not place zero terminators after strings in the source text. By default zero terminators are placed, modifying source text. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_7223b7815c4fb8b42e6e4e77e1ea6b97_17223b7815c4fb8b42e6e4e77e1ea6b97">
+				constant
+			 parse_no_entity_translation</h3><h4>Synopsis</h4><code class="synopsis">const int parse_no_entity_translation
+											  = 0x8;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to not translate entities in the source text. By default entities are translated, modifying source text. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_ccde57f6054857ee4042a1b4d98c83b9_1ccde57f6054857ee4042a1b4d98c83b9">
+				constant
+			 parse_no_utf8</h3><h4>Synopsis</h4><code class="synopsis">const int parse_no_utf8
+											  = 0x10;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to disable UTF-8 handling and assume plain 8 bit characters. By default, UTF-8 handling is enabled. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_52e2c934ad9c845a5f4cc49570470556_152e2c934ad9c845a5f4cc49570470556">
+				constant
+			 parse_declaration_node</h3><h4>Synopsis</h4><code class="synopsis">const int parse_declaration_node
+											  = 0x20;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to create XML declaration node. By default, declaration node is not created. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_0f7479dacbc868456d07897a8c072784_10f7479dacbc868456d07897a8c072784">
+				constant
+			 parse_comment_nodes</h3><h4>Synopsis</h4><code class="synopsis">const int parse_comment_nodes
+											  = 0x40;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to create comments nodes. By default, comment nodes are not created. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_8e187746ba1ca04f107951ad32df962e_18e187746ba1ca04f107951ad32df962e">
+				constant
+			 parse_doctype_node</h3><h4>Synopsis</h4><code class="synopsis">const int parse_doctype_node
+											  = 0x80;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to create DOCTYPE node. By default, doctype node is not created. Although W3C specification allows at most one DOCTYPE node, RapidXml will silently accept documents with more than one. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_1c20b2b2b75711cd76423e119c49f830_11c20b2b2b75711cd76423e119c49f830">
+				constant
+			 parse_pi_nodes</h3><h4>Synopsis</h4><code class="synopsis">const int parse_pi_nodes
+											  = 0x100;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to create PI nodes. By default, PI nodes are not created. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_a5daff9d61c7d4eaf98e4d42efe628ee_1a5daff9d61c7d4eaf98e4d42efe628ee">
+				constant
+			 parse_validate_closing_tags</h3><h4>Synopsis</h4><code class="synopsis">const int parse_validate_closing_tags
+											  = 0x200;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to validate closing tag names. If not set, name inside closing tag is irrelevant to the parser. By default, closing tags are not validated. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_ac1f06b1afd47b812732fb521b146fd9_1ac1f06b1afd47b812732fb521b146fd9">
+				constant
+			 parse_trim_whitespace</h3><h4>Synopsis</h4><code class="synopsis">const int parse_trim_whitespace
+											  = 0x400;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to trim all leading and trailing whitespace of data nodes. By default, whitespace is not trimmed. This flag does not cause the parser to modify source text. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_88f95d4e275ba01408fefde83078651b_188f95d4e275ba01408fefde83078651b">
+				constant
+			 parse_normalize_whitespace</h3><h4>Synopsis</h4><code class="synopsis">const int parse_normalize_whitespace
+											  = 0x800;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flag instructing the parser to condense all whitespace runs of data nodes to a single space character. Trimming of leading and trailing whitespace of data is controlled by <a href="#namespacerapidxml_ac1f06b1afd47b812732fb521b146fd9_1ac1f06b1afd47b812732fb521b146fd9" kindref="member">rapidxml::parse_trim_whitespace</a> flag. By default, whitespace is not normalized. If this flag is specified, source text will be modified. Can be combined with other flags by use of | operator. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_45751cf2f38fd6915f35b3122b46d5b6_145751cf2f38fd6915f35b3122b46d5b6">
+				constant
+			 parse_default</h3><h4>Synopsis</h4><code class="synopsis">const int parse_default
+											  = 0;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Parse flags which represent default behaviour of the parser. This is always equal to 0, so that all other flags can be simply ored together. Normally there is no need to inconveniently disable flags by anding with their negated (~) values. This also means that meaning of each flag is a <i>negation</i> of the default setting. For example, if flag name is <a href="#namespacerapidxml_ccde57f6054857ee4042a1b4d98c83b9_1ccde57f6054857ee4042a1b4d98c83b9" kindref="member">rapidxml::parse_no_utf8</a>, it means that utf-8 is <i>enabled</i> by default, and using the flag will disable it. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_a97ba1a0a79a6d66f4eef3612508d943_1a97ba1a0a79a6d66f4eef3612508d943">
+				constant
+			 parse_non_destructive</h3><h4>Synopsis</h4><code class="synopsis">const int parse_non_destructive
+											  = parse_no_string_terminators | parse_no_entity_translation;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">A combination of parse flags that forbids any modifications of the source text. This also results in faster parsing. However, note that the following will occur: <ul><li><para>names and values of nodes will not be zero terminated, you have to use <a href="#classrapidxml_1_1xml__base_0dae694c8f7e4d89f1003e2f3a15a43c_10dae694c8f7e4d89f1003e2f3a15a43c" kindref="member">xml_base::name_size()</a> and <a href="#classrapidxml_1_1xml__base_aed5ae791b7164c1ee5e649198cbb3db_1aed5ae791b7164c1ee5e649198cbb3db" kindref="member">xml_base::value_size()</a> functions to determine where name and value ends </para></li><li><para>entities will not be translated </para></li><li><para>whitespace will not be normalized </para></li></ul>
+See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_398c5476e76102f8bd76c10bb0abbe10_1398c5476e76102f8bd76c10bb0abbe10">
+				constant
+			 parse_fastest</h3><h4>Synopsis</h4><code class="synopsis">const int parse_fastest
+											  = parse_non_destructive | parse_no_data_nodes;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">A combination of parse flags resulting in fastest possible parsing, without sacrificing important data. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_b4f2515265facb42291570307924bd57_1b4f2515265facb42291570307924bd57">
+				constant
+			 parse_full</h3><h4>Synopsis</h4><code class="synopsis">const int parse_full
+											  = parse_declaration_node | parse_comment_nodes | parse_doctype_node | parse_pi_nodes | parse_validate_closing_tags;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">A combination of parse flags resulting in largest amount of data being extracted. This usually results in slowest parsing. <br/><br/>
+ See <a href="#classrapidxml_1_1xml__document_8338ce6042e7b04d5a42144fb446b69c_18338ce6042e7b04d5a42144fb446b69c" kindref="member">xml_document::parse()</a> function. </para><p/><h3 class="reference-header" id="namespacerapidxml_b08b8d4293c203b69ed6c5ae77ac1907_1b08b8d4293c203b69ed6c5ae77ac1907">
+				constant
+			 print_no_indenting</h3><h4>Synopsis</h4><code class="synopsis">const int print_no_indenting
+											  = 0x1;
+									  </code><h4>Description</h4><para xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">Printer flag instructing the printer to suppress indenting of XML. See <a href="#namespacerapidxml_b94d570fc4c4ab2423813cd0243326b1_1b94d570fc4c4ab2423813cd0243326b1" kindref="member">print()</a> function. </para><p/></body></html>
\ No newline at end of file
diff --git a/3rdparty/include/cereal/external/rapidxml/rapidxml.hpp b/3rdparty/include/cereal/external/rapidxml/rapidxml.hpp
new file mode 100644
index 0000000..424ec65
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/rapidxml.hpp
@@ -0,0 +1,2618 @@
+#ifndef RAPIDXML_HPP_INCLUDED
+#define RAPIDXML_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+
+// If standard library is disabled, user must provide implementations of required functions and typedefs
+#if !defined(RAPIDXML_NO_STDLIB)
+    #include <cstdlib>      // For std::size_t
+    #include <cassert>      // For assert
+    #include <new>          // For placement new
+#endif
+
+// On MSVC, disable "conditional expression is constant" warning (level 4).
+// This warning is almost impossible to avoid with certain types of templated code
+#ifdef _MSC_VER
+    #pragma warning(push)
+    #pragma warning(disable:4127)   // Conditional expression is constant
+    #pragma warning(disable:4100)   // unreferenced formal parameter
+#endif
+
+///////////////////////////////////////////////////////////////////////////
+// RAPIDXML_PARSE_ERROR
+
+#if defined(RAPIDXML_NO_EXCEPTIONS)
+
+#define RAPIDXML_PARSE_ERROR(what, where) { parse_error_handler(what, where); assert(0); }
+
+namespace rapidxml
+{
+    //! When exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS,
+    //! this function is called to notify user about the error.
+    //! It must be defined by the user.
+    //! <br><br>
+    //! This function cannot return. If it does, the results are undefined.
+    //! <br><br>
+    //! A very simple definition might look like that:
+    //! <pre>
+    //! void %rapidxml::%parse_error_handler(const char *what, void *where)
+    //! {
+    //!     std::cout << "Parse error: " << what << "\n";
+    //!     std::abort();
+    //! }
+    //! </pre>
+    //! \param what Human readable description of the error.
+    //! \param where Pointer to character data where error was detected.
+    void parse_error_handler(const char *what, void *where);
+}
+
+#else
+
+#include <exception>    // For std::exception
+
+#define RAPIDXML_PARSE_ERROR(what, where) throw parse_error(what, where)
+
+namespace rapidxml
+{
+
+    //! Parse error exception.
+    //! This exception is thrown by the parser when an error occurs.
+    //! Use what() function to get human-readable error message.
+    //! Use where() function to get a pointer to position within source text where error was detected.
+    //! <br><br>
+    //! If throwing exceptions by the parser is undesirable,
+    //! it can be disabled by defining RAPIDXML_NO_EXCEPTIONS macro before rapidxml.hpp is included.
+    //! This will cause the parser to call rapidxml::parse_error_handler() function instead of throwing an exception.
+    //! This function must be defined by the user.
+    //! <br><br>
+    //! This class derives from <code>std::exception</code> class.
+    class parse_error: public std::exception
+    {
+
+    public:
+
+        //! Constructs parse error
+        parse_error(const char *what_, void *where_)
+            : m_what(what_)
+            , m_where(where_)
+        {
+        }
+
+        //! Gets human readable description of error.
+        //! \return Pointer to null terminated description of the error.
+        virtual const char *what() const throw()
+        {
+            return m_what;
+        }
+
+        //! Gets pointer to character data where error happened.
+        //! Ch should be the same as char type of xml_document that produced the error.
+        //! \return Pointer to location within the parsed string where error occured.
+        template<class Ch>
+        Ch *where() const
+        {
+            return reinterpret_cast<Ch *>(m_where);
+        }
+
+    private:
+
+        const char *m_what;
+        void *m_where;
+
+    };
+}
+
+#endif
+
+///////////////////////////////////////////////////////////////////////////
+// Pool sizes
+
+#ifndef RAPIDXML_STATIC_POOL_SIZE
+    // Size of static memory block of memory_pool.
+    // Define RAPIDXML_STATIC_POOL_SIZE before including rapidxml.hpp if you want to override the default value.
+    // No dynamic memory allocations are performed by memory_pool until static memory is exhausted.
+    #define RAPIDXML_STATIC_POOL_SIZE (64 * 1024)
+#endif
+
+#ifndef RAPIDXML_DYNAMIC_POOL_SIZE
+    // Size of dynamic memory block of memory_pool.
+    // Define RAPIDXML_DYNAMIC_POOL_SIZE before including rapidxml.hpp if you want to override the default value.
+    // After the static block is exhausted, dynamic blocks with approximately this size are allocated by memory_pool.
+    #define RAPIDXML_DYNAMIC_POOL_SIZE (64 * 1024)
+#endif
+
+#ifndef RAPIDXML_ALIGNMENT
+    // Memory allocation alignment.
+    // Define RAPIDXML_ALIGNMENT before including rapidxml.hpp if you want to override the default value, which is the size of pointer.
+    // All memory allocations for nodes, attributes and strings will be aligned to this value.
+    // This must be a power of 2 and at least 1, otherwise memory_pool will not work.
+    #define RAPIDXML_ALIGNMENT sizeof(void *)
+#endif
+
+namespace rapidxml
+{
+    // Forward declarations
+    template<class Ch> class xml_node;
+    template<class Ch> class xml_attribute;
+    template<class Ch> class xml_document;
+
+    //! Enumeration listing all node types produced by the parser.
+    //! Use xml_node::type() function to query node type.
+    enum node_type
+    {
+        node_document,      //!< A document node. Name and value are empty.
+        node_element,       //!< An element node. Name contains element name. Value contains text of first data node.
+        node_data,          //!< A data node. Name is empty. Value contains data text.
+        node_cdata,         //!< A CDATA node. Name is empty. Value contains data text.
+        node_comment,       //!< A comment node. Name is empty. Value contains comment text.
+        node_declaration,   //!< A declaration node. Name and value are empty. Declaration parameters (version, encoding and standalone) are in node attributes.
+        node_doctype,       //!< A DOCTYPE node. Name is empty. Value contains DOCTYPE text.
+        node_pi             //!< A PI node. Name contains target. Value contains instructions.
+    };
+
+    ///////////////////////////////////////////////////////////////////////
+    // Parsing flags
+
+    //! Parse flag instructing the parser to not create data nodes.
+    //! Text of first data node will still be placed in value of parent element, unless rapidxml::parse_no_element_values flag is also specified.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_data_nodes = 0x1;
+
+    //! Parse flag instructing the parser to not use text of first data node as a value of parent element.
+    //! Can be combined with other flags by use of | operator.
+    //! Note that child data nodes of element node take precendence over its value when printing.
+    //! That is, if element has one or more child data nodes <em>and</em> a value, the value will be ignored.
+    //! Use rapidxml::parse_no_data_nodes flag to prevent creation of data nodes if you want to manipulate data using values of elements.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_element_values = 0x2;
+
+    //! Parse flag instructing the parser to not place zero terminators after strings in the source text.
+    //! By default zero terminators are placed, modifying source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_string_terminators = 0x4;
+
+    //! Parse flag instructing the parser to not translate entities in the source text.
+    //! By default entities are translated, modifying source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_entity_translation = 0x8;
+
+    //! Parse flag instructing the parser to disable UTF-8 handling and assume plain 8 bit characters.
+    //! By default, UTF-8 handling is enabled.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_utf8 = 0x10;
+
+    //! Parse flag instructing the parser to create XML declaration node.
+    //! By default, declaration node is not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_declaration_node = 0x20;
+
+    //! Parse flag instructing the parser to create comments nodes.
+    //! By default, comment nodes are not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_comment_nodes = 0x40;
+
+    //! Parse flag instructing the parser to create DOCTYPE node.
+    //! By default, doctype node is not created.
+    //! Although W3C specification allows at most one DOCTYPE node, RapidXml will silently accept documents with more than one.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_doctype_node = 0x80;
+
+    //! Parse flag instructing the parser to create PI nodes.
+    //! By default, PI nodes are not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_pi_nodes = 0x100;
+
+    //! Parse flag instructing the parser to validate closing tag names.
+    //! If not set, name inside closing tag is irrelevant to the parser.
+    //! By default, closing tags are not validated.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_validate_closing_tags = 0x200;
+
+    //! Parse flag instructing the parser to trim all leading and trailing whitespace of data nodes.
+    //! By default, whitespace is not trimmed.
+    //! This flag does not cause the parser to modify source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_trim_whitespace = 0x400;
+
+    //! Parse flag instructing the parser to condense all whitespace runs of data nodes to a single space character.
+    //! Trimming of leading and trailing whitespace of data is controlled by rapidxml::parse_trim_whitespace flag.
+    //! By default, whitespace is not normalized.
+    //! If this flag is specified, source text will be modified.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_normalize_whitespace = 0x800;
+
+    // Compound flags
+
+    //! Parse flags which represent default behaviour of the parser.
+    //! This is always equal to 0, so that all other flags can be simply ored together.
+    //! Normally there is no need to inconveniently disable flags by anding with their negated (~) values.
+    //! This also means that meaning of each flag is a <i>negation</i> of the default setting.
+    //! For example, if flag name is rapidxml::parse_no_utf8, it means that utf-8 is <i>enabled</i> by default,
+    //! and using the flag will disable it.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_default = 0;
+
+    //! A combination of parse flags that forbids any modifications of the source text.
+    //! This also results in faster parsing. However, note that the following will occur:
+    //! <ul>
+    //! <li>names and values of nodes will not be zero terminated, you have to use xml_base::name_size() and xml_base::value_size() functions to determine where name and value ends</li>
+    //! <li>entities will not be translated</li>
+    //! <li>whitespace will not be normalized</li>
+    //! </ul>
+    //! See xml_document::parse() function.
+    const int parse_non_destructive = parse_no_string_terminators | parse_no_entity_translation;
+
+    //! A combination of parse flags resulting in fastest possible parsing, without sacrificing important data.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_fastest = parse_non_destructive | parse_no_data_nodes;
+
+    //! A combination of parse flags resulting in largest amount of data being extracted.
+    //! This usually results in slowest parsing.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_full = parse_declaration_node | parse_comment_nodes | parse_doctype_node | parse_pi_nodes | parse_validate_closing_tags;
+
+    ///////////////////////////////////////////////////////////////////////
+    // Internals
+
+    //! \cond internal
+    namespace internal
+    {
+
+        // Struct that contains lookup tables for the parser
+        // It must be a template to allow correct linking (because it has static data members, which are defined in a header file).
+        template<int Dummy>
+        struct lookup_tables
+        {
+            static const unsigned char lookup_whitespace[256];              // Whitespace table
+            static const unsigned char lookup_node_name[256];               // Node name table
+            static const unsigned char lookup_text[256];                    // Text table
+            static const unsigned char lookup_text_pure_no_ws[256];         // Text table
+            static const unsigned char lookup_text_pure_with_ws[256];       // Text table
+            static const unsigned char lookup_attribute_name[256];          // Attribute name table
+            static const unsigned char lookup_attribute_data_1[256];        // Attribute data table with single quote
+            static const unsigned char lookup_attribute_data_1_pure[256];   // Attribute data table with single quote
+            static const unsigned char lookup_attribute_data_2[256];        // Attribute data table with double quotes
+            static const unsigned char lookup_attribute_data_2_pure[256];   // Attribute data table with double quotes
+            static const unsigned char lookup_digits[256];                  // Digits
+            static const unsigned char lookup_upcase[256];                  // To uppercase conversion table for ASCII characters
+        };
+
+        // Find length of the string
+        template<class Ch>
+        inline std::size_t measure(const Ch *p)
+        {
+            const Ch *tmp = p;
+            while (*tmp)
+                ++tmp;
+            return tmp - p;
+        }
+
+        // Compare strings for equality
+        template<class Ch>
+        inline bool compare(const Ch *p1, std::size_t size1, const Ch *p2, std::size_t size2, bool case_sensitive)
+        {
+            if (size1 != size2)
+                return false;
+            if (case_sensitive)
+            {
+                for (const Ch *end = p1 + size1; p1 < end; ++p1, ++p2)
+                    if (*p1 != *p2)
+                        return false;
+            }
+            else
+            {
+                for (const Ch *end = p1 + size1; p1 < end; ++p1, ++p2)
+                    if (lookup_tables<0>::lookup_upcase[static_cast<unsigned char>(*p1)] != lookup_tables<0>::lookup_upcase[static_cast<unsigned char>(*p2)])
+                        return false;
+            }
+            return true;
+        }
+
+        template<class Ch>
+        inline bool preserve_space(xml_node<Ch>* node)
+        {
+            const Ch preserve_value[] = { Ch('p'), Ch('r'), Ch('e'), Ch('s'), Ch('e'), Ch('r'), Ch('v'), Ch('e') };
+            const xml_attribute<Ch>* space = node->first_attribute("xml:space");
+            return space && internal::compare(space->value(), space->value_size(), preserve_value, sizeof(preserve_value) / sizeof(Ch), true);
+        }
+    }
+    //! \endcond
+
+    ///////////////////////////////////////////////////////////////////////
+    // Memory pool
+
+    //! This class is used by the parser to create new nodes and attributes, without overheads of dynamic memory allocation.
+    //! In most cases, you will not need to use this class directly.
+    //! However, if you need to create nodes manually or modify names/values of nodes,
+    //! you are encouraged to use memory_pool of relevant xml_document to allocate the memory.
+    //! Not only is this faster than allocating them by using <code>new</code> operator,
+    //! but also their lifetime will be tied to the lifetime of document,
+    //! possibly simplyfing memory management.
+    //! <br><br>
+    //! Call allocate_node() or allocate_attribute() functions to obtain new nodes or attributes from the pool.
+    //! You can also call allocate_string() function to allocate strings.
+    //! Such strings can then be used as names or values of nodes without worrying about their lifetime.
+    //! Note that there is no <code>free()</code> function -- all allocations are freed at once when clear() function is called,
+    //! or when the pool is destroyed.
+    //! <br><br>
+    //! It is also possible to create a standalone memory_pool, and use it
+    //! to allocate nodes, whose lifetime will not be tied to any document.
+    //! <br><br>
+    //! Pool maintains <code>RAPIDXML_STATIC_POOL_SIZE</code> bytes of statically allocated memory.
+    //! Until static memory is exhausted, no dynamic memory allocations are done.
+    //! When static memory is exhausted, pool allocates additional blocks of memory of size <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> each,
+    //! by using global <code>new[]</code> and <code>delete[]</code> operators.
+    //! This behaviour can be changed by setting custom allocation routines.
+    //! Use set_allocator() function to set them.
+    //! <br><br>
+    //! Allocations for nodes, attributes and strings are aligned at <code>RAPIDXML_ALIGNMENT</code> bytes.
+    //! This value defaults to the size of pointer on target architecture.
+    //! <br><br>
+    //! To obtain absolutely top performance from the parser,
+    //! it is important that all nodes are allocated from a single, contiguous block of memory.
+    //! Otherwise, cache misses when jumping between two (or more) disjoint blocks of memory can slow down parsing quite considerably.
+    //! If required, you can tweak <code>RAPIDXML_STATIC_POOL_SIZE</code>, <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> and <code>RAPIDXML_ALIGNMENT</code>
+    //! to obtain best wasted memory to performance compromise.
+    //! To do it, define their values before rapidxml.hpp file is included.
+    //! \param Ch Character type of created nodes.
+    template<class Ch = char>
+    class memory_pool
+    {
+
+    public:
+
+        //! \cond internal
+        typedef void *(alloc_func)(std::size_t);       // Type of user-defined function used to allocate memory
+        typedef void (free_func)(void *);              // Type of user-defined function used to free memory
+        //! \endcond
+
+        //! Constructs empty pool with default allocator functions.
+        memory_pool()
+            : m_alloc_func(0)
+            , m_free_func(0)
+        {
+            init();
+        }
+
+        //! Destroys pool and frees all the memory.
+        //! This causes memory occupied by nodes allocated by the pool to be freed.
+        //! Nodes allocated from the pool are no longer valid.
+        ~memory_pool()
+        {
+            clear();
+        }
+
+        //! Allocates a new node from the pool, and optionally assigns name and value to it.
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param type Type of node to create.
+        //! \param name Name to assign to the node, or 0 to assign no name.
+        //! \param value Value to assign to the node, or 0 to assign no value.
+        //! \param name_size Size of name to assign, or 0 to automatically calculate size from name string.
+        //! \param value_size Size of value to assign, or 0 to automatically calculate size from value string.
+        //! \return Pointer to allocated node. This pointer will never be NULL.
+        xml_node<Ch> *allocate_node(node_type type,
+                                    const Ch *name = 0, const Ch *value = 0,
+                                    std::size_t name_size = 0, std::size_t value_size = 0)
+        {
+            void *memory = allocate_aligned(sizeof(xml_node<Ch>));
+            xml_node<Ch> *node = new(memory) xml_node<Ch>(type);
+            if (name)
+            {
+                if (name_size > 0)
+                    node->name(name, name_size);
+                else
+                    node->name(name);
+            }
+            if (value)
+            {
+                if (value_size > 0)
+                    node->value(value, value_size);
+                else
+                    node->value(value);
+            }
+            return node;
+        }
+
+        //! Allocates a new attribute from the pool, and optionally assigns name and value to it.
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param name Name to assign to the attribute, or 0 to assign no name.
+        //! \param value Value to assign to the attribute, or 0 to assign no value.
+        //! \param name_size Size of name to assign, or 0 to automatically calculate size from name string.
+        //! \param value_size Size of value to assign, or 0 to automatically calculate size from value string.
+        //! \return Pointer to allocated attribute. This pointer will never be NULL.
+        xml_attribute<Ch> *allocate_attribute(const Ch *name = 0, const Ch *value = 0,
+                                              std::size_t name_size = 0, std::size_t value_size = 0)
+        {
+            void *memory = allocate_aligned(sizeof(xml_attribute<Ch>));
+            xml_attribute<Ch> *attribute = new(memory) xml_attribute<Ch>;
+            if (name)
+            {
+                if (name_size > 0)
+                    attribute->name(name, name_size);
+                else
+                    attribute->name(name);
+            }
+            if (value)
+            {
+                if (value_size > 0)
+                    attribute->value(value, value_size);
+                else
+                    attribute->value(value);
+            }
+            return attribute;
+        }
+
+        //! Allocates a char array of given size from the pool, and optionally copies a given string to it.
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param source String to initialize the allocated memory with, or 0 to not initialize it.
+        //! \param size Number of characters to allocate, or zero to calculate it automatically from source string length; if size is 0, source string must be specified and null terminated.
+        //! \return Pointer to allocated char array. This pointer will never be NULL.
+        Ch *allocate_string(const Ch *source = 0, std::size_t size = 0)
+        {
+            assert(source || size);     // Either source or size (or both) must be specified
+            if (size == 0)
+                size = internal::measure(source) + 1;
+            Ch *result = static_cast<Ch *>(allocate_aligned(size * sizeof(Ch)));
+            if (source)
+                for (std::size_t i = 0; i < size; ++i)
+                    result[i] = source[i];
+            return result;
+        }
+
+        //! Clones an xml_node and its hierarchy of child nodes and attributes.
+        //! Nodes and attributes are allocated from this memory pool.
+        //! Names and values are not cloned, they are shared between the clone and the source.
+        //! Result node can be optionally specified as a second parameter,
+        //! in which case its contents will be replaced with cloned source node.
+        //! This is useful when you want to clone entire document.
+        //! \param source Node to clone.
+        //! \param result Node to put results in, or 0 to automatically allocate result node
+        //! \return Pointer to cloned node. This pointer will never be NULL.
+        xml_node<Ch> *clone_node(const xml_node<Ch> *source, xml_node<Ch> *result = 0)
+        {
+            // Prepare result node
+            if (result)
+            {
+                result->remove_all_attributes();
+                result->remove_all_nodes();
+                result->type(source->type());
+            }
+            else
+                result = allocate_node(source->type());
+
+            // Clone name and value
+            result->name(source->name(), source->name_size());
+            result->value(source->value(), source->value_size());
+
+            // Clone child nodes and attributes
+            for (xml_node<Ch> *child = source->first_node(); child; child = child->next_sibling())
+                result->append_node(clone_node(child));
+            for (xml_attribute<Ch> *attr = source->first_attribute(); attr; attr = attr->next_attribute())
+                result->append_attribute(allocate_attribute(attr->name(), attr->value(), attr->name_size(), attr->value_size()));
+
+            return result;
+        }
+
+        //! Clears the pool.
+        //! This causes memory occupied by nodes allocated by the pool to be freed.
+        //! Any nodes or strings allocated from the pool will no longer be valid.
+        void clear()
+        {
+            while (m_begin != m_static_memory)
+            {
+                char *previous_begin = reinterpret_cast<header *>(align(m_begin))->previous_begin;
+                if (m_free_func)
+                    m_free_func(m_begin);
+                else
+                    delete[] m_begin;
+                m_begin = previous_begin;
+            }
+            init();
+        }
+
+        //! Sets or resets the user-defined memory allocation functions for the pool.
+        //! This can only be called when no memory is allocated from the pool yet, otherwise results are undefined.
+        //! Allocation function must not return invalid pointer on failure. It should either throw,
+        //! stop the program, or use <code>longjmp()</code> function to pass control to other place of program.
+        //! If it returns invalid pointer, results are undefined.
+        //! <br><br>
+        //! User defined allocation functions must have the following forms:
+        //! <br><code>
+        //! <br>void *allocate(std::size_t size);
+        //! <br>void free(void *pointer);
+        //! </code><br>
+        //! \param af Allocation function, or 0 to restore default function
+        //! \param ff Free function, or 0 to restore default function
+        void set_allocator(alloc_func *af, free_func *ff)
+        {
+            assert(m_begin == m_static_memory && m_ptr == align(m_begin));    // Verify that no memory is allocated yet
+            m_alloc_func = af;
+            m_free_func = ff;
+        }
+
+    private:
+
+        struct header
+        {
+            char *previous_begin;
+        };
+
+        void init()
+        {
+            m_begin = m_static_memory;
+            m_ptr = align(m_begin);
+            m_end = m_static_memory + sizeof(m_static_memory);
+        }
+
+        char *align(char *ptr)
+        {
+            std::size_t alignment = ((RAPIDXML_ALIGNMENT - (std::size_t(ptr) & (RAPIDXML_ALIGNMENT - 1))) & (RAPIDXML_ALIGNMENT - 1));
+            return ptr + alignment;
+        }
+
+        char *allocate_raw(std::size_t size)
+        {
+            // Allocate
+            void *memory;
+            if (m_alloc_func)   // Allocate memory using either user-specified allocation function or global operator new[]
+            {
+                memory = m_alloc_func(size);
+                assert(memory); // Allocator is not allowed to return 0, on failure it must either throw, stop the program or use longjmp
+            }
+            else
+            {
+                memory = new char[size];
+#ifdef RAPIDXML_NO_EXCEPTIONS
+                if (!memory)            // If exceptions are disabled, verify memory allocation, because new will not be able to throw bad_alloc
+                    RAPIDXML_PARSE_ERROR("out of memory", 0);
+#endif
+            }
+            return static_cast<char *>(memory);
+        }
+
+        void *allocate_aligned(std::size_t size)
+        {
+            // Calculate aligned pointer
+            char *result = align(m_ptr);
+
+            // If not enough memory left in current pool, allocate a new pool
+            if (result + size > m_end)
+            {
+                // Calculate required pool size (may be bigger than RAPIDXML_DYNAMIC_POOL_SIZE)
+                std::size_t pool_size = RAPIDXML_DYNAMIC_POOL_SIZE;
+                if (pool_size < size)
+                    pool_size = size;
+
+                // Allocate
+                std::size_t alloc_size = sizeof(header) + (2 * RAPIDXML_ALIGNMENT - 2) + pool_size;     // 2 alignments required in worst case: one for header, one for actual allocation
+                char *raw_memory = allocate_raw(alloc_size);
+
+                // Setup new pool in allocated memory
+                char *pool = align(raw_memory);
+                header *new_header = reinterpret_cast<header *>(pool);
+                new_header->previous_begin = m_begin;
+                m_begin = raw_memory;
+                m_ptr = pool + sizeof(header);
+                m_end = raw_memory + alloc_size;
+
+                // Calculate aligned pointer again using new pool
+                result = align(m_ptr);
+            }
+
+            // Update pool and return aligned pointer
+            m_ptr = result + size;
+            return result;
+        }
+
+        char *m_begin;                                      // Start of raw memory making up current pool
+        char *m_ptr;                                        // First free byte in current pool
+        char *m_end;                                        // One past last available byte in current pool
+        char m_static_memory[RAPIDXML_STATIC_POOL_SIZE];    // Static raw memory
+        alloc_func *m_alloc_func;                           // Allocator function, or 0 if default is to be used
+        free_func *m_free_func;                             // Free function, or 0 if default is to be used
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML base
+
+    //! Base class for xml_node and xml_attribute implementing common functions:
+    //! name(), name_size(), value(), value_size() and parent().
+    //! \param Ch Character type to use
+    template<class Ch = char>
+    class xml_base
+    {
+
+    public:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+
+        // Construct a base with empty name, value and parent
+        xml_base()
+            : m_name(0)
+            , m_value(0)
+            , m_parent(0)
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node data access
+
+        //! Gets name of the node.
+        //! Interpretation of name depends on type of node.
+        //! Note that name will not be zero-terminated if rapidxml::parse_no_string_terminators option was selected during parse.
+        //! <br><br>
+        //! Use name_size() function to determine length of the name.
+        //! \return Name of node, or empty string if node has no name.
+        Ch *name() const
+        {
+            return m_name ? m_name : nullstr();
+        }
+
+        //! Gets size of node name, not including terminator character.
+        //! This function works correctly irrespective of whether name is or is not zero terminated.
+        //! \return Size of node name, in characters.
+        std::size_t name_size() const
+        {
+            return m_name ? m_name_size : 0;
+        }
+
+        //! Gets value of node.
+        //! Interpretation of value depends on type of node.
+        //! Note that value will not be zero-terminated if rapidxml::parse_no_string_terminators option was selected during parse.
+        //! <br><br>
+        //! Use value_size() function to determine length of the value.
+        //! \return Value of node, or empty string if node has no value.
+        Ch *value() const
+        {
+            return m_value ? m_value : nullstr();
+        }
+
+        //! Gets size of node value, not including terminator character.
+        //! This function works correctly irrespective of whether value is or is not zero terminated.
+        //! \return Size of node value, in characters.
+        std::size_t value_size() const
+        {
+            return m_value ? m_value_size : 0;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node modification
+
+        //! Sets name of node to a non zero-terminated string.
+        //! See \ref ownership_of_strings.
+        //! <br><br>
+        //! Note that node does not own its name or value, it only stores a pointer to it.
+        //! It will not delete or otherwise free the pointer on destruction.
+        //! It is reponsibility of the user to properly manage lifetime of the string.
+        //! The easiest way to achieve it is to use memory_pool of the document to allocate the string -
+        //! on destruction of the document the string will be automatically freed.
+        //! <br><br>
+        //! Size of name must be specified separately, because name does not have to be zero terminated.
+        //! Use name(const Ch *) function to have the length automatically calculated (string must be zero terminated).
+        //! \param name Name of node to set. Does not have to be zero terminated.
+        //! \param size Size of name, in characters. This does not include zero terminator, if one is present.
+        void name(const Ch *name_, std::size_t size)
+        {
+            m_name = const_cast<Ch *>(name_);
+            m_name_size = size;
+        }
+
+        //! Sets name of node to a zero-terminated string.
+        //! See also \ref ownership_of_strings and xml_node::name(const Ch *, std::size_t).
+        //! \param name Name of node to set. Must be zero terminated.
+        void name(const Ch *name_)
+        {
+            this->name(name_, internal::measure(name_));
+        }
+
+        //! Sets value of node to a non zero-terminated string.
+        //! See \ref ownership_of_strings.
+        //! <br><br>
+        //! Note that node does not own its name or value, it only stores a pointer to it.
+        //! It will not delete or otherwise free the pointer on destruction.
+        //! It is reponsibility of the user to properly manage lifetime of the string.
+        //! The easiest way to achieve it is to use memory_pool of the document to allocate the string -
+        //! on destruction of the document the string will be automatically freed.
+        //! <br><br>
+        //! Size of value must be specified separately, because it does not have to be zero terminated.
+        //! Use value(const Ch *) function to have the length automatically calculated (string must be zero terminated).
+        //! <br><br>
+        //! If an element has a child node of type node_data, it will take precedence over element value when printing.
+        //! If you want to manipulate data of elements using values, use parser flag rapidxml::parse_no_data_nodes to prevent creation of data nodes by the parser.
+        //! \param value value of node to set. Does not have to be zero terminated.
+        //! \param size Size of value, in characters. This does not include zero terminator, if one is present.
+        void value(const Ch *value_, std::size_t size)
+        {
+            m_value = const_cast<Ch *>(value_);
+            m_value_size = size;
+        }
+
+        //! Sets value of node to a zero-terminated string.
+        //! See also \ref ownership_of_strings and xml_node::value(const Ch *, std::size_t).
+        //! \param value Vame of node to set. Must be zero terminated.
+        void value(const Ch *value_)
+        {
+            this->value(value_, internal::measure(value_));
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+
+        //! Gets node parent.
+        //! \return Pointer to parent node, or 0 if there is no parent.
+        xml_node<Ch> *parent() const
+        {
+            return m_parent;
+        }
+
+    protected:
+
+        // Return empty string
+        static Ch *nullstr()
+        {
+            static Ch zero = Ch('\0');
+            return &zero;
+        }
+
+        Ch *m_name;                         // Name of node, or 0 if no name
+        Ch *m_value;                        // Value of node, or 0 if no value
+        std::size_t m_name_size;            // Length of node name, or undefined of no name
+        std::size_t m_value_size;           // Length of node value, or undefined if no value
+        xml_node<Ch> *m_parent;             // Pointer to parent node, or 0 if none
+
+    };
+
+    //! Class representing attribute node of XML document.
+    //! Each attribute has name and value strings, which are available through name() and value() functions (inherited from xml_base).
+    //! Note that after parse, both name and value of attribute will point to interior of source text used for parsing.
+    //! Thus, this text must persist in memory for the lifetime of attribute.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_attribute: public xml_base<Ch>
+    {
+
+        friend class xml_node<Ch>;
+
+    public:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+
+        //! Constructs an empty attribute with the specified type.
+        //! Consider using memory_pool of appropriate xml_document if allocating attributes manually.
+        xml_attribute()
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+
+        //! Gets document of which attribute is a child.
+        //! \return Pointer to document that contains this attribute, or 0 if there is no parent document.
+        xml_document<Ch> *document() const
+        {
+            if (xml_node<Ch> *node = this->parent())
+            {
+                while (node->parent())
+                    node = node->parent();
+                return node->type() == node_document ? static_cast<xml_document<Ch> *>(node) : 0;
+            }
+            else
+                return 0;
+        }
+
+        //! Gets previous attribute, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return previous attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *previous_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_prev_attribute; attribute; attribute = attribute->m_prev_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return this->m_parent ? m_prev_attribute : 0;
+        }
+
+        //! Gets next attribute, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return next attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *next_attribute(const Ch *name_ = 0, std::size_t name_size_ = 0, bool case_sensitive = true) const
+        {
+            if (name_)
+            {
+                if (name_size_ == 0)
+                    name_size_ = internal::measure(name_);
+                for (xml_attribute<Ch> *attribute = m_next_attribute; attribute; attribute = attribute->m_next_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name_, name_size_, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return this->m_parent ? m_next_attribute : 0;
+        }
+
+    private:
+
+        xml_attribute<Ch> *m_prev_attribute;        // Pointer to previous sibling of attribute, or 0 if none; only valid if parent is non-zero
+        xml_attribute<Ch> *m_next_attribute;        // Pointer to next sibling of attribute, or 0 if none; only valid if parent is non-zero
+
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML node
+
+    //! Class representing a node of XML document.
+    //! Each node may have associated name and value strings, which are available through name() and value() functions.
+    //! Interpretation of name and value depends on type of the node.
+    //! Type of node can be determined by using type() function.
+    //! <br><br>
+    //! Note that after parse, both name and value of node, if any, will point interior of source text used for parsing.
+    //! Thus, this text must persist in the memory for the lifetime of node.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_node: public xml_base<Ch>
+    {
+
+    public:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+
+        //! Constructs an empty node with the specified type.
+        //! Consider using memory_pool of appropriate document to allocate nodes manually.
+        //! \param type Type of node to construct.
+        xml_node(node_type type_)
+            : m_type(type_)
+            , m_first_node(0)
+            , m_first_attribute(0)
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node data access
+
+        //! Gets type of node.
+        //! \return Type of node.
+        node_type type() const
+        {
+            return m_type;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+
+        //! Gets document of which node is a child.
+        //! \return Pointer to document that contains this node, or 0 if there is no parent document.
+        xml_document<Ch> *document() const
+        {
+            xml_node<Ch> *node = const_cast<xml_node<Ch> *>(this);
+            while (node->parent())
+                node = node->parent();
+            return node->type() == node_document ? static_cast<xml_document<Ch> *>(node) : 0;
+        }
+
+        //! Gets first child node, optionally matching node name.
+        //! \param name Name of child to find, or 0 to return first child regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found child, or 0 if not found.
+        xml_node<Ch> *first_node(const Ch *name_ = 0, std::size_t name_size_ = 0, bool case_sensitive = true) const
+        {
+            if (name_)
+            {
+                if (name_size_ == 0)
+                    name_size_ = internal::measure(name_);
+                for (xml_node<Ch> *child = m_first_node; child; child = child->next_sibling())
+                    if (internal::compare(child->name(), child->name_size(), name_, name_size_, case_sensitive))
+                        return child;
+                return 0;
+            }
+            else
+                return m_first_node;
+        }
+
+        //! Gets last child node, optionally matching node name.
+        //! Behaviour is undefined if node has no children.
+        //! Use first_node() to test if node has children.
+        //! \param name Name of child to find, or 0 to return last child regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found child, or 0 if not found.
+        xml_node<Ch> *last_node(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            assert(m_first_node);  // Cannot query for last child if node has no children
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *child = m_last_node; child; child = child->previous_sibling())
+                    if (internal::compare(child->name(), child->name_size(), name, name_size, case_sensitive))
+                        return child;
+                return 0;
+            }
+            else
+                return m_last_node;
+        }
+
+        //! Gets previous sibling node, optionally matching node name.
+        //! Behaviour is undefined if node has no parent.
+        //! Use parent() to test if node has a parent.
+        //! \param name Name of sibling to find, or 0 to return previous sibling regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found sibling, or 0 if not found.
+        xml_node<Ch> *previous_sibling(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            assert(this->m_parent);     // Cannot query for siblings if node has no parent
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *sibling = m_prev_sibling; sibling; sibling = sibling->m_prev_sibling)
+                    if (internal::compare(sibling->name(), sibling->name_size(), name, name_size, case_sensitive))
+                        return sibling;
+                return 0;
+            }
+            else
+                return m_prev_sibling;
+        }
+
+        //! Gets next sibling node, optionally matching node name.
+        //! Behaviour is undefined if node has no parent.
+        //! Use parent() to test if node has a parent.
+        //! \param name Name of sibling to find, or 0 to return next sibling regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found sibling, or 0 if not found.
+        xml_node<Ch> *next_sibling(const Ch *name_ = 0, std::size_t name_size_ = 0, bool case_sensitive = true) const
+        {
+            assert(this->m_parent);     // Cannot query for siblings if node has no parent
+            if (name_)
+            {
+                if (name_size_ == 0)
+                    name_size_ = internal::measure(name_);
+                for (xml_node<Ch> *sibling = m_next_sibling; sibling; sibling = sibling->m_next_sibling)
+                    if (internal::compare(sibling->name(), sibling->name_size(), name_, name_size_, case_sensitive))
+                        return sibling;
+                return 0;
+            }
+            else
+                return m_next_sibling;
+        }
+
+        //! Gets first attribute of node, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return first attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *first_attribute(const Ch *name_ = 0, std::size_t name_size_ = 0, bool case_sensitive = true) const
+        {
+            if (name_)
+            {
+                if (name_size_ == 0)
+                    name_size_ = internal::measure(name_);
+                for (xml_attribute<Ch> *attribute = m_first_attribute; attribute; attribute = attribute->m_next_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name_, name_size_, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return m_first_attribute;
+        }
+
+        //! Gets last attribute of node, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return last attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *last_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_last_attribute; attribute; attribute = attribute->m_prev_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return m_first_attribute ? m_last_attribute : 0;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node modification
+
+        //! Sets type of node.
+        //! \param type Type of node to set.
+        void type(node_type type_)
+        {
+            m_type = type_;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node manipulation
+
+        //! Prepends a new child node.
+        //! The prepended child becomes the first child, and all existing children are moved one position back.
+        //! \param child Node to prepend.
+        void prepend_node(xml_node<Ch> *child)
+        {
+            assert(child && !child->parent() && child->type() != node_document);
+            if (first_node())
+            {
+                child->m_next_sibling = m_first_node;
+                m_first_node->m_prev_sibling = child;
+            }
+            else
+            {
+                child->m_next_sibling = 0;
+                m_last_node = child;
+            }
+            m_first_node = child;
+            child->m_parent = this;
+            child->m_prev_sibling = 0;
+        }
+
+        //! Appends a new child node.
+        //! The appended child becomes the last child.
+        //! \param child Node to append.
+        void append_node(xml_node<Ch> *child)
+        {
+            assert(child && !child->parent() && child->type() != node_document);
+            if (first_node())
+            {
+                child->m_prev_sibling = m_last_node;
+                m_last_node->m_next_sibling = child;
+            }
+            else
+            {
+                child->m_prev_sibling = 0;
+                m_first_node = child;
+            }
+            m_last_node = child;
+            child->m_parent = this;
+            child->m_next_sibling = 0;
+        }
+
+        //! Inserts a new child node at specified place inside the node.
+        //! All children after and including the specified node are moved one position back.
+        //! \param where Place where to insert the child, or 0 to insert at the back.
+        //! \param child Node to insert.
+        void insert_node(xml_node<Ch> *where, xml_node<Ch> *child)
+        {
+            assert(!where || where->parent() == this);
+            assert(child && !child->parent() && child->type() != node_document);
+            if (where == m_first_node)
+                prepend_node(child);
+            else if (where == 0)
+                append_node(child);
+            else
+            {
+                child->m_prev_sibling = where->m_prev_sibling;
+                child->m_next_sibling = where;
+                where->m_prev_sibling->m_next_sibling = child;
+                where->m_prev_sibling = child;
+                child->m_parent = this;
+            }
+        }
+
+        //! Removes first child node.
+        //! If node has no children, behaviour is undefined.
+        //! Use first_node() to test if node has children.
+        void remove_first_node()
+        {
+            assert(first_node());
+            xml_node<Ch> *child = m_first_node;
+            m_first_node = child->m_next_sibling;
+            if (child->m_next_sibling)
+                child->m_next_sibling->m_prev_sibling = 0;
+            else
+                m_last_node = 0;
+            child->m_parent = 0;
+        }
+
+        //! Removes last child of the node.
+        //! If node has no children, behaviour is undefined.
+        //! Use first_node() to test if node has children.
+        void remove_last_node()
+        {
+            assert(first_node());
+            xml_node<Ch> *child = m_last_node;
+            if (child->m_prev_sibling)
+            {
+                m_last_node = child->m_prev_sibling;
+                child->m_prev_sibling->m_next_sibling = 0;
+            }
+            else
+                m_first_node = 0;
+            child->m_parent = 0;
+        }
+
+        //! Removes specified child from the node
+        // \param where Pointer to child to be removed.
+        void remove_node(xml_node<Ch> *where)
+        {
+            assert(where && where->parent() == this);
+            assert(first_node());
+            if (where == m_first_node)
+                remove_first_node();
+            else if (where == m_last_node)
+                remove_last_node();
+            else
+            {
+                where->m_prev_sibling->m_next_sibling = where->m_next_sibling;
+                where->m_next_sibling->m_prev_sibling = where->m_prev_sibling;
+                where->m_parent = 0;
+            }
+        }
+
+        //! Removes all child nodes (but not attributes).
+        void remove_all_nodes()
+        {
+            for (xml_node<Ch> *node = first_node(); node; node = node->m_next_sibling)
+                node->m_parent = 0;
+            m_first_node = 0;
+        }
+
+        //! Prepends a new attribute to the node.
+        //! \param attribute Attribute to prepend.
+        void prepend_attribute(xml_attribute<Ch> *attribute)
+        {
+            assert(attribute && !attribute->parent());
+            if (first_attribute())
+            {
+                attribute->m_next_attribute = m_first_attribute;
+                m_first_attribute->m_prev_attribute = attribute;
+            }
+            else
+            {
+                attribute->m_next_attribute = 0;
+                m_last_attribute = attribute;
+            }
+            m_first_attribute = attribute;
+            attribute->m_parent = this;
+            attribute->m_prev_attribute = 0;
+        }
+
+        //! Appends a new attribute to the node.
+        //! \param attribute Attribute to append.
+        void append_attribute(xml_attribute<Ch> *attribute)
+        {
+            assert(attribute && !attribute->parent());
+            if (first_attribute())
+            {
+                attribute->m_prev_attribute = m_last_attribute;
+                m_last_attribute->m_next_attribute = attribute;
+            }
+            else
+            {
+                attribute->m_prev_attribute = 0;
+                m_first_attribute = attribute;
+            }
+            m_last_attribute = attribute;
+            attribute->m_parent = this;
+            attribute->m_next_attribute = 0;
+        }
+
+        //! Inserts a new attribute at specified place inside the node.
+        //! All attributes after and including the specified attribute are moved one position back.
+        //! \param where Place where to insert the attribute, or 0 to insert at the back.
+        //! \param attribute Attribute to insert.
+        void insert_attribute(xml_attribute<Ch> *where, xml_attribute<Ch> *attribute)
+        {
+            assert(!where || where->parent() == this);
+            assert(attribute && !attribute->parent());
+            if (where == m_first_attribute)
+                prepend_attribute(attribute);
+            else if (where == 0)
+                append_attribute(attribute);
+            else
+            {
+                attribute->m_prev_attribute = where->m_prev_attribute;
+                attribute->m_next_attribute = where;
+                where->m_prev_attribute->m_next_attribute = attribute;
+                where->m_prev_attribute = attribute;
+                attribute->m_parent = this;
+            }
+        }
+
+        //! Removes first attribute of the node.
+        //! If node has no attributes, behaviour is undefined.
+        //! Use first_attribute() to test if node has attributes.
+        void remove_first_attribute()
+        {
+            assert(first_attribute());
+            xml_attribute<Ch> *attribute = m_first_attribute;
+            if (attribute->m_next_attribute)
+            {
+                attribute->m_next_attribute->m_prev_attribute = 0;
+            }
+            else
+                m_last_attribute = 0;
+            attribute->m_parent = 0;
+            m_first_attribute = attribute->m_next_attribute;
+        }
+
+        //! Removes last attribute of the node.
+        //! If node has no attributes, behaviour is undefined.
+        //! Use first_attribute() to test if node has attributes.
+        void remove_last_attribute()
+        {
+            assert(first_attribute());
+            xml_attribute<Ch> *attribute = m_last_attribute;
+            if (attribute->m_prev_attribute)
+            {
+                attribute->m_prev_attribute->m_next_attribute = 0;
+                m_last_attribute = attribute->m_prev_attribute;
+            }
+            else
+                m_first_attribute = 0;
+            attribute->m_parent = 0;
+        }
+
+        //! Removes specified attribute from node.
+        //! \param where Pointer to attribute to be removed.
+        void remove_attribute(xml_attribute<Ch> *where)
+        {
+            assert(first_attribute() && where->parent() == this);
+            if (where == m_first_attribute)
+                remove_first_attribute();
+            else if (where == m_last_attribute)
+                remove_last_attribute();
+            else
+            {
+                where->m_prev_attribute->m_next_attribute = where->m_next_attribute;
+                where->m_next_attribute->m_prev_attribute = where->m_prev_attribute;
+                where->m_parent = 0;
+            }
+        }
+
+        //! Removes all attributes of node.
+        void remove_all_attributes()
+        {
+            for (xml_attribute<Ch> *attribute = first_attribute(); attribute; attribute = attribute->m_next_attribute)
+                attribute->m_parent = 0;
+            m_first_attribute = 0;
+        }
+
+    private:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Restrictions
+
+        // No copying
+        xml_node(const xml_node &);
+        void operator =(const xml_node &);
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Data members
+
+        // Note that some of the pointers below have UNDEFINED values if certain other pointers are 0.
+        // This is required for maximum performance, as it allows the parser to omit initialization of
+        // unneded/redundant values.
+        //
+        // The rules are as follows:
+        // 1. first_node and first_attribute contain valid pointers, or 0 if node has no children/attributes respectively
+        // 2. last_node and last_attribute are valid only if node has at least one child/attribute respectively, otherwise they contain garbage
+        // 3. prev_sibling and next_sibling are valid only if node has a parent, otherwise they contain garbage
+
+        node_type m_type;                       // Type of node; always valid
+        xml_node<Ch> *m_first_node;             // Pointer to first child node, or 0 if none; always valid
+        xml_node<Ch> *m_last_node;              // Pointer to last child node, or 0 if none; this value is only valid if m_first_node is non-zero
+        xml_attribute<Ch> *m_first_attribute;   // Pointer to first attribute of node, or 0 if none; always valid
+        xml_attribute<Ch> *m_last_attribute;    // Pointer to last attribute of node, or 0 if none; this value is only valid if m_first_attribute is non-zero
+        xml_node<Ch> *m_prev_sibling;           // Pointer to previous sibling of node, or 0 if none; this value is only valid if m_parent is non-zero
+        xml_node<Ch> *m_next_sibling;           // Pointer to next sibling of node, or 0 if none; this value is only valid if m_parent is non-zero
+
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML document
+
+    //! This class represents root of the DOM hierarchy.
+    //! It is also an xml_node and a memory_pool through public inheritance.
+    //! Use parse() function to build a DOM tree from a zero-terminated XML text string.
+    //! parse() function allocates memory for nodes and attributes by using functions of xml_document,
+    //! which are inherited from memory_pool.
+    //! To access root node of the document, use the document itself, as if it was an xml_node.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_document: public xml_node<Ch>, public memory_pool<Ch>
+    {
+
+    public:
+
+        //! Constructs empty XML document
+        xml_document()
+            : xml_node<Ch>(node_document)
+        {
+        }
+
+        //! Parses zero-terminated XML string according to given flags.
+        //! Passed string will be modified by the parser, unless rapidxml::parse_non_destructive flag is used.
+        //! The string must persist for the lifetime of the document.
+        //! In case of error, rapidxml::parse_error exception will be thrown.
+        //! <br><br>
+        //! If you want to parse contents of a file, you must first load the file into the memory, and pass pointer to its beginning.
+        //! Make sure that data is zero-terminated.
+        //! <br><br>
+        //! Document can be parsed into multiple times.
+        //! Each new call to parse removes previous nodes and attributes (if any), but does not clear memory pool.
+        //! \param text XML data to parse; pointer is non-const to denote fact that this data may be modified by the parser.
+        template<int Flags>
+        void parse(Ch *text)
+        {
+            assert(text);
+
+            // Remove current contents
+            this->remove_all_nodes();
+            this->remove_all_attributes();
+
+            // Parse BOM, if any
+            parse_bom<Flags>(text);
+
+            // Parse children
+            while (1)
+            {
+                // Skip whitespace before node
+                skip<whitespace_pred, Flags>(text);
+                if (*text == 0)
+                    break;
+
+                // Parse and append new child
+                if (*text == Ch('<'))
+                {
+                    ++text;     // Skip '<'
+                    if (xml_node<Ch> *node = parse_node<Flags>(text))
+                        this->append_node(node);
+                }
+                else
+                    RAPIDXML_PARSE_ERROR("expected <", text);
+            }
+
+        }
+
+        //! Clears the document by deleting all nodes and clearing the memory pool.
+        //! All nodes owned by document pool are destroyed.
+        void clear()
+        {
+            this->remove_all_nodes();
+            this->remove_all_attributes();
+            memory_pool<Ch>::clear();
+        }
+
+    private:
+
+        ///////////////////////////////////////////////////////////////////////
+        // Internal character utility functions
+
+        // Detect whitespace character
+        struct whitespace_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_whitespace[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect node name character
+        struct node_name_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_node_name[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect attribute name character
+        struct attribute_name_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_attribute_name[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA)
+        struct text_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA) that does not require processing
+        struct text_pure_no_ws_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text_pure_no_ws[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA) that does not require processing
+        struct text_pure_with_ws_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text_pure_with_ws[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect attribute value character
+        template<Ch Quote>
+        struct attribute_value_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                if (Quote == Ch('\''))
+                    return internal::lookup_tables<0>::lookup_attribute_data_1[static_cast<unsigned char>(ch)];
+                if (Quote == Ch('\"'))
+                    return internal::lookup_tables<0>::lookup_attribute_data_2[static_cast<unsigned char>(ch)];
+                return 0;       // Should never be executed, to avoid warnings on Comeau
+            }
+        };
+
+        // Detect attribute value character
+        template<Ch Quote>
+        struct attribute_value_pure_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                if (Quote == Ch('\''))
+                    return internal::lookup_tables<0>::lookup_attribute_data_1_pure[static_cast<unsigned char>(ch)];
+                if (Quote == Ch('\"'))
+                    return internal::lookup_tables<0>::lookup_attribute_data_2_pure[static_cast<unsigned char>(ch)];
+                return 0;       // Should never be executed, to avoid warnings on Comeau
+            }
+        };
+
+        // Insert coded character, using UTF8 or 8-bit ASCII
+        template<int Flags>
+        static void insert_coded_character(Ch *&text, unsigned long code)
+        {
+            if (Flags & parse_no_utf8)
+            {
+                // Insert 8-bit ASCII character
+                // Todo: possibly verify that code is less than 256 and use replacement char otherwise?
+                text[0] = static_cast<unsigned char>(code);
+                text += 1;
+            }
+            else
+            {
+                // Insert UTF8 sequence
+                if (code < 0x80)    // 1 byte sequence
+                {
+	                text[0] = static_cast<unsigned char>(code);
+                    text += 1;
+                }
+                else if (code < 0x800)  // 2 byte sequence
+                {
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xC0);
+                    text += 2;
+                }
+	            else if (code < 0x10000)    // 3 byte sequence
+                {
+	                text[2] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xE0);
+                    text += 3;
+                }
+	            else if (code < 0x110000)   // 4 byte sequence
+                {
+	                text[3] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[2] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xF0);
+                    text += 4;
+                }
+                else    // Invalid, only codes up to 0x10FFFF are allowed in Unicode
+                {
+                    RAPIDXML_PARSE_ERROR("invalid numeric character entity", text);
+                }
+            }
+        }
+
+        // Skip characters until predicate evaluates to true
+        template<class StopPred, int Flags>
+        static void skip(Ch *&text)
+        {
+            Ch *tmp = text;
+            while (StopPred::test(*tmp))
+                ++tmp;
+            text = tmp;
+        }
+
+        // Skip characters until predicate evaluates to true while doing the following:
+        // - replacing XML character entity references with proper characters (&apos; &amp; &quot; &lt; &gt; &#...;)
+        // - condensing whitespace sequences to single space character
+        template<class StopPred, class StopPredPure, int Flags>
+        static Ch *skip_and_expand_character_refs(Ch *&text, bool preserve_space)
+        {
+            // If entity translation, whitespace condense and whitespace trimming is disabled, use plain skip
+            if (Flags & parse_no_entity_translation &&
+                !(Flags & parse_normalize_whitespace) &&
+                !(Flags & parse_trim_whitespace))
+            {
+                skip<StopPred, Flags>(text);
+                return text;
+            }
+
+            // Use simple skip until first modification is detected
+            skip<StopPredPure, Flags>(text);
+
+            // Use translation skip
+            Ch *src = text;
+            Ch *dest = src;
+            while (StopPred::test(*src))
+            {
+                // If entity translation is enabled
+                if (!(Flags & parse_no_entity_translation))
+                {
+                    // Test if replacement is needed
+                    if (src[0] == Ch('&'))
+                    {
+                        switch (src[1])
+                        {
+
+                        // &amp; &apos;
+                        case Ch('a'):
+                            if (src[2] == Ch('m') && src[3] == Ch('p') && src[4] == Ch(';'))
+                            {
+                                *dest = Ch('&');
+                                ++dest;
+                                src += 5;
+                                continue;
+                            }
+                            if (src[2] == Ch('p') && src[3] == Ch('o') && src[4] == Ch('s') && src[5] == Ch(';'))
+                            {
+                                *dest = Ch('\'');
+                                ++dest;
+                                src += 6;
+                                continue;
+                            }
+                            break;
+
+                        // &quot;
+                        case Ch('q'):
+                            if (src[2] == Ch('u') && src[3] == Ch('o') && src[4] == Ch('t') && src[5] == Ch(';'))
+                            {
+                                *dest = Ch('"');
+                                ++dest;
+                                src += 6;
+                                continue;
+                            }
+                            break;
+
+                        // &gt;
+                        case Ch('g'):
+                            if (src[2] == Ch('t') && src[3] == Ch(';'))
+                            {
+                                *dest = Ch('>');
+                                ++dest;
+                                src += 4;
+                                continue;
+                            }
+                            break;
+
+                        // &lt;
+                        case Ch('l'):
+                            if (src[2] == Ch('t') && src[3] == Ch(';'))
+                            {
+                                *dest = Ch('<');
+                                ++dest;
+                                src += 4;
+                                continue;
+                            }
+                            break;
+
+                        // &#...; - assumes ASCII
+                        case Ch('#'):
+                            if (src[2] == Ch('x'))
+                            {
+                                unsigned long code = 0;
+                                src += 3;   // Skip &#x
+                                while (1)
+                                {
+                                    unsigned char digit = internal::lookup_tables<0>::lookup_digits[static_cast<unsigned char>(*src)];
+                                    if (digit == 0xFF)
+                                        break;
+                                    code = code * 16 + digit;
+                                    ++src;
+                                }
+                                insert_coded_character<Flags>(dest, code);    // Put character in output
+                            }
+                            else
+                            {
+                                unsigned long code = 0;
+                                src += 2;   // Skip &#
+                                while (1)
+                                {
+                                    unsigned char digit = internal::lookup_tables<0>::lookup_digits[static_cast<unsigned char>(*src)];
+                                    if (digit == 0xFF)
+                                        break;
+                                    code = code * 10 + digit;
+                                    ++src;
+                                }
+                                insert_coded_character<Flags>(dest, code);    // Put character in output
+                            }
+                            if (*src == Ch(';'))
+                                ++src;
+                            else
+                                RAPIDXML_PARSE_ERROR("expected ;", src);
+                            continue;
+
+                        // Something else
+                        default:
+                            // Ignore, just copy '&' verbatim
+                            break;
+
+                        }
+                    }
+                }
+
+                // If whitespace condensing is enabled
+                if ((Flags & parse_normalize_whitespace) && !preserve_space)
+                {
+                    // Test if condensing is needed
+                    if (whitespace_pred::test(*src))
+                    {
+                        *dest = Ch(' '); ++dest;    // Put single space in dest
+                        ++src;                      // Skip first whitespace char
+                        // Skip remaining whitespace chars
+                        while (whitespace_pred::test(*src))
+                            ++src;
+                        continue;
+                    }
+                }
+
+                // No replacement, only copy character
+                *dest++ = *src++;
+
+            }
+
+            // Return new end
+            text = src;
+            return dest;
+
+        }
+
+        ///////////////////////////////////////////////////////////////////////
+        // Internal parsing functions
+
+        // Parse BOM, if any
+        template<int Flags>
+        void parse_bom(Ch *&text)
+        {
+            // UTF-8?
+            if (static_cast<unsigned char>(text[0]) == 0xEF &&
+                static_cast<unsigned char>(text[1]) == 0xBB &&
+                static_cast<unsigned char>(text[2]) == 0xBF)
+            {
+                text += 3;      // Skup utf-8 bom
+            }
+        }
+
+        // Parse XML declaration (<?xml...)
+        template<int Flags>
+        xml_node<Ch> *parse_xml_declaration(Ch *&text)
+        {
+            // If parsing of declaration is disabled
+            if (!(Flags & parse_declaration_node))
+            {
+                // Skip until end of declaration
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 2;    // Skip '?>'
+                return 0;
+            }
+
+            // Create declaration
+            xml_node<Ch> *declaration = this->allocate_node(node_declaration);
+
+            // Skip whitespace before attributes or ?>
+            skip<whitespace_pred, Flags>(text);
+
+            // Parse declaration attributes
+            parse_node_attributes<Flags>(text, declaration);
+
+            // Skip ?>
+            if (text[0] != Ch('?') || text[1] != Ch('>'))
+                RAPIDXML_PARSE_ERROR("expected ?>", text);
+            text += 2;
+
+            return declaration;
+        }
+
+        // Parse XML comment (<!--...)
+        template<int Flags>
+        xml_node<Ch> *parse_comment(Ch *&text)
+        {
+            // If parsing of comments is disabled
+            if (!(Flags & parse_comment_nodes))
+            {
+                // Skip until end of comment
+                while (text[0] != Ch('-') || text[1] != Ch('-') || text[2] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 3;     // Skip '-->'
+                return 0;      // Do not produce comment node
+            }
+
+            // Remember value start
+            Ch *value_ = text;
+
+            // Skip until end of comment
+            while (text[0] != Ch('-') || text[1] != Ch('-') || text[2] != Ch('>'))
+            {
+                if (!text[0])
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                ++text;
+            }
+
+            // Create comment node
+            xml_node<Ch> *comment = this->allocate_node(node_comment);
+            comment->value(value_, text - value_);
+
+            // Place zero terminator after comment value
+            if (!(Flags & parse_no_string_terminators))
+                *text = Ch('\0');
+
+            text += 3;     // Skip '-->'
+            return comment;
+        }
+
+        // Parse DOCTYPE
+        template<int Flags>
+        xml_node<Ch> *parse_doctype(Ch *&text)
+        {
+            // Remember value start
+            Ch *value_ = text;
+
+            // Skip to >
+            while (*text != Ch('>'))
+            {
+                // Determine character type
+                switch (*text)
+                {
+
+                // If '[' encountered, scan for matching ending ']' using naive algorithm with depth
+                // This works for all W3C test files except for 2 most wicked
+                case Ch('['):
+                {
+                    ++text;     // Skip '['
+                    int depth = 1;
+                    while (depth > 0)
+                    {
+                        switch (*text)
+                        {
+                            case Ch('['): ++depth; break;
+                            case Ch(']'): --depth; break;
+                            case 0: RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                        }
+                        ++text;
+                    }
+                    break;
+                }
+
+                // Error on end of text
+                case Ch('\0'):
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+
+                // Other character, skip it
+                default:
+                    ++text;
+
+                }
+            }
+
+            // If DOCTYPE nodes enabled
+            if (Flags & parse_doctype_node)
+            {
+                // Create a new doctype node
+                xml_node<Ch> *doctype = this->allocate_node(node_doctype);
+                doctype->value(value_, text - value_);
+
+                // Place zero terminator after value
+                if (!(Flags & parse_no_string_terminators))
+                    *text = Ch('\0');
+
+                text += 1;      // skip '>'
+                return doctype;
+            }
+            else
+            {
+                text += 1;      // skip '>'
+                return 0;
+            }
+
+        }
+
+        // Parse PI
+        template<int Flags>
+        xml_node<Ch> *parse_pi(Ch *&text)
+        {
+            // If creation of PI nodes is enabled
+            if (Flags & parse_pi_nodes)
+            {
+                // Create pi node
+                xml_node<Ch> *pi = this->allocate_node(node_pi);
+
+                // Extract PI target name
+                Ch *name_ = text;
+                skip<node_name_pred, Flags>(text);
+                if (text == name_)
+                    RAPIDXML_PARSE_ERROR("expected PI target", text);
+                pi->name(name_, text - name_);
+
+                // Skip whitespace between pi target and pi
+                skip<whitespace_pred, Flags>(text);
+
+                // Remember start of pi
+                Ch *value_ = text;
+
+                // Skip to '?>'
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (*text == Ch('\0'))
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+
+                // Set pi value (verbatim, no entity expansion or whitespace normalization)
+                pi->value(value_, text - value_);
+
+                // Place zero terminator after name and value
+                if (!(Flags & parse_no_string_terminators))
+                {
+                    pi->name()[pi->name_size()] = Ch('\0');
+                    pi->value()[pi->value_size()] = Ch('\0');
+                }
+
+                text += 2;                          // Skip '?>'
+                return pi;
+            }
+            else
+            {
+                // Skip to '?>'
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (*text == Ch('\0'))
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 2;    // Skip '?>'
+                return 0;
+            }
+        }
+
+        // Parse and append data
+        // Return character that ends data.
+        // This is necessary because this character might have been overwritten by a terminating 0
+        template<int Flags>
+        Ch parse_and_append_data(xml_node<Ch> *node, Ch *&text, Ch *contents_start)
+        {
+            // Backup to contents start if whitespace trimming is disabled
+            if (!(Flags & parse_trim_whitespace))
+                text = contents_start;
+
+            const bool preserve_space =  internal::preserve_space(node);
+
+            // Skip until end of data
+            Ch *value_ = text, *end;
+            if ((Flags & parse_normalize_whitespace) && !preserve_space)
+                end = skip_and_expand_character_refs<text_pred, text_pure_with_ws_pred, Flags>(text, false);
+            else
+                end = skip_and_expand_character_refs<text_pred, text_pure_no_ws_pred, Flags>(text, preserve_space);
+
+            // Trim trailing whitespace if flag is set; leading was already trimmed by whitespace skip after >
+            if ((Flags & parse_trim_whitespace) && !preserve_space)
+            {
+                if (Flags & parse_normalize_whitespace)
+                {
+                    // Whitespace is already condensed to single space characters by skipping function, so just trim 1 char off the end
+                    if (*(end - 1) == Ch(' '))
+                        --end;
+                }
+                else
+                {
+                    // Backup until non-whitespace character is found
+                    while (whitespace_pred::test(*(end - 1)))
+                        --end;
+                }
+            }
+
+            // If characters are still left between end and value (this test is only necessary if normalization is enabled)
+            // Create new data node
+            if (!(Flags & parse_no_data_nodes))
+            {
+                xml_node<Ch> *data = this->allocate_node(node_data);
+                data->value(value_, end - value_);
+                node->append_node(data);
+            }
+
+            // Add data to parent node if no data exists yet
+            if (!(Flags & parse_no_element_values))
+                if (*node->value() == Ch('\0'))
+                    node->value(value_, end - value_);
+
+            // Place zero terminator after value
+            if (!(Flags & parse_no_string_terminators))
+            {
+                Ch ch = *text;
+                *end = Ch('\0');
+                return ch;      // Return character that ends data; this is required because zero terminator overwritten it
+            }
+
+            // Return character that ends data
+            return *text;
+        }
+
+        // Parse CDATA
+        template<int Flags>
+        xml_node<Ch> *parse_cdata(Ch *&text)
+        {
+            // If CDATA is disabled
+            if (Flags & parse_no_data_nodes)
+            {
+                // Skip until end of cdata
+                while (text[0] != Ch(']') || text[1] != Ch(']') || text[2] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 3;      // Skip ]]>
+                return 0;       // Do not produce CDATA node
+            }
+
+            // Skip until end of cdata
+            Ch *value_ = text;
+            while (text[0] != Ch(']') || text[1] != Ch(']') || text[2] != Ch('>'))
+            {
+                if (!text[0])
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                ++text;
+            }
+
+            // Create new cdata node
+            xml_node<Ch> *cdata = this->allocate_node(node_cdata);
+            cdata->value(value_, text - value_);
+
+            // Place zero terminator after value
+            if (!(Flags & parse_no_string_terminators))
+                *text = Ch('\0');
+
+            text += 3;      // Skip ]]>
+            return cdata;
+        }
+
+        // Parse element node
+        template<int Flags>
+        xml_node<Ch> *parse_element(Ch *&text)
+        {
+            // Create element node
+            xml_node<Ch> *element = this->allocate_node(node_element);
+
+            // Extract element name
+            Ch *name_ = text;
+            skip<node_name_pred, Flags>(text);
+            if (text == name_)
+                RAPIDXML_PARSE_ERROR("expected element name", text);
+            element->name(name_, text - name_);
+
+            // Skip whitespace between element name and attributes or >
+            skip<whitespace_pred, Flags>(text);
+
+            // Parse attributes, if any
+            parse_node_attributes<Flags>(text, element);
+
+            // Determine ending type
+            if (*text == Ch('>'))
+            {
+                ++text;
+                parse_node_contents<Flags>(text, element);
+            }
+            else if (*text == Ch('/'))
+            {
+                ++text;
+                if (*text != Ch('>'))
+                    RAPIDXML_PARSE_ERROR("expected >", text);
+                ++text;
+            }
+            else
+                RAPIDXML_PARSE_ERROR("expected >", text);
+
+            // Place zero terminator after name
+            if (!(Flags & parse_no_string_terminators))
+                element->name()[element->name_size()] = Ch('\0');
+
+            // Return parsed element
+            return element;
+        }
+
+        // Determine node type, and parse it
+        template<int Flags>
+        xml_node<Ch> *parse_node(Ch *&text)
+        {
+            // Parse proper node type
+            switch (text[0])
+            {
+
+            // <...
+            default:
+                // Parse and append element node
+                return parse_element<Flags>(text);
+
+            // <?...
+            case Ch('?'):
+                ++text;     // Skip ?
+                if ((text[0] == Ch('x') || text[0] == Ch('X')) &&
+                    (text[1] == Ch('m') || text[1] == Ch('M')) &&
+                    (text[2] == Ch('l') || text[2] == Ch('L')) &&
+                    whitespace_pred::test(text[3]))
+                {
+                    // '<?xml ' - xml declaration
+                    text += 4;      // Skip 'xml '
+                    return parse_xml_declaration<Flags>(text);
+                }
+                else
+                {
+                    // Parse PI
+                    return parse_pi<Flags>(text);
+                }
+
+            // <!...
+            case Ch('!'):
+
+                // Parse proper subset of <! node
+                switch (text[1])
+                {
+
+                // <!-
+                case Ch('-'):
+                    if (text[2] == Ch('-'))
+                    {
+                        // '<!--' - xml comment
+                        text += 3;     // Skip '!--'
+                        return parse_comment<Flags>(text);
+                    }
+                    break;
+
+                // <![
+                case Ch('['):
+                    if (text[2] == Ch('C') && text[3] == Ch('D') && text[4] == Ch('A') &&
+                        text[5] == Ch('T') && text[6] == Ch('A') && text[7] == Ch('['))
+                    {
+                        // '<![CDATA[' - cdata
+                        text += 8;     // Skip '![CDATA['
+                        return parse_cdata<Flags>(text);
+                    }
+                    break;
+
+                // <!D
+                case Ch('D'):
+                    if (text[2] == Ch('O') && text[3] == Ch('C') && text[4] == Ch('T') &&
+                        text[5] == Ch('Y') && text[6] == Ch('P') && text[7] == Ch('E') &&
+                        whitespace_pred::test(text[8]))
+                    {
+                        // '<!DOCTYPE ' - doctype
+                        text += 9;      // skip '!DOCTYPE '
+                        return parse_doctype<Flags>(text);
+                    }
+
+                }   // switch
+
+                // Attempt to skip other, unrecognized node types starting with <!
+                ++text;     // Skip !
+                while (*text != Ch('>'))
+                {
+                    if (*text == 0)
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                ++text;     // Skip '>'
+                return 0;   // No node recognized
+
+            }
+        }
+
+        // Parse contents of the node - children, data etc.
+        template<int Flags>
+        void parse_node_contents(Ch *&text, xml_node<Ch> *node)
+        {
+            // For all children and text
+            while (1)
+            {
+                // Skip whitespace between > and node contents
+                Ch *contents_start = text;      // Store start of node contents before whitespace is skipped
+                skip<whitespace_pred, Flags>(text);
+                Ch next_char = *text;
+
+            // After data nodes, instead of continuing the loop, control jumps here.
+            // This is because zero termination inside parse_and_append_data() function
+            // would wreak havoc with the above code.
+            // Also, skipping whitespace after data nodes is unnecessary.
+            after_data_node:
+
+                // Determine what comes next: node closing, child node, data node, or 0?
+                switch (next_char)
+                {
+
+                // Node closing or child node
+                case Ch('<'):
+                    if (text[1] == Ch('/'))
+                    {
+                        Ch *contents_end = 0;
+                        if (internal::preserve_space(node))
+                        {
+                            contents_end = text;
+                        }
+
+                        // Node closing
+                        text += 2;      // Skip '</'
+                        if (Flags & parse_validate_closing_tags)
+                        {
+                            // Skip and validate closing tag name
+                            Ch *closing_name = text;
+                            skip<node_name_pred, Flags>(text);
+                            if (!internal::compare(node->name(), node->name_size(), closing_name, text - closing_name, true))
+                                RAPIDXML_PARSE_ERROR("invalid closing tag name", text);
+                        }
+                        else
+                        {
+                            // No validation, just skip name
+                            skip<node_name_pred, Flags>(text);
+                        }
+                        // Skip remaining whitespace after node name
+                        skip<whitespace_pred, Flags>(text);
+                        if (*text != Ch('>'))
+                            RAPIDXML_PARSE_ERROR("expected >", text);
+                        ++text;     // Skip '>'
+
+                        if (contents_end && contents_end != contents_start)
+                        {
+                            node->value(contents_start, contents_end - contents_start);
+                            node->value()[node->value_size()] = Ch('\0');
+                        }
+                        return;     // Node closed, finished parsing contents
+                    }
+                    else
+                    {
+                        // Child node
+                        ++text;     // Skip '<'
+                        if (xml_node<Ch> *child = parse_node<Flags>(text))
+                            node->append_node(child);
+                    }
+                    break;
+
+                // End of data - error
+                case Ch('\0'):
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+
+                // Data node
+                default:
+                    next_char = parse_and_append_data<Flags>(node, text, contents_start);
+                    goto after_data_node;   // Bypass regular processing after data nodes
+
+                }
+            }
+        }
+
+        // Parse XML attributes of the node
+        template<int Flags>
+        void parse_node_attributes(Ch *&text, xml_node<Ch> *node)
+        {
+            // For all attributes
+            while (attribute_name_pred::test(*text))
+            {
+                // Extract attribute name
+                Ch *name_ = text;
+                ++text;     // Skip first character of attribute name
+                skip<attribute_name_pred, Flags>(text);
+                if (text == name_)
+                    RAPIDXML_PARSE_ERROR("expected attribute name", name_);
+
+                // Create new attribute
+                xml_attribute<Ch> *attribute = this->allocate_attribute();
+                attribute->name(name_, text - name_);
+                node->append_attribute(attribute);
+
+                // Skip whitespace after attribute name
+                skip<whitespace_pred, Flags>(text);
+
+                // Skip =
+                if (*text != Ch('='))
+                    RAPIDXML_PARSE_ERROR("expected =", text);
+                ++text;
+
+                // Add terminating zero after name
+                if (!(Flags & parse_no_string_terminators))
+                    attribute->name()[attribute->name_size()] = 0;
+
+                // Skip whitespace after =
+                skip<whitespace_pred, Flags>(text);
+
+                // Skip quote and remember if it was ' or "
+                Ch quote = *text;
+                if (quote != Ch('\'') && quote != Ch('"'))
+                    RAPIDXML_PARSE_ERROR("expected ' or \"", text);
+                ++text;
+
+                // Extract attribute value and expand char refs in it
+                Ch *value_ = text, *end;
+                const int AttFlags = Flags & ~parse_normalize_whitespace;   // No whitespace normalization in attributes
+                if (quote == Ch('\''))
+                    end = skip_and_expand_character_refs<attribute_value_pred<Ch('\'')>, attribute_value_pure_pred<Ch('\'')>, AttFlags>(text, false);
+                else
+                    end = skip_and_expand_character_refs<attribute_value_pred<Ch('"')>, attribute_value_pure_pred<Ch('"')>, AttFlags>(text, false);
+
+                // Set attribute value
+                attribute->value(value_, end - value_);
+
+                // Make sure that end quote is present
+                if (*text != quote)
+                    RAPIDXML_PARSE_ERROR("expected ' or \"", text);
+                ++text;     // Skip quote
+
+                // Add terminating zero after value
+                if (!(Flags & parse_no_string_terminators))
+                    attribute->value()[attribute->value_size()] = 0;
+
+                // Skip whitespace after attribute value
+                skip<whitespace_pred, Flags>(text);
+            }
+        }
+
+    };
+
+    //! \cond internal
+    namespace internal
+    {
+
+        // Whitespace (space \n \r \t)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_whitespace[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  1,  1,  0,  0,  1,  0,  0,  // 0
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 1
+             1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 2
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 3
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 4
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 5
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 6
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 7
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 8
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 9
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // A
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // B
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // C
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // D
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // E
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0   // F
+        };
+
+        // Node name (anything but space \n \r \t / > ? \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_node_name[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) (anything but < \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) that does not require processing when ws normalization is disabled
+        // (anything but < \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text_pure_no_ws[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) that does not require processing when ws normalizationis is enabled
+        // (anything but < \0 & space \n \r \t)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text_pure_with_ws[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute name (anything but space \n \r \t / < > = ? ! \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_name[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  0,  0,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with single quote (anything but ' \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_1[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with single quote that does not require processing (anything but ' \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_1_pure[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with double quote (anything but " \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_2[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with double quote that does not require processing (anything but " \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_2_pure[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  0,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Digits (dec and hex, 255 denotes end of numeric character reference)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_digits[256] =
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 0
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 1
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 2
+             0,  1,  2,  3,  4,  5,  6,  7,  8,  9,255,255,255,255,255,255,  // 3
+           255, 10, 11, 12, 13, 14, 15,255,255,255,255,255,255,255,255,255,  // 4
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 5
+           255, 10, 11, 12, 13, 14, 15,255,255,255,255,255,255,255,255,255,  // 6
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 7
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 8
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 9
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // A
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // B
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // C
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // D
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // E
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255   // F
+        };
+
+        // Upper case conversion
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_upcase[256] =
+        {
+          // 0,  1,  2,  3,  4,  5,  6,  7,  8,  9,  A   B   C   D   E   F
+           0,  1,  2,  3,  4,  5,  6,  7,  8,  9,  10, 11, 12, 13, 14, 15,   // 0
+           16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31,   // 1
+           32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,   // 2
+           48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63,   // 3
+           64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79,   // 4
+           80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95,   // 5
+           96, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79,   // 6
+           80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 123,124,125,126,127,  // 7
+           128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,  // 8
+           144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,  // 9
+           160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,  // A
+           176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,  // B
+           192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,  // C
+           208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,  // D
+           224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,  // E
+           240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255   // F
+        };
+    }
+    //! \endcond
+
+}
+
+// Undefine internal macros
+#undef RAPIDXML_PARSE_ERROR
+
+// On MSVC, restore warnings state
+#ifdef _MSC_VER
+    #pragma warning(pop)
+#endif
+
+#endif
diff --git a/3rdparty/include/cereal/external/rapidxml/rapidxml_iterators.hpp b/3rdparty/include/cereal/external/rapidxml/rapidxml_iterators.hpp
new file mode 100644
index 0000000..5a301c4
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/rapidxml_iterators.hpp
@@ -0,0 +1,173 @@
+#ifndef RAPIDXML_ITERATORS_HPP_INCLUDED
+#define RAPIDXML_ITERATORS_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+
+#include "rapidxml.hpp"
+
+namespace rapidxml
+{
+
+    //! Iterator of child nodes of xml_node
+    template<class Ch>
+    class node_iterator
+    {
+
+    public:
+
+        typedef typename xml_node<Ch> value_type;
+        typedef typename xml_node<Ch> &reference;
+        typedef typename xml_node<Ch> *pointer;
+        typedef std::ptrdiff_t difference_type;
+        typedef std::bidirectional_iterator_tag iterator_category;
+
+        node_iterator()
+            : m_node(0)
+        {
+        }
+
+        node_iterator(xml_node<Ch> *node)
+            : m_node(node->first_node())
+        {
+        }
+
+        reference operator *() const
+        {
+            assert(m_node);
+            return *m_node;
+        }
+
+        pointer operator->() const
+        {
+            assert(m_node);
+            return m_node;
+        }
+
+        node_iterator& operator++()
+        {
+            assert(m_node);
+            m_node = m_node->next_sibling();
+            return *this;
+        }
+
+        node_iterator operator++(int)
+        {
+            node_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        node_iterator& operator--()
+        {
+            assert(m_node && m_node->previous_sibling());
+            m_node = m_node->previous_sibling();
+            return *this;
+        }
+
+        node_iterator operator--(int)
+        {
+            node_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        bool operator ==(const node_iterator<Ch> &rhs)
+        {
+            return m_node == rhs.m_node;
+        }
+
+        bool operator !=(const node_iterator<Ch> &rhs)
+        {
+            return m_node != rhs.m_node;
+        }
+
+    private:
+
+        xml_node<Ch> *m_node;
+
+    };
+
+    //! Iterator of child attributes of xml_node
+    template<class Ch>
+    class attribute_iterator
+    {
+
+    public:
+
+        typedef typename xml_attribute<Ch> value_type;
+        typedef typename xml_attribute<Ch> &reference;
+        typedef typename xml_attribute<Ch> *pointer;
+        typedef std::ptrdiff_t difference_type;
+        typedef std::bidirectional_iterator_tag iterator_category;
+
+        attribute_iterator()
+            : m_attribute(0)
+        {
+        }
+
+        attribute_iterator(xml_node<Ch> *node)
+            : m_attribute(node->first_attribute())
+        {
+        }
+
+        reference operator *() const
+        {
+            assert(m_attribute);
+            return *m_attribute;
+        }
+
+        pointer operator->() const
+        {
+            assert(m_attribute);
+            return m_attribute;
+        }
+
+        attribute_iterator& operator++()
+        {
+            assert(m_attribute);
+            m_attribute = m_attribute->next_attribute();
+            return *this;
+        }
+
+        attribute_iterator operator++(int)
+        {
+            attribute_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        attribute_iterator& operator--()
+        {
+            assert(m_attribute && m_attribute->previous_attribute());
+            m_attribute = m_attribute->previous_attribute();
+            return *this;
+        }
+
+        attribute_iterator operator--(int)
+        {
+            attribute_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        bool operator ==(const attribute_iterator<Ch> &rhs)
+        {
+            return m_attribute == rhs.m_attribute;
+        }
+
+        bool operator !=(const attribute_iterator<Ch> &rhs)
+        {
+            return m_attribute != rhs.m_attribute;
+        }
+
+    private:
+
+        xml_attribute<Ch> *m_attribute;
+
+    };
+
+}
+
+#endif
diff --git a/3rdparty/include/cereal/external/rapidxml/rapidxml_print.hpp b/3rdparty/include/cereal/external/rapidxml/rapidxml_print.hpp
new file mode 100644
index 0000000..f890d41
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/rapidxml_print.hpp
@@ -0,0 +1,424 @@
+#ifndef RAPIDXML_PRINT_HPP_INCLUDED
+#define RAPIDXML_PRINT_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+
+#include "rapidxml.hpp"
+
+// Only include streams if not disabled
+#ifndef RAPIDXML_NO_STREAMS
+    #include <ostream>
+    #include <iterator>
+#endif
+
+namespace rapidxml
+{
+
+    ///////////////////////////////////////////////////////////////////////
+    // Printing flags
+
+    const int print_no_indenting = 0x1;   //!< Printer flag instructing the printer to suppress indenting of XML. See print() function.
+
+    ///////////////////////////////////////////////////////////////////////
+    // Internal
+
+    //! \cond internal
+    namespace internal
+    {
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Internal character operations
+
+        // Copy characters from given range to given output iterator
+        template<class OutIt, class Ch>
+        inline OutIt copy_chars(const Ch *begin, const Ch *end, OutIt out)
+        {
+            while (begin != end)
+                *out++ = *begin++;
+            return out;
+        }
+
+        // Copy characters from given range to given output iterator and expand
+        // characters into references (&lt; &gt; &apos; &quot; &amp;)
+        template<class OutIt, class Ch>
+        inline OutIt copy_and_expand_chars(const Ch *begin, const Ch *end, Ch noexpand, OutIt out)
+        {
+            while (begin != end)
+            {
+                if (*begin == noexpand)
+                {
+                    *out++ = *begin;    // No expansion, copy character
+                }
+                else
+                {
+                    switch (*begin)
+                    {
+                    case Ch('<'):
+                        *out++ = Ch('&'); *out++ = Ch('l'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('>'):
+                        *out++ = Ch('&'); *out++ = Ch('g'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('\''):
+                        *out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('p'); *out++ = Ch('o'); *out++ = Ch('s'); *out++ = Ch(';');
+                        break;
+                    case Ch('"'):
+                        *out++ = Ch('&'); *out++ = Ch('q'); *out++ = Ch('u'); *out++ = Ch('o'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('&'):
+                        *out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('m'); *out++ = Ch('p'); *out++ = Ch(';');
+                        break;
+                    default:
+                        *out++ = *begin;    // No expansion, copy character
+                    }
+                }
+                ++begin;    // Step to next character
+            }
+            return out;
+        }
+
+        // Fill given output iterator with repetitions of the same character
+        template<class OutIt, class Ch>
+        inline OutIt fill_chars(OutIt out, int n, Ch ch)
+        {
+            for (int i = 0; i < n; ++i)
+                *out++ = ch;
+            return out;
+        }
+
+        // Find character
+        template<class Ch, Ch ch>
+        inline bool find_char(const Ch *begin, const Ch *end)
+        {
+            while (begin != end)
+                if (*begin++ == ch)
+                    return true;
+            return false;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Internal printing operations
+
+        // Print node
+        template<class OutIt, class Ch>
+        inline OutIt print_node(OutIt out, const xml_node<Ch> *node, int flags, int indent);
+
+        // Print children of the node
+        template<class OutIt, class Ch>
+        inline OutIt print_children(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            for (xml_node<Ch> *child = node->first_node(); child; child = child->next_sibling())
+                out = print_node(out, child, flags, indent);
+            return out;
+        }
+
+        // Print attributes of the node
+        template<class OutIt, class Ch>
+        inline OutIt print_attributes(OutIt out, const xml_node<Ch> *node, int /*flags*/)
+        {
+            for (xml_attribute<Ch> *attribute = node->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                if (attribute->name() && attribute->value())
+                {
+                    // Print attribute name
+                    *out = Ch(' '), ++out;
+                    out = copy_chars(attribute->name(), attribute->name() + attribute->name_size(), out);
+                    *out = Ch('='), ++out;
+                    // Print attribute value using appropriate quote type
+                    if (find_char<Ch, Ch('"')>(attribute->value(), attribute->value() + attribute->value_size()))
+                    {
+                        *out = Ch('\''), ++out;
+                        out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('"'), out);
+                        *out = Ch('\''), ++out;
+                    }
+                    else
+                    {
+                        *out = Ch('"'), ++out;
+                        out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('\''), out);
+                        *out = Ch('"'), ++out;
+                    }
+                }
+            }
+            return out;
+        }
+
+        // Print data node
+        template<class OutIt, class Ch>
+        inline OutIt print_data_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_data);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
+            return out;
+        }
+
+        // Print data node
+        template<class OutIt, class Ch>
+        inline OutIt print_cdata_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_cdata);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'); ++out;
+            *out = Ch('!'); ++out;
+            *out = Ch('['); ++out;
+            *out = Ch('C'); ++out;
+            *out = Ch('D'); ++out;
+            *out = Ch('A'); ++out;
+            *out = Ch('T'); ++out;
+            *out = Ch('A'); ++out;
+            *out = Ch('['); ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch(']'); ++out;
+            *out = Ch(']'); ++out;
+            *out = Ch('>'); ++out;
+            return out;
+        }
+
+        // Print element node
+        template<class OutIt, class Ch>
+        inline OutIt print_element_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_element);
+
+            // Print element name and attributes, if any
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            out = copy_chars(node->name(), node->name() + node->name_size(), out);
+            out = print_attributes(out, node, flags);
+
+            // If node is childless
+            if (node->value_size() == 0 && !node->first_node())
+            {
+                // Print childless node tag ending
+                *out = Ch('/'), ++out;
+                *out = Ch('>'), ++out;
+            }
+            else
+            {
+                // Print normal node tag ending
+                *out = Ch('>'), ++out;
+
+                // Test if node contains a single data node only (and no other nodes)
+                xml_node<Ch> *child = node->first_node();
+                if (!child)
+                {
+                    // If node has no children, only print its value without indenting
+                    out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
+                }
+                else if (child->next_sibling() == 0 && child->type() == node_data)
+                {
+                    // If node has a sole data child, only print its value without indenting
+                    out = copy_and_expand_chars(child->value(), child->value() + child->value_size(), Ch(0), out);
+                }
+                else
+                {
+                    // Print all children with full indenting
+                    if (!(flags & print_no_indenting))
+                        *out = Ch('\n'), ++out;
+                    out = print_children(out, node, flags, indent + 1);
+                    if (!(flags & print_no_indenting))
+                        out = fill_chars(out, indent, Ch('\t'));
+                }
+
+                // Print node end
+                *out = Ch('<'), ++out;
+                *out = Ch('/'), ++out;
+                out = copy_chars(node->name(), node->name() + node->name_size(), out);
+                *out = Ch('>'), ++out;
+            }
+            return out;
+        }
+
+        // Print declaration node
+        template<class OutIt, class Ch>
+        inline OutIt print_declaration_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            // Print declaration start
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('?'), ++out;
+            *out = Ch('x'), ++out;
+            *out = Ch('m'), ++out;
+            *out = Ch('l'), ++out;
+
+            // Print attributes
+            out = print_attributes(out, node, flags);
+
+            // Print declaration end
+            *out = Ch('?'), ++out;
+            *out = Ch('>'), ++out;
+
+            return out;
+        }
+
+        // Print comment node
+        template<class OutIt, class Ch>
+        inline OutIt print_comment_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_comment);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('!'), ++out;
+            *out = Ch('-'), ++out;
+            *out = Ch('-'), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('-'), ++out;
+            *out = Ch('-'), ++out;
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+        // Print doctype node
+        template<class OutIt, class Ch>
+        inline OutIt print_doctype_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_doctype);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('!'), ++out;
+            *out = Ch('D'), ++out;
+            *out = Ch('O'), ++out;
+            *out = Ch('C'), ++out;
+            *out = Ch('T'), ++out;
+            *out = Ch('Y'), ++out;
+            *out = Ch('P'), ++out;
+            *out = Ch('E'), ++out;
+            *out = Ch(' '), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+        // Print pi node
+        template<class OutIt, class Ch>
+        inline OutIt print_pi_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_pi);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('?'), ++out;
+            out = copy_chars(node->name(), node->name() + node->name_size(), out);
+            *out = Ch(' '), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('?'), ++out;
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+        // Print node
+        template<class OutIt, class Ch>
+        inline OutIt print_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            // Print proper node type
+            switch (node->type())
+            {
+
+            // Document
+            case node_document:
+                out = print_children(out, node, flags, indent);
+                break;
+
+            // Element
+            case node_element:
+                out = print_element_node(out, node, flags, indent);
+                break;
+
+            // Data
+            case node_data:
+                out = print_data_node(out, node, flags, indent);
+                break;
+
+            // CDATA
+            case node_cdata:
+                out = print_cdata_node(out, node, flags, indent);
+                break;
+
+            // Declaration
+            case node_declaration:
+                out = print_declaration_node(out, node, flags, indent);
+                break;
+
+            // Comment
+            case node_comment:
+                out = print_comment_node(out, node, flags, indent);
+                break;
+
+            // Doctype
+            case node_doctype:
+                out = print_doctype_node(out, node, flags, indent);
+                break;
+
+            // Pi
+            case node_pi:
+                out = print_pi_node(out, node, flags, indent);
+                break;
+
+                // Unknown
+            default:
+                assert(0);
+                break;
+            }
+
+            // If indenting not disabled, add line break after node
+            if (!(flags & print_no_indenting))
+                *out = Ch('\n'), ++out;
+
+            // Return modified iterator
+            return out;
+        }
+
+    }
+    //! \endcond
+
+    ///////////////////////////////////////////////////////////////////////////
+    // Printing
+
+    //! Prints XML to given output iterator.
+    //! \param out Output iterator to print to.
+    //! \param node Node to be printed. Pass xml_document to print entire document.
+    //! \param flags Flags controlling how XML is printed.
+    //! \return Output iterator pointing to position immediately after last character of printed text.
+    template<class OutIt, class Ch>
+    inline OutIt print(OutIt out, const xml_node<Ch> &node, int flags = 0)
+    {
+        return internal::print_node(out, &node, flags, 0);
+    }
+
+#ifndef RAPIDXML_NO_STREAMS
+
+    //! Prints XML to given output stream.
+    //! \param out Output stream to print to.
+    //! \param node Node to be printed. Pass xml_document to print entire document.
+    //! \param flags Flags controlling how XML is printed.
+    //! \return Output stream.
+    template<class Ch>
+    inline std::basic_ostream<Ch> &print(std::basic_ostream<Ch> &out, const xml_node<Ch> &node, int flags = 0)
+    {
+        print(std::ostream_iterator<Ch>(out), node, flags);
+        return out;
+    }
+
+    //! Prints formatted XML to given output stream. Uses default printing flags. Use print() function to customize printing process.
+    //! \param out Output stream to print to.
+    //! \param node Node to be printed.
+    //! \return Output stream.
+    template<class Ch>
+    inline std::basic_ostream<Ch> &operator <<(std::basic_ostream<Ch> &out, const xml_node<Ch> &node)
+    {
+        return print(out, node);
+    }
+
+#endif
+
+}
+
+#endif
diff --git a/3rdparty/include/cereal/external/rapidxml/rapidxml_utils.hpp b/3rdparty/include/cereal/external/rapidxml/rapidxml_utils.hpp
new file mode 100644
index 0000000..290cc53
--- /dev/null
+++ b/3rdparty/include/cereal/external/rapidxml/rapidxml_utils.hpp
@@ -0,0 +1,121 @@
+#ifndef RAPIDXML_UTILS_HPP_INCLUDED
+#define RAPIDXML_UTILS_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+//! in certain simple scenarios. They should probably not be used if maximizing performance is the main objective.
+
+#include "rapidxml.hpp"
+#include <vector>
+#include <string>
+#include <fstream>
+#include <stdexcept>
+
+namespace rapidxml
+{
+
+    //! Represents data loaded from a file
+    template<class Ch = char>
+    class file
+    {
+
+    public:
+
+        //! Loads file into the memory. Data will be automatically destroyed by the destructor.
+        //! \param filename Filename to load.
+        file(const char *filename)
+        {
+            using namespace std;
+
+            // Open stream
+            basic_ifstream<Ch> stream(filename, ios::binary);
+            if (!stream)
+                throw runtime_error(string("cannot open file ") + filename);
+            stream.unsetf(ios::skipws);
+
+            // Determine stream size
+            stream.seekg(0, ios::end);
+            size_t size = stream.tellg();
+            stream.seekg(0);
+
+            // Load data and add terminating 0
+            m_data.resize(size + 1);
+            stream.read(&m_data.front(), static_cast<streamsize>(size));
+            m_data[size] = 0;
+        }
+
+        //! Loads file into the memory. Data will be automatically destroyed by the destructor
+        //! \param stream Stream to load from
+        file(std::basic_istream<Ch> &stream)
+        {
+            using namespace std;
+
+            // Load data and add terminating 0
+            stream.unsetf(ios::skipws);
+            m_data.assign(istreambuf_iterator<Ch>(stream), istreambuf_iterator<Ch>());
+            if (stream.fail() || stream.bad())
+                throw runtime_error("error reading stream");
+            m_data.push_back(0);
+        }
+
+        //! Gets file data.
+        //! \return Pointer to data of file.
+        Ch *data()
+        {
+            return &m_data.front();
+        }
+
+        //! Gets file data.
+        //! \return Pointer to data of file.
+        const Ch *data() const
+        {
+            return &m_data.front();
+        }
+
+        //! Gets file data size.
+        //! \return Size of file data, in characters.
+        std::size_t size() const
+        {
+            return m_data.size();
+        }
+
+    private:
+
+        std::vector<Ch> m_data;   // File data
+
+    };
+
+    //! Counts children of node. Time complexity is O(n).
+    //! \return Number of children of node
+    template<class Ch>
+    inline std::size_t count_children(xml_node<Ch> *node)
+    {
+        xml_node<Ch> *child = node->first_node();
+        std::size_t count = 0;
+        while (child)
+        {
+            ++count;
+            child = child->next_sibling();
+        }
+        return count;
+    }
+
+    //! Counts attributes of node. Time complexity is O(n).
+    //! \return Number of attributes of node
+    template<class Ch>
+    inline std::size_t count_attributes(xml_node<Ch> *node)
+    {
+        xml_attribute<Ch> *attr = node->first_attribute();
+        std::size_t count = 0;
+        while (attr)
+        {
+            ++count;
+            attr = attr->next_attribute();
+        }
+        return count;
+    }
+
+}
+
+#endif
diff --git a/3rdparty/include/cereal/macros.hpp b/3rdparty/include/cereal/macros.hpp
new file mode 100644
index 0000000..a670be6
--- /dev/null
+++ b/3rdparty/include/cereal/macros.hpp
@@ -0,0 +1,82 @@
+/*! \file macros.hpp
+    \brief Preprocessor macros that can customise the cereal library
+
+    By default, cereal looks for serialization functions with very
+    specific names, that is: serialize, load, save, load_minimal,
+    or save_minimal.
+
+    This file allows an advanced user to change these names to conform
+    to some other style or preference.  This is implemented using
+    preprocessor macros.
+
+    As a result of this, in internal cereal code you will see macros
+    used for these function names.  In user code, you should name
+    the functions like you normally would and not use the macros
+    to improve readability.
+    \ingroup utility */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+
+#ifndef CEREAL_MACROS_HPP_
+#define CEREAL_MACROS_HPP_
+
+#ifndef CEREAL_SERIALIZE_FUNCTION_NAME
+//! The serialization/deserialization function name to search for.
+/*! You can define @c CEREAL_SERIALIZE_FUNCTION_NAME to be different assuming
+    you do so before this file is included. */
+#define CEREAL_SERIALIZE_FUNCTION_NAME serialize
+#endif // CEREAL_SERIALIZE_FUNCTION_NAME
+
+#ifndef CEREAL_LOAD_FUNCTION_NAME
+//! The deserialization (load) function name to search for.
+/*! You can define @c CEREAL_LOAD_FUNCTION_NAME to be different assuming you do so
+    before this file is included. */
+#define CEREAL_LOAD_FUNCTION_NAME load
+#endif // CEREAL_LOAD_FUNCTION_NAME
+
+#ifndef CEREAL_SAVE_FUNCTION_NAME
+//! The serialization (save) function name to search for.
+/*! You can define @c CEREAL_SAVE_FUNCTION_NAME to be different assuming you do so
+    before this file is included. */
+#define CEREAL_SAVE_FUNCTION_NAME save
+#endif // CEREAL_SAVE_FUNCTION_NAME
+
+#ifndef CEREAL_LOAD_MINIMAL_FUNCTION_NAME
+//! The deserialization (load_minimal) function name to search for.
+/*! You can define @c CEREAL_LOAD_MINIMAL_FUNCTION_NAME to be different assuming you do so
+    before this file is included. */
+#define CEREAL_LOAD_MINIMAL_FUNCTION_NAME load_minimal
+#endif // CEREAL_LOAD_MINIMAL_FUNCTION_NAME
+
+#ifndef CEREAL_SAVE_MINIMAL_FUNCTION_NAME
+//! The serialization (save_minimal) function name to search for.
+/*! You can define @c CEREAL_SAVE_MINIMAL_FUNCTION_NAME to be different assuming you do so
+    before this file is included. */
+#define CEREAL_SAVE_MINIMAL_FUNCTION_NAME save_minimal
+#endif // CEREAL_SAVE_MINIMAL_FUNCTION_NAME
+
+#endif // CEREAL_MACROS_HPP_
diff --git a/3rdparty/include/cereal/types/array.hpp b/3rdparty/include/cereal/types/array.hpp
new file mode 100644
index 0000000..34766e9
--- /dev/null
+++ b/3rdparty/include/cereal/types/array.hpp
@@ -0,0 +1,79 @@
+/*! \file array.hpp
+    \brief Support for types found in \<array\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_ARRAY_HPP_
+#define CEREAL_TYPES_ARRAY_HPP_
+
+#include <cereal/cereal.hpp>
+#include <array>
+
+namespace cereal
+{
+  //! Saving for std::array primitive types
+  //! using binary serialization, if supported
+  template <class Archive, class T, size_t N> inline
+  typename std::enable_if<traits::is_output_serializable<BinaryData<T>, Archive>::value
+                          && std::is_arithmetic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::array<T, N> const & array )
+  {
+    ar( binary_data( array.data(), sizeof(array) ) );
+  }
+
+  //! Loading for std::array primitive types
+  //! using binary serialization, if supported
+  template <class Archive, class T, size_t N> inline
+  typename std::enable_if<traits::is_input_serializable<BinaryData<T>, Archive>::value
+                          && std::is_arithmetic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::array<T, N> & array )
+  {
+    ar( binary_data( array.data(), sizeof(array) ) );
+  }
+
+  //! Saving for std::array all other types
+  template <class Archive, class T, size_t N> inline
+  typename std::enable_if<!traits::is_output_serializable<BinaryData<T>, Archive>::value
+                          || !std::is_arithmetic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::array<T, N> const & array )
+  {
+    for( auto const & i : array )
+      ar( i );
+  }
+
+  //! Loading for std::array all other types
+  template <class Archive, class T, size_t N> inline
+  typename std::enable_if<!traits::is_input_serializable<BinaryData<T>, Archive>::value
+                          || !std::is_arithmetic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::array<T, N> & array )
+  {
+    for( auto & i : array )
+      ar( i );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_ARRAY_HPP_
diff --git a/3rdparty/include/cereal/types/base_class.hpp b/3rdparty/include/cereal/types/base_class.hpp
new file mode 100644
index 0000000..6611876
--- /dev/null
+++ b/3rdparty/include/cereal/types/base_class.hpp
@@ -0,0 +1,164 @@
+/*! \file base_class.hpp
+    \brief Support for base classes (virtual and non-virtual)
+    \ingroup OtherTypes */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_BASE_CLASS_HPP_
+#define CEREAL_TYPES_BASE_CLASS_HPP_
+
+#include <cereal/details/traits.hpp>
+
+namespace cereal
+{
+  //! Casts a derived class to its non-virtual base class in a way that safely supports abstract classes
+  /*! This should be used in cases when a derived type needs to serialize its base type. This is better than directly
+      using static_cast, as it allows for serialization of pure virtual (abstract) base classes.
+
+      \sa virtual_base_class
+
+      @code{.cpp}
+      struct MyBase
+      {
+        int x;
+
+        virtual void foo() = 0;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( x );
+        }
+      };
+
+      struct MyDerived : public MyBase //<-- Note non-virtual inheritance
+      {
+        int y;
+
+        virtual void foo() {};
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( cereal::base_class<MyBase>(this) );
+          ar( y );
+        }
+      };
+      @endcode */
+  template<class Base>
+    struct base_class : private traits::detail::BaseCastBase
+    {
+      template<class Derived>
+        base_class(Derived const * derived) :
+          base_ptr(const_cast<Base*>(static_cast<Base const *>(derived)))
+      { static_assert( std::is_base_of<Base, Derived>::value, "Can only use base_class on a valid base class" ); }
+
+        Base * base_ptr;
+    };
+
+  //! Casts a derived class to its virtual base class in a way that allows cereal to track inheritance
+  /*! This should be used in cases when a derived type features virtual inheritance from some
+      base type.  This allows cereal to track the inheritance and to avoid making duplicate copies
+      during serialization.
+
+      It is safe to use virtual_base_class in all circumstances for serializing base classes, even in cases
+      where virtual inheritance does not take place, though it may be slightly faster to utilize
+      cereal::base_class<> if you do not need to worry about virtual inheritance.
+
+      \sa base_class
+
+      @code{.cpp}
+      struct MyBase
+      {
+        int x;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( x );
+        }
+      };
+
+      struct MyLeft : virtual MyBase //<-- Note the virtual inheritance
+      {
+        int y;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( cereal::virtual_base_class<MyBase>( this ) );
+          ar( y );
+        }
+      };
+
+      struct MyRight : virtual MyBase
+      {
+        int z;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( cereal::virtual_base_clas<MyBase>( this ) );
+          ar( z );
+        }
+      };
+
+      // diamond virtual inheritance; contains one copy of each base class
+      struct MyDerived : virtual MyLeft, virtual MyRight
+      {
+        int a;
+
+        template <class Archive>
+        void serialize( Archive & ar )
+        {
+          ar( cereal::virtual_base_class<MyLeft>( this ) );  // safely serialize data members in MyLeft
+          ar( cereal::virtual_base_class<MyRight>( this ) ); // safely serialize data members in MyRight
+          ar( a );
+
+          // Because we used virtual_base_class, cereal will ensure that only one instance of MyBase is
+          // serialized as we traverse the inheritance heirarchy. This means that there will be one copy
+          // each of the variables x, y, z, and a
+
+          // If we had chosen to use static_cast<> instead, cereal would perform no tracking and
+          // assume that every base class should be serialized (in this case leading to a duplicate
+          // serialization of MyBase due to diamond inheritance
+      };
+     }
+     @endcode */
+  template<class Base>
+    struct virtual_base_class : private traits::detail::BaseCastBase
+    {
+      template<class Derived>
+        virtual_base_class(Derived const * derived) :
+          base_ptr(const_cast<Base*>(static_cast<Base const *>(derived)))
+      { static_assert( std::is_base_of<Base, Derived>::value, "Can only use base_class on a valid base class" ); }
+
+        Base * base_ptr;
+    };
+
+} // namespace cereal
+
+#endif // CEREAL_TYPES_BASE_CLASS_HPP_
diff --git a/3rdparty/include/cereal/types/bitset.hpp b/3rdparty/include/cereal/types/bitset.hpp
new file mode 100644
index 0000000..d421e10
--- /dev/null
+++ b/3rdparty/include/cereal/types/bitset.hpp
@@ -0,0 +1,112 @@
+/*! \file bitset.hpp
+    \brief Support for types found in \<bitset\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_BITSET_HPP_
+#define CEREAL_TYPES_BITSET_HPP_
+
+#include <cereal/cereal.hpp>
+#include <bitset>
+
+namespace cereal
+{
+  namespace bitset_detail
+  {
+    //! The type the bitset is encoded with
+    /*! @internal */
+    enum class type : uint8_t
+    {
+      ulong,
+      ullong,
+      string
+    };
+  }
+
+  //! Serializing (save) for std::bitset
+  template <class Archive, size_t N> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::bitset<N> const & bits )
+  {
+    try
+    {
+      auto const b = bits.to_ulong();
+      ar( CEREAL_NVP_("type", bitset_detail::type::ulong) );
+      ar( CEREAL_NVP_("data", b) );
+    }
+    catch( std::overflow_error const & )
+    {
+      try
+      {
+        auto const b = bits.to_ullong();
+        ar( CEREAL_NVP_("type", bitset_detail::type::ullong) );
+        ar( CEREAL_NVP_("data", b) );
+      }
+      catch( std::overflow_error const & )
+      {
+        ar( CEREAL_NVP_("type", bitset_detail::type::string) );
+        ar( CEREAL_NVP_("data", bits.to_string()) );
+      }
+    }
+  }
+
+  //! Serializing (load) for std::bitset
+  template <class Archive, size_t N> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::bitset<N> & bits )
+  {
+    bitset_detail::type t;
+    ar( CEREAL_NVP_("type", t) );
+
+    switch( t )
+    {
+      case bitset_detail::type::ulong:
+      {
+        unsigned long b;
+        ar( CEREAL_NVP_("data", b) );
+        bits = std::bitset<N>( b );
+        break;
+      }
+      case bitset_detail::type::ullong:
+      {
+        unsigned long long b;
+        ar( CEREAL_NVP_("data", b) );
+        bits = std::bitset<N>( b );
+        break;
+      }
+      case bitset_detail::type::string:
+      {
+        std::string b;
+        ar( CEREAL_NVP_("data", b) );
+        bits = std::bitset<N>( b );
+        break;
+      }
+      default:
+        throw Exception("Invalid bitset data representation");
+    }
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_BITSET_HPP_
diff --git a/3rdparty/include/cereal/types/boost_variant.hpp b/3rdparty/include/cereal/types/boost_variant.hpp
new file mode 100644
index 0000000..0f38589
--- /dev/null
+++ b/3rdparty/include/cereal/types/boost_variant.hpp
@@ -0,0 +1,106 @@
+/*! \file boost_variant.hpp
+    \brief Support for boost::variant
+    \ingroup OtherTypes */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_BOOST_VARIANT_HPP_
+#define CEREAL_TYPES_BOOST_VARIANT_HPP_
+
+#include <cereal/cereal.hpp>
+#include <boost/variant.hpp>
+#include <boost/mpl/size.hpp>
+
+namespace cereal
+{
+  namespace variant_detail
+  {
+    //! @internal
+    template <class Archive>
+    struct variant_save_visitor : boost::static_visitor<>
+    {
+      variant_save_visitor(Archive & ar_) : ar(ar_) {}
+
+      template<class T>
+        void operator()(T const & value) const
+        {
+          ar( CEREAL_NVP_("data", value) );
+        }
+
+      Archive & ar;
+    };
+
+    //! @internal
+    template<int N, class Variant, class ... Args, class Archive>
+    typename std::enable_if<N == boost::mpl::size<typename Variant::types>::value, void>::type
+    load_variant(Archive & /*ar*/, int /*target*/, Variant & /*variant*/)
+    {
+      throw ::cereal::Exception("Error traversing variant during load");
+    }
+
+    //! @internal
+    template<int N, class Variant, class H, class ... T, class Archive>
+    typename std::enable_if<N < boost::mpl::size<typename Variant::types>::value, void>::type
+    load_variant(Archive & ar, int target, Variant & variant)
+    {
+      if(N == target)
+      {
+        H value;
+        ar( CEREAL_NVP_("data", value) );
+        variant = value;
+      }
+      else
+        load_variant<N+1, Variant, T...>(ar, target, variant);
+    }
+
+  } // namespace variant_detail
+
+  //! Saving for boost::variant
+  template <class Archive, typename... VariantTypes> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, boost::variant<VariantTypes...> const & variant )
+  {
+    int32_t which = variant.which();
+    ar( CEREAL_NVP_("which", which) );
+    variant_detail::variant_save_visitor<Archive> visitor(ar);
+    variant.apply_visitor(visitor);
+  }
+
+  //! Loading for boost::variant
+  template <class Archive, typename... VariantTypes> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, boost::variant<VariantTypes...> & variant )
+  {
+    typedef typename boost::variant<VariantTypes...>::types types;
+
+    int32_t which;
+    ar( CEREAL_NVP_("which", which) );
+    if(which >= boost::mpl::size<types>::value)
+      throw Exception("Invalid 'which' selector when deserializing boost::variant");
+
+    variant_detail::load_variant<0, boost::variant<VariantTypes...>, VariantTypes...>(ar, which, variant);
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_BOOST_VARIANT_HPP_
diff --git a/3rdparty/include/cereal/types/chrono.hpp b/3rdparty/include/cereal/types/chrono.hpp
new file mode 100644
index 0000000..12ee4cb
--- /dev/null
+++ b/3rdparty/include/cereal/types/chrono.hpp
@@ -0,0 +1,72 @@
+/*! \file chrono.hpp
+    \brief Support for types found in \<chrono\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_CHRONO_HPP_
+#define CEREAL_TYPES_CHRONO_HPP_
+
+#include <chrono>
+
+namespace cereal
+{
+  //! Saving std::chrono::duration
+  template <class Archive, class R, class P> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::chrono::duration<R, P> const & dur )
+  {
+    ar( CEREAL_NVP_("count", dur.count()) );
+  }
+
+  //! Loading std::chrono::duration
+  template <class Archive, class R, class P> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::chrono::duration<R, P> & dur )
+  {
+    R count;
+    ar( CEREAL_NVP_("count", count) );
+
+    dur = std::chrono::duration<R, P>{count};
+  }
+
+  //! Saving std::chrono::time_point
+  template <class Archive, class C, class D> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::chrono::time_point<C, D> const & dur )
+  {
+    ar( CEREAL_NVP_("time_since_epoch", dur.time_since_epoch()) );
+  }
+
+  //! Loading std::chrono::time_point
+  template <class Archive, class C, class D> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::chrono::time_point<C, D> & dur )
+  {
+    D elapsed;
+    ar( CEREAL_NVP_("time_since_epoch", elapsed) );
+
+    dur = std::chrono::time_point<C, D>{elapsed};
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_CHRONO_HPP_
diff --git a/3rdparty/include/cereal/types/common.hpp b/3rdparty/include/cereal/types/common.hpp
new file mode 100644
index 0000000..57ab204
--- /dev/null
+++ b/3rdparty/include/cereal/types/common.hpp
@@ -0,0 +1,129 @@
+/*! \file common.hpp
+    \brief Support common types - always included automatically
+    \ingroup OtherTypes */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_COMMON_HPP_
+#define CEREAL_TYPES_COMMON_HPP_
+
+#include <cereal/cereal.hpp>
+
+namespace cereal
+{
+  namespace common_detail
+  {
+    //! Serialization for arrays if BinaryData is supported and we are arithmetic
+    /*! @internal */
+    template <class Archive, class T> inline
+    void serializeArray( Archive & ar, T & array, std::true_type /* binary_supported */ )
+    {
+      ar( binary_data( array, sizeof(array) ) );
+    }
+
+    //! Serialization for arrays if BinaryData is not supported or we are not arithmetic
+    /*! @internal */
+    template <class Archive, class T> inline
+    void serializeArray( Archive & ar, T & array, std::false_type /* binary_supported */ )
+    {
+      for( auto & i : array )
+        ar( i );
+    }
+
+    namespace
+    {
+      //! Gets the underlying type of an enum
+      /*! @internal */
+      template <class T, bool IsEnum>
+      struct enum_underlying_type : std::false_type {};
+
+      //! Gets the underlying type of an enum
+      /*! Specialization for when we actually have an enum
+          @internal */
+      template <class T>
+      struct enum_underlying_type<T, true> { using type = typename std::underlying_type<T>::type; };
+    } // anon namespace
+
+    //! Checks if a type is an enum
+    /*! This is needed over simply calling std::is_enum because the type
+        traits checking at compile time will attempt to call something like
+        load_minimal with a special NoConvertRef struct that wraps up the true type.
+
+        This will strip away any of that and also expose the true underlying type.
+        @internal */
+    template <class T>
+    class is_enum
+    {
+      private:
+        using DecayedT  = typename std::decay<T>::type;
+        using StrippedT = typename ::cereal::traits::strip_minimal<DecayedT>::type;
+
+      public:
+        static const bool value = std::is_enum<StrippedT>::value;
+        using type = StrippedT;
+        using base_type = typename enum_underlying_type<StrippedT, value>::type;
+    };
+  }
+
+  //! Saving for enum types
+  template <class Archive, class T> inline
+  typename std::enable_if<common_detail::is_enum<T>::value,
+                          typename common_detail::is_enum<T>::base_type>::type
+  CEREAL_SAVE_MINIMAL_FUNCTION_NAME( Archive const &, T const & t )
+  {
+    return static_cast<typename common_detail::is_enum<T>::base_type>(t);
+  }
+
+  //! Loading for enum types
+  template <class Archive, class T> inline
+  typename std::enable_if<common_detail::is_enum<T>::value, void>::type
+  CEREAL_LOAD_MINIMAL_FUNCTION_NAME( Archive const &, T && t,
+                                     typename common_detail::is_enum<T>::base_type const & value )
+  {
+    t = reinterpret_cast<typename common_detail::is_enum<T>::type const &>( value );
+  }
+
+  //! Serialization for raw pointers
+  /*! This exists only to throw a static_assert to let users know we don't support raw pointers. */
+  template <class Archive, class T> inline
+  void CEREAL_SERIALIZE_FUNCTION_NAME( Archive &, T * & )
+  {
+    static_assert(cereal::traits::detail::delay_static_assert<T>::value,
+      "Cereal does not support serializing raw pointers - please use a smart pointer");
+  }
+
+  //! Serialization for C style arrays
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_array<T>::value, void>::type
+  CEREAL_SERIALIZE_FUNCTION_NAME(Archive & ar, T & array)
+  {
+    common_detail::serializeArray( ar, array,
+        std::integral_constant<bool, traits::is_output_serializable<BinaryData<T>, Archive>::value &&
+                                     std::is_arithmetic<typename std::remove_all_extents<T>::type>::value>() );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_COMMON_HPP_
diff --git a/3rdparty/include/cereal/types/complex.hpp b/3rdparty/include/cereal/types/complex.hpp
new file mode 100644
index 0000000..7e6ff54
--- /dev/null
+++ b/3rdparty/include/cereal/types/complex.hpp
@@ -0,0 +1,56 @@
+/*! \file complex.hpp
+    \brief Support for types found in \<complex\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_COMPLEX_HPP_
+#define CEREAL_TYPES_COMPLEX_HPP_
+
+#include <complex>
+
+namespace cereal
+{
+  //! Serializing (save) for std::complex
+  template <class Archive, class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::complex<T> const & comp )
+  {
+    ar( CEREAL_NVP_("real", comp.real()),
+        CEREAL_NVP_("imag", comp.imag()) );
+  }
+
+  //! Serializing (load) for std::complex
+  template <class Archive, class T> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::complex<T> & bits )
+  {
+    T real, imag;
+    ar( CEREAL_NVP_("real", real),
+        CEREAL_NVP_("imag", imag) );
+    bits = {real, imag};
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_COMPLEX_HPP_
diff --git a/3rdparty/include/cereal/types/deque.hpp b/3rdparty/include/cereal/types/deque.hpp
new file mode 100644
index 0000000..df93e64
--- /dev/null
+++ b/3rdparty/include/cereal/types/deque.hpp
@@ -0,0 +1,62 @@
+/*! \file deque.hpp
+    \brief Support for types found in \<deque\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_DEQUE_HPP_
+#define CEREAL_TYPES_DEQUE_HPP_
+
+#include <cereal/cereal.hpp>
+#include <deque>
+
+namespace cereal
+{
+  //! Saving for std::deque
+  template <class Archive, class T, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::deque<T, A> const & deque )
+  {
+    ar( make_size_tag( static_cast<size_type>(deque.size()) ) );
+
+    for( auto const & i : deque )
+      ar( i );
+  }
+
+  //! Loading for std::deque
+  template <class Archive, class T, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::deque<T, A> & deque )
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+
+    deque.resize( static_cast<size_t>( size ) );
+
+    for( auto & i : deque )
+      ar( i );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_DEQUE_HPP_
diff --git a/3rdparty/include/cereal/types/forward_list.hpp b/3rdparty/include/cereal/types/forward_list.hpp
new file mode 100644
index 0000000..72a8b88
--- /dev/null
+++ b/3rdparty/include/cereal/types/forward_list.hpp
@@ -0,0 +1,68 @@
+/*! \file forward_list.hpp
+    \brief Support for types found in \<forward_list\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_FORWARD_LIST_HPP_
+#define CEREAL_TYPES_FORWARD_LIST_HPP_
+
+#include <cereal/cereal.hpp>
+#include <forward_list>
+
+namespace cereal
+{
+  //! Saving for std::forward_list all other types
+  template <class Archive, class T, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::forward_list<T, A> const & forward_list )
+  {
+    // write the size - note that this is slow because we need to traverse
+    // the entire list. there are ways we could avoid this but this was chosen
+    // since it works in the most general fashion with any archive type
+    size_type const size = std::distance( forward_list.begin(), forward_list.end() );
+
+    ar( make_size_tag( size ) );
+
+    // write the list
+    for( const auto & i : forward_list )
+      ar( i );
+  }
+
+  //! Loading for std::forward_list all other types from
+  template <class Archive, class T, class A>
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::forward_list<T, A> & forward_list )
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+
+    forward_list.resize( static_cast<size_t>( size ) );
+
+    for( auto & i : forward_list )
+      ar( i );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_FORWARD_LIST_HPP_
diff --git a/3rdparty/include/cereal/types/list.hpp b/3rdparty/include/cereal/types/list.hpp
new file mode 100644
index 0000000..d071e72
--- /dev/null
+++ b/3rdparty/include/cereal/types/list.hpp
@@ -0,0 +1,62 @@
+/*! \file list.hpp
+    \brief Support for types found in \<list\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_LIST_HPP_
+#define CEREAL_TYPES_LIST_HPP_
+
+#include <cereal/cereal.hpp>
+#include <list>
+
+namespace cereal
+{
+  //! Saving for std::list
+  template <class Archive, class T, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::list<T, A> const & list )
+  {
+    ar( make_size_tag( static_cast<size_type>(list.size()) ) );
+
+    for( auto const & i : list )
+      ar( i );
+  }
+
+  //! Loading for std::list
+  template <class Archive, class T, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::list<T, A> & list )
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+
+    list.resize( static_cast<size_t>( size ) );
+
+    for( auto & i : list )
+      ar( i );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_LIST_HPP_
diff --git a/3rdparty/include/cereal/types/map.hpp b/3rdparty/include/cereal/types/map.hpp
new file mode 100644
index 0000000..c5d3f4e
--- /dev/null
+++ b/3rdparty/include/cereal/types/map.hpp
@@ -0,0 +1,108 @@
+/*! \file map.hpp
+    \brief Support for types found in \<map\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_MAP_HPP_
+#define CEREAL_TYPES_MAP_HPP_
+
+#include <cereal/cereal.hpp>
+#include <map>
+
+namespace cereal
+{
+  namespace map_detail
+  {
+    //! @internal
+    template <class Archive, class MapT> inline
+    void save( Archive & ar, MapT const & map )
+    {
+      ar( make_size_tag( static_cast<size_type>(map.size()) ) );
+
+      for( const auto & i : map )
+      {
+        ar( make_map_item(i.first, i.second) );
+      }
+    }
+
+    //! @internal
+    template <class Archive, class MapT> inline
+    void load( Archive & ar, MapT & map )
+    {
+      size_type size;
+      ar( make_size_tag( size ) );
+
+      map.clear();
+
+      auto hint = map.begin();
+      for( size_t i = 0; i < size; ++i )
+      {
+        typename MapT::key_type key;
+        typename MapT::mapped_type value;
+
+        ar( make_map_item(key, value) );
+        #ifdef CEREAL_OLDER_GCC
+        hint = map.insert( hint, std::make_pair(std::move(key), std::move(value)) );
+        #else // NOT CEREAL_OLDER_GCC
+        hint = map.emplace_hint( hint, std::move( key ), std::move( value ) );
+        #endif // NOT CEREAL_OLDER_GCC
+      }
+    }
+  }
+
+  //! Saving for std::map
+  template <class Archive, class K, class T, class C, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::map<K, T, C, A> const & map )
+  {
+    map_detail::save( ar, map );
+  }
+
+  //! Loading for std::map
+  template <class Archive, class K, class T, class C, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::map<K, T, C, A> & map )
+  {
+    map_detail::load( ar, map );
+  }
+
+  //! Saving for std::multimap
+  /*! @note serialization for this type is not guaranteed to preserve ordering */
+  template <class Archive, class K, class T, class C, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::multimap<K, T, C, A> const & multimap )
+  {
+    map_detail::save( ar, multimap );
+  }
+
+  //! Loading for std::multimap
+  /*! @note serialization for this type is not guaranteed to preserve ordering */
+  template <class Archive, class K, class T, class C, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::multimap<K, T, C, A> & multimap )
+  {
+    map_detail::load( ar, multimap );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_MAP_HPP_
diff --git a/3rdparty/include/cereal/types/memory.hpp b/3rdparty/include/cereal/types/memory.hpp
new file mode 100644
index 0000000..040093a
--- /dev/null
+++ b/3rdparty/include/cereal/types/memory.hpp
@@ -0,0 +1,392 @@
+/*! \file memory.hpp
+    \brief Support for types found in \<memory\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_SHARED_PTR_HPP_
+#define CEREAL_TYPES_SHARED_PTR_HPP_
+
+#include <cereal/cereal.hpp>
+#include <memory>
+#include <cstring>
+
+namespace cereal
+{
+  namespace memory_detail
+  {
+    //! A wrapper class to notify cereal that it is ok to serialize the contained pointer
+    /*! This mechanism allows us to intercept and properly handle polymorphic pointers
+        @internal */
+    template<class T>
+    struct PtrWrapper
+    {
+      PtrWrapper(T && p) : ptr(std::forward<T>(p)) {}
+      T & ptr;
+
+      PtrWrapper & operator=( PtrWrapper const & ) = delete;
+    };
+
+    //! Make a PtrWrapper
+    /*! @internal */
+    template<class T> inline
+    PtrWrapper<T> make_ptr_wrapper(T && t)
+    {
+      return {std::forward<T>(t)};
+    }
+
+    //! A struct that acts as a wrapper around calling load_andor_construct
+    /*! The purpose of this is to allow a load_and_construct call to properly enter into the
+        'data' NVP of the ptr_wrapper
+        @internal */
+    template <class Archive, class T>
+    struct LoadAndConstructLoadWrapper
+    {
+      LoadAndConstructLoadWrapper( T * ptr ) :
+        construct( ptr )
+      { }
+
+      inline void CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar )
+      {
+        ::cereal::detail::Construct<T, Archive>::load_andor_construct( ar, construct );
+      }
+
+      ::cereal::construct<T> construct;
+    };
+
+    //! A helper struct for saving and restoring the state of types that derive from
+    //! std::enable_shared_from_this
+    /*! This special struct is necessary because when a user uses load_and_construct,
+        the weak_ptr (or whatever implementation defined variant) that allows
+        enable_shared_from_this to function correctly will not be initialized properly.
+
+        This internal weak_ptr can also be modified by the shared_ptr that is created
+        during the serialization of a polymorphic pointer, where cereal creates a
+        wrapper shared_ptr out of a void pointer to the real data.
+
+        In the case of load_and_construct, this happens because it is the allocation
+        of shared_ptr that perform this initialization, which we let happen on a buffer
+        of memory (aligned_storage).  This buffer is then used for placement new
+        later on, effectively overwriting any initialized weak_ptr with a default
+        initialized one, eventually leading to issues when the user calls shared_from_this.
+
+        To get around these issues, we will store the memory for the enable_shared_from_this
+        portion of the class and replace it after whatever happens to modify it (e.g. the
+        user performing construction or the wrapper shared_ptr in saving).
+
+        Example usage:
+
+        @code{.cpp}
+        T * myActualPointer;
+        {
+          EnableSharedStateHelper<T> helper( myActualPointer ); // save the state
+          std::shared_ptr<T> myPtr( myActualPointer ); // modifies the internal weak_ptr
+          // helper restores state when it goes out of scope
+        }
+        @endcode
+
+        This is designed to be used in an RAII fashion - it will save state on construction
+        and restore it on destruction.
+
+        @tparam T Type pointed to by shared_ptr
+        @internal */
+    template <class T>
+    class EnableSharedStateHelper
+    {
+      // typedefs for parent type and storage type
+      using BaseType = typename ::cereal::traits::get_shared_from_this_base<T>::type;
+      using ParentType = std::enable_shared_from_this<BaseType>;
+      using StorageType = typename std::aligned_storage<sizeof(ParentType)>::type;
+
+      public:
+        //! Saves the state of some type inheriting from enable_shared_from_this
+        /*! @param ptr The raw pointer held by the shared_ptr */
+        inline EnableSharedStateHelper( T * ptr ) :
+          itsPtr( static_cast<ParentType *>( ptr ) ),
+          itsState()
+        {
+          std::memcpy( &itsState, itsPtr, sizeof(ParentType) );
+        }
+
+        //! Restores the state of the held pointer
+        inline ~EnableSharedStateHelper()
+        {
+          std::memcpy( itsPtr, &itsState, sizeof(ParentType) );
+        }
+
+      private:
+        ParentType * itsPtr;
+        StorageType itsState;
+    }; // end EnableSharedStateHelper
+
+    //! Performs loading and construction for a shared pointer that is derived from
+    //! std::enable_shared_from_this
+    /*! @param ar The archive
+        @param ptr Raw pointer held by the shared_ptr
+        @internal */
+    template <class Archive, class T> inline
+    void loadAndConstructSharedPtr( Archive & ar, T * ptr, std::true_type /* has_shared_from_this */ )
+    {
+      memory_detail::LoadAndConstructLoadWrapper<Archive, T> loadWrapper( ptr );
+      memory_detail::EnableSharedStateHelper<T> state( ptr );
+
+      // let the user perform their initialization
+      ar( CEREAL_NVP_("data", loadWrapper) );
+    }
+
+    //! Performs loading and construction for a shared pointer that is NOT derived from
+    //! std::enable_shared_from_this
+    /*! This is the typical case, where we simply pass the load wrapper to the
+        archive.
+
+        @param ar The archive
+        @param ptr Raw pointer held by the shared_ptr
+        @internal */
+    template <class Archive, class T> inline
+    void loadAndConstructSharedPtr( Archive & ar, T * ptr, std::false_type /* has_shared_from_this */ )
+    {
+      memory_detail::LoadAndConstructLoadWrapper<Archive, T> loadWrapper( ptr );
+      ar( CEREAL_NVP_("data", loadWrapper) );
+    }
+  } // end namespace memory_detail
+
+  //! Saving std::shared_ptr for non polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::shared_ptr<T> const & ptr )
+  {
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( ptr )) );
+  }
+
+  //! Loading std::shared_ptr, case when no user load and construct for non polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::shared_ptr<T> & ptr )
+  {
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( ptr )) );
+  }
+
+  //! Saving std::weak_ptr for non polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::weak_ptr<T> const & ptr )
+  {
+    auto const sptr = ptr.lock();
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( sptr )) );
+  }
+
+  //! Loading std::weak_ptr for non polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::weak_ptr<T> & ptr )
+  {
+    std::shared_ptr<T> sptr;
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( sptr )) );
+    ptr = sptr;
+  }
+
+  //! Saving std::unique_ptr for non polymorphic types
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unique_ptr<T, D> const & ptr )
+  {
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( ptr )) );
+  }
+
+  //! Loading std::unique_ptr, case when user provides load_and_construct for non polymorphic types
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<!std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unique_ptr<T, D> & ptr )
+  {
+    ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper( ptr )) );
+  }
+
+  // ######################################################################
+  // Pointer wrapper implementations follow below
+
+  //! Saving std::shared_ptr (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::shared_ptr<T> const &> const & wrapper )
+  {
+    auto & ptr = wrapper.ptr;
+
+    uint32_t id = ar.registerSharedPointer( ptr.get() );
+    ar( CEREAL_NVP_("id", id) );
+
+    if( id & detail::msb_32bit )
+    {
+      ar( CEREAL_NVP_("data", *ptr) );
+    }
+  }
+
+  //! Loading std::shared_ptr, case when user load and construct (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T> inline
+  typename std::enable_if<traits::has_load_and_construct<T, Archive>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::shared_ptr<T> &> & wrapper )
+  {
+    auto & ptr = wrapper.ptr;
+
+    uint32_t id;
+
+    ar( CEREAL_NVP_("id", id) );
+
+    if( id & detail::msb_32bit )
+    {
+      // Storage type for the pointer - since we can't default construct this type,
+      // we'll allocate it using std::aligned_storage and use a custom deleter
+      using ST = typename std::aligned_storage<sizeof(T)>::type;
+
+      // Valid flag - set to true once construction finishes
+      //  This prevents us from calling the destructor on
+      //  uninitialized data.
+      auto valid = std::make_shared<bool>( false );
+
+      // Allocate our storage, which we will treat as
+      //  uninitialized until initialized with placement new
+      ptr.reset( reinterpret_cast<T *>( new ST() ),
+          [=]( T * t )
+          {
+            if( valid )
+              t->~T();
+
+            delete reinterpret_cast<ST *>( t );
+          } );
+
+      // Register the pointer
+      ar.registerSharedPointer( id, ptr );
+
+      // Perform the actual loading and allocation
+      memory_detail::loadAndConstructSharedPtr( ar, ptr.get(), typename ::cereal::traits::has_shared_from_this<T>::type() );
+
+      // Mark pointer as valid (initialized)
+      *valid = true;
+    }
+    else
+      ptr = std::static_pointer_cast<T>(ar.getSharedPointer(id));
+  }
+
+  //! Loading std::shared_ptr, case when no user load and construct (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T> inline
+  typename std::enable_if<!traits::has_load_and_construct<T, Archive>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::shared_ptr<T> &> & wrapper )
+  {
+    auto & ptr = wrapper.ptr;
+
+    uint32_t id;
+
+    ar( CEREAL_NVP_("id", id) );
+
+    if( id & detail::msb_32bit )
+    {
+      ptr.reset( detail::Construct<T, Archive>::load_andor_construct() );
+      ar.registerSharedPointer( id, ptr );
+      ar( CEREAL_NVP_("data", *ptr) );
+    }
+    else
+      ptr = std::static_pointer_cast<T>(ar.getSharedPointer(id));
+  }
+
+  //! Saving std::unique_ptr (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T, class D> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::unique_ptr<T, D> const &> const & wrapper )
+  {
+    auto & ptr = wrapper.ptr;
+
+    // unique_ptr get one byte of metadata which signifies whether they were a nullptr
+    // 0 == nullptr
+    // 1 == not null
+
+    if( !ptr )
+      ar( CEREAL_NVP_("valid", uint8_t(0)) );
+    else
+    {
+      ar( CEREAL_NVP_("valid", uint8_t(1)) );
+      ar( CEREAL_NVP_("data", *ptr) );
+    }
+  }
+
+  //! Loading std::unique_ptr, case when user provides load_and_construct (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<traits::has_load_and_construct<T, Archive>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::unique_ptr<T, D> &> & wrapper )
+  {
+    uint8_t isValid;
+    ar( CEREAL_NVP_("valid", isValid) );
+
+    auto & ptr = wrapper.ptr;
+
+    if( isValid )
+    {
+      // Storage type for the pointer - since we can't default construct this type,
+      // we'll allocate it using std::aligned_storage
+      using ST = typename std::aligned_storage<sizeof(T)>::type;
+
+      // Allocate storage - note the ST type so that deleter is correct if
+      //                    an exception is thrown before we are initialized
+      std::unique_ptr<ST> stPtr( new ST() );
+
+      // Use wrapper to enter into "data" nvp of ptr_wrapper
+      memory_detail::LoadAndConstructLoadWrapper<Archive, T> loadWrapper( reinterpret_cast<T *>( stPtr.get() ) );
+
+      // Initialize storage
+      ar( CEREAL_NVP_("data", loadWrapper) );
+
+      // Transfer ownership to correct unique_ptr type
+      ptr.reset( reinterpret_cast<T *>( stPtr.release() ) );
+    }
+    else
+      ptr.reset( nullptr );
+  }
+
+  //! Loading std::unique_ptr, case when no load_and_construct (wrapper implementation)
+  /*! @internal */
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<!traits::has_load_and_construct<T, Archive>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, memory_detail::PtrWrapper<std::unique_ptr<T, D> &> & wrapper )
+  {
+    uint8_t isValid;
+    ar( CEREAL_NVP_("valid", isValid) );
+
+    auto & ptr = wrapper.ptr;
+
+    if( isValid )
+    {
+      ptr.reset( detail::Construct<T, Archive>::load_andor_construct() );
+      ar( CEREAL_NVP_( "data", *ptr ) );
+    }
+    else
+    {
+      ptr.reset( nullptr );
+    }
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_SHARED_PTR_HPP_
diff --git a/3rdparty/include/cereal/types/polymorphic.hpp b/3rdparty/include/cereal/types/polymorphic.hpp
new file mode 100644
index 0000000..6cd85f6
--- /dev/null
+++ b/3rdparty/include/cereal/types/polymorphic.hpp
@@ -0,0 +1,462 @@
+/*! \file polymorphic.hpp
+    \brief Support for pointers to polymorphic base classes
+    \ingroup OtherTypes */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_POLYMORPHIC_HPP_
+#define CEREAL_TYPES_POLYMORPHIC_HPP_
+
+#include <cereal/cereal.hpp>
+#include <cereal/types/memory.hpp>
+
+#include <cereal/details/util.hpp>
+#include <cereal/details/helpers.hpp>
+#include <cereal/details/traits.hpp>
+#include <cereal/details/polymorphic_impl.hpp>
+
+#ifdef _MSC_VER
+#define STATIC_CONSTEXPR static
+#else
+#define STATIC_CONSTEXPR static constexpr
+#endif
+
+//! Registers a derived polymorphic type with cereal
+/*! Polymorphic types must be registered before smart
+    pointers to them can be serialized.  Note that base
+    classes do not need to be registered.
+
+    Registering a type lets cereal know how to properly
+    serialize it when a smart pointer to a base object is
+    used in conjunction with a derived class.
+
+    This assumes that all relevant archives have also
+    previously been registered.  Registration for archives
+    is usually done in the header file in which they are
+    defined.  This means that type registration needs to
+    happen after specific archives to be used are included.
+
+    It is recommended that type registration be done in
+    the header file in which the type is declared.
+
+    Registration can also be placed in a source file,
+    but this may require the use of the
+    CEREAL_REGISTER_DYNAMIC_INIT macro (see below).
+
+    Registration may be called repeatedly for the same
+    type in different translation units to add support
+    for additional archives if they are not initially
+    available (included and registered).
+
+    When building serialization support as a DLL on
+    Windows, registration must happen in the header file.
+    On Linux and Mac things should still work properly
+    if placed in a source file, but see the above comments
+    on registering in source files.
+
+    Polymorphic support in cereal requires RTTI to be
+    enabled */
+#define CEREAL_REGISTER_TYPE(T)                         \
+  namespace cereal {                                    \
+  namespace detail {                                    \
+  template <>                                           \
+  struct binding_name<T>                                \
+  {                                                     \
+    STATIC_CONSTEXPR char const * name() { return #T; } \
+  };                                                    \
+  } } /* end namespaces */                              \
+  CEREAL_BIND_TO_ARCHIVES(T)
+
+//! Registers a polymorphic type with cereal, giving it a
+//! user defined name
+/*! In some cases the default name used with
+    CEREAL_REGISTER_TYPE (the name of the type) may not be
+    suitable.  This macro allows any name to be associated
+    with the type.  The name should be unique */
+#define CEREAL_REGISTER_TYPE_WITH_NAME(T, Name)              \
+  namespace cereal {                                         \
+  namespace detail {                                         \
+  template <>                                                \
+  struct binding_name<T>                                     \
+  { STATIC_CONSTEXPR char const * name() { return Name; } }; \
+  } } /* end namespaces */                                   \
+  CEREAL_BIND_TO_ARCHIVES(T)
+
+//! Adds a way to force initialization of a translation unit containing
+//! calls to CEREAL_REGISTER_TYPE
+/*! In C++, dynamic initialization of non-local variables of a translation
+    unit may be deferred until "the first odr-use of any function or variable
+    defined in the same translation unit as the variable to be initialized."
+
+    Informally, odr-use means that your program takes the address of or binds
+    a reference directly to an object, which must have a definition.
+
+    Since polymorphic type support in cereal relies on the dynamic
+    initialization of certain global objects happening before
+    serialization is performed, it is important to ensure that something
+    from files that call CEREAL_REGISTER_TYPE is odr-used before serialization
+    occurs, otherwise the registration will never take place.  This may often
+    be the case when serialization is built as a shared library external from
+    your main program.
+
+    This macro, with any name of your choosing, should be placed into the
+    source file that contains calls to CEREAL_REGISTER_TYPE.
+
+    Its counterpart, CEREAL_FORCE_DYNAMIC_INIT, should be placed in its
+    associated header file such that it is included in the translation units
+    (source files) in which you want the registration to appear.
+
+    @relates CEREAL_FORCE_DYNAMIC_INIT
+    */
+#define CEREAL_REGISTER_DYNAMIC_INIT(LibName)                \
+  namespace cereal {                                         \
+  namespace detail {                                         \
+    void CEREAL_DLL_EXPORT dynamic_init_dummy_##LibName() {} \
+  } } /* end namespaces */
+
+//! Forces dynamic initialization of polymorphic support in a
+//! previously registered source file
+/*! @sa CEREAL_REGISTER_DYNAMIC_INIT
+
+    See CEREAL_REGISTER_DYNAMIC_INIT for detailed explanation
+    of how this macro should be used.  The name used should
+    match that for CEREAL_REGISTER_DYNAMIC_INIT. */
+#define CEREAL_FORCE_DYNAMIC_INIT(LibName)              \
+  namespace cereal {                                    \
+  namespace detail {                                    \
+    void dynamic_init_dummy_##LibName();                \
+  } /* end detail */                                    \
+  namespace {                                           \
+    void dynamic_init_##LibName()                       \
+    {                                                   \
+      ::cereal::detail::dynamic_init_dummy_##LibName(); \
+    }                                                   \
+  } } /* end namespaces */
+
+#ifdef _MSC_VER
+#undef CONSTEXPR
+#endif
+
+namespace cereal
+{
+  namespace polymorphic_detail
+  {
+    //! Error message used for unregistered polymorphic types
+    /*! @internal */
+    #define UNREGISTERED_POLYMORPHIC_EXCEPTION(LoadSave, Name)                                                                                      \
+      throw cereal::Exception("Trying to " #LoadSave " an unregistered polymorphic type (" + Name + ").\n"                                          \
+                              "Make sure your type is registered with CEREAL_REGISTER_TYPE and that the archive "                                   \
+                              "you are using was included (and registered with CEREAL_REGISTER_ARCHIVE) prior to calling CEREAL_REGISTER_TYPE.\n"   \
+                              "If your type is already registered and you still see this error, you may need to use CEREAL_REGISTER_DYNAMIC_INIT.");
+
+    //! Get an input binding from the given archive by deserializing the type meta data
+    /*! @internal */
+    template<class Archive> inline
+    typename ::cereal::detail::InputBindingMap<Archive>::Serializers getInputBinding(Archive & ar, std::uint32_t const nameid)
+    {
+      // If the nameid is zero, we serialized a null pointer
+      if(nameid == 0)
+      {
+        typename ::cereal::detail::InputBindingMap<Archive>::Serializers emptySerializers;
+        emptySerializers.shared_ptr = [](void*, std::shared_ptr<void> & ptr) { ptr.reset(); };
+        emptySerializers.unique_ptr = [](void*, std::unique_ptr<void, ::cereal::detail::EmptyDeleter<void>> & ptr) { ptr.reset( nullptr ); };
+        return emptySerializers;
+      }
+
+      std::string name;
+      if(nameid & detail::msb_32bit)
+      {
+        ar( CEREAL_NVP_("polymorphic_name", name) );
+        ar.registerPolymorphicName(nameid, name);
+      }
+      else
+        name = ar.getPolymorphicName(nameid);
+
+      auto & bindingMap = detail::StaticObject<detail::InputBindingMap<Archive>>::getInstance().map;
+
+      auto binding = bindingMap.find(name);
+      if(binding == bindingMap.end())
+        UNREGISTERED_POLYMORPHIC_EXCEPTION(load, name)
+      return binding->second;
+    }
+
+    //! Serialize a shared_ptr if the 2nd msb in the nameid is set, and if we can actually construct the pointee
+    /*! This check lets us try and skip doing polymorphic machinery if we can get away with
+        using the derived class serialize function
+
+        Note that on MSVC 2013 preview, is_default_constructible<T> returns true for abstract classes with
+        default constructors, but on clang/gcc this will return false.  So we also need to check for that here.
+        @internal */
+    template<class Archive, class T> inline
+    typename std::enable_if<(traits::is_default_constructible<T>::value
+                             || traits::has_load_and_construct<T, Archive>::value)
+                             && !std::is_abstract<T>::value, bool>::type
+    serialize_wrapper(Archive & ar, std::shared_ptr<T> & ptr, std::uint32_t const nameid)
+    {
+      if(nameid & detail::msb2_32bit)
+      {
+        ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper(ptr)) );
+        return true;
+      }
+      return false;
+    }
+
+    //! Serialize a unique_ptr if the 2nd msb in the nameid is set, and if we can actually construct the pointee
+    /*! This check lets us try and skip doing polymorphic machinery if we can get away with
+        using the derived class serialize function
+        @internal */
+    template<class Archive, class T, class D> inline
+    typename std::enable_if<(traits::is_default_constructible<T>::value
+                             || traits::has_load_and_construct<T, Archive>::value)
+                             && !std::is_abstract<T>::value, bool>::type
+    serialize_wrapper(Archive & ar, std::unique_ptr<T, D> & ptr, std::uint32_t const nameid)
+    {
+      if(nameid & detail::msb2_32bit)
+      {
+        ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper(ptr)) );
+        return true;
+      }
+      return false;
+    }
+
+    //! Serialize a shared_ptr if the 2nd msb in the nameid is set, and if we can actually construct the pointee
+    /*! This case is for when we can't actually construct the shared pointer.  Normally this would be caught
+        as the pointer itself is serialized, but since this is a polymorphic pointer, if we tried to serialize
+        the pointer we'd end up back here recursively.  So we have to catch the error here as well, if
+        this was a polymorphic type serialized by its proper pointer type
+        @internal */
+    template<class Archive, class T> inline
+    typename std::enable_if<(!traits::is_default_constructible<T>::value
+                             && !traits::has_load_and_construct<T, Archive>::value)
+                             || std::is_abstract<T>::value, bool>::type
+    serialize_wrapper(Archive &, std::shared_ptr<T> &, std::uint32_t const nameid)
+    {
+      if(nameid & detail::msb2_32bit)
+        throw cereal::Exception("Cannot load a polymorphic type that is not default constructable and does not have a load_and_construct function");
+      return false;
+    }
+
+    //! Serialize a unique_ptr if the 2nd msb in the nameid is set, and if we can actually construct the pointee
+    /*! This case is for when we can't actually construct the unique pointer.  Normally this would be caught
+        as the pointer itself is serialized, but since this is a polymorphic pointer, if we tried to serialize
+        the pointer we'd end up back here recursively.  So we have to catch the error here as well, if
+        this was a polymorphic type serialized by its proper pointer type
+        @internal */
+    template<class Archive, class T, class D> inline
+     typename std::enable_if<(!traits::is_default_constructible<T>::value
+                               && !traits::has_load_and_construct<T, Archive>::value)
+                               || std::is_abstract<T>::value, bool>::type
+    serialize_wrapper(Archive &, std::unique_ptr<T, D> &, std::uint32_t const nameid)
+    {
+      if(nameid & detail::msb2_32bit)
+        throw cereal::Exception("Cannot load a polymorphic type that is not default constructable and does not have a load_and_construct function");
+      return false;
+    }
+  } // polymorphic_detail
+
+  // ######################################################################
+  // Pointer serialization for polymorphic types
+
+  //! Saving std::shared_ptr for polymorphic types, abstract
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_polymorphic<T>::value && std::is_abstract<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::shared_ptr<T> const & ptr )
+  {
+    if(!ptr)
+    {
+      // same behavior as nullptr in memory implementation
+      ar( CEREAL_NVP_("polymorphic_id", std::uint32_t(0)) );
+      return;
+    }
+
+    std::type_info const & ptrinfo = typeid(*ptr.get());
+    // ptrinfo can never be equal to T info since we can't have an instance
+    // of an abstract object
+    //  this implies we need to do the lookup
+
+    auto & bindingMap = detail::StaticObject<detail::OutputBindingMap<Archive>>::getInstance().map;
+
+    auto binding = bindingMap.find(std::type_index(ptrinfo));
+    if(binding == bindingMap.end())
+      UNREGISTERED_POLYMORPHIC_EXCEPTION(save, cereal::util::demangle(ptrinfo.name()))
+
+    binding->second.shared_ptr(&ar, ptr.get());
+  }
+
+  //! Saving std::shared_ptr for polymorphic types, not abstract
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_polymorphic<T>::value && !std::is_abstract<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::shared_ptr<T> const & ptr )
+  {
+    if(!ptr)
+    {
+      // same behavior as nullptr in memory implementation
+      ar( CEREAL_NVP_("polymorphic_id", std::uint32_t(0)) );
+      return;
+    }
+
+    std::type_info const & ptrinfo = typeid(*ptr.get());
+    static std::type_info const & tinfo = typeid(T);
+
+    if(ptrinfo == tinfo)
+    {
+      // The 2nd msb signals that the following pointer does not need to be
+      // cast with our polymorphic machinery
+      ar( CEREAL_NVP_("polymorphic_id", detail::msb2_32bit) );
+
+      ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper(ptr)) );
+
+      return;
+    }
+
+    auto & bindingMap = detail::StaticObject<detail::OutputBindingMap<Archive>>::getInstance().map;
+
+    auto binding = bindingMap.find(std::type_index(ptrinfo));
+    if(binding == bindingMap.end())
+      UNREGISTERED_POLYMORPHIC_EXCEPTION(save, cereal::util::demangle(ptrinfo.name()))
+
+    binding->second.shared_ptr(&ar, ptr.get());
+  }
+
+  //! Loading std::shared_ptr for polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::shared_ptr<T> & ptr )
+  {
+    std::uint32_t nameid;
+    ar( CEREAL_NVP_("polymorphic_id", nameid) );
+
+    // Check to see if we can skip all of this polymorphism business
+    if(polymorphic_detail::serialize_wrapper(ar, ptr, nameid))
+      return;
+
+    auto binding = polymorphic_detail::getInputBinding(ar, nameid);
+    std::shared_ptr<void> result;
+    binding.shared_ptr(&ar, result);
+    ptr = std::static_pointer_cast<T>(result);
+  }
+
+  //! Saving std::weak_ptr for polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_polymorphic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::weak_ptr<T> const & ptr )
+  {
+    auto const sptr = ptr.lock();
+    ar( CEREAL_NVP_("locked_ptr", sptr) );
+  }
+
+  //! Loading std::weak_ptr for polymorphic types
+  template <class Archive, class T> inline
+  typename std::enable_if<std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::weak_ptr<T> & ptr )
+  {
+    std::shared_ptr<T> sptr;
+    ar( CEREAL_NVP_("locked_ptr", sptr) );
+    ptr = sptr;
+  }
+
+  //! Saving std::unique_ptr for polymorphic types that are abstract
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<std::is_polymorphic<T>::value && std::is_abstract<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unique_ptr<T, D> const & ptr )
+  {
+    if(!ptr)
+    {
+      // same behavior as nullptr in memory implementation
+      ar( CEREAL_NVP_("polymorphic_id", std::uint32_t(0)) );
+      return;
+    }
+
+    std::type_info const & ptrinfo = typeid(*ptr.get());
+    // ptrinfo can never be equal to T info since we can't have an instance
+    // of an abstract object
+    //  this implies we need to do the lookup
+
+    auto & bindingMap = detail::StaticObject<detail::OutputBindingMap<Archive>>::getInstance().map;
+
+    auto binding = bindingMap.find(std::type_index(ptrinfo));
+    if(binding == bindingMap.end())
+      UNREGISTERED_POLYMORPHIC_EXCEPTION(save, cereal::util::demangle(ptrinfo.name()))
+
+    binding->second.unique_ptr(&ar, ptr.get());
+  }
+
+  //! Saving std::unique_ptr for polymorphic types, not abstract
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<std::is_polymorphic<T>::value && !std::is_abstract<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unique_ptr<T, D> const & ptr )
+  {
+    if(!ptr)
+    {
+      // same behavior as nullptr in memory implementation
+      ar( CEREAL_NVP_("polymorphic_id", std::uint32_t(0)) );
+      return;
+    }
+
+    std::type_info const & ptrinfo = typeid(*ptr.get());
+    static std::type_info const & tinfo = typeid(T);
+
+    if(ptrinfo == tinfo)
+    {
+      // The 2nd msb signals that the following pointer does not need to be
+      // cast with our polymorphic machinery
+      ar( CEREAL_NVP_("polymorphic_id", detail::msb2_32bit) );
+
+      ar( CEREAL_NVP_("ptr_wrapper", memory_detail::make_ptr_wrapper(ptr)) );
+
+      return;
+    }
+
+    auto & bindingMap = detail::StaticObject<detail::OutputBindingMap<Archive>>::getInstance().map;
+
+    auto binding = bindingMap.find(std::type_index(ptrinfo));
+    if(binding == bindingMap.end())
+      UNREGISTERED_POLYMORPHIC_EXCEPTION(save, cereal::util::demangle(ptrinfo.name()))
+
+    binding->second.unique_ptr(&ar, ptr.get());
+  }
+
+  //! Loading std::unique_ptr, case when user provides load_and_construct for polymorphic types
+  template <class Archive, class T, class D> inline
+  typename std::enable_if<std::is_polymorphic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unique_ptr<T, D> & ptr )
+  {
+    std::uint32_t nameid;
+    ar( CEREAL_NVP_("polymorphic_id", nameid) );
+
+    // Check to see if we can skip all of this polymorphism business
+    if(polymorphic_detail::serialize_wrapper(ar, ptr, nameid))
+      return;
+
+    auto binding = polymorphic_detail::getInputBinding(ar, nameid);
+    std::unique_ptr<void, ::cereal::detail::EmptyDeleter<void>> result;
+    binding.unique_ptr(&ar, result);
+    ptr.reset(static_cast<T*>(result.release()));
+  }
+
+  #undef UNREGISTERED_POLYMORPHIC_EXCEPTION
+} // namespace cereal
+#endif // CEREAL_TYPES_POLYMORPHIC_HPP_
diff --git a/3rdparty/include/cereal/types/queue.hpp b/3rdparty/include/cereal/types/queue.hpp
new file mode 100644
index 0000000..6030350
--- /dev/null
+++ b/3rdparty/include/cereal/types/queue.hpp
@@ -0,0 +1,130 @@
+/*! \file queue.hpp
+    \brief Support for types found in \<queue\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_QUEUE_HPP_
+#define CEREAL_TYPES_QUEUE_HPP_
+
+#include <cereal/details/helpers.hpp>
+#include <queue>
+
+// The default container for queue is deque, so let's include that too
+#include <cereal/types/deque.hpp>
+
+namespace cereal
+{
+  namespace queue_detail
+  {
+    //! Allows access to the protected container in queue
+    /*! @internal */
+    template <class T, class C> inline
+    C const & container( std::queue<T, C> const & queue )
+    {
+      struct H : public std::queue<T, C>
+      {
+        static C const & get( std::queue<T, C> const & q )
+        {
+          return q.*(&H::c);
+        }
+      };
+
+      return H::get( queue );
+    }
+
+    //! Allows access to the protected container in priority queue
+    /*! @internal */
+    template <class T, class C, class Comp> inline
+    C const & container( std::priority_queue<T, C, Comp> const & priority_queue )
+    {
+      struct H : public std::priority_queue<T, C, Comp>
+      {
+        static C const & get( std::priority_queue<T, C, Comp> const & pq )
+        {
+          return pq.*(&H::c);
+        }
+      };
+
+      return H::get( priority_queue );
+    }
+
+    //! Allows access to the protected comparator in priority queue
+    /*! @internal */
+    template <class T, class C, class Comp> inline
+    Comp const & comparator( std::priority_queue<T, C, Comp> const & priority_queue )
+    {
+      struct H : public std::priority_queue<T, C, Comp>
+      {
+        static Comp const & get( std::priority_queue<T, C, Comp> const & pq )
+        {
+          return pq.*(&H::comp);
+        }
+      };
+
+      return H::get( priority_queue );
+    }
+  }
+
+  //! Saving for std::queue
+  template <class Archive, class T, class C> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::queue<T, C> const & queue )
+  {
+    ar( CEREAL_NVP_("container", queue_detail::container( queue )) );
+  }
+
+  //! Loading for std::queue
+  template <class Archive, class T, class C> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::queue<T, C> & queue )
+  {
+    C container;
+    ar( CEREAL_NVP_("container", container) );
+    queue = std::queue<T, C>( std::move( container ) );
+  }
+
+  //! Saving for std::priority_queue
+  template <class Archive, class T, class C, class Comp> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::priority_queue<T, C, Comp> const & priority_queue )
+  {
+    ar( CEREAL_NVP_("comparator", queue_detail::comparator( priority_queue )) );
+    ar( CEREAL_NVP_("container", queue_detail::container( priority_queue )) );
+  }
+
+  //! Loading for std::priority_queue
+  template <class Archive, class T, class C, class Comp> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::priority_queue<T, C, Comp> & priority_queue )
+  {
+    Comp comparator;
+    ar( CEREAL_NVP_("comparator", comparator) );
+
+    C container;
+    ar( CEREAL_NVP_("container", container) );
+
+    priority_queue = std::priority_queue<T, C, Comp>( comparator, std::move( container ) );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_QUEUE_HPP_
diff --git a/3rdparty/include/cereal/types/set.hpp b/3rdparty/include/cereal/types/set.hpp
new file mode 100644
index 0000000..a5b3bc6
--- /dev/null
+++ b/3rdparty/include/cereal/types/set.hpp
@@ -0,0 +1,103 @@
+/*! \file set.hpp
+    \brief Support for types found in \<set\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_SET_HPP_
+#define CEREAL_TYPES_SET_HPP_
+
+#include <cereal/cereal.hpp>
+#include <set>
+
+namespace cereal
+{
+  namespace set_detail
+  {
+    //! @internal
+    template <class Archive, class SetT> inline
+    void save( Archive & ar, SetT const & set )
+    {
+      ar( make_size_tag( static_cast<size_type>(set.size()) ) );
+
+      for( const auto & i : set )
+        ar( i );
+    }
+
+    //! @internal
+    template <class Archive, class SetT> inline
+    void load( Archive & ar, SetT & set )
+    {
+      size_type size;
+      ar( make_size_tag( size ) );
+
+      set.clear();
+
+      auto hint = set.begin();
+      for( size_type i = 0; i < size; ++i )
+      {
+        typename SetT::key_type key;
+
+        ar( key );
+        #ifdef CEREAL_OLDER_GCC
+        hint = set.insert( hint, std::move( key ) );
+        #else // NOT CEREAL_OLDER_GCC
+        hint = set.emplace_hint( hint, std::move( key ) );
+        #endif // NOT CEREAL_OLDER_GCC
+      }
+    }
+  }
+
+  //! Saving for std::set
+  template <class Archive, class K, class C, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::set<K, C, A> const & set )
+  {
+    set_detail::save( ar, set );
+  }
+
+  //! Loading for std::set
+  template <class Archive, class K, class C, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::set<K, C, A> & set )
+  {
+    set_detail::load( ar, set );
+  }
+
+  //! Saving for std::multiset
+  template <class Archive, class K, class C, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::multiset<K, C, A> const & multiset )
+  {
+    set_detail::save( ar, multiset );
+  }
+
+  //! Loading for std::multiset
+  template <class Archive, class K, class C, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::multiset<K, C, A> & multiset )
+  {
+    set_detail::load( ar, multiset );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_SET_HPP_
diff --git a/3rdparty/include/cereal/types/stack.hpp b/3rdparty/include/cereal/types/stack.hpp
new file mode 100644
index 0000000..d2a6667
--- /dev/null
+++ b/3rdparty/include/cereal/types/stack.hpp
@@ -0,0 +1,76 @@
+/*! \file stack.hpp
+    \brief Support for types found in \<stack\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_STACK_HPP_
+#define CEREAL_TYPES_STACK_HPP_
+
+#include <cereal/cereal.hpp>
+#include <stack>
+
+// The default container for stack is deque, so let's include that too
+#include <cereal/types/deque.hpp>
+
+namespace cereal
+{
+  namespace stack_detail
+  {
+    //! Allows access to the protected container in stack
+    template <class T, class C> inline
+    C const & container( std::stack<T, C> const & stack )
+    {
+      struct H : public std::stack<T, C>
+      {
+        static C const & get( std::stack<T, C> const & s )
+        {
+          return s.*(&H::c);
+        }
+      };
+
+      return H::get( stack );
+    }
+  }
+
+  //! Saving for std::stack
+  template <class Archive, class T, class C> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::stack<T, C> const & stack )
+  {
+    ar( CEREAL_NVP_("container", stack_detail::container( stack )) );
+  }
+
+  //! Loading for std::stack
+  template <class Archive, class T, class C> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::stack<T, C> & stack )
+  {
+    C container;
+    ar( CEREAL_NVP_("container", container) );
+    stack = std::stack<T, C>( std::move( container ) );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_STACK_HPP_
diff --git a/3rdparty/include/cereal/types/string.hpp b/3rdparty/include/cereal/types/string.hpp
new file mode 100644
index 0000000..55ebe72
--- /dev/null
+++ b/3rdparty/include/cereal/types/string.hpp
@@ -0,0 +1,61 @@
+/*! \file string.hpp
+    \brief Support for types found in \<string\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_STRING_HPP_
+#define CEREAL_TYPES_STRING_HPP_
+
+#include <cereal/cereal.hpp>
+#include <string>
+
+namespace cereal
+{
+  //! Serialization for basic_string types, if binary data is supported
+  template<class Archive, class CharT, class Traits, class Alloc> inline
+  typename std::enable_if<traits::is_output_serializable<BinaryData<CharT>, Archive>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME(Archive & ar, std::basic_string<CharT, Traits, Alloc> const & str)
+  {
+    // Save number of chars + the data
+    ar( make_size_tag( static_cast<size_type>(str.size()) ) );
+    ar( binary_data( str.data(), str.size() * sizeof(CharT) ) );
+  }
+
+  //! Serialization for basic_string types, if binary data is supported
+  template<class Archive, class CharT, class Traits, class Alloc> inline
+  typename std::enable_if<traits::is_input_serializable<BinaryData<CharT>, Archive>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME(Archive & ar, std::basic_string<CharT, Traits, Alloc> & str)
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+    str.resize(static_cast<std::size_t>(size));
+    ar( binary_data( const_cast<CharT *>( str.data() ), static_cast<std::size_t>(size) * sizeof(CharT) ) );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_STRING_HPP_
+
diff --git a/3rdparty/include/cereal/types/tuple.hpp b/3rdparty/include/cereal/types/tuple.hpp
new file mode 100644
index 0000000..2831728
--- /dev/null
+++ b/3rdparty/include/cereal/types/tuple.hpp
@@ -0,0 +1,123 @@
+/*! \file tuple.hpp
+    \brief Support for types found in \<tuple\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_TUPLE_HPP_
+#define CEREAL_TYPES_TUPLE_HPP_
+
+#include <cereal/cereal.hpp>
+#include <tuple>
+
+namespace cereal
+{
+  namespace tuple_detail
+  {
+    //! Creates a c string from a sequence of characters
+    /*! The c string created will alwas be prefixed by "tuple_element"
+        Based on code from: http://stackoverflow/a/20973438/710791
+        @internal */
+    template<char...Cs>
+    struct char_seq_to_c_str
+    {
+      static const int size = 14;// Size of array for the word: tuple_element
+      typedef const char (&arr_type)[sizeof...(Cs) + size];
+      static const char str[sizeof...(Cs) + size];
+    };
+
+    // the word tuple_element plus a number
+    //! @internal
+    template<char...Cs>
+    const char char_seq_to_c_str<Cs...>::str[sizeof...(Cs) + size] =
+      {'t','u','p','l','e','_','e','l','e','m','e','n','t', Cs..., '\0'};
+
+    //! Converts a number into a sequence of characters
+    /*! @tparam Q The quotient of dividing the original number by 10
+        @tparam R The remainder of dividing the original number by 10
+        @tparam C The sequence built so far
+        @internal */
+    template <size_t Q, size_t R, char ... C>
+    struct to_string_impl
+    {
+      using type = typename to_string_impl<Q/10, Q%10, R+'0', C...>::type;
+    };
+
+    //! Base case with no quotient
+    /*! @internal */
+    template <size_t R, char ... C>
+    struct to_string_impl<0, R, C...>
+    {
+      using type = char_seq_to_c_str<R+'0', C...>;
+    };
+
+    //! Generates a c string for a given index of a tuple
+    /*! Example use:
+        @code{cpp}
+        tuple_element_name<3>::c_str();// returns "tuple_element3"
+        @endcode
+        @internal */
+    template<size_t T>
+    struct tuple_element_name
+    {
+      using type = typename to_string_impl<T/10, T%10>::type;
+      static const typename type::arr_type c_str(){ return type::str; };
+    };
+
+    // unwinds a tuple to save it
+    //! @internal
+    template <size_t Height>
+    struct serialize
+    {
+      template <class Archive, class ... Types> inline
+      static void apply( Archive & ar, std::tuple<Types...> & tuple )
+      {
+        serialize<Height - 1>::template apply( ar, tuple );
+        ar( CEREAL_NVP_(tuple_element_name<Height - 1>::c_str(),
+            std::get<Height - 1>( tuple )) );
+      }
+    };
+
+    // Zero height specialization - nothing to do here
+    //! @internal
+    template <>
+    struct serialize<0>
+    {
+      template <class Archive, class ... Types> inline
+      static void apply( Archive &, std::tuple<Types...> & )
+      { }
+    };
+  }
+
+  //! Serializing for std::tuple
+  template <class Archive, class ... Types> inline
+  void CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, std::tuple<Types...> & tuple )
+  {
+    tuple_detail::serialize<std::tuple_size<std::tuple<Types...>>::value>::template apply( ar, tuple );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_TUPLE_HPP_
diff --git a/3rdparty/include/cereal/types/unordered_map.hpp b/3rdparty/include/cereal/types/unordered_map.hpp
new file mode 100644
index 0000000..8ee828d
--- /dev/null
+++ b/3rdparty/include/cereal/types/unordered_map.hpp
@@ -0,0 +1,100 @@
+/*! \file unordered_map.hpp
+    \brief Support for types found in \<unordered_map\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_UNORDERED_MAP_HPP_
+#define CEREAL_TYPES_UNORDERED_MAP_HPP_
+
+#include <cereal/cereal.hpp>
+#include <unordered_map>
+
+namespace cereal
+{
+  namespace unordered_map_detail
+  {
+    //! @internal
+    template <class Archive, class MapT> inline
+    void save( Archive & ar, MapT const & map )
+    {
+      ar( make_size_tag( static_cast<size_type>(map.size()) ) );
+
+      for( const auto & i : map )
+        ar( make_map_item(i.first, i.second) );
+    }
+
+    //! @internal
+    template <class Archive, class MapT> inline
+    void load( Archive & ar, MapT & map )
+    {
+      size_type size;
+      ar( make_size_tag( size ) );
+
+      map.clear();
+      map.reserve( static_cast<std::size_t>( size ) );
+
+      for( size_type i = 0; i < size; ++i )
+      {
+        typename MapT::key_type key;
+        typename MapT::mapped_type value;
+
+        ar( make_map_item(key, value) );
+        map.emplace( std::move( key ), std::move( value ) );
+      }
+    }
+  }
+
+  //! Saving for std::unordered_map
+  template <class Archive, class K, class T, class H, class KE, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unordered_map<K, T, H, KE, A> const & unordered_map )
+  {
+    unordered_map_detail::save( ar, unordered_map );
+  }
+
+  //! Loading for std::unordered_map
+  template <class Archive, class K, class T, class H, class KE, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unordered_map<K, T, H, KE, A> & unordered_map )
+  {
+    unordered_map_detail::load( ar, unordered_map );
+  }
+
+  //! Saving for std::unordered_multimap
+  template <class Archive, class K, class T, class H, class KE, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unordered_multimap<K, T, H, KE, A> const & unordered_multimap )
+  {
+    unordered_map_detail::save( ar, unordered_multimap );
+  }
+
+  //! Loading for std::unordered_multimap
+  template <class Archive, class K, class T, class H, class KE, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unordered_multimap<K, T, H, KE, A> & unordered_multimap )
+  {
+    unordered_map_detail::load( ar, unordered_multimap );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_UNORDERED_MAP_HPP_
diff --git a/3rdparty/include/cereal/types/unordered_set.hpp b/3rdparty/include/cereal/types/unordered_set.hpp
new file mode 100644
index 0000000..f3cdebd
--- /dev/null
+++ b/3rdparty/include/cereal/types/unordered_set.hpp
@@ -0,0 +1,99 @@
+/*! \file unordered_set.hpp
+    \brief Support for types found in \<unordered_set\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_UNORDERED_SET_HPP_
+#define CEREAL_TYPES_UNORDERED_SET_HPP_
+
+#include <cereal/cereal.hpp>
+#include <unordered_set>
+
+namespace cereal
+{
+  namespace unordered_set_detail
+  {
+    //! @internal
+    template <class Archive, class SetT> inline
+    void save( Archive & ar, SetT const & set )
+    {
+      ar( make_size_tag( static_cast<size_type>(set.size()) ) );
+
+      for( const auto & i : set )
+        ar( i );
+    }
+
+    //! @internal
+    template <class Archive, class SetT> inline
+    void load( Archive & ar, SetT & set )
+    {
+      size_type size;
+      ar( make_size_tag( size ) );
+
+      set.clear();
+      set.reserve( static_cast<std::size_t>( size ) );
+
+      for( size_type i = 0; i < size; ++i )
+      {
+        typename SetT::key_type key;
+
+        ar( key );
+        set.emplace( std::move( key ) );
+      }
+    }
+  }
+
+  //! Saving for std::unordered_set
+  template <class Archive, class K, class H, class KE, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unordered_set<K, H, KE, A> const & unordered_set )
+  {
+    unordered_set_detail::save( ar, unordered_set );
+  }
+
+  //! Loading for std::unordered_set
+  template <class Archive, class K, class H, class KE, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unordered_set<K, H, KE, A> & unordered_set )
+  {
+    unordered_set_detail::load( ar, unordered_set );
+  }
+
+  //! Saving for std::unordered_multiset
+  template <class Archive, class K, class H, class KE, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::unordered_multiset<K, H, KE, A> const & unordered_multiset )
+  {
+    unordered_set_detail::save( ar, unordered_multiset );
+  }
+
+  //! Loading for std::unordered_multiset
+  template <class Archive, class K, class H, class KE, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::unordered_multiset<K, H, KE, A> & unordered_multiset )
+  {
+    unordered_set_detail::load( ar, unordered_multiset );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_UNORDERED_SET_HPP_
diff --git a/3rdparty/include/cereal/types/utility.hpp b/3rdparty/include/cereal/types/utility.hpp
new file mode 100644
index 0000000..1dc382d
--- /dev/null
+++ b/3rdparty/include/cereal/types/utility.hpp
@@ -0,0 +1,47 @@
+/*! \file utility.hpp
+    \brief Support for types found in \<utility\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_UTILITY_HPP_
+#define CEREAL_TYPES_UTILITY_HPP_
+
+#include <cereal/cereal.hpp>
+#include <utility>
+
+namespace cereal
+{
+  //! Serializing for std::pair
+  template <class Archive, class T1, class T2> inline
+  void CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, std::pair<T1, T2> & pair )
+  {
+    ar( CEREAL_NVP_("first",  pair.first),
+        CEREAL_NVP_("second", pair.second) );
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_UTILITY_HPP_
diff --git a/3rdparty/include/cereal/types/vector.hpp b/3rdparty/include/cereal/types/vector.hpp
new file mode 100644
index 0000000..36a2a4c
--- /dev/null
+++ b/3rdparty/include/cereal/types/vector.hpp
@@ -0,0 +1,112 @@
+/*! \file vector.hpp
+    \brief Support for types found in \<vector\>
+    \ingroup STLSupport */
+/*
+  Copyright (c) 2014, Randolph Voorhies, Shane Grant
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+      * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+      * Redistributions 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.
+      * Neither the name of cereal nor the
+        names of its contributors may 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 RANDOLPH VOORHIES OR SHANE GRANT 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.
+*/
+#ifndef CEREAL_TYPES_VECTOR_HPP_
+#define CEREAL_TYPES_VECTOR_HPP_
+
+#include <cereal/cereal.hpp>
+#include <vector>
+
+namespace cereal
+{
+  //! Serialization for std::vectors of arithmetic (but not bool) using binary serialization, if supported
+  template <class Archive, class T, class A> inline
+  typename std::enable_if<traits::is_output_serializable<BinaryData<T>, Archive>::value
+                          && std::is_arithmetic<T>::value && !std::is_same<T, bool>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::vector<T, A> const & vector )
+  {
+    ar( make_size_tag( static_cast<size_type>(vector.size()) ) ); // number of elements
+    ar( binary_data( vector.data(), vector.size() * sizeof(T) ) );
+  }
+
+  //! Serialization for std::vectors of arithmetic (but not bool) using binary serialization, if supported
+  template <class Archive, class T, class A> inline
+  typename std::enable_if<traits::is_input_serializable<BinaryData<T>, Archive>::value
+                          && std::is_arithmetic<T>::value && !std::is_same<T, bool>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::vector<T, A> & vector )
+  {
+    size_type vectorSize;
+    ar( make_size_tag( vectorSize ) );
+
+    vector.resize( static_cast<std::size_t>( vectorSize ) );
+    ar( binary_data( vector.data(), static_cast<std::size_t>( vectorSize ) * sizeof(T) ) );
+  }
+
+  //! Serialization for non-arithmetic vector types
+  template <class Archive, class T, class A> inline
+  typename std::enable_if<!traits::is_output_serializable<BinaryData<T>, Archive>::value
+                          || !std::is_arithmetic<T>::value, void>::type
+  CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::vector<T, A> const & vector )
+  {
+    ar( make_size_tag( static_cast<size_type>(vector.size()) ) ); // number of elements
+    for(auto && v : vector)
+      ar( v );
+  }
+
+  //! Serialization for non-arithmetic vector types
+  template <class Archive, class T, class A> inline
+  typename std::enable_if<!traits::is_input_serializable<BinaryData<T>, Archive>::value
+                          || !std::is_arithmetic<T>::value, void>::type
+  CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::vector<T, A> & vector )
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+
+    vector.resize( static_cast<std::size_t>( size ) );
+    for(auto && v : vector)
+      ar( v );
+  }
+
+  //! Serialization for bool vector types
+  template <class Archive, class A> inline
+  void CEREAL_SAVE_FUNCTION_NAME( Archive & ar, std::vector<bool, A> const & vector )
+  {
+    ar( make_size_tag( static_cast<size_type>(vector.size()) ) ); // number of elements
+    for(auto && v : vector)
+      ar( static_cast<bool>(v) );
+  }
+
+  //! Serialization for bool vector types
+  template <class Archive, class A> inline
+  void CEREAL_LOAD_FUNCTION_NAME( Archive & ar, std::vector<bool, A> & vector )
+  {
+    size_type size;
+    ar( make_size_tag( size ) );
+
+    vector.resize( static_cast<std::size_t>( size ) );
+    for(auto && v : vector)
+    {
+      bool b;
+      ar( b );
+      v = b;
+    }
+  }
+} // namespace cereal
+
+#endif // CEREAL_TYPES_VECTOR_HPP_
diff --git a/3rdparty/include/ffmpeg/libavcodec/avcodec.h b/3rdparty/include/ffmpeg/libavcodec/avcodec.h
new file mode 100644
index 0000000..ff70d25
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/avcodec.h
@@ -0,0 +1,5272 @@
+/*
+ * copyright (c) 2001 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_AVCODEC_H
+#define AVCODEC_AVCODEC_H
+
+/**
+ * @file
+ * @ingroup libavc
+ * Libavcodec external API header
+ */
+
+#include <errno.h>
+#include "libavutil/samplefmt.h"
+#include "libavutil/attributes.h"
+#include "libavutil/avutil.h"
+#include "libavutil/buffer.h"
+#include "libavutil/cpu.h"
+#include "libavutil/channel_layout.h"
+#include "libavutil/dict.h"
+#include "libavutil/frame.h"
+#include "libavutil/log.h"
+#include "libavutil/pixfmt.h"
+#include "libavutil/rational.h"
+
+#include "version.h"
+
+/**
+ * @defgroup libavc Encoding/Decoding Library
+ * @{
+ *
+ * @defgroup lavc_decoding Decoding
+ * @{
+ * @}
+ *
+ * @defgroup lavc_encoding Encoding
+ * @{
+ * @}
+ *
+ * @defgroup lavc_codec Codecs
+ * @{
+ * @defgroup lavc_codec_native Native Codecs
+ * @{
+ * @}
+ * @defgroup lavc_codec_wrappers External library wrappers
+ * @{
+ * @}
+ * @defgroup lavc_codec_hwaccel Hardware Accelerators bridge
+ * @{
+ * @}
+ * @}
+ * @defgroup lavc_internal Internal
+ * @{
+ * @}
+ * @}
+ *
+ */
+
+/**
+ * @defgroup lavc_core Core functions/structures.
+ * @ingroup libavc
+ *
+ * Basic definitions, functions for querying libavcodec capabilities,
+ * allocating core structures, etc.
+ * @{
+ */
+
+
+/**
+ * Identify the syntax and semantics of the bitstream.
+ * The principle is roughly:
+ * Two decoders with the same ID can decode the same streams.
+ * Two encoders with the same ID can encode compatible streams.
+ * There may be slight deviations from the principle due to implementation
+ * details.
+ *
+ * If you add a codec ID to this list, add it so that
+ * 1. no value of a existing codec ID changes (that would break ABI),
+ * 2. it is as close as possible to similar codecs
+ *
+ * After adding new codec IDs, do not forget to add an entry to the codec
+ * descriptor list and bump libavcodec minor version.
+ */
+enum AVCodecID {
+    AV_CODEC_ID_NONE,
+
+    /* video codecs */
+    AV_CODEC_ID_MPEG1VIDEO,
+    AV_CODEC_ID_MPEG2VIDEO, ///< preferred ID for MPEG-1/2 video decoding
+#if FF_API_XVMC
+    AV_CODEC_ID_MPEG2VIDEO_XVMC,
+#endif /* FF_API_XVMC */
+    AV_CODEC_ID_H261,
+    AV_CODEC_ID_H263,
+    AV_CODEC_ID_RV10,
+    AV_CODEC_ID_RV20,
+    AV_CODEC_ID_MJPEG,
+    AV_CODEC_ID_MJPEGB,
+    AV_CODEC_ID_LJPEG,
+    AV_CODEC_ID_SP5X,
+    AV_CODEC_ID_JPEGLS,
+    AV_CODEC_ID_MPEG4,
+    AV_CODEC_ID_RAWVIDEO,
+    AV_CODEC_ID_MSMPEG4V1,
+    AV_CODEC_ID_MSMPEG4V2,
+    AV_CODEC_ID_MSMPEG4V3,
+    AV_CODEC_ID_WMV1,
+    AV_CODEC_ID_WMV2,
+    AV_CODEC_ID_H263P,
+    AV_CODEC_ID_H263I,
+    AV_CODEC_ID_FLV1,
+    AV_CODEC_ID_SVQ1,
+    AV_CODEC_ID_SVQ3,
+    AV_CODEC_ID_DVVIDEO,
+    AV_CODEC_ID_HUFFYUV,
+    AV_CODEC_ID_CYUV,
+    AV_CODEC_ID_H264,
+    AV_CODEC_ID_INDEO3,
+    AV_CODEC_ID_VP3,
+    AV_CODEC_ID_THEORA,
+    AV_CODEC_ID_ASV1,
+    AV_CODEC_ID_ASV2,
+    AV_CODEC_ID_FFV1,
+    AV_CODEC_ID_4XM,
+    AV_CODEC_ID_VCR1,
+    AV_CODEC_ID_CLJR,
+    AV_CODEC_ID_MDEC,
+    AV_CODEC_ID_ROQ,
+    AV_CODEC_ID_INTERPLAY_VIDEO,
+    AV_CODEC_ID_XAN_WC3,
+    AV_CODEC_ID_XAN_WC4,
+    AV_CODEC_ID_RPZA,
+    AV_CODEC_ID_CINEPAK,
+    AV_CODEC_ID_WS_VQA,
+    AV_CODEC_ID_MSRLE,
+    AV_CODEC_ID_MSVIDEO1,
+    AV_CODEC_ID_IDCIN,
+    AV_CODEC_ID_8BPS,
+    AV_CODEC_ID_SMC,
+    AV_CODEC_ID_FLIC,
+    AV_CODEC_ID_TRUEMOTION1,
+    AV_CODEC_ID_VMDVIDEO,
+    AV_CODEC_ID_MSZH,
+    AV_CODEC_ID_ZLIB,
+    AV_CODEC_ID_QTRLE,
+    AV_CODEC_ID_TSCC,
+    AV_CODEC_ID_ULTI,
+    AV_CODEC_ID_QDRAW,
+    AV_CODEC_ID_VIXL,
+    AV_CODEC_ID_QPEG,
+    AV_CODEC_ID_PNG,
+    AV_CODEC_ID_PPM,
+    AV_CODEC_ID_PBM,
+    AV_CODEC_ID_PGM,
+    AV_CODEC_ID_PGMYUV,
+    AV_CODEC_ID_PAM,
+    AV_CODEC_ID_FFVHUFF,
+    AV_CODEC_ID_RV30,
+    AV_CODEC_ID_RV40,
+    AV_CODEC_ID_VC1,
+    AV_CODEC_ID_WMV3,
+    AV_CODEC_ID_LOCO,
+    AV_CODEC_ID_WNV1,
+    AV_CODEC_ID_AASC,
+    AV_CODEC_ID_INDEO2,
+    AV_CODEC_ID_FRAPS,
+    AV_CODEC_ID_TRUEMOTION2,
+    AV_CODEC_ID_BMP,
+    AV_CODEC_ID_CSCD,
+    AV_CODEC_ID_MMVIDEO,
+    AV_CODEC_ID_ZMBV,
+    AV_CODEC_ID_AVS,
+    AV_CODEC_ID_SMACKVIDEO,
+    AV_CODEC_ID_NUV,
+    AV_CODEC_ID_KMVC,
+    AV_CODEC_ID_FLASHSV,
+    AV_CODEC_ID_CAVS,
+    AV_CODEC_ID_JPEG2000,
+    AV_CODEC_ID_VMNC,
+    AV_CODEC_ID_VP5,
+    AV_CODEC_ID_VP6,
+    AV_CODEC_ID_VP6F,
+    AV_CODEC_ID_TARGA,
+    AV_CODEC_ID_DSICINVIDEO,
+    AV_CODEC_ID_TIERTEXSEQVIDEO,
+    AV_CODEC_ID_TIFF,
+    AV_CODEC_ID_GIF,
+    AV_CODEC_ID_DXA,
+    AV_CODEC_ID_DNXHD,
+    AV_CODEC_ID_THP,
+    AV_CODEC_ID_SGI,
+    AV_CODEC_ID_C93,
+    AV_CODEC_ID_BETHSOFTVID,
+    AV_CODEC_ID_PTX,
+    AV_CODEC_ID_TXD,
+    AV_CODEC_ID_VP6A,
+    AV_CODEC_ID_AMV,
+    AV_CODEC_ID_VB,
+    AV_CODEC_ID_PCX,
+    AV_CODEC_ID_SUNRAST,
+    AV_CODEC_ID_INDEO4,
+    AV_CODEC_ID_INDEO5,
+    AV_CODEC_ID_MIMIC,
+    AV_CODEC_ID_RL2,
+    AV_CODEC_ID_ESCAPE124,
+    AV_CODEC_ID_DIRAC,
+    AV_CODEC_ID_BFI,
+    AV_CODEC_ID_CMV,
+    AV_CODEC_ID_MOTIONPIXELS,
+    AV_CODEC_ID_TGV,
+    AV_CODEC_ID_TGQ,
+    AV_CODEC_ID_TQI,
+    AV_CODEC_ID_AURA,
+    AV_CODEC_ID_AURA2,
+    AV_CODEC_ID_V210X,
+    AV_CODEC_ID_TMV,
+    AV_CODEC_ID_V210,
+    AV_CODEC_ID_DPX,
+    AV_CODEC_ID_MAD,
+    AV_CODEC_ID_FRWU,
+    AV_CODEC_ID_FLASHSV2,
+    AV_CODEC_ID_CDGRAPHICS,
+    AV_CODEC_ID_R210,
+    AV_CODEC_ID_ANM,
+    AV_CODEC_ID_BINKVIDEO,
+    AV_CODEC_ID_IFF_ILBM,
+    AV_CODEC_ID_IFF_BYTERUN1,
+    AV_CODEC_ID_KGV1,
+    AV_CODEC_ID_YOP,
+    AV_CODEC_ID_VP8,
+    AV_CODEC_ID_PICTOR,
+    AV_CODEC_ID_ANSI,
+    AV_CODEC_ID_A64_MULTI,
+    AV_CODEC_ID_A64_MULTI5,
+    AV_CODEC_ID_R10K,
+    AV_CODEC_ID_MXPEG,
+    AV_CODEC_ID_LAGARITH,
+    AV_CODEC_ID_PRORES,
+    AV_CODEC_ID_JV,
+    AV_CODEC_ID_DFA,
+    AV_CODEC_ID_WMV3IMAGE,
+    AV_CODEC_ID_VC1IMAGE,
+    AV_CODEC_ID_UTVIDEO,
+    AV_CODEC_ID_BMV_VIDEO,
+    AV_CODEC_ID_VBLE,
+    AV_CODEC_ID_DXTORY,
+    AV_CODEC_ID_V410,
+    AV_CODEC_ID_XWD,
+    AV_CODEC_ID_CDXL,
+    AV_CODEC_ID_XBM,
+    AV_CODEC_ID_ZEROCODEC,
+    AV_CODEC_ID_MSS1,
+    AV_CODEC_ID_MSA1,
+    AV_CODEC_ID_TSCC2,
+    AV_CODEC_ID_MTS2,
+    AV_CODEC_ID_CLLC,
+    AV_CODEC_ID_MSS2,
+    AV_CODEC_ID_VP9,
+    AV_CODEC_ID_AIC,
+    AV_CODEC_ID_ESCAPE130,
+    AV_CODEC_ID_G2M,
+    AV_CODEC_ID_WEBP,
+    AV_CODEC_ID_HNM4_VIDEO,
+    AV_CODEC_ID_HEVC,
+#define AV_CODEC_ID_H265 AV_CODEC_ID_HEVC
+    AV_CODEC_ID_FIC,
+    AV_CODEC_ID_ALIAS_PIX,
+    AV_CODEC_ID_BRENDER_PIX,
+    AV_CODEC_ID_PAF_VIDEO,
+    AV_CODEC_ID_EXR,
+    AV_CODEC_ID_VP7,
+    AV_CODEC_ID_SANM,
+    AV_CODEC_ID_SGIRLE,
+    AV_CODEC_ID_MVC1,
+    AV_CODEC_ID_MVC2,
+    AV_CODEC_ID_HQX,
+    AV_CODEC_ID_TDSC,
+    AV_CODEC_ID_HQ_HQA,
+    AV_CODEC_ID_HAP,
+    AV_CODEC_ID_DDS,
+    AV_CODEC_ID_DXV,
+    AV_CODEC_ID_SCREENPRESSO,
+
+    AV_CODEC_ID_Y41P = 0x8000,
+    AV_CODEC_ID_AVRP,
+    AV_CODEC_ID_012V,
+    AV_CODEC_ID_AVUI,
+    AV_CODEC_ID_AYUV,
+    AV_CODEC_ID_TARGA_Y216,
+    AV_CODEC_ID_V308,
+    AV_CODEC_ID_V408,
+    AV_CODEC_ID_YUV4,
+    AV_CODEC_ID_AVRN,
+    AV_CODEC_ID_CPIA,
+    AV_CODEC_ID_XFACE,
+    AV_CODEC_ID_SNOW,
+    AV_CODEC_ID_SMVJPEG,
+    AV_CODEC_ID_APNG,
+
+    /* various PCM "codecs" */
+    AV_CODEC_ID_FIRST_AUDIO = 0x10000,     ///< A dummy id pointing at the start of audio codecs
+    AV_CODEC_ID_PCM_S16LE = 0x10000,
+    AV_CODEC_ID_PCM_S16BE,
+    AV_CODEC_ID_PCM_U16LE,
+    AV_CODEC_ID_PCM_U16BE,
+    AV_CODEC_ID_PCM_S8,
+    AV_CODEC_ID_PCM_U8,
+    AV_CODEC_ID_PCM_MULAW,
+    AV_CODEC_ID_PCM_ALAW,
+    AV_CODEC_ID_PCM_S32LE,
+    AV_CODEC_ID_PCM_S32BE,
+    AV_CODEC_ID_PCM_U32LE,
+    AV_CODEC_ID_PCM_U32BE,
+    AV_CODEC_ID_PCM_S24LE,
+    AV_CODEC_ID_PCM_S24BE,
+    AV_CODEC_ID_PCM_U24LE,
+    AV_CODEC_ID_PCM_U24BE,
+    AV_CODEC_ID_PCM_S24DAUD,
+    AV_CODEC_ID_PCM_ZORK,
+    AV_CODEC_ID_PCM_S16LE_PLANAR,
+    AV_CODEC_ID_PCM_DVD,
+    AV_CODEC_ID_PCM_F32BE,
+    AV_CODEC_ID_PCM_F32LE,
+    AV_CODEC_ID_PCM_F64BE,
+    AV_CODEC_ID_PCM_F64LE,
+    AV_CODEC_ID_PCM_BLURAY,
+    AV_CODEC_ID_PCM_LXF,
+    AV_CODEC_ID_S302M,
+    AV_CODEC_ID_PCM_S8_PLANAR,
+    AV_CODEC_ID_PCM_S24LE_PLANAR,
+    AV_CODEC_ID_PCM_S32LE_PLANAR,
+    AV_CODEC_ID_PCM_S16BE_PLANAR,
+    /* new PCM "codecs" should be added right below this line starting with
+     * an explicit value of for example 0x10800
+     */
+
+    /* various ADPCM codecs */
+    AV_CODEC_ID_ADPCM_IMA_QT = 0x11000,
+    AV_CODEC_ID_ADPCM_IMA_WAV,
+    AV_CODEC_ID_ADPCM_IMA_DK3,
+    AV_CODEC_ID_ADPCM_IMA_DK4,
+    AV_CODEC_ID_ADPCM_IMA_WS,
+    AV_CODEC_ID_ADPCM_IMA_SMJPEG,
+    AV_CODEC_ID_ADPCM_MS,
+    AV_CODEC_ID_ADPCM_4XM,
+    AV_CODEC_ID_ADPCM_XA,
+    AV_CODEC_ID_ADPCM_ADX,
+    AV_CODEC_ID_ADPCM_EA,
+    AV_CODEC_ID_ADPCM_G726,
+    AV_CODEC_ID_ADPCM_CT,
+    AV_CODEC_ID_ADPCM_SWF,
+    AV_CODEC_ID_ADPCM_YAMAHA,
+    AV_CODEC_ID_ADPCM_SBPRO_4,
+    AV_CODEC_ID_ADPCM_SBPRO_3,
+    AV_CODEC_ID_ADPCM_SBPRO_2,
+    AV_CODEC_ID_ADPCM_THP,
+    AV_CODEC_ID_ADPCM_IMA_AMV,
+    AV_CODEC_ID_ADPCM_EA_R1,
+    AV_CODEC_ID_ADPCM_EA_R3,
+    AV_CODEC_ID_ADPCM_EA_R2,
+    AV_CODEC_ID_ADPCM_IMA_EA_SEAD,
+    AV_CODEC_ID_ADPCM_IMA_EA_EACS,
+    AV_CODEC_ID_ADPCM_EA_XAS,
+    AV_CODEC_ID_ADPCM_EA_MAXIS_XA,
+    AV_CODEC_ID_ADPCM_IMA_ISS,
+    AV_CODEC_ID_ADPCM_G722,
+    AV_CODEC_ID_ADPCM_IMA_APC,
+    AV_CODEC_ID_ADPCM_VIMA,
+#if FF_API_VIMA_DECODER
+    AV_CODEC_ID_VIMA = AV_CODEC_ID_ADPCM_VIMA,
+#endif
+
+    AV_CODEC_ID_ADPCM_AFC = 0x11800,
+    AV_CODEC_ID_ADPCM_IMA_OKI,
+    AV_CODEC_ID_ADPCM_DTK,
+    AV_CODEC_ID_ADPCM_IMA_RAD,
+    AV_CODEC_ID_ADPCM_G726LE,
+    AV_CODEC_ID_ADPCM_THP_LE,
+
+    /* AMR */
+    AV_CODEC_ID_AMR_NB = 0x12000,
+    AV_CODEC_ID_AMR_WB,
+
+    /* RealAudio codecs*/
+    AV_CODEC_ID_RA_144 = 0x13000,
+    AV_CODEC_ID_RA_288,
+
+    /* various DPCM codecs */
+    AV_CODEC_ID_ROQ_DPCM = 0x14000,
+    AV_CODEC_ID_INTERPLAY_DPCM,
+    AV_CODEC_ID_XAN_DPCM,
+    AV_CODEC_ID_SOL_DPCM,
+
+    /* audio codecs */
+    AV_CODEC_ID_MP2 = 0x15000,
+    AV_CODEC_ID_MP3, ///< preferred ID for decoding MPEG audio layer 1, 2 or 3
+    AV_CODEC_ID_AAC,
+    AV_CODEC_ID_AC3,
+    AV_CODEC_ID_DTS,
+    AV_CODEC_ID_VORBIS,
+    AV_CODEC_ID_DVAUDIO,
+    AV_CODEC_ID_WMAV1,
+    AV_CODEC_ID_WMAV2,
+    AV_CODEC_ID_MACE3,
+    AV_CODEC_ID_MACE6,
+    AV_CODEC_ID_VMDAUDIO,
+    AV_CODEC_ID_FLAC,
+    AV_CODEC_ID_MP3ADU,
+    AV_CODEC_ID_MP3ON4,
+    AV_CODEC_ID_SHORTEN,
+    AV_CODEC_ID_ALAC,
+    AV_CODEC_ID_WESTWOOD_SND1,
+    AV_CODEC_ID_GSM, ///< as in Berlin toast format
+    AV_CODEC_ID_QDM2,
+    AV_CODEC_ID_COOK,
+    AV_CODEC_ID_TRUESPEECH,
+    AV_CODEC_ID_TTA,
+    AV_CODEC_ID_SMACKAUDIO,
+    AV_CODEC_ID_QCELP,
+    AV_CODEC_ID_WAVPACK,
+    AV_CODEC_ID_DSICINAUDIO,
+    AV_CODEC_ID_IMC,
+    AV_CODEC_ID_MUSEPACK7,
+    AV_CODEC_ID_MLP,
+    AV_CODEC_ID_GSM_MS, /* as found in WAV */
+    AV_CODEC_ID_ATRAC3,
+#if FF_API_VOXWARE
+    AV_CODEC_ID_VOXWARE,
+#endif
+    AV_CODEC_ID_APE,
+    AV_CODEC_ID_NELLYMOSER,
+    AV_CODEC_ID_MUSEPACK8,
+    AV_CODEC_ID_SPEEX,
+    AV_CODEC_ID_WMAVOICE,
+    AV_CODEC_ID_WMAPRO,
+    AV_CODEC_ID_WMALOSSLESS,
+    AV_CODEC_ID_ATRAC3P,
+    AV_CODEC_ID_EAC3,
+    AV_CODEC_ID_SIPR,
+    AV_CODEC_ID_MP1,
+    AV_CODEC_ID_TWINVQ,
+    AV_CODEC_ID_TRUEHD,
+    AV_CODEC_ID_MP4ALS,
+    AV_CODEC_ID_ATRAC1,
+    AV_CODEC_ID_BINKAUDIO_RDFT,
+    AV_CODEC_ID_BINKAUDIO_DCT,
+    AV_CODEC_ID_AAC_LATM,
+    AV_CODEC_ID_QDMC,
+    AV_CODEC_ID_CELT,
+    AV_CODEC_ID_G723_1,
+    AV_CODEC_ID_G729,
+    AV_CODEC_ID_8SVX_EXP,
+    AV_CODEC_ID_8SVX_FIB,
+    AV_CODEC_ID_BMV_AUDIO,
+    AV_CODEC_ID_RALF,
+    AV_CODEC_ID_IAC,
+    AV_CODEC_ID_ILBC,
+    AV_CODEC_ID_OPUS,
+    AV_CODEC_ID_COMFORT_NOISE,
+    AV_CODEC_ID_TAK,
+    AV_CODEC_ID_METASOUND,
+    AV_CODEC_ID_PAF_AUDIO,
+    AV_CODEC_ID_ON2AVC,
+    AV_CODEC_ID_DSS_SP,
+
+    AV_CODEC_ID_FFWAVESYNTH = 0x15800,
+    AV_CODEC_ID_SONIC,
+    AV_CODEC_ID_SONIC_LS,
+    AV_CODEC_ID_EVRC,
+    AV_CODEC_ID_SMV,
+    AV_CODEC_ID_DSD_LSBF,
+    AV_CODEC_ID_DSD_MSBF,
+    AV_CODEC_ID_DSD_LSBF_PLANAR,
+    AV_CODEC_ID_DSD_MSBF_PLANAR,
+    AV_CODEC_ID_4GV,
+
+    /* subtitle codecs */
+    AV_CODEC_ID_FIRST_SUBTITLE = 0x17000,          ///< A dummy ID pointing at the start of subtitle codecs.
+    AV_CODEC_ID_DVD_SUBTITLE = 0x17000,
+    AV_CODEC_ID_DVB_SUBTITLE,
+    AV_CODEC_ID_TEXT,  ///< raw UTF-8 text
+    AV_CODEC_ID_XSUB,
+    AV_CODEC_ID_SSA,
+    AV_CODEC_ID_MOV_TEXT,
+    AV_CODEC_ID_HDMV_PGS_SUBTITLE,
+    AV_CODEC_ID_DVB_TELETEXT,
+    AV_CODEC_ID_SRT,
+
+    AV_CODEC_ID_MICRODVD   = 0x17800,
+    AV_CODEC_ID_EIA_608,
+    AV_CODEC_ID_JACOSUB,
+    AV_CODEC_ID_SAMI,
+    AV_CODEC_ID_REALTEXT,
+    AV_CODEC_ID_STL,
+    AV_CODEC_ID_SUBVIEWER1,
+    AV_CODEC_ID_SUBVIEWER,
+    AV_CODEC_ID_SUBRIP,
+    AV_CODEC_ID_WEBVTT,
+    AV_CODEC_ID_MPL2,
+    AV_CODEC_ID_VPLAYER,
+    AV_CODEC_ID_PJS,
+    AV_CODEC_ID_ASS,
+    AV_CODEC_ID_HDMV_TEXT_SUBTITLE,
+
+    /* other specific kind of codecs (generally used for attachments) */
+    AV_CODEC_ID_FIRST_UNKNOWN = 0x18000,           ///< A dummy ID pointing at the start of various fake codecs.
+    AV_CODEC_ID_TTF = 0x18000,
+
+    AV_CODEC_ID_BINTEXT    = 0x18800,
+    AV_CODEC_ID_XBIN,
+    AV_CODEC_ID_IDF,
+    AV_CODEC_ID_OTF,
+    AV_CODEC_ID_SMPTE_KLV,
+    AV_CODEC_ID_DVD_NAV,
+    AV_CODEC_ID_TIMED_ID3,
+    AV_CODEC_ID_BIN_DATA,
+
+
+    AV_CODEC_ID_PROBE = 0x19000, ///< codec_id is not known (like AV_CODEC_ID_NONE) but lavf should attempt to identify it
+
+    AV_CODEC_ID_MPEG2TS = 0x20000, /**< _FAKE_ codec to indicate a raw MPEG-2 TS
+                                * stream (only used by libavformat) */
+    AV_CODEC_ID_MPEG4SYSTEMS = 0x20001, /**< _FAKE_ codec to indicate a MPEG-4 Systems
+                                * stream (only used by libavformat) */
+    AV_CODEC_ID_FFMETADATA = 0x21000,   ///< Dummy codec for streams containing only metadata information.
+};
+
+/**
+ * This struct describes the properties of a single codec described by an
+ * AVCodecID.
+ * @see avcodec_descriptor_get()
+ */
+typedef struct AVCodecDescriptor {
+    enum AVCodecID     id;
+    enum AVMediaType type;
+    /**
+     * Name of the codec described by this descriptor. It is non-empty and
+     * unique for each codec descriptor. It should contain alphanumeric
+     * characters and '_' only.
+     */
+    const char      *name;
+    /**
+     * A more descriptive name for this codec. May be NULL.
+     */
+    const char *long_name;
+    /**
+     * Codec properties, a combination of AV_CODEC_PROP_* flags.
+     */
+    int             props;
+
+    /**
+     * MIME type(s) associated with the codec.
+     * May be NULL; if not, a NULL-terminated array of MIME types.
+     * The first item is always non-NULL and is the preferred MIME type.
+     */
+    const char *const *mime_types;
+} AVCodecDescriptor;
+
+/**
+ * Codec uses only intra compression.
+ * Video codecs only.
+ */
+#define AV_CODEC_PROP_INTRA_ONLY    (1 << 0)
+/**
+ * Codec supports lossy compression. Audio and video codecs only.
+ * @note a codec may support both lossy and lossless
+ * compression modes
+ */
+#define AV_CODEC_PROP_LOSSY         (1 << 1)
+/**
+ * Codec supports lossless compression. Audio and video codecs only.
+ */
+#define AV_CODEC_PROP_LOSSLESS      (1 << 2)
+/**
+ * Codec supports frame reordering. That is, the coded order (the order in which
+ * the encoded packets are output by the encoders / stored / input to the
+ * decoders) may be different from the presentation order of the corresponding
+ * frames.
+ *
+ * For codecs that do not have this property set, PTS and DTS should always be
+ * equal.
+ */
+#define AV_CODEC_PROP_REORDER       (1 << 3)
+/**
+ * Subtitle codec is bitmap based
+ * Decoded AVSubtitle data can be read from the AVSubtitleRect->pict field.
+ */
+#define AV_CODEC_PROP_BITMAP_SUB    (1 << 16)
+/**
+ * Subtitle codec is text based.
+ * Decoded AVSubtitle data can be read from the AVSubtitleRect->ass field.
+ */
+#define AV_CODEC_PROP_TEXT_SUB      (1 << 17)
+
+/**
+ * @ingroup lavc_decoding
+ * Required number of additionally allocated bytes at the end of the input bitstream for decoding.
+ * This is mainly needed because some optimized bitstream readers read
+ * 32 or 64 bit at once and could read over the end.<br>
+ * Note: If the first 23 bits of the additional bytes are not 0, then damaged
+ * MPEG bitstreams could cause overread and segfault.
+ */
+#define AV_INPUT_BUFFER_PADDING_SIZE 32
+
+/**
+ * @ingroup lavc_encoding
+ * minimum encoding buffer size
+ * Used to avoid some checks during header writing.
+ */
+#define AV_INPUT_BUFFER_MIN_SIZE 16384
+
+#if FF_API_WITHOUT_PREFIX
+/**
+ * @deprecated use AV_INPUT_BUFFER_PADDING_SIZE instead
+ */
+#define FF_INPUT_BUFFER_PADDING_SIZE 32
+
+/**
+ * @deprecated use AV_INPUT_BUFFER_MIN_SIZE instead
+ */
+#define FF_MIN_BUFFER_SIZE 16384
+#endif /* FF_API_WITHOUT_PREFIX */
+
+/**
+ * @ingroup lavc_encoding
+ * motion estimation type.
+ * @deprecated use codec private option instead
+ */
+#if FF_API_MOTION_EST
+enum Motion_Est_ID {
+    ME_ZERO = 1,    ///< no search, that is use 0,0 vector whenever one is needed
+    ME_FULL,
+    ME_LOG,
+    ME_PHODS,
+    ME_EPZS,        ///< enhanced predictive zonal search
+    ME_X1,          ///< reserved for experiments
+    ME_HEX,         ///< hexagon based search
+    ME_UMH,         ///< uneven multi-hexagon search
+    ME_TESA,        ///< transformed exhaustive search algorithm
+    ME_ITER=50,     ///< iterative search
+};
+#endif
+
+/**
+ * @ingroup lavc_decoding
+ */
+enum AVDiscard{
+    /* We leave some space between them for extensions (drop some
+     * keyframes for intra-only or drop just some bidir frames). */
+    AVDISCARD_NONE    =-16, ///< discard nothing
+    AVDISCARD_DEFAULT =  0, ///< discard useless packets like 0 size packets in avi
+    AVDISCARD_NONREF  =  8, ///< discard all non reference
+    AVDISCARD_BIDIR   = 16, ///< discard all bidirectional frames
+    AVDISCARD_NONINTRA= 24, ///< discard all non intra frames
+    AVDISCARD_NONKEY  = 32, ///< discard all frames except keyframes
+    AVDISCARD_ALL     = 48, ///< discard all
+};
+
+enum AVAudioServiceType {
+    AV_AUDIO_SERVICE_TYPE_MAIN              = 0,
+    AV_AUDIO_SERVICE_TYPE_EFFECTS           = 1,
+    AV_AUDIO_SERVICE_TYPE_VISUALLY_IMPAIRED = 2,
+    AV_AUDIO_SERVICE_TYPE_HEARING_IMPAIRED  = 3,
+    AV_AUDIO_SERVICE_TYPE_DIALOGUE          = 4,
+    AV_AUDIO_SERVICE_TYPE_COMMENTARY        = 5,
+    AV_AUDIO_SERVICE_TYPE_EMERGENCY         = 6,
+    AV_AUDIO_SERVICE_TYPE_VOICE_OVER        = 7,
+    AV_AUDIO_SERVICE_TYPE_KARAOKE           = 8,
+    AV_AUDIO_SERVICE_TYPE_NB                   , ///< Not part of ABI
+};
+
+/**
+ * @ingroup lavc_encoding
+ */
+typedef struct RcOverride{
+    int start_frame;
+    int end_frame;
+    int qscale; // If this is 0 then quality_factor will be used instead.
+    float quality_factor;
+} RcOverride;
+
+#if FF_API_MAX_BFRAMES
+/**
+ * @deprecated there is no libavcodec-wide limit on the number of B-frames
+ */
+#define FF_MAX_B_FRAMES 16
+#endif
+
+/* encoding support
+   These flags can be passed in AVCodecContext.flags before initialization.
+   Note: Not everything is supported yet.
+*/
+
+/**
+ * Allow decoders to produce frames with data planes that are not aligned
+ * to CPU requirements (e.g. due to cropping).
+ */
+#define AV_CODEC_FLAG_UNALIGNED       (1 <<  0)
+/**
+ * Use fixed qscale.
+ */
+#define AV_CODEC_FLAG_QSCALE          (1 <<  1)
+/**
+ * 4 MV per MB allowed / advanced prediction for H.263.
+ */
+#define AV_CODEC_FLAG_4MV             (1 <<  2)
+/**
+ * Output even those frames that might be corrupted.
+ */
+#define AV_CODEC_FLAG_OUTPUT_CORRUPT  (1 <<  3)
+/**
+ * Use qpel MC.
+ */
+#define AV_CODEC_FLAG_QPEL            (1 <<  4)
+/**
+ * Use internal 2pass ratecontrol in first pass mode.
+ */
+#define AV_CODEC_FLAG_PASS1           (1 <<  9)
+/**
+ * Use internal 2pass ratecontrol in second pass mode.
+ */
+#define AV_CODEC_FLAG_PASS2           (1 << 10)
+/**
+ * loop filter.
+ */
+#define AV_CODEC_FLAG_LOOP_FILTER     (1 << 11)
+/**
+ * Only decode/encode grayscale.
+ */
+#define AV_CODEC_FLAG_GRAY            (1 << 13)
+/**
+ * error[?] variables will be set during encoding.
+ */
+#define AV_CODEC_FLAG_PSNR            (1 << 15)
+/**
+ * Input bitstream might be truncated at a random location
+ * instead of only at frame boundaries.
+ */
+#define AV_CODEC_FLAG_TRUNCATED       (1 << 16)
+/**
+ * Use interlaced DCT.
+ */
+#define AV_CODEC_FLAG_INTERLACED_DCT  (1 << 18)
+/**
+ * Force low delay.
+ */
+#define AV_CODEC_FLAG_LOW_DELAY       (1 << 19)
+/**
+ * Place global headers in extradata instead of every keyframe.
+ */
+#define AV_CODEC_FLAG_GLOBAL_HEADER   (1 << 22)
+/**
+ * Use only bitexact stuff (except (I)DCT).
+ */
+#define AV_CODEC_FLAG_BITEXACT        (1 << 23)
+/* Fx : Flag for h263+ extra options */
+/**
+ * H.263 advanced intra coding / MPEG-4 AC prediction
+ */
+#define AV_CODEC_FLAG_AC_PRED         (1 << 24)
+/**
+ * interlaced motion estimation
+ */
+#define AV_CODEC_FLAG_INTERLACED_ME   (1 << 29)
+/**
+ * Allow non spec compliant speedup tricks.
+ */
+#define AV_CODEC_FLAG_CLOSED_GOP      (1U << 31)
+
+#define AV_CODEC_FLAG2_FAST           (1 <<  0)
+/**
+ * Skip bitstream encoding.
+ */
+#define AV_CODEC_FLAG2_NO_OUTPUT      (1 <<  2)
+/**
+ * Place global headers at every keyframe instead of in extradata.
+ */
+#define AV_CODEC_FLAG2_LOCAL_HEADER   (1 <<  3)
+
+/**
+ * timecode is in drop frame format. DEPRECATED!!!!
+ */
+#define AV_CODEC_FLAG2_DROP_FRAME_TIMECODE (1 << 13)
+
+/**
+ * Input bitstream might be truncated at a packet boundaries
+ * instead of only at frame boundaries.
+ */
+#define AV_CODEC_FLAG2_CHUNKS         (1 << 15)
+/**
+ * Discard cropping information from SPS.
+ */
+#define AV_CODEC_FLAG2_IGNORE_CROP    (1 << 16)
+
+/**
+ * Show all frames before the first keyframe
+ */
+#define AV_CODEC_FLAG2_SHOW_ALL       (1 << 22)
+/**
+ * Export motion vectors through frame side data
+ */
+#define AV_CODEC_FLAG2_EXPORT_MVS     (1 << 28)
+/**
+ * Do not skip samples and export skip information as frame side data
+ */
+#define AV_CODEC_FLAG2_SKIP_MANUAL    (1 << 29)
+
+/* Unsupported options :
+ *              Syntax Arithmetic coding (SAC)
+ *              Reference Picture Selection
+ *              Independent Segment Decoding */
+/* /Fx */
+/* codec capabilities */
+
+/**
+ * Decoder can use draw_horiz_band callback.
+ */
+#define AV_CODEC_CAP_DRAW_HORIZ_BAND     (1 <<  0)
+/**
+ * Codec uses get_buffer() for allocating buffers and supports custom allocators.
+ * If not set, it might not use get_buffer() at all or use operations that
+ * assume the buffer was allocated by avcodec_default_get_buffer.
+ */
+#define AV_CODEC_CAP_DR1                 (1 <<  1)
+#define AV_CODEC_CAP_TRUNCATED           (1 <<  3)
+/**
+ * Encoder or decoder requires flushing with NULL input at the end in order to
+ * give the complete and correct output.
+ *
+ * NOTE: If this flag is not set, the codec is guaranteed to never be fed with
+ *       with NULL data. The user can still send NULL data to the public encode
+ *       or decode function, but libavcodec will not pass it along to the codec
+ *       unless this flag is set.
+ *
+ * Decoders:
+ * The decoder has a non-zero delay and needs to be fed with avpkt->data=NULL,
+ * avpkt->size=0 at the end to get the delayed data until the decoder no longer
+ * returns frames.
+ *
+ * Encoders:
+ * The encoder needs to be fed with NULL data at the end of encoding until the
+ * encoder no longer returns data.
+ *
+ * NOTE: For encoders implementing the AVCodec.encode2() function, setting this
+ *       flag also means that the encoder must set the pts and duration for
+ *       each output packet. If this flag is not set, the pts and duration will
+ *       be determined by libavcodec from the input frame.
+ */
+#define AV_CODEC_CAP_DELAY               (1 <<  5)
+/**
+ * Codec can be fed a final frame with a smaller size.
+ * This can be used to prevent truncation of the last audio samples.
+ */
+#define AV_CODEC_CAP_SMALL_LAST_FRAME    (1 <<  6)
+
+#if FF_API_CAP_VDPAU
+/**
+ * Codec can export data for HW decoding (VDPAU).
+ */
+#define AV_CODEC_CAP_HWACCEL_VDPAU       (1 <<  7)
+#endif
+
+/**
+ * Codec can output multiple frames per AVPacket
+ * Normally demuxers return one frame at a time, demuxers which do not do
+ * are connected to a parser to split what they return into proper frames.
+ * This flag is reserved to the very rare category of codecs which have a
+ * bitstream that cannot be split into frames without timeconsuming
+ * operations like full decoding. Demuxers carring such bitstreams thus
+ * may return multiple frames in a packet. This has many disadvantages like
+ * prohibiting stream copy in many cases thus it should only be considered
+ * as a last resort.
+ */
+#define AV_CODEC_CAP_SUBFRAMES           (1 <<  8)
+/**
+ * Codec is experimental and is thus avoided in favor of non experimental
+ * encoders
+ */
+#define AV_CODEC_CAP_EXPERIMENTAL        (1 <<  9)
+/**
+ * Codec should fill in channel configuration and samplerate instead of container
+ */
+#define AV_CODEC_CAP_CHANNEL_CONF        (1 << 10)
+/**
+ * Codec supports frame-level multithreading.
+ */
+#define AV_CODEC_CAP_FRAME_THREADS       (1 << 12)
+/**
+ * Codec supports slice-based (or partition-based) multithreading.
+ */
+#define AV_CODEC_CAP_SLICE_THREADS       (1 << 13)
+/**
+ * Codec supports changed parameters at any point.
+ */
+#define AV_CODEC_CAP_PARAM_CHANGE        (1 << 14)
+/**
+ * Codec supports avctx->thread_count == 0 (auto).
+ */
+#define AV_CODEC_CAP_AUTO_THREADS        (1 << 15)
+/**
+ * Audio encoder supports receiving a different number of samples in each call.
+ */
+#define AV_CODEC_CAP_VARIABLE_FRAME_SIZE (1 << 16)
+/**
+ * Codec is intra only.
+ */
+#define AV_CODEC_CAP_INTRA_ONLY       0x40000000
+/**
+ * Codec is lossless.
+ */
+#define AV_CODEC_CAP_LOSSLESS         0x80000000
+
+
+#if FF_API_WITHOUT_PREFIX
+/**
+ * Allow decoders to produce frames with data planes that are not aligned
+ * to CPU requirements (e.g. due to cropping).
+ */
+#define CODEC_FLAG_UNALIGNED AV_CODEC_FLAG_UNALIGNED
+#define CODEC_FLAG_QSCALE AV_CODEC_FLAG_QSCALE
+#define CODEC_FLAG_4MV    AV_CODEC_FLAG_4MV
+#define CODEC_FLAG_OUTPUT_CORRUPT AV_CODEC_FLAG_OUTPUT_CORRUPT
+#define CODEC_FLAG_QPEL   AV_CODEC_FLAG_QPEL
+#if FF_API_GMC
+/**
+ * @deprecated use the "gmc" private option of the libxvid encoder
+ */
+#define CODEC_FLAG_GMC    0x0020  ///< Use GMC.
+#endif
+#if FF_API_MV0
+/**
+ * @deprecated use the flag "mv0" in the "mpv_flags" private option of the
+ * mpegvideo encoders
+ */
+#define CODEC_FLAG_MV0    0x0040
+#endif
+#if FF_API_INPUT_PRESERVED
+/**
+ * @deprecated passing reference-counted frames to the encoders replaces this
+ * flag
+ */
+#define CODEC_FLAG_INPUT_PRESERVED 0x0100
+#endif
+#define CODEC_FLAG_PASS1           AV_CODEC_FLAG_PASS1
+#define CODEC_FLAG_PASS2           AV_CODEC_FLAG_PASS2
+#define CODEC_FLAG_GRAY            AV_CODEC_FLAG_GRAY
+#if FF_API_EMU_EDGE
+/**
+ * @deprecated edges are not used/required anymore. I.e. this flag is now always
+ * set.
+ */
+#define CODEC_FLAG_EMU_EDGE        0x4000
+#endif
+#define CODEC_FLAG_PSNR            AV_CODEC_FLAG_PSNR
+#define CODEC_FLAG_TRUNCATED       AV_CODEC_FLAG_TRUNCATED
+
+#if FF_API_NORMALIZE_AQP
+/**
+ * @deprecated use the flag "naq" in the "mpv_flags" private option of the
+ * mpegvideo encoders
+ */
+#define CODEC_FLAG_NORMALIZE_AQP  0x00020000
+#endif
+#define CODEC_FLAG_INTERLACED_DCT AV_CODEC_FLAG_INTERLACED_DCT
+#define CODEC_FLAG_LOW_DELAY      AV_CODEC_FLAG_LOW_DELAY
+#define CODEC_FLAG_GLOBAL_HEADER  AV_CODEC_FLAG_GLOBAL_HEADER
+#define CODEC_FLAG_BITEXACT       AV_CODEC_FLAG_BITEXACT
+#define CODEC_FLAG_AC_PRED        AV_CODEC_FLAG_AC_PRED
+#define CODEC_FLAG_LOOP_FILTER    AV_CODEC_FLAG_LOOP_FILTER
+#define CODEC_FLAG_INTERLACED_ME  AV_CODEC_FLAG_INTERLACED_ME
+#define CODEC_FLAG_CLOSED_GOP     AV_CODEC_FLAG_CLOSED_GOP
+#define CODEC_FLAG2_FAST          AV_CODEC_FLAG2_FAST
+#define CODEC_FLAG2_NO_OUTPUT     AV_CODEC_FLAG2_NO_OUTPUT
+#define CODEC_FLAG2_LOCAL_HEADER  AV_CODEC_FLAG2_LOCAL_HEADER
+#define CODEC_FLAG2_DROP_FRAME_TIMECODE AV_CODEC_FLAG2_DROP_FRAME_TIMECODE
+#define CODEC_FLAG2_IGNORE_CROP   AV_CODEC_FLAG2_IGNORE_CROP
+
+#define CODEC_FLAG2_CHUNKS        AV_CODEC_FLAG2_CHUNKS
+#define CODEC_FLAG2_SHOW_ALL      AV_CODEC_FLAG2_SHOW_ALL
+#define CODEC_FLAG2_EXPORT_MVS    AV_CODEC_FLAG2_EXPORT_MVS
+#define CODEC_FLAG2_SKIP_MANUAL   AV_CODEC_FLAG2_SKIP_MANUAL
+
+/* Unsupported options :
+ *              Syntax Arithmetic coding (SAC)
+ *              Reference Picture Selection
+ *              Independent Segment Decoding */
+/* /Fx */
+/* codec capabilities */
+
+#define CODEC_CAP_DRAW_HORIZ_BAND AV_CODEC_CAP_DRAW_HORIZ_BAND ///< Decoder can use draw_horiz_band callback.
+/**
+ * Codec uses get_buffer() for allocating buffers and supports custom allocators.
+ * If not set, it might not use get_buffer() at all or use operations that
+ * assume the buffer was allocated by avcodec_default_get_buffer.
+ */
+#define CODEC_CAP_DR1             AV_CODEC_CAP_DR1
+#define CODEC_CAP_TRUNCATED       AV_CODEC_CAP_TRUNCATED
+#if FF_API_XVMC
+/* Codec can export data for HW decoding. This flag indicates that
+ * the codec would call get_format() with list that might contain HW accelerated
+ * pixel formats (XvMC, VDPAU, VAAPI, etc). The application can pick any of them
+ * including raw image format.
+ * The application can use the passed context to determine bitstream version,
+ * chroma format, resolution etc.
+ */
+#define CODEC_CAP_HWACCEL         0x0010
+#endif /* FF_API_XVMC */
+/**
+ * Encoder or decoder requires flushing with NULL input at the end in order to
+ * give the complete and correct output.
+ *
+ * NOTE: If this flag is not set, the codec is guaranteed to never be fed with
+ *       with NULL data. The user can still send NULL data to the public encode
+ *       or decode function, but libavcodec will not pass it along to the codec
+ *       unless this flag is set.
+ *
+ * Decoders:
+ * The decoder has a non-zero delay and needs to be fed with avpkt->data=NULL,
+ * avpkt->size=0 at the end to get the delayed data until the decoder no longer
+ * returns frames.
+ *
+ * Encoders:
+ * The encoder needs to be fed with NULL data at the end of encoding until the
+ * encoder no longer returns data.
+ *
+ * NOTE: For encoders implementing the AVCodec.encode2() function, setting this
+ *       flag also means that the encoder must set the pts and duration for
+ *       each output packet. If this flag is not set, the pts and duration will
+ *       be determined by libavcodec from the input frame.
+ */
+#define CODEC_CAP_DELAY           AV_CODEC_CAP_DELAY
+/**
+ * Codec can be fed a final frame with a smaller size.
+ * This can be used to prevent truncation of the last audio samples.
+ */
+#define CODEC_CAP_SMALL_LAST_FRAME AV_CODEC_CAP_SMALL_LAST_FRAME
+#if FF_API_CAP_VDPAU
+/**
+ * Codec can export data for HW decoding (VDPAU).
+ */
+#define CODEC_CAP_HWACCEL_VDPAU    AV_CODEC_CAP_HWACCEL_VDPAU
+#endif
+/**
+ * Codec can output multiple frames per AVPacket
+ * Normally demuxers return one frame at a time, demuxers which do not do
+ * are connected to a parser to split what they return into proper frames.
+ * This flag is reserved to the very rare category of codecs which have a
+ * bitstream that cannot be split into frames without timeconsuming
+ * operations like full decoding. Demuxers carring such bitstreams thus
+ * may return multiple frames in a packet. This has many disadvantages like
+ * prohibiting stream copy in many cases thus it should only be considered
+ * as a last resort.
+ */
+#define CODEC_CAP_SUBFRAMES        AV_CODEC_CAP_SUBFRAMES
+/**
+ * Codec is experimental and is thus avoided in favor of non experimental
+ * encoders
+ */
+#define CODEC_CAP_EXPERIMENTAL     AV_CODEC_CAP_EXPERIMENTAL
+/**
+ * Codec should fill in channel configuration and samplerate instead of container
+ */
+#define CODEC_CAP_CHANNEL_CONF     AV_CODEC_CAP_CHANNEL_CONF
+#if FF_API_NEG_LINESIZES
+/**
+ * @deprecated no codecs use this capability
+ */
+#define CODEC_CAP_NEG_LINESIZES    0x0800
+#endif
+/**
+ * Codec supports frame-level multithreading.
+ */
+#define CODEC_CAP_FRAME_THREADS    AV_CODEC_CAP_FRAME_THREADS
+/**
+ * Codec supports slice-based (or partition-based) multithreading.
+ */
+#define CODEC_CAP_SLICE_THREADS    AV_CODEC_CAP_SLICE_THREADS
+/**
+ * Codec supports changed parameters at any point.
+ */
+#define CODEC_CAP_PARAM_CHANGE     AV_CODEC_CAP_PARAM_CHANGE
+/**
+ * Codec supports avctx->thread_count == 0 (auto).
+ */
+#define CODEC_CAP_AUTO_THREADS     AV_CODEC_CAP_AUTO_THREADS
+/**
+ * Audio encoder supports receiving a different number of samples in each call.
+ */
+#define CODEC_CAP_VARIABLE_FRAME_SIZE AV_CODEC_CAP_VARIABLE_FRAME_SIZE
+/**
+ * Codec is intra only.
+ */
+#define CODEC_CAP_INTRA_ONLY       AV_CODEC_CAP_INTRA_ONLY
+/**
+ * Codec is lossless.
+ */
+#define CODEC_CAP_LOSSLESS         AV_CODEC_CAP_LOSSLESS
+
+/**
+ * HWAccel is experimental and is thus avoided in favor of non experimental
+ * codecs
+ */
+#define HWACCEL_CODEC_CAP_EXPERIMENTAL     0x0200
+#endif /* FF_API_WITHOUT_PREFIX */
+
+#if FF_API_MB_TYPE
+//The following defines may change, don't expect compatibility if you use them.
+#define MB_TYPE_INTRA4x4   0x0001
+#define MB_TYPE_INTRA16x16 0x0002 //FIXME H.264-specific
+#define MB_TYPE_INTRA_PCM  0x0004 //FIXME H.264-specific
+#define MB_TYPE_16x16      0x0008
+#define MB_TYPE_16x8       0x0010
+#define MB_TYPE_8x16       0x0020
+#define MB_TYPE_8x8        0x0040
+#define MB_TYPE_INTERLACED 0x0080
+#define MB_TYPE_DIRECT2    0x0100 //FIXME
+#define MB_TYPE_ACPRED     0x0200
+#define MB_TYPE_GMC        0x0400
+#define MB_TYPE_SKIP       0x0800
+#define MB_TYPE_P0L0       0x1000
+#define MB_TYPE_P1L0       0x2000
+#define MB_TYPE_P0L1       0x4000
+#define MB_TYPE_P1L1       0x8000
+#define MB_TYPE_L0         (MB_TYPE_P0L0 | MB_TYPE_P1L0)
+#define MB_TYPE_L1         (MB_TYPE_P0L1 | MB_TYPE_P1L1)
+#define MB_TYPE_L0L1       (MB_TYPE_L0   | MB_TYPE_L1)
+#define MB_TYPE_QUANT      0x00010000
+#define MB_TYPE_CBP        0x00020000
+//Note bits 24-31 are reserved for codec specific use (h264 ref0, mpeg1 0mv, ...)
+#endif
+
+/**
+ * Pan Scan area.
+ * This specifies the area which should be displayed.
+ * Note there may be multiple such areas for one frame.
+ */
+typedef struct AVPanScan{
+    /**
+     * id
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    int id;
+
+    /**
+     * width and height in 1/16 pel
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    int width;
+    int height;
+
+    /**
+     * position of the top left corner in 1/16 pel for up to 3 fields/frames
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    int16_t position[3][2];
+}AVPanScan;
+
+#if FF_API_QSCALE_TYPE
+#define FF_QSCALE_TYPE_MPEG1 0
+#define FF_QSCALE_TYPE_MPEG2 1
+#define FF_QSCALE_TYPE_H264  2
+#define FF_QSCALE_TYPE_VP56  3
+#endif
+
+/**
+ * The decoder will keep a reference to the frame and may reuse it later.
+ */
+#define AV_GET_BUFFER_FLAG_REF (1 << 0)
+
+/**
+ * @defgroup lavc_packet AVPacket
+ *
+ * Types and functions for working with AVPacket.
+ * @{
+ */
+enum AVPacketSideDataType {
+    AV_PKT_DATA_PALETTE,
+    AV_PKT_DATA_NEW_EXTRADATA,
+
+    /**
+     * An AV_PKT_DATA_PARAM_CHANGE side data packet is laid out as follows:
+     * @code
+     * u32le param_flags
+     * if (param_flags & AV_SIDE_DATA_PARAM_CHANGE_CHANNEL_COUNT)
+     *     s32le channel_count
+     * if (param_flags & AV_SIDE_DATA_PARAM_CHANGE_CHANNEL_LAYOUT)
+     *     u64le channel_layout
+     * if (param_flags & AV_SIDE_DATA_PARAM_CHANGE_SAMPLE_RATE)
+     *     s32le sample_rate
+     * if (param_flags & AV_SIDE_DATA_PARAM_CHANGE_DIMENSIONS)
+     *     s32le width
+     *     s32le height
+     * @endcode
+     */
+    AV_PKT_DATA_PARAM_CHANGE,
+
+    /**
+     * An AV_PKT_DATA_H263_MB_INFO side data packet contains a number of
+     * structures with info about macroblocks relevant to splitting the
+     * packet into smaller packets on macroblock edges (e.g. as for RFC 2190).
+     * That is, it does not necessarily contain info about all macroblocks,
+     * as long as the distance between macroblocks in the info is smaller
+     * than the target payload size.
+     * Each MB info structure is 12 bytes, and is laid out as follows:
+     * @code
+     * u32le bit offset from the start of the packet
+     * u8    current quantizer at the start of the macroblock
+     * u8    GOB number
+     * u16le macroblock address within the GOB
+     * u8    horizontal MV predictor
+     * u8    vertical MV predictor
+     * u8    horizontal MV predictor for block number 3
+     * u8    vertical MV predictor for block number 3
+     * @endcode
+     */
+    AV_PKT_DATA_H263_MB_INFO,
+
+    /**
+     * This side data should be associated with an audio stream and contains
+     * ReplayGain information in form of the AVReplayGain struct.
+     */
+    AV_PKT_DATA_REPLAYGAIN,
+
+    /**
+     * This side data contains a 3x3 transformation matrix describing an affine
+     * transformation that needs to be applied to the decoded video frames for
+     * correct presentation.
+     *
+     * See libavutil/display.h for a detailed description of the data.
+     */
+    AV_PKT_DATA_DISPLAYMATRIX,
+
+    /**
+     * This side data should be associated with a video stream and contains
+     * Stereoscopic 3D information in form of the AVStereo3D struct.
+     */
+    AV_PKT_DATA_STEREO3D,
+
+    /**
+     * This side data should be associated with an audio stream and corresponds
+     * to enum AVAudioServiceType.
+     */
+    AV_PKT_DATA_AUDIO_SERVICE_TYPE,
+
+    /**
+     * This side data contains quality related information from the encoder.
+     * @code
+     * u32le quality factor of the compressed frame. Allowed range is between 1 (good) and FF_LAMBDA_MAX (bad).
+     * u8    picture type
+     * u8    error count
+     * u16   reserved
+     * u64le[error count] sum of squared differences between encoder in and output
+     * @endcode
+     */
+    AV_PKT_DATA_QUALITY_STATS,
+
+    /**
+     * Recommmends skipping the specified number of samples
+     * @code
+     * u32le number of samples to skip from start of this packet
+     * u32le number of samples to skip from end of this packet
+     * u8    reason for start skip
+     * u8    reason for end   skip (0=padding silence, 1=convergence)
+     * @endcode
+     */
+    AV_PKT_DATA_SKIP_SAMPLES=70,
+
+    /**
+     * An AV_PKT_DATA_JP_DUALMONO side data packet indicates that
+     * the packet may contain "dual mono" audio specific to Japanese DTV
+     * and if it is true, recommends only the selected channel to be used.
+     * @code
+     * u8    selected channels (0=mail/left, 1=sub/right, 2=both)
+     * @endcode
+     */
+    AV_PKT_DATA_JP_DUALMONO,
+
+    /**
+     * A list of zero terminated key/value strings. There is no end marker for
+     * the list, so it is required to rely on the side data size to stop.
+     */
+    AV_PKT_DATA_STRINGS_METADATA,
+
+    /**
+     * Subtitle event position
+     * @code
+     * u32le x1
+     * u32le y1
+     * u32le x2
+     * u32le y2
+     * @endcode
+     */
+    AV_PKT_DATA_SUBTITLE_POSITION,
+
+    /**
+     * Data found in BlockAdditional element of matroska container. There is
+     * no end marker for the data, so it is required to rely on the side data
+     * size to recognize the end. 8 byte id (as found in BlockAddId) followed
+     * by data.
+     */
+    AV_PKT_DATA_MATROSKA_BLOCKADDITIONAL,
+
+    /**
+     * The optional first identifier line of a WebVTT cue.
+     */
+    AV_PKT_DATA_WEBVTT_IDENTIFIER,
+
+    /**
+     * The optional settings (rendering instructions) that immediately
+     * follow the timestamp specifier of a WebVTT cue.
+     */
+    AV_PKT_DATA_WEBVTT_SETTINGS,
+
+    /**
+     * A list of zero terminated key/value strings. There is no end marker for
+     * the list, so it is required to rely on the side data size to stop. This
+     * side data includes updated metadata which appeared in the stream.
+     */
+    AV_PKT_DATA_METADATA_UPDATE,
+};
+
+#define AV_PKT_DATA_QUALITY_FACTOR AV_PKT_DATA_QUALITY_STATS //DEPRECATED
+
+typedef struct AVPacketSideData {
+    uint8_t *data;
+    int      size;
+    enum AVPacketSideDataType type;
+} AVPacketSideData;
+
+/**
+ * This structure stores compressed data. It is typically exported by demuxers
+ * and then passed as input to decoders, or received as output from encoders and
+ * then passed to muxers.
+ *
+ * For video, it should typically contain one compressed frame. For audio it may
+ * contain several compressed frames. Encoders are allowed to output empty
+ * packets, with no compressed data, containing only side data
+ * (e.g. to update some stream parameters at the end of encoding).
+ *
+ * AVPacket is one of the few structs in FFmpeg, whose size is a part of public
+ * ABI. Thus it may be allocated on stack and no new fields can be added to it
+ * without libavcodec and libavformat major bump.
+ *
+ * The semantics of data ownership depends on the buf or destruct (deprecated)
+ * fields. If either is set, the packet data is dynamically allocated and is
+ * valid indefinitely until av_free_packet() is called (which in turn calls
+ * av_buffer_unref()/the destruct callback to free the data). If neither is set,
+ * the packet data is typically backed by some static buffer somewhere and is
+ * only valid for a limited time (e.g. until the next read call when demuxing).
+ *
+ * The side data is always allocated with av_malloc() and is freed in
+ * av_free_packet().
+ */
+typedef struct AVPacket {
+    /**
+     * A reference to the reference-counted buffer where the packet data is
+     * stored.
+     * May be NULL, then the packet data is not reference-counted.
+     */
+    AVBufferRef *buf;
+    /**
+     * Presentation timestamp in AVStream->time_base units; the time at which
+     * the decompressed packet will be presented to the user.
+     * Can be AV_NOPTS_VALUE if it is not stored in the file.
+     * pts MUST be larger or equal to dts as presentation cannot happen before
+     * decompression, unless one wants to view hex dumps. Some formats misuse
+     * the terms dts and pts/cts to mean something different. Such timestamps
+     * must be converted to true pts/dts before they are stored in AVPacket.
+     */
+    int64_t pts;
+    /**
+     * Decompression timestamp in AVStream->time_base units; the time at which
+     * the packet is decompressed.
+     * Can be AV_NOPTS_VALUE if it is not stored in the file.
+     */
+    int64_t dts;
+    uint8_t *data;
+    int   size;
+    int   stream_index;
+    /**
+     * A combination of AV_PKT_FLAG values
+     */
+    int   flags;
+    /**
+     * Additional packet data that can be provided by the container.
+     * Packet can contain several types of side information.
+     */
+    AVPacketSideData *side_data;
+    int side_data_elems;
+
+    /**
+     * Duration of this packet in AVStream->time_base units, 0 if unknown.
+     * Equals next_pts - this_pts in presentation order.
+     */
+    int64_t duration;
+
+    int64_t pos;                            ///< byte position in stream, -1 if unknown
+
+#if FF_API_CONVERGENCE_DURATION
+    /**
+     * @deprecated Same as the duration field, but as int64_t. This was required
+     * for Matroska subtitles, whose duration values could overflow when the
+     * duration field was still an int.
+     */
+    attribute_deprecated
+    int64_t convergence_duration;
+#endif
+} AVPacket;
+#define AV_PKT_FLAG_KEY     0x0001 ///< The packet contains a keyframe
+#define AV_PKT_FLAG_CORRUPT 0x0002 ///< The packet content is corrupted
+
+enum AVSideDataParamChangeFlags {
+    AV_SIDE_DATA_PARAM_CHANGE_CHANNEL_COUNT  = 0x0001,
+    AV_SIDE_DATA_PARAM_CHANGE_CHANNEL_LAYOUT = 0x0002,
+    AV_SIDE_DATA_PARAM_CHANGE_SAMPLE_RATE    = 0x0004,
+    AV_SIDE_DATA_PARAM_CHANGE_DIMENSIONS     = 0x0008,
+};
+/**
+ * @}
+ */
+
+struct AVCodecInternal;
+
+enum AVFieldOrder {
+    AV_FIELD_UNKNOWN,
+    AV_FIELD_PROGRESSIVE,
+    AV_FIELD_TT,          //< Top coded_first, top displayed first
+    AV_FIELD_BB,          //< Bottom coded first, bottom displayed first
+    AV_FIELD_TB,          //< Top coded first, bottom displayed first
+    AV_FIELD_BT,          //< Bottom coded first, top displayed first
+};
+
+/**
+ * main external API structure.
+ * New fields can be added to the end with minor version bumps.
+ * Removal, reordering and changes to existing fields require a major
+ * version bump.
+ * Please use AVOptions (av_opt* / av_set/get*()) to access these fields from user
+ * applications.
+ * sizeof(AVCodecContext) must not be used outside libav*.
+ */
+typedef struct AVCodecContext {
+    /**
+     * information on struct for av_log
+     * - set by avcodec_alloc_context3
+     */
+    const AVClass *av_class;
+    int log_level_offset;
+
+    enum AVMediaType codec_type; /* see AVMEDIA_TYPE_xxx */
+    const struct AVCodec  *codec;
+#if FF_API_CODEC_NAME
+    /**
+     * @deprecated this field is not used for anything in libavcodec
+     */
+    attribute_deprecated
+    char             codec_name[32];
+#endif
+    enum AVCodecID     codec_id; /* see AV_CODEC_ID_xxx */
+
+    /**
+     * fourcc (LSB first, so "ABCD" -> ('D'<<24) + ('C'<<16) + ('B'<<8) + 'A').
+     * This is used to work around some encoder bugs.
+     * A demuxer should set this to what is stored in the field used to identify the codec.
+     * If there are multiple such fields in a container then the demuxer should choose the one
+     * which maximizes the information about the used codec.
+     * If the codec tag field in a container is larger than 32 bits then the demuxer should
+     * remap the longer ID to 32 bits with a table or other structure. Alternatively a new
+     * extra_codec_tag + size could be added but for this a clear advantage must be demonstrated
+     * first.
+     * - encoding: Set by user, if not then the default based on codec_id will be used.
+     * - decoding: Set by user, will be converted to uppercase by libavcodec during init.
+     */
+    unsigned int codec_tag;
+
+#if FF_API_STREAM_CODEC_TAG
+    /**
+     * @deprecated this field is unused
+     */
+    attribute_deprecated
+    unsigned int stream_codec_tag;
+#endif
+
+    void *priv_data;
+
+    /**
+     * Private context used for internal data.
+     *
+     * Unlike priv_data, this is not codec-specific. It is used in general
+     * libavcodec functions.
+     */
+    struct AVCodecInternal *internal;
+
+    /**
+     * Private data of the user, can be used to carry app specific stuff.
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    void *opaque;
+
+    /**
+     * the average bitrate
+     * - encoding: Set by user; unused for constant quantizer encoding.
+     * - decoding: Set by user, may be overwritten by libavcodec
+     *             if this info is available in the stream
+     */
+    int64_t bit_rate;
+
+    /**
+     * number of bits the bitstream is allowed to diverge from the reference.
+     *           the reference can be CBR (for CBR pass1) or VBR (for pass2)
+     * - encoding: Set by user; unused for constant quantizer encoding.
+     * - decoding: unused
+     */
+    int bit_rate_tolerance;
+
+    /**
+     * Global quality for codecs which cannot change it per frame.
+     * This should be proportional to MPEG-1/2/4 qscale.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int global_quality;
+
+    /**
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int compression_level;
+#define FF_COMPRESSION_DEFAULT -1
+
+    /**
+     * AV_CODEC_FLAG_*.
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int flags;
+
+    /**
+     * AV_CODEC_FLAG2_*
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int flags2;
+
+    /**
+     * some codecs need / can use extradata like Huffman tables.
+     * mjpeg: Huffman tables
+     * rv10: additional flags
+     * mpeg4: global headers (they can be in the bitstream or here)
+     * The allocated memory should be AV_INPUT_BUFFER_PADDING_SIZE bytes larger
+     * than extradata_size to avoid problems if it is read with the bitstream reader.
+     * The bytewise contents of extradata must not depend on the architecture or CPU endianness.
+     * - encoding: Set/allocated/freed by libavcodec.
+     * - decoding: Set/allocated/freed by user.
+     */
+    uint8_t *extradata;
+    int extradata_size;
+
+    /**
+     * This is the fundamental unit of time (in seconds) in terms
+     * of which frame timestamps are represented. For fixed-fps content,
+     * timebase should be 1/framerate and timestamp increments should be
+     * identically 1.
+     * This often, but not always is the inverse of the frame rate or field rate
+     * for video.
+     * - encoding: MUST be set by user.
+     * - decoding: the use of this field for decoding is deprecated.
+     *             Use framerate instead.
+     */
+    AVRational time_base;
+
+    /**
+     * For some codecs, the time base is closer to the field rate than the frame rate.
+     * Most notably, H.264 and MPEG-2 specify time_base as half of frame duration
+     * if no telecine is used ...
+     *
+     * Set to time_base ticks per frame. Default 1, e.g., H.264/MPEG-2 set it to 2.
+     */
+    int ticks_per_frame;
+
+    /**
+     * Codec delay.
+     *
+     * Encoding: Number of frames delay there will be from the encoder input to
+     *           the decoder output. (we assume the decoder matches the spec)
+     * Decoding: Number of frames delay in addition to what a standard decoder
+     *           as specified in the spec would produce.
+     *
+     * Video:
+     *   Number of frames the decoded output will be delayed relative to the
+     *   encoded input.
+     *
+     * Audio:
+     *   For encoding, this field is unused (see initial_padding).
+     *
+     *   For decoding, this is the number of samples the decoder needs to
+     *   output before the decoder's output is valid. When seeking, you should
+     *   start decoding this many samples prior to your desired seek point.
+     *
+     * - encoding: Set by libavcodec.
+     * - decoding: Set by libavcodec.
+     */
+    int delay;
+
+
+    /* video only */
+    /**
+     * picture width / height.
+     *
+     * @note Those fields may not match the values of the last
+     * AVFrame outputted by avcodec_decode_video2 due frame
+     * reordering.
+     *
+     * - encoding: MUST be set by user.
+     * - decoding: May be set by the user before opening the decoder if known e.g.
+     *             from the container. Some decoders will require the dimensions
+     *             to be set by the caller. During decoding, the decoder may
+     *             overwrite those values as required while parsing the data.
+     */
+    int width, height;
+
+    /**
+     * Bitstream width / height, may be different from width/height e.g. when
+     * the decoded frame is cropped before being output or lowres is enabled.
+     *
+     * @note Those field may not match the value of the last
+     * AVFrame outputted by avcodec_decode_video2 due frame
+     * reordering.
+     *
+     * - encoding: unused
+     * - decoding: May be set by the user before opening the decoder if known
+     *             e.g. from the container. During decoding, the decoder may
+     *             overwrite those values as required while parsing the data.
+     */
+    int coded_width, coded_height;
+
+#if FF_API_ASPECT_EXTENDED
+#define FF_ASPECT_EXTENDED 15
+#endif
+
+    /**
+     * the number of pictures in a group of pictures, or 0 for intra_only
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int gop_size;
+
+    /**
+     * Pixel format, see AV_PIX_FMT_xxx.
+     * May be set by the demuxer if known from headers.
+     * May be overridden by the decoder if it knows better.
+     *
+     * @note This field may not match the value of the last
+     * AVFrame outputted by avcodec_decode_video2 due frame
+     * reordering.
+     *
+     * - encoding: Set by user.
+     * - decoding: Set by user if known, overridden by libavcodec while
+     *             parsing the data.
+     */
+    enum AVPixelFormat pix_fmt;
+
+#if FF_API_MOTION_EST
+    /**
+     * This option does nothing
+     * @deprecated use codec private options instead
+     */
+    attribute_deprecated int me_method;
+#endif
+
+    /**
+     * If non NULL, 'draw_horiz_band' is called by the libavcodec
+     * decoder to draw a horizontal band. It improves cache usage. Not
+     * all codecs can do that. You must check the codec capabilities
+     * beforehand.
+     * When multithreading is used, it may be called from multiple threads
+     * at the same time; threads might draw different parts of the same AVFrame,
+     * or multiple AVFrames, and there is no guarantee that slices will be drawn
+     * in order.
+     * The function is also used by hardware acceleration APIs.
+     * It is called at least once during frame decoding to pass
+     * the data needed for hardware render.
+     * In that mode instead of pixel data, AVFrame points to
+     * a structure specific to the acceleration API. The application
+     * reads the structure and can change some fields to indicate progress
+     * or mark state.
+     * - encoding: unused
+     * - decoding: Set by user.
+     * @param height the height of the slice
+     * @param y the y position of the slice
+     * @param type 1->top field, 2->bottom field, 3->frame
+     * @param offset offset into the AVFrame.data from which the slice should be read
+     */
+    void (*draw_horiz_band)(struct AVCodecContext *s,
+                            const AVFrame *src, int offset[AV_NUM_DATA_POINTERS],
+                            int y, int type, int height);
+
+    /**
+     * callback to negotiate the pixelFormat
+     * @param fmt is the list of formats which are supported by the codec,
+     * it is terminated by -1 as 0 is a valid format, the formats are ordered by quality.
+     * The first is always the native one.
+     * @note The callback may be called again immediately if initialization for
+     * the selected (hardware-accelerated) pixel format failed.
+     * @warning Behavior is undefined if the callback returns a value not
+     * in the fmt list of formats.
+     * @return the chosen format
+     * - encoding: unused
+     * - decoding: Set by user, if not set the native format will be chosen.
+     */
+    enum AVPixelFormat (*get_format)(struct AVCodecContext *s, const enum AVPixelFormat * fmt);
+
+    /**
+     * maximum number of B-frames between non-B-frames
+     * Note: The output will be delayed by max_b_frames+1 relative to the input.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int max_b_frames;
+
+    /**
+     * qscale factor between IP and B-frames
+     * If > 0 then the last P-frame quantizer will be used (q= lastp_q*factor+offset).
+     * If < 0 then normal ratecontrol will be done (q= -normal_q*factor+offset).
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float b_quant_factor;
+
+#if FF_API_RC_STRATEGY
+    /** @deprecated use codec private option instead */
+    attribute_deprecated int rc_strategy;
+#define FF_RC_STRATEGY_XVID 1
+#endif
+
+    int b_frame_strategy;
+
+    /**
+     * qscale offset between IP and B-frames
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float b_quant_offset;
+
+    /**
+     * Size of the frame reordering buffer in the decoder.
+     * For MPEG-2 it is 1 IPB or 0 low delay IP.
+     * - encoding: Set by libavcodec.
+     * - decoding: Set by libavcodec.
+     */
+    int has_b_frames;
+
+    /**
+     * 0-> h263 quant 1-> mpeg quant
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mpeg_quant;
+
+    /**
+     * qscale factor between P and I-frames
+     * If > 0 then the last p frame quantizer will be used (q= lastp_q*factor+offset).
+     * If < 0 then normal ratecontrol will be done (q= -normal_q*factor+offset).
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float i_quant_factor;
+
+    /**
+     * qscale offset between P and I-frames
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float i_quant_offset;
+
+    /**
+     * luminance masking (0-> disabled)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float lumi_masking;
+
+    /**
+     * temporary complexity masking (0-> disabled)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float temporal_cplx_masking;
+
+    /**
+     * spatial complexity masking (0-> disabled)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float spatial_cplx_masking;
+
+    /**
+     * p block masking (0-> disabled)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float p_masking;
+
+    /**
+     * darkness masking (0-> disabled)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    float dark_masking;
+
+    /**
+     * slice count
+     * - encoding: Set by libavcodec.
+     * - decoding: Set by user (or 0).
+     */
+    int slice_count;
+    /**
+     * prediction method (needed for huffyuv)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+     int prediction_method;
+#define FF_PRED_LEFT   0
+#define FF_PRED_PLANE  1
+#define FF_PRED_MEDIAN 2
+
+    /**
+     * slice offsets in the frame in bytes
+     * - encoding: Set/allocated by libavcodec.
+     * - decoding: Set/allocated by user (or NULL).
+     */
+    int *slice_offset;
+
+    /**
+     * sample aspect ratio (0 if unknown)
+     * That is the width of a pixel divided by the height of the pixel.
+     * Numerator and denominator must be relatively prime and smaller than 256 for some video standards.
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    AVRational sample_aspect_ratio;
+
+    /**
+     * motion estimation comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_cmp;
+    /**
+     * subpixel motion estimation comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_sub_cmp;
+    /**
+     * macroblock comparison function (not supported yet)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mb_cmp;
+    /**
+     * interlaced DCT comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int ildct_cmp;
+#define FF_CMP_SAD    0
+#define FF_CMP_SSE    1
+#define FF_CMP_SATD   2
+#define FF_CMP_DCT    3
+#define FF_CMP_PSNR   4
+#define FF_CMP_BIT    5
+#define FF_CMP_RD     6
+#define FF_CMP_ZERO   7
+#define FF_CMP_VSAD   8
+#define FF_CMP_VSSE   9
+#define FF_CMP_NSSE   10
+#define FF_CMP_W53    11
+#define FF_CMP_W97    12
+#define FF_CMP_DCTMAX 13
+#define FF_CMP_DCT264 14
+#define FF_CMP_CHROMA 256
+
+    /**
+     * ME diamond size & shape
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int dia_size;
+
+    /**
+     * amount of previous MV predictors (2a+1 x 2a+1 square)
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int last_predictor_count;
+
+    /**
+     * prepass for motion estimation
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int pre_me;
+
+    /**
+     * motion estimation prepass comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_pre_cmp;
+
+    /**
+     * ME prepass diamond size & shape
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int pre_dia_size;
+
+    /**
+     * subpel ME quality
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_subpel_quality;
+
+#if FF_API_AFD
+    /**
+     * DTG active format information (additional aspect ratio
+     * information only used in DVB MPEG-2 transport streams)
+     * 0 if not set.
+     *
+     * - encoding: unused
+     * - decoding: Set by decoder.
+     * @deprecated Deprecated in favor of AVSideData
+     */
+    attribute_deprecated int dtg_active_format;
+#define FF_DTG_AFD_SAME         8
+#define FF_DTG_AFD_4_3          9
+#define FF_DTG_AFD_16_9         10
+#define FF_DTG_AFD_14_9         11
+#define FF_DTG_AFD_4_3_SP_14_9  13
+#define FF_DTG_AFD_16_9_SP_14_9 14
+#define FF_DTG_AFD_SP_4_3       15
+#endif /* FF_API_AFD */
+
+    /**
+     * maximum motion estimation search range in subpel units
+     * If 0 then no limit.
+     *
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_range;
+
+#if FF_API_QUANT_BIAS
+    /**
+     * @deprecated use encoder private option instead
+     */
+    attribute_deprecated int intra_quant_bias;
+#define FF_DEFAULT_QUANT_BIAS 999999
+
+    /**
+     * @deprecated use encoder private option instead
+     */
+    attribute_deprecated int inter_quant_bias;
+#endif
+
+    /**
+     * slice flags
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int slice_flags;
+#define SLICE_FLAG_CODED_ORDER    0x0001 ///< draw_horiz_band() is called in coded order instead of display
+#define SLICE_FLAG_ALLOW_FIELD    0x0002 ///< allow draw_horiz_band() with field slices (MPEG2 field pics)
+#define SLICE_FLAG_ALLOW_PLANE    0x0004 ///< allow draw_horiz_band() with 1 component at a time (SVQ1)
+
+#if FF_API_XVMC
+    /**
+     * XVideo Motion Acceleration
+     * - encoding: forbidden
+     * - decoding: set by decoder
+     * @deprecated XvMC doesn't need it anymore.
+     */
+    attribute_deprecated int xvmc_acceleration;
+#endif /* FF_API_XVMC */
+
+    /**
+     * macroblock decision mode
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mb_decision;
+#define FF_MB_DECISION_SIMPLE 0        ///< uses mb_cmp
+#define FF_MB_DECISION_BITS   1        ///< chooses the one which needs the fewest bits
+#define FF_MB_DECISION_RD     2        ///< rate distortion
+
+    /**
+     * custom intra quantization matrix
+     * - encoding: Set by user, can be NULL.
+     * - decoding: Set by libavcodec.
+     */
+    uint16_t *intra_matrix;
+
+    /**
+     * custom inter quantization matrix
+     * - encoding: Set by user, can be NULL.
+     * - decoding: Set by libavcodec.
+     */
+    uint16_t *inter_matrix;
+
+    /**
+     * scene change detection threshold
+     * 0 is default, larger means fewer detected scene changes.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int scenechange_threshold;
+
+    /**
+     * noise reduction strength
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int noise_reduction;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated this field is unused
+     */
+    attribute_deprecated
+    int me_threshold;
+
+    /**
+     * @deprecated this field is unused
+     */
+    attribute_deprecated
+    int mb_threshold;
+#endif
+
+    /**
+     * precision of the intra DC coefficient - 8
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec
+     */
+    int intra_dc_precision;
+
+    /**
+     * Number of macroblock rows at the top which are skipped.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int skip_top;
+
+    /**
+     * Number of macroblock rows at the bottom which are skipped.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int skip_bottom;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    float border_masking;
+#endif
+
+    /**
+     * minimum MB lagrange multipler
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mb_lmin;
+
+    /**
+     * maximum MB lagrange multipler
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mb_lmax;
+
+    /**
+     *
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int me_penalty_compensation;
+
+    /**
+     *
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int bidir_refine;
+
+    /**
+     *
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int brd_scale;
+
+    /**
+     * minimum GOP size
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int keyint_min;
+
+    /**
+     * number of reference frames
+     * - encoding: Set by user.
+     * - decoding: Set by lavc.
+     */
+    int refs;
+
+    /**
+     * chroma qp offset from luma
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int chromaoffset;
+
+#if FF_API_UNUSED_MEMBERS
+    /**
+     * Multiplied by qscale for each frame and added to scene_change_score.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    attribute_deprecated int scenechange_factor;
+#endif
+
+    /**
+     *
+     * Note: Value depends upon the compare function used for fullpel ME.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int mv0_threshold;
+
+    /**
+     * Adjust sensitivity of b_frame_strategy 1.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int b_sensitivity;
+
+    /**
+     * Chromaticity coordinates of the source primaries.
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorPrimaries color_primaries;
+
+    /**
+     * Color Transfer Characteristic.
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorTransferCharacteristic color_trc;
+
+    /**
+     * YUV colorspace type.
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorSpace colorspace;
+
+    /**
+     * MPEG vs JPEG YUV range.
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorRange color_range;
+
+    /**
+     * This defines the location of chroma samples.
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVChromaLocation chroma_sample_location;
+
+    /**
+     * Number of slices.
+     * Indicates number of picture subdivisions. Used for parallelized
+     * decoding.
+     * - encoding: Set by user
+     * - decoding: unused
+     */
+    int slices;
+
+    /** Field order
+     * - encoding: set by libavcodec
+     * - decoding: Set by user.
+     */
+    enum AVFieldOrder field_order;
+
+    /* audio only */
+    int sample_rate; ///< samples per second
+    int channels;    ///< number of audio channels
+
+    /**
+     * audio sample format
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    enum AVSampleFormat sample_fmt;  ///< sample format
+
+    /* The following data should not be initialized. */
+    /**
+     * Number of samples per channel in an audio frame.
+     *
+     * - encoding: set by libavcodec in avcodec_open2(). Each submitted frame
+     *   except the last must contain exactly frame_size samples per channel.
+     *   May be 0 when the codec has AV_CODEC_CAP_VARIABLE_FRAME_SIZE set, then the
+     *   frame size is not restricted.
+     * - decoding: may be set by some decoders to indicate constant frame size
+     */
+    int frame_size;
+
+    /**
+     * Frame counter, set by libavcodec.
+     *
+     * - decoding: total number of frames returned from the decoder so far.
+     * - encoding: total number of frames passed to the encoder so far.
+     *
+     *   @note the counter is not incremented if encoding/decoding resulted in
+     *   an error.
+     */
+    int frame_number;
+
+    /**
+     * number of bytes per packet if constant and known or 0
+     * Used by some WAV based audio codecs.
+     */
+    int block_align;
+
+    /**
+     * Audio cutoff bandwidth (0 means "automatic")
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int cutoff;
+
+    /**
+     * Audio channel layout.
+     * - encoding: set by user.
+     * - decoding: set by user, may be overwritten by libavcodec.
+     */
+    uint64_t channel_layout;
+
+    /**
+     * Request decoder to use this channel layout if it can (0 for default)
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    uint64_t request_channel_layout;
+
+    /**
+     * Type of service that the audio stream conveys.
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    enum AVAudioServiceType audio_service_type;
+
+    /**
+     * desired sample format
+     * - encoding: Not used.
+     * - decoding: Set by user.
+     * Decoder will decode to this format if it can.
+     */
+    enum AVSampleFormat request_sample_fmt;
+
+    /**
+     * This callback is called at the beginning of each frame to get data
+     * buffer(s) for it. There may be one contiguous buffer for all the data or
+     * there may be a buffer per each data plane or anything in between. What
+     * this means is, you may set however many entries in buf[] you feel necessary.
+     * Each buffer must be reference-counted using the AVBuffer API (see description
+     * of buf[] below).
+     *
+     * The following fields will be set in the frame before this callback is
+     * called:
+     * - format
+     * - width, height (video only)
+     * - sample_rate, channel_layout, nb_samples (audio only)
+     * Their values may differ from the corresponding values in
+     * AVCodecContext. This callback must use the frame values, not the codec
+     * context values, to calculate the required buffer size.
+     *
+     * This callback must fill the following fields in the frame:
+     * - data[]
+     * - linesize[]
+     * - extended_data:
+     *   * if the data is planar audio with more than 8 channels, then this
+     *     callback must allocate and fill extended_data to contain all pointers
+     *     to all data planes. data[] must hold as many pointers as it can.
+     *     extended_data must be allocated with av_malloc() and will be freed in
+     *     av_frame_unref().
+     *   * otherwise exended_data must point to data
+     * - buf[] must contain one or more pointers to AVBufferRef structures. Each of
+     *   the frame's data and extended_data pointers must be contained in these. That
+     *   is, one AVBufferRef for each allocated chunk of memory, not necessarily one
+     *   AVBufferRef per data[] entry. See: av_buffer_create(), av_buffer_alloc(),
+     *   and av_buffer_ref().
+     * - extended_buf and nb_extended_buf must be allocated with av_malloc() by
+     *   this callback and filled with the extra buffers if there are more
+     *   buffers than buf[] can hold. extended_buf will be freed in
+     *   av_frame_unref().
+     *
+     * If AV_CODEC_CAP_DR1 is not set then get_buffer2() must call
+     * avcodec_default_get_buffer2() instead of providing buffers allocated by
+     * some other means.
+     *
+     * Each data plane must be aligned to the maximum required by the target
+     * CPU.
+     *
+     * @see avcodec_default_get_buffer2()
+     *
+     * Video:
+     *
+     * If AV_GET_BUFFER_FLAG_REF is set in flags then the frame may be reused
+     * (read and/or written to if it is writable) later by libavcodec.
+     *
+     * avcodec_align_dimensions2() should be used to find the required width and
+     * height, as they normally need to be rounded up to the next multiple of 16.
+     *
+     * Some decoders do not support linesizes changing between frames.
+     *
+     * If frame multithreading is used and thread_safe_callbacks is set,
+     * this callback may be called from a different thread, but not from more
+     * than one at once. Does not need to be reentrant.
+     *
+     * @see avcodec_align_dimensions2()
+     *
+     * Audio:
+     *
+     * Decoders request a buffer of a particular size by setting
+     * AVFrame.nb_samples prior to calling get_buffer2(). The decoder may,
+     * however, utilize only part of the buffer by setting AVFrame.nb_samples
+     * to a smaller value in the output frame.
+     *
+     * As a convenience, av_samples_get_buffer_size() and
+     * av_samples_fill_arrays() in libavutil may be used by custom get_buffer2()
+     * functions to find the required data size and to fill data pointers and
+     * linesize. In AVFrame.linesize, only linesize[0] may be set for audio
+     * since all planes must be the same size.
+     *
+     * @see av_samples_get_buffer_size(), av_samples_fill_arrays()
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec, user can override.
+     */
+    int (*get_buffer2)(struct AVCodecContext *s, AVFrame *frame, int flags);
+
+    /**
+     * If non-zero, the decoded audio and video frames returned from
+     * avcodec_decode_video2() and avcodec_decode_audio4() are reference-counted
+     * and are valid indefinitely. The caller must free them with
+     * av_frame_unref() when they are not needed anymore.
+     * Otherwise, the decoded frames must not be freed by the caller and are
+     * only valid until the next decode call.
+     *
+     * - encoding: unused
+     * - decoding: set by the caller before avcodec_open2().
+     */
+    int refcounted_frames;
+
+    /* - encoding parameters */
+    float qcompress;  ///< amount of qscale change between easy & hard scenes (0.0-1.0)
+    float qblur;      ///< amount of qscale smoothing over time (0.0-1.0)
+
+    /**
+     * minimum quantizer
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int qmin;
+
+    /**
+     * maximum quantizer
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int qmax;
+
+    /**
+     * maximum quantizer difference between frames
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int max_qdiff;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    float rc_qsquish;
+
+    attribute_deprecated
+    float rc_qmod_amp;
+    attribute_deprecated
+    int rc_qmod_freq;
+#endif
+
+    /**
+     * decoder bitstream buffer size
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int rc_buffer_size;
+
+    /**
+     * ratecontrol override, see RcOverride
+     * - encoding: Allocated/set/freed by user.
+     * - decoding: unused
+     */
+    int rc_override_count;
+    RcOverride *rc_override;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    const char *rc_eq;
+#endif
+
+    /**
+     * maximum bitrate
+     * - encoding: Set by user.
+     * - decoding: Set by user, may be overwritten by libavcodec.
+     */
+    int64_t rc_max_rate;
+
+    /**
+     * minimum bitrate
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int64_t rc_min_rate;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    float rc_buffer_aggressivity;
+
+    attribute_deprecated
+    float rc_initial_cplx;
+#endif
+
+    /**
+     * Ratecontrol attempt to use, at maximum, <value> of what can be used without an underflow.
+     * - encoding: Set by user.
+     * - decoding: unused.
+     */
+    float rc_max_available_vbv_use;
+
+    /**
+     * Ratecontrol attempt to use, at least, <value> times the amount needed to prevent a vbv overflow.
+     * - encoding: Set by user.
+     * - decoding: unused.
+     */
+    float rc_min_vbv_overflow_use;
+
+    /**
+     * Number of bits which should be loaded into the rc buffer before decoding starts.
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int rc_initial_buffer_occupancy;
+
+#define FF_CODER_TYPE_VLC       0
+#define FF_CODER_TYPE_AC        1
+#define FF_CODER_TYPE_RAW       2
+#define FF_CODER_TYPE_RLE       3
+#if FF_API_UNUSED_MEMBERS
+#define FF_CODER_TYPE_DEFLATE   4
+#endif /* FF_API_UNUSED_MEMBERS */
+    /**
+     * coder type
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int coder_type;
+
+    /**
+     * context model
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int context_model;
+
+#if FF_API_MPV_OPT
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    int lmin;
+
+    /**
+     * @deprecated use encoder private options instead
+     */
+    attribute_deprecated
+    int lmax;
+#endif
+
+    /**
+     * frame skip threshold
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int frame_skip_threshold;
+
+    /**
+     * frame skip factor
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int frame_skip_factor;
+
+    /**
+     * frame skip exponent
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int frame_skip_exp;
+
+    /**
+     * frame skip comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int frame_skip_cmp;
+
+    /**
+     * trellis RD quantization
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int trellis;
+
+    /**
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int min_prediction_order;
+
+    /**
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int max_prediction_order;
+
+    /**
+     * GOP timecode frame start number
+     * - encoding: Set by user, in non drop frame format
+     * - decoding: Set by libavcodec (timecode in the 25 bits format, -1 if unset)
+     */
+    int64_t timecode_frame_start;
+
+    /* The RTP callback: This function is called    */
+    /* every time the encoder has a packet to send. */
+    /* It depends on the encoder if the data starts */
+    /* with a Start Code (it should). H.263 does.   */
+    /* mb_nb contains the number of macroblocks     */
+    /* encoded in the RTP payload.                  */
+    void (*rtp_callback)(struct AVCodecContext *avctx, void *data, int size, int mb_nb);
+
+    int rtp_payload_size;   /* The size of the RTP payload: the coder will  */
+                            /* do its best to deliver a chunk with size     */
+                            /* below rtp_payload_size, the chunk will start */
+                            /* with a start code on some codecs like H.263. */
+                            /* This doesn't take account of any particular  */
+                            /* headers inside the transmitted RTP payload.  */
+
+    /* statistics, used for 2-pass encoding */
+    int mv_bits;
+    int header_bits;
+    int i_tex_bits;
+    int p_tex_bits;
+    int i_count;
+    int p_count;
+    int skip_count;
+    int misc_bits;
+
+    /**
+     * number of bits used for the previously encoded frame
+     * - encoding: Set by libavcodec.
+     * - decoding: unused
+     */
+    int frame_bits;
+
+    /**
+     * pass1 encoding statistics output buffer
+     * - encoding: Set by libavcodec.
+     * - decoding: unused
+     */
+    char *stats_out;
+
+    /**
+     * pass2 encoding statistics input buffer
+     * Concatenated stuff from stats_out of pass1 should be placed here.
+     * - encoding: Allocated/set/freed by user.
+     * - decoding: unused
+     */
+    char *stats_in;
+
+    /**
+     * Work around bugs in encoders which sometimes cannot be detected automatically.
+     * - encoding: Set by user
+     * - decoding: Set by user
+     */
+    int workaround_bugs;
+#define FF_BUG_AUTODETECT       1  ///< autodetection
+#if FF_API_OLD_MSMPEG4
+#define FF_BUG_OLD_MSMPEG4      2
+#endif
+#define FF_BUG_XVID_ILACE       4
+#define FF_BUG_UMP4             8
+#define FF_BUG_NO_PADDING       16
+#define FF_BUG_AMV              32
+#if FF_API_AC_VLC
+#define FF_BUG_AC_VLC           0  ///< Will be removed, libavcodec can now handle these non-compliant files by default.
+#endif
+#define FF_BUG_QPEL_CHROMA      64
+#define FF_BUG_STD_QPEL         128
+#define FF_BUG_QPEL_CHROMA2     256
+#define FF_BUG_DIRECT_BLOCKSIZE 512
+#define FF_BUG_EDGE             1024
+#define FF_BUG_HPEL_CHROMA      2048
+#define FF_BUG_DC_CLIP          4096
+#define FF_BUG_MS               8192 ///< Work around various bugs in Microsoft's broken decoders.
+#define FF_BUG_TRUNCATED       16384
+
+    /**
+     * strictly follow the standard (MPEG4, ...).
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     * Setting this to STRICT or higher means the encoder and decoder will
+     * generally do stupid things, whereas setting it to unofficial or lower
+     * will mean the encoder might produce output that is not supported by all
+     * spec-compliant decoders. Decoders don't differentiate between normal,
+     * unofficial and experimental (that is, they always try to decode things
+     * when they can) unless they are explicitly asked to behave stupidly
+     * (=strictly conform to the specs)
+     */
+    int strict_std_compliance;
+#define FF_COMPLIANCE_VERY_STRICT   2 ///< Strictly conform to an older more strict version of the spec or reference software.
+#define FF_COMPLIANCE_STRICT        1 ///< Strictly conform to all the things in the spec no matter what consequences.
+#define FF_COMPLIANCE_NORMAL        0
+#define FF_COMPLIANCE_UNOFFICIAL   -1 ///< Allow unofficial extensions
+#define FF_COMPLIANCE_EXPERIMENTAL -2 ///< Allow nonstandardized experimental things.
+
+    /**
+     * error concealment flags
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int error_concealment;
+#define FF_EC_GUESS_MVS   1
+#define FF_EC_DEBLOCK     2
+#define FF_EC_FAVOR_INTER 256
+
+    /**
+     * debug
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int debug;
+#define FF_DEBUG_PICT_INFO   1
+#define FF_DEBUG_RC          2
+#define FF_DEBUG_BITSTREAM   4
+#define FF_DEBUG_MB_TYPE     8
+#define FF_DEBUG_QP          16
+#if FF_API_DEBUG_MV
+/**
+ * @deprecated this option does nothing
+ */
+#define FF_DEBUG_MV          32
+#endif
+#define FF_DEBUG_DCT_COEFF   0x00000040
+#define FF_DEBUG_SKIP        0x00000080
+#define FF_DEBUG_STARTCODE   0x00000100
+#if FF_API_UNUSED_MEMBERS
+#define FF_DEBUG_PTS         0x00000200
+#endif /* FF_API_UNUSED_MEMBERS */
+#define FF_DEBUG_ER          0x00000400
+#define FF_DEBUG_MMCO        0x00000800
+#define FF_DEBUG_BUGS        0x00001000
+#if FF_API_DEBUG_MV
+#define FF_DEBUG_VIS_QP      0x00002000 ///< only access through AVOptions from outside libavcodec
+#define FF_DEBUG_VIS_MB_TYPE 0x00004000 ///< only access through AVOptions from outside libavcodec
+#endif
+#define FF_DEBUG_BUFFERS     0x00008000
+#define FF_DEBUG_THREADS     0x00010000
+#define FF_DEBUG_GREEN_MD    0x00800000
+#define FF_DEBUG_NOMC        0x01000000
+
+#if FF_API_DEBUG_MV
+    /**
+     * debug
+     * Code outside libavcodec should access this field using AVOptions
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int debug_mv;
+#define FF_DEBUG_VIS_MV_P_FOR  0x00000001 //visualize forward predicted MVs of P frames
+#define FF_DEBUG_VIS_MV_B_FOR  0x00000002 //visualize forward predicted MVs of B frames
+#define FF_DEBUG_VIS_MV_B_BACK 0x00000004 //visualize backward predicted MVs of B frames
+#endif
+
+    /**
+     * Error recognition; may misdetect some more or less valid parts as errors.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int err_recognition;
+
+/**
+ * Verify checksums embedded in the bitstream (could be of either encoded or
+ * decoded data, depending on the codec) and print an error message on mismatch.
+ * If AV_EF_EXPLODE is also set, a mismatching checksum will result in the
+ * decoder returning an error.
+ */
+#define AV_EF_CRCCHECK  (1<<0)
+#define AV_EF_BITSTREAM (1<<1)          ///< detect bitstream specification deviations
+#define AV_EF_BUFFER    (1<<2)          ///< detect improper bitstream length
+#define AV_EF_EXPLODE   (1<<3)          ///< abort decoding on minor error detection
+
+#define AV_EF_IGNORE_ERR (1<<15)        ///< ignore errors and continue
+#define AV_EF_CAREFUL    (1<<16)        ///< consider things that violate the spec, are fast to calculate and have not been seen in the wild as errors
+#define AV_EF_COMPLIANT  (1<<17)        ///< consider all spec non compliances as errors
+#define AV_EF_AGGRESSIVE (1<<18)        ///< consider things that a sane encoder should not do as an error
+
+
+    /**
+     * opaque 64bit number (generally a PTS) that will be reordered and
+     * output in AVFrame.reordered_opaque
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    int64_t reordered_opaque;
+
+    /**
+     * Hardware accelerator in use
+     * - encoding: unused.
+     * - decoding: Set by libavcodec
+     */
+    struct AVHWAccel *hwaccel;
+
+    /**
+     * Hardware accelerator context.
+     * For some hardware accelerators, a global context needs to be
+     * provided by the user. In that case, this holds display-dependent
+     * data FFmpeg cannot instantiate itself. Please refer to the
+     * FFmpeg HW accelerator documentation to know how to fill this
+     * is. e.g. for VA API, this is a struct vaapi_context.
+     * - encoding: unused
+     * - decoding: Set by user
+     */
+    void *hwaccel_context;
+
+    /**
+     * error
+     * - encoding: Set by libavcodec if flags & AV_CODEC_FLAG_PSNR.
+     * - decoding: unused
+     */
+    uint64_t error[AV_NUM_DATA_POINTERS];
+
+    /**
+     * DCT algorithm, see FF_DCT_* below
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+    int dct_algo;
+#define FF_DCT_AUTO    0
+#define FF_DCT_FASTINT 1
+#define FF_DCT_INT     2
+#define FF_DCT_MMX     3
+#define FF_DCT_ALTIVEC 5
+#define FF_DCT_FAAN    6
+
+    /**
+     * IDCT algorithm, see FF_IDCT_* below.
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int idct_algo;
+#define FF_IDCT_AUTO          0
+#define FF_IDCT_INT           1
+#define FF_IDCT_SIMPLE        2
+#define FF_IDCT_SIMPLEMMX     3
+#define FF_IDCT_ARM           7
+#define FF_IDCT_ALTIVEC       8
+#if FF_API_ARCH_SH4
+#define FF_IDCT_SH4           9
+#endif
+#define FF_IDCT_SIMPLEARM     10
+#if FF_API_UNUSED_MEMBERS
+#define FF_IDCT_IPP           13
+#endif /* FF_API_UNUSED_MEMBERS */
+#define FF_IDCT_XVID          14
+#if FF_API_IDCT_XVIDMMX
+#define FF_IDCT_XVIDMMX       14
+#endif /* FF_API_IDCT_XVIDMMX */
+#define FF_IDCT_SIMPLEARMV5TE 16
+#define FF_IDCT_SIMPLEARMV6   17
+#if FF_API_ARCH_SPARC
+#define FF_IDCT_SIMPLEVIS     18
+#endif
+#define FF_IDCT_FAAN          20
+#define FF_IDCT_SIMPLENEON    22
+#if FF_API_ARCH_ALPHA
+#define FF_IDCT_SIMPLEALPHA   23
+#endif
+#define FF_IDCT_SIMPLEAUTO    128
+
+    /**
+     * bits per sample/pixel from the demuxer (needed for huffyuv).
+     * - encoding: Set by libavcodec.
+     * - decoding: Set by user.
+     */
+     int bits_per_coded_sample;
+
+    /**
+     * Bits per sample/pixel of internal libavcodec pixel/sample format.
+     * - encoding: set by user.
+     * - decoding: set by libavcodec.
+     */
+    int bits_per_raw_sample;
+
+#if FF_API_LOWRES
+    /**
+     * low resolution decoding, 1-> 1/2 size, 2->1/4 size
+     * - encoding: unused
+     * - decoding: Set by user.
+     * Code outside libavcodec should access this field using:
+     * av_codec_{get,set}_lowres(avctx)
+     */
+     int lowres;
+#endif
+
+#if FF_API_CODED_FRAME
+    /**
+     * the picture in the bitstream
+     * - encoding: Set by libavcodec.
+     * - decoding: unused
+     *
+     * @deprecated use the quality factor packet side data instead
+     */
+    attribute_deprecated AVFrame *coded_frame;
+#endif
+
+    /**
+     * thread count
+     * is used to decide how many independent tasks should be passed to execute()
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int thread_count;
+
+    /**
+     * Which multithreading methods to use.
+     * Use of FF_THREAD_FRAME will increase decoding delay by one frame per thread,
+     * so clients which cannot provide future frames should not use it.
+     *
+     * - encoding: Set by user, otherwise the default is used.
+     * - decoding: Set by user, otherwise the default is used.
+     */
+    int thread_type;
+#define FF_THREAD_FRAME   1 ///< Decode more than one frame at once
+#define FF_THREAD_SLICE   2 ///< Decode more than one part of a single frame at once
+
+    /**
+     * Which multithreading methods are in use by the codec.
+     * - encoding: Set by libavcodec.
+     * - decoding: Set by libavcodec.
+     */
+    int active_thread_type;
+
+    /**
+     * Set by the client if its custom get_buffer() callback can be called
+     * synchronously from another thread, which allows faster multithreaded decoding.
+     * draw_horiz_band() will be called from other threads regardless of this setting.
+     * Ignored if the default get_buffer() is used.
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int thread_safe_callbacks;
+
+    /**
+     * The codec may call this to execute several independent things.
+     * It will return only after finishing all tasks.
+     * The user may replace this with some multithreaded implementation,
+     * the default implementation will execute the parts serially.
+     * @param count the number of things to execute
+     * - encoding: Set by libavcodec, user can override.
+     * - decoding: Set by libavcodec, user can override.
+     */
+    int (*execute)(struct AVCodecContext *c, int (*func)(struct AVCodecContext *c2, void *arg), void *arg2, int *ret, int count, int size);
+
+    /**
+     * The codec may call this to execute several independent things.
+     * It will return only after finishing all tasks.
+     * The user may replace this with some multithreaded implementation,
+     * the default implementation will execute the parts serially.
+     * Also see avcodec_thread_init and e.g. the --enable-pthread configure option.
+     * @param c context passed also to func
+     * @param count the number of things to execute
+     * @param arg2 argument passed unchanged to func
+     * @param ret return values of executed functions, must have space for "count" values. May be NULL.
+     * @param func function that will be called count times, with jobnr from 0 to count-1.
+     *             threadnr will be in the range 0 to c->thread_count-1 < MAX_THREADS and so that no
+     *             two instances of func executing at the same time will have the same threadnr.
+     * @return always 0 currently, but code should handle a future improvement where when any call to func
+     *         returns < 0 no further calls to func may be done and < 0 is returned.
+     * - encoding: Set by libavcodec, user can override.
+     * - decoding: Set by libavcodec, user can override.
+     */
+    int (*execute2)(struct AVCodecContext *c, int (*func)(struct AVCodecContext *c2, void *arg, int jobnr, int threadnr), void *arg2, int *ret, int count);
+
+    /**
+     * noise vs. sse weight for the nsse comparison function
+     * - encoding: Set by user.
+     * - decoding: unused
+     */
+     int nsse_weight;
+
+    /**
+     * profile
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+     int profile;
+#define FF_PROFILE_UNKNOWN -99
+#define FF_PROFILE_RESERVED -100
+
+#define FF_PROFILE_AAC_MAIN 0
+#define FF_PROFILE_AAC_LOW  1
+#define FF_PROFILE_AAC_SSR  2
+#define FF_PROFILE_AAC_LTP  3
+#define FF_PROFILE_AAC_HE   4
+#define FF_PROFILE_AAC_HE_V2 28
+#define FF_PROFILE_AAC_LD   22
+#define FF_PROFILE_AAC_ELD  38
+#define FF_PROFILE_MPEG2_AAC_LOW 128
+#define FF_PROFILE_MPEG2_AAC_HE  131
+
+#define FF_PROFILE_DTS         20
+#define FF_PROFILE_DTS_ES      30
+#define FF_PROFILE_DTS_96_24   40
+#define FF_PROFILE_DTS_HD_HRA  50
+#define FF_PROFILE_DTS_HD_MA   60
+#define FF_PROFILE_DTS_EXPRESS 70
+
+#define FF_PROFILE_MPEG2_422    0
+#define FF_PROFILE_MPEG2_HIGH   1
+#define FF_PROFILE_MPEG2_SS     2
+#define FF_PROFILE_MPEG2_SNR_SCALABLE  3
+#define FF_PROFILE_MPEG2_MAIN   4
+#define FF_PROFILE_MPEG2_SIMPLE 5
+
+#define FF_PROFILE_H264_CONSTRAINED  (1<<9)  // 8+1; constraint_set1_flag
+#define FF_PROFILE_H264_INTRA        (1<<11) // 8+3; constraint_set3_flag
+
+#define FF_PROFILE_H264_BASELINE             66
+#define FF_PROFILE_H264_CONSTRAINED_BASELINE (66|FF_PROFILE_H264_CONSTRAINED)
+#define FF_PROFILE_H264_MAIN                 77
+#define FF_PROFILE_H264_EXTENDED             88
+#define FF_PROFILE_H264_HIGH                 100
+#define FF_PROFILE_H264_HIGH_10              110
+#define FF_PROFILE_H264_HIGH_10_INTRA        (110|FF_PROFILE_H264_INTRA)
+#define FF_PROFILE_H264_HIGH_422             122
+#define FF_PROFILE_H264_HIGH_422_INTRA       (122|FF_PROFILE_H264_INTRA)
+#define FF_PROFILE_H264_HIGH_444             144
+#define FF_PROFILE_H264_HIGH_444_PREDICTIVE  244
+#define FF_PROFILE_H264_HIGH_444_INTRA       (244|FF_PROFILE_H264_INTRA)
+#define FF_PROFILE_H264_CAVLC_444            44
+
+#define FF_PROFILE_VC1_SIMPLE   0
+#define FF_PROFILE_VC1_MAIN     1
+#define FF_PROFILE_VC1_COMPLEX  2
+#define FF_PROFILE_VC1_ADVANCED 3
+
+#define FF_PROFILE_MPEG4_SIMPLE                     0
+#define FF_PROFILE_MPEG4_SIMPLE_SCALABLE            1
+#define FF_PROFILE_MPEG4_CORE                       2
+#define FF_PROFILE_MPEG4_MAIN                       3
+#define FF_PROFILE_MPEG4_N_BIT                      4
+#define FF_PROFILE_MPEG4_SCALABLE_TEXTURE           5
+#define FF_PROFILE_MPEG4_SIMPLE_FACE_ANIMATION      6
+#define FF_PROFILE_MPEG4_BASIC_ANIMATED_TEXTURE     7
+#define FF_PROFILE_MPEG4_HYBRID                     8
+#define FF_PROFILE_MPEG4_ADVANCED_REAL_TIME         9
+#define FF_PROFILE_MPEG4_CORE_SCALABLE             10
+#define FF_PROFILE_MPEG4_ADVANCED_CODING           11
+#define FF_PROFILE_MPEG4_ADVANCED_CORE             12
+#define FF_PROFILE_MPEG4_ADVANCED_SCALABLE_TEXTURE 13
+#define FF_PROFILE_MPEG4_SIMPLE_STUDIO             14
+#define FF_PROFILE_MPEG4_ADVANCED_SIMPLE           15
+
+#define FF_PROFILE_JPEG2000_CSTREAM_RESTRICTION_0   0
+#define FF_PROFILE_JPEG2000_CSTREAM_RESTRICTION_1   1
+#define FF_PROFILE_JPEG2000_CSTREAM_NO_RESTRICTION  2
+#define FF_PROFILE_JPEG2000_DCINEMA_2K              3
+#define FF_PROFILE_JPEG2000_DCINEMA_4K              4
+
+#define FF_PROFILE_VP9_0                            0
+#define FF_PROFILE_VP9_1                            1
+#define FF_PROFILE_VP9_2                            2
+#define FF_PROFILE_VP9_3                            3
+
+#define FF_PROFILE_HEVC_MAIN                        1
+#define FF_PROFILE_HEVC_MAIN_10                     2
+#define FF_PROFILE_HEVC_MAIN_STILL_PICTURE          3
+#define FF_PROFILE_HEVC_REXT                        4
+
+    /**
+     * level
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+     int level;
+#define FF_LEVEL_UNKNOWN -99
+
+    /**
+     * Skip loop filtering for selected frames.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    enum AVDiscard skip_loop_filter;
+
+    /**
+     * Skip IDCT/dequantization for selected frames.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    enum AVDiscard skip_idct;
+
+    /**
+     * Skip decoding for selected frames.
+     * - encoding: unused
+     * - decoding: Set by user.
+     */
+    enum AVDiscard skip_frame;
+
+    /**
+     * Header containing style information for text subtitles.
+     * For SUBTITLE_ASS subtitle type, it should contain the whole ASS
+     * [Script Info] and [V4+ Styles] section, plus the [Events] line and
+     * the Format line following. It shouldn't include any Dialogue line.
+     * - encoding: Set/allocated/freed by user (before avcodec_open2())
+     * - decoding: Set/allocated/freed by libavcodec (by avcodec_open2())
+     */
+    uint8_t *subtitle_header;
+    int subtitle_header_size;
+
+#if FF_API_ERROR_RATE
+    /**
+     * @deprecated use the 'error_rate' private AVOption of the mpegvideo
+     * encoders
+     */
+    attribute_deprecated
+    int error_rate;
+#endif
+
+    /**
+     * VBV delay coded in the last frame (in periods of a 27 MHz clock).
+     * Used for compliant TS muxing.
+     * - encoding: Set by libavcodec.
+     * - decoding: unused.
+     */
+    uint64_t vbv_delay;
+
+#if FF_API_SIDEDATA_ONLY_PKT
+    /**
+     * Encoding only and set by default. Allow encoders to output packets
+     * that do not contain any encoded data, only side data.
+     *
+     * Some encoders need to output such packets, e.g. to update some stream
+     * parameters at the end of encoding.
+     *
+     * @deprecated this field disables the default behaviour and
+     *             it is kept only for compatibility.
+     */
+    attribute_deprecated
+    int side_data_only_packets;
+#endif
+
+    /**
+     * Audio only. The number of "priming" samples (padding) inserted by the
+     * encoder at the beginning of the audio. I.e. this number of leading
+     * decoded samples must be discarded by the caller to get the original audio
+     * without leading padding.
+     *
+     * - decoding: unused
+     * - encoding: Set by libavcodec. The timestamps on the output packets are
+     *             adjusted by the encoder so that they always refer to the
+     *             first sample of the data actually contained in the packet,
+     *             including any added padding.  E.g. if the timebase is
+     *             1/samplerate and the timestamp of the first input sample is
+     *             0, the timestamp of the first output packet will be
+     *             -initial_padding.
+     */
+    int initial_padding;
+
+    /**
+     * - decoding: For codecs that store a framerate value in the compressed
+     *             bitstream, the decoder may export it here. { 0, 1} when
+     *             unknown.
+     * - encoding: unused
+     */
+    AVRational framerate;
+
+    /**
+     * Nominal unaccelerated pixel format, see AV_PIX_FMT_xxx.
+     * - encoding: unused.
+     * - decoding: Set by libavcodec before calling get_format()
+     */
+    enum AVPixelFormat sw_pix_fmt;
+
+    /**
+     * Timebase in which pkt_dts/pts and AVPacket.dts/pts are.
+     * Code outside libavcodec should access this field using:
+     * av_codec_{get,set}_pkt_timebase(avctx)
+     * - encoding unused.
+     * - decoding set by user.
+     */
+    AVRational pkt_timebase;
+
+    /**
+     * AVCodecDescriptor
+     * Code outside libavcodec should access this field using:
+     * av_codec_{get,set}_codec_descriptor(avctx)
+     * - encoding: unused.
+     * - decoding: set by libavcodec.
+     */
+    const AVCodecDescriptor *codec_descriptor;
+
+#if !FF_API_LOWRES
+    /**
+     * low resolution decoding, 1-> 1/2 size, 2->1/4 size
+     * - encoding: unused
+     * - decoding: Set by user.
+     * Code outside libavcodec should access this field using:
+     * av_codec_{get,set}_lowres(avctx)
+     */
+     int lowres;
+#endif
+
+    /**
+     * Current statistics for PTS correction.
+     * - decoding: maintained and used by libavcodec, not intended to be used by user apps
+     * - encoding: unused
+     */
+    int64_t pts_correction_num_faulty_pts; /// Number of incorrect PTS values so far
+    int64_t pts_correction_num_faulty_dts; /// Number of incorrect DTS values so far
+    int64_t pts_correction_last_pts;       /// PTS of the last frame
+    int64_t pts_correction_last_dts;       /// DTS of the last frame
+
+    /**
+     * Character encoding of the input subtitles file.
+     * - decoding: set by user
+     * - encoding: unused
+     */
+    char *sub_charenc;
+
+    /**
+     * Subtitles character encoding mode. Formats or codecs might be adjusting
+     * this setting (if they are doing the conversion themselves for instance).
+     * - decoding: set by libavcodec
+     * - encoding: unused
+     */
+    int sub_charenc_mode;
+#define FF_SUB_CHARENC_MODE_DO_NOTHING  -1  ///< do nothing (demuxer outputs a stream supposed to be already in UTF-8, or the codec is bitmap for instance)
+#define FF_SUB_CHARENC_MODE_AUTOMATIC    0  ///< libavcodec will select the mode itself
+#define FF_SUB_CHARENC_MODE_PRE_DECODER  1  ///< the AVPacket data needs to be recoded to UTF-8 before being fed to the decoder, requires iconv
+
+    /**
+     * Skip processing alpha if supported by codec.
+     * Note that if the format uses pre-multiplied alpha (common with VP6,
+     * and recommended due to better video quality/compression)
+     * the image will look as if alpha-blended onto a black background.
+     * However for formats that do not use pre-multiplied alpha
+     * there might be serious artefacts (though e.g. libswscale currently
+     * assumes pre-multiplied alpha anyway).
+     * Code outside libavcodec should access this field using AVOptions
+     *
+     * - decoding: set by user
+     * - encoding: unused
+     */
+    int skip_alpha;
+
+    /**
+     * Number of samples to skip after a discontinuity
+     * - decoding: unused
+     * - encoding: set by libavcodec
+     */
+    int seek_preroll;
+
+#if !FF_API_DEBUG_MV
+    /**
+     * debug motion vectors
+     * Code outside libavcodec should access this field using AVOptions
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    int debug_mv;
+#define FF_DEBUG_VIS_MV_P_FOR  0x00000001 //visualize forward predicted MVs of P frames
+#define FF_DEBUG_VIS_MV_B_FOR  0x00000002 //visualize forward predicted MVs of B frames
+#define FF_DEBUG_VIS_MV_B_BACK 0x00000004 //visualize backward predicted MVs of B frames
+#endif
+
+    /**
+     * custom intra quantization matrix
+     * Code outside libavcodec should access this field using av_codec_g/set_chroma_intra_matrix()
+     * - encoding: Set by user, can be NULL.
+     * - decoding: unused.
+     */
+    uint16_t *chroma_intra_matrix;
+
+    /**
+     * dump format separator.
+     * can be ", " or "\n      " or anything else
+     * Code outside libavcodec should access this field using AVOptions
+     * (NO direct access).
+     * - encoding: Set by user.
+     * - decoding: Set by user.
+     */
+    uint8_t *dump_separator;
+
+    /**
+     * ',' separated list of allowed decoders.
+     * If NULL then all are allowed
+     * - encoding: unused
+     * - decoding: set by user through AVOPtions (NO direct access)
+     */
+    char *codec_whitelist;
+
+    /*
+     * Properties of the stream that gets decoded
+     * To be accessed through av_codec_get_properties() (NO direct access)
+     * - encoding: unused
+     * - decoding: set by libavcodec
+     */
+    unsigned properties;
+#define FF_CODEC_PROPERTY_LOSSLESS        0x00000001
+#define FF_CODEC_PROPERTY_CLOSED_CAPTIONS 0x00000002
+} AVCodecContext;
+
+AVRational av_codec_get_pkt_timebase         (const AVCodecContext *avctx);
+void       av_codec_set_pkt_timebase         (AVCodecContext *avctx, AVRational val);
+
+const AVCodecDescriptor *av_codec_get_codec_descriptor(const AVCodecContext *avctx);
+void                     av_codec_set_codec_descriptor(AVCodecContext *avctx, const AVCodecDescriptor *desc);
+
+unsigned av_codec_get_codec_properties(const AVCodecContext *avctx);
+
+int  av_codec_get_lowres(const AVCodecContext *avctx);
+void av_codec_set_lowres(AVCodecContext *avctx, int val);
+
+int  av_codec_get_seek_preroll(const AVCodecContext *avctx);
+void av_codec_set_seek_preroll(AVCodecContext *avctx, int val);
+
+uint16_t *av_codec_get_chroma_intra_matrix(const AVCodecContext *avctx);
+void av_codec_set_chroma_intra_matrix(AVCodecContext *avctx, uint16_t *val);
+
+/**
+ * AVProfile.
+ */
+typedef struct AVProfile {
+    int profile;
+    const char *name; ///< short name for the profile
+} AVProfile;
+
+typedef struct AVCodecDefault AVCodecDefault;
+
+struct AVSubtitle;
+
+/**
+ * AVCodec.
+ */
+typedef struct AVCodec {
+    /**
+     * Name of the codec implementation.
+     * The name is globally unique among encoders and among decoders (but an
+     * encoder and a decoder can share the same name).
+     * This is the primary way to find a codec from the user perspective.
+     */
+    const char *name;
+    /**
+     * Descriptive name for the codec, meant to be more human readable than name.
+     * You should use the NULL_IF_CONFIG_SMALL() macro to define it.
+     */
+    const char *long_name;
+    enum AVMediaType type;
+    enum AVCodecID id;
+    /**
+     * Codec capabilities.
+     * see AV_CODEC_CAP_*
+     */
+    int capabilities;
+    const AVRational *supported_framerates; ///< array of supported framerates, or NULL if any, array is terminated by {0,0}
+    const enum AVPixelFormat *pix_fmts;     ///< array of supported pixel formats, or NULL if unknown, array is terminated by -1
+    const int *supported_samplerates;       ///< array of supported audio samplerates, or NULL if unknown, array is terminated by 0
+    const enum AVSampleFormat *sample_fmts; ///< array of supported sample formats, or NULL if unknown, array is terminated by -1
+    const uint64_t *channel_layouts;         ///< array of support channel layouts, or NULL if unknown. array is terminated by 0
+    uint8_t max_lowres;                     ///< maximum value for lowres supported by the decoder, no direct access, use av_codec_get_max_lowres()
+    const AVClass *priv_class;              ///< AVClass for the private context
+    const AVProfile *profiles;              ///< array of recognized profiles, or NULL if unknown, array is terminated by {FF_PROFILE_UNKNOWN}
+
+    /*****************************************************************
+     * No fields below this line are part of the public API. They
+     * may not be used outside of libavcodec and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    int priv_data_size;
+    struct AVCodec *next;
+    /**
+     * @name Frame-level threading support functions
+     * @{
+     */
+    /**
+     * If defined, called on thread contexts when they are created.
+     * If the codec allocates writable tables in init(), re-allocate them here.
+     * priv_data will be set to a copy of the original.
+     */
+    int (*init_thread_copy)(AVCodecContext *);
+    /**
+     * Copy necessary context variables from a previous thread context to the current one.
+     * If not defined, the next thread will start automatically; otherwise, the codec
+     * must call ff_thread_finish_setup().
+     *
+     * dst and src will (rarely) point to the same context, in which case memcpy should be skipped.
+     */
+    int (*update_thread_context)(AVCodecContext *dst, const AVCodecContext *src);
+    /** @} */
+
+    /**
+     * Private codec-specific defaults.
+     */
+    const AVCodecDefault *defaults;
+
+    /**
+     * Initialize codec static data, called from avcodec_register().
+     */
+    void (*init_static_data)(struct AVCodec *codec);
+
+    int (*init)(AVCodecContext *);
+    int (*encode_sub)(AVCodecContext *, uint8_t *buf, int buf_size,
+                      const struct AVSubtitle *sub);
+    /**
+     * Encode data to an AVPacket.
+     *
+     * @param      avctx          codec context
+     * @param      avpkt          output AVPacket (may contain a user-provided buffer)
+     * @param[in]  frame          AVFrame containing the raw data to be encoded
+     * @param[out] got_packet_ptr encoder sets to 0 or 1 to indicate that a
+     *                            non-empty packet was returned in avpkt.
+     * @return 0 on success, negative error code on failure
+     */
+    int (*encode2)(AVCodecContext *avctx, AVPacket *avpkt, const AVFrame *frame,
+                   int *got_packet_ptr);
+    int (*decode)(AVCodecContext *, void *outdata, int *outdata_size, AVPacket *avpkt);
+    int (*close)(AVCodecContext *);
+    /**
+     * Flush buffers.
+     * Will be called when seeking
+     */
+    void (*flush)(AVCodecContext *);
+    /**
+     * Internal codec capabilities.
+     * See FF_CODEC_CAP_* in internal.h
+     */
+    int caps_internal;
+} AVCodec;
+
+int av_codec_get_max_lowres(const AVCodec *codec);
+
+struct MpegEncContext;
+
+/**
+ * @defgroup lavc_hwaccel AVHWAccel
+ * @{
+ */
+typedef struct AVHWAccel {
+    /**
+     * Name of the hardware accelerated codec.
+     * The name is globally unique among encoders and among decoders (but an
+     * encoder and a decoder can share the same name).
+     */
+    const char *name;
+
+    /**
+     * Type of codec implemented by the hardware accelerator.
+     *
+     * See AVMEDIA_TYPE_xxx
+     */
+    enum AVMediaType type;
+
+    /**
+     * Codec implemented by the hardware accelerator.
+     *
+     * See AV_CODEC_ID_xxx
+     */
+    enum AVCodecID id;
+
+    /**
+     * Supported pixel format.
+     *
+     * Only hardware accelerated formats are supported here.
+     */
+    enum AVPixelFormat pix_fmt;
+
+    /**
+     * Hardware accelerated codec capabilities.
+     * see HWACCEL_CODEC_CAP_*
+     */
+    int capabilities;
+
+    /*****************************************************************
+     * No fields below this line are part of the public API. They
+     * may not be used outside of libavcodec and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    struct AVHWAccel *next;
+
+    /**
+     * Allocate a custom buffer
+     */
+    int (*alloc_frame)(AVCodecContext *avctx, AVFrame *frame);
+
+    /**
+     * Called at the beginning of each frame or field picture.
+     *
+     * Meaningful frame information (codec specific) is guaranteed to
+     * be parsed at this point. This function is mandatory.
+     *
+     * Note that buf can be NULL along with buf_size set to 0.
+     * Otherwise, this means the whole frame is available at this point.
+     *
+     * @param avctx the codec context
+     * @param buf the frame data buffer base
+     * @param buf_size the size of the frame in bytes
+     * @return zero if successful, a negative value otherwise
+     */
+    int (*start_frame)(AVCodecContext *avctx, const uint8_t *buf, uint32_t buf_size);
+
+    /**
+     * Callback for each slice.
+     *
+     * Meaningful slice information (codec specific) is guaranteed to
+     * be parsed at this point. This function is mandatory.
+     * The only exception is XvMC, that works on MB level.
+     *
+     * @param avctx the codec context
+     * @param buf the slice data buffer base
+     * @param buf_size the size of the slice in bytes
+     * @return zero if successful, a negative value otherwise
+     */
+    int (*decode_slice)(AVCodecContext *avctx, const uint8_t *buf, uint32_t buf_size);
+
+    /**
+     * Called at the end of each frame or field picture.
+     *
+     * The whole picture is parsed at this point and can now be sent
+     * to the hardware accelerator. This function is mandatory.
+     *
+     * @param avctx the codec context
+     * @return zero if successful, a negative value otherwise
+     */
+    int (*end_frame)(AVCodecContext *avctx);
+
+    /**
+     * Size of per-frame hardware accelerator private data.
+     *
+     * Private data is allocated with av_mallocz() before
+     * AVCodecContext.get_buffer() and deallocated after
+     * AVCodecContext.release_buffer().
+     */
+    int frame_priv_data_size;
+
+    /**
+     * Called for every Macroblock in a slice.
+     *
+     * XvMC uses it to replace the ff_mpv_decode_mb().
+     * Instead of decoding to raw picture, MB parameters are
+     * stored in an array provided by the video driver.
+     *
+     * @param s the mpeg context
+     */
+    void (*decode_mb)(struct MpegEncContext *s);
+
+    /**
+     * Initialize the hwaccel private data.
+     *
+     * This will be called from ff_get_format(), after hwaccel and
+     * hwaccel_context are set and the hwaccel private data in AVCodecInternal
+     * is allocated.
+     */
+    int (*init)(AVCodecContext *avctx);
+
+    /**
+     * Uninitialize the hwaccel private data.
+     *
+     * This will be called from get_format() or avcodec_close(), after hwaccel
+     * and hwaccel_context are already uninitialized.
+     */
+    int (*uninit)(AVCodecContext *avctx);
+
+    /**
+     * Size of the private data to allocate in
+     * AVCodecInternal.hwaccel_priv_data.
+     */
+    int priv_data_size;
+} AVHWAccel;
+
+/**
+ * Hardware acceleration should be used for decoding even if the codec level
+ * used is unknown or higher than the maximum supported level reported by the
+ * hardware driver.
+ *
+ * It's generally a good idea to pass this flag unless you have a specific
+ * reason not to, as hardware tends to under-report supported levels.
+ */
+#define AV_HWACCEL_FLAG_IGNORE_LEVEL (1 << 0)
+
+/**
+ * Hardware acceleration can output YUV pixel formats with a different chroma
+ * sampling than 4:2:0 and/or other than 8 bits per component.
+ */
+#define AV_HWACCEL_FLAG_ALLOW_HIGH_DEPTH (1 << 1)
+
+/**
+ * @}
+ */
+
+/**
+ * @defgroup lavc_picture AVPicture
+ *
+ * Functions for working with AVPicture
+ * @{
+ */
+
+/**
+ * Picture data structure.
+ *
+ * Up to four components can be stored into it, the last component is
+ * alpha.
+ */
+typedef struct AVPicture {
+    uint8_t *data[AV_NUM_DATA_POINTERS];    ///< pointers to the image data planes
+    int linesize[AV_NUM_DATA_POINTERS];     ///< number of bytes per line
+} AVPicture;
+
+/**
+ * @}
+ */
+
+enum AVSubtitleType {
+    SUBTITLE_NONE,
+
+    SUBTITLE_BITMAP,                ///< A bitmap, pict will be set
+
+    /**
+     * Plain text, the text field must be set by the decoder and is
+     * authoritative. ass and pict fields may contain approximations.
+     */
+    SUBTITLE_TEXT,
+
+    /**
+     * Formatted text, the ass field must be set by the decoder and is
+     * authoritative. pict and text fields may contain approximations.
+     */
+    SUBTITLE_ASS,
+};
+
+#define AV_SUBTITLE_FLAG_FORCED 0x00000001
+
+typedef struct AVSubtitleRect {
+    int x;         ///< top left corner  of pict, undefined when pict is not set
+    int y;         ///< top left corner  of pict, undefined when pict is not set
+    int w;         ///< width            of pict, undefined when pict is not set
+    int h;         ///< height           of pict, undefined when pict is not set
+    int nb_colors; ///< number of colors in pict, undefined when pict is not set
+
+    /**
+     * data+linesize for the bitmap of this subtitle.
+     * can be set for text/ass as well once they are rendered
+     */
+    AVPicture pict;
+    enum AVSubtitleType type;
+
+    char *text;                     ///< 0 terminated plain UTF-8 text
+
+    /**
+     * 0 terminated ASS/SSA compatible event line.
+     * The presentation of this is unaffected by the other values in this
+     * struct.
+     */
+    char *ass;
+
+    int flags;
+} AVSubtitleRect;
+
+typedef struct AVSubtitle {
+    uint16_t format; /* 0 = graphics */
+    uint32_t start_display_time; /* relative to packet pts, in ms */
+    uint32_t end_display_time; /* relative to packet pts, in ms */
+    unsigned num_rects;
+    AVSubtitleRect **rects;
+    int64_t pts;    ///< Same as packet pts, in AV_TIME_BASE
+} AVSubtitle;
+
+/**
+ * If c is NULL, returns the first registered codec,
+ * if c is non-NULL, returns the next registered codec after c,
+ * or NULL if c is the last one.
+ */
+AVCodec *av_codec_next(const AVCodec *c);
+
+/**
+ * Return the LIBAVCODEC_VERSION_INT constant.
+ */
+unsigned avcodec_version(void);
+
+/**
+ * Return the libavcodec build-time configuration.
+ */
+const char *avcodec_configuration(void);
+
+/**
+ * Return the libavcodec license.
+ */
+const char *avcodec_license(void);
+
+/**
+ * Register the codec codec and initialize libavcodec.
+ *
+ * @warning either this function or avcodec_register_all() must be called
+ * before any other libavcodec functions.
+ *
+ * @see avcodec_register_all()
+ */
+void avcodec_register(AVCodec *codec);
+
+/**
+ * Register all the codecs, parsers and bitstream filters which were enabled at
+ * configuration time. If you do not call this function you can select exactly
+ * which formats you want to support, by using the individual registration
+ * functions.
+ *
+ * @see avcodec_register
+ * @see av_register_codec_parser
+ * @see av_register_bitstream_filter
+ */
+void avcodec_register_all(void);
+
+/**
+ * Allocate an AVCodecContext and set its fields to default values. The
+ * resulting struct should be freed with avcodec_free_context().
+ *
+ * @param codec if non-NULL, allocate private data and initialize defaults
+ *              for the given codec. It is illegal to then call avcodec_open2()
+ *              with a different codec.
+ *              If NULL, then the codec-specific defaults won't be initialized,
+ *              which may result in suboptimal default settings (this is
+ *              important mainly for encoders, e.g. libx264).
+ *
+ * @return An AVCodecContext filled with default values or NULL on failure.
+ * @see avcodec_get_context_defaults
+ */
+AVCodecContext *avcodec_alloc_context3(const AVCodec *codec);
+
+/**
+ * Free the codec context and everything associated with it and write NULL to
+ * the provided pointer.
+ */
+void avcodec_free_context(AVCodecContext **avctx);
+
+/**
+ * Set the fields of the given AVCodecContext to default values corresponding
+ * to the given codec (defaults may be codec-dependent).
+ *
+ * Do not call this function if a non-NULL codec has been passed
+ * to avcodec_alloc_context3() that allocated this AVCodecContext.
+ * If codec is non-NULL, it is illegal to call avcodec_open2() with a
+ * different codec on this AVCodecContext.
+ */
+int avcodec_get_context_defaults3(AVCodecContext *s, const AVCodec *codec);
+
+/**
+ * Get the AVClass for AVCodecContext. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *avcodec_get_class(void);
+
+/**
+ * Get the AVClass for AVFrame. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *avcodec_get_frame_class(void);
+
+/**
+ * Get the AVClass for AVSubtitleRect. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *avcodec_get_subtitle_rect_class(void);
+
+/**
+ * Copy the settings of the source AVCodecContext into the destination
+ * AVCodecContext. The resulting destination codec context will be
+ * unopened, i.e. you are required to call avcodec_open2() before you
+ * can use this AVCodecContext to decode/encode video/audio data.
+ *
+ * @param dest target codec context, should be initialized with
+ *             avcodec_alloc_context3(NULL), but otherwise uninitialized
+ * @param src source codec context
+ * @return AVERROR() on error (e.g. memory allocation error), 0 on success
+ */
+int avcodec_copy_context(AVCodecContext *dest, const AVCodecContext *src);
+
+/**
+ * Initialize the AVCodecContext to use the given AVCodec. Prior to using this
+ * function the context has to be allocated with avcodec_alloc_context3().
+ *
+ * The functions avcodec_find_decoder_by_name(), avcodec_find_encoder_by_name(),
+ * avcodec_find_decoder() and avcodec_find_encoder() provide an easy way for
+ * retrieving a codec.
+ *
+ * @warning This function is not thread safe!
+ *
+ * @note Always call this function before using decoding routines (such as
+ * @ref avcodec_decode_video2()).
+ *
+ * @code
+ * avcodec_register_all();
+ * av_dict_set(&opts, "b", "2.5M", 0);
+ * codec = avcodec_find_decoder(AV_CODEC_ID_H264);
+ * if (!codec)
+ *     exit(1);
+ *
+ * context = avcodec_alloc_context3(codec);
+ *
+ * if (avcodec_open2(context, codec, opts) < 0)
+ *     exit(1);
+ * @endcode
+ *
+ * @param avctx The context to initialize.
+ * @param codec The codec to open this context for. If a non-NULL codec has been
+ *              previously passed to avcodec_alloc_context3() or
+ *              avcodec_get_context_defaults3() for this context, then this
+ *              parameter MUST be either NULL or equal to the previously passed
+ *              codec.
+ * @param options A dictionary filled with AVCodecContext and codec-private options.
+ *                On return this object will be filled with options that were not found.
+ *
+ * @return zero on success, a negative value on error
+ * @see avcodec_alloc_context3(), avcodec_find_decoder(), avcodec_find_encoder(),
+ *      av_dict_set(), av_opt_find().
+ */
+int avcodec_open2(AVCodecContext *avctx, const AVCodec *codec, AVDictionary **options);
+
+/**
+ * Close a given AVCodecContext and free all the data associated with it
+ * (but not the AVCodecContext itself).
+ *
+ * Calling this function on an AVCodecContext that hasn't been opened will free
+ * the codec-specific data allocated in avcodec_alloc_context3() /
+ * avcodec_get_context_defaults3() with a non-NULL codec. Subsequent calls will
+ * do nothing.
+ */
+int avcodec_close(AVCodecContext *avctx);
+
+/**
+ * Free all allocated data in the given subtitle struct.
+ *
+ * @param sub AVSubtitle to free.
+ */
+void avsubtitle_free(AVSubtitle *sub);
+
+/**
+ * @}
+ */
+
+/**
+ * @addtogroup lavc_packet
+ * @{
+ */
+
+/**
+ * Initialize optional fields of a packet with default values.
+ *
+ * Note, this does not touch the data and size members, which have to be
+ * initialized separately.
+ *
+ * @param pkt packet
+ */
+void av_init_packet(AVPacket *pkt);
+
+/**
+ * Allocate the payload of a packet and initialize its fields with
+ * default values.
+ *
+ * @param pkt packet
+ * @param size wanted payload size
+ * @return 0 if OK, AVERROR_xxx otherwise
+ */
+int av_new_packet(AVPacket *pkt, int size);
+
+/**
+ * Reduce packet size, correctly zeroing padding
+ *
+ * @param pkt packet
+ * @param size new size
+ */
+void av_shrink_packet(AVPacket *pkt, int size);
+
+/**
+ * Increase packet size, correctly zeroing padding
+ *
+ * @param pkt packet
+ * @param grow_by number of bytes by which to increase the size of the packet
+ */
+int av_grow_packet(AVPacket *pkt, int grow_by);
+
+/**
+ * Initialize a reference-counted packet from av_malloc()ed data.
+ *
+ * @param pkt packet to be initialized. This function will set the data, size,
+ *        buf and destruct fields, all others are left untouched.
+ * @param data Data allocated by av_malloc() to be used as packet data. If this
+ *        function returns successfully, the data is owned by the underlying AVBuffer.
+ *        The caller may not access the data through other means.
+ * @param size size of data in bytes, without the padding. I.e. the full buffer
+ *        size is assumed to be size + AV_INPUT_BUFFER_PADDING_SIZE.
+ *
+ * @return 0 on success, a negative AVERROR on error
+ */
+int av_packet_from_data(AVPacket *pkt, uint8_t *data, int size);
+
+/**
+ * @warning This is a hack - the packet memory allocation stuff is broken. The
+ * packet is allocated if it was not really allocated.
+ */
+int av_dup_packet(AVPacket *pkt);
+
+/**
+ * Copy packet, including contents
+ *
+ * @return 0 on success, negative AVERROR on fail
+ */
+int av_copy_packet(AVPacket *dst, const AVPacket *src);
+
+/**
+ * Copy packet side data
+ *
+ * @return 0 on success, negative AVERROR on fail
+ */
+int av_copy_packet_side_data(AVPacket *dst, const AVPacket *src);
+
+/**
+ * Free a packet.
+ *
+ * @param pkt packet to free
+ */
+void av_free_packet(AVPacket *pkt);
+
+/**
+ * Allocate new information of a packet.
+ *
+ * @param pkt packet
+ * @param type side information type
+ * @param size side information size
+ * @return pointer to fresh allocated data or NULL otherwise
+ */
+uint8_t* av_packet_new_side_data(AVPacket *pkt, enum AVPacketSideDataType type,
+                                 int size);
+
+/**
+ * Shrink the already allocated side data buffer
+ *
+ * @param pkt packet
+ * @param type side information type
+ * @param size new side information size
+ * @return 0 on success, < 0 on failure
+ */
+int av_packet_shrink_side_data(AVPacket *pkt, enum AVPacketSideDataType type,
+                               int size);
+
+/**
+ * Get side information from packet.
+ *
+ * @param pkt packet
+ * @param type desired side information type
+ * @param size pointer for side information size to store (optional)
+ * @return pointer to data if present or NULL otherwise
+ */
+uint8_t* av_packet_get_side_data(AVPacket *pkt, enum AVPacketSideDataType type,
+                                 int *size);
+
+int av_packet_merge_side_data(AVPacket *pkt);
+
+int av_packet_split_side_data(AVPacket *pkt);
+
+const char *av_packet_side_data_name(enum AVPacketSideDataType type);
+
+/**
+ * Pack a dictionary for use in side_data.
+ *
+ * @param dict The dictionary to pack.
+ * @param size pointer to store the size of the returned data
+ * @return pointer to data if successful, NULL otherwise
+ */
+uint8_t *av_packet_pack_dictionary(AVDictionary *dict, int *size);
+/**
+ * Unpack a dictionary from side_data.
+ *
+ * @param data data from side_data
+ * @param size size of the data
+ * @param dict the metadata storage dictionary
+ * @return 0 on success, < 0 on failure
+ */
+int av_packet_unpack_dictionary(const uint8_t *data, int size, AVDictionary **dict);
+
+
+/**
+ * Convenience function to free all the side data stored.
+ * All the other fields stay untouched.
+ *
+ * @param pkt packet
+ */
+void av_packet_free_side_data(AVPacket *pkt);
+
+/**
+ * Setup a new reference to the data described by a given packet
+ *
+ * If src is reference-counted, setup dst as a new reference to the
+ * buffer in src. Otherwise allocate a new buffer in dst and copy the
+ * data from src into it.
+ *
+ * All the other fields are copied from src.
+ *
+ * @see av_packet_unref
+ *
+ * @param dst Destination packet
+ * @param src Source packet
+ *
+ * @return 0 on success, a negative AVERROR on error.
+ */
+int av_packet_ref(AVPacket *dst, const AVPacket *src);
+
+/**
+ * Wipe the packet.
+ *
+ * Unreference the buffer referenced by the packet and reset the
+ * remaining packet fields to their default values.
+ *
+ * @param pkt The packet to be unreferenced.
+ */
+void av_packet_unref(AVPacket *pkt);
+
+/**
+ * Move every field in src to dst and reset src.
+ *
+ * @see av_packet_unref
+ *
+ * @param src Source packet, will be reset
+ * @param dst Destination packet
+ */
+void av_packet_move_ref(AVPacket *dst, AVPacket *src);
+
+/**
+ * Copy only "properties" fields from src to dst.
+ *
+ * Properties for the purpose of this function are all the fields
+ * beside those related to the packet data (buf, data, size)
+ *
+ * @param dst Destination packet
+ * @param src Source packet
+ *
+ * @return 0 on success AVERROR on failure.
+ *
+ */
+int av_packet_copy_props(AVPacket *dst, const AVPacket *src);
+
+/**
+ * Convert valid timing fields (timestamps / durations) in a packet from one
+ * timebase to another. Timestamps with unknown values (AV_NOPTS_VALUE) will be
+ * ignored.
+ *
+ * @param pkt packet on which the conversion will be performed
+ * @param tb_src source timebase, in which the timing fields in pkt are
+ *               expressed
+ * @param tb_dst destination timebase, to which the timing fields will be
+ *               converted
+ */
+void av_packet_rescale_ts(AVPacket *pkt, AVRational tb_src, AVRational tb_dst);
+
+/**
+ * @}
+ */
+
+/**
+ * @addtogroup lavc_decoding
+ * @{
+ */
+
+/**
+ * Find a registered decoder with a matching codec ID.
+ *
+ * @param id AVCodecID of the requested decoder
+ * @return A decoder if one was found, NULL otherwise.
+ */
+AVCodec *avcodec_find_decoder(enum AVCodecID id);
+
+/**
+ * Find a registered decoder with the specified name.
+ *
+ * @param name name of the requested decoder
+ * @return A decoder if one was found, NULL otherwise.
+ */
+AVCodec *avcodec_find_decoder_by_name(const char *name);
+
+/**
+ * The default callback for AVCodecContext.get_buffer2(). It is made public so
+ * it can be called by custom get_buffer2() implementations for decoders without
+ * AV_CODEC_CAP_DR1 set.
+ */
+int avcodec_default_get_buffer2(AVCodecContext *s, AVFrame *frame, int flags);
+
+#if FF_API_EMU_EDGE
+/**
+ * Return the amount of padding in pixels which the get_buffer callback must
+ * provide around the edge of the image for codecs which do not have the
+ * CODEC_FLAG_EMU_EDGE flag.
+ *
+ * @return Required padding in pixels.
+ *
+ * @deprecated CODEC_FLAG_EMU_EDGE is deprecated, so this function is no longer
+ * needed
+ */
+attribute_deprecated
+unsigned avcodec_get_edge_width(void);
+#endif
+
+/**
+ * Modify width and height values so that they will result in a memory
+ * buffer that is acceptable for the codec if you do not use any horizontal
+ * padding.
+ *
+ * May only be used if a codec with AV_CODEC_CAP_DR1 has been opened.
+ */
+void avcodec_align_dimensions(AVCodecContext *s, int *width, int *height);
+
+/**
+ * Modify width and height values so that they will result in a memory
+ * buffer that is acceptable for the codec if you also ensure that all
+ * line sizes are a multiple of the respective linesize_align[i].
+ *
+ * May only be used if a codec with AV_CODEC_CAP_DR1 has been opened.
+ */
+void avcodec_align_dimensions2(AVCodecContext *s, int *width, int *height,
+                               int linesize_align[AV_NUM_DATA_POINTERS]);
+
+/**
+ * Converts AVChromaLocation to swscale x/y chroma position.
+ *
+ * The positions represent the chroma (0,0) position in a coordinates system
+ * with luma (0,0) representing the origin and luma(1,1) representing 256,256
+ *
+ * @param xpos  horizontal chroma sample position
+ * @param ypos  vertical   chroma sample position
+ */
+int avcodec_enum_to_chroma_pos(int *xpos, int *ypos, enum AVChromaLocation pos);
+
+/**
+ * Converts swscale x/y chroma position to AVChromaLocation.
+ *
+ * The positions represent the chroma (0,0) position in a coordinates system
+ * with luma (0,0) representing the origin and luma(1,1) representing 256,256
+ *
+ * @param xpos  horizontal chroma sample position
+ * @param ypos  vertical   chroma sample position
+ */
+enum AVChromaLocation avcodec_chroma_pos_to_enum(int xpos, int ypos);
+
+/**
+ * Decode the audio frame of size avpkt->size from avpkt->data into frame.
+ *
+ * Some decoders may support multiple frames in a single AVPacket. Such
+ * decoders would then just decode the first frame and the return value would be
+ * less than the packet size. In this case, avcodec_decode_audio4 has to be
+ * called again with an AVPacket containing the remaining data in order to
+ * decode the second frame, etc...  Even if no frames are returned, the packet
+ * needs to be fed to the decoder with remaining data until it is completely
+ * consumed or an error occurs.
+ *
+ * Some decoders (those marked with AV_CODEC_CAP_DELAY) have a delay between input
+ * and output. This means that for some packets they will not immediately
+ * produce decoded output and need to be flushed at the end of decoding to get
+ * all the decoded data. Flushing is done by calling this function with packets
+ * with avpkt->data set to NULL and avpkt->size set to 0 until it stops
+ * returning samples. It is safe to flush even those decoders that are not
+ * marked with AV_CODEC_CAP_DELAY, then no samples will be returned.
+ *
+ * @warning The input buffer, avpkt->data must be AV_INPUT_BUFFER_PADDING_SIZE
+ *          larger than the actual read bytes because some optimized bitstream
+ *          readers read 32 or 64 bits at once and could read over the end.
+ *
+ * @note The AVCodecContext MUST have been opened with @ref avcodec_open2()
+ * before packets may be fed to the decoder.
+ *
+ * @param      avctx the codec context
+ * @param[out] frame The AVFrame in which to store decoded audio samples.
+ *                   The decoder will allocate a buffer for the decoded frame by
+ *                   calling the AVCodecContext.get_buffer2() callback.
+ *                   When AVCodecContext.refcounted_frames is set to 1, the frame is
+ *                   reference counted and the returned reference belongs to the
+ *                   caller. The caller must release the frame using av_frame_unref()
+ *                   when the frame is no longer needed. The caller may safely write
+ *                   to the frame if av_frame_is_writable() returns 1.
+ *                   When AVCodecContext.refcounted_frames is set to 0, the returned
+ *                   reference belongs to the decoder and is valid only until the
+ *                   next call to this function or until closing or flushing the
+ *                   decoder. The caller may not write to it.
+ * @param[out] got_frame_ptr Zero if no frame could be decoded, otherwise it is
+ *                           non-zero. Note that this field being set to zero
+ *                           does not mean that an error has occurred. For
+ *                           decoders with AV_CODEC_CAP_DELAY set, no given decode
+ *                           call is guaranteed to produce a frame.
+ * @param[in]  avpkt The input AVPacket containing the input buffer.
+ *                   At least avpkt->data and avpkt->size should be set. Some
+ *                   decoders might also require additional fields to be set.
+ * @return A negative error code is returned if an error occurred during
+ *         decoding, otherwise the number of bytes consumed from the input
+ *         AVPacket is returned.
+ */
+int avcodec_decode_audio4(AVCodecContext *avctx, AVFrame *frame,
+                          int *got_frame_ptr, const AVPacket *avpkt);
+
+/**
+ * Decode the video frame of size avpkt->size from avpkt->data into picture.
+ * Some decoders may support multiple frames in a single AVPacket, such
+ * decoders would then just decode the first frame.
+ *
+ * @warning The input buffer must be AV_INPUT_BUFFER_PADDING_SIZE larger than
+ * the actual read bytes because some optimized bitstream readers read 32 or 64
+ * bits at once and could read over the end.
+ *
+ * @warning The end of the input buffer buf should be set to 0 to ensure that
+ * no overreading happens for damaged MPEG streams.
+ *
+ * @note Codecs which have the AV_CODEC_CAP_DELAY capability set have a delay
+ * between input and output, these need to be fed with avpkt->data=NULL,
+ * avpkt->size=0 at the end to return the remaining frames.
+ *
+ * @note The AVCodecContext MUST have been opened with @ref avcodec_open2()
+ * before packets may be fed to the decoder.
+ *
+ * @param avctx the codec context
+ * @param[out] picture The AVFrame in which the decoded video frame will be stored.
+ *             Use av_frame_alloc() to get an AVFrame. The codec will
+ *             allocate memory for the actual bitmap by calling the
+ *             AVCodecContext.get_buffer2() callback.
+ *             When AVCodecContext.refcounted_frames is set to 1, the frame is
+ *             reference counted and the returned reference belongs to the
+ *             caller. The caller must release the frame using av_frame_unref()
+ *             when the frame is no longer needed. The caller may safely write
+ *             to the frame if av_frame_is_writable() returns 1.
+ *             When AVCodecContext.refcounted_frames is set to 0, the returned
+ *             reference belongs to the decoder and is valid only until the
+ *             next call to this function or until closing or flushing the
+ *             decoder. The caller may not write to it.
+ *
+ * @param[in] avpkt The input AVPacket containing the input buffer.
+ *            You can create such packet with av_init_packet() and by then setting
+ *            data and size, some decoders might in addition need other fields like
+ *            flags&AV_PKT_FLAG_KEY. All decoders are designed to use the least
+ *            fields possible.
+ * @param[in,out] got_picture_ptr Zero if no frame could be decompressed, otherwise, it is nonzero.
+ * @return On error a negative value is returned, otherwise the number of bytes
+ * used or zero if no frame could be decompressed.
+ */
+int avcodec_decode_video2(AVCodecContext *avctx, AVFrame *picture,
+                         int *got_picture_ptr,
+                         const AVPacket *avpkt);
+
+/**
+ * Decode a subtitle message.
+ * Return a negative value on error, otherwise return the number of bytes used.
+ * If no subtitle could be decompressed, got_sub_ptr is zero.
+ * Otherwise, the subtitle is stored in *sub.
+ * Note that AV_CODEC_CAP_DR1 is not available for subtitle codecs. This is for
+ * simplicity, because the performance difference is expect to be negligible
+ * and reusing a get_buffer written for video codecs would probably perform badly
+ * due to a potentially very different allocation pattern.
+ *
+ * Some decoders (those marked with CODEC_CAP_DELAY) have a delay between input
+ * and output. This means that for some packets they will not immediately
+ * produce decoded output and need to be flushed at the end of decoding to get
+ * all the decoded data. Flushing is done by calling this function with packets
+ * with avpkt->data set to NULL and avpkt->size set to 0 until it stops
+ * returning subtitles. It is safe to flush even those decoders that are not
+ * marked with CODEC_CAP_DELAY, then no subtitles will be returned.
+ *
+ * @note The AVCodecContext MUST have been opened with @ref avcodec_open2()
+ * before packets may be fed to the decoder.
+ *
+ * @param avctx the codec context
+ * @param[out] sub The Preallocated AVSubtitle in which the decoded subtitle will be stored,
+ *                 must be freed with avsubtitle_free if *got_sub_ptr is set.
+ * @param[in,out] got_sub_ptr Zero if no subtitle could be decompressed, otherwise, it is nonzero.
+ * @param[in] avpkt The input AVPacket containing the input buffer.
+ */
+int avcodec_decode_subtitle2(AVCodecContext *avctx, AVSubtitle *sub,
+                            int *got_sub_ptr,
+                            AVPacket *avpkt);
+
+/**
+ * @defgroup lavc_parsing Frame parsing
+ * @{
+ */
+
+enum AVPictureStructure {
+    AV_PICTURE_STRUCTURE_UNKNOWN,      //< unknown
+    AV_PICTURE_STRUCTURE_TOP_FIELD,    //< coded as top field
+    AV_PICTURE_STRUCTURE_BOTTOM_FIELD, //< coded as bottom field
+    AV_PICTURE_STRUCTURE_FRAME,        //< coded as frame
+};
+
+typedef struct AVCodecParserContext {
+    void *priv_data;
+    struct AVCodecParser *parser;
+    int64_t frame_offset; /* offset of the current frame */
+    int64_t cur_offset; /* current offset
+                           (incremented by each av_parser_parse()) */
+    int64_t next_frame_offset; /* offset of the next frame */
+    /* video info */
+    int pict_type; /* XXX: Put it back in AVCodecContext. */
+    /**
+     * This field is used for proper frame duration computation in lavf.
+     * It signals, how much longer the frame duration of the current frame
+     * is compared to normal frame duration.
+     *
+     * frame_duration = (1 + repeat_pict) * time_base
+     *
+     * It is used by codecs like H.264 to display telecined material.
+     */
+    int repeat_pict; /* XXX: Put it back in AVCodecContext. */
+    int64_t pts;     /* pts of the current frame */
+    int64_t dts;     /* dts of the current frame */
+
+    /* private data */
+    int64_t last_pts;
+    int64_t last_dts;
+    int fetch_timestamp;
+
+#define AV_PARSER_PTS_NB 4
+    int cur_frame_start_index;
+    int64_t cur_frame_offset[AV_PARSER_PTS_NB];
+    int64_t cur_frame_pts[AV_PARSER_PTS_NB];
+    int64_t cur_frame_dts[AV_PARSER_PTS_NB];
+
+    int flags;
+#define PARSER_FLAG_COMPLETE_FRAMES           0x0001
+#define PARSER_FLAG_ONCE                      0x0002
+/// Set if the parser has a valid file offset
+#define PARSER_FLAG_FETCHED_OFFSET            0x0004
+#define PARSER_FLAG_USE_CODEC_TS              0x1000
+
+    int64_t offset;      ///< byte offset from starting packet start
+    int64_t cur_frame_end[AV_PARSER_PTS_NB];
+
+    /**
+     * Set by parser to 1 for key frames and 0 for non-key frames.
+     * It is initialized to -1, so if the parser doesn't set this flag,
+     * old-style fallback using AV_PICTURE_TYPE_I picture type as key frames
+     * will be used.
+     */
+    int key_frame;
+
+#if FF_API_CONVERGENCE_DURATION
+    /**
+     * @deprecated unused
+     */
+    attribute_deprecated
+    int64_t convergence_duration;
+#endif
+
+    // Timestamp generation support:
+    /**
+     * Synchronization point for start of timestamp generation.
+     *
+     * Set to >0 for sync point, 0 for no sync point and <0 for undefined
+     * (default).
+     *
+     * For example, this corresponds to presence of H.264 buffering period
+     * SEI message.
+     */
+    int dts_sync_point;
+
+    /**
+     * Offset of the current timestamp against last timestamp sync point in
+     * units of AVCodecContext.time_base.
+     *
+     * Set to INT_MIN when dts_sync_point unused. Otherwise, it must
+     * contain a valid timestamp offset.
+     *
+     * Note that the timestamp of sync point has usually a nonzero
+     * dts_ref_dts_delta, which refers to the previous sync point. Offset of
+     * the next frame after timestamp sync point will be usually 1.
+     *
+     * For example, this corresponds to H.264 cpb_removal_delay.
+     */
+    int dts_ref_dts_delta;
+
+    /**
+     * Presentation delay of current frame in units of AVCodecContext.time_base.
+     *
+     * Set to INT_MIN when dts_sync_point unused. Otherwise, it must
+     * contain valid non-negative timestamp delta (presentation time of a frame
+     * must not lie in the past).
+     *
+     * This delay represents the difference between decoding and presentation
+     * time of the frame.
+     *
+     * For example, this corresponds to H.264 dpb_output_delay.
+     */
+    int pts_dts_delta;
+
+    /**
+     * Position of the packet in file.
+     *
+     * Analogous to cur_frame_pts/dts
+     */
+    int64_t cur_frame_pos[AV_PARSER_PTS_NB];
+
+    /**
+     * Byte position of currently parsed frame in stream.
+     */
+    int64_t pos;
+
+    /**
+     * Previous frame byte position.
+     */
+    int64_t last_pos;
+
+    /**
+     * Duration of the current frame.
+     * For audio, this is in units of 1 / AVCodecContext.sample_rate.
+     * For all other types, this is in units of AVCodecContext.time_base.
+     */
+    int duration;
+
+    enum AVFieldOrder field_order;
+
+    /**
+     * Indicate whether a picture is coded as a frame, top field or bottom field.
+     *
+     * For example, H.264 field_pic_flag equal to 0 corresponds to
+     * AV_PICTURE_STRUCTURE_FRAME. An H.264 picture with field_pic_flag
+     * equal to 1 and bottom_field_flag equal to 0 corresponds to
+     * AV_PICTURE_STRUCTURE_TOP_FIELD.
+     */
+    enum AVPictureStructure picture_structure;
+
+    /**
+     * Picture number incremented in presentation or output order.
+     * This field may be reinitialized at the first picture of a new sequence.
+     *
+     * For example, this corresponds to H.264 PicOrderCnt.
+     */
+    int output_picture_number;
+
+    /**
+     * Dimensions of the decoded video intended for presentation.
+     */
+    int width;
+    int height;
+
+    /**
+     * Dimensions of the coded video.
+     */
+    int coded_width;
+    int coded_height;
+
+    /**
+     * The format of the coded data, corresponds to enum AVPixelFormat for video
+     * and for enum AVSampleFormat for audio.
+     *
+     * Note that a decoder can have considerable freedom in how exactly it
+     * decodes the data, so the format reported here might be different from the
+     * one returned by a decoder.
+     */
+    int format;
+} AVCodecParserContext;
+
+typedef struct AVCodecParser {
+    int codec_ids[5]; /* several codec IDs are permitted */
+    int priv_data_size;
+    int (*parser_init)(AVCodecParserContext *s);
+    /* This callback never returns an error, a negative value means that
+     * the frame start was in a previous packet. */
+    int (*parser_parse)(AVCodecParserContext *s,
+                        AVCodecContext *avctx,
+                        const uint8_t **poutbuf, int *poutbuf_size,
+                        const uint8_t *buf, int buf_size);
+    void (*parser_close)(AVCodecParserContext *s);
+    int (*split)(AVCodecContext *avctx, const uint8_t *buf, int buf_size);
+    struct AVCodecParser *next;
+} AVCodecParser;
+
+AVCodecParser *av_parser_next(const AVCodecParser *c);
+
+void av_register_codec_parser(AVCodecParser *parser);
+AVCodecParserContext *av_parser_init(int codec_id);
+
+/**
+ * Parse a packet.
+ *
+ * @param s             parser context.
+ * @param avctx         codec context.
+ * @param poutbuf       set to pointer to parsed buffer or NULL if not yet finished.
+ * @param poutbuf_size  set to size of parsed buffer or zero if not yet finished.
+ * @param buf           input buffer.
+ * @param buf_size      input length, to signal EOF, this should be 0 (so that the last frame can be output).
+ * @param pts           input presentation timestamp.
+ * @param dts           input decoding timestamp.
+ * @param pos           input byte position in stream.
+ * @return the number of bytes of the input bitstream used.
+ *
+ * Example:
+ * @code
+ *   while(in_len){
+ *       len = av_parser_parse2(myparser, AVCodecContext, &data, &size,
+ *                                        in_data, in_len,
+ *                                        pts, dts, pos);
+ *       in_data += len;
+ *       in_len  -= len;
+ *
+ *       if(size)
+ *          decode_frame(data, size);
+ *   }
+ * @endcode
+ */
+int av_parser_parse2(AVCodecParserContext *s,
+                     AVCodecContext *avctx,
+                     uint8_t **poutbuf, int *poutbuf_size,
+                     const uint8_t *buf, int buf_size,
+                     int64_t pts, int64_t dts,
+                     int64_t pos);
+
+/**
+ * @return 0 if the output buffer is a subset of the input, 1 if it is allocated and must be freed
+ * @deprecated use AVBitStreamFilter
+ */
+int av_parser_change(AVCodecParserContext *s,
+                     AVCodecContext *avctx,
+                     uint8_t **poutbuf, int *poutbuf_size,
+                     const uint8_t *buf, int buf_size, int keyframe);
+void av_parser_close(AVCodecParserContext *s);
+
+/**
+ * @}
+ * @}
+ */
+
+/**
+ * @addtogroup lavc_encoding
+ * @{
+ */
+
+/**
+ * Find a registered encoder with a matching codec ID.
+ *
+ * @param id AVCodecID of the requested encoder
+ * @return An encoder if one was found, NULL otherwise.
+ */
+AVCodec *avcodec_find_encoder(enum AVCodecID id);
+
+/**
+ * Find a registered encoder with the specified name.
+ *
+ * @param name name of the requested encoder
+ * @return An encoder if one was found, NULL otherwise.
+ */
+AVCodec *avcodec_find_encoder_by_name(const char *name);
+
+/**
+ * Encode a frame of audio.
+ *
+ * Takes input samples from frame and writes the next output packet, if
+ * available, to avpkt. The output packet does not necessarily contain data for
+ * the most recent frame, as encoders can delay, split, and combine input frames
+ * internally as needed.
+ *
+ * @param avctx     codec context
+ * @param avpkt     output AVPacket.
+ *                  The user can supply an output buffer by setting
+ *                  avpkt->data and avpkt->size prior to calling the
+ *                  function, but if the size of the user-provided data is not
+ *                  large enough, encoding will fail. If avpkt->data and
+ *                  avpkt->size are set, avpkt->destruct must also be set. All
+ *                  other AVPacket fields will be reset by the encoder using
+ *                  av_init_packet(). If avpkt->data is NULL, the encoder will
+ *                  allocate it. The encoder will set avpkt->size to the size
+ *                  of the output packet.
+ *
+ *                  If this function fails or produces no output, avpkt will be
+ *                  freed using av_free_packet() (i.e. avpkt->destruct will be
+ *                  called to free the user supplied buffer).
+ * @param[in] frame AVFrame containing the raw audio data to be encoded.
+ *                  May be NULL when flushing an encoder that has the
+ *                  AV_CODEC_CAP_DELAY capability set.
+ *                  If AV_CODEC_CAP_VARIABLE_FRAME_SIZE is set, then each frame
+ *                  can have any number of samples.
+ *                  If it is not set, frame->nb_samples must be equal to
+ *                  avctx->frame_size for all frames except the last.
+ *                  The final frame may be smaller than avctx->frame_size.
+ * @param[out] got_packet_ptr This field is set to 1 by libavcodec if the
+ *                            output packet is non-empty, and to 0 if it is
+ *                            empty. If the function returns an error, the
+ *                            packet can be assumed to be invalid, and the
+ *                            value of got_packet_ptr is undefined and should
+ *                            not be used.
+ * @return          0 on success, negative error code on failure
+ */
+int avcodec_encode_audio2(AVCodecContext *avctx, AVPacket *avpkt,
+                          const AVFrame *frame, int *got_packet_ptr);
+
+/**
+ * Encode a frame of video.
+ *
+ * Takes input raw video data from frame and writes the next output packet, if
+ * available, to avpkt. The output packet does not necessarily contain data for
+ * the most recent frame, as encoders can delay and reorder input frames
+ * internally as needed.
+ *
+ * @param avctx     codec context
+ * @param avpkt     output AVPacket.
+ *                  The user can supply an output buffer by setting
+ *                  avpkt->data and avpkt->size prior to calling the
+ *                  function, but if the size of the user-provided data is not
+ *                  large enough, encoding will fail. All other AVPacket fields
+ *                  will be reset by the encoder using av_init_packet(). If
+ *                  avpkt->data is NULL, the encoder will allocate it.
+ *                  The encoder will set avpkt->size to the size of the
+ *                  output packet. The returned data (if any) belongs to the
+ *                  caller, he is responsible for freeing it.
+ *
+ *                  If this function fails or produces no output, avpkt will be
+ *                  freed using av_free_packet() (i.e. avpkt->destruct will be
+ *                  called to free the user supplied buffer).
+ * @param[in] frame AVFrame containing the raw video data to be encoded.
+ *                  May be NULL when flushing an encoder that has the
+ *                  AV_CODEC_CAP_DELAY capability set.
+ * @param[out] got_packet_ptr This field is set to 1 by libavcodec if the
+ *                            output packet is non-empty, and to 0 if it is
+ *                            empty. If the function returns an error, the
+ *                            packet can be assumed to be invalid, and the
+ *                            value of got_packet_ptr is undefined and should
+ *                            not be used.
+ * @return          0 on success, negative error code on failure
+ */
+int avcodec_encode_video2(AVCodecContext *avctx, AVPacket *avpkt,
+                          const AVFrame *frame, int *got_packet_ptr);
+
+int avcodec_encode_subtitle(AVCodecContext *avctx, uint8_t *buf, int buf_size,
+                            const AVSubtitle *sub);
+
+
+/**
+ * @}
+ */
+
+#if FF_API_AVCODEC_RESAMPLE
+/**
+ * @defgroup lavc_resample Audio resampling
+ * @ingroup libavc
+ * @deprecated use libswresample instead
+ *
+ * @{
+ */
+struct ReSampleContext;
+struct AVResampleContext;
+
+typedef struct ReSampleContext ReSampleContext;
+
+/**
+ *  Initialize audio resampling context.
+ *
+ * @param output_channels  number of output channels
+ * @param input_channels   number of input channels
+ * @param output_rate      output sample rate
+ * @param input_rate       input sample rate
+ * @param sample_fmt_out   requested output sample format
+ * @param sample_fmt_in    input sample format
+ * @param filter_length    length of each FIR filter in the filterbank relative to the cutoff frequency
+ * @param log2_phase_count log2 of the number of entries in the polyphase filterbank
+ * @param linear           if 1 then the used FIR filter will be linearly interpolated
+                           between the 2 closest, if 0 the closest will be used
+ * @param cutoff           cutoff frequency, 1.0 corresponds to half the output sampling rate
+ * @return allocated ReSampleContext, NULL if error occurred
+ */
+attribute_deprecated
+ReSampleContext *av_audio_resample_init(int output_channels, int input_channels,
+                                        int output_rate, int input_rate,
+                                        enum AVSampleFormat sample_fmt_out,
+                                        enum AVSampleFormat sample_fmt_in,
+                                        int filter_length, int log2_phase_count,
+                                        int linear, double cutoff);
+
+attribute_deprecated
+int audio_resample(ReSampleContext *s, short *output, short *input, int nb_samples);
+
+/**
+ * Free resample context.
+ *
+ * @param s a non-NULL pointer to a resample context previously
+ *          created with av_audio_resample_init()
+ */
+attribute_deprecated
+void audio_resample_close(ReSampleContext *s);
+
+
+/**
+ * Initialize an audio resampler.
+ * Note, if either rate is not an integer then simply scale both rates up so they are.
+ * @param filter_length length of each FIR filter in the filterbank relative to the cutoff freq
+ * @param log2_phase_count log2 of the number of entries in the polyphase filterbank
+ * @param linear If 1 then the used FIR filter will be linearly interpolated
+                 between the 2 closest, if 0 the closest will be used
+ * @param cutoff cutoff frequency, 1.0 corresponds to half the output sampling rate
+ */
+attribute_deprecated
+struct AVResampleContext *av_resample_init(int out_rate, int in_rate, int filter_length, int log2_phase_count, int linear, double cutoff);
+
+/**
+ * Resample an array of samples using a previously configured context.
+ * @param src an array of unconsumed samples
+ * @param consumed the number of samples of src which have been consumed are returned here
+ * @param src_size the number of unconsumed samples available
+ * @param dst_size the amount of space in samples available in dst
+ * @param update_ctx If this is 0 then the context will not be modified, that way several channels can be resampled with the same context.
+ * @return the number of samples written in dst or -1 if an error occurred
+ */
+attribute_deprecated
+int av_resample(struct AVResampleContext *c, short *dst, short *src, int *consumed, int src_size, int dst_size, int update_ctx);
+
+
+/**
+ * Compensate samplerate/timestamp drift. The compensation is done by changing
+ * the resampler parameters, so no audible clicks or similar distortions occur
+ * @param compensation_distance distance in output samples over which the compensation should be performed
+ * @param sample_delta number of output samples which should be output less
+ *
+ * example: av_resample_compensate(c, 10, 500)
+ * here instead of 510 samples only 500 samples would be output
+ *
+ * note, due to rounding the actual compensation might be slightly different,
+ * especially if the compensation_distance is large and the in_rate used during init is small
+ */
+attribute_deprecated
+void av_resample_compensate(struct AVResampleContext *c, int sample_delta, int compensation_distance);
+attribute_deprecated
+void av_resample_close(struct AVResampleContext *c);
+
+/**
+ * @}
+ */
+#endif
+
+/**
+ * @addtogroup lavc_picture
+ * @{
+ */
+
+/**
+ * Allocate memory for the pixels of a picture and setup the AVPicture
+ * fields for it.
+ *
+ * Call avpicture_free() to free it.
+ *
+ * @param picture            the picture structure to be filled in
+ * @param pix_fmt            the pixel format of the picture
+ * @param width              the width of the picture
+ * @param height             the height of the picture
+ * @return zero if successful, a negative error code otherwise
+ *
+ * @see av_image_alloc(), avpicture_fill()
+ */
+int avpicture_alloc(AVPicture *picture, enum AVPixelFormat pix_fmt, int width, int height);
+
+/**
+ * Free a picture previously allocated by avpicture_alloc().
+ * The data buffer used by the AVPicture is freed, but the AVPicture structure
+ * itself is not.
+ *
+ * @param picture the AVPicture to be freed
+ */
+void avpicture_free(AVPicture *picture);
+
+/**
+ * Setup the picture fields based on the specified image parameters
+ * and the provided image data buffer.
+ *
+ * The picture fields are filled in by using the image data buffer
+ * pointed to by ptr.
+ *
+ * If ptr is NULL, the function will fill only the picture linesize
+ * array and return the required size for the image buffer.
+ *
+ * To allocate an image buffer and fill the picture data in one call,
+ * use avpicture_alloc().
+ *
+ * @param picture       the picture to be filled in
+ * @param ptr           buffer where the image data is stored, or NULL
+ * @param pix_fmt       the pixel format of the image
+ * @param width         the width of the image in pixels
+ * @param height        the height of the image in pixels
+ * @return the size in bytes required for src, a negative error code
+ * in case of failure
+ *
+ * @see av_image_fill_arrays()
+ */
+int avpicture_fill(AVPicture *picture, const uint8_t *ptr,
+                   enum AVPixelFormat pix_fmt, int width, int height);
+
+/**
+ * Copy pixel data from an AVPicture into a buffer.
+ *
+ * avpicture_get_size() can be used to compute the required size for
+ * the buffer to fill.
+ *
+ * @param src        source picture with filled data
+ * @param pix_fmt    picture pixel format
+ * @param width      picture width
+ * @param height     picture height
+ * @param dest       destination buffer
+ * @param dest_size  destination buffer size in bytes
+ * @return the number of bytes written to dest, or a negative value
+ * (error code) on error, for example if the destination buffer is not
+ * big enough
+ *
+ * @see av_image_copy_to_buffer()
+ */
+int avpicture_layout(const AVPicture *src, enum AVPixelFormat pix_fmt,
+                     int width, int height,
+                     unsigned char *dest, int dest_size);
+
+/**
+ * Calculate the size in bytes that a picture of the given width and height
+ * would occupy if stored in the given picture format.
+ *
+ * @param pix_fmt    picture pixel format
+ * @param width      picture width
+ * @param height     picture height
+ * @return the computed picture buffer size or a negative error code
+ * in case of error
+ *
+ * @see av_image_get_buffer_size().
+ */
+int avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);
+
+/**
+ * Copy image src to dst. Wraps av_image_copy().
+ */
+void av_picture_copy(AVPicture *dst, const AVPicture *src,
+                     enum AVPixelFormat pix_fmt, int width, int height);
+
+/**
+ * Crop image top and left side.
+ */
+int av_picture_crop(AVPicture *dst, const AVPicture *src,
+                    enum AVPixelFormat pix_fmt, int top_band, int left_band);
+
+/**
+ * Pad image.
+ */
+int av_picture_pad(AVPicture *dst, const AVPicture *src, int height, int width, enum AVPixelFormat pix_fmt,
+            int padtop, int padbottom, int padleft, int padright, int *color);
+
+/**
+ * @}
+ */
+
+/**
+ * @defgroup lavc_misc Utility functions
+ * @ingroup libavc
+ *
+ * Miscellaneous utility functions related to both encoding and decoding
+ * (or neither).
+ * @{
+ */
+
+/**
+ * @defgroup lavc_misc_pixfmt Pixel formats
+ *
+ * Functions for working with pixel formats.
+ * @{
+ */
+
+/**
+ * Utility function to access log2_chroma_w log2_chroma_h from
+ * the pixel format AVPixFmtDescriptor.
+ *
+ * This function asserts that pix_fmt is valid. See av_pix_fmt_get_chroma_sub_sample
+ * for one that returns a failure code and continues in case of invalid
+ * pix_fmts.
+ *
+ * @param[in]  pix_fmt the pixel format
+ * @param[out] h_shift store log2_chroma_w
+ * @param[out] v_shift store log2_chroma_h
+ *
+ * @see av_pix_fmt_get_chroma_sub_sample
+ */
+
+void avcodec_get_chroma_sub_sample(enum AVPixelFormat pix_fmt, int *h_shift, int *v_shift);
+
+/**
+ * Return a value representing the fourCC code associated to the
+ * pixel format pix_fmt, or 0 if no associated fourCC code can be
+ * found.
+ */
+unsigned int avcodec_pix_fmt_to_codec_tag(enum AVPixelFormat pix_fmt);
+
+/**
+ * @deprecated see av_get_pix_fmt_loss()
+ */
+int avcodec_get_pix_fmt_loss(enum AVPixelFormat dst_pix_fmt, enum AVPixelFormat src_pix_fmt,
+                             int has_alpha);
+
+/**
+ * Find the best pixel format to convert to given a certain source pixel
+ * format.  When converting from one pixel format to another, information loss
+ * may occur.  For example, when converting from RGB24 to GRAY, the color
+ * information will be lost. Similarly, other losses occur when converting from
+ * some formats to other formats. avcodec_find_best_pix_fmt_of_2() searches which of
+ * the given pixel formats should be used to suffer the least amount of loss.
+ * The pixel formats from which it chooses one, are determined by the
+ * pix_fmt_list parameter.
+ *
+ *
+ * @param[in] pix_fmt_list AV_PIX_FMT_NONE terminated array of pixel formats to choose from
+ * @param[in] src_pix_fmt source pixel format
+ * @param[in] has_alpha Whether the source pixel format alpha channel is used.
+ * @param[out] loss_ptr Combination of flags informing you what kind of losses will occur.
+ * @return The best pixel format to convert to or -1 if none was found.
+ */
+enum AVPixelFormat avcodec_find_best_pix_fmt_of_list(const enum AVPixelFormat *pix_fmt_list,
+                                            enum AVPixelFormat src_pix_fmt,
+                                            int has_alpha, int *loss_ptr);
+
+/**
+ * @deprecated see av_find_best_pix_fmt_of_2()
+ */
+enum AVPixelFormat avcodec_find_best_pix_fmt_of_2(enum AVPixelFormat dst_pix_fmt1, enum AVPixelFormat dst_pix_fmt2,
+                                            enum AVPixelFormat src_pix_fmt, int has_alpha, int *loss_ptr);
+
+attribute_deprecated
+#if AV_HAVE_INCOMPATIBLE_LIBAV_ABI
+enum AVPixelFormat avcodec_find_best_pix_fmt2(const enum AVPixelFormat *pix_fmt_list,
+                                              enum AVPixelFormat src_pix_fmt,
+                                              int has_alpha, int *loss_ptr);
+#else
+enum AVPixelFormat avcodec_find_best_pix_fmt2(enum AVPixelFormat dst_pix_fmt1, enum AVPixelFormat dst_pix_fmt2,
+                                            enum AVPixelFormat src_pix_fmt, int has_alpha, int *loss_ptr);
+#endif
+
+
+enum AVPixelFormat avcodec_default_get_format(struct AVCodecContext *s, const enum AVPixelFormat * fmt);
+
+/**
+ * @}
+ */
+
+#if FF_API_SET_DIMENSIONS
+/**
+ * @deprecated this function is not supposed to be used from outside of lavc
+ */
+attribute_deprecated
+void avcodec_set_dimensions(AVCodecContext *s, int width, int height);
+#endif
+
+/**
+ * Put a string representing the codec tag codec_tag in buf.
+ *
+ * @param buf       buffer to place codec tag in
+ * @param buf_size size in bytes of buf
+ * @param codec_tag codec tag to assign
+ * @return the length of the string that would have been generated if
+ * enough space had been available, excluding the trailing null
+ */
+size_t av_get_codec_tag_string(char *buf, size_t buf_size, unsigned int codec_tag);
+
+void avcodec_string(char *buf, int buf_size, AVCodecContext *enc, int encode);
+
+/**
+ * Return a name for the specified profile, if available.
+ *
+ * @param codec the codec that is searched for the given profile
+ * @param profile the profile value for which a name is requested
+ * @return A name for the profile if found, NULL otherwise.
+ */
+const char *av_get_profile_name(const AVCodec *codec, int profile);
+
+int avcodec_default_execute(AVCodecContext *c, int (*func)(AVCodecContext *c2, void *arg2),void *arg, int *ret, int count, int size);
+int avcodec_default_execute2(AVCodecContext *c, int (*func)(AVCodecContext *c2, void *arg2, int, int),void *arg, int *ret, int count);
+//FIXME func typedef
+
+/**
+ * Fill AVFrame audio data and linesize pointers.
+ *
+ * The buffer buf must be a preallocated buffer with a size big enough
+ * to contain the specified samples amount. The filled AVFrame data
+ * pointers will point to this buffer.
+ *
+ * AVFrame extended_data channel pointers are allocated if necessary for
+ * planar audio.
+ *
+ * @param frame       the AVFrame
+ *                    frame->nb_samples must be set prior to calling the
+ *                    function. This function fills in frame->data,
+ *                    frame->extended_data, frame->linesize[0].
+ * @param nb_channels channel count
+ * @param sample_fmt  sample format
+ * @param buf         buffer to use for frame data
+ * @param buf_size    size of buffer
+ * @param align       plane size sample alignment (0 = default)
+ * @return            >=0 on success, negative error code on failure
+ * @todo return the size in bytes required to store the samples in
+ * case of success, at the next libavutil bump
+ */
+int avcodec_fill_audio_frame(AVFrame *frame, int nb_channels,
+                             enum AVSampleFormat sample_fmt, const uint8_t *buf,
+                             int buf_size, int align);
+
+/**
+ * Reset the internal decoder state / flush internal buffers. Should be called
+ * e.g. when seeking or when switching to a different stream.
+ *
+ * @note when refcounted frames are not used (i.e. avctx->refcounted_frames is 0),
+ * this invalidates the frames previously returned from the decoder. When
+ * refcounted frames are used, the decoder just releases any references it might
+ * keep internally, but the caller's reference remains valid.
+ */
+void avcodec_flush_buffers(AVCodecContext *avctx);
+
+/**
+ * Return codec bits per sample.
+ *
+ * @param[in] codec_id the codec
+ * @return Number of bits per sample or zero if unknown for the given codec.
+ */
+int av_get_bits_per_sample(enum AVCodecID codec_id);
+
+/**
+ * Return the PCM codec associated with a sample format.
+ * @param be  endianness, 0 for little, 1 for big,
+ *            -1 (or anything else) for native
+ * @return  AV_CODEC_ID_PCM_* or AV_CODEC_ID_NONE
+ */
+enum AVCodecID av_get_pcm_codec(enum AVSampleFormat fmt, int be);
+
+/**
+ * Return codec bits per sample.
+ * Only return non-zero if the bits per sample is exactly correct, not an
+ * approximation.
+ *
+ * @param[in] codec_id the codec
+ * @return Number of bits per sample or zero if unknown for the given codec.
+ */
+int av_get_exact_bits_per_sample(enum AVCodecID codec_id);
+
+/**
+ * Return audio frame duration.
+ *
+ * @param avctx        codec context
+ * @param frame_bytes  size of the frame, or 0 if unknown
+ * @return             frame duration, in samples, if known. 0 if not able to
+ *                     determine.
+ */
+int av_get_audio_frame_duration(AVCodecContext *avctx, int frame_bytes);
+
+
+typedef struct AVBitStreamFilterContext {
+    void *priv_data;
+    struct AVBitStreamFilter *filter;
+    AVCodecParserContext *parser;
+    struct AVBitStreamFilterContext *next;
+} AVBitStreamFilterContext;
+
+
+typedef struct AVBitStreamFilter {
+    const char *name;
+    int priv_data_size;
+    int (*filter)(AVBitStreamFilterContext *bsfc,
+                  AVCodecContext *avctx, const char *args,
+                  uint8_t **poutbuf, int *poutbuf_size,
+                  const uint8_t *buf, int buf_size, int keyframe);
+    void (*close)(AVBitStreamFilterContext *bsfc);
+    struct AVBitStreamFilter *next;
+} AVBitStreamFilter;
+
+/**
+ * Register a bitstream filter.
+ *
+ * The filter will be accessible to the application code through
+ * av_bitstream_filter_next() or can be directly initialized with
+ * av_bitstream_filter_init().
+ *
+ * @see avcodec_register_all()
+ */
+void av_register_bitstream_filter(AVBitStreamFilter *bsf);
+
+/**
+ * Create and initialize a bitstream filter context given a bitstream
+ * filter name.
+ *
+ * The returned context must be freed with av_bitstream_filter_close().
+ *
+ * @param name    the name of the bitstream filter
+ * @return a bitstream filter context if a matching filter was found
+ * and successfully initialized, NULL otherwise
+ */
+AVBitStreamFilterContext *av_bitstream_filter_init(const char *name);
+
+/**
+ * Filter bitstream.
+ *
+ * This function filters the buffer buf with size buf_size, and places the
+ * filtered buffer in the buffer pointed to by poutbuf.
+ *
+ * The output buffer must be freed by the caller.
+ *
+ * @param bsfc            bitstream filter context created by av_bitstream_filter_init()
+ * @param avctx           AVCodecContext accessed by the filter, may be NULL.
+ *                        If specified, this must point to the encoder context of the
+ *                        output stream the packet is sent to.
+ * @param args            arguments which specify the filter configuration, may be NULL
+ * @param poutbuf         pointer which is updated to point to the filtered buffer
+ * @param poutbuf_size    pointer which is updated to the filtered buffer size in bytes
+ * @param buf             buffer containing the data to filter
+ * @param buf_size        size in bytes of buf
+ * @param keyframe        set to non-zero if the buffer to filter corresponds to a key-frame packet data
+ * @return >= 0 in case of success, or a negative error code in case of failure
+ *
+ * If the return value is positive, an output buffer is allocated and
+ * is available in *poutbuf, and is distinct from the input buffer.
+ *
+ * If the return value is 0, the output buffer is not allocated and
+ * should be considered identical to the input buffer, or in case
+ * *poutbuf was set it points to the input buffer (not necessarily to
+ * its starting address).
+ */
+int av_bitstream_filter_filter(AVBitStreamFilterContext *bsfc,
+                               AVCodecContext *avctx, const char *args,
+                               uint8_t **poutbuf, int *poutbuf_size,
+                               const uint8_t *buf, int buf_size, int keyframe);
+
+/**
+ * Release bitstream filter context.
+ *
+ * @param bsf the bitstream filter context created with
+ * av_bitstream_filter_init(), can be NULL
+ */
+void av_bitstream_filter_close(AVBitStreamFilterContext *bsf);
+
+/**
+ * If f is NULL, return the first registered bitstream filter,
+ * if f is non-NULL, return the next registered bitstream filter
+ * after f, or NULL if f is the last one.
+ *
+ * This function can be used to iterate over all registered bitstream
+ * filters.
+ */
+AVBitStreamFilter *av_bitstream_filter_next(const AVBitStreamFilter *f);
+
+/* memory */
+
+/**
+ * Same behaviour av_fast_malloc but the buffer has additional
+ * AV_INPUT_BUFFER_PADDING_SIZE at the end which will always be 0.
+ *
+ * In addition the whole buffer will initially and after resizes
+ * be 0-initialized so that no uninitialized data will ever appear.
+ */
+void av_fast_padded_malloc(void *ptr, unsigned int *size, size_t min_size);
+
+/**
+ * Same behaviour av_fast_padded_malloc except that buffer will always
+ * be 0-initialized after call.
+ */
+void av_fast_padded_mallocz(void *ptr, unsigned int *size, size_t min_size);
+
+/**
+ * Encode extradata length to a buffer. Used by xiph codecs.
+ *
+ * @param s buffer to write to; must be at least (v/255+1) bytes long
+ * @param v size of extradata in bytes
+ * @return number of bytes written to the buffer.
+ */
+unsigned int av_xiphlacing(unsigned char *s, unsigned int v);
+
+#if FF_API_MISSING_SAMPLE
+/**
+ * Log a generic warning message about a missing feature. This function is
+ * intended to be used internally by FFmpeg (libavcodec, libavformat, etc.)
+ * only, and would normally not be used by applications.
+ * @param[in] avc a pointer to an arbitrary struct of which the first field is
+ * a pointer to an AVClass struct
+ * @param[in] feature string containing the name of the missing feature
+ * @param[in] want_sample indicates if samples are wanted which exhibit this feature.
+ * If want_sample is non-zero, additional verbage will be added to the log
+ * message which tells the user how to report samples to the development
+ * mailing list.
+ * @deprecated Use avpriv_report_missing_feature() instead.
+ */
+attribute_deprecated
+void av_log_missing_feature(void *avc, const char *feature, int want_sample);
+
+/**
+ * Log a generic warning message asking for a sample. This function is
+ * intended to be used internally by FFmpeg (libavcodec, libavformat, etc.)
+ * only, and would normally not be used by applications.
+ * @param[in] avc a pointer to an arbitrary struct of which the first field is
+ * a pointer to an AVClass struct
+ * @param[in] msg string containing an optional message, or NULL if no message
+ * @deprecated Use avpriv_request_sample() instead.
+ */
+attribute_deprecated
+void av_log_ask_for_sample(void *avc, const char *msg, ...) av_printf_format(2, 3);
+#endif /* FF_API_MISSING_SAMPLE */
+
+/**
+ * Register the hardware accelerator hwaccel.
+ */
+void av_register_hwaccel(AVHWAccel *hwaccel);
+
+/**
+ * If hwaccel is NULL, returns the first registered hardware accelerator,
+ * if hwaccel is non-NULL, returns the next registered hardware accelerator
+ * after hwaccel, or NULL if hwaccel is the last one.
+ */
+AVHWAccel *av_hwaccel_next(const AVHWAccel *hwaccel);
+
+
+/**
+ * Lock operation used by lockmgr
+ */
+enum AVLockOp {
+  AV_LOCK_CREATE,  ///< Create a mutex
+  AV_LOCK_OBTAIN,  ///< Lock the mutex
+  AV_LOCK_RELEASE, ///< Unlock the mutex
+  AV_LOCK_DESTROY, ///< Free mutex resources
+};
+
+/**
+ * Register a user provided lock manager supporting the operations
+ * specified by AVLockOp. The "mutex" argument to the function points
+ * to a (void *) where the lockmgr should store/get a pointer to a user
+ * allocated mutex. It is NULL upon AV_LOCK_CREATE and equal to the
+ * value left by the last call for all other ops. If the lock manager is
+ * unable to perform the op then it should leave the mutex in the same
+ * state as when it was called and return a non-zero value. However,
+ * when called with AV_LOCK_DESTROY the mutex will always be assumed to
+ * have been successfully destroyed. If av_lockmgr_register succeeds
+ * it will return a non-negative value, if it fails it will return a
+ * negative value and destroy all mutex and unregister all callbacks.
+ * av_lockmgr_register is not thread-safe, it must be called from a
+ * single thread before any calls which make use of locking are used.
+ *
+ * @param cb User defined callback. av_lockmgr_register invokes calls
+ *           to this callback and the previously registered callback.
+ *           The callback will be used to create more than one mutex
+ *           each of which must be backed by its own underlying locking
+ *           mechanism (i.e. do not use a single static object to
+ *           implement your lock manager). If cb is set to NULL the
+ *           lockmgr will be unregistered.
+ */
+int av_lockmgr_register(int (*cb)(void **mutex, enum AVLockOp op));
+
+/**
+ * Get the type of the given codec.
+ */
+enum AVMediaType avcodec_get_type(enum AVCodecID codec_id);
+
+/**
+ * Get the name of a codec.
+ * @return  a static string identifying the codec; never NULL
+ */
+const char *avcodec_get_name(enum AVCodecID id);
+
+/**
+ * @return a positive value if s is open (i.e. avcodec_open2() was called on it
+ * with no corresponding avcodec_close()), 0 otherwise.
+ */
+int avcodec_is_open(AVCodecContext *s);
+
+/**
+ * @return a non-zero number if codec is an encoder, zero otherwise
+ */
+int av_codec_is_encoder(const AVCodec *codec);
+
+/**
+ * @return a non-zero number if codec is a decoder, zero otherwise
+ */
+int av_codec_is_decoder(const AVCodec *codec);
+
+/**
+ * @return descriptor for given codec ID or NULL if no descriptor exists.
+ */
+const AVCodecDescriptor *avcodec_descriptor_get(enum AVCodecID id);
+
+/**
+ * Iterate over all codec descriptors known to libavcodec.
+ *
+ * @param prev previous descriptor. NULL to get the first descriptor.
+ *
+ * @return next descriptor or NULL after the last descriptor
+ */
+const AVCodecDescriptor *avcodec_descriptor_next(const AVCodecDescriptor *prev);
+
+/**
+ * @return codec descriptor with the given name or NULL if no such descriptor
+ *         exists.
+ */
+const AVCodecDescriptor *avcodec_descriptor_get_by_name(const char *name);
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_AVCODEC_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/avfft.h b/3rdparty/include/ffmpeg/libavcodec/avfft.h
new file mode 100644
index 0000000..0c0f9b8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/avfft.h
@@ -0,0 +1,118 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_AVFFT_H
+#define AVCODEC_AVFFT_H
+
+/**
+ * @file
+ * @ingroup lavc_fft
+ * FFT functions
+ */
+
+/**
+ * @defgroup lavc_fft FFT functions
+ * @ingroup lavc_misc
+ *
+ * @{
+ */
+
+typedef float FFTSample;
+
+typedef struct FFTComplex {
+    FFTSample re, im;
+} FFTComplex;
+
+typedef struct FFTContext FFTContext;
+
+/**
+ * Set up a complex FFT.
+ * @param nbits           log2 of the length of the input array
+ * @param inverse         if 0 perform the forward transform, if 1 perform the inverse
+ */
+FFTContext *av_fft_init(int nbits, int inverse);
+
+/**
+ * Do the permutation needed BEFORE calling ff_fft_calc().
+ */
+void av_fft_permute(FFTContext *s, FFTComplex *z);
+
+/**
+ * Do a complex FFT with the parameters defined in av_fft_init(). The
+ * input data must be permuted before. No 1.0/sqrt(n) normalization is done.
+ */
+void av_fft_calc(FFTContext *s, FFTComplex *z);
+
+void av_fft_end(FFTContext *s);
+
+FFTContext *av_mdct_init(int nbits, int inverse, double scale);
+void av_imdct_calc(FFTContext *s, FFTSample *output, const FFTSample *input);
+void av_imdct_half(FFTContext *s, FFTSample *output, const FFTSample *input);
+void av_mdct_calc(FFTContext *s, FFTSample *output, const FFTSample *input);
+void av_mdct_end(FFTContext *s);
+
+/* Real Discrete Fourier Transform */
+
+enum RDFTransformType {
+    DFT_R2C,
+    IDFT_C2R,
+    IDFT_R2C,
+    DFT_C2R,
+};
+
+typedef struct RDFTContext RDFTContext;
+
+/**
+ * Set up a real FFT.
+ * @param nbits           log2 of the length of the input array
+ * @param trans           the type of transform
+ */
+RDFTContext *av_rdft_init(int nbits, enum RDFTransformType trans);
+void av_rdft_calc(RDFTContext *s, FFTSample *data);
+void av_rdft_end(RDFTContext *s);
+
+/* Discrete Cosine Transform */
+
+typedef struct DCTContext DCTContext;
+
+enum DCTTransformType {
+    DCT_II = 0,
+    DCT_III,
+    DCT_I,
+    DST_I,
+};
+
+/**
+ * Set up DCT.
+ *
+ * @param nbits           size of the input array:
+ *                        (1 << nbits)     for DCT-II, DCT-III and DST-I
+ *                        (1 << nbits) + 1 for DCT-I
+ * @param type            the type of transform
+ *
+ * @note the first element of the input of DST-I is ignored
+ */
+DCTContext *av_dct_init(int nbits, enum DCTTransformType type);
+void av_dct_calc(DCTContext *s, FFTSample *data);
+void av_dct_end (DCTContext *s);
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_AVFFT_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/d3d11va.h b/3rdparty/include/ffmpeg/libavcodec/d3d11va.h
new file mode 100644
index 0000000..6816b6c
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/d3d11va.h
@@ -0,0 +1,112 @@
+/*
+ * Direct3D11 HW acceleration
+ *
+ * copyright (c) 2009 Laurent Aimar
+ * copyright (c) 2015 Steve Lhomme
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_D3D11VA_H
+#define AVCODEC_D3D11VA_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_d3d11va
+ * Public libavcodec D3D11VA header.
+ */
+
+#if !defined(_WIN32_WINNT) || _WIN32_WINNT < 0x0602
+#undef _WIN32_WINNT
+#define _WIN32_WINNT 0x0602
+#endif
+
+#include <stdint.h>
+#include <d3d11.h>
+
+/**
+ * @defgroup lavc_codec_hwaccel_d3d11va Direct3D11
+ * @ingroup lavc_codec_hwaccel
+ *
+ * @{
+ */
+
+#define FF_DXVA2_WORKAROUND_SCALING_LIST_ZIGZAG 1 ///< Work around for Direct3D11 and old UVD/UVD+ ATI video cards
+#define FF_DXVA2_WORKAROUND_INTEL_CLEARVIDEO    2 ///< Work around for Direct3D11 and old Intel GPUs with ClearVideo interface
+
+/**
+ * This structure is used to provides the necessary configurations and data
+ * to the Direct3D11 FFmpeg HWAccel implementation.
+ *
+ * The application must make it available as AVCodecContext.hwaccel_context.
+ *
+ * Use av_d3d11va_alloc_context() exclusively to allocate an AVD3D11VAContext.
+ */
+typedef struct AVD3D11VAContext {
+    /**
+     * D3D11 decoder object
+     */
+    ID3D11VideoDecoder *decoder;
+
+    /**
+      * D3D11 VideoContext
+      */
+    ID3D11VideoContext *video_context;
+
+    /**
+     * D3D11 configuration used to create the decoder
+     */
+    D3D11_VIDEO_DECODER_CONFIG *cfg;
+
+    /**
+     * The number of surface in the surface array
+     */
+    unsigned surface_count;
+
+    /**
+     * The array of Direct3D surfaces used to create the decoder
+     */
+    ID3D11VideoDecoderOutputView **surface;
+
+    /**
+     * A bit field configuring the workarounds needed for using the decoder
+     */
+    uint64_t workaround;
+
+    /**
+     * Private to the FFmpeg AVHWAccel implementation
+     */
+    unsigned report_id;
+
+    /**
+      * Mutex to access video_context
+      */
+    HANDLE  context_mutex;
+} AVD3D11VAContext;
+
+/**
+ * Allocate an AVD3D11VAContext.
+ *
+ * @return Newly-allocated AVD3D11VAContext or NULL on failure.
+ */
+AVD3D11VAContext *av_d3d11va_alloc_context(void);
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_D3D11VA_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/dv_profile.h b/3rdparty/include/ffmpeg/libavcodec/dv_profile.h
new file mode 100644
index 0000000..9380a66
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/dv_profile.h
@@ -0,0 +1,83 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_DV_PROFILE_H
+#define AVCODEC_DV_PROFILE_H
+
+#include <stdint.h>
+
+#include "libavutil/pixfmt.h"
+#include "libavutil/rational.h"
+#include "avcodec.h"
+
+/* minimum number of bytes to read from a DV stream in order to
+ * determine the profile */
+#define DV_PROFILE_BYTES (6 * 80) /* 6 DIF blocks */
+
+
+/*
+ * AVDVProfile is used to express the differences between various
+ * DV flavors. For now it's primarily used for differentiating
+ * 525/60 and 625/50, but the plans are to use it for various
+ * DV specs as well (e.g. SMPTE314M vs. IEC 61834).
+ */
+typedef struct AVDVProfile {
+    int              dsf;                   /* value of the dsf in the DV header */
+    int              video_stype;           /* stype for VAUX source pack */
+    int              frame_size;            /* total size of one frame in bytes */
+    int              difseg_size;           /* number of DIF segments per DIF channel */
+    int              n_difchan;             /* number of DIF channels per frame */
+    AVRational       time_base;             /* 1/framerate */
+    int              ltc_divisor;           /* FPS from the LTS standpoint */
+    int              height;                /* picture height in pixels */
+    int              width;                 /* picture width in pixels */
+    AVRational       sar[2];                /* sample aspect ratios for 4:3 and 16:9 */
+    enum AVPixelFormat pix_fmt;             /* picture pixel format */
+    int              bpm;                   /* blocks per macroblock */
+    const uint8_t   *block_sizes;           /* AC block sizes, in bits */
+    int              audio_stride;          /* size of audio_shuffle table */
+    int              audio_min_samples[3];  /* min amount of audio samples */
+                                            /* for 48kHz, 44.1kHz and 32kHz */
+    int              audio_samples_dist[5]; /* how many samples are supposed to be */
+                                            /* in each frame in a 5 frames window */
+    const uint8_t  (*audio_shuffle)[9];     /* PCM shuffling table */
+} AVDVProfile;
+
+/**
+ * Get a DV profile for the provided compressed frame.
+ *
+ * @param sys the profile used for the previous frame, may be NULL
+ * @param frame the compressed data buffer
+ * @param buf_size size of the buffer in bytes
+ * @return the DV profile for the supplied data or NULL on failure
+ */
+const AVDVProfile *av_dv_frame_profile(const AVDVProfile *sys,
+                                       const uint8_t *frame, unsigned buf_size);
+
+/**
+ * Get a DV profile for the provided stream parameters.
+ */
+const AVDVProfile *av_dv_codec_profile(int width, int height, enum AVPixelFormat pix_fmt);
+
+/**
+ * Get a DV profile for the provided stream parameters.
+ * The frame rate is used as a best-effort parameter.
+ */
+const AVDVProfile *av_dv_codec_profile2(int width, int height, enum AVPixelFormat pix_fmt, AVRational frame_rate);
+
+#endif /* AVCODEC_DV_PROFILE_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/dxva2.h b/3rdparty/include/ffmpeg/libavcodec/dxva2.h
new file mode 100644
index 0000000..9e3ab86
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/dxva2.h
@@ -0,0 +1,93 @@
+/*
+ * DXVA2 HW acceleration
+ *
+ * copyright (c) 2009 Laurent Aimar
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_DXVA_H
+#define AVCODEC_DXVA_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_dxva2
+ * Public libavcodec DXVA2 header.
+ */
+
+#if !defined(_WIN32_WINNT) || _WIN32_WINNT < 0x0602
+#undef _WIN32_WINNT
+#define _WIN32_WINNT 0x0602
+#endif
+
+#include <stdint.h>
+#include <d3d9.h>
+#include <dxva2api.h>
+
+/**
+ * @defgroup lavc_codec_hwaccel_dxva2 DXVA2
+ * @ingroup lavc_codec_hwaccel
+ *
+ * @{
+ */
+
+#define FF_DXVA2_WORKAROUND_SCALING_LIST_ZIGZAG 1 ///< Work around for DXVA2 and old UVD/UVD+ ATI video cards
+#define FF_DXVA2_WORKAROUND_INTEL_CLEARVIDEO    2 ///< Work around for DXVA2 and old Intel GPUs with ClearVideo interface
+
+/**
+ * This structure is used to provides the necessary configurations and data
+ * to the DXVA2 FFmpeg HWAccel implementation.
+ *
+ * The application must make it available as AVCodecContext.hwaccel_context.
+ */
+struct dxva_context {
+    /**
+     * DXVA2 decoder object
+     */
+    IDirectXVideoDecoder *decoder;
+
+    /**
+     * DXVA2 configuration used to create the decoder
+     */
+    const DXVA2_ConfigPictureDecode *cfg;
+
+    /**
+     * The number of surface in the surface array
+     */
+    unsigned surface_count;
+
+    /**
+     * The array of Direct3D surfaces used to create the decoder
+     */
+    LPDIRECT3DSURFACE9 *surface;
+
+    /**
+     * A bit field configuring the workarounds needed for using the decoder
+     */
+    uint64_t workaround;
+
+    /**
+     * Private to the FFmpeg AVHWAccel implementation
+     */
+    unsigned report_id;
+};
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_DXVA_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/qsv.h b/3rdparty/include/ffmpeg/libavcodec/qsv.h
new file mode 100644
index 0000000..6049629
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/qsv.h
@@ -0,0 +1,60 @@
+/*
+ * Intel MediaSDK QSV public API
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_QSV_H
+#define AVCODEC_QSV_H
+
+#include <mfx/mfxvideo.h>
+
+/**
+ * This struct is used for communicating QSV parameters between libavcodec and
+ * the caller. It is managed by the caller and must be assigned to
+ * AVCodecContext.hwaccel_context.
+ * - decoding: hwaccel_context must be set on return from the get_format()
+ *             callback
+ * - encoding: hwaccel_context must be set before avcodec_open2()
+ */
+typedef struct AVQSVContext {
+    /**
+     * If non-NULL, the session to use for encoding or decoding.
+     * Otherwise, libavcodec will try to create an internal session.
+     */
+    mfxSession session;
+
+    /**
+     * The IO pattern to use.
+     */
+    int iopattern;
+
+    /**
+     * Extra buffers to pass to encoder or decoder initialization.
+     */
+    mfxExtBuffer **ext_buffers;
+    int         nb_ext_buffers;
+} AVQSVContext;
+
+/**
+ * Allocate a new context.
+ *
+ * It must be freed by the caller with av_free().
+ */
+AVQSVContext *av_qsv_alloc_context(void);
+
+#endif /* AVCODEC_QSV_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/vaapi.h b/3rdparty/include/ffmpeg/libavcodec/vaapi.h
new file mode 100644
index 0000000..7a29f6f
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/vaapi.h
@@ -0,0 +1,189 @@
+/*
+ * Video Acceleration API (shared data between FFmpeg and the video player)
+ * HW decode acceleration for MPEG-2, MPEG-4, H.264 and VC-1
+ *
+ * Copyright (C) 2008-2009 Splitted-Desktop Systems
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_VAAPI_H
+#define AVCODEC_VAAPI_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_vaapi
+ * Public libavcodec VA API header.
+ */
+
+#include <stdint.h>
+#include "libavutil/attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavc_codec_hwaccel_vaapi VA API Decoding
+ * @ingroup lavc_codec_hwaccel
+ * @{
+ */
+
+/**
+ * This structure is used to share data between the FFmpeg library and
+ * the client video application.
+ * This shall be zero-allocated and available as
+ * AVCodecContext.hwaccel_context. All user members can be set once
+ * during initialization or through each AVCodecContext.get_buffer()
+ * function call. In any case, they must be valid prior to calling
+ * decoding functions.
+ */
+struct vaapi_context {
+    /**
+     * Window system dependent data
+     *
+     * - encoding: unused
+     * - decoding: Set by user
+     */
+    void *display;
+
+    /**
+     * Configuration ID
+     *
+     * - encoding: unused
+     * - decoding: Set by user
+     */
+    uint32_t config_id;
+
+    /**
+     * Context ID (video decode pipeline)
+     *
+     * - encoding: unused
+     * - decoding: Set by user
+     */
+    uint32_t context_id;
+
+#if FF_API_VAAPI_CONTEXT
+    /**
+     * VAPictureParameterBuffer ID
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    uint32_t pic_param_buf_id;
+
+    /**
+     * VAIQMatrixBuffer ID
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    uint32_t iq_matrix_buf_id;
+
+    /**
+     * VABitPlaneBuffer ID (for VC-1 decoding)
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    uint32_t bitplane_buf_id;
+
+    /**
+     * Slice parameter/data buffer IDs
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    uint32_t *slice_buf_ids;
+
+    /**
+     * Number of effective slice buffer IDs to send to the HW
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    unsigned int n_slice_buf_ids;
+
+    /**
+     * Size of pre-allocated slice_buf_ids
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    unsigned int slice_buf_ids_alloc;
+
+    /**
+     * Pointer to VASliceParameterBuffers
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    void *slice_params;
+
+    /**
+     * Size of a VASliceParameterBuffer element
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    unsigned int slice_param_size;
+
+    /**
+     * Size of pre-allocated slice_params
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    unsigned int slice_params_alloc;
+
+    /**
+     * Number of slices currently filled in
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    unsigned int slice_count;
+
+    /**
+     * Pointer to slice data buffer base
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    const uint8_t *slice_data;
+
+    /**
+     * Current size of slice data
+     *
+     * - encoding: unused
+     * - decoding: Set by libavcodec
+     */
+    attribute_deprecated
+    uint32_t slice_data_size;
+#endif
+};
+
+/* @} */
+
+#endif /* AVCODEC_VAAPI_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/vda.h b/3rdparty/include/ffmpeg/libavcodec/vda.h
new file mode 100644
index 0000000..bde14e3
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/vda.h
@@ -0,0 +1,230 @@
+/*
+ * VDA HW acceleration
+ *
+ * copyright (c) 2011 Sebastien Zwickert
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_VDA_H
+#define AVCODEC_VDA_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_vda
+ * Public libavcodec VDA header.
+ */
+
+#include "libavcodec/avcodec.h"
+
+#include <stdint.h>
+
+// emmintrin.h is unable to compile with -std=c99 -Werror=missing-prototypes
+// http://openradar.appspot.com/8026390
+#undef __GNUC_STDC_INLINE__
+
+#define Picture QuickdrawPicture
+#include <VideoDecodeAcceleration/VDADecoder.h>
+#undef Picture
+
+#include "libavcodec/version.h"
+
+// extra flags not defined in VDADecoder.h
+enum {
+    kVDADecodeInfo_Asynchronous = 1UL << 0,
+    kVDADecodeInfo_FrameDropped = 1UL << 1
+};
+
+/**
+ * @defgroup lavc_codec_hwaccel_vda VDA
+ * @ingroup lavc_codec_hwaccel
+ *
+ * @{
+ */
+
+/**
+ * This structure is used to provide the necessary configurations and data
+ * to the VDA FFmpeg HWAccel implementation.
+ *
+ * The application must make it available as AVCodecContext.hwaccel_context.
+ */
+struct vda_context {
+    /**
+     * VDA decoder object.
+     *
+     * - encoding: unused
+     * - decoding: Set/Unset by libavcodec.
+     */
+    VDADecoder          decoder;
+
+    /**
+     * The Core Video pixel buffer that contains the current image data.
+     *
+     * encoding: unused
+     * decoding: Set by libavcodec. Unset by user.
+     */
+    CVPixelBufferRef    cv_buffer;
+
+    /**
+     * Use the hardware decoder in synchronous mode.
+     *
+     * encoding: unused
+     * decoding: Set by user.
+     */
+    int                 use_sync_decoding;
+
+    /**
+     * The frame width.
+     *
+     * - encoding: unused
+     * - decoding: Set/Unset by user.
+     */
+    int                 width;
+
+    /**
+     * The frame height.
+     *
+     * - encoding: unused
+     * - decoding: Set/Unset by user.
+     */
+    int                 height;
+
+    /**
+     * The frame format.
+     *
+     * - encoding: unused
+     * - decoding: Set/Unset by user.
+     */
+    int                 format;
+
+    /**
+     * The pixel format for output image buffers.
+     *
+     * - encoding: unused
+     * - decoding: Set/Unset by user.
+     */
+    OSType              cv_pix_fmt_type;
+
+    /**
+     * unused
+     */
+    uint8_t             *priv_bitstream;
+
+    /**
+     * unused
+     */
+    int                 priv_bitstream_size;
+
+    /**
+     * unused
+     */
+    int                 priv_allocated_size;
+
+    /**
+     * Use av_buffer to manage buffer.
+     * When the flag is set, the CVPixelBuffers returned by the decoder will
+     * be released automatically, so you have to retain them if necessary.
+     * Not setting this flag may cause memory leak.
+     *
+     * encoding: unused
+     * decoding: Set by user.
+     */
+    int                 use_ref_buffer;
+};
+
+/** Create the video decoder. */
+int ff_vda_create_decoder(struct vda_context *vda_ctx,
+                          uint8_t *extradata,
+                          int extradata_size);
+
+/** Destroy the video decoder. */
+int ff_vda_destroy_decoder(struct vda_context *vda_ctx);
+
+/**
+ * This struct holds all the information that needs to be passed
+ * between the caller and libavcodec for initializing VDA decoding.
+ * Its size is not a part of the public ABI, it must be allocated with
+ * av_vda_alloc_context() and freed with av_free().
+ */
+typedef struct AVVDAContext {
+    /**
+     * VDA decoder object. Created and freed by the caller.
+     */
+    VDADecoder decoder;
+
+    /**
+     * The output callback that must be passed to VDADecoderCreate.
+     * Set by av_vda_alloc_context().
+     */
+    VDADecoderOutputCallback output_callback;
+
+    /**
+     * CVPixelBuffer Format Type that VDA will use for decoded frames; set by
+     * the caller.
+     */
+    OSType cv_pix_fmt_type;
+} AVVDAContext;
+
+/**
+ * Allocate and initialize a VDA context.
+ *
+ * This function should be called from the get_format() callback when the caller
+ * selects the AV_PIX_FMT_VDA format. The caller must then create the decoder
+ * object (using the output callback provided by libavcodec) that will be used
+ * for VDA-accelerated decoding.
+ *
+ * When decoding with VDA is finished, the caller must destroy the decoder
+ * object and free the VDA context using av_free().
+ *
+ * @return the newly allocated context or NULL on failure
+ */
+AVVDAContext *av_vda_alloc_context(void);
+
+/**
+ * This is a convenience function that creates and sets up the VDA context using
+ * an internal implementation.
+ *
+ * @param avctx the corresponding codec context
+ *
+ * @return >= 0 on success, a negative AVERROR code on failure
+ */
+int av_vda_default_init(AVCodecContext *avctx);
+
+/**
+ * This is a convenience function that creates and sets up the VDA context using
+ * an internal implementation.
+ *
+ * @param avctx the corresponding codec context
+ * @param vdactx the VDA context to use
+ *
+ * @return >= 0 on success, a negative AVERROR code on failure
+ */
+int av_vda_default_init2(AVCodecContext *avctx, AVVDAContext *vdactx);
+
+/**
+ * This function must be called to free the VDA context initialized with
+ * av_vda_default_init().
+ *
+ * @param avctx the corresponding codec context
+ */
+void av_vda_default_free(AVCodecContext *avctx);
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_VDA_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/vdpau.h b/3rdparty/include/ffmpeg/libavcodec/vdpau.h
new file mode 100644
index 0000000..e85e4d9
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/vdpau.h
@@ -0,0 +1,253 @@
+/*
+ * The Video Decode and Presentation API for UNIX (VDPAU) is used for
+ * hardware-accelerated decoding of MPEG-1/2, H.264 and VC-1.
+ *
+ * Copyright (C) 2008 NVIDIA
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_VDPAU_H
+#define AVCODEC_VDPAU_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_vdpau
+ * Public libavcodec VDPAU header.
+ */
+
+
+/**
+ * @defgroup lavc_codec_hwaccel_vdpau VDPAU Decoder and Renderer
+ * @ingroup lavc_codec_hwaccel
+ *
+ * VDPAU hardware acceleration has two modules
+ * - VDPAU decoding
+ * - VDPAU presentation
+ *
+ * The VDPAU decoding module parses all headers using FFmpeg
+ * parsing mechanisms and uses VDPAU for the actual decoding.
+ *
+ * As per the current implementation, the actual decoding
+ * and rendering (API calls) are done as part of the VDPAU
+ * presentation (vo_vdpau.c) module.
+ *
+ * @{
+ */
+
+#include <vdpau/vdpau.h>
+#include <vdpau/vdpau_x11.h>
+#include "libavutil/avconfig.h"
+#include "libavutil/attributes.h"
+
+#include "avcodec.h"
+#include "version.h"
+
+#if FF_API_BUFS_VDPAU
+union AVVDPAUPictureInfo {
+    VdpPictureInfoH264        h264;
+    VdpPictureInfoMPEG1Or2    mpeg;
+    VdpPictureInfoVC1          vc1;
+    VdpPictureInfoMPEG4Part2 mpeg4;
+};
+#endif
+
+struct AVCodecContext;
+struct AVFrame;
+
+typedef int (*AVVDPAU_Render2)(struct AVCodecContext *, struct AVFrame *,
+                               const VdpPictureInfo *, uint32_t,
+                               const VdpBitstreamBuffer *);
+
+/**
+ * This structure is used to share data between the libavcodec library and
+ * the client video application.
+ * The user shall allocate the structure via the av_alloc_vdpau_hwaccel
+ * function and make it available as
+ * AVCodecContext.hwaccel_context. Members can be set by the user once
+ * during initialization or through each AVCodecContext.get_buffer()
+ * function call. In any case, they must be valid prior to calling
+ * decoding functions.
+ *
+ * The size of this structure is not a part of the public ABI and must not
+ * be used outside of libavcodec. Use av_vdpau_alloc_context() to allocate an
+ * AVVDPAUContext.
+ */
+typedef struct AVVDPAUContext {
+    /**
+     * VDPAU decoder handle
+     *
+     * Set by user.
+     */
+    VdpDecoder decoder;
+
+    /**
+     * VDPAU decoder render callback
+     *
+     * Set by the user.
+     */
+    VdpDecoderRender *render;
+
+#if FF_API_BUFS_VDPAU
+    /**
+     * VDPAU picture information
+     *
+     * Set by libavcodec.
+     */
+    attribute_deprecated
+    union AVVDPAUPictureInfo info;
+
+    /**
+     * Allocated size of the bitstream_buffers table.
+     *
+     * Set by libavcodec.
+     */
+    attribute_deprecated
+    int bitstream_buffers_allocated;
+
+    /**
+     * Useful bitstream buffers in the bitstream buffers table.
+     *
+     * Set by libavcodec.
+     */
+    attribute_deprecated
+    int bitstream_buffers_used;
+
+   /**
+     * Table of bitstream buffers.
+     * The user is responsible for freeing this buffer using av_freep().
+     *
+     * Set by libavcodec.
+     */
+    attribute_deprecated
+    VdpBitstreamBuffer *bitstream_buffers;
+#endif
+    AVVDPAU_Render2 render2;
+} AVVDPAUContext;
+
+/**
+ * @brief allocation function for AVVDPAUContext
+ *
+ * Allows extending the struct without breaking API/ABI
+ */
+AVVDPAUContext *av_alloc_vdpaucontext(void);
+
+AVVDPAU_Render2 av_vdpau_hwaccel_get_render2(const AVVDPAUContext *);
+void av_vdpau_hwaccel_set_render2(AVVDPAUContext *, AVVDPAU_Render2);
+
+/**
+ * Associate a VDPAU device with a codec context for hardware acceleration.
+ * This function is meant to be called from the get_format() codec callback,
+ * or earlier. It can also be called after avcodec_flush_buffers() to change
+ * the underlying VDPAU device mid-stream (e.g. to recover from non-transparent
+ * display preemption).
+ *
+ * @note get_format() must return AV_PIX_FMT_VDPAU if this function completes
+ * successfully.
+ *
+ * @param avctx decoding context whose get_format() callback is invoked
+ * @param device VDPAU device handle to use for hardware acceleration
+ * @param get_proc_address VDPAU device driver
+ * @param flags zero of more OR'd AV_HWACCEL_FLAG_* flags
+ *
+ * @return 0 on success, an AVERROR code on failure.
+ */
+int av_vdpau_bind_context(AVCodecContext *avctx, VdpDevice device,
+                          VdpGetProcAddress *get_proc_address, unsigned flags);
+
+/**
+ * Gets the parameters to create an adequate VDPAU video surface for the codec
+ * context using VDPAU hardware decoding acceleration.
+ *
+ * @note Behavior is undefined if the context was not successfully bound to a
+ * VDPAU device using av_vdpau_bind_context().
+ *
+ * @param avctx the codec context being used for decoding the stream
+ * @param type storage space for the VDPAU video surface chroma type
+ *              (or NULL to ignore)
+ * @param width storage space for the VDPAU video surface pixel width
+ *              (or NULL to ignore)
+ * @param height storage space for the VDPAU video surface pixel height
+ *              (or NULL to ignore)
+ *
+ * @return 0 on success, a negative AVERROR code on failure.
+ */
+int av_vdpau_get_surface_parameters(AVCodecContext *avctx, VdpChromaType *type,
+                                    uint32_t *width, uint32_t *height);
+
+/**
+ * Allocate an AVVDPAUContext.
+ *
+ * @return Newly-allocated AVVDPAUContext or NULL on failure.
+ */
+AVVDPAUContext *av_vdpau_alloc_context(void);
+
+#if FF_API_VDPAU_PROFILE
+/**
+ * Get a decoder profile that should be used for initializing a VDPAU decoder.
+ * Should be called from the AVCodecContext.get_format() callback.
+ *
+ * @deprecated Use av_vdpau_bind_context() instead.
+ *
+ * @param avctx the codec context being used for decoding the stream
+ * @param profile a pointer into which the result will be written on success.
+ *                The contents of profile are undefined if this function returns
+ *                an error.
+ *
+ * @return 0 on success (non-negative), a negative AVERROR on failure.
+ */
+attribute_deprecated
+int av_vdpau_get_profile(AVCodecContext *avctx, VdpDecoderProfile *profile);
+#endif
+
+#if FF_API_CAP_VDPAU
+/** @brief The videoSurface is used for rendering. */
+#define FF_VDPAU_STATE_USED_FOR_RENDER 1
+
+/**
+ * @brief The videoSurface is needed for reference/prediction.
+ * The codec manipulates this.
+ */
+#define FF_VDPAU_STATE_USED_FOR_REFERENCE 2
+
+/**
+ * @brief This structure is used as a callback between the FFmpeg
+ * decoder (vd_) and presentation (vo_) module.
+ * This is used for defining a video frame containing surface,
+ * picture parameter, bitstream information etc which are passed
+ * between the FFmpeg decoder and its clients.
+ */
+struct vdpau_render_state {
+    VdpVideoSurface surface; ///< Used as rendered surface, never changed.
+
+    int state; ///< Holds FF_VDPAU_STATE_* values.
+
+    /** picture parameter information for all supported codecs */
+    union AVVDPAUPictureInfo info;
+
+    /** Describe size/location of the compressed video data.
+        Set to 0 when freeing bitstream_buffers. */
+    int bitstream_buffers_allocated;
+    int bitstream_buffers_used;
+    /** The user is responsible for freeing this buffer using av_freep(). */
+    VdpBitstreamBuffer *bitstream_buffers;
+};
+#endif
+
+/* @}*/
+
+#endif /* AVCODEC_VDPAU_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/version.h b/3rdparty/include/ffmpeg/libavcodec/version.h
new file mode 100644
index 0000000..1c97a1e
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/version.h
@@ -0,0 +1,192 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_VERSION_H
+#define AVCODEC_VERSION_H
+
+/**
+ * @file
+ * @ingroup libavc
+ * Libavcodec version macros.
+ */
+
+#include "libavutil/version.h"
+
+#define LIBAVCODEC_VERSION_MAJOR  57
+#define LIBAVCODEC_VERSION_MINOR   4
+#define LIBAVCODEC_VERSION_MICRO 100
+
+#define LIBAVCODEC_VERSION_INT  AV_VERSION_INT(LIBAVCODEC_VERSION_MAJOR, \
+                                               LIBAVCODEC_VERSION_MINOR, \
+                                               LIBAVCODEC_VERSION_MICRO)
+#define LIBAVCODEC_VERSION      AV_VERSION(LIBAVCODEC_VERSION_MAJOR,    \
+                                           LIBAVCODEC_VERSION_MINOR,    \
+                                           LIBAVCODEC_VERSION_MICRO)
+#define LIBAVCODEC_BUILD        LIBAVCODEC_VERSION_INT
+
+#define LIBAVCODEC_IDENT        "Lavc" AV_STRINGIFY(LIBAVCODEC_VERSION)
+
+/**
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ *
+ * @note, when bumping the major version it is recommended to manually
+ * disable each FF_API_* in its own commit instead of disabling them all
+ * at once through the bump. This improves the git bisect-ability of the change.
+ */
+
+#ifndef FF_API_VIMA_DECODER
+#define FF_API_VIMA_DECODER     (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AUDIO_CONVERT
+#define FF_API_AUDIO_CONVERT     (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AVCODEC_RESAMPLE
+#define FF_API_AVCODEC_RESAMPLE  FF_API_AUDIO_CONVERT
+#endif
+#ifndef FF_API_MISSING_SAMPLE
+#define FF_API_MISSING_SAMPLE    (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_LOWRES
+#define FF_API_LOWRES            (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_CAP_VDPAU
+#define FF_API_CAP_VDPAU         (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_BUFS_VDPAU
+#define FF_API_BUFS_VDPAU        (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_VOXWARE
+#define FF_API_VOXWARE           (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_SET_DIMENSIONS
+#define FF_API_SET_DIMENSIONS    (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_DEBUG_MV
+#define FF_API_DEBUG_MV          (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AC_VLC
+#define FF_API_AC_VLC            (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_OLD_MSMPEG4
+#define FF_API_OLD_MSMPEG4       (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_ASPECT_EXTENDED
+#define FF_API_ASPECT_EXTENDED   (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_ARCH_ALPHA
+#define FF_API_ARCH_ALPHA        (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_XVMC
+#define FF_API_XVMC              (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_ERROR_RATE
+#define FF_API_ERROR_RATE        (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_QSCALE_TYPE
+#define FF_API_QSCALE_TYPE       (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_MB_TYPE
+#define FF_API_MB_TYPE           (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_MAX_BFRAMES
+#define FF_API_MAX_BFRAMES       (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_NEG_LINESIZES
+#define FF_API_NEG_LINESIZES     (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_EMU_EDGE
+#define FF_API_EMU_EDGE          (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_ARCH_SH4
+#define FF_API_ARCH_SH4          (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_ARCH_SPARC
+#define FF_API_ARCH_SPARC        (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_UNUSED_MEMBERS
+#define FF_API_UNUSED_MEMBERS    (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_IDCT_XVIDMMX
+#define FF_API_IDCT_XVIDMMX      (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_INPUT_PRESERVED
+#define FF_API_INPUT_PRESERVED   (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_NORMALIZE_AQP
+#define FF_API_NORMALIZE_AQP     (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_GMC
+#define FF_API_GMC               (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_MV0
+#define FF_API_MV0               (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_CODEC_NAME
+#define FF_API_CODEC_NAME        (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AFD
+#define FF_API_AFD               (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_VISMV
+/* XXX: don't forget to drop the -vismv documentation */
+#define FF_API_VISMV             (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AUDIOENC_DELAY
+#define FF_API_AUDIOENC_DELAY    (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_VAAPI_CONTEXT
+#define FF_API_VAAPI_CONTEXT     (LIBAVCODEC_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_AVCTX_TIMEBASE
+#define FF_API_AVCTX_TIMEBASE    (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_MPV_OPT
+#define FF_API_MPV_OPT           (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_STREAM_CODEC_TAG
+#define FF_API_STREAM_CODEC_TAG  (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_QUANT_BIAS
+#define FF_API_QUANT_BIAS        (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_RC_STRATEGY
+#define FF_API_RC_STRATEGY       (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_CODED_FRAME
+#define FF_API_CODED_FRAME       (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_MOTION_EST
+#define FF_API_MOTION_EST        (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_WITHOUT_PREFIX
+#define FF_API_WITHOUT_PREFIX    (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_SIDEDATA_ONLY_PKT
+#define FF_API_SIDEDATA_ONLY_PKT (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_VDPAU_PROFILE
+#define FF_API_VDPAU_PROFILE     (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+#ifndef FF_API_CONVERGENCE_DURATION
+#define FF_API_CONVERGENCE_DURATION (LIBAVCODEC_VERSION_MAJOR < 59)
+#endif
+
+#endif /* AVCODEC_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/videotoolbox.h b/3rdparty/include/ffmpeg/libavcodec/videotoolbox.h
new file mode 100644
index 0000000..a48638e
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/videotoolbox.h
@@ -0,0 +1,126 @@
+/*
+ * Videotoolbox hardware acceleration
+ *
+ * copyright (c) 2012 Sebastien Zwickert
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_VIDEOTOOLBOX_H
+#define AVCODEC_VIDEOTOOLBOX_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_videotoolbox
+ * Public libavcodec Videotoolbox header.
+ */
+
+#include <stdint.h>
+
+#define Picture QuickdrawPicture
+#include <VideoToolbox/VideoToolbox.h>
+#undef Picture
+
+#include "libavcodec/avcodec.h"
+
+/**
+ * This struct holds all the information that needs to be passed
+ * between the caller and libavcodec for initializing Videotoolbox decoding.
+ * Its size is not a part of the public ABI, it must be allocated with
+ * av_videotoolbox_alloc_context() and freed with av_free().
+ */
+typedef struct AVVideotoolboxContext {
+    /**
+     * Videotoolbox decompression session object.
+     * Created and freed the caller.
+     */
+    VTDecompressionSessionRef session;
+
+    /**
+     * The output callback that must be passed to the session.
+     * Set by av_videottoolbox_default_init()
+     */
+    VTDecompressionOutputCallback output_callback;
+
+    /**
+     * CVPixelBuffer Format Type that Videotoolbox will use for decoded frames.
+     * set by the caller.
+     */
+    OSType cv_pix_fmt_type;
+
+    /**
+     * CoreMedia Format Description that Videotoolbox will use to create the decompression session.
+     * Set by the caller.
+     */
+    CMVideoFormatDescriptionRef cm_fmt_desc;
+
+    /**
+     * CoreMedia codec type that Videotoolbox will use to create the decompression session.
+     * Set by the caller.
+     */
+    int cm_codec_type;
+} AVVideotoolboxContext;
+
+/**
+ * Allocate and initialize a Videotoolbox context.
+ *
+ * This function should be called from the get_format() callback when the caller
+ * selects the AV_PIX_FMT_VIDETOOLBOX format. The caller must then create
+ * the decoder object (using the output callback provided by libavcodec) that
+ * will be used for Videotoolbox-accelerated decoding.
+ *
+ * When decoding with Videotoolbox is finished, the caller must destroy the decoder
+ * object and free the Videotoolbox context using av_free().
+ *
+ * @return the newly allocated context or NULL on failure
+ */
+AVVideotoolboxContext *av_videotoolbox_alloc_context(void);
+
+/**
+ * This is a convenience function that creates and sets up the Videotoolbox context using
+ * an internal implementation.
+ *
+ * @param avctx the corresponding codec context
+ *
+ * @return >= 0 on success, a negative AVERROR code on failure
+ */
+int av_videotoolbox_default_init(AVCodecContext *avctx);
+
+/**
+ * This is a convenience function that creates and sets up the Videotoolbox context using
+ * an internal implementation.
+ *
+ * @param avctx the corresponding codec context
+ * @param vtctx the Videotoolbox context to use
+ *
+ * @return >= 0 on success, a negative AVERROR code on failure
+ */
+int av_videotoolbox_default_init2(AVCodecContext *avctx, AVVideotoolboxContext *vtctx);
+
+/**
+ * This function must be called to free the Videotoolbox context initialized with
+ * av_videotoolbox_default_init().
+ *
+ * @param avctx the corresponding codec context
+ */
+void av_videotoolbox_default_free(AVCodecContext *avctx);
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_VIDEOTOOLBOX_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/vorbis_parser.h b/3rdparty/include/ffmpeg/libavcodec/vorbis_parser.h
new file mode 100644
index 0000000..06e48bd
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/vorbis_parser.h
@@ -0,0 +1,78 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * A public API for Vorbis parsing
+ *
+ * Determines the duration for each packet.
+ */
+
+#ifndef AVCODEC_VORBIS_PARSE_H
+#define AVCODEC_VORBIS_PARSE_H
+
+#include <stdint.h>
+
+typedef struct AVVorbisParseContext AVVorbisParseContext;
+
+/**
+ * Allocate and initialize the Vorbis parser using headers in the extradata.
+ *
+ * @param avctx codec context
+ * @param s     Vorbis parser context
+ */
+AVVorbisParseContext *av_vorbis_parse_init(const uint8_t *extradata,
+                                           int extradata_size);
+
+/**
+ * Free the parser and everything associated with it.
+ */
+void av_vorbis_parse_free(AVVorbisParseContext **s);
+
+#define VORBIS_FLAG_HEADER  0x00000001
+#define VORBIS_FLAG_COMMENT 0x00000002
+#define VORBIS_FLAG_SETUP   0x00000004
+
+/**
+ * Get the duration for a Vorbis packet.
+ *
+ * If @p flags is @c NULL,
+ * special frames are considered invalid.
+ *
+ * @param s        Vorbis parser context
+ * @param buf      buffer containing a Vorbis frame
+ * @param buf_size size of the buffer
+ * @param flags    flags for special frames
+ */
+int av_vorbis_parse_frame_flags(AVVorbisParseContext *s, const uint8_t *buf,
+                                int buf_size, int *flags);
+
+/**
+ * Get the duration for a Vorbis packet.
+ *
+ * @param s        Vorbis parser context
+ * @param buf      buffer containing a Vorbis frame
+ * @param buf_size size of the buffer
+ */
+int av_vorbis_parse_frame(AVVorbisParseContext *s, const uint8_t *buf,
+                          int buf_size);
+
+void av_vorbis_parse_reset(AVVorbisParseContext *s);
+
+#endif /* AVCODEC_VORBIS_PARSE_H */
diff --git a/3rdparty/include/ffmpeg/libavcodec/xvmc.h b/3rdparty/include/ffmpeg/libavcodec/xvmc.h
new file mode 100644
index 0000000..c2e187c
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavcodec/xvmc.h
@@ -0,0 +1,170 @@
+/*
+ * Copyright (C) 2003 Ivan Kalvachev
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVCODEC_XVMC_H
+#define AVCODEC_XVMC_H
+
+/**
+ * @file
+ * @ingroup lavc_codec_hwaccel_xvmc
+ * Public libavcodec XvMC header.
+ */
+
+#include <X11/extensions/XvMC.h>
+
+#include "libavutil/attributes.h"
+#include "version.h"
+#include "avcodec.h"
+
+/**
+ * @defgroup lavc_codec_hwaccel_xvmc XvMC
+ * @ingroup lavc_codec_hwaccel
+ *
+ * @{
+ */
+
+#define AV_XVMC_ID                    0x1DC711C0  /**< special value to ensure that regular pixel routines haven't corrupted the struct
+                                                       the number is 1337 speak for the letters IDCT MCo (motion compensation) */
+
+attribute_deprecated struct xvmc_pix_fmt {
+    /** The field contains the special constant value AV_XVMC_ID.
+        It is used as a test that the application correctly uses the API,
+        and that there is no corruption caused by pixel routines.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    int             xvmc_id;
+
+    /** Pointer to the block array allocated by XvMCCreateBlocks().
+        The array has to be freed by XvMCDestroyBlocks().
+        Each group of 64 values represents one data block of differential
+        pixel information (in MoCo mode) or coefficients for IDCT.
+        - application - set the pointer during initialization
+        - libavcodec  - fills coefficients/pixel data into the array
+    */
+    short*          data_blocks;
+
+    /** Pointer to the macroblock description array allocated by
+        XvMCCreateMacroBlocks() and freed by XvMCDestroyMacroBlocks().
+        - application - set the pointer during initialization
+        - libavcodec  - fills description data into the array
+    */
+    XvMCMacroBlock* mv_blocks;
+
+    /** Number of macroblock descriptions that can be stored in the mv_blocks
+        array.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    int             allocated_mv_blocks;
+
+    /** Number of blocks that can be stored at once in the data_blocks array.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    int             allocated_data_blocks;
+
+    /** Indicate that the hardware would interpret data_blocks as IDCT
+        coefficients and perform IDCT on them.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    int             idct;
+
+    /** In MoCo mode it indicates that intra macroblocks are assumed to be in
+        unsigned format; same as the XVMC_INTRA_UNSIGNED flag.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    int             unsigned_intra;
+
+    /** Pointer to the surface allocated by XvMCCreateSurface().
+        It has to be freed by XvMCDestroySurface() on application exit.
+        It identifies the frame and its state on the video hardware.
+        - application - set during initialization
+        - libavcodec  - unchanged
+    */
+    XvMCSurface*    p_surface;
+
+/** Set by the decoder before calling ff_draw_horiz_band(),
+    needed by the XvMCRenderSurface function. */
+//@{
+    /** Pointer to the surface used as past reference
+        - application - unchanged
+        - libavcodec  - set
+    */
+    XvMCSurface*    p_past_surface;
+
+    /** Pointer to the surface used as future reference
+        - application - unchanged
+        - libavcodec  - set
+    */
+    XvMCSurface*    p_future_surface;
+
+    /** top/bottom field or frame
+        - application - unchanged
+        - libavcodec  - set
+    */
+    unsigned int    picture_structure;
+
+    /** XVMC_SECOND_FIELD - 1st or 2nd field in the sequence
+        - application - unchanged
+        - libavcodec  - set
+    */
+    unsigned int    flags;
+//}@
+
+    /** Number of macroblock descriptions in the mv_blocks array
+        that have already been passed to the hardware.
+        - application - zeroes it on get_buffer().
+                        A successful ff_draw_horiz_band() may increment it
+                        with filled_mb_block_num or zero both.
+        - libavcodec  - unchanged
+    */
+    int             start_mv_blocks_num;
+
+    /** Number of new macroblock descriptions in the mv_blocks array (after
+        start_mv_blocks_num) that are filled by libavcodec and have to be
+        passed to the hardware.
+        - application - zeroes it on get_buffer() or after successful
+                        ff_draw_horiz_band().
+        - libavcodec  - increment with one of each stored MB
+    */
+    int             filled_mv_blocks_num;
+
+    /** Number of the next free data block; one data block consists of
+        64 short values in the data_blocks array.
+        All blocks before this one have already been claimed by placing their
+        position into the corresponding block description structure field,
+        that are part of the mv_blocks array.
+        - application - zeroes it on get_buffer().
+                        A successful ff_draw_horiz_band() may zero it together
+                        with start_mb_blocks_num.
+        - libavcodec  - each decoded macroblock increases it by the number
+                        of coded blocks it contains.
+    */
+    int             next_free_data_block_num;
+};
+
+/**
+ * @}
+ */
+
+#endif /* AVCODEC_XVMC_H */
diff --git a/3rdparty/include/ffmpeg/libavdevice/avdevice.h b/3rdparty/include/ffmpeg/libavdevice/avdevice.h
new file mode 100644
index 0000000..6b0446c
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavdevice/avdevice.h
@@ -0,0 +1,509 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVDEVICE_AVDEVICE_H
+#define AVDEVICE_AVDEVICE_H
+
+#include "version.h"
+
+/**
+ * @file
+ * @ingroup lavd
+ * Main libavdevice API header
+ */
+
+/**
+ * @defgroup lavd Special devices muxing/demuxing library
+ * @{
+ * Libavdevice is a complementary library to @ref libavf "libavformat". It
+ * provides various "special" platform-specific muxers and demuxers, e.g. for
+ * grabbing devices, audio capture and playback etc. As a consequence, the
+ * (de)muxers in libavdevice are of the AVFMT_NOFILE type (they use their own
+ * I/O functions). The filename passed to avformat_open_input() often does not
+ * refer to an actually existing file, but has some special device-specific
+ * meaning - e.g. for x11grab it is the display name.
+ *
+ * To use libavdevice, simply call avdevice_register_all() to register all
+ * compiled muxers and demuxers. They all use standard libavformat API.
+ * @}
+ */
+
+#include "libavutil/log.h"
+#include "libavutil/opt.h"
+#include "libavutil/dict.h"
+#include "libavformat/avformat.h"
+
+/**
+ * Return the LIBAVDEVICE_VERSION_INT constant.
+ */
+unsigned avdevice_version(void);
+
+/**
+ * Return the libavdevice build-time configuration.
+ */
+const char *avdevice_configuration(void);
+
+/**
+ * Return the libavdevice license.
+ */
+const char *avdevice_license(void);
+
+/**
+ * Initialize libavdevice and register all the input and output devices.
+ * @warning This function is not thread safe.
+ */
+void avdevice_register_all(void);
+
+/**
+ * Audio input devices iterator.
+ *
+ * If d is NULL, returns the first registered input audio/video device,
+ * if d is non-NULL, returns the next registered input audio/video device after d
+ * or NULL if d is the last one.
+ */
+AVInputFormat *av_input_audio_device_next(AVInputFormat  *d);
+
+/**
+ * Video input devices iterator.
+ *
+ * If d is NULL, returns the first registered input audio/video device,
+ * if d is non-NULL, returns the next registered input audio/video device after d
+ * or NULL if d is the last one.
+ */
+AVInputFormat *av_input_video_device_next(AVInputFormat  *d);
+
+/**
+ * Audio output devices iterator.
+ *
+ * If d is NULL, returns the first registered output audio/video device,
+ * if d is non-NULL, returns the next registered output audio/video device after d
+ * or NULL if d is the last one.
+ */
+AVOutputFormat *av_output_audio_device_next(AVOutputFormat *d);
+
+/**
+ * Video output devices iterator.
+ *
+ * If d is NULL, returns the first registered output audio/video device,
+ * if d is non-NULL, returns the next registered output audio/video device after d
+ * or NULL if d is the last one.
+ */
+AVOutputFormat *av_output_video_device_next(AVOutputFormat *d);
+
+typedef struct AVDeviceRect {
+    int x;      /**< x coordinate of top left corner */
+    int y;      /**< y coordinate of top left corner */
+    int width;  /**< width */
+    int height; /**< height */
+} AVDeviceRect;
+
+/**
+ * Message types used by avdevice_app_to_dev_control_message().
+ */
+enum AVAppToDevMessageType {
+    /**
+     * Dummy message.
+     */
+    AV_APP_TO_DEV_NONE = MKBETAG('N','O','N','E'),
+
+    /**
+     * Window size change message.
+     *
+     * Message is sent to the device every time the application changes the size
+     * of the window device renders to.
+     * Message should also be sent right after window is created.
+     *
+     * data: AVDeviceRect: new window size.
+     */
+    AV_APP_TO_DEV_WINDOW_SIZE = MKBETAG('G','E','O','M'),
+
+    /**
+     * Repaint request message.
+     *
+     * Message is sent to the device when window has to be repainted.
+     *
+     * data: AVDeviceRect: area required to be repainted.
+     *       NULL: whole area is required to be repainted.
+     */
+    AV_APP_TO_DEV_WINDOW_REPAINT = MKBETAG('R','E','P','A'),
+
+    /**
+     * Request pause/play.
+     *
+     * Application requests pause/unpause playback.
+     * Mostly usable with devices that have internal buffer.
+     * By default devices are not paused.
+     *
+     * data: NULL
+     */
+    AV_APP_TO_DEV_PAUSE        = MKBETAG('P', 'A', 'U', ' '),
+    AV_APP_TO_DEV_PLAY         = MKBETAG('P', 'L', 'A', 'Y'),
+    AV_APP_TO_DEV_TOGGLE_PAUSE = MKBETAG('P', 'A', 'U', 'T'),
+
+    /**
+     * Volume control message.
+     *
+     * Set volume level. It may be device-dependent if volume
+     * is changed per stream or system wide. Per stream volume
+     * change is expected when possible.
+     *
+     * data: double: new volume with range of 0.0 - 1.0.
+     */
+    AV_APP_TO_DEV_SET_VOLUME = MKBETAG('S', 'V', 'O', 'L'),
+
+    /**
+     * Mute control messages.
+     *
+     * Change mute state. It may be device-dependent if mute status
+     * is changed per stream or system wide. Per stream mute status
+     * change is expected when possible.
+     *
+     * data: NULL.
+     */
+    AV_APP_TO_DEV_MUTE        = MKBETAG(' ', 'M', 'U', 'T'),
+    AV_APP_TO_DEV_UNMUTE      = MKBETAG('U', 'M', 'U', 'T'),
+    AV_APP_TO_DEV_TOGGLE_MUTE = MKBETAG('T', 'M', 'U', 'T'),
+
+    /**
+     * Get volume/mute messages.
+     *
+     * Force the device to send AV_DEV_TO_APP_VOLUME_LEVEL_CHANGED or
+     * AV_DEV_TO_APP_MUTE_STATE_CHANGED command respectively.
+     *
+     * data: NULL.
+     */
+    AV_APP_TO_DEV_GET_VOLUME = MKBETAG('G', 'V', 'O', 'L'),
+    AV_APP_TO_DEV_GET_MUTE   = MKBETAG('G', 'M', 'U', 'T'),
+};
+
+/**
+ * Message types used by avdevice_dev_to_app_control_message().
+ */
+enum AVDevToAppMessageType {
+    /**
+     * Dummy message.
+     */
+    AV_DEV_TO_APP_NONE = MKBETAG('N','O','N','E'),
+
+    /**
+     * Create window buffer message.
+     *
+     * Device requests to create a window buffer. Exact meaning is device-
+     * and application-dependent. Message is sent before rendering first
+     * frame and all one-shot initializations should be done here.
+     * Application is allowed to ignore preferred window buffer size.
+     *
+     * @note: Application is obligated to inform about window buffer size
+     *        with AV_APP_TO_DEV_WINDOW_SIZE message.
+     *
+     * data: AVDeviceRect: preferred size of the window buffer.
+     *       NULL: no preferred size of the window buffer.
+     */
+    AV_DEV_TO_APP_CREATE_WINDOW_BUFFER = MKBETAG('B','C','R','E'),
+
+    /**
+     * Prepare window buffer message.
+     *
+     * Device requests to prepare a window buffer for rendering.
+     * Exact meaning is device- and application-dependent.
+     * Message is sent before rendering of each frame.
+     *
+     * data: NULL.
+     */
+    AV_DEV_TO_APP_PREPARE_WINDOW_BUFFER = MKBETAG('B','P','R','E'),
+
+    /**
+     * Display window buffer message.
+     *
+     * Device requests to display a window buffer.
+     * Message is sent when new frame is ready to be displayed.
+     * Usually buffers need to be swapped in handler of this message.
+     *
+     * data: NULL.
+     */
+    AV_DEV_TO_APP_DISPLAY_WINDOW_BUFFER = MKBETAG('B','D','I','S'),
+
+    /**
+     * Destroy window buffer message.
+     *
+     * Device requests to destroy a window buffer.
+     * Message is sent when device is about to be destroyed and window
+     * buffer is not required anymore.
+     *
+     * data: NULL.
+     */
+    AV_DEV_TO_APP_DESTROY_WINDOW_BUFFER = MKBETAG('B','D','E','S'),
+
+    /**
+     * Buffer fullness status messages.
+     *
+     * Device signals buffer overflow/underflow.
+     *
+     * data: NULL.
+     */
+    AV_DEV_TO_APP_BUFFER_OVERFLOW = MKBETAG('B','O','F','L'),
+    AV_DEV_TO_APP_BUFFER_UNDERFLOW = MKBETAG('B','U','F','L'),
+
+    /**
+     * Buffer readable/writable.
+     *
+     * Device informs that buffer is readable/writable.
+     * When possible, device informs how many bytes can be read/write.
+     *
+     * @warning Device may not inform when number of bytes than can be read/write changes.
+     *
+     * data: int64_t: amount of bytes available to read/write.
+     *       NULL: amount of bytes available to read/write is not known.
+     */
+    AV_DEV_TO_APP_BUFFER_READABLE = MKBETAG('B','R','D',' '),
+    AV_DEV_TO_APP_BUFFER_WRITABLE = MKBETAG('B','W','R',' '),
+
+    /**
+     * Mute state change message.
+     *
+     * Device informs that mute state has changed.
+     *
+     * data: int: 0 for not muted state, non-zero for muted state.
+     */
+    AV_DEV_TO_APP_MUTE_STATE_CHANGED = MKBETAG('C','M','U','T'),
+
+    /**
+     * Volume level change message.
+     *
+     * Device informs that volume level has changed.
+     *
+     * data: double: new volume with range of 0.0 - 1.0.
+     */
+    AV_DEV_TO_APP_VOLUME_LEVEL_CHANGED = MKBETAG('C','V','O','L'),
+};
+
+/**
+ * Send control message from application to device.
+ *
+ * @param s         device context.
+ * @param type      message type.
+ * @param data      message data. Exact type depends on message type.
+ * @param data_size size of message data.
+ * @return >= 0 on success, negative on error.
+ *         AVERROR(ENOSYS) when device doesn't implement handler of the message.
+ */
+int avdevice_app_to_dev_control_message(struct AVFormatContext *s,
+                                        enum AVAppToDevMessageType type,
+                                        void *data, size_t data_size);
+
+/**
+ * Send control message from device to application.
+ *
+ * @param s         device context.
+ * @param type      message type.
+ * @param data      message data. Can be NULL.
+ * @param data_size size of message data.
+ * @return >= 0 on success, negative on error.
+ *         AVERROR(ENOSYS) when application doesn't implement handler of the message.
+ */
+int avdevice_dev_to_app_control_message(struct AVFormatContext *s,
+                                        enum AVDevToAppMessageType type,
+                                        void *data, size_t data_size);
+
+/**
+ * Following API allows user to probe device capabilities (supported codecs,
+ * pixel formats, sample formats, resolutions, channel counts, etc).
+ * It is build on top op AVOption API.
+ * Queried capabilities make it possible to set up converters of video or audio
+ * parameters that fit to the device.
+ *
+ * List of capabilities that can be queried:
+ *  - Capabilities valid for both audio and video devices:
+ *    - codec:          supported audio/video codecs.
+ *                      type: AV_OPT_TYPE_INT (AVCodecID value)
+ *  - Capabilities valid for audio devices:
+ *    - sample_format:  supported sample formats.
+ *                      type: AV_OPT_TYPE_INT (AVSampleFormat value)
+ *    - sample_rate:    supported sample rates.
+ *                      type: AV_OPT_TYPE_INT
+ *    - channels:       supported number of channels.
+ *                      type: AV_OPT_TYPE_INT
+ *    - channel_layout: supported channel layouts.
+ *                      type: AV_OPT_TYPE_INT64
+ *  - Capabilities valid for video devices:
+ *    - pixel_format:   supported pixel formats.
+ *                      type: AV_OPT_TYPE_INT (AVPixelFormat value)
+ *    - window_size:    supported window sizes (describes size of the window size presented to the user).
+ *                      type: AV_OPT_TYPE_IMAGE_SIZE
+ *    - frame_size:     supported frame sizes (describes size of provided video frames).
+ *                      type: AV_OPT_TYPE_IMAGE_SIZE
+ *    - fps:            supported fps values
+ *                      type: AV_OPT_TYPE_RATIONAL
+ *
+ * Value of the capability may be set by user using av_opt_set() function
+ * and AVDeviceCapabilitiesQuery object. Following queries will
+ * limit results to the values matching already set capabilities.
+ * For example, setting a codec may impact number of formats or fps values
+ * returned during next query. Setting invalid value may limit results to zero.
+ *
+ * Example of the usage basing on opengl output device:
+ *
+ * @code
+ *  AVFormatContext *oc = NULL;
+ *  AVDeviceCapabilitiesQuery *caps = NULL;
+ *  AVOptionRanges *ranges;
+ *  int ret;
+ *
+ *  if ((ret = avformat_alloc_output_context2(&oc, NULL, "opengl", NULL)) < 0)
+ *      goto fail;
+ *  if (avdevice_capabilities_create(&caps, oc, NULL) < 0)
+ *      goto fail;
+ *
+ *  //query codecs
+ *  if (av_opt_query_ranges(&ranges, caps, "codec", AV_OPT_MULTI_COMPONENT_RANGE)) < 0)
+ *      goto fail;
+ *  //pick codec here and set it
+ *  av_opt_set(caps, "codec", AV_CODEC_ID_RAWVIDEO, 0);
+ *
+ *  //query format
+ *  if (av_opt_query_ranges(&ranges, caps, "pixel_format", AV_OPT_MULTI_COMPONENT_RANGE)) < 0)
+ *      goto fail;
+ *  //pick format here and set it
+ *  av_opt_set(caps, "pixel_format", AV_PIX_FMT_YUV420P, 0);
+ *
+ *  //query and set more capabilities
+ *
+ * fail:
+ *  //clean up code
+ *  avdevice_capabilities_free(&query, oc);
+ *  avformat_free_context(oc);
+ * @endcode
+ */
+
+/**
+ * Structure describes device capabilities.
+ *
+ * It is used by devices in conjunction with av_device_capabilities AVOption table
+ * to implement capabilities probing API based on AVOption API. Should not be used directly.
+ */
+typedef struct AVDeviceCapabilitiesQuery {
+    const AVClass *av_class;
+    AVFormatContext *device_context;
+    enum AVCodecID codec;
+    enum AVSampleFormat sample_format;
+    enum AVPixelFormat pixel_format;
+    int sample_rate;
+    int channels;
+    int64_t channel_layout;
+    int window_width;
+    int window_height;
+    int frame_width;
+    int frame_height;
+    AVRational fps;
+} AVDeviceCapabilitiesQuery;
+
+/**
+ * AVOption table used by devices to implement device capabilities API. Should not be used by a user.
+ */
+extern const AVOption av_device_capabilities[];
+
+/**
+ * Initialize capabilities probing API based on AVOption API.
+ *
+ * avdevice_capabilities_free() must be called when query capabilities API is
+ * not used anymore.
+ *
+ * @param[out] caps      Device capabilities data. Pointer to a NULL pointer must be passed.
+ * @param s              Context of the device.
+ * @param device_options An AVDictionary filled with device-private options.
+ *                       On return this parameter will be destroyed and replaced with a dict
+ *                       containing options that were not found. May be NULL.
+ *                       The same options must be passed later to avformat_write_header() for output
+ *                       devices or avformat_open_input() for input devices, or at any other place
+ *                       that affects device-private options.
+ *
+ * @return >= 0 on success, negative otherwise.
+ */
+int avdevice_capabilities_create(AVDeviceCapabilitiesQuery **caps, AVFormatContext *s,
+                                 AVDictionary **device_options);
+
+/**
+ * Free resources created by avdevice_capabilities_create()
+ *
+ * @param caps Device capabilities data to be freed.
+ * @param s    Context of the device.
+ */
+void avdevice_capabilities_free(AVDeviceCapabilitiesQuery **caps, AVFormatContext *s);
+
+/**
+ * Structure describes basic parameters of the device.
+ */
+typedef struct AVDeviceInfo {
+    char *device_name;                   /**< device name, format depends on device */
+    char *device_description;            /**< human friendly name */
+} AVDeviceInfo;
+
+/**
+ * List of devices.
+ */
+typedef struct AVDeviceInfoList {
+    AVDeviceInfo **devices;              /**< list of autodetected devices */
+    int nb_devices;                      /**< number of autodetected devices */
+    int default_device;                  /**< index of default device or -1 if no default */
+} AVDeviceInfoList;
+
+/**
+ * List devices.
+ *
+ * Returns available device names and their parameters.
+ *
+ * @note: Some devices may accept system-dependent device names that cannot be
+ *        autodetected. The list returned by this function cannot be assumed to
+ *        be always completed.
+ *
+ * @param s                device context.
+ * @param[out] device_list list of autodetected devices.
+ * @return count of autodetected devices, negative on error.
+ */
+int avdevice_list_devices(struct AVFormatContext *s, AVDeviceInfoList **device_list);
+
+/**
+ * Convenient function to free result of avdevice_list_devices().
+ *
+ * @param devices device list to be freed.
+ */
+void avdevice_free_list_devices(AVDeviceInfoList **device_list);
+
+/**
+ * List devices.
+ *
+ * Returns available device names and their parameters.
+ * These are convinient wrappers for avdevice_list_devices().
+ * Device context is allocated and deallocated internally.
+ *
+ * @param device           device format. May be NULL if device name is set.
+ * @param device_name      device name. May be NULL if device format is set.
+ * @param device_options   An AVDictionary filled with device-private options. May be NULL.
+ *                         The same options must be passed later to avformat_write_header() for output
+ *                         devices or avformat_open_input() for input devices, or at any other place
+ *                         that affects device-private options.
+ * @param[out] device_list list of autodetected devices
+ * @return count of autodetected devices, negative on error.
+ * @note device argument takes precedence over device_name when both are set.
+ */
+int avdevice_list_input_sources(struct AVInputFormat *device, const char *device_name,
+                                AVDictionary *device_options, AVDeviceInfoList **device_list);
+int avdevice_list_output_sinks(struct AVOutputFormat *device, const char *device_name,
+                               AVDictionary *device_options, AVDeviceInfoList **device_list);
+
+#endif /* AVDEVICE_AVDEVICE_H */
diff --git a/3rdparty/include/ffmpeg/libavdevice/version.h b/3rdparty/include/ffmpeg/libavdevice/version.h
new file mode 100644
index 0000000..45c9e8d
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavdevice/version.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVDEVICE_VERSION_H
+#define AVDEVICE_VERSION_H
+
+/**
+ * @file
+ * @ingroup lavd
+ * Libavdevice version macros
+ */
+
+#include "libavutil/version.h"
+
+#define LIBAVDEVICE_VERSION_MAJOR  57
+#define LIBAVDEVICE_VERSION_MINOR   0
+#define LIBAVDEVICE_VERSION_MICRO 100
+
+#define LIBAVDEVICE_VERSION_INT AV_VERSION_INT(LIBAVDEVICE_VERSION_MAJOR, \
+                                               LIBAVDEVICE_VERSION_MINOR, \
+                                               LIBAVDEVICE_VERSION_MICRO)
+#define LIBAVDEVICE_VERSION     AV_VERSION(LIBAVDEVICE_VERSION_MAJOR, \
+                                           LIBAVDEVICE_VERSION_MINOR, \
+                                           LIBAVDEVICE_VERSION_MICRO)
+#define LIBAVDEVICE_BUILD       LIBAVDEVICE_VERSION_INT
+
+#define LIBAVDEVICE_IDENT       "Lavd" AV_STRINGIFY(LIBAVDEVICE_VERSION)
+
+/**
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ */
+
+#endif /* AVDEVICE_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libavfilter/avfilter.h b/3rdparty/include/ffmpeg/libavfilter/avfilter.h
new file mode 100644
index 0000000..5d4cd6c
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavfilter/avfilter.h
@@ -0,0 +1,1072 @@
+/*
+ * filter layer
+ * Copyright (c) 2007 Bobby Bingham
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFILTER_AVFILTER_H
+#define AVFILTER_AVFILTER_H
+
+/**
+ * @file
+ * @ingroup lavfi
+ * Main libavfilter public API header
+ */
+
+/**
+ * @defgroup lavfi Libavfilter - graph-based frame editing library
+ * @{
+ */
+
+#include <stddef.h>
+
+#include "libavutil/attributes.h"
+#include "libavutil/avutil.h"
+#include "libavutil/dict.h"
+#include "libavutil/frame.h"
+#include "libavutil/log.h"
+#include "libavutil/samplefmt.h"
+#include "libavutil/pixfmt.h"
+#include "libavutil/rational.h"
+
+#include "libavfilter/version.h"
+
+/**
+ * Return the LIBAVFILTER_VERSION_INT constant.
+ */
+unsigned avfilter_version(void);
+
+/**
+ * Return the libavfilter build-time configuration.
+ */
+const char *avfilter_configuration(void);
+
+/**
+ * Return the libavfilter license.
+ */
+const char *avfilter_license(void);
+
+typedef struct AVFilterContext AVFilterContext;
+typedef struct AVFilterLink    AVFilterLink;
+typedef struct AVFilterPad     AVFilterPad;
+typedef struct AVFilterFormats AVFilterFormats;
+
+/**
+ * Get the number of elements in a NULL-terminated array of AVFilterPads (e.g.
+ * AVFilter.inputs/outputs).
+ */
+int avfilter_pad_count(const AVFilterPad *pads);
+
+/**
+ * Get the name of an AVFilterPad.
+ *
+ * @param pads an array of AVFilterPads
+ * @param pad_idx index of the pad in the array it; is the caller's
+ *                responsibility to ensure the index is valid
+ *
+ * @return name of the pad_idx'th pad in pads
+ */
+const char *avfilter_pad_get_name(const AVFilterPad *pads, int pad_idx);
+
+/**
+ * Get the type of an AVFilterPad.
+ *
+ * @param pads an array of AVFilterPads
+ * @param pad_idx index of the pad in the array; it is the caller's
+ *                responsibility to ensure the index is valid
+ *
+ * @return type of the pad_idx'th pad in pads
+ */
+enum AVMediaType avfilter_pad_get_type(const AVFilterPad *pads, int pad_idx);
+
+/**
+ * The number of the filter inputs is not determined just by AVFilter.inputs.
+ * The filter might add additional inputs during initialization depending on the
+ * options supplied to it.
+ */
+#define AVFILTER_FLAG_DYNAMIC_INPUTS        (1 << 0)
+/**
+ * The number of the filter outputs is not determined just by AVFilter.outputs.
+ * The filter might add additional outputs during initialization depending on
+ * the options supplied to it.
+ */
+#define AVFILTER_FLAG_DYNAMIC_OUTPUTS       (1 << 1)
+/**
+ * The filter supports multithreading by splitting frames into multiple parts
+ * and processing them concurrently.
+ */
+#define AVFILTER_FLAG_SLICE_THREADS         (1 << 2)
+/**
+ * Some filters support a generic "enable" expression option that can be used
+ * to enable or disable a filter in the timeline. Filters supporting this
+ * option have this flag set. When the enable expression is false, the default
+ * no-op filter_frame() function is called in place of the filter_frame()
+ * callback defined on each input pad, thus the frame is passed unchanged to
+ * the next filters.
+ */
+#define AVFILTER_FLAG_SUPPORT_TIMELINE_GENERIC  (1 << 16)
+/**
+ * Same as AVFILTER_FLAG_SUPPORT_TIMELINE_GENERIC, except that the filter will
+ * have its filter_frame() callback(s) called as usual even when the enable
+ * expression is false. The filter will disable filtering within the
+ * filter_frame() callback(s) itself, for example executing code depending on
+ * the AVFilterContext->is_disabled value.
+ */
+#define AVFILTER_FLAG_SUPPORT_TIMELINE_INTERNAL (1 << 17)
+/**
+ * Handy mask to test whether the filter supports or no the timeline feature
+ * (internally or generically).
+ */
+#define AVFILTER_FLAG_SUPPORT_TIMELINE (AVFILTER_FLAG_SUPPORT_TIMELINE_GENERIC | AVFILTER_FLAG_SUPPORT_TIMELINE_INTERNAL)
+
+/**
+ * Filter definition. This defines the pads a filter contains, and all the
+ * callback functions used to interact with the filter.
+ */
+typedef struct AVFilter {
+    /**
+     * Filter name. Must be non-NULL and unique among filters.
+     */
+    const char *name;
+
+    /**
+     * A description of the filter. May be NULL.
+     *
+     * You should use the NULL_IF_CONFIG_SMALL() macro to define it.
+     */
+    const char *description;
+
+    /**
+     * List of inputs, terminated by a zeroed element.
+     *
+     * NULL if there are no (static) inputs. Instances of filters with
+     * AVFILTER_FLAG_DYNAMIC_INPUTS set may have more inputs than present in
+     * this list.
+     */
+    const AVFilterPad *inputs;
+    /**
+     * List of outputs, terminated by a zeroed element.
+     *
+     * NULL if there are no (static) outputs. Instances of filters with
+     * AVFILTER_FLAG_DYNAMIC_OUTPUTS set may have more outputs than present in
+     * this list.
+     */
+    const AVFilterPad *outputs;
+
+    /**
+     * A class for the private data, used to declare filter private AVOptions.
+     * This field is NULL for filters that do not declare any options.
+     *
+     * If this field is non-NULL, the first member of the filter private data
+     * must be a pointer to AVClass, which will be set by libavfilter generic
+     * code to this class.
+     */
+    const AVClass *priv_class;
+
+    /**
+     * A combination of AVFILTER_FLAG_*
+     */
+    int flags;
+
+    /*****************************************************************
+     * All fields below this line are not part of the public API. They
+     * may not be used outside of libavfilter and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+
+    /**
+     * Filter initialization function.
+     *
+     * This callback will be called only once during the filter lifetime, after
+     * all the options have been set, but before links between filters are
+     * established and format negotiation is done.
+     *
+     * Basic filter initialization should be done here. Filters with dynamic
+     * inputs and/or outputs should create those inputs/outputs here based on
+     * provided options. No more changes to this filter's inputs/outputs can be
+     * done after this callback.
+     *
+     * This callback must not assume that the filter links exist or frame
+     * parameters are known.
+     *
+     * @ref AVFilter.uninit "uninit" is guaranteed to be called even if
+     * initialization fails, so this callback does not have to clean up on
+     * failure.
+     *
+     * @return 0 on success, a negative AVERROR on failure
+     */
+    int (*init)(AVFilterContext *ctx);
+
+    /**
+     * Should be set instead of @ref AVFilter.init "init" by the filters that
+     * want to pass a dictionary of AVOptions to nested contexts that are
+     * allocated during init.
+     *
+     * On return, the options dict should be freed and replaced with one that
+     * contains all the options which could not be processed by this filter (or
+     * with NULL if all the options were processed).
+     *
+     * Otherwise the semantics is the same as for @ref AVFilter.init "init".
+     */
+    int (*init_dict)(AVFilterContext *ctx, AVDictionary **options);
+
+    /**
+     * Filter uninitialization function.
+     *
+     * Called only once right before the filter is freed. Should deallocate any
+     * memory held by the filter, release any buffer references, etc. It does
+     * not need to deallocate the AVFilterContext.priv memory itself.
+     *
+     * This callback may be called even if @ref AVFilter.init "init" was not
+     * called or failed, so it must be prepared to handle such a situation.
+     */
+    void (*uninit)(AVFilterContext *ctx);
+
+    /**
+     * Query formats supported by the filter on its inputs and outputs.
+     *
+     * This callback is called after the filter is initialized (so the inputs
+     * and outputs are fixed), shortly before the format negotiation. This
+     * callback may be called more than once.
+     *
+     * This callback must set AVFilterLink.out_formats on every input link and
+     * AVFilterLink.in_formats on every output link to a list of pixel/sample
+     * formats that the filter supports on that link. For audio links, this
+     * filter must also set @ref AVFilterLink.in_samplerates "in_samplerates" /
+     * @ref AVFilterLink.out_samplerates "out_samplerates" and
+     * @ref AVFilterLink.in_channel_layouts "in_channel_layouts" /
+     * @ref AVFilterLink.out_channel_layouts "out_channel_layouts" analogously.
+     *
+     * This callback may be NULL for filters with one input, in which case
+     * libavfilter assumes that it supports all input formats and preserves
+     * them on output.
+     *
+     * @return zero on success, a negative value corresponding to an
+     * AVERROR code otherwise
+     */
+    int (*query_formats)(AVFilterContext *);
+
+    int priv_size;      ///< size of private data to allocate for the filter
+
+    /**
+     * Used by the filter registration system. Must not be touched by any other
+     * code.
+     */
+    struct AVFilter *next;
+
+    /**
+     * Make the filter instance process a command.
+     *
+     * @param cmd    the command to process, for handling simplicity all commands must be alphanumeric only
+     * @param arg    the argument for the command
+     * @param res    a buffer with size res_size where the filter(s) can return a response. This must not change when the command is not supported.
+     * @param flags  if AVFILTER_CMD_FLAG_FAST is set and the command would be
+     *               time consuming then a filter should treat it like an unsupported command
+     *
+     * @returns >=0 on success otherwise an error code.
+     *          AVERROR(ENOSYS) on unsupported commands
+     */
+    int (*process_command)(AVFilterContext *, const char *cmd, const char *arg, char *res, int res_len, int flags);
+
+    /**
+     * Filter initialization function, alternative to the init()
+     * callback. Args contains the user-supplied parameters, opaque is
+     * used for providing binary data.
+     */
+    int (*init_opaque)(AVFilterContext *ctx, void *opaque);
+} AVFilter;
+
+/**
+ * Process multiple parts of the frame concurrently.
+ */
+#define AVFILTER_THREAD_SLICE (1 << 0)
+
+typedef struct AVFilterInternal AVFilterInternal;
+
+/** An instance of a filter */
+struct AVFilterContext {
+    const AVClass *av_class;        ///< needed for av_log() and filters common options
+
+    const AVFilter *filter;         ///< the AVFilter of which this is an instance
+
+    char *name;                     ///< name of this filter instance
+
+    AVFilterPad   *input_pads;      ///< array of input pads
+    AVFilterLink **inputs;          ///< array of pointers to input links
+    unsigned    nb_inputs;          ///< number of input pads
+
+    AVFilterPad   *output_pads;     ///< array of output pads
+    AVFilterLink **outputs;         ///< array of pointers to output links
+    unsigned    nb_outputs;         ///< number of output pads
+
+    void *priv;                     ///< private data for use by the filter
+
+    struct AVFilterGraph *graph;    ///< filtergraph this filter belongs to
+
+    /**
+     * Type of multithreading being allowed/used. A combination of
+     * AVFILTER_THREAD_* flags.
+     *
+     * May be set by the caller before initializing the filter to forbid some
+     * or all kinds of multithreading for this filter. The default is allowing
+     * everything.
+     *
+     * When the filter is initialized, this field is combined using bit AND with
+     * AVFilterGraph.thread_type to get the final mask used for determining
+     * allowed threading types. I.e. a threading type needs to be set in both
+     * to be allowed.
+     *
+     * After the filter is initialized, libavfilter sets this field to the
+     * threading type that is actually used (0 for no multithreading).
+     */
+    int thread_type;
+
+    /**
+     * An opaque struct for libavfilter internal use.
+     */
+    AVFilterInternal *internal;
+
+    struct AVFilterCommand *command_queue;
+
+    char *enable_str;               ///< enable expression string
+    void *enable;                   ///< parsed expression (AVExpr*)
+    double *var_values;             ///< variable values for the enable expression
+    int is_disabled;                ///< the enabled state from the last expression evaluation
+};
+
+/**
+ * A link between two filters. This contains pointers to the source and
+ * destination filters between which this link exists, and the indexes of
+ * the pads involved. In addition, this link also contains the parameters
+ * which have been negotiated and agreed upon between the filter, such as
+ * image dimensions, format, etc.
+ */
+struct AVFilterLink {
+    AVFilterContext *src;       ///< source filter
+    AVFilterPad *srcpad;        ///< output pad on the source filter
+
+    AVFilterContext *dst;       ///< dest filter
+    AVFilterPad *dstpad;        ///< input pad on the dest filter
+
+    enum AVMediaType type;      ///< filter media type
+
+    /* These parameters apply only to video */
+    int w;                      ///< agreed upon image width
+    int h;                      ///< agreed upon image height
+    AVRational sample_aspect_ratio; ///< agreed upon sample aspect ratio
+    /* These parameters apply only to audio */
+    uint64_t channel_layout;    ///< channel layout of current buffer (see libavutil/channel_layout.h)
+    int sample_rate;            ///< samples per second
+
+    int format;                 ///< agreed upon media format
+
+    /**
+     * Define the time base used by the PTS of the frames/samples
+     * which will pass through this link.
+     * During the configuration stage, each filter is supposed to
+     * change only the output timebase, while the timebase of the
+     * input link is assumed to be an unchangeable property.
+     */
+    AVRational time_base;
+
+    /*****************************************************************
+     * All fields below this line are not part of the public API. They
+     * may not be used outside of libavfilter and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    /**
+     * Lists of formats and channel layouts supported by the input and output
+     * filters respectively. These lists are used for negotiating the format
+     * to actually be used, which will be loaded into the format and
+     * channel_layout members, above, when chosen.
+     *
+     */
+    AVFilterFormats *in_formats;
+    AVFilterFormats *out_formats;
+
+    /**
+     * Lists of channel layouts and sample rates used for automatic
+     * negotiation.
+     */
+    AVFilterFormats  *in_samplerates;
+    AVFilterFormats *out_samplerates;
+    struct AVFilterChannelLayouts  *in_channel_layouts;
+    struct AVFilterChannelLayouts *out_channel_layouts;
+
+    /**
+     * Audio only, the destination filter sets this to a non-zero value to
+     * request that buffers with the given number of samples should be sent to
+     * it. AVFilterPad.needs_fifo must also be set on the corresponding input
+     * pad.
+     * Last buffer before EOF will be padded with silence.
+     */
+    int request_samples;
+
+    /** stage of the initialization of the link properties (dimensions, etc) */
+    enum {
+        AVLINK_UNINIT = 0,      ///< not started
+        AVLINK_STARTINIT,       ///< started, but incomplete
+        AVLINK_INIT             ///< complete
+    } init_state;
+
+    /**
+     * Graph the filter belongs to.
+     */
+    struct AVFilterGraph *graph;
+
+    /**
+     * Current timestamp of the link, as defined by the most recent
+     * frame(s), in AV_TIME_BASE units.
+     */
+    int64_t current_pts;
+
+    /**
+     * Index in the age array.
+     */
+    int age_index;
+
+    /**
+     * Frame rate of the stream on the link, or 1/0 if unknown;
+     * if left to 0/0, will be automatically be copied from the first input
+     * of the source filter if it exists.
+     *
+     * Sources should set it to the best estimation of the real frame rate.
+     * Filters should update it if necessary depending on their function.
+     * Sinks can use it to set a default output frame rate.
+     * It is similar to the r_frame_rate field in AVStream.
+     */
+    AVRational frame_rate;
+
+    /**
+     * Buffer partially filled with samples to achieve a fixed/minimum size.
+     */
+    AVFrame *partial_buf;
+
+    /**
+     * Size of the partial buffer to allocate.
+     * Must be between min_samples and max_samples.
+     */
+    int partial_buf_size;
+
+    /**
+     * Minimum number of samples to filter at once. If filter_frame() is
+     * called with fewer samples, it will accumulate them in partial_buf.
+     * This field and the related ones must not be changed after filtering
+     * has started.
+     * If 0, all related fields are ignored.
+     */
+    int min_samples;
+
+    /**
+     * Maximum number of samples to filter at once. If filter_frame() is
+     * called with more samples, it will split them.
+     */
+    int max_samples;
+
+    /**
+     * True if the link is closed.
+     * If set, all attempts of start_frame, filter_frame or request_frame
+     * will fail with AVERROR_EOF, and if necessary the reference will be
+     * destroyed.
+     * If request_frame returns AVERROR_EOF, this flag is set on the
+     * corresponding link.
+     * It can be set also be set by either the source or the destination
+     * filter.
+     */
+    int closed;
+
+    /**
+     * Number of channels.
+     */
+    int channels;
+
+    /**
+     * Link processing flags.
+     */
+    unsigned flags;
+
+    /**
+     * Number of past frames sent through the link.
+     */
+    int64_t frame_count;
+};
+
+/**
+ * Link two filters together.
+ *
+ * @param src    the source filter
+ * @param srcpad index of the output pad on the source filter
+ * @param dst    the destination filter
+ * @param dstpad index of the input pad on the destination filter
+ * @return       zero on success
+ */
+int avfilter_link(AVFilterContext *src, unsigned srcpad,
+                  AVFilterContext *dst, unsigned dstpad);
+
+/**
+ * Free the link in *link, and set its pointer to NULL.
+ */
+void avfilter_link_free(AVFilterLink **link);
+
+/**
+ * Get the number of channels of a link.
+ */
+int avfilter_link_get_channels(AVFilterLink *link);
+
+/**
+ * Set the closed field of a link.
+ */
+void avfilter_link_set_closed(AVFilterLink *link, int closed);
+
+/**
+ * Negotiate the media format, dimensions, etc of all inputs to a filter.
+ *
+ * @param filter the filter to negotiate the properties for its inputs
+ * @return       zero on successful negotiation
+ */
+int avfilter_config_links(AVFilterContext *filter);
+
+#define AVFILTER_CMD_FLAG_ONE   1 ///< Stop once a filter understood the command (for target=all for example), fast filters are favored automatically
+#define AVFILTER_CMD_FLAG_FAST  2 ///< Only execute command when its fast (like a video out that supports contrast adjustment in hw)
+
+/**
+ * Make the filter instance process a command.
+ * It is recommended to use avfilter_graph_send_command().
+ */
+int avfilter_process_command(AVFilterContext *filter, const char *cmd, const char *arg, char *res, int res_len, int flags);
+
+/** Initialize the filter system. Register all builtin filters. */
+void avfilter_register_all(void);
+
+#if FF_API_OLD_FILTER_REGISTER
+/** Uninitialize the filter system. Unregister all filters. */
+attribute_deprecated
+void avfilter_uninit(void);
+#endif
+
+/**
+ * Register a filter. This is only needed if you plan to use
+ * avfilter_get_by_name later to lookup the AVFilter structure by name. A
+ * filter can still by instantiated with avfilter_graph_alloc_filter even if it
+ * is not registered.
+ *
+ * @param filter the filter to register
+ * @return 0 if the registration was successful, a negative value
+ * otherwise
+ */
+int avfilter_register(AVFilter *filter);
+
+/**
+ * Get a filter definition matching the given name.
+ *
+ * @param name the filter name to find
+ * @return     the filter definition, if any matching one is registered.
+ *             NULL if none found.
+ */
+#if !FF_API_NOCONST_GET_NAME
+const
+#endif
+AVFilter *avfilter_get_by_name(const char *name);
+
+/**
+ * Iterate over all registered filters.
+ * @return If prev is non-NULL, next registered filter after prev or NULL if
+ * prev is the last filter. If prev is NULL, return the first registered filter.
+ */
+const AVFilter *avfilter_next(const AVFilter *prev);
+
+#if FF_API_OLD_FILTER_REGISTER
+/**
+ * If filter is NULL, returns a pointer to the first registered filter pointer,
+ * if filter is non-NULL, returns the next pointer after filter.
+ * If the returned pointer points to NULL, the last registered filter
+ * was already reached.
+ * @deprecated use avfilter_next()
+ */
+attribute_deprecated
+AVFilter **av_filter_next(AVFilter **filter);
+#endif
+
+#if FF_API_AVFILTER_OPEN
+/**
+ * Create a filter instance.
+ *
+ * @param filter_ctx put here a pointer to the created filter context
+ * on success, NULL on failure
+ * @param filter    the filter to create an instance of
+ * @param inst_name Name to give to the new instance. Can be NULL for none.
+ * @return >= 0 in case of success, a negative error code otherwise
+ * @deprecated use avfilter_graph_alloc_filter() instead
+ */
+attribute_deprecated
+int avfilter_open(AVFilterContext **filter_ctx, AVFilter *filter, const char *inst_name);
+#endif
+
+
+#if FF_API_AVFILTER_INIT_FILTER
+/**
+ * Initialize a filter.
+ *
+ * @param filter the filter to initialize
+ * @param args   A string of parameters to use when initializing the filter.
+ *               The format and meaning of this string varies by filter.
+ * @param opaque Any extra non-string data needed by the filter. The meaning
+ *               of this parameter varies by filter.
+ * @return       zero on success
+ */
+attribute_deprecated
+int avfilter_init_filter(AVFilterContext *filter, const char *args, void *opaque);
+#endif
+
+/**
+ * Initialize a filter with the supplied parameters.
+ *
+ * @param ctx  uninitialized filter context to initialize
+ * @param args Options to initialize the filter with. This must be a
+ *             ':'-separated list of options in the 'key=value' form.
+ *             May be NULL if the options have been set directly using the
+ *             AVOptions API or there are no options that need to be set.
+ * @return 0 on success, a negative AVERROR on failure
+ */
+int avfilter_init_str(AVFilterContext *ctx, const char *args);
+
+/**
+ * Initialize a filter with the supplied dictionary of options.
+ *
+ * @param ctx     uninitialized filter context to initialize
+ * @param options An AVDictionary filled with options for this filter. On
+ *                return this parameter will be destroyed and replaced with
+ *                a dict containing options that were not found. This dictionary
+ *                must be freed by the caller.
+ *                May be NULL, then this function is equivalent to
+ *                avfilter_init_str() with the second parameter set to NULL.
+ * @return 0 on success, a negative AVERROR on failure
+ *
+ * @note This function and avfilter_init_str() do essentially the same thing,
+ * the difference is in manner in which the options are passed. It is up to the
+ * calling code to choose whichever is more preferable. The two functions also
+ * behave differently when some of the provided options are not declared as
+ * supported by the filter. In such a case, avfilter_init_str() will fail, but
+ * this function will leave those extra options in the options AVDictionary and
+ * continue as usual.
+ */
+int avfilter_init_dict(AVFilterContext *ctx, AVDictionary **options);
+
+/**
+ * Free a filter context. This will also remove the filter from its
+ * filtergraph's list of filters.
+ *
+ * @param filter the filter to free
+ */
+void avfilter_free(AVFilterContext *filter);
+
+/**
+ * Insert a filter in the middle of an existing link.
+ *
+ * @param link the link into which the filter should be inserted
+ * @param filt the filter to be inserted
+ * @param filt_srcpad_idx the input pad on the filter to connect
+ * @param filt_dstpad_idx the output pad on the filter to connect
+ * @return     zero on success
+ */
+int avfilter_insert_filter(AVFilterLink *link, AVFilterContext *filt,
+                           unsigned filt_srcpad_idx, unsigned filt_dstpad_idx);
+
+/**
+ * @return AVClass for AVFilterContext.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *avfilter_get_class(void);
+
+typedef struct AVFilterGraphInternal AVFilterGraphInternal;
+
+/**
+ * A function pointer passed to the @ref AVFilterGraph.execute callback to be
+ * executed multiple times, possibly in parallel.
+ *
+ * @param ctx the filter context the job belongs to
+ * @param arg an opaque parameter passed through from @ref
+ *            AVFilterGraph.execute
+ * @param jobnr the index of the job being executed
+ * @param nb_jobs the total number of jobs
+ *
+ * @return 0 on success, a negative AVERROR on error
+ */
+typedef int (avfilter_action_func)(AVFilterContext *ctx, void *arg, int jobnr, int nb_jobs);
+
+/**
+ * A function executing multiple jobs, possibly in parallel.
+ *
+ * @param ctx the filter context to which the jobs belong
+ * @param func the function to be called multiple times
+ * @param arg the argument to be passed to func
+ * @param ret a nb_jobs-sized array to be filled with return values from each
+ *            invocation of func
+ * @param nb_jobs the number of jobs to execute
+ *
+ * @return 0 on success, a negative AVERROR on error
+ */
+typedef int (avfilter_execute_func)(AVFilterContext *ctx, avfilter_action_func *func,
+                                    void *arg, int *ret, int nb_jobs);
+
+typedef struct AVFilterGraph {
+    const AVClass *av_class;
+    AVFilterContext **filters;
+    unsigned nb_filters;
+
+    char *scale_sws_opts; ///< sws options to use for the auto-inserted scale filters
+    char *resample_lavr_opts;   ///< libavresample options to use for the auto-inserted resample filters
+
+    /**
+     * Type of multithreading allowed for filters in this graph. A combination
+     * of AVFILTER_THREAD_* flags.
+     *
+     * May be set by the caller at any point, the setting will apply to all
+     * filters initialized after that. The default is allowing everything.
+     *
+     * When a filter in this graph is initialized, this field is combined using
+     * bit AND with AVFilterContext.thread_type to get the final mask used for
+     * determining allowed threading types. I.e. a threading type needs to be
+     * set in both to be allowed.
+     */
+    int thread_type;
+
+    /**
+     * Maximum number of threads used by filters in this graph. May be set by
+     * the caller before adding any filters to the filtergraph. Zero (the
+     * default) means that the number of threads is determined automatically.
+     */
+    int nb_threads;
+
+    /**
+     * Opaque object for libavfilter internal use.
+     */
+    AVFilterGraphInternal *internal;
+
+    /**
+     * Opaque user data. May be set by the caller to an arbitrary value, e.g. to
+     * be used from callbacks like @ref AVFilterGraph.execute.
+     * Libavfilter will not touch this field in any way.
+     */
+    void *opaque;
+
+    /**
+     * This callback may be set by the caller immediately after allocating the
+     * graph and before adding any filters to it, to provide a custom
+     * multithreading implementation.
+     *
+     * If set, filters with slice threading capability will call this callback
+     * to execute multiple jobs in parallel.
+     *
+     * If this field is left unset, libavfilter will use its internal
+     * implementation, which may or may not be multithreaded depending on the
+     * platform and build options.
+     */
+    avfilter_execute_func *execute;
+
+    char *aresample_swr_opts; ///< swr options to use for the auto-inserted aresample filters, Access ONLY through AVOptions
+
+    /**
+     * Private fields
+     *
+     * The following fields are for internal use only.
+     * Their type, offset, number and semantic can change without notice.
+     */
+
+    AVFilterLink **sink_links;
+    int sink_links_count;
+
+    unsigned disable_auto_convert;
+} AVFilterGraph;
+
+/**
+ * Allocate a filter graph.
+ *
+ * @return the allocated filter graph on success or NULL.
+ */
+AVFilterGraph *avfilter_graph_alloc(void);
+
+/**
+ * Create a new filter instance in a filter graph.
+ *
+ * @param graph graph in which the new filter will be used
+ * @param filter the filter to create an instance of
+ * @param name Name to give to the new instance (will be copied to
+ *             AVFilterContext.name). This may be used by the caller to identify
+ *             different filters, libavfilter itself assigns no semantics to
+ *             this parameter. May be NULL.
+ *
+ * @return the context of the newly created filter instance (note that it is
+ *         also retrievable directly through AVFilterGraph.filters or with
+ *         avfilter_graph_get_filter()) on success or NULL on failure.
+ */
+AVFilterContext *avfilter_graph_alloc_filter(AVFilterGraph *graph,
+                                             const AVFilter *filter,
+                                             const char *name);
+
+/**
+ * Get a filter instance identified by instance name from graph.
+ *
+ * @param graph filter graph to search through.
+ * @param name filter instance name (should be unique in the graph).
+ * @return the pointer to the found filter instance or NULL if it
+ * cannot be found.
+ */
+AVFilterContext *avfilter_graph_get_filter(AVFilterGraph *graph, const char *name);
+
+#if FF_API_AVFILTER_OPEN
+/**
+ * Add an existing filter instance to a filter graph.
+ *
+ * @param graphctx  the filter graph
+ * @param filter the filter to be added
+ *
+ * @deprecated use avfilter_graph_alloc_filter() to allocate a filter in a
+ * filter graph
+ */
+attribute_deprecated
+int avfilter_graph_add_filter(AVFilterGraph *graphctx, AVFilterContext *filter);
+#endif
+
+/**
+ * Create and add a filter instance into an existing graph.
+ * The filter instance is created from the filter filt and inited
+ * with the parameters args and opaque.
+ *
+ * In case of success put in *filt_ctx the pointer to the created
+ * filter instance, otherwise set *filt_ctx to NULL.
+ *
+ * @param name the instance name to give to the created filter instance
+ * @param graph_ctx the filter graph
+ * @return a negative AVERROR error code in case of failure, a non
+ * negative value otherwise
+ */
+int avfilter_graph_create_filter(AVFilterContext **filt_ctx, const AVFilter *filt,
+                                 const char *name, const char *args, void *opaque,
+                                 AVFilterGraph *graph_ctx);
+
+/**
+ * Enable or disable automatic format conversion inside the graph.
+ *
+ * Note that format conversion can still happen inside explicitly inserted
+ * scale and aresample filters.
+ *
+ * @param flags  any of the AVFILTER_AUTO_CONVERT_* constants
+ */
+void avfilter_graph_set_auto_convert(AVFilterGraph *graph, unsigned flags);
+
+enum {
+    AVFILTER_AUTO_CONVERT_ALL  =  0, /**< all automatic conversions enabled */
+    AVFILTER_AUTO_CONVERT_NONE = -1, /**< all automatic conversions disabled */
+};
+
+/**
+ * Check validity and configure all the links and formats in the graph.
+ *
+ * @param graphctx the filter graph
+ * @param log_ctx context used for logging
+ * @return >= 0 in case of success, a negative AVERROR code otherwise
+ */
+int avfilter_graph_config(AVFilterGraph *graphctx, void *log_ctx);
+
+/**
+ * Free a graph, destroy its links, and set *graph to NULL.
+ * If *graph is NULL, do nothing.
+ */
+void avfilter_graph_free(AVFilterGraph **graph);
+
+/**
+ * A linked-list of the inputs/outputs of the filter chain.
+ *
+ * This is mainly useful for avfilter_graph_parse() / avfilter_graph_parse2(),
+ * where it is used to communicate open (unlinked) inputs and outputs from and
+ * to the caller.
+ * This struct specifies, per each not connected pad contained in the graph, the
+ * filter context and the pad index required for establishing a link.
+ */
+typedef struct AVFilterInOut {
+    /** unique name for this input/output in the list */
+    char *name;
+
+    /** filter context associated to this input/output */
+    AVFilterContext *filter_ctx;
+
+    /** index of the filt_ctx pad to use for linking */
+    int pad_idx;
+
+    /** next input/input in the list, NULL if this is the last */
+    struct AVFilterInOut *next;
+} AVFilterInOut;
+
+/**
+ * Allocate a single AVFilterInOut entry.
+ * Must be freed with avfilter_inout_free().
+ * @return allocated AVFilterInOut on success, NULL on failure.
+ */
+AVFilterInOut *avfilter_inout_alloc(void);
+
+/**
+ * Free the supplied list of AVFilterInOut and set *inout to NULL.
+ * If *inout is NULL, do nothing.
+ */
+void avfilter_inout_free(AVFilterInOut **inout);
+
+/**
+ * Add a graph described by a string to a graph.
+ *
+ * @note The caller must provide the lists of inputs and outputs,
+ * which therefore must be known before calling the function.
+ *
+ * @note The inputs parameter describes inputs of the already existing
+ * part of the graph; i.e. from the point of view of the newly created
+ * part, they are outputs. Similarly the outputs parameter describes
+ * outputs of the already existing filters, which are provided as
+ * inputs to the parsed filters.
+ *
+ * @param graph   the filter graph where to link the parsed graph context
+ * @param filters string to be parsed
+ * @param inputs  linked list to the inputs of the graph
+ * @param outputs linked list to the outputs of the graph
+ * @return zero on success, a negative AVERROR code on error
+ */
+int avfilter_graph_parse(AVFilterGraph *graph, const char *filters,
+                         AVFilterInOut *inputs, AVFilterInOut *outputs,
+                         void *log_ctx);
+
+/**
+ * Add a graph described by a string to a graph.
+ *
+ * In the graph filters description, if the input label of the first
+ * filter is not specified, "in" is assumed; if the output label of
+ * the last filter is not specified, "out" is assumed.
+ *
+ * @param graph   the filter graph where to link the parsed graph context
+ * @param filters string to be parsed
+ * @param inputs  pointer to a linked list to the inputs of the graph, may be NULL.
+ *                If non-NULL, *inputs is updated to contain the list of open inputs
+ *                after the parsing, should be freed with avfilter_inout_free().
+ * @param outputs pointer to a linked list to the outputs of the graph, may be NULL.
+ *                If non-NULL, *outputs is updated to contain the list of open outputs
+ *                after the parsing, should be freed with avfilter_inout_free().
+ * @return non negative on success, a negative AVERROR code on error
+ */
+int avfilter_graph_parse_ptr(AVFilterGraph *graph, const char *filters,
+                             AVFilterInOut **inputs, AVFilterInOut **outputs,
+                             void *log_ctx);
+
+/**
+ * Add a graph described by a string to a graph.
+ *
+ * @param[in]  graph   the filter graph where to link the parsed graph context
+ * @param[in]  filters string to be parsed
+ * @param[out] inputs  a linked list of all free (unlinked) inputs of the
+ *                     parsed graph will be returned here. It is to be freed
+ *                     by the caller using avfilter_inout_free().
+ * @param[out] outputs a linked list of all free (unlinked) outputs of the
+ *                     parsed graph will be returned here. It is to be freed by the
+ *                     caller using avfilter_inout_free().
+ * @return zero on success, a negative AVERROR code on error
+ *
+ * @note This function returns the inputs and outputs that are left
+ * unlinked after parsing the graph and the caller then deals with
+ * them.
+ * @note This function makes no reference whatsoever to already
+ * existing parts of the graph and the inputs parameter will on return
+ * contain inputs of the newly parsed part of the graph.  Analogously
+ * the outputs parameter will contain outputs of the newly created
+ * filters.
+ */
+int avfilter_graph_parse2(AVFilterGraph *graph, const char *filters,
+                          AVFilterInOut **inputs,
+                          AVFilterInOut **outputs);
+
+/**
+ * Send a command to one or more filter instances.
+ *
+ * @param graph  the filter graph
+ * @param target the filter(s) to which the command should be sent
+ *               "all" sends to all filters
+ *               otherwise it can be a filter or filter instance name
+ *               which will send the command to all matching filters.
+ * @param cmd    the command to send, for handling simplicity all commands must be alphanumeric only
+ * @param arg    the argument for the command
+ * @param res    a buffer with size res_size where the filter(s) can return a response.
+ *
+ * @returns >=0 on success otherwise an error code.
+ *              AVERROR(ENOSYS) on unsupported commands
+ */
+int avfilter_graph_send_command(AVFilterGraph *graph, const char *target, const char *cmd, const char *arg, char *res, int res_len, int flags);
+
+/**
+ * Queue a command for one or more filter instances.
+ *
+ * @param graph  the filter graph
+ * @param target the filter(s) to which the command should be sent
+ *               "all" sends to all filters
+ *               otherwise it can be a filter or filter instance name
+ *               which will send the command to all matching filters.
+ * @param cmd    the command to sent, for handling simplicity all commands must be alphanumeric only
+ * @param arg    the argument for the command
+ * @param ts     time at which the command should be sent to the filter
+ *
+ * @note As this executes commands after this function returns, no return code
+ *       from the filter is provided, also AVFILTER_CMD_FLAG_ONE is not supported.
+ */
+int avfilter_graph_queue_command(AVFilterGraph *graph, const char *target, const char *cmd, const char *arg, int flags, double ts);
+
+
+/**
+ * Dump a graph into a human-readable string representation.
+ *
+ * @param graph    the graph to dump
+ * @param options  formatting options; currently ignored
+ * @return  a string, or NULL in case of memory allocation failure;
+ *          the string must be freed using av_free
+ */
+char *avfilter_graph_dump(AVFilterGraph *graph, const char *options);
+
+/**
+ * Request a frame on the oldest sink link.
+ *
+ * If the request returns AVERROR_EOF, try the next.
+ *
+ * Note that this function is not meant to be the sole scheduling mechanism
+ * of a filtergraph, only a convenience function to help drain a filtergraph
+ * in a balanced way under normal circumstances.
+ *
+ * Also note that AVERROR_EOF does not mean that frames did not arrive on
+ * some of the sinks during the process.
+ * When there are multiple sink links, in case the requested link
+ * returns an EOF, this may cause a filter to flush pending frames
+ * which are sent to another sink link, although unrequested.
+ *
+ * @return  the return value of ff_request_frame(),
+ *          or AVERROR_EOF if all links returned AVERROR_EOF
+ */
+int avfilter_graph_request_oldest(AVFilterGraph *graph);
+
+/**
+ * @}
+ */
+
+#endif /* AVFILTER_AVFILTER_H */
diff --git a/3rdparty/include/ffmpeg/libavfilter/avfiltergraph.h b/3rdparty/include/ffmpeg/libavfilter/avfiltergraph.h
new file mode 100644
index 0000000..b31d581
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavfilter/avfiltergraph.h
@@ -0,0 +1,28 @@
+/*
+ * Filter graphs
+ * copyright (c) 2007 Bobby Bingham
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFILTER_AVFILTERGRAPH_H
+#define AVFILTER_AVFILTERGRAPH_H
+
+#include "avfilter.h"
+#include "libavutil/log.h"
+
+#endif /* AVFILTER_AVFILTERGRAPH_H */
diff --git a/3rdparty/include/ffmpeg/libavfilter/buffersink.h b/3rdparty/include/ffmpeg/libavfilter/buffersink.h
new file mode 100644
index 0000000..e399b91
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavfilter/buffersink.h
@@ -0,0 +1,147 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFILTER_BUFFERSINK_H
+#define AVFILTER_BUFFERSINK_H
+
+/**
+ * @file
+ * @ingroup lavfi_buffersink
+ * memory buffer sink API for audio and video
+ */
+
+#include "avfilter.h"
+
+/**
+ * @defgroup lavfi_buffersink Buffer sink API
+ * @ingroup lavfi
+ * @{
+ */
+
+/**
+ * Get a frame with filtered data from sink and put it in frame.
+ *
+ * @param ctx    pointer to a buffersink or abuffersink filter context.
+ * @param frame  pointer to an allocated frame that will be filled with data.
+ *               The data must be freed using av_frame_unref() / av_frame_free()
+ * @param flags  a combination of AV_BUFFERSINK_FLAG_* flags
+ *
+ * @return  >= 0 in for success, a negative AVERROR code for failure.
+ */
+int av_buffersink_get_frame_flags(AVFilterContext *ctx, AVFrame *frame, int flags);
+
+/**
+ * Tell av_buffersink_get_buffer_ref() to read video/samples buffer
+ * reference, but not remove it from the buffer. This is useful if you
+ * need only to read a video/samples buffer, without to fetch it.
+ */
+#define AV_BUFFERSINK_FLAG_PEEK 1
+
+/**
+ * Tell av_buffersink_get_buffer_ref() not to request a frame from its input.
+ * If a frame is already buffered, it is read (and removed from the buffer),
+ * but if no frame is present, return AVERROR(EAGAIN).
+ */
+#define AV_BUFFERSINK_FLAG_NO_REQUEST 2
+
+/**
+ * Struct to use for initializing a buffersink context.
+ */
+typedef struct {
+    const enum AVPixelFormat *pixel_fmts; ///< list of allowed pixel formats, terminated by AV_PIX_FMT_NONE
+} AVBufferSinkParams;
+
+/**
+ * Create an AVBufferSinkParams structure.
+ *
+ * Must be freed with av_free().
+ */
+AVBufferSinkParams *av_buffersink_params_alloc(void);
+
+/**
+ * Struct to use for initializing an abuffersink context.
+ */
+typedef struct {
+    const enum AVSampleFormat *sample_fmts; ///< list of allowed sample formats, terminated by AV_SAMPLE_FMT_NONE
+    const int64_t *channel_layouts;         ///< list of allowed channel layouts, terminated by -1
+    const int *channel_counts;              ///< list of allowed channel counts, terminated by -1
+    int all_channel_counts;                 ///< if not 0, accept any channel count or layout
+    int *sample_rates;                      ///< list of allowed sample rates, terminated by -1
+} AVABufferSinkParams;
+
+/**
+ * Create an AVABufferSinkParams structure.
+ *
+ * Must be freed with av_free().
+ */
+AVABufferSinkParams *av_abuffersink_params_alloc(void);
+
+/**
+ * Set the frame size for an audio buffer sink.
+ *
+ * All calls to av_buffersink_get_buffer_ref will return a buffer with
+ * exactly the specified number of samples, or AVERROR(EAGAIN) if there is
+ * not enough. The last buffer at EOF will be padded with 0.
+ */
+void av_buffersink_set_frame_size(AVFilterContext *ctx, unsigned frame_size);
+
+/**
+ * Get the frame rate of the input.
+ */
+AVRational av_buffersink_get_frame_rate(AVFilterContext *ctx);
+
+/**
+ * Get a frame with filtered data from sink and put it in frame.
+ *
+ * @param ctx pointer to a context of a buffersink or abuffersink AVFilter.
+ * @param frame pointer to an allocated frame that will be filled with data.
+ *              The data must be freed using av_frame_unref() / av_frame_free()
+ *
+ * @return
+ *         - >= 0 if a frame was successfully returned.
+ *         - AVERROR(EAGAIN) if no frames are available at this point; more
+ *           input frames must be added to the filtergraph to get more output.
+ *         - AVERROR_EOF if there will be no more output frames on this sink.
+ *         - A different negative AVERROR code in other failure cases.
+ */
+int av_buffersink_get_frame(AVFilterContext *ctx, AVFrame *frame);
+
+/**
+ * Same as av_buffersink_get_frame(), but with the ability to specify the number
+ * of samples read. This function is less efficient than
+ * av_buffersink_get_frame(), because it copies the data around.
+ *
+ * @param ctx pointer to a context of the abuffersink AVFilter.
+ * @param frame pointer to an allocated frame that will be filled with data.
+ *              The data must be freed using av_frame_unref() / av_frame_free()
+ *              frame will contain exactly nb_samples audio samples, except at
+ *              the end of stream, when it can contain less than nb_samples.
+ *
+ * @return The return codes have the same meaning as for
+ *         av_buffersink_get_samples().
+ *
+ * @warning do not mix this function with av_buffersink_get_frame(). Use only one or
+ * the other with a single sink, not both.
+ */
+int av_buffersink_get_samples(AVFilterContext *ctx, AVFrame *frame, int nb_samples);
+
+/**
+ * @}
+ */
+
+#endif /* AVFILTER_BUFFERSINK_H */
diff --git a/3rdparty/include/ffmpeg/libavfilter/buffersrc.h b/3rdparty/include/ffmpeg/libavfilter/buffersrc.h
new file mode 100644
index 0000000..cd3d95f
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavfilter/buffersrc.h
@@ -0,0 +1,126 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFILTER_BUFFERSRC_H
+#define AVFILTER_BUFFERSRC_H
+
+/**
+ * @file
+ * @ingroup lavfi_buffersrc
+ * Memory buffer source API.
+ */
+
+#include "libavcodec/avcodec.h"
+#include "avfilter.h"
+
+/**
+ * @defgroup lavfi_buffersrc Buffer source API
+ * @ingroup lavfi
+ * @{
+ */
+
+enum {
+
+    /**
+     * Do not check for format changes.
+     */
+    AV_BUFFERSRC_FLAG_NO_CHECK_FORMAT = 1,
+
+    /**
+     * Immediately push the frame to the output.
+     */
+    AV_BUFFERSRC_FLAG_PUSH = 4,
+
+    /**
+     * Keep a reference to the frame.
+     * If the frame if reference-counted, create a new reference; otherwise
+     * copy the frame data.
+     */
+    AV_BUFFERSRC_FLAG_KEEP_REF = 8,
+
+};
+
+/**
+ * Get the number of failed requests.
+ *
+ * A failed request is when the request_frame method is called while no
+ * frame is present in the buffer.
+ * The number is reset when a frame is added.
+ */
+unsigned av_buffersrc_get_nb_failed_requests(AVFilterContext *buffer_src);
+
+/**
+ * Add a frame to the buffer source.
+ *
+ * @param ctx   an instance of the buffersrc filter
+ * @param frame frame to be added. If the frame is reference counted, this
+ * function will make a new reference to it. Otherwise the frame data will be
+ * copied.
+ *
+ * @return 0 on success, a negative AVERROR on error
+ *
+ * This function is equivalent to av_buffersrc_add_frame_flags() with the
+ * AV_BUFFERSRC_FLAG_KEEP_REF flag.
+ */
+int av_buffersrc_write_frame(AVFilterContext *ctx, const AVFrame *frame);
+
+/**
+ * Add a frame to the buffer source.
+ *
+ * @param ctx   an instance of the buffersrc filter
+ * @param frame frame to be added. If the frame is reference counted, this
+ * function will take ownership of the reference(s) and reset the frame.
+ * Otherwise the frame data will be copied. If this function returns an error,
+ * the input frame is not touched.
+ *
+ * @return 0 on success, a negative AVERROR on error.
+ *
+ * @note the difference between this function and av_buffersrc_write_frame() is
+ * that av_buffersrc_write_frame() creates a new reference to the input frame,
+ * while this function takes ownership of the reference passed to it.
+ *
+ * This function is equivalent to av_buffersrc_add_frame_flags() without the
+ * AV_BUFFERSRC_FLAG_KEEP_REF flag.
+ */
+int av_buffersrc_add_frame(AVFilterContext *ctx, AVFrame *frame);
+
+/**
+ * Add a frame to the buffer source.
+ *
+ * By default, if the frame is reference-counted, this function will take
+ * ownership of the reference(s) and reset the frame. This can be controlled
+ * using the flags.
+ *
+ * If this function returns an error, the input frame is not touched.
+ *
+ * @param buffer_src  pointer to a buffer source context
+ * @param frame       a frame, or NULL to mark EOF
+ * @param flags       a combination of AV_BUFFERSRC_FLAG_*
+ * @return            >= 0 in case of success, a negative AVERROR code
+ *                    in case of failure
+ */
+int av_buffersrc_add_frame_flags(AVFilterContext *buffer_src,
+                                 AVFrame *frame, int flags);
+
+
+/**
+ * @}
+ */
+
+#endif /* AVFILTER_BUFFERSRC_H */
diff --git a/3rdparty/include/ffmpeg/libavfilter/version.h b/3rdparty/include/ffmpeg/libavfilter/version.h
new file mode 100644
index 0000000..cde62d8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavfilter/version.h
@@ -0,0 +1,71 @@
+/*
+ * Version macros.
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFILTER_VERSION_H
+#define AVFILTER_VERSION_H
+
+/**
+ * @file
+ * @ingroup lavfi
+ * Libavfilter version macros
+ */
+
+#include "libavutil/version.h"
+
+#define LIBAVFILTER_VERSION_MAJOR   6
+#define LIBAVFILTER_VERSION_MINOR  10
+#define LIBAVFILTER_VERSION_MICRO 100
+
+#define LIBAVFILTER_VERSION_INT AV_VERSION_INT(LIBAVFILTER_VERSION_MAJOR, \
+                                               LIBAVFILTER_VERSION_MINOR, \
+                                               LIBAVFILTER_VERSION_MICRO)
+#define LIBAVFILTER_VERSION     AV_VERSION(LIBAVFILTER_VERSION_MAJOR,   \
+                                           LIBAVFILTER_VERSION_MINOR,   \
+                                           LIBAVFILTER_VERSION_MICRO)
+#define LIBAVFILTER_BUILD       LIBAVFILTER_VERSION_INT
+
+#define LIBAVFILTER_IDENT       "Lavfi" AV_STRINGIFY(LIBAVFILTER_VERSION)
+
+/**
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ */
+
+#ifndef FF_API_OLD_FILTER_OPTS
+#define FF_API_OLD_FILTER_OPTS              (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+#ifndef FF_API_OLD_FILTER_OPTS_ERROR
+#define FF_API_OLD_FILTER_OPTS_ERROR        (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+#ifndef FF_API_AVFILTER_OPEN
+#define FF_API_AVFILTER_OPEN                (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+#ifndef FF_API_AVFILTER_INIT_FILTER
+#define FF_API_AVFILTER_INIT_FILTER         (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+#ifndef FF_API_OLD_FILTER_REGISTER
+#define FF_API_OLD_FILTER_REGISTER          (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+#ifndef FF_API_NOCONST_GET_NAME
+#define FF_API_NOCONST_GET_NAME             (LIBAVFILTER_VERSION_MAJOR < 7)
+#endif
+
+#endif /* AVFILTER_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libavformat/avformat.h b/3rdparty/include/ffmpeg/libavformat/avformat.h
new file mode 100644
index 0000000..e2a27d4
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavformat/avformat.h
@@ -0,0 +1,2736 @@
+/*
+ * copyright (c) 2001 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFORMAT_AVFORMAT_H
+#define AVFORMAT_AVFORMAT_H
+
+/**
+ * @file
+ * @ingroup libavf
+ * Main libavformat public API header
+ */
+
+/**
+ * @defgroup libavf I/O and Muxing/Demuxing Library
+ * @{
+ *
+ * Libavformat (lavf) is a library for dealing with various media container
+ * formats. Its main two purposes are demuxing - i.e. splitting a media file
+ * into component streams, and the reverse process of muxing - writing supplied
+ * data in a specified container format. It also has an @ref lavf_io
+ * "I/O module" which supports a number of protocols for accessing the data (e.g.
+ * file, tcp, http and others). Before using lavf, you need to call
+ * av_register_all() to register all compiled muxers, demuxers and protocols.
+ * Unless you are absolutely sure you won't use libavformat's network
+ * capabilities, you should also call avformat_network_init().
+ *
+ * A supported input format is described by an AVInputFormat struct, conversely
+ * an output format is described by AVOutputFormat. You can iterate over all
+ * registered input/output formats using the av_iformat_next() /
+ * av_oformat_next() functions. The protocols layer is not part of the public
+ * API, so you can only get the names of supported protocols with the
+ * avio_enum_protocols() function.
+ *
+ * Main lavf structure used for both muxing and demuxing is AVFormatContext,
+ * which exports all information about the file being read or written. As with
+ * most Libavformat structures, its size is not part of public ABI, so it cannot be
+ * allocated on stack or directly with av_malloc(). To create an
+ * AVFormatContext, use avformat_alloc_context() (some functions, like
+ * avformat_open_input() might do that for you).
+ *
+ * Most importantly an AVFormatContext contains:
+ * @li the @ref AVFormatContext.iformat "input" or @ref AVFormatContext.oformat
+ * "output" format. It is either autodetected or set by user for input;
+ * always set by user for output.
+ * @li an @ref AVFormatContext.streams "array" of AVStreams, which describe all
+ * elementary streams stored in the file. AVStreams are typically referred to
+ * using their index in this array.
+ * @li an @ref AVFormatContext.pb "I/O context". It is either opened by lavf or
+ * set by user for input, always set by user for output (unless you are dealing
+ * with an AVFMT_NOFILE format).
+ *
+ * @section lavf_options Passing options to (de)muxers
+ * It is possible to configure lavf muxers and demuxers using the @ref avoptions
+ * mechanism. Generic (format-independent) libavformat options are provided by
+ * AVFormatContext, they can be examined from a user program by calling
+ * av_opt_next() / av_opt_find() on an allocated AVFormatContext (or its AVClass
+ * from avformat_get_class()). Private (format-specific) options are provided by
+ * AVFormatContext.priv_data if and only if AVInputFormat.priv_class /
+ * AVOutputFormat.priv_class of the corresponding format struct is non-NULL.
+ * Further options may be provided by the @ref AVFormatContext.pb "I/O context",
+ * if its AVClass is non-NULL, and the protocols layer. See the discussion on
+ * nesting in @ref avoptions documentation to learn how to access those.
+ *
+ * @defgroup lavf_decoding Demuxing
+ * @{
+ * Demuxers read a media file and split it into chunks of data (@em packets). A
+ * @ref AVPacket "packet" contains one or more encoded frames which belongs to a
+ * single elementary stream. In the lavf API this process is represented by the
+ * avformat_open_input() function for opening a file, av_read_frame() for
+ * reading a single packet and finally avformat_close_input(), which does the
+ * cleanup.
+ *
+ * @section lavf_decoding_open Opening a media file
+ * The minimum information required to open a file is its URL or filename, which
+ * is passed to avformat_open_input(), as in the following code:
+ * @code
+ * const char    *url = "in.mp3";
+ * AVFormatContext *s = NULL;
+ * int ret = avformat_open_input(&s, url, NULL, NULL);
+ * if (ret < 0)
+ *     abort();
+ * @endcode
+ * The above code attempts to allocate an AVFormatContext, open the
+ * specified file (autodetecting the format) and read the header, exporting the
+ * information stored there into s. Some formats do not have a header or do not
+ * store enough information there, so it is recommended that you call the
+ * avformat_find_stream_info() function which tries to read and decode a few
+ * frames to find missing information.
+ *
+ * In some cases you might want to preallocate an AVFormatContext yourself with
+ * avformat_alloc_context() and do some tweaking on it before passing it to
+ * avformat_open_input(). One such case is when you want to use custom functions
+ * for reading input data instead of lavf internal I/O layer.
+ * To do that, create your own AVIOContext with avio_alloc_context(), passing
+ * your reading callbacks to it. Then set the @em pb field of your
+ * AVFormatContext to newly created AVIOContext.
+ *
+ * Since the format of the opened file is in general not known until after
+ * avformat_open_input() has returned, it is not possible to set demuxer private
+ * options on a preallocated context. Instead, the options should be passed to
+ * avformat_open_input() wrapped in an AVDictionary:
+ * @code
+ * AVDictionary *options = NULL;
+ * av_dict_set(&options, "video_size", "640x480", 0);
+ * av_dict_set(&options, "pixel_format", "rgb24", 0);
+ *
+ * if (avformat_open_input(&s, url, NULL, &options) < 0)
+ *     abort();
+ * av_dict_free(&options);
+ * @endcode
+ * This code passes the private options 'video_size' and 'pixel_format' to the
+ * demuxer. They would be necessary for e.g. the rawvideo demuxer, since it
+ * cannot know how to interpret raw video data otherwise. If the format turns
+ * out to be something different than raw video, those options will not be
+ * recognized by the demuxer and therefore will not be applied. Such unrecognized
+ * options are then returned in the options dictionary (recognized options are
+ * consumed). The calling program can handle such unrecognized options as it
+ * wishes, e.g.
+ * @code
+ * AVDictionaryEntry *e;
+ * if (e = av_dict_get(options, "", NULL, AV_DICT_IGNORE_SUFFIX)) {
+ *     fprintf(stderr, "Option %s not recognized by the demuxer.\n", e->key);
+ *     abort();
+ * }
+ * @endcode
+ *
+ * After you have finished reading the file, you must close it with
+ * avformat_close_input(). It will free everything associated with the file.
+ *
+ * @section lavf_decoding_read Reading from an opened file
+ * Reading data from an opened AVFormatContext is done by repeatedly calling
+ * av_read_frame() on it. Each call, if successful, will return an AVPacket
+ * containing encoded data for one AVStream, identified by
+ * AVPacket.stream_index. This packet may be passed straight into the libavcodec
+ * decoding functions avcodec_decode_video2(), avcodec_decode_audio4() or
+ * avcodec_decode_subtitle2() if the caller wishes to decode the data.
+ *
+ * AVPacket.pts, AVPacket.dts and AVPacket.duration timing information will be
+ * set if known. They may also be unset (i.e. AV_NOPTS_VALUE for
+ * pts/dts, 0 for duration) if the stream does not provide them. The timing
+ * information will be in AVStream.time_base units, i.e. it has to be
+ * multiplied by the timebase to convert them to seconds.
+ *
+ * If AVPacket.buf is set on the returned packet, then the packet is
+ * allocated dynamically and the user may keep it indefinitely.
+ * Otherwise, if AVPacket.buf is NULL, the packet data is backed by a
+ * static storage somewhere inside the demuxer and the packet is only valid
+ * until the next av_read_frame() call or closing the file. If the caller
+ * requires a longer lifetime, av_dup_packet() will make an av_malloc()ed copy
+ * of it.
+ * In both cases, the packet must be freed with av_free_packet() when it is no
+ * longer needed.
+ *
+ * @section lavf_decoding_seek Seeking
+ * @}
+ *
+ * @defgroup lavf_encoding Muxing
+ * @{
+ * Muxers take encoded data in the form of @ref AVPacket "AVPackets" and write
+ * it into files or other output bytestreams in the specified container format.
+ *
+ * The main API functions for muxing are avformat_write_header() for writing the
+ * file header, av_write_frame() / av_interleaved_write_frame() for writing the
+ * packets and av_write_trailer() for finalizing the file.
+ *
+ * At the beginning of the muxing process, the caller must first call
+ * avformat_alloc_context() to create a muxing context. The caller then sets up
+ * the muxer by filling the various fields in this context:
+ *
+ * - The @ref AVFormatContext.oformat "oformat" field must be set to select the
+ *   muxer that will be used.
+ * - Unless the format is of the AVFMT_NOFILE type, the @ref AVFormatContext.pb
+ *   "pb" field must be set to an opened IO context, either returned from
+ *   avio_open2() or a custom one.
+ * - Unless the format is of the AVFMT_NOSTREAMS type, at least one stream must
+ *   be created with the avformat_new_stream() function. The caller should fill
+ *   the @ref AVStream.codec "stream codec context" information, such as the
+ *   codec @ref AVCodecContext.codec_type "type", @ref AVCodecContext.codec_id
+ *   "id" and other parameters (e.g. width / height, the pixel or sample format,
+ *   etc.) as known. The @ref AVStream.time_base "stream timebase" should
+ *   be set to the timebase that the caller desires to use for this stream (note
+ *   that the timebase actually used by the muxer can be different, as will be
+ *   described later).
+ * - It is advised to manually initialize only the relevant fields in
+ *   AVCodecContext, rather than using @ref avcodec_copy_context() during
+ *   remuxing: there is no guarantee that the codec context values remain valid
+ *   for both input and output format contexts.
+ * - The caller may fill in additional information, such as @ref
+ *   AVFormatContext.metadata "global" or @ref AVStream.metadata "per-stream"
+ *   metadata, @ref AVFormatContext.chapters "chapters", @ref
+ *   AVFormatContext.programs "programs", etc. as described in the
+ *   AVFormatContext documentation. Whether such information will actually be
+ *   stored in the output depends on what the container format and the muxer
+ *   support.
+ *
+ * When the muxing context is fully set up, the caller must call
+ * avformat_write_header() to initialize the muxer internals and write the file
+ * header. Whether anything actually is written to the IO context at this step
+ * depends on the muxer, but this function must always be called. Any muxer
+ * private options must be passed in the options parameter to this function.
+ *
+ * The data is then sent to the muxer by repeatedly calling av_write_frame() or
+ * av_interleaved_write_frame() (consult those functions' documentation for
+ * discussion on the difference between them; only one of them may be used with
+ * a single muxing context, they should not be mixed). Do note that the timing
+ * information on the packets sent to the muxer must be in the corresponding
+ * AVStream's timebase. That timebase is set by the muxer (in the
+ * avformat_write_header() step) and may be different from the timebase
+ * requested by the caller.
+ *
+ * Once all the data has been written, the caller must call av_write_trailer()
+ * to flush any buffered packets and finalize the output file, then close the IO
+ * context (if any) and finally free the muxing context with
+ * avformat_free_context().
+ * @}
+ *
+ * @defgroup lavf_io I/O Read/Write
+ * @{
+ * @section lavf_io_dirlist Directory listing
+ * The directory listing API makes it possible to list files on remote servers.
+ *
+ * Some of possible use cases:
+ * - an "open file" dialog to choose files from a remote location,
+ * - a recursive media finder providing a player with an ability to play all
+ * files from a given directory.
+ *
+ * @subsection lavf_io_dirlist_open Opening a directory
+ * At first, a directory needs to be opened by calling avio_open_dir()
+ * supplied with a URL and, optionally, ::AVDictionary containing
+ * protocol-specific parameters. The function returns zero or positive
+ * integer and allocates AVIODirContext on success.
+ *
+ * @code
+ * AVIODirContext *ctx = NULL;
+ * if (avio_open_dir(&ctx, "smb://example.com/some_dir", NULL) < 0) {
+ *     fprintf(stderr, "Cannot open directory.\n");
+ *     abort();
+ * }
+ * @endcode
+ *
+ * This code tries to open a sample directory using smb protocol without
+ * any additional parameters.
+ *
+ * @subsection lavf_io_dirlist_read Reading entries
+ * Each directory's entry (i.e. file, another directory, anything else
+ * within ::AVIODirEntryType) is represented by AVIODirEntry.
+ * Reading consecutive entries from an opened AVIODirContext is done by
+ * repeatedly calling avio_read_dir() on it. Each call returns zero or
+ * positive integer if successful. Reading can be stopped right after the
+ * NULL entry has been read -- it means there are no entries left to be
+ * read. The following code reads all entries from a directory associated
+ * with ctx and prints their names to standard output.
+ * @code
+ * AVIODirEntry *entry = NULL;
+ * for (;;) {
+ *     if (avio_read_dir(ctx, &entry) < 0) {
+ *         fprintf(stderr, "Cannot list directory.\n");
+ *         abort();
+ *     }
+ *     if (!entry)
+ *         break;
+ *     printf("%s\n", entry->name);
+ *     avio_free_directory_entry(&entry);
+ * }
+ * @endcode
+ * @}
+ *
+ * @defgroup lavf_codec Demuxers
+ * @{
+ * @defgroup lavf_codec_native Native Demuxers
+ * @{
+ * @}
+ * @defgroup lavf_codec_wrappers External library wrappers
+ * @{
+ * @}
+ * @}
+ * @defgroup lavf_protos I/O Protocols
+ * @{
+ * @}
+ * @defgroup lavf_internal Internal
+ * @{
+ * @}
+ * @}
+ *
+ */
+
+#include <time.h>
+#include <stdio.h>  /* FILE */
+#include "libavcodec/avcodec.h"
+#include "libavutil/dict.h"
+#include "libavutil/log.h"
+
+#include "avio.h"
+#include "libavformat/version.h"
+
+struct AVFormatContext;
+
+struct AVDeviceInfoList;
+struct AVDeviceCapabilitiesQuery;
+
+/**
+ * @defgroup metadata_api Public Metadata API
+ * @{
+ * @ingroup libavf
+ * The metadata API allows libavformat to export metadata tags to a client
+ * application when demuxing. Conversely it allows a client application to
+ * set metadata when muxing.
+ *
+ * Metadata is exported or set as pairs of key/value strings in the 'metadata'
+ * fields of the AVFormatContext, AVStream, AVChapter and AVProgram structs
+ * using the @ref lavu_dict "AVDictionary" API. Like all strings in FFmpeg,
+ * metadata is assumed to be UTF-8 encoded Unicode. Note that metadata
+ * exported by demuxers isn't checked to be valid UTF-8 in most cases.
+ *
+ * Important concepts to keep in mind:
+ * -  Keys are unique; there can never be 2 tags with the same key. This is
+ *    also meant semantically, i.e., a demuxer should not knowingly produce
+ *    several keys that are literally different but semantically identical.
+ *    E.g., key=Author5, key=Author6. In this example, all authors must be
+ *    placed in the same tag.
+ * -  Metadata is flat, not hierarchical; there are no subtags. If you
+ *    want to store, e.g., the email address of the child of producer Alice
+ *    and actor Bob, that could have key=alice_and_bobs_childs_email_address.
+ * -  Several modifiers can be applied to the tag name. This is done by
+ *    appending a dash character ('-') and the modifier name in the order
+ *    they appear in the list below -- e.g. foo-eng-sort, not foo-sort-eng.
+ *    -  language -- a tag whose value is localized for a particular language
+ *       is appended with the ISO 639-2/B 3-letter language code.
+ *       For example: Author-ger=Michael, Author-eng=Mike
+ *       The original/default language is in the unqualified "Author" tag.
+ *       A demuxer should set a default if it sets any translated tag.
+ *    -  sorting  -- a modified version of a tag that should be used for
+ *       sorting will have '-sort' appended. E.g. artist="The Beatles",
+ *       artist-sort="Beatles, The".
+ * - Some protocols and demuxers support metadata updates. After a successful
+ *   call to av_read_packet(), AVFormatContext.event_flags or AVStream.event_flags
+ *   will be updated to indicate if metadata changed. In order to detect metadata
+ *   changes on a stream, you need to loop through all streams in the AVFormatContext
+ *   and check their individual event_flags.
+ *
+ * -  Demuxers attempt to export metadata in a generic format, however tags
+ *    with no generic equivalents are left as they are stored in the container.
+ *    Follows a list of generic tag names:
+ *
+ @verbatim
+ album        -- name of the set this work belongs to
+ album_artist -- main creator of the set/album, if different from artist.
+                 e.g. "Various Artists" for compilation albums.
+ artist       -- main creator of the work
+ comment      -- any additional description of the file.
+ composer     -- who composed the work, if different from artist.
+ copyright    -- name of copyright holder.
+ creation_time-- date when the file was created, preferably in ISO 8601.
+ date         -- date when the work was created, preferably in ISO 8601.
+ disc         -- number of a subset, e.g. disc in a multi-disc collection.
+ encoder      -- name/settings of the software/hardware that produced the file.
+ encoded_by   -- person/group who created the file.
+ filename     -- original name of the file.
+ genre        -- <self-evident>.
+ language     -- main language in which the work is performed, preferably
+                 in ISO 639-2 format. Multiple languages can be specified by
+                 separating them with commas.
+ performer    -- artist who performed the work, if different from artist.
+                 E.g for "Also sprach Zarathustra", artist would be "Richard
+                 Strauss" and performer "London Philharmonic Orchestra".
+ publisher    -- name of the label/publisher.
+ service_name     -- name of the service in broadcasting (channel name).
+ service_provider -- name of the service provider in broadcasting.
+ title        -- name of the work.
+ track        -- number of this work in the set, can be in form current/total.
+ variant_bitrate -- the total bitrate of the bitrate variant that the current stream is part of
+ @endverbatim
+ *
+ * Look in the examples section for an application example how to use the Metadata API.
+ *
+ * @}
+ */
+
+/* packet functions */
+
+
+/**
+ * Allocate and read the payload of a packet and initialize its
+ * fields with default values.
+ *
+ * @param s    associated IO context
+ * @param pkt packet
+ * @param size desired payload size
+ * @return >0 (read size) if OK, AVERROR_xxx otherwise
+ */
+int av_get_packet(AVIOContext *s, AVPacket *pkt, int size);
+
+
+/**
+ * Read data and append it to the current content of the AVPacket.
+ * If pkt->size is 0 this is identical to av_get_packet.
+ * Note that this uses av_grow_packet and thus involves a realloc
+ * which is inefficient. Thus this function should only be used
+ * when there is no reasonable way to know (an upper bound of)
+ * the final size.
+ *
+ * @param s    associated IO context
+ * @param pkt packet
+ * @param size amount of data to read
+ * @return >0 (read size) if OK, AVERROR_xxx otherwise, previous data
+ *         will not be lost even if an error occurs.
+ */
+int av_append_packet(AVIOContext *s, AVPacket *pkt, int size);
+
+#if FF_API_LAVF_FRAC
+/*************************************************/
+/* fractional numbers for exact pts handling */
+
+/**
+ * The exact value of the fractional number is: 'val + num / den'.
+ * num is assumed to be 0 <= num < den.
+ */
+typedef struct AVFrac {
+    int64_t val, num, den;
+} AVFrac;
+#endif
+
+/*************************************************/
+/* input/output formats */
+
+struct AVCodecTag;
+
+/**
+ * This structure contains the data a format has to probe a file.
+ */
+typedef struct AVProbeData {
+    const char *filename;
+    unsigned char *buf; /**< Buffer must have AVPROBE_PADDING_SIZE of extra allocated bytes filled with zero. */
+    int buf_size;       /**< Size of buf except extra allocated bytes */
+    const char *mime_type; /**< mime_type, when known. */
+} AVProbeData;
+
+#define AVPROBE_SCORE_RETRY (AVPROBE_SCORE_MAX/4)
+#define AVPROBE_SCORE_STREAM_RETRY (AVPROBE_SCORE_MAX/4-1)
+
+#define AVPROBE_SCORE_EXTENSION  50 ///< score for file extension
+#define AVPROBE_SCORE_MIME       75 ///< score for file mime type
+#define AVPROBE_SCORE_MAX       100 ///< maximum score
+
+#define AVPROBE_PADDING_SIZE 32             ///< extra allocated bytes at the end of the probe buffer
+
+/// Demuxer will use avio_open, no opened file should be provided by the caller.
+#define AVFMT_NOFILE        0x0001
+#define AVFMT_NEEDNUMBER    0x0002 /**< Needs '%d' in filename. */
+#define AVFMT_SHOW_IDS      0x0008 /**< Show format stream IDs numbers. */
+#define AVFMT_RAWPICTURE    0x0020 /**< Format wants AVPicture structure for
+                                      raw picture data. */
+#define AVFMT_GLOBALHEADER  0x0040 /**< Format wants global header. */
+#define AVFMT_NOTIMESTAMPS  0x0080 /**< Format does not need / have any timestamps. */
+#define AVFMT_GENERIC_INDEX 0x0100 /**< Use generic index building code. */
+#define AVFMT_TS_DISCONT    0x0200 /**< Format allows timestamp discontinuities. Note, muxers always require valid (monotone) timestamps */
+#define AVFMT_VARIABLE_FPS  0x0400 /**< Format allows variable fps. */
+#define AVFMT_NODIMENSIONS  0x0800 /**< Format does not need width/height */
+#define AVFMT_NOSTREAMS     0x1000 /**< Format does not require any streams */
+#define AVFMT_NOBINSEARCH   0x2000 /**< Format does not allow to fall back on binary search via read_timestamp */
+#define AVFMT_NOGENSEARCH   0x4000 /**< Format does not allow to fall back on generic search */
+#define AVFMT_NO_BYTE_SEEK  0x8000 /**< Format does not allow seeking by bytes */
+#define AVFMT_ALLOW_FLUSH  0x10000 /**< Format allows flushing. If not set, the muxer will not receive a NULL packet in the write_packet function. */
+#define AVFMT_TS_NONSTRICT 0x20000 /**< Format does not require strictly
+                                        increasing timestamps, but they must
+                                        still be monotonic */
+#define AVFMT_TS_NEGATIVE  0x40000 /**< Format allows muxing negative
+                                        timestamps. If not set the timestamp
+                                        will be shifted in av_write_frame and
+                                        av_interleaved_write_frame so they
+                                        start from 0.
+                                        The user or muxer can override this through
+                                        AVFormatContext.avoid_negative_ts
+                                        */
+
+#define AVFMT_SEEK_TO_PTS   0x4000000 /**< Seeking is based on PTS */
+
+/**
+ * @addtogroup lavf_encoding
+ * @{
+ */
+typedef struct AVOutputFormat {
+    const char *name;
+    /**
+     * Descriptive name for the format, meant to be more human-readable
+     * than name. You should use the NULL_IF_CONFIG_SMALL() macro
+     * to define it.
+     */
+    const char *long_name;
+    const char *mime_type;
+    const char *extensions; /**< comma-separated filename extensions */
+    /* output support */
+    enum AVCodecID audio_codec;    /**< default audio codec */
+    enum AVCodecID video_codec;    /**< default video codec */
+    enum AVCodecID subtitle_codec; /**< default subtitle codec */
+    /**
+     * can use flags: AVFMT_NOFILE, AVFMT_NEEDNUMBER, AVFMT_RAWPICTURE,
+     * AVFMT_GLOBALHEADER, AVFMT_NOTIMESTAMPS, AVFMT_VARIABLE_FPS,
+     * AVFMT_NODIMENSIONS, AVFMT_NOSTREAMS, AVFMT_ALLOW_FLUSH,
+     * AVFMT_TS_NONSTRICT
+     */
+    int flags;
+
+    /**
+     * List of supported codec_id-codec_tag pairs, ordered by "better
+     * choice first". The arrays are all terminated by AV_CODEC_ID_NONE.
+     */
+    const struct AVCodecTag * const *codec_tag;
+
+
+    const AVClass *priv_class; ///< AVClass for the private context
+
+    /*****************************************************************
+     * No fields below this line are part of the public API. They
+     * may not be used outside of libavformat and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    struct AVOutputFormat *next;
+    /**
+     * size of private data so that it can be allocated in the wrapper
+     */
+    int priv_data_size;
+
+    int (*write_header)(struct AVFormatContext *);
+    /**
+     * Write a packet. If AVFMT_ALLOW_FLUSH is set in flags,
+     * pkt can be NULL in order to flush data buffered in the muxer.
+     * When flushing, return 0 if there still is more data to flush,
+     * or 1 if everything was flushed and there is no more buffered
+     * data.
+     */
+    int (*write_packet)(struct AVFormatContext *, AVPacket *pkt);
+    int (*write_trailer)(struct AVFormatContext *);
+    /**
+     * Currently only used to set pixel format if not YUV420P.
+     */
+    int (*interleave_packet)(struct AVFormatContext *, AVPacket *out,
+                             AVPacket *in, int flush);
+    /**
+     * Test if the given codec can be stored in this container.
+     *
+     * @return 1 if the codec is supported, 0 if it is not.
+     *         A negative number if unknown.
+     *         MKTAG('A', 'P', 'I', 'C') if the codec is only supported as AV_DISPOSITION_ATTACHED_PIC
+     */
+    int (*query_codec)(enum AVCodecID id, int std_compliance);
+
+    void (*get_output_timestamp)(struct AVFormatContext *s, int stream,
+                                 int64_t *dts, int64_t *wall);
+    /**
+     * Allows sending messages from application to device.
+     */
+    int (*control_message)(struct AVFormatContext *s, int type,
+                           void *data, size_t data_size);
+
+    /**
+     * Write an uncoded AVFrame.
+     *
+     * See av_write_uncoded_frame() for details.
+     *
+     * The library will free *frame afterwards, but the muxer can prevent it
+     * by setting the pointer to NULL.
+     */
+    int (*write_uncoded_frame)(struct AVFormatContext *, int stream_index,
+                               AVFrame **frame, unsigned flags);
+    /**
+     * Returns device list with it properties.
+     * @see avdevice_list_devices() for more details.
+     */
+    int (*get_device_list)(struct AVFormatContext *s, struct AVDeviceInfoList *device_list);
+    /**
+     * Initialize device capabilities submodule.
+     * @see avdevice_capabilities_create() for more details.
+     */
+    int (*create_device_capabilities)(struct AVFormatContext *s, struct AVDeviceCapabilitiesQuery *caps);
+    /**
+     * Free device capabilities submodule.
+     * @see avdevice_capabilities_free() for more details.
+     */
+    int (*free_device_capabilities)(struct AVFormatContext *s, struct AVDeviceCapabilitiesQuery *caps);
+    enum AVCodecID data_codec; /**< default data codec */
+} AVOutputFormat;
+/**
+ * @}
+ */
+
+/**
+ * @addtogroup lavf_decoding
+ * @{
+ */
+typedef struct AVInputFormat {
+    /**
+     * A comma separated list of short names for the format. New names
+     * may be appended with a minor bump.
+     */
+    const char *name;
+
+    /**
+     * Descriptive name for the format, meant to be more human-readable
+     * than name. You should use the NULL_IF_CONFIG_SMALL() macro
+     * to define it.
+     */
+    const char *long_name;
+
+    /**
+     * Can use flags: AVFMT_NOFILE, AVFMT_NEEDNUMBER, AVFMT_SHOW_IDS,
+     * AVFMT_GENERIC_INDEX, AVFMT_TS_DISCONT, AVFMT_NOBINSEARCH,
+     * AVFMT_NOGENSEARCH, AVFMT_NO_BYTE_SEEK, AVFMT_SEEK_TO_PTS.
+     */
+    int flags;
+
+    /**
+     * If extensions are defined, then no probe is done. You should
+     * usually not use extension format guessing because it is not
+     * reliable enough
+     */
+    const char *extensions;
+
+    const struct AVCodecTag * const *codec_tag;
+
+    const AVClass *priv_class; ///< AVClass for the private context
+
+    /**
+     * Comma-separated list of mime types.
+     * It is used check for matching mime types while probing.
+     * @see av_probe_input_format2
+     */
+    const char *mime_type;
+
+    /*****************************************************************
+     * No fields below this line are part of the public API. They
+     * may not be used outside of libavformat and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    struct AVInputFormat *next;
+
+    /**
+     * Raw demuxers store their codec ID here.
+     */
+    int raw_codec_id;
+
+    /**
+     * Size of private data so that it can be allocated in the wrapper.
+     */
+    int priv_data_size;
+
+    /**
+     * Tell if a given file has a chance of being parsed as this format.
+     * The buffer provided is guaranteed to be AVPROBE_PADDING_SIZE bytes
+     * big so you do not have to check for that unless you need more.
+     */
+    int (*read_probe)(AVProbeData *);
+
+    /**
+     * Read the format header and initialize the AVFormatContext
+     * structure. Return 0 if OK. 'avformat_new_stream' should be
+     * called to create new streams.
+     */
+    int (*read_header)(struct AVFormatContext *);
+
+    /**
+     * Read one packet and put it in 'pkt'. pts and flags are also
+     * set. 'avformat_new_stream' can be called only if the flag
+     * AVFMTCTX_NOHEADER is used and only in the calling thread (not in a
+     * background thread).
+     * @return 0 on success, < 0 on error.
+     *         When returning an error, pkt must not have been allocated
+     *         or must be freed before returning
+     */
+    int (*read_packet)(struct AVFormatContext *, AVPacket *pkt);
+
+    /**
+     * Close the stream. The AVFormatContext and AVStreams are not
+     * freed by this function
+     */
+    int (*read_close)(struct AVFormatContext *);
+
+    /**
+     * Seek to a given timestamp relative to the frames in
+     * stream component stream_index.
+     * @param stream_index Must not be -1.
+     * @param flags Selects which direction should be preferred if no exact
+     *              match is available.
+     * @return >= 0 on success (but not necessarily the new offset)
+     */
+    int (*read_seek)(struct AVFormatContext *,
+                     int stream_index, int64_t timestamp, int flags);
+
+    /**
+     * Get the next timestamp in stream[stream_index].time_base units.
+     * @return the timestamp or AV_NOPTS_VALUE if an error occurred
+     */
+    int64_t (*read_timestamp)(struct AVFormatContext *s, int stream_index,
+                              int64_t *pos, int64_t pos_limit);
+
+    /**
+     * Start/resume playing - only meaningful if using a network-based format
+     * (RTSP).
+     */
+    int (*read_play)(struct AVFormatContext *);
+
+    /**
+     * Pause playing - only meaningful if using a network-based format
+     * (RTSP).
+     */
+    int (*read_pause)(struct AVFormatContext *);
+
+    /**
+     * Seek to timestamp ts.
+     * Seeking will be done so that the point from which all active streams
+     * can be presented successfully will be closest to ts and within min/max_ts.
+     * Active streams are all streams that have AVStream.discard < AVDISCARD_ALL.
+     */
+    int (*read_seek2)(struct AVFormatContext *s, int stream_index, int64_t min_ts, int64_t ts, int64_t max_ts, int flags);
+
+    /**
+     * Returns device list with it properties.
+     * @see avdevice_list_devices() for more details.
+     */
+    int (*get_device_list)(struct AVFormatContext *s, struct AVDeviceInfoList *device_list);
+
+    /**
+     * Initialize device capabilities submodule.
+     * @see avdevice_capabilities_create() for more details.
+     */
+    int (*create_device_capabilities)(struct AVFormatContext *s, struct AVDeviceCapabilitiesQuery *caps);
+
+    /**
+     * Free device capabilities submodule.
+     * @see avdevice_capabilities_free() for more details.
+     */
+    int (*free_device_capabilities)(struct AVFormatContext *s, struct AVDeviceCapabilitiesQuery *caps);
+} AVInputFormat;
+/**
+ * @}
+ */
+
+enum AVStreamParseType {
+    AVSTREAM_PARSE_NONE,
+    AVSTREAM_PARSE_FULL,       /**< full parsing and repack */
+    AVSTREAM_PARSE_HEADERS,    /**< Only parse headers, do not repack. */
+    AVSTREAM_PARSE_TIMESTAMPS, /**< full parsing and interpolation of timestamps for frames not starting on a packet boundary */
+    AVSTREAM_PARSE_FULL_ONCE,  /**< full parsing and repack of the first frame only, only implemented for H.264 currently */
+    AVSTREAM_PARSE_FULL_RAW=MKTAG(0,'R','A','W'),       /**< full parsing and repack with timestamp and position generation by parser for raw
+                                                             this assumes that each packet in the file contains no demuxer level headers and
+                                                             just codec level data, otherwise position generation would fail */
+};
+
+typedef struct AVIndexEntry {
+    int64_t pos;
+    int64_t timestamp;        /**<
+                               * Timestamp in AVStream.time_base units, preferably the time from which on correctly decoded frames are available
+                               * when seeking to this entry. That means preferable PTS on keyframe based formats.
+                               * But demuxers can choose to store a different timestamp, if it is more convenient for the implementation or nothing better
+                               * is known
+                               */
+#define AVINDEX_KEYFRAME 0x0001
+    int flags:2;
+    int size:30; //Yeah, trying to keep the size of this small to reduce memory requirements (it is 24 vs. 32 bytes due to possible 8-byte alignment).
+    int min_distance;         /**< Minimum distance between this and the previous keyframe, used to avoid unneeded searching. */
+} AVIndexEntry;
+
+#define AV_DISPOSITION_DEFAULT   0x0001
+#define AV_DISPOSITION_DUB       0x0002
+#define AV_DISPOSITION_ORIGINAL  0x0004
+#define AV_DISPOSITION_COMMENT   0x0008
+#define AV_DISPOSITION_LYRICS    0x0010
+#define AV_DISPOSITION_KARAOKE   0x0020
+
+/**
+ * Track should be used during playback by default.
+ * Useful for subtitle track that should be displayed
+ * even when user did not explicitly ask for subtitles.
+ */
+#define AV_DISPOSITION_FORCED    0x0040
+#define AV_DISPOSITION_HEARING_IMPAIRED  0x0080  /**< stream for hearing impaired audiences */
+#define AV_DISPOSITION_VISUAL_IMPAIRED   0x0100  /**< stream for visual impaired audiences */
+#define AV_DISPOSITION_CLEAN_EFFECTS     0x0200  /**< stream without voice */
+/**
+ * The stream is stored in the file as an attached picture/"cover art" (e.g.
+ * APIC frame in ID3v2). The single packet associated with it will be returned
+ * among the first few packets read from the file unless seeking takes place.
+ * It can also be accessed at any time in AVStream.attached_pic.
+ */
+#define AV_DISPOSITION_ATTACHED_PIC      0x0400
+
+/**
+ * To specify text track kind (different from subtitles default).
+ */
+#define AV_DISPOSITION_CAPTIONS     0x10000
+#define AV_DISPOSITION_DESCRIPTIONS 0x20000
+#define AV_DISPOSITION_METADATA     0x40000
+
+/**
+ * Options for behavior on timestamp wrap detection.
+ */
+#define AV_PTS_WRAP_IGNORE      0   ///< ignore the wrap
+#define AV_PTS_WRAP_ADD_OFFSET  1   ///< add the format specific offset on wrap detection
+#define AV_PTS_WRAP_SUB_OFFSET  -1  ///< subtract the format specific offset on wrap detection
+
+/**
+ * Stream structure.
+ * New fields can be added to the end with minor version bumps.
+ * Removal, reordering and changes to existing fields require a major
+ * version bump.
+ * sizeof(AVStream) must not be used outside libav*.
+ */
+typedef struct AVStream {
+    int index;    /**< stream index in AVFormatContext */
+    /**
+     * Format-specific stream ID.
+     * decoding: set by libavformat
+     * encoding: set by the user, replaced by libavformat if left unset
+     */
+    int id;
+    /**
+     * Codec context associated with this stream. Allocated and freed by
+     * libavformat.
+     *
+     * - decoding: The demuxer exports codec information stored in the headers
+     *             here.
+     * - encoding: The user sets codec information, the muxer writes it to the
+     *             output. Mandatory fields as specified in AVCodecContext
+     *             documentation must be set even if this AVCodecContext is
+     *             not actually used for encoding.
+     */
+    AVCodecContext *codec;
+    void *priv_data;
+
+#if FF_API_LAVF_FRAC
+    /**
+     * @deprecated this field is unused
+     */
+    attribute_deprecated
+    struct AVFrac pts;
+#endif
+
+    /**
+     * This is the fundamental unit of time (in seconds) in terms
+     * of which frame timestamps are represented.
+     *
+     * decoding: set by libavformat
+     * encoding: May be set by the caller before avformat_write_header() to
+     *           provide a hint to the muxer about the desired timebase. In
+     *           avformat_write_header(), the muxer will overwrite this field
+     *           with the timebase that will actually be used for the timestamps
+     *           written into the file (which may or may not be related to the
+     *           user-provided one, depending on the format).
+     */
+    AVRational time_base;
+
+    /**
+     * Decoding: pts of the first frame of the stream in presentation order, in stream time base.
+     * Only set this if you are absolutely 100% sure that the value you set
+     * it to really is the pts of the first frame.
+     * This may be undefined (AV_NOPTS_VALUE).
+     * @note The ASF header does NOT contain a correct start_time the ASF
+     * demuxer must NOT set this.
+     */
+    int64_t start_time;
+
+    /**
+     * Decoding: duration of the stream, in stream time base.
+     * If a source file does not specify a duration, but does specify
+     * a bitrate, this value will be estimated from bitrate and file size.
+     */
+    int64_t duration;
+
+    int64_t nb_frames;                 ///< number of frames in this stream if known or 0
+
+    int disposition; /**< AV_DISPOSITION_* bit field */
+
+    enum AVDiscard discard; ///< Selects which packets can be discarded at will and do not need to be demuxed.
+
+    /**
+     * sample aspect ratio (0 if unknown)
+     * - encoding: Set by user.
+     * - decoding: Set by libavformat.
+     */
+    AVRational sample_aspect_ratio;
+
+    AVDictionary *metadata;
+
+    /**
+     * Average framerate
+     *
+     * - demuxing: May be set by libavformat when creating the stream or in
+     *             avformat_find_stream_info().
+     * - muxing: May be set by the caller before avformat_write_header().
+     */
+    AVRational avg_frame_rate;
+
+    /**
+     * For streams with AV_DISPOSITION_ATTACHED_PIC disposition, this packet
+     * will contain the attached picture.
+     *
+     * decoding: set by libavformat, must not be modified by the caller.
+     * encoding: unused
+     */
+    AVPacket attached_pic;
+
+    /**
+     * An array of side data that applies to the whole stream (i.e. the
+     * container does not allow it to change between packets).
+     *
+     * There may be no overlap between the side data in this array and side data
+     * in the packets. I.e. a given side data is either exported by the muxer
+     * (demuxing) / set by the caller (muxing) in this array, then it never
+     * appears in the packets, or the side data is exported / sent through
+     * the packets (always in the first packet where the value becomes known or
+     * changes), then it does not appear in this array.
+     *
+     * - demuxing: Set by libavformat when the stream is created.
+     * - muxing: May be set by the caller before avformat_write_header().
+     *
+     * Freed by libavformat in avformat_free_context().
+     *
+     * @see av_format_inject_global_side_data()
+     */
+    AVPacketSideData *side_data;
+    /**
+     * The number of elements in the AVStream.side_data array.
+     */
+    int            nb_side_data;
+
+    /**
+     * Flags for the user to detect events happening on the stream. Flags must
+     * be cleared by the user once the event has been handled.
+     * A combination of AVSTREAM_EVENT_FLAG_*.
+     */
+    int event_flags;
+#define AVSTREAM_EVENT_FLAG_METADATA_UPDATED 0x0001 ///< The call resulted in updated metadata.
+
+    /*****************************************************************
+     * All fields below this line are not part of the public API. They
+     * may not be used outside of libavformat and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+
+    /**
+     * Stream information used internally by av_find_stream_info()
+     */
+#define MAX_STD_TIMEBASES (30*12+7+6)
+    struct {
+        int64_t last_dts;
+        int64_t duration_gcd;
+        int duration_count;
+        int64_t rfps_duration_sum;
+        double (*duration_error)[2][MAX_STD_TIMEBASES];
+        int64_t codec_info_duration;
+        int64_t codec_info_duration_fields;
+
+        /**
+         * 0  -> decoder has not been searched for yet.
+         * >0 -> decoder found
+         * <0 -> decoder with codec_id == -found_decoder has not been found
+         */
+        int found_decoder;
+
+        int64_t last_duration;
+
+        /**
+         * Those are used for average framerate estimation.
+         */
+        int64_t fps_first_dts;
+        int     fps_first_dts_idx;
+        int64_t fps_last_dts;
+        int     fps_last_dts_idx;
+
+    } *info;
+
+    int pts_wrap_bits; /**< number of bits in pts (used for wrapping control) */
+
+    // Timestamp generation support:
+    /**
+     * Timestamp corresponding to the last dts sync point.
+     *
+     * Initialized when AVCodecParserContext.dts_sync_point >= 0 and
+     * a DTS is received from the underlying container. Otherwise set to
+     * AV_NOPTS_VALUE by default.
+     */
+    int64_t first_dts;
+    int64_t cur_dts;
+    int64_t last_IP_pts;
+    int last_IP_duration;
+
+    /**
+     * Number of packets to buffer for codec probing
+     */
+    int probe_packets;
+
+    /**
+     * Number of frames that have been demuxed during av_find_stream_info()
+     */
+    int codec_info_nb_frames;
+
+    /* av_read_frame() support */
+    enum AVStreamParseType need_parsing;
+    struct AVCodecParserContext *parser;
+
+    /**
+     * last packet in packet_buffer for this stream when muxing.
+     */
+    struct AVPacketList *last_in_packet_buffer;
+    AVProbeData probe_data;
+#define MAX_REORDER_DELAY 16
+    int64_t pts_buffer[MAX_REORDER_DELAY+1];
+
+    AVIndexEntry *index_entries; /**< Only used if the format does not
+                                    support seeking natively. */
+    int nb_index_entries;
+    unsigned int index_entries_allocated_size;
+
+    /**
+     * Real base framerate of the stream.
+     * This is the lowest framerate with which all timestamps can be
+     * represented accurately (it is the least common multiple of all
+     * framerates in the stream). Note, this value is just a guess!
+     * For example, if the time base is 1/90000 and all frames have either
+     * approximately 3600 or 1800 timer ticks, then r_frame_rate will be 50/1.
+     *
+     * Code outside avformat should access this field using:
+     * av_stream_get/set_r_frame_rate(stream)
+     */
+    AVRational r_frame_rate;
+
+    /**
+     * Stream Identifier
+     * This is the MPEG-TS stream identifier +1
+     * 0 means unknown
+     */
+    int stream_identifier;
+
+    int64_t interleaver_chunk_size;
+    int64_t interleaver_chunk_duration;
+
+    /**
+     * stream probing state
+     * -1   -> probing finished
+     *  0   -> no probing requested
+     * rest -> perform probing with request_probe being the minimum score to accept.
+     * NOT PART OF PUBLIC API
+     */
+    int request_probe;
+    /**
+     * Indicates that everything up to the next keyframe
+     * should be discarded.
+     */
+    int skip_to_keyframe;
+
+    /**
+     * Number of samples to skip at the start of the frame decoded from the next packet.
+     */
+    int skip_samples;
+
+    /**
+     * If not 0, the number of samples that should be skipped from the start of
+     * the stream (the samples are removed from packets with pts==0, which also
+     * assumes negative timestamps do not happen).
+     * Intended for use with formats such as mp3 with ad-hoc gapless audio
+     * support.
+     */
+    int64_t start_skip_samples;
+
+    /**
+     * If not 0, the first audio sample that should be discarded from the stream.
+     * This is broken by design (needs global sample count), but can't be
+     * avoided for broken by design formats such as mp3 with ad-hoc gapless
+     * audio support.
+     */
+    int64_t first_discard_sample;
+
+    /**
+     * The sample after last sample that is intended to be discarded after
+     * first_discard_sample. Works on frame boundaries only. Used to prevent
+     * early EOF if the gapless info is broken (considered concatenated mp3s).
+     */
+    int64_t last_discard_sample;
+
+    /**
+     * Number of internally decoded frames, used internally in libavformat, do not access
+     * its lifetime differs from info which is why it is not in that structure.
+     */
+    int nb_decoded_frames;
+
+    /**
+     * Timestamp offset added to timestamps before muxing
+     * NOT PART OF PUBLIC API
+     */
+    int64_t mux_ts_offset;
+
+    /**
+     * Internal data to check for wrapping of the time stamp
+     */
+    int64_t pts_wrap_reference;
+
+    /**
+     * Options for behavior, when a wrap is detected.
+     *
+     * Defined by AV_PTS_WRAP_ values.
+     *
+     * If correction is enabled, there are two possibilities:
+     * If the first time stamp is near the wrap point, the wrap offset
+     * will be subtracted, which will create negative time stamps.
+     * Otherwise the offset will be added.
+     */
+    int pts_wrap_behavior;
+
+    /**
+     * Internal data to prevent doing update_initial_durations() twice
+     */
+    int update_initial_durations_done;
+
+    /**
+     * Internal data to generate dts from pts
+     */
+    int64_t pts_reorder_error[MAX_REORDER_DELAY+1];
+    uint8_t pts_reorder_error_count[MAX_REORDER_DELAY+1];
+
+    /**
+     * Internal data to analyze DTS and detect faulty mpeg streams
+     */
+    int64_t last_dts_for_order_check;
+    uint8_t dts_ordered;
+    uint8_t dts_misordered;
+
+    /**
+     * Internal data to inject global side data
+     */
+    int inject_global_side_data;
+
+    /**
+     * String containing paris of key and values describing recommended encoder configuration.
+     * Paris are separated by ','.
+     * Keys are separated from values by '='.
+     */
+    char *recommended_encoder_configuration;
+
+    /**
+     * display aspect ratio (0 if unknown)
+     * - encoding: unused
+     * - decoding: Set by libavformat to calculate sample_aspect_ratio internally
+     */
+    AVRational display_aspect_ratio;
+
+    struct FFFrac *priv_pts;
+} AVStream;
+
+AVRational av_stream_get_r_frame_rate(const AVStream *s);
+void       av_stream_set_r_frame_rate(AVStream *s, AVRational r);
+struct AVCodecParserContext *av_stream_get_parser(const AVStream *s);
+char* av_stream_get_recommended_encoder_configuration(const AVStream *s);
+void  av_stream_set_recommended_encoder_configuration(AVStream *s, char *configuration);
+
+/**
+ * Returns the pts of the last muxed packet + its duration
+ *
+ * the retuned value is undefined when used with a demuxer.
+ */
+int64_t    av_stream_get_end_pts(const AVStream *st);
+
+#define AV_PROGRAM_RUNNING 1
+
+/**
+ * New fields can be added to the end with minor version bumps.
+ * Removal, reordering and changes to existing fields require a major
+ * version bump.
+ * sizeof(AVProgram) must not be used outside libav*.
+ */
+typedef struct AVProgram {
+    int            id;
+    int            flags;
+    enum AVDiscard discard;        ///< selects which program to discard and which to feed to the caller
+    unsigned int   *stream_index;
+    unsigned int   nb_stream_indexes;
+    AVDictionary *metadata;
+
+    int program_num;
+    int pmt_pid;
+    int pcr_pid;
+
+    /*****************************************************************
+     * All fields below this line are not part of the public API. They
+     * may not be used outside of libavformat and can be changed and
+     * removed at will.
+     * New public fields should be added right above.
+     *****************************************************************
+     */
+    int64_t start_time;
+    int64_t end_time;
+
+    int64_t pts_wrap_reference;    ///< reference dts for wrap detection
+    int pts_wrap_behavior;         ///< behavior on wrap detection
+} AVProgram;
+
+#define AVFMTCTX_NOHEADER      0x0001 /**< signal that no header is present
+                                         (streams are added dynamically) */
+
+typedef struct AVChapter {
+    int id;                 ///< unique ID to identify the chapter
+    AVRational time_base;   ///< time base in which the start/end timestamps are specified
+    int64_t start, end;     ///< chapter start/end time in time_base units
+    AVDictionary *metadata;
+} AVChapter;
+
+
+/**
+ * Callback used by devices to communicate with application.
+ */
+typedef int (*av_format_control_message)(struct AVFormatContext *s, int type,
+                                         void *data, size_t data_size);
+
+typedef int (*AVOpenCallback)(struct AVFormatContext *s, AVIOContext **pb, const char *url, int flags,
+                              const AVIOInterruptCB *int_cb, AVDictionary **options);
+
+/**
+ * The duration of a video can be estimated through various ways, and this enum can be used
+ * to know how the duration was estimated.
+ */
+enum AVDurationEstimationMethod {
+    AVFMT_DURATION_FROM_PTS,    ///< Duration accurately estimated from PTSes
+    AVFMT_DURATION_FROM_STREAM, ///< Duration estimated from a stream with a known duration
+    AVFMT_DURATION_FROM_BITRATE ///< Duration estimated from bitrate (less accurate)
+};
+
+typedef struct AVFormatInternal AVFormatInternal;
+
+/**
+ * Format I/O context.
+ * New fields can be added to the end with minor version bumps.
+ * Removal, reordering and changes to existing fields require a major
+ * version bump.
+ * sizeof(AVFormatContext) must not be used outside libav*, use
+ * avformat_alloc_context() to create an AVFormatContext.
+ */
+typedef struct AVFormatContext {
+    /**
+     * A class for logging and @ref avoptions. Set by avformat_alloc_context().
+     * Exports (de)muxer private options if they exist.
+     */
+    const AVClass *av_class;
+
+    /**
+     * The input container format.
+     *
+     * Demuxing only, set by avformat_open_input().
+     */
+    struct AVInputFormat *iformat;
+
+    /**
+     * The output container format.
+     *
+     * Muxing only, must be set by the caller before avformat_write_header().
+     */
+    struct AVOutputFormat *oformat;
+
+    /**
+     * Format private data. This is an AVOptions-enabled struct
+     * if and only if iformat/oformat.priv_class is not NULL.
+     *
+     * - muxing: set by avformat_write_header()
+     * - demuxing: set by avformat_open_input()
+     */
+    void *priv_data;
+
+    /**
+     * I/O context.
+     *
+     * - demuxing: either set by the user before avformat_open_input() (then
+     *             the user must close it manually) or set by avformat_open_input().
+     * - muxing: set by the user before avformat_write_header(). The caller must
+     *           take care of closing / freeing the IO context.
+     *
+     * Do NOT set this field if AVFMT_NOFILE flag is set in
+     * iformat/oformat.flags. In such a case, the (de)muxer will handle
+     * I/O in some other way and this field will be NULL.
+     */
+    AVIOContext *pb;
+
+    /* stream info */
+    /**
+     * Flags signalling stream properties. A combination of AVFMTCTX_*.
+     * Set by libavformat.
+     */
+    int ctx_flags;
+
+    /**
+     * Number of elements in AVFormatContext.streams.
+     *
+     * Set by avformat_new_stream(), must not be modified by any other code.
+     */
+    unsigned int nb_streams;
+    /**
+     * A list of all streams in the file. New streams are created with
+     * avformat_new_stream().
+     *
+     * - demuxing: streams are created by libavformat in avformat_open_input().
+     *             If AVFMTCTX_NOHEADER is set in ctx_flags, then new streams may also
+     *             appear in av_read_frame().
+     * - muxing: streams are created by the user before avformat_write_header().
+     *
+     * Freed by libavformat in avformat_free_context().
+     */
+    AVStream **streams;
+
+    /**
+     * input or output filename
+     *
+     * - demuxing: set by avformat_open_input()
+     * - muxing: may be set by the caller before avformat_write_header()
+     */
+    char filename[1024];
+
+    /**
+     * Position of the first frame of the component, in
+     * AV_TIME_BASE fractional seconds. NEVER set this value directly:
+     * It is deduced from the AVStream values.
+     *
+     * Demuxing only, set by libavformat.
+     */
+    int64_t start_time;
+
+    /**
+     * Duration of the stream, in AV_TIME_BASE fractional
+     * seconds. Only set this value if you know none of the individual stream
+     * durations and also do not set any of them. This is deduced from the
+     * AVStream values if not set.
+     *
+     * Demuxing only, set by libavformat.
+     */
+    int64_t duration;
+
+    /**
+     * Total stream bitrate in bit/s, 0 if not
+     * available. Never set it directly if the file_size and the
+     * duration are known as FFmpeg can compute it automatically.
+     */
+    int64_t bit_rate;
+
+    unsigned int packet_size;
+    int max_delay;
+
+    /**
+     * Flags modifying the (de)muxer behaviour. A combination of AVFMT_FLAG_*.
+     * Set by the user before avformat_open_input() / avformat_write_header().
+     */
+    int flags;
+#define AVFMT_FLAG_GENPTS       0x0001 ///< Generate missing pts even if it requires parsing future frames.
+#define AVFMT_FLAG_IGNIDX       0x0002 ///< Ignore index.
+#define AVFMT_FLAG_NONBLOCK     0x0004 ///< Do not block when reading packets from input.
+#define AVFMT_FLAG_IGNDTS       0x0008 ///< Ignore DTS on frames that contain both DTS & PTS
+#define AVFMT_FLAG_NOFILLIN     0x0010 ///< Do not infer any values from other values, just return what is stored in the container
+#define AVFMT_FLAG_NOPARSE      0x0020 ///< Do not use AVParsers, you also must set AVFMT_FLAG_NOFILLIN as the fillin code works on frames and no parsing -> no frames. Also seeking to frames can not work if parsing to find frame boundaries has been disabled
+#define AVFMT_FLAG_NOBUFFER     0x0040 ///< Do not buffer frames when possible
+#define AVFMT_FLAG_CUSTOM_IO    0x0080 ///< The caller has supplied a custom AVIOContext, don't avio_close() it.
+#define AVFMT_FLAG_DISCARD_CORRUPT  0x0100 ///< Discard frames marked corrupted
+#define AVFMT_FLAG_FLUSH_PACKETS    0x0200 ///< Flush the AVIOContext every packet.
+/**
+ * When muxing, try to avoid writing any random/volatile data to the output.
+ * This includes any random IDs, real-time timestamps/dates, muxer version, etc.
+ *
+ * This flag is mainly intended for testing.
+ */
+#define AVFMT_FLAG_BITEXACT         0x0400
+#define AVFMT_FLAG_MP4A_LATM    0x8000 ///< Enable RTP MP4A-LATM payload
+#define AVFMT_FLAG_SORT_DTS    0x10000 ///< try to interleave outputted packets by dts (using this flag can slow demuxing down)
+#define AVFMT_FLAG_PRIV_OPT    0x20000 ///< Enable use of private options by delaying codec open (this could be made default once all code is converted)
+#define AVFMT_FLAG_KEEP_SIDE_DATA 0x40000 ///< Don't merge side data but keep it separate.
+#define AVFMT_FLAG_FAST_SEEK   0x80000 ///< Enable fast, but inaccurate seeks for some formats
+
+    /**
+     * Maximum size of the data read from input for determining
+     * the input container format.
+     * Demuxing only, set by the caller before avformat_open_input().
+     */
+    int64_t probesize;
+
+    /**
+     * Maximum duration (in AV_TIME_BASE units) of the data read
+     * from input in avformat_find_stream_info().
+     * Demuxing only, set by the caller before avformat_find_stream_info().
+     * Can be set to 0 to let avformat choose using a heuristic.
+     */
+    int64_t max_analyze_duration;
+
+    const uint8_t *key;
+    int keylen;
+
+    unsigned int nb_programs;
+    AVProgram **programs;
+
+    /**
+     * Forced video codec_id.
+     * Demuxing: Set by user.
+     */
+    enum AVCodecID video_codec_id;
+
+    /**
+     * Forced audio codec_id.
+     * Demuxing: Set by user.
+     */
+    enum AVCodecID audio_codec_id;
+
+    /**
+     * Forced subtitle codec_id.
+     * Demuxing: Set by user.
+     */
+    enum AVCodecID subtitle_codec_id;
+
+    /**
+     * Maximum amount of memory in bytes to use for the index of each stream.
+     * If the index exceeds this size, entries will be discarded as
+     * needed to maintain a smaller size. This can lead to slower or less
+     * accurate seeking (depends on demuxer).
+     * Demuxers for which a full in-memory index is mandatory will ignore
+     * this.
+     * - muxing: unused
+     * - demuxing: set by user
+     */
+    unsigned int max_index_size;
+
+    /**
+     * Maximum amount of memory in bytes to use for buffering frames
+     * obtained from realtime capture devices.
+     */
+    unsigned int max_picture_buffer;
+
+    /**
+     * Number of chapters in AVChapter array.
+     * When muxing, chapters are normally written in the file header,
+     * so nb_chapters should normally be initialized before write_header
+     * is called. Some muxers (e.g. mov and mkv) can also write chapters
+     * in the trailer.  To write chapters in the trailer, nb_chapters
+     * must be zero when write_header is called and non-zero when
+     * write_trailer is called.
+     * - muxing: set by user
+     * - demuxing: set by libavformat
+     */
+    unsigned int nb_chapters;
+    AVChapter **chapters;
+
+    /**
+     * Metadata that applies to the whole file.
+     *
+     * - demuxing: set by libavformat in avformat_open_input()
+     * - muxing: may be set by the caller before avformat_write_header()
+     *
+     * Freed by libavformat in avformat_free_context().
+     */
+    AVDictionary *metadata;
+
+    /**
+     * Start time of the stream in real world time, in microseconds
+     * since the Unix epoch (00:00 1st January 1970). That is, pts=0 in the
+     * stream was captured at this real world time.
+     * - muxing: Set by the caller before avformat_write_header(). If set to
+     *           either 0 or AV_NOPTS_VALUE, then the current wall-time will
+     *           be used.
+     * - demuxing: Set by libavformat. AV_NOPTS_VALUE if unknown. Note that
+     *             the value may become known after some number of frames
+     *             have been received.
+     */
+    int64_t start_time_realtime;
+
+    /**
+     * The number of frames used for determining the framerate in
+     * avformat_find_stream_info().
+     * Demuxing only, set by the caller before avformat_find_stream_info().
+     */
+    int fps_probe_size;
+
+    /**
+     * Error recognition; higher values will detect more errors but may
+     * misdetect some more or less valid parts as errors.
+     * Demuxing only, set by the caller before avformat_open_input().
+     */
+    int error_recognition;
+
+    /**
+     * Custom interrupt callbacks for the I/O layer.
+     *
+     * demuxing: set by the user before avformat_open_input().
+     * muxing: set by the user before avformat_write_header()
+     * (mainly useful for AVFMT_NOFILE formats). The callback
+     * should also be passed to avio_open2() if it's used to
+     * open the file.
+     */
+    AVIOInterruptCB interrupt_callback;
+
+    /**
+     * Flags to enable debugging.
+     */
+    int debug;
+#define FF_FDEBUG_TS        0x0001
+
+    /**
+     * Maximum buffering duration for interleaving.
+     *
+     * To ensure all the streams are interleaved correctly,
+     * av_interleaved_write_frame() will wait until it has at least one packet
+     * for each stream before actually writing any packets to the output file.
+     * When some streams are "sparse" (i.e. there are large gaps between
+     * successive packets), this can result in excessive buffering.
+     *
+     * This field specifies the maximum difference between the timestamps of the
+     * first and the last packet in the muxing queue, above which libavformat
+     * will output a packet regardless of whether it has queued a packet for all
+     * the streams.
+     *
+     * Muxing only, set by the caller before avformat_write_header().
+     */
+    int64_t max_interleave_delta;
+
+    /**
+     * Allow non-standard and experimental extension
+     * @see AVCodecContext.strict_std_compliance
+     */
+    int strict_std_compliance;
+
+    /**
+     * Flags for the user to detect events happening on the file. Flags must
+     * be cleared by the user once the event has been handled.
+     * A combination of AVFMT_EVENT_FLAG_*.
+     */
+    int event_flags;
+#define AVFMT_EVENT_FLAG_METADATA_UPDATED 0x0001 ///< The call resulted in updated metadata.
+
+    /**
+     * Maximum number of packets to read while waiting for the first timestamp.
+     * Decoding only.
+     */
+    int max_ts_probe;
+
+    /**
+     * Avoid negative timestamps during muxing.
+     * Any value of the AVFMT_AVOID_NEG_TS_* constants.
+     * Note, this only works when using av_interleaved_write_frame. (interleave_packet_per_dts is in use)
+     * - muxing: Set by user
+     * - demuxing: unused
+     */
+    int avoid_negative_ts;
+#define AVFMT_AVOID_NEG_TS_AUTO             -1 ///< Enabled when required by target format
+#define AVFMT_AVOID_NEG_TS_MAKE_NON_NEGATIVE 1 ///< Shift timestamps so they are non negative
+#define AVFMT_AVOID_NEG_TS_MAKE_ZERO         2 ///< Shift timestamps so that they start at 0
+
+    /**
+     * Transport stream id.
+     * This will be moved into demuxer private options. Thus no API/ABI compatibility
+     */
+    int ts_id;
+
+    /**
+     * Audio preload in microseconds.
+     * Note, not all formats support this and unpredictable things may happen if it is used when not supported.
+     * - encoding: Set by user via AVOptions (NO direct access)
+     * - decoding: unused
+     */
+    int audio_preload;
+
+    /**
+     * Max chunk time in microseconds.
+     * Note, not all formats support this and unpredictable things may happen if it is used when not supported.
+     * - encoding: Set by user via AVOptions (NO direct access)
+     * - decoding: unused
+     */
+    int max_chunk_duration;
+
+    /**
+     * Max chunk size in bytes
+     * Note, not all formats support this and unpredictable things may happen if it is used when not supported.
+     * - encoding: Set by user via AVOptions (NO direct access)
+     * - decoding: unused
+     */
+    int max_chunk_size;
+
+    /**
+     * forces the use of wallclock timestamps as pts/dts of packets
+     * This has undefined results in the presence of B frames.
+     * - encoding: unused
+     * - decoding: Set by user via AVOptions (NO direct access)
+     */
+    int use_wallclock_as_timestamps;
+
+    /**
+     * avio flags, used to force AVIO_FLAG_DIRECT.
+     * - encoding: unused
+     * - decoding: Set by user via AVOptions (NO direct access)
+     */
+    int avio_flags;
+
+    /**
+     * The duration field can be estimated through various ways, and this field can be used
+     * to know how the duration was estimated.
+     * - encoding: unused
+     * - decoding: Read by user via AVOptions (NO direct access)
+     */
+    enum AVDurationEstimationMethod duration_estimation_method;
+
+    /**
+     * Skip initial bytes when opening stream
+     * - encoding: unused
+     * - decoding: Set by user via AVOptions (NO direct access)
+     */
+    int64_t skip_initial_bytes;
+
+    /**
+     * Correct single timestamp overflows
+     * - encoding: unused
+     * - decoding: Set by user via AVOptions (NO direct access)
+     */
+    unsigned int correct_ts_overflow;
+
+    /**
+     * Force seeking to any (also non key) frames.
+     * - encoding: unused
+     * - decoding: Set by user via AVOptions (NO direct access)
+     */
+    int seek2any;
+
+    /**
+     * Flush the I/O context after each packet.
+     * - encoding: Set by user via AVOptions (NO direct access)
+     * - decoding: unused
+     */
+    int flush_packets;
+
+    /**
+     * format probing score.
+     * The maximal score is AVPROBE_SCORE_MAX, its set when the demuxer probes
+     * the format.
+     * - encoding: unused
+     * - decoding: set by avformat, read by user via av_format_get_probe_score() (NO direct access)
+     */
+    int probe_score;
+
+    /**
+     * number of bytes to read maximally to identify format.
+     * - encoding: unused
+     * - decoding: set by user through AVOPtions (NO direct access)
+     */
+    int format_probesize;
+
+    /**
+     * ',' separated list of allowed decoders.
+     * If NULL then all are allowed
+     * - encoding: unused
+     * - decoding: set by user through AVOptions (NO direct access)
+     */
+    char *codec_whitelist;
+
+    /**
+     * ',' separated list of allowed demuxers.
+     * If NULL then all are allowed
+     * - encoding: unused
+     * - decoding: set by user through AVOptions (NO direct access)
+     */
+    char *format_whitelist;
+
+    /**
+     * An opaque field for libavformat internal usage.
+     * Must not be accessed in any way by callers.
+     */
+    AVFormatInternal *internal;
+
+    /**
+     * IO repositioned flag.
+     * This is set by avformat when the underlaying IO context read pointer
+     * is repositioned, for example when doing byte based seeking.
+     * Demuxers can use the flag to detect such changes.
+     */
+    int io_repositioned;
+
+    /**
+     * Forced video codec.
+     * This allows forcing a specific decoder, even when there are multiple with
+     * the same codec_id.
+     * Demuxing: Set by user via av_format_set_video_codec (NO direct access).
+     */
+    AVCodec *video_codec;
+
+    /**
+     * Forced audio codec.
+     * This allows forcing a specific decoder, even when there are multiple with
+     * the same codec_id.
+     * Demuxing: Set by user via av_format_set_audio_codec (NO direct access).
+     */
+    AVCodec *audio_codec;
+
+    /**
+     * Forced subtitle codec.
+     * This allows forcing a specific decoder, even when there are multiple with
+     * the same codec_id.
+     * Demuxing: Set by user via av_format_set_subtitle_codec (NO direct access).
+     */
+    AVCodec *subtitle_codec;
+
+    /**
+     * Forced data codec.
+     * This allows forcing a specific decoder, even when there are multiple with
+     * the same codec_id.
+     * Demuxing: Set by user via av_format_set_data_codec (NO direct access).
+     */
+    AVCodec *data_codec;
+
+    /**
+     * Number of bytes to be written as padding in a metadata header.
+     * Demuxing: Unused.
+     * Muxing: Set by user via av_format_set_metadata_header_padding.
+     */
+    int metadata_header_padding;
+
+    /**
+     * User data.
+     * This is a place for some private data of the user.
+     * Mostly usable with control_message_cb or any future callbacks in device's context.
+     */
+    void *opaque;
+
+    /**
+     * Callback used by devices to communicate with application.
+     */
+    av_format_control_message control_message_cb;
+
+    /**
+     * Output timestamp offset, in microseconds.
+     * Muxing: set by user via AVOptions (NO direct access)
+     */
+    int64_t output_ts_offset;
+
+    /**
+     * dump format separator.
+     * can be ", " or "\n      " or anything else
+     * Code outside libavformat should access this field using AVOptions
+     * (NO direct access).
+     * - muxing: Set by user.
+     * - demuxing: Set by user.
+     */
+    uint8_t *dump_separator;
+
+    /**
+     * Forced Data codec_id.
+     * Demuxing: Set by user.
+     */
+    enum AVCodecID data_codec_id;
+
+    /**
+     * Called to open further IO contexts when needed for demuxing.
+     *
+     * This can be set by the user application to perform security checks on
+     * the URLs before opening them.
+     * The function should behave like avio_open2(), AVFormatContext is provided
+     * as contextual information and to reach AVFormatContext.opaque.
+     *
+     * If NULL then some simple checks are used together with avio_open2().
+     *
+     * Must not be accessed directly from outside avformat.
+     * @See av_format_set_open_cb()
+     *
+     * Demuxing: Set by user.
+     */
+    int (*open_cb)(struct AVFormatContext *s, AVIOContext **p, const char *url, int flags, const AVIOInterruptCB *int_cb, AVDictionary **options);
+} AVFormatContext;
+
+int av_format_get_probe_score(const AVFormatContext *s);
+AVCodec * av_format_get_video_codec(const AVFormatContext *s);
+void      av_format_set_video_codec(AVFormatContext *s, AVCodec *c);
+AVCodec * av_format_get_audio_codec(const AVFormatContext *s);
+void      av_format_set_audio_codec(AVFormatContext *s, AVCodec *c);
+AVCodec * av_format_get_subtitle_codec(const AVFormatContext *s);
+void      av_format_set_subtitle_codec(AVFormatContext *s, AVCodec *c);
+AVCodec * av_format_get_data_codec(const AVFormatContext *s);
+void      av_format_set_data_codec(AVFormatContext *s, AVCodec *c);
+int       av_format_get_metadata_header_padding(const AVFormatContext *s);
+void      av_format_set_metadata_header_padding(AVFormatContext *s, int c);
+void *    av_format_get_opaque(const AVFormatContext *s);
+void      av_format_set_opaque(AVFormatContext *s, void *opaque);
+av_format_control_message av_format_get_control_message_cb(const AVFormatContext *s);
+void      av_format_set_control_message_cb(AVFormatContext *s, av_format_control_message callback);
+AVOpenCallback av_format_get_open_cb(const AVFormatContext *s);
+void      av_format_set_open_cb(AVFormatContext *s, AVOpenCallback callback);
+
+/**
+ * This function will cause global side data to be injected in the next packet
+ * of each stream as well as after any subsequent seek.
+ */
+void av_format_inject_global_side_data(AVFormatContext *s);
+
+/**
+ * Returns the method used to set ctx->duration.
+ *
+ * @return AVFMT_DURATION_FROM_PTS, AVFMT_DURATION_FROM_STREAM, or AVFMT_DURATION_FROM_BITRATE.
+ */
+enum AVDurationEstimationMethod av_fmt_ctx_get_duration_estimation_method(const AVFormatContext* ctx);
+
+typedef struct AVPacketList {
+    AVPacket pkt;
+    struct AVPacketList *next;
+} AVPacketList;
+
+
+/**
+ * @defgroup lavf_core Core functions
+ * @ingroup libavf
+ *
+ * Functions for querying libavformat capabilities, allocating core structures,
+ * etc.
+ * @{
+ */
+
+/**
+ * Return the LIBAVFORMAT_VERSION_INT constant.
+ */
+unsigned avformat_version(void);
+
+/**
+ * Return the libavformat build-time configuration.
+ */
+const char *avformat_configuration(void);
+
+/**
+ * Return the libavformat license.
+ */
+const char *avformat_license(void);
+
+/**
+ * Initialize libavformat and register all the muxers, demuxers and
+ * protocols. If you do not call this function, then you can select
+ * exactly which formats you want to support.
+ *
+ * @see av_register_input_format()
+ * @see av_register_output_format()
+ */
+void av_register_all(void);
+
+void av_register_input_format(AVInputFormat *format);
+void av_register_output_format(AVOutputFormat *format);
+
+/**
+ * Do global initialization of network components. This is optional,
+ * but recommended, since it avoids the overhead of implicitly
+ * doing the setup for each session.
+ *
+ * Calling this function will become mandatory if using network
+ * protocols at some major version bump.
+ */
+int avformat_network_init(void);
+
+/**
+ * Undo the initialization done by avformat_network_init.
+ */
+int avformat_network_deinit(void);
+
+/**
+ * If f is NULL, returns the first registered input format,
+ * if f is non-NULL, returns the next registered input format after f
+ * or NULL if f is the last one.
+ */
+AVInputFormat  *av_iformat_next(const AVInputFormat  *f);
+
+/**
+ * If f is NULL, returns the first registered output format,
+ * if f is non-NULL, returns the next registered output format after f
+ * or NULL if f is the last one.
+ */
+AVOutputFormat *av_oformat_next(const AVOutputFormat *f);
+
+/**
+ * Allocate an AVFormatContext.
+ * avformat_free_context() can be used to free the context and everything
+ * allocated by the framework within it.
+ */
+AVFormatContext *avformat_alloc_context(void);
+
+/**
+ * Free an AVFormatContext and all its streams.
+ * @param s context to free
+ */
+void avformat_free_context(AVFormatContext *s);
+
+/**
+ * Get the AVClass for AVFormatContext. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *avformat_get_class(void);
+
+/**
+ * Add a new stream to a media file.
+ *
+ * When demuxing, it is called by the demuxer in read_header(). If the
+ * flag AVFMTCTX_NOHEADER is set in s.ctx_flags, then it may also
+ * be called in read_packet().
+ *
+ * When muxing, should be called by the user before avformat_write_header().
+ *
+ * User is required to call avcodec_close() and avformat_free_context() to
+ * clean up the allocation by avformat_new_stream().
+ *
+ * @param s media file handle
+ * @param c If non-NULL, the AVCodecContext corresponding to the new stream
+ * will be initialized to use this codec. This is needed for e.g. codec-specific
+ * defaults to be set, so codec should be provided if it is known.
+ *
+ * @return newly created stream or NULL on error.
+ */
+AVStream *avformat_new_stream(AVFormatContext *s, const AVCodec *c);
+
+/**
+ * Get side information from stream.
+ *
+ * @param stream stream
+ * @param type desired side information type
+ * @param size pointer for side information size to store (optional)
+ * @return pointer to data if present or NULL otherwise
+ */
+uint8_t *av_stream_get_side_data(AVStream *stream,
+                                 enum AVPacketSideDataType type, int *size);
+
+AVProgram *av_new_program(AVFormatContext *s, int id);
+
+/**
+ * @}
+ */
+
+
+/**
+ * Allocate an AVFormatContext for an output format.
+ * avformat_free_context() can be used to free the context and
+ * everything allocated by the framework within it.
+ *
+ * @param *ctx is set to the created format context, or to NULL in
+ * case of failure
+ * @param oformat format to use for allocating the context, if NULL
+ * format_name and filename are used instead
+ * @param format_name the name of output format to use for allocating the
+ * context, if NULL filename is used instead
+ * @param filename the name of the filename to use for allocating the
+ * context, may be NULL
+ * @return >= 0 in case of success, a negative AVERROR code in case of
+ * failure
+ */
+int avformat_alloc_output_context2(AVFormatContext **ctx, AVOutputFormat *oformat,
+                                   const char *format_name, const char *filename);
+
+/**
+ * @addtogroup lavf_decoding
+ * @{
+ */
+
+/**
+ * Find AVInputFormat based on the short name of the input format.
+ */
+AVInputFormat *av_find_input_format(const char *short_name);
+
+/**
+ * Guess the file format.
+ *
+ * @param pd        data to be probed
+ * @param is_opened Whether the file is already opened; determines whether
+ *                  demuxers with or without AVFMT_NOFILE are probed.
+ */
+AVInputFormat *av_probe_input_format(AVProbeData *pd, int is_opened);
+
+/**
+ * Guess the file format.
+ *
+ * @param pd        data to be probed
+ * @param is_opened Whether the file is already opened; determines whether
+ *                  demuxers with or without AVFMT_NOFILE are probed.
+ * @param score_max A probe score larger that this is required to accept a
+ *                  detection, the variable is set to the actual detection
+ *                  score afterwards.
+ *                  If the score is <= AVPROBE_SCORE_MAX / 4 it is recommended
+ *                  to retry with a larger probe buffer.
+ */
+AVInputFormat *av_probe_input_format2(AVProbeData *pd, int is_opened, int *score_max);
+
+/**
+ * Guess the file format.
+ *
+ * @param is_opened Whether the file is already opened; determines whether
+ *                  demuxers with or without AVFMT_NOFILE are probed.
+ * @param score_ret The score of the best detection.
+ */
+AVInputFormat *av_probe_input_format3(AVProbeData *pd, int is_opened, int *score_ret);
+
+/**
+ * Probe a bytestream to determine the input format. Each time a probe returns
+ * with a score that is too low, the probe buffer size is increased and another
+ * attempt is made. When the maximum probe size is reached, the input format
+ * with the highest score is returned.
+ *
+ * @param pb the bytestream to probe
+ * @param fmt the input format is put here
+ * @param filename the filename of the stream
+ * @param logctx the log context
+ * @param offset the offset within the bytestream to probe from
+ * @param max_probe_size the maximum probe buffer size (zero for default)
+ * @return the score in case of success, a negative value corresponding to an
+ *         the maximal score is AVPROBE_SCORE_MAX
+ * AVERROR code otherwise
+ */
+int av_probe_input_buffer2(AVIOContext *pb, AVInputFormat **fmt,
+                           const char *filename, void *logctx,
+                           unsigned int offset, unsigned int max_probe_size);
+
+/**
+ * Like av_probe_input_buffer2() but returns 0 on success
+ */
+int av_probe_input_buffer(AVIOContext *pb, AVInputFormat **fmt,
+                          const char *filename, void *logctx,
+                          unsigned int offset, unsigned int max_probe_size);
+
+/**
+ * Open an input stream and read the header. The codecs are not opened.
+ * The stream must be closed with avformat_close_input().
+ *
+ * @param ps Pointer to user-supplied AVFormatContext (allocated by avformat_alloc_context).
+ *           May be a pointer to NULL, in which case an AVFormatContext is allocated by this
+ *           function and written into ps.
+ *           Note that a user-supplied AVFormatContext will be freed on failure.
+ * @param filename Name of the stream to open.
+ * @param fmt If non-NULL, this parameter forces a specific input format.
+ *            Otherwise the format is autodetected.
+ * @param options  A dictionary filled with AVFormatContext and demuxer-private options.
+ *                 On return this parameter will be destroyed and replaced with a dict containing
+ *                 options that were not found. May be NULL.
+ *
+ * @return 0 on success, a negative AVERROR on failure.
+ *
+ * @note If you want to use custom IO, preallocate the format context and set its pb field.
+ */
+int avformat_open_input(AVFormatContext **ps, const char *filename, AVInputFormat *fmt, AVDictionary **options);
+
+attribute_deprecated
+int av_demuxer_open(AVFormatContext *ic);
+
+/**
+ * Read packets of a media file to get stream information. This
+ * is useful for file formats with no headers such as MPEG. This
+ * function also computes the real framerate in case of MPEG-2 repeat
+ * frame mode.
+ * The logical file position is not changed by this function;
+ * examined packets may be buffered for later processing.
+ *
+ * @param ic media file handle
+ * @param options  If non-NULL, an ic.nb_streams long array of pointers to
+ *                 dictionaries, where i-th member contains options for
+ *                 codec corresponding to i-th stream.
+ *                 On return each dictionary will be filled with options that were not found.
+ * @return >=0 if OK, AVERROR_xxx on error
+ *
+ * @note this function isn't guaranteed to open all the codecs, so
+ *       options being non-empty at return is a perfectly normal behavior.
+ *
+ * @todo Let the user decide somehow what information is needed so that
+ *       we do not waste time getting stuff the user does not need.
+ */
+int avformat_find_stream_info(AVFormatContext *ic, AVDictionary **options);
+
+/**
+ * Find the programs which belong to a given stream.
+ *
+ * @param ic    media file handle
+ * @param last  the last found program, the search will start after this
+ *              program, or from the beginning if it is NULL
+ * @param s     stream index
+ * @return the next program which belongs to s, NULL if no program is found or
+ *         the last program is not among the programs of ic.
+ */
+AVProgram *av_find_program_from_stream(AVFormatContext *ic, AVProgram *last, int s);
+
+/**
+ * Find the "best" stream in the file.
+ * The best stream is determined according to various heuristics as the most
+ * likely to be what the user expects.
+ * If the decoder parameter is non-NULL, av_find_best_stream will find the
+ * default decoder for the stream's codec; streams for which no decoder can
+ * be found are ignored.
+ *
+ * @param ic                media file handle
+ * @param type              stream type: video, audio, subtitles, etc.
+ * @param wanted_stream_nb  user-requested stream number,
+ *                          or -1 for automatic selection
+ * @param related_stream    try to find a stream related (eg. in the same
+ *                          program) to this one, or -1 if none
+ * @param decoder_ret       if non-NULL, returns the decoder for the
+ *                          selected stream
+ * @param flags             flags; none are currently defined
+ * @return  the non-negative stream number in case of success,
+ *          AVERROR_STREAM_NOT_FOUND if no stream with the requested type
+ *          could be found,
+ *          AVERROR_DECODER_NOT_FOUND if streams were found but no decoder
+ * @note  If av_find_best_stream returns successfully and decoder_ret is not
+ *        NULL, then *decoder_ret is guaranteed to be set to a valid AVCodec.
+ */
+int av_find_best_stream(AVFormatContext *ic,
+                        enum AVMediaType type,
+                        int wanted_stream_nb,
+                        int related_stream,
+                        AVCodec **decoder_ret,
+                        int flags);
+
+/**
+ * Return the next frame of a stream.
+ * This function returns what is stored in the file, and does not validate
+ * that what is there are valid frames for the decoder. It will split what is
+ * stored in the file into frames and return one for each call. It will not
+ * omit invalid data between valid frames so as to give the decoder the maximum
+ * information possible for decoding.
+ *
+ * If pkt->buf is NULL, then the packet is valid until the next
+ * av_read_frame() or until avformat_close_input(). Otherwise the packet
+ * is valid indefinitely. In both cases the packet must be freed with
+ * av_free_packet when it is no longer needed. For video, the packet contains
+ * exactly one frame. For audio, it contains an integer number of frames if each
+ * frame has a known fixed size (e.g. PCM or ADPCM data). If the audio frames
+ * have a variable size (e.g. MPEG audio), then it contains one frame.
+ *
+ * pkt->pts, pkt->dts and pkt->duration are always set to correct
+ * values in AVStream.time_base units (and guessed if the format cannot
+ * provide them). pkt->pts can be AV_NOPTS_VALUE if the video format
+ * has B-frames, so it is better to rely on pkt->dts if you do not
+ * decompress the payload.
+ *
+ * @return 0 if OK, < 0 on error or end of file
+ */
+int av_read_frame(AVFormatContext *s, AVPacket *pkt);
+
+/**
+ * Seek to the keyframe at timestamp.
+ * 'timestamp' in 'stream_index'.
+ *
+ * @param s media file handle
+ * @param stream_index If stream_index is (-1), a default
+ * stream is selected, and timestamp is automatically converted
+ * from AV_TIME_BASE units to the stream specific time_base.
+ * @param timestamp Timestamp in AVStream.time_base units
+ *        or, if no stream is specified, in AV_TIME_BASE units.
+ * @param flags flags which select direction and seeking mode
+ * @return >= 0 on success
+ */
+int av_seek_frame(AVFormatContext *s, int stream_index, int64_t timestamp,
+                  int flags);
+
+/**
+ * Seek to timestamp ts.
+ * Seeking will be done so that the point from which all active streams
+ * can be presented successfully will be closest to ts and within min/max_ts.
+ * Active streams are all streams that have AVStream.discard < AVDISCARD_ALL.
+ *
+ * If flags contain AVSEEK_FLAG_BYTE, then all timestamps are in bytes and
+ * are the file position (this may not be supported by all demuxers).
+ * If flags contain AVSEEK_FLAG_FRAME, then all timestamps are in frames
+ * in the stream with stream_index (this may not be supported by all demuxers).
+ * Otherwise all timestamps are in units of the stream selected by stream_index
+ * or if stream_index is -1, in AV_TIME_BASE units.
+ * If flags contain AVSEEK_FLAG_ANY, then non-keyframes are treated as
+ * keyframes (this may not be supported by all demuxers).
+ * If flags contain AVSEEK_FLAG_BACKWARD, it is ignored.
+ *
+ * @param s media file handle
+ * @param stream_index index of the stream which is used as time base reference
+ * @param min_ts smallest acceptable timestamp
+ * @param ts target timestamp
+ * @param max_ts largest acceptable timestamp
+ * @param flags flags
+ * @return >=0 on success, error code otherwise
+ *
+ * @note This is part of the new seek API which is still under construction.
+ *       Thus do not use this yet. It may change at any time, do not expect
+ *       ABI compatibility yet!
+ */
+int avformat_seek_file(AVFormatContext *s, int stream_index, int64_t min_ts, int64_t ts, int64_t max_ts, int flags);
+
+/**
+ * Discard all internally buffered data. This can be useful when dealing with
+ * discontinuities in the byte stream. Generally works only with formats that
+ * can resync. This includes headerless formats like MPEG-TS/TS but should also
+ * work with NUT, Ogg and in a limited way AVI for example.
+ *
+ * The set of streams, the detected duration, stream parameters and codecs do
+ * not change when calling this function. If you want a complete reset, it's
+ * better to open a new AVFormatContext.
+ *
+ * This does not flush the AVIOContext (s->pb). If necessary, call
+ * avio_flush(s->pb) before calling this function.
+ *
+ * @param s media file handle
+ * @return >=0 on success, error code otherwise
+ */
+int avformat_flush(AVFormatContext *s);
+
+/**
+ * Start playing a network-based stream (e.g. RTSP stream) at the
+ * current position.
+ */
+int av_read_play(AVFormatContext *s);
+
+/**
+ * Pause a network-based stream (e.g. RTSP stream).
+ *
+ * Use av_read_play() to resume it.
+ */
+int av_read_pause(AVFormatContext *s);
+
+/**
+ * Close an opened input AVFormatContext. Free it and all its contents
+ * and set *s to NULL.
+ */
+void avformat_close_input(AVFormatContext **s);
+/**
+ * @}
+ */
+
+#define AVSEEK_FLAG_BACKWARD 1 ///< seek backward
+#define AVSEEK_FLAG_BYTE     2 ///< seeking based on position in bytes
+#define AVSEEK_FLAG_ANY      4 ///< seek to any frame, even non-keyframes
+#define AVSEEK_FLAG_FRAME    8 ///< seeking based on frame number
+
+/**
+ * @addtogroup lavf_encoding
+ * @{
+ */
+/**
+ * Allocate the stream private data and write the stream header to
+ * an output media file.
+ *
+ * @param s Media file handle, must be allocated with avformat_alloc_context().
+ *          Its oformat field must be set to the desired output format;
+ *          Its pb field must be set to an already opened AVIOContext.
+ * @param options  An AVDictionary filled with AVFormatContext and muxer-private options.
+ *                 On return this parameter will be destroyed and replaced with a dict containing
+ *                 options that were not found. May be NULL.
+ *
+ * @return 0 on success, negative AVERROR on failure.
+ *
+ * @see av_opt_find, av_dict_set, avio_open, av_oformat_next.
+ */
+int avformat_write_header(AVFormatContext *s, AVDictionary **options);
+
+/**
+ * Write a packet to an output media file.
+ *
+ * This function passes the packet directly to the muxer, without any buffering
+ * or reordering. The caller is responsible for correctly interleaving the
+ * packets if the format requires it. Callers that want libavformat to handle
+ * the interleaving should call av_interleaved_write_frame() instead of this
+ * function.
+ *
+ * @param s media file handle
+ * @param pkt The packet containing the data to be written. Note that unlike
+ *            av_interleaved_write_frame(), this function does not take
+ *            ownership of the packet passed to it (though some muxers may make
+ *            an internal reference to the input packet).
+ *            <br>
+ *            This parameter can be NULL (at any time, not just at the end), in
+ *            order to immediately flush data buffered within the muxer, for
+ *            muxers that buffer up data internally before writing it to the
+ *            output.
+ *            <br>
+ *            Packet's @ref AVPacket.stream_index "stream_index" field must be
+ *            set to the index of the corresponding stream in @ref
+ *            AVFormatContext.streams "s->streams". It is very strongly
+ *            recommended that timing information (@ref AVPacket.pts "pts", @ref
+ *            AVPacket.dts "dts", @ref AVPacket.duration "duration") is set to
+ *            correct values.
+ * @return < 0 on error, = 0 if OK, 1 if flushed and there is no more data to flush
+ *
+ * @see av_interleaved_write_frame()
+ */
+int av_write_frame(AVFormatContext *s, AVPacket *pkt);
+
+/**
+ * Write a packet to an output media file ensuring correct interleaving.
+ *
+ * This function will buffer the packets internally as needed to make sure the
+ * packets in the output file are properly interleaved in the order of
+ * increasing dts. Callers doing their own interleaving should call
+ * av_write_frame() instead of this function.
+ *
+ * @param s media file handle
+ * @param pkt The packet containing the data to be written.
+ *            <br>
+ *            If the packet is reference-counted, this function will take
+ *            ownership of this reference and unreference it later when it sees
+ *            fit.
+ *            The caller must not access the data through this reference after
+ *            this function returns. If the packet is not reference-counted,
+ *            libavformat will make a copy.
+ *            <br>
+ *            This parameter can be NULL (at any time, not just at the end), to
+ *            flush the interleaving queues.
+ *            <br>
+ *            Packet's @ref AVPacket.stream_index "stream_index" field must be
+ *            set to the index of the corresponding stream in @ref
+ *            AVFormatContext.streams "s->streams". It is very strongly
+ *            recommended that timing information (@ref AVPacket.pts "pts", @ref
+ *            AVPacket.dts "dts", @ref AVPacket.duration "duration") is set to
+ *            correct values.
+ *
+ * @return 0 on success, a negative AVERROR on error. Libavformat will always
+ *         take care of freeing the packet, even if this function fails.
+ *
+ * @see av_write_frame(), AVFormatContext.max_interleave_delta
+ */
+int av_interleaved_write_frame(AVFormatContext *s, AVPacket *pkt);
+
+/**
+ * Write a uncoded frame to an output media file.
+ *
+ * The frame must be correctly interleaved according to the container
+ * specification; if not, then av_interleaved_write_frame() must be used.
+ *
+ * See av_interleaved_write_frame() for details.
+ */
+int av_write_uncoded_frame(AVFormatContext *s, int stream_index,
+                           AVFrame *frame);
+
+/**
+ * Write a uncoded frame to an output media file.
+ *
+ * If the muxer supports it, this function makes it possible to write an AVFrame
+ * structure directly, without encoding it into a packet.
+ * It is mostly useful for devices and similar special muxers that use raw
+ * video or PCM data and will not serialize it into a byte stream.
+ *
+ * To test whether it is possible to use it with a given muxer and stream,
+ * use av_write_uncoded_frame_query().
+ *
+ * The caller gives up ownership of the frame and must not access it
+ * afterwards.
+ *
+ * @return  >=0 for success, a negative code on error
+ */
+int av_interleaved_write_uncoded_frame(AVFormatContext *s, int stream_index,
+                                       AVFrame *frame);
+
+/**
+ * Test whether a muxer supports uncoded frame.
+ *
+ * @return  >=0 if an uncoded frame can be written to that muxer and stream,
+ *          <0 if not
+ */
+int av_write_uncoded_frame_query(AVFormatContext *s, int stream_index);
+
+/**
+ * Write the stream trailer to an output media file and free the
+ * file private data.
+ *
+ * May only be called after a successful call to avformat_write_header.
+ *
+ * @param s media file handle
+ * @return 0 if OK, AVERROR_xxx on error
+ */
+int av_write_trailer(AVFormatContext *s);
+
+/**
+ * Return the output format in the list of registered output formats
+ * which best matches the provided parameters, or return NULL if
+ * there is no match.
+ *
+ * @param short_name if non-NULL checks if short_name matches with the
+ * names of the registered formats
+ * @param filename if non-NULL checks if filename terminates with the
+ * extensions of the registered formats
+ * @param mime_type if non-NULL checks if mime_type matches with the
+ * MIME type of the registered formats
+ */
+AVOutputFormat *av_guess_format(const char *short_name,
+                                const char *filename,
+                                const char *mime_type);
+
+/**
+ * Guess the codec ID based upon muxer and filename.
+ */
+enum AVCodecID av_guess_codec(AVOutputFormat *fmt, const char *short_name,
+                            const char *filename, const char *mime_type,
+                            enum AVMediaType type);
+
+/**
+ * Get timing information for the data currently output.
+ * The exact meaning of "currently output" depends on the format.
+ * It is mostly relevant for devices that have an internal buffer and/or
+ * work in real time.
+ * @param s          media file handle
+ * @param stream     stream in the media file
+ * @param[out] dts   DTS of the last packet output for the stream, in stream
+ *                   time_base units
+ * @param[out] wall  absolute time when that packet whas output,
+ *                   in microsecond
+ * @return  0 if OK, AVERROR(ENOSYS) if the format does not support it
+ * Note: some formats or devices may not allow to measure dts and wall
+ * atomically.
+ */
+int av_get_output_timestamp(struct AVFormatContext *s, int stream,
+                            int64_t *dts, int64_t *wall);
+
+
+/**
+ * @}
+ */
+
+
+/**
+ * @defgroup lavf_misc Utility functions
+ * @ingroup libavf
+ * @{
+ *
+ * Miscellaneous utility functions related to both muxing and demuxing
+ * (or neither).
+ */
+
+/**
+ * Send a nice hexadecimal dump of a buffer to the specified file stream.
+ *
+ * @param f The file stream pointer where the dump should be sent to.
+ * @param buf buffer
+ * @param size buffer size
+ *
+ * @see av_hex_dump_log, av_pkt_dump2, av_pkt_dump_log2
+ */
+void av_hex_dump(FILE *f, const uint8_t *buf, int size);
+
+/**
+ * Send a nice hexadecimal dump of a buffer to the log.
+ *
+ * @param avcl A pointer to an arbitrary struct of which the first field is a
+ * pointer to an AVClass struct.
+ * @param level The importance level of the message, lower values signifying
+ * higher importance.
+ * @param buf buffer
+ * @param size buffer size
+ *
+ * @see av_hex_dump, av_pkt_dump2, av_pkt_dump_log2
+ */
+void av_hex_dump_log(void *avcl, int level, const uint8_t *buf, int size);
+
+/**
+ * Send a nice dump of a packet to the specified file stream.
+ *
+ * @param f The file stream pointer where the dump should be sent to.
+ * @param pkt packet to dump
+ * @param dump_payload True if the payload must be displayed, too.
+ * @param st AVStream that the packet belongs to
+ */
+void av_pkt_dump2(FILE *f, const AVPacket *pkt, int dump_payload, const AVStream *st);
+
+
+/**
+ * Send a nice dump of a packet to the log.
+ *
+ * @param avcl A pointer to an arbitrary struct of which the first field is a
+ * pointer to an AVClass struct.
+ * @param level The importance level of the message, lower values signifying
+ * higher importance.
+ * @param pkt packet to dump
+ * @param dump_payload True if the payload must be displayed, too.
+ * @param st AVStream that the packet belongs to
+ */
+void av_pkt_dump_log2(void *avcl, int level, const AVPacket *pkt, int dump_payload,
+                      const AVStream *st);
+
+/**
+ * Get the AVCodecID for the given codec tag tag.
+ * If no codec id is found returns AV_CODEC_ID_NONE.
+ *
+ * @param tags list of supported codec_id-codec_tag pairs, as stored
+ * in AVInputFormat.codec_tag and AVOutputFormat.codec_tag
+ * @param tag  codec tag to match to a codec ID
+ */
+enum AVCodecID av_codec_get_id(const struct AVCodecTag * const *tags, unsigned int tag);
+
+/**
+ * Get the codec tag for the given codec id id.
+ * If no codec tag is found returns 0.
+ *
+ * @param tags list of supported codec_id-codec_tag pairs, as stored
+ * in AVInputFormat.codec_tag and AVOutputFormat.codec_tag
+ * @param id   codec ID to match to a codec tag
+ */
+unsigned int av_codec_get_tag(const struct AVCodecTag * const *tags, enum AVCodecID id);
+
+/**
+ * Get the codec tag for the given codec id.
+ *
+ * @param tags list of supported codec_id - codec_tag pairs, as stored
+ * in AVInputFormat.codec_tag and AVOutputFormat.codec_tag
+ * @param id codec id that should be searched for in the list
+ * @param tag A pointer to the found tag
+ * @return 0 if id was not found in tags, > 0 if it was found
+ */
+int av_codec_get_tag2(const struct AVCodecTag * const *tags, enum AVCodecID id,
+                      unsigned int *tag);
+
+int av_find_default_stream_index(AVFormatContext *s);
+
+/**
+ * Get the index for a specific timestamp.
+ *
+ * @param st        stream that the timestamp belongs to
+ * @param timestamp timestamp to retrieve the index for
+ * @param flags if AVSEEK_FLAG_BACKWARD then the returned index will correspond
+ *                 to the timestamp which is <= the requested one, if backward
+ *                 is 0, then it will be >=
+ *              if AVSEEK_FLAG_ANY seek to any frame, only keyframes otherwise
+ * @return < 0 if no such timestamp could be found
+ */
+int av_index_search_timestamp(AVStream *st, int64_t timestamp, int flags);
+
+/**
+ * Add an index entry into a sorted list. Update the entry if the list
+ * already contains it.
+ *
+ * @param timestamp timestamp in the time base of the given stream
+ */
+int av_add_index_entry(AVStream *st, int64_t pos, int64_t timestamp,
+                       int size, int distance, int flags);
+
+
+/**
+ * Split a URL string into components.
+ *
+ * The pointers to buffers for storing individual components may be null,
+ * in order to ignore that component. Buffers for components not found are
+ * set to empty strings. If the port is not found, it is set to a negative
+ * value.
+ *
+ * @param proto the buffer for the protocol
+ * @param proto_size the size of the proto buffer
+ * @param authorization the buffer for the authorization
+ * @param authorization_size the size of the authorization buffer
+ * @param hostname the buffer for the host name
+ * @param hostname_size the size of the hostname buffer
+ * @param port_ptr a pointer to store the port number in
+ * @param path the buffer for the path
+ * @param path_size the size of the path buffer
+ * @param url the URL to split
+ */
+void av_url_split(char *proto,         int proto_size,
+                  char *authorization, int authorization_size,
+                  char *hostname,      int hostname_size,
+                  int *port_ptr,
+                  char *path,          int path_size,
+                  const char *url);
+
+
+/**
+ * Print detailed information about the input or output format, such as
+ * duration, bitrate, streams, container, programs, metadata, side data,
+ * codec and time base.
+ *
+ * @param ic        the context to analyze
+ * @param index     index of the stream to dump information about
+ * @param url       the URL to print, such as source or destination file
+ * @param is_output Select whether the specified context is an input(0) or output(1)
+ */
+void av_dump_format(AVFormatContext *ic,
+                    int index,
+                    const char *url,
+                    int is_output);
+
+/**
+ * Return in 'buf' the path with '%d' replaced by a number.
+ *
+ * Also handles the '%0nd' format where 'n' is the total number
+ * of digits and '%%'.
+ *
+ * @param buf destination buffer
+ * @param buf_size destination buffer size
+ * @param path numbered sequence string
+ * @param number frame number
+ * @return 0 if OK, -1 on format error
+ */
+int av_get_frame_filename(char *buf, int buf_size,
+                          const char *path, int number);
+
+/**
+ * Check whether filename actually is a numbered sequence generator.
+ *
+ * @param filename possible numbered sequence string
+ * @return 1 if a valid numbered sequence string, 0 otherwise
+ */
+int av_filename_number_test(const char *filename);
+
+/**
+ * Generate an SDP for an RTP session.
+ *
+ * Note, this overwrites the id values of AVStreams in the muxer contexts
+ * for getting unique dynamic payload types.
+ *
+ * @param ac array of AVFormatContexts describing the RTP streams. If the
+ *           array is composed by only one context, such context can contain
+ *           multiple AVStreams (one AVStream per RTP stream). Otherwise,
+ *           all the contexts in the array (an AVCodecContext per RTP stream)
+ *           must contain only one AVStream.
+ * @param n_files number of AVCodecContexts contained in ac
+ * @param buf buffer where the SDP will be stored (must be allocated by
+ *            the caller)
+ * @param size the size of the buffer
+ * @return 0 if OK, AVERROR_xxx on error
+ */
+int av_sdp_create(AVFormatContext *ac[], int n_files, char *buf, int size);
+
+/**
+ * Return a positive value if the given filename has one of the given
+ * extensions, 0 otherwise.
+ *
+ * @param filename   file name to check against the given extensions
+ * @param extensions a comma-separated list of filename extensions
+ */
+int av_match_ext(const char *filename, const char *extensions);
+
+/**
+ * Test if the given container can store a codec.
+ *
+ * @param ofmt           container to check for compatibility
+ * @param codec_id       codec to potentially store in container
+ * @param std_compliance standards compliance level, one of FF_COMPLIANCE_*
+ *
+ * @return 1 if codec with ID codec_id can be stored in ofmt, 0 if it cannot.
+ *         A negative number if this information is not available.
+ */
+int avformat_query_codec(const AVOutputFormat *ofmt, enum AVCodecID codec_id,
+                         int std_compliance);
+
+/**
+ * @defgroup riff_fourcc RIFF FourCCs
+ * @{
+ * Get the tables mapping RIFF FourCCs to libavcodec AVCodecIDs. The tables are
+ * meant to be passed to av_codec_get_id()/av_codec_get_tag() as in the
+ * following code:
+ * @code
+ * uint32_t tag = MKTAG('H', '2', '6', '4');
+ * const struct AVCodecTag *table[] = { avformat_get_riff_video_tags(), 0 };
+ * enum AVCodecID id = av_codec_get_id(table, tag);
+ * @endcode
+ */
+/**
+ * @return the table mapping RIFF FourCCs for video to libavcodec AVCodecID.
+ */
+const struct AVCodecTag *avformat_get_riff_video_tags(void);
+/**
+ * @return the table mapping RIFF FourCCs for audio to AVCodecID.
+ */
+const struct AVCodecTag *avformat_get_riff_audio_tags(void);
+/**
+ * @return the table mapping MOV FourCCs for video to libavcodec AVCodecID.
+ */
+const struct AVCodecTag *avformat_get_mov_video_tags(void);
+/**
+ * @return the table mapping MOV FourCCs for audio to AVCodecID.
+ */
+const struct AVCodecTag *avformat_get_mov_audio_tags(void);
+
+/**
+ * @}
+ */
+
+/**
+ * Guess the sample aspect ratio of a frame, based on both the stream and the
+ * frame aspect ratio.
+ *
+ * Since the frame aspect ratio is set by the codec but the stream aspect ratio
+ * is set by the demuxer, these two may not be equal. This function tries to
+ * return the value that you should use if you would like to display the frame.
+ *
+ * Basic logic is to use the stream aspect ratio if it is set to something sane
+ * otherwise use the frame aspect ratio. This way a container setting, which is
+ * usually easy to modify can override the coded value in the frames.
+ *
+ * @param format the format context which the stream is part of
+ * @param stream the stream which the frame is part of
+ * @param frame the frame with the aspect ratio to be determined
+ * @return the guessed (valid) sample_aspect_ratio, 0/1 if no idea
+ */
+AVRational av_guess_sample_aspect_ratio(AVFormatContext *format, AVStream *stream, AVFrame *frame);
+
+/**
+ * Guess the frame rate, based on both the container and codec information.
+ *
+ * @param ctx the format context which the stream is part of
+ * @param stream the stream which the frame is part of
+ * @param frame the frame for which the frame rate should be determined, may be NULL
+ * @return the guessed (valid) frame rate, 0/1 if no idea
+ */
+AVRational av_guess_frame_rate(AVFormatContext *ctx, AVStream *stream, AVFrame *frame);
+
+/**
+ * Check if the stream st contained in s is matched by the stream specifier
+ * spec.
+ *
+ * See the "stream specifiers" chapter in the documentation for the syntax
+ * of spec.
+ *
+ * @return  >0 if st is matched by spec;
+ *          0  if st is not matched by spec;
+ *          AVERROR code if spec is invalid
+ *
+ * @note  A stream specifier can match several streams in the format.
+ */
+int avformat_match_stream_specifier(AVFormatContext *s, AVStream *st,
+                                    const char *spec);
+
+int avformat_queue_attached_pictures(AVFormatContext *s);
+
+
+/**
+ * @}
+ */
+
+#endif /* AVFORMAT_AVFORMAT_H */
diff --git a/3rdparty/include/ffmpeg/libavformat/avio.h b/3rdparty/include/ffmpeg/libavformat/avio.h
new file mode 100644
index 0000000..06dd7f5
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavformat/avio.h
@@ -0,0 +1,680 @@
+/*
+ * copyright (c) 2001 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+#ifndef AVFORMAT_AVIO_H
+#define AVFORMAT_AVIO_H
+
+/**
+ * @file
+ * @ingroup lavf_io
+ * Buffered I/O operations
+ */
+
+#include <stdint.h>
+
+#include "libavutil/common.h"
+#include "libavutil/dict.h"
+#include "libavutil/log.h"
+
+#include "libavformat/version.h"
+
+#define AVIO_SEEKABLE_NORMAL 0x0001 /**< Seeking works like for a local file */
+
+/**
+ * Callback for checking whether to abort blocking functions.
+ * AVERROR_EXIT is returned in this case by the interrupted
+ * function. During blocking operations, callback is called with
+ * opaque as parameter. If the callback returns 1, the
+ * blocking operation will be aborted.
+ *
+ * No members can be added to this struct without a major bump, if
+ * new elements have been added after this struct in AVFormatContext
+ * or AVIOContext.
+ */
+typedef struct AVIOInterruptCB {
+    int (*callback)(void*);
+    void *opaque;
+} AVIOInterruptCB;
+
+/**
+ * Directory entry types.
+ */
+enum AVIODirEntryType {
+    AVIO_ENTRY_UNKNOWN,
+    AVIO_ENTRY_BLOCK_DEVICE,
+    AVIO_ENTRY_CHARACTER_DEVICE,
+    AVIO_ENTRY_DIRECTORY,
+    AVIO_ENTRY_NAMED_PIPE,
+    AVIO_ENTRY_SYMBOLIC_LINK,
+    AVIO_ENTRY_SOCKET,
+    AVIO_ENTRY_FILE,
+    AVIO_ENTRY_SERVER,
+    AVIO_ENTRY_SHARE,
+    AVIO_ENTRY_WORKGROUP,
+};
+
+/**
+ * Describes single entry of the directory.
+ *
+ * Only name and type fields are guaranteed be set.
+ * Rest of fields are protocol or/and platform dependent and might be unknown.
+ */
+typedef struct AVIODirEntry {
+    char *name;                           /**< Filename */
+    int type;                             /**< Type of the entry */
+    int utf8;                             /**< Set to 1 when name is encoded with UTF-8, 0 otherwise.
+                                               Name can be encoded with UTF-8 even though 0 is set. */
+    int64_t size;                         /**< File size in bytes, -1 if unknown. */
+    int64_t modification_timestamp;       /**< Time of last modification in microseconds since unix
+                                               epoch, -1 if unknown. */
+    int64_t access_timestamp;             /**< Time of last access in microseconds since unix epoch,
+                                               -1 if unknown. */
+    int64_t status_change_timestamp;      /**< Time of last status change in microseconds since unix
+                                               epoch, -1 if unknown. */
+    int64_t user_id;                      /**< User ID of owner, -1 if unknown. */
+    int64_t group_id;                     /**< Group ID of owner, -1 if unknown. */
+    int64_t filemode;                     /**< Unix file mode, -1 if unknown. */
+} AVIODirEntry;
+
+typedef struct AVIODirContext {
+    struct URLContext *url_context;
+} AVIODirContext;
+
+/**
+ * Bytestream IO Context.
+ * New fields can be added to the end with minor version bumps.
+ * Removal, reordering and changes to existing fields require a major
+ * version bump.
+ * sizeof(AVIOContext) must not be used outside libav*.
+ *
+ * @note None of the function pointers in AVIOContext should be called
+ *       directly, they should only be set by the client application
+ *       when implementing custom I/O. Normally these are set to the
+ *       function pointers specified in avio_alloc_context()
+ */
+typedef struct AVIOContext {
+    /**
+     * A class for private options.
+     *
+     * If this AVIOContext is created by avio_open2(), av_class is set and
+     * passes the options down to protocols.
+     *
+     * If this AVIOContext is manually allocated, then av_class may be set by
+     * the caller.
+     *
+     * warning -- this field can be NULL, be sure to not pass this AVIOContext
+     * to any av_opt_* functions in that case.
+     */
+    const AVClass *av_class;
+    unsigned char *buffer;  /**< Start of the buffer. */
+    int buffer_size;        /**< Maximum buffer size */
+    unsigned char *buf_ptr; /**< Current position in the buffer */
+    unsigned char *buf_end; /**< End of the data, may be less than
+                                 buffer+buffer_size if the read function returned
+                                 less data than requested, e.g. for streams where
+                                 no more data has been received yet. */
+    void *opaque;           /**< A private pointer, passed to the read/write/seek/...
+                                 functions. */
+    int (*read_packet)(void *opaque, uint8_t *buf, int buf_size);
+    int (*write_packet)(void *opaque, uint8_t *buf, int buf_size);
+    int64_t (*seek)(void *opaque, int64_t offset, int whence);
+    int64_t pos;            /**< position in the file of the current buffer */
+    int must_flush;         /**< true if the next seek should flush */
+    int eof_reached;        /**< true if eof reached */
+    int write_flag;         /**< true if open for writing */
+    int max_packet_size;
+    unsigned long checksum;
+    unsigned char *checksum_ptr;
+    unsigned long (*update_checksum)(unsigned long checksum, const uint8_t *buf, unsigned int size);
+    int error;              /**< contains the error code or 0 if no error happened */
+    /**
+     * Pause or resume playback for network streaming protocols - e.g. MMS.
+     */
+    int (*read_pause)(void *opaque, int pause);
+    /**
+     * Seek to a given timestamp in stream with the specified stream_index.
+     * Needed for some network streaming protocols which don't support seeking
+     * to byte position.
+     */
+    int64_t (*read_seek)(void *opaque, int stream_index,
+                         int64_t timestamp, int flags);
+    /**
+     * A combination of AVIO_SEEKABLE_ flags or 0 when the stream is not seekable.
+     */
+    int seekable;
+
+    /**
+     * max filesize, used to limit allocations
+     * This field is internal to libavformat and access from outside is not allowed.
+     */
+    int64_t maxsize;
+
+    /**
+     * avio_read and avio_write should if possible be satisfied directly
+     * instead of going through a buffer, and avio_seek will always
+     * call the underlying seek function directly.
+     */
+    int direct;
+
+    /**
+     * Bytes read statistic
+     * This field is internal to libavformat and access from outside is not allowed.
+     */
+    int64_t bytes_read;
+
+    /**
+     * seek statistic
+     * This field is internal to libavformat and access from outside is not allowed.
+     */
+    int seek_count;
+
+    /**
+     * writeout statistic
+     * This field is internal to libavformat and access from outside is not allowed.
+     */
+    int writeout_count;
+
+    /**
+     * Original buffer size
+     * used internally after probing and ensure seekback to reset the buffer size
+     * This field is internal to libavformat and access from outside is not allowed.
+     */
+    int orig_buffer_size;
+
+    /**
+     * Threshold to favor readahead over seek.
+     * This is current internal only, do not use from outside.
+     */
+    int short_seek_threshold;
+} AVIOContext;
+
+/* unbuffered I/O */
+
+/**
+ * Return the name of the protocol that will handle the passed URL.
+ *
+ * NULL is returned if no protocol could be found for the given URL.
+ *
+ * @return Name of the protocol or NULL.
+ */
+const char *avio_find_protocol_name(const char *url);
+
+/**
+ * Return AVIO_FLAG_* access flags corresponding to the access permissions
+ * of the resource in url, or a negative value corresponding to an
+ * AVERROR code in case of failure. The returned access flags are
+ * masked by the value in flags.
+ *
+ * @note This function is intrinsically unsafe, in the sense that the
+ * checked resource may change its existence or permission status from
+ * one call to another. Thus you should not trust the returned value,
+ * unless you are sure that no other processes are accessing the
+ * checked resource.
+ */
+int avio_check(const char *url, int flags);
+
+/**
+ * Move or rename a resource.
+ *
+ * @note url_src and url_dst should share the same protocol and authority.
+ *
+ * @param url_src url to resource to be moved
+ * @param url_dst new url to resource if the operation succeeded
+ * @return >=0 on success or negative on error.
+ */
+int avpriv_io_move(const char *url_src, const char *url_dst);
+
+/**
+ * Delete a resource.
+ *
+ * @param url resource to be deleted.
+ * @return >=0 on success or negative on error.
+ */
+int avpriv_io_delete(const char *url);
+
+/**
+ * Open directory for reading.
+ *
+ * @param s       directory read context. Pointer to a NULL pointer must be passed.
+ * @param url     directory to be listed.
+ * @param options A dictionary filled with protocol-private options. On return
+ *                this parameter will be destroyed and replaced with a dictionary
+ *                containing options that were not found. May be NULL.
+ * @return >=0 on success or negative on error.
+ */
+int avio_open_dir(AVIODirContext **s, const char *url, AVDictionary **options);
+
+/**
+ * Get next directory entry.
+ *
+ * Returned entry must be freed with avio_free_directory_entry(). In particular
+ * it may outlive AVIODirContext.
+ *
+ * @param s         directory read context.
+ * @param[out] next next entry or NULL when no more entries.
+ * @return >=0 on success or negative on error. End of list is not considered an
+ *             error.
+ */
+int avio_read_dir(AVIODirContext *s, AVIODirEntry **next);
+
+/**
+ * Close directory.
+ *
+ * @note Entries created using avio_read_dir() are not deleted and must be
+ * freeded with avio_free_directory_entry().
+ *
+ * @param s         directory read context.
+ * @return >=0 on success or negative on error.
+ */
+int avio_close_dir(AVIODirContext **s);
+
+/**
+ * Free entry allocated by avio_read_dir().
+ *
+ * @param entry entry to be freed.
+ */
+void avio_free_directory_entry(AVIODirEntry **entry);
+
+/**
+ * Allocate and initialize an AVIOContext for buffered I/O. It must be later
+ * freed with av_free().
+ *
+ * @param buffer Memory block for input/output operations via AVIOContext.
+ *        The buffer must be allocated with av_malloc() and friends.
+ *        It may be freed and replaced with a new buffer by libavformat.
+ *        AVIOContext.buffer holds the buffer currently in use,
+ *        which must be later freed with av_free().
+ * @param buffer_size The buffer size is very important for performance.
+ *        For protocols with fixed blocksize it should be set to this blocksize.
+ *        For others a typical size is a cache page, e.g. 4kb.
+ * @param write_flag Set to 1 if the buffer should be writable, 0 otherwise.
+ * @param opaque An opaque pointer to user-specific data.
+ * @param read_packet  A function for refilling the buffer, may be NULL.
+ * @param write_packet A function for writing the buffer contents, may be NULL.
+ *        The function may not change the input buffers content.
+ * @param seek A function for seeking to specified byte position, may be NULL.
+ *
+ * @return Allocated AVIOContext or NULL on failure.
+ */
+AVIOContext *avio_alloc_context(
+                  unsigned char *buffer,
+                  int buffer_size,
+                  int write_flag,
+                  void *opaque,
+                  int (*read_packet)(void *opaque, uint8_t *buf, int buf_size),
+                  int (*write_packet)(void *opaque, uint8_t *buf, int buf_size),
+                  int64_t (*seek)(void *opaque, int64_t offset, int whence));
+
+void avio_w8(AVIOContext *s, int b);
+void avio_write(AVIOContext *s, const unsigned char *buf, int size);
+void avio_wl64(AVIOContext *s, uint64_t val);
+void avio_wb64(AVIOContext *s, uint64_t val);
+void avio_wl32(AVIOContext *s, unsigned int val);
+void avio_wb32(AVIOContext *s, unsigned int val);
+void avio_wl24(AVIOContext *s, unsigned int val);
+void avio_wb24(AVIOContext *s, unsigned int val);
+void avio_wl16(AVIOContext *s, unsigned int val);
+void avio_wb16(AVIOContext *s, unsigned int val);
+
+/**
+ * Write a NULL-terminated string.
+ * @return number of bytes written.
+ */
+int avio_put_str(AVIOContext *s, const char *str);
+
+/**
+ * Convert an UTF-8 string to UTF-16LE and write it.
+ * @param s the AVIOContext
+ * @param str NULL-terminated UTF-8 string
+ *
+ * @return number of bytes written.
+ */
+int avio_put_str16le(AVIOContext *s, const char *str);
+
+/**
+ * Convert an UTF-8 string to UTF-16BE and write it.
+ * @param s the AVIOContext
+ * @param str NULL-terminated UTF-8 string
+ *
+ * @return number of bytes written.
+ */
+int avio_put_str16be(AVIOContext *s, const char *str);
+
+/**
+ * Passing this as the "whence" parameter to a seek function causes it to
+ * return the filesize without seeking anywhere. Supporting this is optional.
+ * If it is not supported then the seek function will return <0.
+ */
+#define AVSEEK_SIZE 0x10000
+
+/**
+ * Oring this flag as into the "whence" parameter to a seek function causes it to
+ * seek by any means (like reopening and linear reading) or other normally unreasonable
+ * means that can be extremely slow.
+ * This may be ignored by the seek code.
+ */
+#define AVSEEK_FORCE 0x20000
+
+/**
+ * fseek() equivalent for AVIOContext.
+ * @return new position or AVERROR.
+ */
+int64_t avio_seek(AVIOContext *s, int64_t offset, int whence);
+
+/**
+ * Skip given number of bytes forward
+ * @return new position or AVERROR.
+ */
+int64_t avio_skip(AVIOContext *s, int64_t offset);
+
+/**
+ * ftell() equivalent for AVIOContext.
+ * @return position or AVERROR.
+ */
+static av_always_inline int64_t avio_tell(AVIOContext *s)
+{
+    return avio_seek(s, 0, SEEK_CUR);
+}
+
+/**
+ * Get the filesize.
+ * @return filesize or AVERROR
+ */
+int64_t avio_size(AVIOContext *s);
+
+/**
+ * feof() equivalent for AVIOContext.
+ * @return non zero if and only if end of file
+ */
+int avio_feof(AVIOContext *s);
+#if FF_API_URL_FEOF
+/**
+ * @deprecated use avio_feof()
+ */
+attribute_deprecated
+int url_feof(AVIOContext *s);
+#endif
+
+/** @warning currently size is limited */
+int avio_printf(AVIOContext *s, const char *fmt, ...) av_printf_format(2, 3);
+
+/**
+ * Force flushing of buffered data.
+ *
+ * For write streams, force the buffered data to be immediately written to the output,
+ * without to wait to fill the internal buffer.
+ *
+ * For read streams, discard all currently buffered data, and advance the
+ * reported file position to that of the underlying stream. This does not
+ * read new data, and does not perform any seeks.
+ */
+void avio_flush(AVIOContext *s);
+
+/**
+ * Read size bytes from AVIOContext into buf.
+ * @return number of bytes read or AVERROR
+ */
+int avio_read(AVIOContext *s, unsigned char *buf, int size);
+
+/**
+ * @name Functions for reading from AVIOContext
+ * @{
+ *
+ * @note return 0 if EOF, so you cannot use it if EOF handling is
+ *       necessary
+ */
+int          avio_r8  (AVIOContext *s);
+unsigned int avio_rl16(AVIOContext *s);
+unsigned int avio_rl24(AVIOContext *s);
+unsigned int avio_rl32(AVIOContext *s);
+uint64_t     avio_rl64(AVIOContext *s);
+unsigned int avio_rb16(AVIOContext *s);
+unsigned int avio_rb24(AVIOContext *s);
+unsigned int avio_rb32(AVIOContext *s);
+uint64_t     avio_rb64(AVIOContext *s);
+/**
+ * @}
+ */
+
+/**
+ * Read a string from pb into buf. The reading will terminate when either
+ * a NULL character was encountered, maxlen bytes have been read, or nothing
+ * more can be read from pb. The result is guaranteed to be NULL-terminated, it
+ * will be truncated if buf is too small.
+ * Note that the string is not interpreted or validated in any way, it
+ * might get truncated in the middle of a sequence for multi-byte encodings.
+ *
+ * @return number of bytes read (is always <= maxlen).
+ * If reading ends on EOF or error, the return value will be one more than
+ * bytes actually read.
+ */
+int avio_get_str(AVIOContext *pb, int maxlen, char *buf, int buflen);
+
+/**
+ * Read a UTF-16 string from pb and convert it to UTF-8.
+ * The reading will terminate when either a null or invalid character was
+ * encountered or maxlen bytes have been read.
+ * @return number of bytes read (is always <= maxlen)
+ */
+int avio_get_str16le(AVIOContext *pb, int maxlen, char *buf, int buflen);
+int avio_get_str16be(AVIOContext *pb, int maxlen, char *buf, int buflen);
+
+
+/**
+ * @name URL open modes
+ * The flags argument to avio_open must be one of the following
+ * constants, optionally ORed with other flags.
+ * @{
+ */
+#define AVIO_FLAG_READ  1                                      /**< read-only */
+#define AVIO_FLAG_WRITE 2                                      /**< write-only */
+#define AVIO_FLAG_READ_WRITE (AVIO_FLAG_READ|AVIO_FLAG_WRITE)  /**< read-write pseudo flag */
+/**
+ * @}
+ */
+
+/**
+ * Use non-blocking mode.
+ * If this flag is set, operations on the context will return
+ * AVERROR(EAGAIN) if they can not be performed immediately.
+ * If this flag is not set, operations on the context will never return
+ * AVERROR(EAGAIN).
+ * Note that this flag does not affect the opening/connecting of the
+ * context. Connecting a protocol will always block if necessary (e.g. on
+ * network protocols) but never hang (e.g. on busy devices).
+ * Warning: non-blocking protocols is work-in-progress; this flag may be
+ * silently ignored.
+ */
+#define AVIO_FLAG_NONBLOCK 8
+
+/**
+ * Use direct mode.
+ * avio_read and avio_write should if possible be satisfied directly
+ * instead of going through a buffer, and avio_seek will always
+ * call the underlying seek function directly.
+ */
+#define AVIO_FLAG_DIRECT 0x8000
+
+/**
+ * Create and initialize a AVIOContext for accessing the
+ * resource indicated by url.
+ * @note When the resource indicated by url has been opened in
+ * read+write mode, the AVIOContext can be used only for writing.
+ *
+ * @param s Used to return the pointer to the created AVIOContext.
+ * In case of failure the pointed to value is set to NULL.
+ * @param url resource to access
+ * @param flags flags which control how the resource indicated by url
+ * is to be opened
+ * @return >= 0 in case of success, a negative value corresponding to an
+ * AVERROR code in case of failure
+ */
+int avio_open(AVIOContext **s, const char *url, int flags);
+
+/**
+ * Create and initialize a AVIOContext for accessing the
+ * resource indicated by url.
+ * @note When the resource indicated by url has been opened in
+ * read+write mode, the AVIOContext can be used only for writing.
+ *
+ * @param s Used to return the pointer to the created AVIOContext.
+ * In case of failure the pointed to value is set to NULL.
+ * @param url resource to access
+ * @param flags flags which control how the resource indicated by url
+ * is to be opened
+ * @param int_cb an interrupt callback to be used at the protocols level
+ * @param options  A dictionary filled with protocol-private options. On return
+ * this parameter will be destroyed and replaced with a dict containing options
+ * that were not found. May be NULL.
+ * @return >= 0 in case of success, a negative value corresponding to an
+ * AVERROR code in case of failure
+ */
+int avio_open2(AVIOContext **s, const char *url, int flags,
+               const AVIOInterruptCB *int_cb, AVDictionary **options);
+
+/**
+ * Close the resource accessed by the AVIOContext s and free it.
+ * This function can only be used if s was opened by avio_open().
+ *
+ * The internal buffer is automatically flushed before closing the
+ * resource.
+ *
+ * @return 0 on success, an AVERROR < 0 on error.
+ * @see avio_closep
+ */
+int avio_close(AVIOContext *s);
+
+/**
+ * Close the resource accessed by the AVIOContext *s, free it
+ * and set the pointer pointing to it to NULL.
+ * This function can only be used if s was opened by avio_open().
+ *
+ * The internal buffer is automatically flushed before closing the
+ * resource.
+ *
+ * @return 0 on success, an AVERROR < 0 on error.
+ * @see avio_close
+ */
+int avio_closep(AVIOContext **s);
+
+
+/**
+ * Open a write only memory stream.
+ *
+ * @param s new IO context
+ * @return zero if no error.
+ */
+int avio_open_dyn_buf(AVIOContext **s);
+
+/**
+ * Return the written size and a pointer to the buffer. The buffer
+ * must be freed with av_free().
+ * Padding of AV_INPUT_BUFFER_PADDING_SIZE is added to the buffer.
+ *
+ * @param s IO context
+ * @param pbuffer pointer to a byte buffer
+ * @return the length of the byte buffer
+ */
+int avio_close_dyn_buf(AVIOContext *s, uint8_t **pbuffer);
+
+/**
+ * Iterate through names of available protocols.
+ *
+ * @param opaque A private pointer representing current protocol.
+ *        It must be a pointer to NULL on first iteration and will
+ *        be updated by successive calls to avio_enum_protocols.
+ * @param output If set to 1, iterate over output protocols,
+ *               otherwise over input protocols.
+ *
+ * @return A static string containing the name of current protocol or NULL
+ */
+const char *avio_enum_protocols(void **opaque, int output);
+
+/**
+ * Pause and resume playing - only meaningful if using a network streaming
+ * protocol (e.g. MMS).
+ *
+ * @param h     IO context from which to call the read_pause function pointer
+ * @param pause 1 for pause, 0 for resume
+ */
+int     avio_pause(AVIOContext *h, int pause);
+
+/**
+ * Seek to a given timestamp relative to some component stream.
+ * Only meaningful if using a network streaming protocol (e.g. MMS.).
+ *
+ * @param h IO context from which to call the seek function pointers
+ * @param stream_index The stream index that the timestamp is relative to.
+ *        If stream_index is (-1) the timestamp should be in AV_TIME_BASE
+ *        units from the beginning of the presentation.
+ *        If a stream_index >= 0 is used and the protocol does not support
+ *        seeking based on component streams, the call will fail.
+ * @param timestamp timestamp in AVStream.time_base units
+ *        or if there is no stream specified then in AV_TIME_BASE units.
+ * @param flags Optional combination of AVSEEK_FLAG_BACKWARD, AVSEEK_FLAG_BYTE
+ *        and AVSEEK_FLAG_ANY. The protocol may silently ignore
+ *        AVSEEK_FLAG_BACKWARD and AVSEEK_FLAG_ANY, but AVSEEK_FLAG_BYTE will
+ *        fail if used and not supported.
+ * @return >= 0 on success
+ * @see AVInputFormat::read_seek
+ */
+int64_t avio_seek_time(AVIOContext *h, int stream_index,
+                       int64_t timestamp, int flags);
+
+/* Avoid a warning. The header can not be included because it breaks c++. */
+struct AVBPrint;
+
+/**
+ * Read contents of h into print buffer, up to max_size bytes, or up to EOF.
+ *
+ * @return 0 for success (max_size bytes read or EOF reached), negative error
+ * code otherwise
+ */
+int avio_read_to_bprint(AVIOContext *h, struct AVBPrint *pb, size_t max_size);
+
+/**
+ * Accept and allocate a client context on a server context.
+ * @param  s the server context
+ * @param  c the client context, must be unallocated
+ * @return   >= 0 on success or a negative value corresponding
+ *           to an AVERROR on failure
+ */
+int avio_accept(AVIOContext *s, AVIOContext **c);
+
+/**
+ * Perform one step of the protocol handshake to accept a new client.
+ * This function must be called on a client returned by avio_accept() before
+ * using it as a read/write context.
+ * It is separate from avio_accept() because it may block.
+ * A step of the handshake is defined by places where the application may
+ * decide to change the proceedings.
+ * For example, on a protocol with a request header and a reply header, each
+ * one can constitute a step because the application may use the parameters
+ * from the request to change parameters in the reply; or each individual
+ * chunk of the request can constitute a step.
+ * If the handshake is already finished, avio_handshake() does nothing and
+ * returns 0 immediately.
+ *
+ * @param  c the client context to perform the handshake on
+ * @return   0   on a complete and successful handshake
+ *           > 0 if the handshake progressed, but is not complete
+ *           < 0 for an AVERROR code
+ */
+int avio_handshake(AVIOContext *c);
+#endif /* AVFORMAT_AVIO_H */
diff --git a/3rdparty/include/ffmpeg/libavformat/version.h b/3rdparty/include/ffmpeg/libavformat/version.h
new file mode 100644
index 0000000..f7a2e09
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavformat/version.h
@@ -0,0 +1,72 @@
+/*
+ * Version macros.
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVFORMAT_VERSION_H
+#define AVFORMAT_VERSION_H
+
+/**
+ * @file
+ * @ingroup libavf
+ * Libavformat version macros
+ */
+
+#include "libavutil/version.h"
+
+#define LIBAVFORMAT_VERSION_MAJOR  57
+#define LIBAVFORMAT_VERSION_MINOR   3
+#define LIBAVFORMAT_VERSION_MICRO 100
+
+#define LIBAVFORMAT_VERSION_INT AV_VERSION_INT(LIBAVFORMAT_VERSION_MAJOR, \
+                                               LIBAVFORMAT_VERSION_MINOR, \
+                                               LIBAVFORMAT_VERSION_MICRO)
+#define LIBAVFORMAT_VERSION     AV_VERSION(LIBAVFORMAT_VERSION_MAJOR,   \
+                                           LIBAVFORMAT_VERSION_MINOR,   \
+                                           LIBAVFORMAT_VERSION_MICRO)
+#define LIBAVFORMAT_BUILD       LIBAVFORMAT_VERSION_INT
+
+#define LIBAVFORMAT_IDENT       "Lavf" AV_STRINGIFY(LIBAVFORMAT_VERSION)
+
+/**
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ *
+ * @note, when bumping the major version it is recommended to manually
+ * disable each FF_API_* in its own commit instead of disabling them all
+ * at once through the bump. This improves the git bisect-ability of the change.
+ *
+ */
+#ifndef FF_API_LAVF_BITEXACT
+#define FF_API_LAVF_BITEXACT            (LIBAVFORMAT_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_LAVF_FRAC
+#define FF_API_LAVF_FRAC                (LIBAVFORMAT_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_LAVF_CODEC_TB
+#define FF_API_LAVF_CODEC_TB            (LIBAVFORMAT_VERSION_MAJOR < 58)
+#endif
+#ifndef FF_API_URL_FEOF
+#define FF_API_URL_FEOF                 (LIBAVFORMAT_VERSION_MAJOR < 58)
+#endif
+
+#ifndef FF_API_R_FRAME_RATE
+#define FF_API_R_FRAME_RATE            1
+#endif
+#endif /* AVFORMAT_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/adler32.h b/3rdparty/include/ffmpeg/libavutil/adler32.h
new file mode 100644
index 0000000..0dc69ec
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/adler32.h
@@ -0,0 +1,55 @@
+/*
+ * copyright (c) 2006 Mans Rullgard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_ADLER32_H
+#define AVUTIL_ADLER32_H
+
+#include <stdint.h>
+#include "attributes.h"
+
+/**
+ * @file
+ * Public header for libavutil Adler32 hasher
+ *
+ * @defgroup lavu_adler32 Adler32
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+/**
+ * Calculate the Adler32 checksum of a buffer.
+ *
+ * Passing the return value to a subsequent av_adler32_update() call
+ * allows the checksum of multiple buffers to be calculated as though
+ * they were concatenated.
+ *
+ * @param adler initial checksum value
+ * @param buf   pointer to input buffer
+ * @param len   size of input buffer
+ * @return      updated checksum
+ */
+unsigned long av_adler32_update(unsigned long adler, const uint8_t *buf,
+                                unsigned int len) av_pure;
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_ADLER32_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/aes.h b/3rdparty/include/ffmpeg/libavutil/aes.h
new file mode 100644
index 0000000..09efbda
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/aes.h
@@ -0,0 +1,65 @@
+/*
+ * copyright (c) 2007 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_AES_H
+#define AVUTIL_AES_H
+
+#include <stdint.h>
+
+#include "attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavu_aes AES
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_aes_size;
+
+struct AVAES;
+
+/**
+ * Allocate an AVAES context.
+ */
+struct AVAES *av_aes_alloc(void);
+
+/**
+ * Initialize an AVAES context.
+ * @param key_bits 128, 192 or 256
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+int av_aes_init(struct AVAES *a, const uint8_t *key, int key_bits, int decrypt);
+
+/**
+ * Encrypt or decrypt a buffer using a previously initialized context.
+ * @param count number of 16 byte blocks
+ * @param dst destination array, can be equal to src
+ * @param src source array, can be equal to dst
+ * @param iv initialization vector for CBC mode, if NULL then ECB will be used
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_aes_crypt(struct AVAES *a, uint8_t *dst, const uint8_t *src, int count, uint8_t *iv, int decrypt);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_AES_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/attributes.h b/3rdparty/include/ffmpeg/libavutil/attributes.h
new file mode 100644
index 0000000..5c6b9de
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/attributes.h
@@ -0,0 +1,168 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * Macro definitions for various function/variable attributes
+ */
+
+#ifndef AVUTIL_ATTRIBUTES_H
+#define AVUTIL_ATTRIBUTES_H
+
+#ifdef __GNUC__
+#    define AV_GCC_VERSION_AT_LEAST(x,y) (__GNUC__ > (x) || __GNUC__ == (x) && __GNUC_MINOR__ >= (y))
+#    define AV_GCC_VERSION_AT_MOST(x,y)  (__GNUC__ < (x) || __GNUC__ == (x) && __GNUC_MINOR__ <= (y))
+#else
+#    define AV_GCC_VERSION_AT_LEAST(x,y) 0
+#    define AV_GCC_VERSION_AT_MOST(x,y)  0
+#endif
+
+#ifndef av_always_inline
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+#    define av_always_inline __attribute__((always_inline)) inline
+#elif defined(_MSC_VER)
+#    define av_always_inline __forceinline
+#else
+#    define av_always_inline inline
+#endif
+#endif
+
+#ifndef av_extern_inline
+#if defined(__ICL) && __ICL >= 1210 || defined(__GNUC_STDC_INLINE__)
+#    define av_extern_inline extern inline
+#else
+#    define av_extern_inline inline
+#endif
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,4)
+#    define av_warn_unused_result __attribute__((warn_unused_result))
+#else
+#    define av_warn_unused_result
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+#    define av_noinline __attribute__((noinline))
+#elif defined(_MSC_VER)
+#    define av_noinline __declspec(noinline)
+#else
+#    define av_noinline
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+#    define av_pure __attribute__((pure))
+#else
+#    define av_pure
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(2,6)
+#    define av_const __attribute__((const))
+#else
+#    define av_const
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(4,3)
+#    define av_cold __attribute__((cold))
+#else
+#    define av_cold
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(4,1) && !defined(__llvm__)
+#    define av_flatten __attribute__((flatten))
+#else
+#    define av_flatten
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+#    define attribute_deprecated __attribute__((deprecated))
+#elif defined(_MSC_VER)
+#    define attribute_deprecated __declspec(deprecated)
+#else
+#    define attribute_deprecated
+#endif
+
+/**
+ * Disable warnings about deprecated features
+ * This is useful for sections of code kept for backward compatibility and
+ * scheduled for removal.
+ */
+#ifndef AV_NOWARN_DEPRECATED
+#if AV_GCC_VERSION_AT_LEAST(4,6)
+#    define AV_NOWARN_DEPRECATED(code) \
+        _Pragma("GCC diagnostic push") \
+        _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"") \
+        code \
+        _Pragma("GCC diagnostic pop")
+#elif defined(_MSC_VER)
+#    define AV_NOWARN_DEPRECATED(code) \
+        __pragma(warning(push)) \
+        __pragma(warning(disable : 4996)) \
+        code; \
+        __pragma(warning(pop))
+#else
+#    define AV_NOWARN_DEPRECATED(code) code
+#endif
+#endif
+
+
+#if defined(__GNUC__)
+#    define av_unused __attribute__((unused))
+#else
+#    define av_unused
+#endif
+
+/**
+ * Mark a variable as used and prevent the compiler from optimizing it
+ * away.  This is useful for variables accessed only from inline
+ * assembler without the compiler being aware.
+ */
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+#    define av_used __attribute__((used))
+#else
+#    define av_used
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,3)
+#   define av_alias __attribute__((may_alias))
+#else
+#   define av_alias
+#endif
+
+#if defined(__GNUC__) && !defined(__INTEL_COMPILER) && !defined(__clang__)
+#    define av_uninit(x) x=x
+#else
+#    define av_uninit(x) x
+#endif
+
+#ifdef __GNUC__
+#    define av_builtin_constant_p __builtin_constant_p
+#    define av_printf_format(fmtpos, attrpos) __attribute__((__format__(__printf__, fmtpos, attrpos)))
+#else
+#    define av_builtin_constant_p(x) 0
+#    define av_printf_format(fmtpos, attrpos)
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(2,5)
+#    define av_noreturn __attribute__((noreturn))
+#else
+#    define av_noreturn
+#endif
+
+#endif /* AVUTIL_ATTRIBUTES_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/audio_fifo.h b/3rdparty/include/ffmpeg/libavutil/audio_fifo.h
new file mode 100644
index 0000000..d93be2a
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/audio_fifo.h
@@ -0,0 +1,169 @@
+/*
+ * Audio FIFO
+ * Copyright (c) 2012 Justin Ruggles <justin.ruggles@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * Audio FIFO Buffer
+ */
+
+#ifndef AVUTIL_AUDIO_FIFO_H
+#define AVUTIL_AUDIO_FIFO_H
+
+#include "avutil.h"
+#include "fifo.h"
+#include "samplefmt.h"
+
+/**
+ * @addtogroup lavu_audio
+ * @{
+ *
+ * @defgroup lavu_audiofifo Audio FIFO Buffer
+ * @{
+ */
+
+/**
+ * Context for an Audio FIFO Buffer.
+ *
+ * - Operates at the sample level rather than the byte level.
+ * - Supports multiple channels with either planar or packed sample format.
+ * - Automatic reallocation when writing to a full buffer.
+ */
+typedef struct AVAudioFifo AVAudioFifo;
+
+/**
+ * Free an AVAudioFifo.
+ *
+ * @param af  AVAudioFifo to free
+ */
+void av_audio_fifo_free(AVAudioFifo *af);
+
+/**
+ * Allocate an AVAudioFifo.
+ *
+ * @param sample_fmt  sample format
+ * @param channels    number of channels
+ * @param nb_samples  initial allocation size, in samples
+ * @return            newly allocated AVAudioFifo, or NULL on error
+ */
+AVAudioFifo *av_audio_fifo_alloc(enum AVSampleFormat sample_fmt, int channels,
+                                 int nb_samples);
+
+/**
+ * Reallocate an AVAudioFifo.
+ *
+ * @param af          AVAudioFifo to reallocate
+ * @param nb_samples  new allocation size, in samples
+ * @return            0 if OK, or negative AVERROR code on failure
+ */
+int av_audio_fifo_realloc(AVAudioFifo *af, int nb_samples);
+
+/**
+ * Write data to an AVAudioFifo.
+ *
+ * The AVAudioFifo will be reallocated automatically if the available space
+ * is less than nb_samples.
+ *
+ * @see enum AVSampleFormat
+ * The documentation for AVSampleFormat describes the data layout.
+ *
+ * @param af          AVAudioFifo to write to
+ * @param data        audio data plane pointers
+ * @param nb_samples  number of samples to write
+ * @return            number of samples actually written, or negative AVERROR
+ *                    code on failure. If successful, the number of samples
+ *                    actually written will always be nb_samples.
+ */
+int av_audio_fifo_write(AVAudioFifo *af, void **data, int nb_samples);
+
+/**
+ * Peek data from an AVAudioFifo.
+ *
+ * @see enum AVSampleFormat
+ * The documentation for AVSampleFormat describes the data layout.
+ *
+ * @param af          AVAudioFifo to read from
+ * @param data        audio data plane pointers
+ * @param nb_samples  number of samples to peek
+ * @return            number of samples actually peek, or negative AVERROR code
+ *                    on failure. The number of samples actually peek will not
+ *                    be greater than nb_samples, and will only be less than
+ *                    nb_samples if av_audio_fifo_size is less than nb_samples.
+ */
+int av_audio_fifo_peek(AVAudioFifo *af, void **data, int nb_samples);
+
+/**
+ * Read data from an AVAudioFifo.
+ *
+ * @see enum AVSampleFormat
+ * The documentation for AVSampleFormat describes the data layout.
+ *
+ * @param af          AVAudioFifo to read from
+ * @param data        audio data plane pointers
+ * @param nb_samples  number of samples to read
+ * @return            number of samples actually read, or negative AVERROR code
+ *                    on failure. The number of samples actually read will not
+ *                    be greater than nb_samples, and will only be less than
+ *                    nb_samples if av_audio_fifo_size is less than nb_samples.
+ */
+int av_audio_fifo_read(AVAudioFifo *af, void **data, int nb_samples);
+
+/**
+ * Drain data from an AVAudioFifo.
+ *
+ * Removes the data without reading it.
+ *
+ * @param af          AVAudioFifo to drain
+ * @param nb_samples  number of samples to drain
+ * @return            0 if OK, or negative AVERROR code on failure
+ */
+int av_audio_fifo_drain(AVAudioFifo *af, int nb_samples);
+
+/**
+ * Reset the AVAudioFifo buffer.
+ *
+ * This empties all data in the buffer.
+ *
+ * @param af  AVAudioFifo to reset
+ */
+void av_audio_fifo_reset(AVAudioFifo *af);
+
+/**
+ * Get the current number of samples in the AVAudioFifo available for reading.
+ *
+ * @param af  the AVAudioFifo to query
+ * @return    number of samples available for reading
+ */
+int av_audio_fifo_size(AVAudioFifo *af);
+
+/**
+ * Get the current number of samples in the AVAudioFifo available for writing.
+ *
+ * @param af  the AVAudioFifo to query
+ * @return    number of samples available for writing
+ */
+int av_audio_fifo_space(AVAudioFifo *af);
+
+/**
+ * @}
+ * @}
+ */
+
+#endif /* AVUTIL_AUDIO_FIFO_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/avassert.h b/3rdparty/include/ffmpeg/libavutil/avassert.h
new file mode 100644
index 0000000..41f5e0e
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/avassert.h
@@ -0,0 +1,66 @@
+/*
+ * copyright (c) 2010 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * simple assert() macros that are a bit more flexible than ISO C assert().
+ * @author Michael Niedermayer <michaelni@gmx.at>
+ */
+
+#ifndef AVUTIL_AVASSERT_H
+#define AVUTIL_AVASSERT_H
+
+#include <stdlib.h>
+#include "avutil.h"
+#include "log.h"
+
+/**
+ * assert() equivalent, that is always enabled.
+ */
+#define av_assert0(cond) do {                                           \
+    if (!(cond)) {                                                      \
+        av_log(NULL, AV_LOG_PANIC, "Assertion %s failed at %s:%d\n",    \
+               AV_STRINGIFY(cond), __FILE__, __LINE__);                 \
+        abort();                                                        \
+    }                                                                   \
+} while (0)
+
+
+/**
+ * assert() equivalent, that does not lie in speed critical code.
+ * These asserts() thus can be enabled without fearing speedloss.
+ */
+#if defined(ASSERT_LEVEL) && ASSERT_LEVEL > 0
+#define av_assert1(cond) av_assert0(cond)
+#else
+#define av_assert1(cond) ((void)0)
+#endif
+
+
+/**
+ * assert() equivalent, that does lie in speed critical code.
+ */
+#if defined(ASSERT_LEVEL) && ASSERT_LEVEL > 1
+#define av_assert2(cond) av_assert0(cond)
+#else
+#define av_assert2(cond) ((void)0)
+#endif
+
+#endif /* AVUTIL_AVASSERT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/avconfig.h b/3rdparty/include/ffmpeg/libavutil/avconfig.h
new file mode 100644
index 0000000..36a8cd1
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/avconfig.h
@@ -0,0 +1,7 @@
+/* Generated by ffconf */
+#ifndef AVUTIL_AVCONFIG_H
+#define AVUTIL_AVCONFIG_H
+#define AV_HAVE_BIGENDIAN 0
+#define AV_HAVE_FAST_UNALIGNED 1
+#define AV_HAVE_INCOMPATIBLE_LIBAV_ABI 0
+#endif /* AVUTIL_AVCONFIG_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/avstring.h b/3rdparty/include/ffmpeg/libavutil/avstring.h
new file mode 100644
index 0000000..a306e89
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/avstring.h
@@ -0,0 +1,395 @@
+/*
+ * Copyright (c) 2007 Mans Rullgard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_AVSTRING_H
+#define AVUTIL_AVSTRING_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include "attributes.h"
+
+/**
+ * @addtogroup lavu_string
+ * @{
+ */
+
+/**
+ * Return non-zero if pfx is a prefix of str. If it is, *ptr is set to
+ * the address of the first character in str after the prefix.
+ *
+ * @param str input string
+ * @param pfx prefix to test
+ * @param ptr updated if the prefix is matched inside str
+ * @return non-zero if the prefix matches, zero otherwise
+ */
+int av_strstart(const char *str, const char *pfx, const char **ptr);
+
+/**
+ * Return non-zero if pfx is a prefix of str independent of case. If
+ * it is, *ptr is set to the address of the first character in str
+ * after the prefix.
+ *
+ * @param str input string
+ * @param pfx prefix to test
+ * @param ptr updated if the prefix is matched inside str
+ * @return non-zero if the prefix matches, zero otherwise
+ */
+int av_stristart(const char *str, const char *pfx, const char **ptr);
+
+/**
+ * Locate the first case-independent occurrence in the string haystack
+ * of the string needle.  A zero-length string needle is considered to
+ * match at the start of haystack.
+ *
+ * This function is a case-insensitive version of the standard strstr().
+ *
+ * @param haystack string to search in
+ * @param needle   string to search for
+ * @return         pointer to the located match within haystack
+ *                 or a null pointer if no match
+ */
+char *av_stristr(const char *haystack, const char *needle);
+
+/**
+ * Locate the first occurrence of the string needle in the string haystack
+ * where not more than hay_length characters are searched. A zero-length
+ * string needle is considered to match at the start of haystack.
+ *
+ * This function is a length-limited version of the standard strstr().
+ *
+ * @param haystack   string to search in
+ * @param needle     string to search for
+ * @param hay_length length of string to search in
+ * @return           pointer to the located match within haystack
+ *                   or a null pointer if no match
+ */
+char *av_strnstr(const char *haystack, const char *needle, size_t hay_length);
+
+/**
+ * Copy the string src to dst, but no more than size - 1 bytes, and
+ * null-terminate dst.
+ *
+ * This function is the same as BSD strlcpy().
+ *
+ * @param dst destination buffer
+ * @param src source string
+ * @param size size of destination buffer
+ * @return the length of src
+ *
+ * @warning since the return value is the length of src, src absolutely
+ * _must_ be a properly 0-terminated string, otherwise this will read beyond
+ * the end of the buffer and possibly crash.
+ */
+size_t av_strlcpy(char *dst, const char *src, size_t size);
+
+/**
+ * Append the string src to the string dst, but to a total length of
+ * no more than size - 1 bytes, and null-terminate dst.
+ *
+ * This function is similar to BSD strlcat(), but differs when
+ * size <= strlen(dst).
+ *
+ * @param dst destination buffer
+ * @param src source string
+ * @param size size of destination buffer
+ * @return the total length of src and dst
+ *
+ * @warning since the return value use the length of src and dst, these
+ * absolutely _must_ be a properly 0-terminated strings, otherwise this
+ * will read beyond the end of the buffer and possibly crash.
+ */
+size_t av_strlcat(char *dst, const char *src, size_t size);
+
+/**
+ * Append output to a string, according to a format. Never write out of
+ * the destination buffer, and always put a terminating 0 within
+ * the buffer.
+ * @param dst destination buffer (string to which the output is
+ *  appended)
+ * @param size total size of the destination buffer
+ * @param fmt printf-compatible format string, specifying how the
+ *  following parameters are used
+ * @return the length of the string that would have been generated
+ *  if enough space had been available
+ */
+size_t av_strlcatf(char *dst, size_t size, const char *fmt, ...) av_printf_format(3, 4);
+
+/**
+ * Get the count of continuous non zero chars starting from the beginning.
+ *
+ * @param len maximum number of characters to check in the string, that
+ *            is the maximum value which is returned by the function
+ */
+static inline size_t av_strnlen(const char *s, size_t len)
+{
+    size_t i;
+    for (i = 0; i < len && s[i]; i++)
+        ;
+    return i;
+}
+
+/**
+ * Print arguments following specified format into a large enough auto
+ * allocated buffer. It is similar to GNU asprintf().
+ * @param fmt printf-compatible format string, specifying how the
+ *            following parameters are used.
+ * @return the allocated string
+ * @note You have to free the string yourself with av_free().
+ */
+char *av_asprintf(const char *fmt, ...) av_printf_format(1, 2);
+
+/**
+ * Convert a number to a av_malloced string.
+ */
+char *av_d2str(double d);
+
+/**
+ * Unescape the given string until a non escaped terminating char,
+ * and return the token corresponding to the unescaped string.
+ *
+ * The normal \ and ' escaping is supported. Leading and trailing
+ * whitespaces are removed, unless they are escaped with '\' or are
+ * enclosed between ''.
+ *
+ * @param buf the buffer to parse, buf will be updated to point to the
+ * terminating char
+ * @param term a 0-terminated list of terminating chars
+ * @return the malloced unescaped string, which must be av_freed by
+ * the user, NULL in case of allocation failure
+ */
+char *av_get_token(const char **buf, const char *term);
+
+/**
+ * Split the string into several tokens which can be accessed by
+ * successive calls to av_strtok().
+ *
+ * A token is defined as a sequence of characters not belonging to the
+ * set specified in delim.
+ *
+ * On the first call to av_strtok(), s should point to the string to
+ * parse, and the value of saveptr is ignored. In subsequent calls, s
+ * should be NULL, and saveptr should be unchanged since the previous
+ * call.
+ *
+ * This function is similar to strtok_r() defined in POSIX.1.
+ *
+ * @param s the string to parse, may be NULL
+ * @param delim 0-terminated list of token delimiters, must be non-NULL
+ * @param saveptr user-provided pointer which points to stored
+ * information necessary for av_strtok() to continue scanning the same
+ * string. saveptr is updated to point to the next character after the
+ * first delimiter found, or to NULL if the string was terminated
+ * @return the found token, or NULL when no token is found
+ */
+char *av_strtok(char *s, const char *delim, char **saveptr);
+
+/**
+ * Locale-independent conversion of ASCII isdigit.
+ */
+static inline av_const int av_isdigit(int c)
+{
+    return c >= '0' && c <= '9';
+}
+
+/**
+ * Locale-independent conversion of ASCII isgraph.
+ */
+static inline av_const int av_isgraph(int c)
+{
+    return c > 32 && c < 127;
+}
+
+/**
+ * Locale-independent conversion of ASCII isspace.
+ */
+static inline av_const int av_isspace(int c)
+{
+    return c == ' ' || c == '\f' || c == '\n' || c == '\r' || c == '\t' ||
+           c == '\v';
+}
+
+/**
+ * Locale-independent conversion of ASCII characters to uppercase.
+ */
+static inline av_const int av_toupper(int c)
+{
+    if (c >= 'a' && c <= 'z')
+        c ^= 0x20;
+    return c;
+}
+
+/**
+ * Locale-independent conversion of ASCII characters to lowercase.
+ */
+static inline av_const int av_tolower(int c)
+{
+    if (c >= 'A' && c <= 'Z')
+        c ^= 0x20;
+    return c;
+}
+
+/**
+ * Locale-independent conversion of ASCII isxdigit.
+ */
+static inline av_const int av_isxdigit(int c)
+{
+    c = av_tolower(c);
+    return av_isdigit(c) || (c >= 'a' && c <= 'f');
+}
+
+/**
+ * Locale-independent case-insensitive compare.
+ * @note This means only ASCII-range characters are case-insensitive
+ */
+int av_strcasecmp(const char *a, const char *b);
+
+/**
+ * Locale-independent case-insensitive compare.
+ * @note This means only ASCII-range characters are case-insensitive
+ */
+int av_strncasecmp(const char *a, const char *b, size_t n);
+
+
+/**
+ * Thread safe basename.
+ * @param path the path, on DOS both \ and / are considered separators.
+ * @return pointer to the basename substring.
+ */
+const char *av_basename(const char *path);
+
+/**
+ * Thread safe dirname.
+ * @param path the path, on DOS both \ and / are considered separators.
+ * @return the path with the separator replaced by the string terminator or ".".
+ * @note the function may change the input string.
+ */
+const char *av_dirname(char *path);
+
+/**
+ * Match instances of a name in a comma-separated list of names.
+ * @param name  Name to look for.
+ * @param names List of names.
+ * @return 1 on match, 0 otherwise.
+ */
+int av_match_name(const char *name, const char *names);
+
+/**
+ * Append path component to the existing path.
+ * Path separator '/' is placed between when needed.
+ * Resulting string have to be freed with av_free().
+ * @param path      base path
+ * @param component component to be appended
+ * @return new path or NULL on error.
+ */
+char *av_append_path_component(const char *path, const char *component);
+
+enum AVEscapeMode {
+    AV_ESCAPE_MODE_AUTO,      ///< Use auto-selected escaping mode.
+    AV_ESCAPE_MODE_BACKSLASH, ///< Use backslash escaping.
+    AV_ESCAPE_MODE_QUOTE,     ///< Use single-quote escaping.
+};
+
+/**
+ * Consider spaces special and escape them even in the middle of the
+ * string.
+ *
+ * This is equivalent to adding the whitespace characters to the special
+ * characters lists, except it is guaranteed to use the exact same list
+ * of whitespace characters as the rest of libavutil.
+ */
+#define AV_ESCAPE_FLAG_WHITESPACE (1 << 0)
+
+/**
+ * Escape only specified special characters.
+ * Without this flag, escape also any characters that may be considered
+ * special by av_get_token(), such as the single quote.
+ */
+#define AV_ESCAPE_FLAG_STRICT (1 << 1)
+
+/**
+ * Escape string in src, and put the escaped string in an allocated
+ * string in *dst, which must be freed with av_free().
+ *
+ * @param dst           pointer where an allocated string is put
+ * @param src           string to escape, must be non-NULL
+ * @param special_chars string containing the special characters which
+ *                      need to be escaped, can be NULL
+ * @param mode          escape mode to employ, see AV_ESCAPE_MODE_* macros.
+ *                      Any unknown value for mode will be considered equivalent to
+ *                      AV_ESCAPE_MODE_BACKSLASH, but this behaviour can change without
+ *                      notice.
+ * @param flags         flags which control how to escape, see AV_ESCAPE_FLAG_ macros
+ * @return the length of the allocated string, or a negative error code in case of error
+ * @see av_bprint_escape()
+ */
+int av_escape(char **dst, const char *src, const char *special_chars,
+              enum AVEscapeMode mode, int flags);
+
+#define AV_UTF8_FLAG_ACCEPT_INVALID_BIG_CODES          1 ///< accept codepoints over 0x10FFFF
+#define AV_UTF8_FLAG_ACCEPT_NON_CHARACTERS             2 ///< accept non-characters - 0xFFFE and 0xFFFF
+#define AV_UTF8_FLAG_ACCEPT_SURROGATES                 4 ///< accept UTF-16 surrogates codes
+#define AV_UTF8_FLAG_EXCLUDE_XML_INVALID_CONTROL_CODES 8 ///< exclude control codes not accepted by XML
+
+#define AV_UTF8_FLAG_ACCEPT_ALL \
+    AV_UTF8_FLAG_ACCEPT_INVALID_BIG_CODES|AV_UTF8_FLAG_ACCEPT_NON_CHARACTERS|AV_UTF8_FLAG_ACCEPT_SURROGATES
+
+/**
+ * Read and decode a single UTF-8 code point (character) from the
+ * buffer in *buf, and update *buf to point to the next byte to
+ * decode.
+ *
+ * In case of an invalid byte sequence, the pointer will be updated to
+ * the next byte after the invalid sequence and the function will
+ * return an error code.
+ *
+ * Depending on the specified flags, the function will also fail in
+ * case the decoded code point does not belong to a valid range.
+ *
+ * @note For speed-relevant code a carefully implemented use of
+ * GET_UTF8() may be preferred.
+ *
+ * @param codep   pointer used to return the parsed code in case of success.
+ *                The value in *codep is set even in case the range check fails.
+ * @param bufp    pointer to the address the first byte of the sequence
+ *                to decode, updated by the function to point to the
+ *                byte next after the decoded sequence
+ * @param buf_end pointer to the end of the buffer, points to the next
+ *                byte past the last in the buffer. This is used to
+ *                avoid buffer overreads (in case of an unfinished
+ *                UTF-8 sequence towards the end of the buffer).
+ * @param flags   a collection of AV_UTF8_FLAG_* flags
+ * @return >= 0 in case a sequence was successfully read, a negative
+ * value in case of invalid sequence
+ */
+int av_utf8_decode(int32_t *codep, const uint8_t **bufp, const uint8_t *buf_end,
+                   unsigned int flags);
+
+/**
+ * Check if a name is in a list.
+ * @returns 0 if not found, or the 1 based index where it has been found in the
+ *            list.
+ */
+int av_match_list(const char *name, const char *list, char separator);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_AVSTRING_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/avutil.h b/3rdparty/include/ffmpeg/libavutil/avutil.h
new file mode 100644
index 0000000..9bcf674
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/avutil.h
@@ -0,0 +1,343 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_AVUTIL_H
+#define AVUTIL_AVUTIL_H
+
+/**
+ * @file
+ * external API header
+ */
+
+/**
+ * @mainpage
+ *
+ * @section ffmpeg_intro Introduction
+ *
+ * This document describes the usage of the different libraries
+ * provided by FFmpeg.
+ *
+ * @li @ref libavc "libavcodec" encoding/decoding library
+ * @li @ref lavfi "libavfilter" graph-based frame editing library
+ * @li @ref libavf "libavformat" I/O and muxing/demuxing library
+ * @li @ref lavd "libavdevice" special devices muxing/demuxing library
+ * @li @ref lavu "libavutil" common utility library
+ * @li @ref lswr "libswresample" audio resampling, format conversion and mixing
+ * @li @ref lpp  "libpostproc" post processing library
+ * @li @ref libsws "libswscale" color conversion and scaling library
+ *
+ * @section ffmpeg_versioning Versioning and compatibility
+ *
+ * Each of the FFmpeg libraries contains a version.h header, which defines a
+ * major, minor and micro version number with the
+ * <em>LIBRARYNAME_VERSION_{MAJOR,MINOR,MICRO}</em> macros. The major version
+ * number is incremented with backward incompatible changes - e.g. removing
+ * parts of the public API, reordering public struct members, etc. The minor
+ * version number is incremented for backward compatible API changes or major
+ * new features - e.g. adding a new public function or a new decoder. The micro
+ * version number is incremented for smaller changes that a calling program
+ * might still want to check for - e.g. changing behavior in a previously
+ * unspecified situation.
+ *
+ * FFmpeg guarantees backward API and ABI compatibility for each library as long
+ * as its major version number is unchanged. This means that no public symbols
+ * will be removed or renamed. Types and names of the public struct members and
+ * values of public macros and enums will remain the same (unless they were
+ * explicitly declared as not part of the public API). Documented behavior will
+ * not change.
+ *
+ * In other words, any correct program that works with a given FFmpeg snapshot
+ * should work just as well without any changes with any later snapshot with the
+ * same major versions. This applies to both rebuilding the program against new
+ * FFmpeg versions or to replacing the dynamic FFmpeg libraries that a program
+ * links against.
+ *
+ * However, new public symbols may be added and new members may be appended to
+ * public structs whose size is not part of public ABI (most public structs in
+ * FFmpeg). New macros and enum values may be added. Behavior in undocumented
+ * situations may change slightly (and be documented). All those are accompanied
+ * by an entry in doc/APIchanges and incrementing either the minor or micro
+ * version number.
+ */
+
+/**
+ * @defgroup lavu Common utility functions
+ *
+ * @brief
+ * libavutil contains the code shared across all the other FFmpeg
+ * libraries
+ *
+ * @note In order to use the functions provided by avutil you must include
+ * the specific header.
+ *
+ * @{
+ *
+ * @defgroup lavu_crypto Crypto and Hashing
+ *
+ * @{
+ * @}
+ *
+ * @defgroup lavu_math Maths
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_string String Manipulation
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_mem Memory Management
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_data Data Structures
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_audio Audio related
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_error Error Codes
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_log Logging Facility
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup lavu_misc Other
+ *
+ * @{
+ *
+ * @defgroup preproc_misc Preprocessor String Macros
+ *
+ * @{
+ *
+ * @}
+ *
+ * @defgroup version_utils Library Version Macros
+ *
+ * @{
+ *
+ * @}
+ */
+
+
+/**
+ * @addtogroup lavu_ver
+ * @{
+ */
+
+/**
+ * Return the LIBAVUTIL_VERSION_INT constant.
+ */
+unsigned avutil_version(void);
+
+/**
+ * Return an informative version string. This usually is the actual release
+ * version number or a git commit description. This string has no fixed format
+ * and can change any time. It should never be parsed by code.
+ */
+const char *av_version_info(void);
+
+/**
+ * Return the libavutil build-time configuration.
+ */
+const char *avutil_configuration(void);
+
+/**
+ * Return the libavutil license.
+ */
+const char *avutil_license(void);
+
+/**
+ * @}
+ */
+
+/**
+ * @addtogroup lavu_media Media Type
+ * @brief Media Type
+ */
+
+enum AVMediaType {
+    AVMEDIA_TYPE_UNKNOWN = -1,  ///< Usually treated as AVMEDIA_TYPE_DATA
+    AVMEDIA_TYPE_VIDEO,
+    AVMEDIA_TYPE_AUDIO,
+    AVMEDIA_TYPE_DATA,          ///< Opaque data information usually continuous
+    AVMEDIA_TYPE_SUBTITLE,
+    AVMEDIA_TYPE_ATTACHMENT,    ///< Opaque data information usually sparse
+    AVMEDIA_TYPE_NB
+};
+
+/**
+ * Return a string describing the media_type enum, NULL if media_type
+ * is unknown.
+ */
+const char *av_get_media_type_string(enum AVMediaType media_type);
+
+/**
+ * @defgroup lavu_const Constants
+ * @{
+ *
+ * @defgroup lavu_enc Encoding specific
+ *
+ * @note those definition should move to avcodec
+ * @{
+ */
+
+#define FF_LAMBDA_SHIFT 7
+#define FF_LAMBDA_SCALE (1<<FF_LAMBDA_SHIFT)
+#define FF_QP2LAMBDA 118 ///< factor to convert from H.263 QP to lambda
+#define FF_LAMBDA_MAX (256*128-1)
+
+#define FF_QUALITY_SCALE FF_LAMBDA_SCALE //FIXME maybe remove
+
+/**
+ * @}
+ * @defgroup lavu_time Timestamp specific
+ *
+ * FFmpeg internal timebase and timestamp definitions
+ *
+ * @{
+ */
+
+/**
+ * @brief Undefined timestamp value
+ *
+ * Usually reported by demuxer that work on containers that do not provide
+ * either pts or dts.
+ */
+
+#define AV_NOPTS_VALUE          ((int64_t)UINT64_C(0x8000000000000000))
+
+/**
+ * Internal time base represented as integer
+ */
+
+#define AV_TIME_BASE            1000000
+
+/**
+ * Internal time base represented as fractional value
+ */
+
+#define AV_TIME_BASE_Q          (AVRational){1, AV_TIME_BASE}
+
+/**
+ * @}
+ * @}
+ * @defgroup lavu_picture Image related
+ *
+ * AVPicture types, pixel formats and basic image planes manipulation.
+ *
+ * @{
+ */
+
+enum AVPictureType {
+    AV_PICTURE_TYPE_NONE = 0, ///< Undefined
+    AV_PICTURE_TYPE_I,     ///< Intra
+    AV_PICTURE_TYPE_P,     ///< Predicted
+    AV_PICTURE_TYPE_B,     ///< Bi-dir predicted
+    AV_PICTURE_TYPE_S,     ///< S(GMC)-VOP MPEG4
+    AV_PICTURE_TYPE_SI,    ///< Switching Intra
+    AV_PICTURE_TYPE_SP,    ///< Switching Predicted
+    AV_PICTURE_TYPE_BI,    ///< BI type
+};
+
+/**
+ * Return a single letter to describe the given picture type
+ * pict_type.
+ *
+ * @param[in] pict_type the picture type @return a single character
+ * representing the picture type, '?' if pict_type is unknown
+ */
+char av_get_picture_type_char(enum AVPictureType pict_type);
+
+/**
+ * @}
+ */
+
+#include "common.h"
+#include "error.h"
+#include "rational.h"
+#include "version.h"
+#include "macros.h"
+#include "mathematics.h"
+#include "log.h"
+#include "pixfmt.h"
+
+/**
+ * Return x default pointer in case p is NULL.
+ */
+static inline void *av_x_if_null(const void *p, const void *x)
+{
+    return (void *)(intptr_t)(p ? p : x);
+}
+
+/**
+ * Compute the length of an integer list.
+ *
+ * @param elsize  size in bytes of each list element (only 1, 2, 4 or 8)
+ * @param term    list terminator (usually 0 or -1)
+ * @param list    pointer to the list
+ * @return  length of the list, in elements, not counting the terminator
+ */
+unsigned av_int_list_length_for_size(unsigned elsize,
+                                     const void *list, uint64_t term) av_pure;
+
+/**
+ * Compute the length of an integer list.
+ *
+ * @param term  list terminator (usually 0 or -1)
+ * @param list  pointer to the list
+ * @return  length of the list, in elements, not counting the terminator
+ */
+#define av_int_list_length(list, term) \
+    av_int_list_length_for_size(sizeof(*(list)), list, term)
+
+/**
+ * Open a file using a UTF-8 filename.
+ * The API of this function matches POSIX fopen(), errors are returned through
+ * errno.
+ */
+FILE *av_fopen_utf8(const char *path, const char *mode);
+
+/**
+ * Return the fractional representation of the internal time base.
+ */
+AVRational av_get_time_base_q(void);
+
+/**
+ * @}
+ * @}
+ */
+
+#endif /* AVUTIL_AVUTIL_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/base64.h b/3rdparty/include/ffmpeg/libavutil/base64.h
new file mode 100644
index 0000000..514498e
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/base64.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2006 Ryan Martell. (rdm4@martellventures.com)
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_BASE64_H
+#define AVUTIL_BASE64_H
+
+#include <stdint.h>
+
+/**
+ * @defgroup lavu_base64 Base64
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+
+/**
+ * Decode a base64-encoded string.
+ *
+ * @param out      buffer for decoded data
+ * @param in       null-terminated input string
+ * @param out_size size in bytes of the out buffer, must be at
+ *                 least 3/4 of the length of in
+ * @return         number of bytes written, or a negative value in case of
+ *                 invalid input
+ */
+int av_base64_decode(uint8_t *out, const char *in, int out_size);
+
+/**
+ * Encode data to base64 and null-terminate.
+ *
+ * @param out      buffer for encoded data
+ * @param out_size size in bytes of the out buffer (including the
+ *                 null terminator), must be at least AV_BASE64_SIZE(in_size)
+ * @param in       input buffer containing the data to encode
+ * @param in_size  size in bytes of the in buffer
+ * @return         out or NULL in case of error
+ */
+char *av_base64_encode(char *out, int out_size, const uint8_t *in, int in_size);
+
+/**
+ * Calculate the output size needed to base64-encode x bytes to a
+ * null-terminated string.
+ */
+#define AV_BASE64_SIZE(x)  (((x)+2) / 3 * 4 + 1)
+
+ /**
+  * @}
+  */
+
+#endif /* AVUTIL_BASE64_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/blowfish.h b/3rdparty/include/ffmpeg/libavutil/blowfish.h
new file mode 100644
index 0000000..d163fd3
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/blowfish.h
@@ -0,0 +1,87 @@
+/*
+ * Blowfish algorithm
+ * Copyright (c) 2012 Samuel Pitoiset
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_BLOWFISH_H
+#define AVUTIL_BLOWFISH_H
+
+#include <stdint.h>
+#include "version.h"
+
+/**
+ * @defgroup lavu_blowfish Blowfish
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+#if FF_API_CRYPTO_CONTEXT
+#define AV_BF_ROUNDS 16
+
+typedef struct AVBlowfish {
+    uint32_t p[AV_BF_ROUNDS + 2];
+    uint32_t s[4][256];
+} AVBlowfish;
+#else
+typedef struct AVBlowfish AVBlowfish;
+#endif
+
+/**
+ * Allocate an AVBlowfish context.
+ */
+AVBlowfish *av_blowfish_alloc(void);
+
+/**
+ * Initialize an AVBlowfish context.
+ *
+ * @param ctx an AVBlowfish context
+ * @param key a key
+ * @param key_len length of the key
+ */
+void av_blowfish_init(struct AVBlowfish *ctx, const uint8_t *key, int key_len);
+
+/**
+ * Encrypt or decrypt a buffer using a previously initialized context.
+ *
+ * @param ctx an AVBlowfish context
+ * @param xl left four bytes halves of input to be encrypted
+ * @param xr right four bytes halves of input to be encrypted
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_blowfish_crypt_ecb(struct AVBlowfish *ctx, uint32_t *xl, uint32_t *xr,
+                           int decrypt);
+
+/**
+ * Encrypt or decrypt a buffer using a previously initialized context.
+ *
+ * @param ctx an AVBlowfish context
+ * @param dst destination array, can be equal to src
+ * @param src source array, can be equal to dst
+ * @param count number of 8 byte blocks
+ * @param iv initialization vector for CBC mode, if NULL ECB will be used
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_blowfish_crypt(struct AVBlowfish *ctx, uint8_t *dst, const uint8_t *src,
+                       int count, uint8_t *iv, int decrypt);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_BLOWFISH_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/bprint.h b/3rdparty/include/ffmpeg/libavutil/bprint.h
new file mode 100644
index 0000000..c09b1ac
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/bprint.h
@@ -0,0 +1,219 @@
+/*
+ * Copyright (c) 2012 Nicolas George
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_BPRINT_H
+#define AVUTIL_BPRINT_H
+
+#include <stdarg.h>
+
+#include "attributes.h"
+#include "avstring.h"
+
+/**
+ * Define a structure with extra padding to a fixed size
+ * This helps ensuring binary compatibility with future versions.
+ */
+
+#define FF_PAD_STRUCTURE(name, size, ...) \
+struct ff_pad_helper_##name { __VA_ARGS__ }; \
+typedef struct name { \
+    __VA_ARGS__ \
+    char reserved_padding[size - sizeof(struct ff_pad_helper_##name)]; \
+} name;
+
+/**
+ * Buffer to print data progressively
+ *
+ * The string buffer grows as necessary and is always 0-terminated.
+ * The content of the string is never accessed, and thus is
+ * encoding-agnostic and can even hold binary data.
+ *
+ * Small buffers are kept in the structure itself, and thus require no
+ * memory allocation at all (unless the contents of the buffer is needed
+ * after the structure goes out of scope). This is almost as lightweight as
+ * declaring a local "char buf[512]".
+ *
+ * The length of the string can go beyond the allocated size: the buffer is
+ * then truncated, but the functions still keep account of the actual total
+ * length.
+ *
+ * In other words, buf->len can be greater than buf->size and records the
+ * total length of what would have been to the buffer if there had been
+ * enough memory.
+ *
+ * Append operations do not need to be tested for failure: if a memory
+ * allocation fails, data stop being appended to the buffer, but the length
+ * is still updated. This situation can be tested with
+ * av_bprint_is_complete().
+ *
+ * The size_max field determines several possible behaviours:
+ *
+ * size_max = -1 (= UINT_MAX) or any large value will let the buffer be
+ * reallocated as necessary, with an amortized linear cost.
+ *
+ * size_max = 0 prevents writing anything to the buffer: only the total
+ * length is computed. The write operations can then possibly be repeated in
+ * a buffer with exactly the necessary size
+ * (using size_init = size_max = len + 1).
+ *
+ * size_max = 1 is automatically replaced by the exact size available in the
+ * structure itself, thus ensuring no dynamic memory allocation. The
+ * internal buffer is large enough to hold a reasonable paragraph of text,
+ * such as the current paragraph.
+ */
+
+FF_PAD_STRUCTURE(AVBPrint, 1024,
+    char *str;         /**< string so far */
+    unsigned len;      /**< length so far */
+    unsigned size;     /**< allocated memory */
+    unsigned size_max; /**< maximum allocated memory */
+    char reserved_internal_buffer[1];
+)
+
+/**
+ * Convenience macros for special values for av_bprint_init() size_max
+ * parameter.
+ */
+#define AV_BPRINT_SIZE_UNLIMITED  ((unsigned)-1)
+#define AV_BPRINT_SIZE_AUTOMATIC  1
+#define AV_BPRINT_SIZE_COUNT_ONLY 0
+
+/**
+ * Init a print buffer.
+ *
+ * @param buf        buffer to init
+ * @param size_init  initial size (including the final 0)
+ * @param size_max   maximum size;
+ *                   0 means do not write anything, just count the length;
+ *                   1 is replaced by the maximum value for automatic storage;
+ *                   any large value means that the internal buffer will be
+ *                   reallocated as needed up to that limit; -1 is converted to
+ *                   UINT_MAX, the largest limit possible.
+ *                   Check also AV_BPRINT_SIZE_* macros.
+ */
+void av_bprint_init(AVBPrint *buf, unsigned size_init, unsigned size_max);
+
+/**
+ * Init a print buffer using a pre-existing buffer.
+ *
+ * The buffer will not be reallocated.
+ *
+ * @param buf     buffer structure to init
+ * @param buffer  byte buffer to use for the string data
+ * @param size    size of buffer
+ */
+void av_bprint_init_for_buffer(AVBPrint *buf, char *buffer, unsigned size);
+
+/**
+ * Append a formatted string to a print buffer.
+ */
+void av_bprintf(AVBPrint *buf, const char *fmt, ...) av_printf_format(2, 3);
+
+/**
+ * Append a formatted string to a print buffer.
+ */
+void av_vbprintf(AVBPrint *buf, const char *fmt, va_list vl_arg);
+
+/**
+ * Append char c n times to a print buffer.
+ */
+void av_bprint_chars(AVBPrint *buf, char c, unsigned n);
+
+/**
+ * Append data to a print buffer.
+ *
+ * param buf  bprint buffer to use
+ * param data pointer to data
+ * param size size of data
+ */
+void av_bprint_append_data(AVBPrint *buf, const char *data, unsigned size);
+
+struct tm;
+/**
+ * Append a formatted date and time to a print buffer.
+ *
+ * param buf  bprint buffer to use
+ * param fmt  date and time format string, see strftime()
+ * param tm   broken-down time structure to translate
+ *
+ * @note due to poor design of the standard strftime function, it may
+ * produce poor results if the format string expands to a very long text and
+ * the bprint buffer is near the limit stated by the size_max option.
+ */
+void av_bprint_strftime(AVBPrint *buf, const char *fmt, const struct tm *tm);
+
+/**
+ * Allocate bytes in the buffer for external use.
+ *
+ * @param[in]  buf          buffer structure
+ * @param[in]  size         required size
+ * @param[out] mem          pointer to the memory area
+ * @param[out] actual_size  size of the memory area after allocation;
+ *                          can be larger or smaller than size
+ */
+void av_bprint_get_buffer(AVBPrint *buf, unsigned size,
+                          unsigned char **mem, unsigned *actual_size);
+
+/**
+ * Reset the string to "" but keep internal allocated data.
+ */
+void av_bprint_clear(AVBPrint *buf);
+
+/**
+ * Test if the print buffer is complete (not truncated).
+ *
+ * It may have been truncated due to a memory allocation failure
+ * or the size_max limit (compare size and size_max if necessary).
+ */
+static inline int av_bprint_is_complete(const AVBPrint *buf)
+{
+    return buf->len < buf->size;
+}
+
+/**
+ * Finalize a print buffer.
+ *
+ * The print buffer can no longer be used afterwards,
+ * but the len and size fields are still valid.
+ *
+ * @arg[out] ret_str  if not NULL, used to return a permanent copy of the
+ *                    buffer contents, or NULL if memory allocation fails;
+ *                    if NULL, the buffer is discarded and freed
+ * @return  0 for success or error code (probably AVERROR(ENOMEM))
+ */
+int av_bprint_finalize(AVBPrint *buf, char **ret_str);
+
+/**
+ * Escape the content in src and append it to dstbuf.
+ *
+ * @param dstbuf        already inited destination bprint buffer
+ * @param src           string containing the text to escape
+ * @param special_chars string containing the special characters which
+ *                      need to be escaped, can be NULL
+ * @param mode          escape mode to employ, see AV_ESCAPE_MODE_* macros.
+ *                      Any unknown value for mode will be considered equivalent to
+ *                      AV_ESCAPE_MODE_BACKSLASH, but this behaviour can change without
+ *                      notice.
+ * @param flags         flags which control how to escape, see AV_ESCAPE_FLAG_* macros
+ */
+void av_bprint_escape(AVBPrint *dstbuf, const char *src, const char *special_chars,
+                      enum AVEscapeMode mode, int flags);
+
+#endif /* AVUTIL_BPRINT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/bswap.h b/3rdparty/include/ffmpeg/libavutil/bswap.h
new file mode 100644
index 0000000..91cb795
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/bswap.h
@@ -0,0 +1,109 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * byte swapping routines
+ */
+
+#ifndef AVUTIL_BSWAP_H
+#define AVUTIL_BSWAP_H
+
+#include <stdint.h>
+#include "libavutil/avconfig.h"
+#include "attributes.h"
+
+#ifdef HAVE_AV_CONFIG_H
+
+#include "config.h"
+
+#if   ARCH_AARCH64
+#   include "aarch64/bswap.h"
+#elif ARCH_ARM
+#   include "arm/bswap.h"
+#elif ARCH_AVR32
+#   include "avr32/bswap.h"
+#elif ARCH_SH4
+#   include "sh4/bswap.h"
+#elif ARCH_X86
+#   include "x86/bswap.h"
+#endif
+
+#endif /* HAVE_AV_CONFIG_H */
+
+#define AV_BSWAP16C(x) (((x) << 8 & 0xff00)  | ((x) >> 8 & 0x00ff))
+#define AV_BSWAP32C(x) (AV_BSWAP16C(x) << 16 | AV_BSWAP16C((x) >> 16))
+#define AV_BSWAP64C(x) (AV_BSWAP32C(x) << 32 | AV_BSWAP32C((x) >> 32))
+
+#define AV_BSWAPC(s, x) AV_BSWAP##s##C(x)
+
+#ifndef av_bswap16
+static av_always_inline av_const uint16_t av_bswap16(uint16_t x)
+{
+    x= (x>>8) | (x<<8);
+    return x;
+}
+#endif
+
+#ifndef av_bswap32
+static av_always_inline av_const uint32_t av_bswap32(uint32_t x)
+{
+    return AV_BSWAP32C(x);
+}
+#endif
+
+#ifndef av_bswap64
+static inline uint64_t av_const av_bswap64(uint64_t x)
+{
+    return (uint64_t)av_bswap32(x) << 32 | av_bswap32(x >> 32);
+}
+#endif
+
+// be2ne ... big-endian to native-endian
+// le2ne ... little-endian to native-endian
+
+#if AV_HAVE_BIGENDIAN
+#define av_be2ne16(x) (x)
+#define av_be2ne32(x) (x)
+#define av_be2ne64(x) (x)
+#define av_le2ne16(x) av_bswap16(x)
+#define av_le2ne32(x) av_bswap32(x)
+#define av_le2ne64(x) av_bswap64(x)
+#define AV_BE2NEC(s, x) (x)
+#define AV_LE2NEC(s, x) AV_BSWAPC(s, x)
+#else
+#define av_be2ne16(x) av_bswap16(x)
+#define av_be2ne32(x) av_bswap32(x)
+#define av_be2ne64(x) av_bswap64(x)
+#define av_le2ne16(x) (x)
+#define av_le2ne32(x) (x)
+#define av_le2ne64(x) (x)
+#define AV_BE2NEC(s, x) AV_BSWAPC(s, x)
+#define AV_LE2NEC(s, x) (x)
+#endif
+
+#define AV_BE2NE16C(x) AV_BE2NEC(16, x)
+#define AV_BE2NE32C(x) AV_BE2NEC(32, x)
+#define AV_BE2NE64C(x) AV_BE2NEC(64, x)
+#define AV_LE2NE16C(x) AV_LE2NEC(16, x)
+#define AV_LE2NE32C(x) AV_LE2NEC(32, x)
+#define AV_LE2NE64C(x) AV_LE2NEC(64, x)
+
+#endif /* AVUTIL_BSWAP_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/buffer.h b/3rdparty/include/ffmpeg/libavutil/buffer.h
new file mode 100644
index 0000000..b4399fd
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/buffer.h
@@ -0,0 +1,274 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * @ingroup lavu_buffer
+ * refcounted data buffer API
+ */
+
+#ifndef AVUTIL_BUFFER_H
+#define AVUTIL_BUFFER_H
+
+#include <stdint.h>
+
+/**
+ * @defgroup lavu_buffer AVBuffer
+ * @ingroup lavu_data
+ *
+ * @{
+ * AVBuffer is an API for reference-counted data buffers.
+ *
+ * There are two core objects in this API -- AVBuffer and AVBufferRef. AVBuffer
+ * represents the data buffer itself; it is opaque and not meant to be accessed
+ * by the caller directly, but only through AVBufferRef. However, the caller may
+ * e.g. compare two AVBuffer pointers to check whether two different references
+ * are describing the same data buffer. AVBufferRef represents a single
+ * reference to an AVBuffer and it is the object that may be manipulated by the
+ * caller directly.
+ *
+ * There are two functions provided for creating a new AVBuffer with a single
+ * reference -- av_buffer_alloc() to just allocate a new buffer, and
+ * av_buffer_create() to wrap an existing array in an AVBuffer. From an existing
+ * reference, additional references may be created with av_buffer_ref().
+ * Use av_buffer_unref() to free a reference (this will automatically free the
+ * data once all the references are freed).
+ *
+ * The convention throughout this API and the rest of FFmpeg is such that the
+ * buffer is considered writable if there exists only one reference to it (and
+ * it has not been marked as read-only). The av_buffer_is_writable() function is
+ * provided to check whether this is true and av_buffer_make_writable() will
+ * automatically create a new writable buffer when necessary.
+ * Of course nothing prevents the calling code from violating this convention,
+ * however that is safe only when all the existing references are under its
+ * control.
+ *
+ * @note Referencing and unreferencing the buffers is thread-safe and thus
+ * may be done from multiple threads simultaneously without any need for
+ * additional locking.
+ *
+ * @note Two different references to the same buffer can point to different
+ * parts of the buffer (i.e. their AVBufferRef.data will not be equal).
+ */
+
+/**
+ * A reference counted buffer type. It is opaque and is meant to be used through
+ * references (AVBufferRef).
+ */
+typedef struct AVBuffer AVBuffer;
+
+/**
+ * A reference to a data buffer.
+ *
+ * The size of this struct is not a part of the public ABI and it is not meant
+ * to be allocated directly.
+ */
+typedef struct AVBufferRef {
+    AVBuffer *buffer;
+
+    /**
+     * The data buffer. It is considered writable if and only if
+     * this is the only reference to the buffer, in which case
+     * av_buffer_is_writable() returns 1.
+     */
+    uint8_t *data;
+    /**
+     * Size of data in bytes.
+     */
+    int      size;
+} AVBufferRef;
+
+/**
+ * Allocate an AVBuffer of the given size using av_malloc().
+ *
+ * @return an AVBufferRef of given size or NULL when out of memory
+ */
+AVBufferRef *av_buffer_alloc(int size);
+
+/**
+ * Same as av_buffer_alloc(), except the returned buffer will be initialized
+ * to zero.
+ */
+AVBufferRef *av_buffer_allocz(int size);
+
+/**
+ * Always treat the buffer as read-only, even when it has only one
+ * reference.
+ */
+#define AV_BUFFER_FLAG_READONLY (1 << 0)
+
+/**
+ * Create an AVBuffer from an existing array.
+ *
+ * If this function is successful, data is owned by the AVBuffer. The caller may
+ * only access data through the returned AVBufferRef and references derived from
+ * it.
+ * If this function fails, data is left untouched.
+ * @param data   data array
+ * @param size   size of data in bytes
+ * @param free   a callback for freeing this buffer's data
+ * @param opaque parameter to be got for processing or passed to free
+ * @param flags  a combination of AV_BUFFER_FLAG_*
+ *
+ * @return an AVBufferRef referring to data on success, NULL on failure.
+ */
+AVBufferRef *av_buffer_create(uint8_t *data, int size,
+                              void (*free)(void *opaque, uint8_t *data),
+                              void *opaque, int flags);
+
+/**
+ * Default free callback, which calls av_free() on the buffer data.
+ * This function is meant to be passed to av_buffer_create(), not called
+ * directly.
+ */
+void av_buffer_default_free(void *opaque, uint8_t *data);
+
+/**
+ * Create a new reference to an AVBuffer.
+ *
+ * @return a new AVBufferRef referring to the same AVBuffer as buf or NULL on
+ * failure.
+ */
+AVBufferRef *av_buffer_ref(AVBufferRef *buf);
+
+/**
+ * Free a given reference and automatically free the buffer if there are no more
+ * references to it.
+ *
+ * @param buf the reference to be freed. The pointer is set to NULL on return.
+ */
+void av_buffer_unref(AVBufferRef **buf);
+
+/**
+ * @return 1 if the caller may write to the data referred to by buf (which is
+ * true if and only if buf is the only reference to the underlying AVBuffer).
+ * Return 0 otherwise.
+ * A positive answer is valid until av_buffer_ref() is called on buf.
+ */
+int av_buffer_is_writable(const AVBufferRef *buf);
+
+/**
+ * @return the opaque parameter set by av_buffer_create.
+ */
+void *av_buffer_get_opaque(const AVBufferRef *buf);
+
+int av_buffer_get_ref_count(const AVBufferRef *buf);
+
+/**
+ * Create a writable reference from a given buffer reference, avoiding data copy
+ * if possible.
+ *
+ * @param buf buffer reference to make writable. On success, buf is either left
+ *            untouched, or it is unreferenced and a new writable AVBufferRef is
+ *            written in its place. On failure, buf is left untouched.
+ * @return 0 on success, a negative AVERROR on failure.
+ */
+int av_buffer_make_writable(AVBufferRef **buf);
+
+/**
+ * Reallocate a given buffer.
+ *
+ * @param buf  a buffer reference to reallocate. On success, buf will be
+ *             unreferenced and a new reference with the required size will be
+ *             written in its place. On failure buf will be left untouched. *buf
+ *             may be NULL, then a new buffer is allocated.
+ * @param size required new buffer size.
+ * @return 0 on success, a negative AVERROR on failure.
+ *
+ * @note the buffer is actually reallocated with av_realloc() only if it was
+ * initially allocated through av_buffer_realloc(NULL) and there is only one
+ * reference to it (i.e. the one passed to this function). In all other cases
+ * a new buffer is allocated and the data is copied.
+ */
+int av_buffer_realloc(AVBufferRef **buf, int size);
+
+/**
+ * @}
+ */
+
+/**
+ * @defgroup lavu_bufferpool AVBufferPool
+ * @ingroup lavu_data
+ *
+ * @{
+ * AVBufferPool is an API for a lock-free thread-safe pool of AVBuffers.
+ *
+ * Frequently allocating and freeing large buffers may be slow. AVBufferPool is
+ * meant to solve this in cases when the caller needs a set of buffers of the
+ * same size (the most obvious use case being buffers for raw video or audio
+ * frames).
+ *
+ * At the beginning, the user must call av_buffer_pool_init() to create the
+ * buffer pool. Then whenever a buffer is needed, call av_buffer_pool_get() to
+ * get a reference to a new buffer, similar to av_buffer_alloc(). This new
+ * reference works in all aspects the same way as the one created by
+ * av_buffer_alloc(). However, when the last reference to this buffer is
+ * unreferenced, it is returned to the pool instead of being freed and will be
+ * reused for subsequent av_buffer_pool_get() calls.
+ *
+ * When the caller is done with the pool and no longer needs to allocate any new
+ * buffers, av_buffer_pool_uninit() must be called to mark the pool as freeable.
+ * Once all the buffers are released, it will automatically be freed.
+ *
+ * Allocating and releasing buffers with this API is thread-safe as long as
+ * either the default alloc callback is used, or the user-supplied one is
+ * thread-safe.
+ */
+
+/**
+ * The buffer pool. This structure is opaque and not meant to be accessed
+ * directly. It is allocated with av_buffer_pool_init() and freed with
+ * av_buffer_pool_uninit().
+ */
+typedef struct AVBufferPool AVBufferPool;
+
+/**
+ * Allocate and initialize a buffer pool.
+ *
+ * @param size size of each buffer in this pool
+ * @param alloc a function that will be used to allocate new buffers when the
+ * pool is empty. May be NULL, then the default allocator will be used
+ * (av_buffer_alloc()).
+ * @return newly created buffer pool on success, NULL on error.
+ */
+AVBufferPool *av_buffer_pool_init(int size, AVBufferRef* (*alloc)(int size));
+
+/**
+ * Mark the pool as being available for freeing. It will actually be freed only
+ * once all the allocated buffers associated with the pool are released. Thus it
+ * is safe to call this function while some of the allocated buffers are still
+ * in use.
+ *
+ * @param pool pointer to the pool to be freed. It will be set to NULL.
+ * @see av_buffer_pool_can_uninit()
+ */
+void av_buffer_pool_uninit(AVBufferPool **pool);
+
+/**
+ * Allocate a new AVBuffer, reusing an old buffer from the pool when available.
+ * This function may be called simultaneously from multiple threads.
+ *
+ * @return a reference to the new buffer on success, NULL on error.
+ */
+AVBufferRef *av_buffer_pool_get(AVBufferPool *pool);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_BUFFER_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/camellia.h b/3rdparty/include/ffmpeg/libavutil/camellia.h
new file mode 100644
index 0000000..e674c9b
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/camellia.h
@@ -0,0 +1,70 @@
+/*
+ * An implementation of the CAMELLIA algorithm as mentioned in RFC3713
+ * Copyright (c) 2014 Supraja Meedinti
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_CAMELLIA_H
+#define AVUTIL_CAMELLIA_H
+
+#include <stdint.h>
+
+
+/**
+  * @file
+  * @brief Public header for libavutil CAMELLIA algorithm
+  * @defgroup lavu_camellia CAMELLIA
+  * @ingroup lavu_crypto
+  * @{
+  */
+
+extern const int av_camellia_size;
+
+struct AVCAMELLIA;
+
+/**
+  * Allocate an AVCAMELLIA context
+  * To free the struct: av_free(ptr)
+  */
+struct AVCAMELLIA *av_camellia_alloc(void);
+
+/**
+  * Initialize an AVCAMELLIA context.
+  *
+  * @param ctx an AVCAMELLIA context
+  * @param key a key of 16, 24, 32 bytes used for encryption/decryption
+  * @param key_bits number of keybits: possible are 128, 192, 256
+ */
+int av_camellia_init(struct AVCAMELLIA *ctx, const uint8_t *key, int key_bits);
+
+/**
+  * Encrypt or decrypt a buffer using a previously initialized context
+  *
+  * @param ctx an AVCAMELLIA context
+  * @param dst destination array, can be equal to src
+  * @param src source array, can be equal to dst
+  * @param count number of 16 byte blocks
+  * @paran iv initialization vector for CBC mode, NULL for ECB mode
+  * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_camellia_crypt(struct AVCAMELLIA *ctx, uint8_t *dst, const uint8_t *src, int count, uint8_t* iv, int decrypt);
+
+/**
+ * @}
+ */
+#endif /* AVUTIL_CAMELLIA_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/cast5.h b/3rdparty/include/ffmpeg/libavutil/cast5.h
new file mode 100644
index 0000000..e5cc8b1
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/cast5.h
@@ -0,0 +1,79 @@
+/*
+ * An implementation of the CAST128 algorithm as mentioned in RFC2144
+ * Copyright (c) 2014 Supraja Meedinti
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_CAST5_H
+#define AVUTIL_CAST5_H
+
+#include <stdint.h>
+
+
+/**
+  * @file
+  * @brief Public header for libavutil CAST5 algorithm
+  * @defgroup lavu_cast5 CAST5
+  * @ingroup lavu_crypto
+  * @{
+  */
+
+extern const int av_cast5_size;
+
+struct AVCAST5;
+
+/**
+  * Allocate an AVCAST5 context
+  * To free the struct: av_free(ptr)
+  */
+struct AVCAST5 *av_cast5_alloc(void);
+/**
+  * Initialize an AVCAST5 context.
+  *
+  * @param ctx an AVCAST5 context
+  * @param key a key of 5,6,...16 bytes used for encryption/decryption
+  * @param key_bits number of keybits: possible are 40,48,...,128
+ */
+int av_cast5_init(struct AVCAST5 *ctx, const uint8_t *key, int key_bits);
+
+/**
+  * Encrypt or decrypt a buffer using a previously initialized context, ECB mode only
+  *
+  * @param ctx an AVCAST5 context
+  * @param dst destination array, can be equal to src
+  * @param src source array, can be equal to dst
+  * @param count number of 8 byte blocks
+  * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_cast5_crypt(struct AVCAST5 *ctx, uint8_t *dst, const uint8_t *src, int count, int decrypt);
+
+/**
+  * Encrypt or decrypt a buffer using a previously initialized context
+  *
+  * @param ctx an AVCAST5 context
+  * @param dst destination array, can be equal to src
+  * @param src source array, can be equal to dst
+  * @param count number of 8 byte blocks
+  * @param iv initialization vector for CBC mode, NULL for ECB mode
+  * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_cast5_crypt2(struct AVCAST5 *ctx, uint8_t *dst, const uint8_t *src, int count, uint8_t *iv, int decrypt);
+/**
+ * @}
+ */
+#endif /* AVUTIL_CAST5_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/channel_layout.h b/3rdparty/include/ffmpeg/libavutil/channel_layout.h
new file mode 100644
index 0000000..ec7effe
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/channel_layout.h
@@ -0,0 +1,223 @@
+/*
+ * Copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ * Copyright (c) 2008 Peter Ross
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_CHANNEL_LAYOUT_H
+#define AVUTIL_CHANNEL_LAYOUT_H
+
+#include <stdint.h>
+
+/**
+ * @file
+ * audio channel layout utility functions
+ */
+
+/**
+ * @addtogroup lavu_audio
+ * @{
+ */
+
+/**
+ * @defgroup channel_masks Audio channel masks
+ *
+ * A channel layout is a 64-bits integer with a bit set for every channel.
+ * The number of bits set must be equal to the number of channels.
+ * The value 0 means that the channel layout is not known.
+ * @note this data structure is not powerful enough to handle channels
+ * combinations that have the same channel multiple times, such as
+ * dual-mono.
+ *
+ * @{
+ */
+#define AV_CH_FRONT_LEFT             0x00000001
+#define AV_CH_FRONT_RIGHT            0x00000002
+#define AV_CH_FRONT_CENTER           0x00000004
+#define AV_CH_LOW_FREQUENCY          0x00000008
+#define AV_CH_BACK_LEFT              0x00000010
+#define AV_CH_BACK_RIGHT             0x00000020
+#define AV_CH_FRONT_LEFT_OF_CENTER   0x00000040
+#define AV_CH_FRONT_RIGHT_OF_CENTER  0x00000080
+#define AV_CH_BACK_CENTER            0x00000100
+#define AV_CH_SIDE_LEFT              0x00000200
+#define AV_CH_SIDE_RIGHT             0x00000400
+#define AV_CH_TOP_CENTER             0x00000800
+#define AV_CH_TOP_FRONT_LEFT         0x00001000
+#define AV_CH_TOP_FRONT_CENTER       0x00002000
+#define AV_CH_TOP_FRONT_RIGHT        0x00004000
+#define AV_CH_TOP_BACK_LEFT          0x00008000
+#define AV_CH_TOP_BACK_CENTER        0x00010000
+#define AV_CH_TOP_BACK_RIGHT         0x00020000
+#define AV_CH_STEREO_LEFT            0x20000000  ///< Stereo downmix.
+#define AV_CH_STEREO_RIGHT           0x40000000  ///< See AV_CH_STEREO_LEFT.
+#define AV_CH_WIDE_LEFT              0x0000000080000000ULL
+#define AV_CH_WIDE_RIGHT             0x0000000100000000ULL
+#define AV_CH_SURROUND_DIRECT_LEFT   0x0000000200000000ULL
+#define AV_CH_SURROUND_DIRECT_RIGHT  0x0000000400000000ULL
+#define AV_CH_LOW_FREQUENCY_2        0x0000000800000000ULL
+
+/** Channel mask value used for AVCodecContext.request_channel_layout
+    to indicate that the user requests the channel order of the decoder output
+    to be the native codec channel order. */
+#define AV_CH_LAYOUT_NATIVE          0x8000000000000000ULL
+
+/**
+ * @}
+ * @defgroup channel_mask_c Audio channel layouts
+ * @{
+ * */
+#define AV_CH_LAYOUT_MONO              (AV_CH_FRONT_CENTER)
+#define AV_CH_LAYOUT_STEREO            (AV_CH_FRONT_LEFT|AV_CH_FRONT_RIGHT)
+#define AV_CH_LAYOUT_2POINT1           (AV_CH_LAYOUT_STEREO|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_2_1               (AV_CH_LAYOUT_STEREO|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_SURROUND          (AV_CH_LAYOUT_STEREO|AV_CH_FRONT_CENTER)
+#define AV_CH_LAYOUT_3POINT1           (AV_CH_LAYOUT_SURROUND|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_4POINT0           (AV_CH_LAYOUT_SURROUND|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_4POINT1           (AV_CH_LAYOUT_4POINT0|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_2_2               (AV_CH_LAYOUT_STEREO|AV_CH_SIDE_LEFT|AV_CH_SIDE_RIGHT)
+#define AV_CH_LAYOUT_QUAD              (AV_CH_LAYOUT_STEREO|AV_CH_BACK_LEFT|AV_CH_BACK_RIGHT)
+#define AV_CH_LAYOUT_5POINT0           (AV_CH_LAYOUT_SURROUND|AV_CH_SIDE_LEFT|AV_CH_SIDE_RIGHT)
+#define AV_CH_LAYOUT_5POINT1           (AV_CH_LAYOUT_5POINT0|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_5POINT0_BACK      (AV_CH_LAYOUT_SURROUND|AV_CH_BACK_LEFT|AV_CH_BACK_RIGHT)
+#define AV_CH_LAYOUT_5POINT1_BACK      (AV_CH_LAYOUT_5POINT0_BACK|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_6POINT0           (AV_CH_LAYOUT_5POINT0|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_6POINT0_FRONT     (AV_CH_LAYOUT_2_2|AV_CH_FRONT_LEFT_OF_CENTER|AV_CH_FRONT_RIGHT_OF_CENTER)
+#define AV_CH_LAYOUT_HEXAGONAL         (AV_CH_LAYOUT_5POINT0_BACK|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_6POINT1           (AV_CH_LAYOUT_5POINT1|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_6POINT1_BACK      (AV_CH_LAYOUT_5POINT1_BACK|AV_CH_BACK_CENTER)
+#define AV_CH_LAYOUT_6POINT1_FRONT     (AV_CH_LAYOUT_6POINT0_FRONT|AV_CH_LOW_FREQUENCY)
+#define AV_CH_LAYOUT_7POINT0           (AV_CH_LAYOUT_5POINT0|AV_CH_BACK_LEFT|AV_CH_BACK_RIGHT)
+#define AV_CH_LAYOUT_7POINT0_FRONT     (AV_CH_LAYOUT_5POINT0|AV_CH_FRONT_LEFT_OF_CENTER|AV_CH_FRONT_RIGHT_OF_CENTER)
+#define AV_CH_LAYOUT_7POINT1           (AV_CH_LAYOUT_5POINT1|AV_CH_BACK_LEFT|AV_CH_BACK_RIGHT)
+#define AV_CH_LAYOUT_7POINT1_WIDE      (AV_CH_LAYOUT_5POINT1|AV_CH_FRONT_LEFT_OF_CENTER|AV_CH_FRONT_RIGHT_OF_CENTER)
+#define AV_CH_LAYOUT_7POINT1_WIDE_BACK (AV_CH_LAYOUT_5POINT1_BACK|AV_CH_FRONT_LEFT_OF_CENTER|AV_CH_FRONT_RIGHT_OF_CENTER)
+#define AV_CH_LAYOUT_OCTAGONAL         (AV_CH_LAYOUT_5POINT0|AV_CH_BACK_LEFT|AV_CH_BACK_CENTER|AV_CH_BACK_RIGHT)
+#define AV_CH_LAYOUT_HEXADECAGONAL     (AV_CH_LAYOUT_OCTAGONAL|AV_CH_WIDE_LEFT|AV_CH_WIDE_RIGHT|AV_CH_TOP_BACK_LEFT|AV_CH_TOP_BACK_RIGHT|AV_CH_TOP_BACK_CENTER|AV_CH_TOP_FRONT_CENTER|AV_CH_TOP_FRONT_LEFT|AV_CH_TOP_FRONT_RIGHT)
+#define AV_CH_LAYOUT_STEREO_DOWNMIX    (AV_CH_STEREO_LEFT|AV_CH_STEREO_RIGHT)
+
+enum AVMatrixEncoding {
+    AV_MATRIX_ENCODING_NONE,
+    AV_MATRIX_ENCODING_DOLBY,
+    AV_MATRIX_ENCODING_DPLII,
+    AV_MATRIX_ENCODING_DPLIIX,
+    AV_MATRIX_ENCODING_DPLIIZ,
+    AV_MATRIX_ENCODING_DOLBYEX,
+    AV_MATRIX_ENCODING_DOLBYHEADPHONE,
+    AV_MATRIX_ENCODING_NB
+};
+
+/**
+ * Return a channel layout id that matches name, or 0 if no match is found.
+ *
+ * name can be one or several of the following notations,
+ * separated by '+' or '|':
+ * - the name of an usual channel layout (mono, stereo, 4.0, quad, 5.0,
+ *   5.0(side), 5.1, 5.1(side), 7.1, 7.1(wide), downmix);
+ * - the name of a single channel (FL, FR, FC, LFE, BL, BR, FLC, FRC, BC,
+ *   SL, SR, TC, TFL, TFC, TFR, TBL, TBC, TBR, DL, DR);
+ * - a number of channels, in decimal, optionally followed by 'c', yielding
+ *   the default channel layout for that number of channels (@see
+ *   av_get_default_channel_layout);
+ * - a channel layout mask, in hexadecimal starting with "0x" (see the
+ *   AV_CH_* macros).
+ *
+ * @warning Starting from the next major bump the trailing character
+ * 'c' to specify a number of channels will be required, while a
+ * channel layout mask could also be specified as a decimal number
+ * (if and only if not followed by "c").
+ *
+ * Example: "stereo+FC" = "2c+FC" = "2c+1c" = "0x7"
+ */
+uint64_t av_get_channel_layout(const char *name);
+
+/**
+ * Return a description of a channel layout.
+ * If nb_channels is <= 0, it is guessed from the channel_layout.
+ *
+ * @param buf put here the string containing the channel layout
+ * @param buf_size size in bytes of the buffer
+ */
+void av_get_channel_layout_string(char *buf, int buf_size, int nb_channels, uint64_t channel_layout);
+
+struct AVBPrint;
+/**
+ * Append a description of a channel layout to a bprint buffer.
+ */
+void av_bprint_channel_layout(struct AVBPrint *bp, int nb_channels, uint64_t channel_layout);
+
+/**
+ * Return the number of channels in the channel layout.
+ */
+int av_get_channel_layout_nb_channels(uint64_t channel_layout);
+
+/**
+ * Return default channel layout for a given number of channels.
+ */
+int64_t av_get_default_channel_layout(int nb_channels);
+
+/**
+ * Get the index of a channel in channel_layout.
+ *
+ * @param channel a channel layout describing exactly one channel which must be
+ *                present in channel_layout.
+ *
+ * @return index of channel in channel_layout on success, a negative AVERROR
+ *         on error.
+ */
+int av_get_channel_layout_channel_index(uint64_t channel_layout,
+                                        uint64_t channel);
+
+/**
+ * Get the channel with the given index in channel_layout.
+ */
+uint64_t av_channel_layout_extract_channel(uint64_t channel_layout, int index);
+
+/**
+ * Get the name of a given channel.
+ *
+ * @return channel name on success, NULL on error.
+ */
+const char *av_get_channel_name(uint64_t channel);
+
+/**
+ * Get the description of a given channel.
+ *
+ * @param channel  a channel layout with a single channel
+ * @return  channel description on success, NULL on error
+ */
+const char *av_get_channel_description(uint64_t channel);
+
+/**
+ * Get the value and name of a standard channel layout.
+ *
+ * @param[in]  index   index in an internal list, starting at 0
+ * @param[out] layout  channel layout mask
+ * @param[out] name    name of the layout
+ * @return  0  if the layout exists,
+ *          <0 if index is beyond the limits
+ */
+int av_get_standard_channel_layout(unsigned index, uint64_t *layout,
+                                   const char **name);
+
+/**
+ * @}
+ * @}
+ */
+
+#endif /* AVUTIL_CHANNEL_LAYOUT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/common.h b/3rdparty/include/ffmpeg/libavutil/common.h
new file mode 100644
index 0000000..6594f7d
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/common.h
@@ -0,0 +1,508 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * common internal and external API header
+ */
+
+#ifndef AVUTIL_COMMON_H
+#define AVUTIL_COMMON_H
+
+#if defined(__cplusplus) && !defined(__STDC_CONSTANT_MACROS) && !defined(UINT64_C)
+#error missing -D__STDC_CONSTANT_MACROS / #define __STDC_CONSTANT_MACROS
+#endif
+
+#include <errno.h>
+#include <inttypes.h>
+#include <limits.h>
+#include <math.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "attributes.h"
+#include "version.h"
+#include "libavutil/avconfig.h"
+
+#if AV_HAVE_BIGENDIAN
+#   define AV_NE(be, le) (be)
+#else
+#   define AV_NE(be, le) (le)
+#endif
+
+//rounded division & shift
+#define RSHIFT(a,b) ((a) > 0 ? ((a) + ((1<<(b))>>1))>>(b) : ((a) + ((1<<(b))>>1)-1)>>(b))
+/* assume b>0 */
+#define ROUNDED_DIV(a,b) (((a)>0 ? (a) + ((b)>>1) : (a) - ((b)>>1))/(b))
+/* assume a>0 and b>0 */
+#define FF_CEIL_RSHIFT(a,b) (!av_builtin_constant_p(b) ? -((-(a)) >> (b)) \
+                                                       : ((a) + (1<<(b)) - 1) >> (b))
+#define FFUDIV(a,b) (((a)>0 ?(a):(a)-(b)+1) / (b))
+#define FFUMOD(a,b) ((a)-(b)*FFUDIV(a,b))
+
+/**
+ * Absolute value, Note, INT_MIN / INT64_MIN result in undefined behavior as they
+ * are not representable as absolute values of their type. This is the same
+ * as with *abs()
+ * @see FFNABS()
+ */
+#define FFABS(a) ((a) >= 0 ? (a) : (-(a)))
+#define FFSIGN(a) ((a) > 0 ? 1 : -1)
+
+/**
+ * Negative Absolute value.
+ * this works for all integers of all types.
+ * As with many macros, this evaluates its argument twice, it thus must not have
+ * a sideeffect, that is FFNABS(x++) has undefined behavior.
+ */
+#define FFNABS(a) ((a) <= 0 ? (a) : (-(a)))
+
+#define FFMAX(a,b) ((a) > (b) ? (a) : (b))
+#define FFMAX3(a,b,c) FFMAX(FFMAX(a,b),c)
+#define FFMIN(a,b) ((a) > (b) ? (b) : (a))
+#define FFMIN3(a,b,c) FFMIN(FFMIN(a,b),c)
+
+#define FFSWAP(type,a,b) do{type SWAP_tmp= b; b= a; a= SWAP_tmp;}while(0)
+#define FF_ARRAY_ELEMS(a) (sizeof(a) / sizeof((a)[0]))
+#define FFALIGN(x, a) (((x)+(a)-1)&~((a)-1))
+
+/* misc math functions */
+
+#ifdef HAVE_AV_CONFIG_H
+#   include "config.h"
+#   include "intmath.h"
+#endif
+
+/* Pull in unguarded fallback defines at the end of this file. */
+#include "common.h"
+
+#ifndef av_log2
+av_const int av_log2(unsigned v);
+#endif
+
+#ifndef av_log2_16bit
+av_const int av_log2_16bit(unsigned v);
+#endif
+
+/**
+ * Clip a signed integer value into the amin-amax range.
+ * @param a value to clip
+ * @param amin minimum value of the clip range
+ * @param amax maximum value of the clip range
+ * @return clipped value
+ */
+static av_always_inline av_const int av_clip_c(int a, int amin, int amax)
+{
+#if defined(HAVE_AV_CONFIG_H) && defined(ASSERT_LEVEL) && ASSERT_LEVEL >= 2
+    if (amin > amax) abort();
+#endif
+    if      (a < amin) return amin;
+    else if (a > amax) return amax;
+    else               return a;
+}
+
+/**
+ * Clip a signed 64bit integer value into the amin-amax range.
+ * @param a value to clip
+ * @param amin minimum value of the clip range
+ * @param amax maximum value of the clip range
+ * @return clipped value
+ */
+static av_always_inline av_const int64_t av_clip64_c(int64_t a, int64_t amin, int64_t amax)
+{
+#if defined(HAVE_AV_CONFIG_H) && defined(ASSERT_LEVEL) && ASSERT_LEVEL >= 2
+    if (amin > amax) abort();
+#endif
+    if      (a < amin) return amin;
+    else if (a > amax) return amax;
+    else               return a;
+}
+
+/**
+ * Clip a signed integer value into the 0-255 range.
+ * @param a value to clip
+ * @return clipped value
+ */
+static av_always_inline av_const uint8_t av_clip_uint8_c(int a)
+{
+    if (a&(~0xFF)) return (-a)>>31;
+    else           return a;
+}
+
+/**
+ * Clip a signed integer value into the -128,127 range.
+ * @param a value to clip
+ * @return clipped value
+ */
+static av_always_inline av_const int8_t av_clip_int8_c(int a)
+{
+    if ((a+0x80U) & ~0xFF) return (a>>31) ^ 0x7F;
+    else                  return a;
+}
+
+/**
+ * Clip a signed integer value into the 0-65535 range.
+ * @param a value to clip
+ * @return clipped value
+ */
+static av_always_inline av_const uint16_t av_clip_uint16_c(int a)
+{
+    if (a&(~0xFFFF)) return (-a)>>31;
+    else             return a;
+}
+
+/**
+ * Clip a signed integer value into the -32768,32767 range.
+ * @param a value to clip
+ * @return clipped value
+ */
+static av_always_inline av_const int16_t av_clip_int16_c(int a)
+{
+    if ((a+0x8000U) & ~0xFFFF) return (a>>31) ^ 0x7FFF;
+    else                      return a;
+}
+
+/**
+ * Clip a signed 64-bit integer value into the -2147483648,2147483647 range.
+ * @param a value to clip
+ * @return clipped value
+ */
+static av_always_inline av_const int32_t av_clipl_int32_c(int64_t a)
+{
+    if ((a+0x80000000u) & ~UINT64_C(0xFFFFFFFF)) return (int32_t)((a>>63) ^ 0x7FFFFFFF);
+    else                                         return (int32_t)a;
+}
+
+/**
+ * Clip a signed integer into the -(2^p),(2^p-1) range.
+ * @param  a value to clip
+ * @param  p bit position to clip at
+ * @return clipped value
+ */
+static av_always_inline av_const int av_clip_intp2_c(int a, int p)
+{
+    if ((a + (1 << p)) & ~((2 << p) - 1))
+        return (a >> 31) ^ ((1 << p) - 1);
+    else
+        return a;
+}
+
+/**
+ * Clip a signed integer to an unsigned power of two range.
+ * @param  a value to clip
+ * @param  p bit position to clip at
+ * @return clipped value
+ */
+static av_always_inline av_const unsigned av_clip_uintp2_c(int a, int p)
+{
+    if (a & ~((1<<p) - 1)) return -a >> 31 & ((1<<p) - 1);
+    else                   return  a;
+}
+
+/**
+ * Clear high bits from an unsigned integer starting with specific bit position
+ * @param  a value to clip
+ * @param  p bit position to clip at
+ * @return clipped value
+ */
+static av_always_inline av_const unsigned av_mod_uintp2_c(unsigned a, unsigned p)
+{
+    return a & ((1 << p) - 1);
+}
+
+/**
+ * Add two signed 32-bit values with saturation.
+ *
+ * @param  a one value
+ * @param  b another value
+ * @return sum with signed saturation
+ */
+static av_always_inline int av_sat_add32_c(int a, int b)
+{
+    return av_clipl_int32((int64_t)a + b);
+}
+
+/**
+ * Add a doubled value to another value with saturation at both stages.
+ *
+ * @param  a first value
+ * @param  b value doubled and added to a
+ * @return sum with signed saturation
+ */
+static av_always_inline int av_sat_dadd32_c(int a, int b)
+{
+    return av_sat_add32(a, av_sat_add32(b, b));
+}
+
+/**
+ * Clip a float value into the amin-amax range.
+ * @param a value to clip
+ * @param amin minimum value of the clip range
+ * @param amax maximum value of the clip range
+ * @return clipped value
+ */
+static av_always_inline av_const float av_clipf_c(float a, float amin, float amax)
+{
+#if defined(HAVE_AV_CONFIG_H) && defined(ASSERT_LEVEL) && ASSERT_LEVEL >= 2
+    if (amin > amax) abort();
+#endif
+    if      (a < amin) return amin;
+    else if (a > amax) return amax;
+    else               return a;
+}
+
+/**
+ * Clip a double value into the amin-amax range.
+ * @param a value to clip
+ * @param amin minimum value of the clip range
+ * @param amax maximum value of the clip range
+ * @return clipped value
+ */
+static av_always_inline av_const double av_clipd_c(double a, double amin, double amax)
+{
+#if defined(HAVE_AV_CONFIG_H) && defined(ASSERT_LEVEL) && ASSERT_LEVEL >= 2
+    if (amin > amax) abort();
+#endif
+    if      (a < amin) return amin;
+    else if (a > amax) return amax;
+    else               return a;
+}
+
+/** Compute ceil(log2(x)).
+ * @param x value used to compute ceil(log2(x))
+ * @return computed ceiling of log2(x)
+ */
+static av_always_inline av_const int av_ceil_log2_c(int x)
+{
+    return av_log2((x - 1) << 1);
+}
+
+/**
+ * Count number of bits set to one in x
+ * @param x value to count bits of
+ * @return the number of bits set to one in x
+ */
+static av_always_inline av_const int av_popcount_c(uint32_t x)
+{
+    x -= (x >> 1) & 0x55555555;
+    x = (x & 0x33333333) + ((x >> 2) & 0x33333333);
+    x = (x + (x >> 4)) & 0x0F0F0F0F;
+    x += x >> 8;
+    return (x + (x >> 16)) & 0x3F;
+}
+
+/**
+ * Count number of bits set to one in x
+ * @param x value to count bits of
+ * @return the number of bits set to one in x
+ */
+static av_always_inline av_const int av_popcount64_c(uint64_t x)
+{
+    return av_popcount((uint32_t)x) + av_popcount((uint32_t)(x >> 32));
+}
+
+#define MKTAG(a,b,c,d) ((a) | ((b) << 8) | ((c) << 16) | ((unsigned)(d) << 24))
+#define MKBETAG(a,b,c,d) ((d) | ((c) << 8) | ((b) << 16) | ((unsigned)(a) << 24))
+
+/**
+ * Convert a UTF-8 character (up to 4 bytes) to its 32-bit UCS-4 encoded form.
+ *
+ * @param val      Output value, must be an lvalue of type uint32_t.
+ * @param GET_BYTE Expression reading one byte from the input.
+ *                 Evaluated up to 7 times (4 for the currently
+ *                 assigned Unicode range).  With a memory buffer
+ *                 input, this could be *ptr++.
+ * @param ERROR    Expression to be evaluated on invalid input,
+ *                 typically a goto statement.
+ *
+ * @warning ERROR should not contain a loop control statement which
+ * could interact with the internal while loop, and should force an
+ * exit from the macro code (e.g. through a goto or a return) in order
+ * to prevent undefined results.
+ */
+#define GET_UTF8(val, GET_BYTE, ERROR)\
+    val= GET_BYTE;\
+    {\
+        uint32_t top = (val & 128) >> 1;\
+        if ((val & 0xc0) == 0x80 || val >= 0xFE)\
+            ERROR\
+        while (val & top) {\
+            int tmp= GET_BYTE - 128;\
+            if(tmp>>6)\
+                ERROR\
+            val= (val<<6) + tmp;\
+            top <<= 5;\
+        }\
+        val &= (top << 1) - 1;\
+    }
+
+/**
+ * Convert a UTF-16 character (2 or 4 bytes) to its 32-bit UCS-4 encoded form.
+ *
+ * @param val       Output value, must be an lvalue of type uint32_t.
+ * @param GET_16BIT Expression returning two bytes of UTF-16 data converted
+ *                  to native byte order.  Evaluated one or two times.
+ * @param ERROR     Expression to be evaluated on invalid input,
+ *                  typically a goto statement.
+ */
+#define GET_UTF16(val, GET_16BIT, ERROR)\
+    val = GET_16BIT;\
+    {\
+        unsigned int hi = val - 0xD800;\
+        if (hi < 0x800) {\
+            val = GET_16BIT - 0xDC00;\
+            if (val > 0x3FFU || hi > 0x3FFU)\
+                ERROR\
+            val += (hi<<10) + 0x10000;\
+        }\
+    }\
+
+/**
+ * @def PUT_UTF8(val, tmp, PUT_BYTE)
+ * Convert a 32-bit Unicode character to its UTF-8 encoded form (up to 4 bytes long).
+ * @param val is an input-only argument and should be of type uint32_t. It holds
+ * a UCS-4 encoded Unicode character that is to be converted to UTF-8. If
+ * val is given as a function it is executed only once.
+ * @param tmp is a temporary variable and should be of type uint8_t. It
+ * represents an intermediate value during conversion that is to be
+ * output by PUT_BYTE.
+ * @param PUT_BYTE writes the converted UTF-8 bytes to any proper destination.
+ * It could be a function or a statement, and uses tmp as the input byte.
+ * For example, PUT_BYTE could be "*output++ = tmp;" PUT_BYTE will be
+ * executed up to 4 times for values in the valid UTF-8 range and up to
+ * 7 times in the general case, depending on the length of the converted
+ * Unicode character.
+ */
+#define PUT_UTF8(val, tmp, PUT_BYTE)\
+    {\
+        int bytes, shift;\
+        uint32_t in = val;\
+        if (in < 0x80) {\
+            tmp = in;\
+            PUT_BYTE\
+        } else {\
+            bytes = (av_log2(in) + 4) / 5;\
+            shift = (bytes - 1) * 6;\
+            tmp = (256 - (256 >> bytes)) | (in >> shift);\
+            PUT_BYTE\
+            while (shift >= 6) {\
+                shift -= 6;\
+                tmp = 0x80 | ((in >> shift) & 0x3f);\
+                PUT_BYTE\
+            }\
+        }\
+    }
+
+/**
+ * @def PUT_UTF16(val, tmp, PUT_16BIT)
+ * Convert a 32-bit Unicode character to its UTF-16 encoded form (2 or 4 bytes).
+ * @param val is an input-only argument and should be of type uint32_t. It holds
+ * a UCS-4 encoded Unicode character that is to be converted to UTF-16. If
+ * val is given as a function it is executed only once.
+ * @param tmp is a temporary variable and should be of type uint16_t. It
+ * represents an intermediate value during conversion that is to be
+ * output by PUT_16BIT.
+ * @param PUT_16BIT writes the converted UTF-16 data to any proper destination
+ * in desired endianness. It could be a function or a statement, and uses tmp
+ * as the input byte.  For example, PUT_BYTE could be "*output++ = tmp;"
+ * PUT_BYTE will be executed 1 or 2 times depending on input character.
+ */
+#define PUT_UTF16(val, tmp, PUT_16BIT)\
+    {\
+        uint32_t in = val;\
+        if (in < 0x10000) {\
+            tmp = in;\
+            PUT_16BIT\
+        } else {\
+            tmp = 0xD800 | ((in - 0x10000) >> 10);\
+            PUT_16BIT\
+            tmp = 0xDC00 | ((in - 0x10000) & 0x3FF);\
+            PUT_16BIT\
+        }\
+    }\
+
+
+
+#include "mem.h"
+
+#ifdef HAVE_AV_CONFIG_H
+#    include "internal.h"
+#endif /* HAVE_AV_CONFIG_H */
+
+#endif /* AVUTIL_COMMON_H */
+
+/*
+ * The following definitions are outside the multiple inclusion guard
+ * to ensure they are immediately available in intmath.h.
+ */
+
+#ifndef av_ceil_log2
+#   define av_ceil_log2     av_ceil_log2_c
+#endif
+#ifndef av_clip
+#   define av_clip          av_clip_c
+#endif
+#ifndef av_clip64
+#   define av_clip64        av_clip64_c
+#endif
+#ifndef av_clip_uint8
+#   define av_clip_uint8    av_clip_uint8_c
+#endif
+#ifndef av_clip_int8
+#   define av_clip_int8     av_clip_int8_c
+#endif
+#ifndef av_clip_uint16
+#   define av_clip_uint16   av_clip_uint16_c
+#endif
+#ifndef av_clip_int16
+#   define av_clip_int16    av_clip_int16_c
+#endif
+#ifndef av_clipl_int32
+#   define av_clipl_int32   av_clipl_int32_c
+#endif
+#ifndef av_clip_intp2
+#   define av_clip_intp2    av_clip_intp2_c
+#endif
+#ifndef av_clip_uintp2
+#   define av_clip_uintp2   av_clip_uintp2_c
+#endif
+#ifndef av_mod_uintp2
+#   define av_mod_uintp2    av_mod_uintp2_c
+#endif
+#ifndef av_sat_add32
+#   define av_sat_add32     av_sat_add32_c
+#endif
+#ifndef av_sat_dadd32
+#   define av_sat_dadd32    av_sat_dadd32_c
+#endif
+#ifndef av_clipf
+#   define av_clipf         av_clipf_c
+#endif
+#ifndef av_clipd
+#   define av_clipd         av_clipd_c
+#endif
+#ifndef av_popcount
+#   define av_popcount      av_popcount_c
+#endif
+#ifndef av_popcount64
+#   define av_popcount64    av_popcount64_c
+#endif
diff --git a/3rdparty/include/ffmpeg/libavutil/cpu.h b/3rdparty/include/ffmpeg/libavutil/cpu.h
new file mode 100644
index 0000000..9403eca
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/cpu.h
@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 2000, 2001, 2002 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_CPU_H
+#define AVUTIL_CPU_H
+
+#include "attributes.h"
+
+#define AV_CPU_FLAG_FORCE    0x80000000 /* force usage of selected flags (OR) */
+
+    /* lower 16 bits - CPU features */
+#define AV_CPU_FLAG_MMX          0x0001 ///< standard MMX
+#define AV_CPU_FLAG_MMXEXT       0x0002 ///< SSE integer functions or AMD MMX ext
+#define AV_CPU_FLAG_MMX2         0x0002 ///< SSE integer functions or AMD MMX ext
+#define AV_CPU_FLAG_3DNOW        0x0004 ///< AMD 3DNOW
+#define AV_CPU_FLAG_SSE          0x0008 ///< SSE functions
+#define AV_CPU_FLAG_SSE2         0x0010 ///< PIV SSE2 functions
+#define AV_CPU_FLAG_SSE2SLOW 0x40000000 ///< SSE2 supported, but usually not faster
+                                        ///< than regular MMX/SSE (e.g. Core1)
+#define AV_CPU_FLAG_3DNOWEXT     0x0020 ///< AMD 3DNowExt
+#define AV_CPU_FLAG_SSE3         0x0040 ///< Prescott SSE3 functions
+#define AV_CPU_FLAG_SSE3SLOW 0x20000000 ///< SSE3 supported, but usually not faster
+                                        ///< than regular MMX/SSE (e.g. Core1)
+#define AV_CPU_FLAG_SSSE3        0x0080 ///< Conroe SSSE3 functions
+#define AV_CPU_FLAG_ATOM     0x10000000 ///< Atom processor, some SSSE3 instructions are slower
+#define AV_CPU_FLAG_SSE4         0x0100 ///< Penryn SSE4.1 functions
+#define AV_CPU_FLAG_SSE42        0x0200 ///< Nehalem SSE4.2 functions
+#define AV_CPU_FLAG_AVX          0x4000 ///< AVX functions: requires OS support even if YMM registers aren't used
+#define AV_CPU_FLAG_AVXSLOW   0x8000000 ///< AVX supported, but slow when using YMM registers (e.g. Bulldozer)
+#define AV_CPU_FLAG_XOP          0x0400 ///< Bulldozer XOP functions
+#define AV_CPU_FLAG_FMA4         0x0800 ///< Bulldozer FMA4 functions
+#define AV_CPU_FLAG_CMOV         0x1000 ///< supports cmov instruction
+#define AV_CPU_FLAG_AVX2         0x8000 ///< AVX2 functions: requires OS support even if YMM registers aren't used
+#define AV_CPU_FLAG_FMA3        0x10000 ///< Haswell FMA3 functions
+#define AV_CPU_FLAG_BMI1        0x20000 ///< Bit Manipulation Instruction Set 1
+#define AV_CPU_FLAG_BMI2        0x40000 ///< Bit Manipulation Instruction Set 2
+
+#define AV_CPU_FLAG_ALTIVEC      0x0001 ///< standard
+#define AV_CPU_FLAG_VSX          0x0002 ///< ISA 2.06
+#define AV_CPU_FLAG_POWER8       0x0004 ///< ISA 2.07
+
+#define AV_CPU_FLAG_ARMV5TE      (1 << 0)
+#define AV_CPU_FLAG_ARMV6        (1 << 1)
+#define AV_CPU_FLAG_ARMV6T2      (1 << 2)
+#define AV_CPU_FLAG_VFP          (1 << 3)
+#define AV_CPU_FLAG_VFPV3        (1 << 4)
+#define AV_CPU_FLAG_NEON         (1 << 5)
+#define AV_CPU_FLAG_ARMV8        (1 << 6)
+#define AV_CPU_FLAG_SETEND       (1 <<16)
+
+/**
+ * Return the flags which specify extensions supported by the CPU.
+ * The returned value is affected by av_force_cpu_flags() if that was used
+ * before. So av_get_cpu_flags() can easily be used in a application to
+ * detect the enabled cpu flags.
+ */
+int av_get_cpu_flags(void);
+
+/**
+ * Disables cpu detection and forces the specified flags.
+ * -1 is a special case that disables forcing of specific flags.
+ */
+void av_force_cpu_flags(int flags);
+
+/**
+ * Set a mask on flags returned by av_get_cpu_flags().
+ * This function is mainly useful for testing.
+ * Please use av_force_cpu_flags() and av_get_cpu_flags() instead which are more flexible
+ *
+ * @warning this function is not thread safe.
+ */
+attribute_deprecated void av_set_cpu_flags_mask(int mask);
+
+/**
+ * Parse CPU flags from a string.
+ *
+ * The returned flags contain the specified flags as well as related unspecified flags.
+ *
+ * This function exists only for compatibility with libav.
+ * Please use av_parse_cpu_caps() when possible.
+ * @return a combination of AV_CPU_* flags, negative on error.
+ */
+attribute_deprecated
+int av_parse_cpu_flags(const char *s);
+
+/**
+ * Parse CPU caps from a string and update the given AV_CPU_* flags based on that.
+ *
+ * @return negative on error.
+ */
+int av_parse_cpu_caps(unsigned *flags, const char *s);
+
+/**
+ * @return the number of logical CPU cores present.
+ */
+int av_cpu_count(void);
+
+#endif /* AVUTIL_CPU_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/crc.h b/3rdparty/include/ffmpeg/libavutil/crc.h
new file mode 100644
index 0000000..e86bf1d
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/crc.h
@@ -0,0 +1,86 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_CRC_H
+#define AVUTIL_CRC_H
+
+#include <stdint.h>
+#include <stddef.h>
+#include "attributes.h"
+
+/**
+ * @defgroup lavu_crc32 CRC32
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+typedef uint32_t AVCRC;
+
+typedef enum {
+    AV_CRC_8_ATM,
+    AV_CRC_16_ANSI,
+    AV_CRC_16_CCITT,
+    AV_CRC_32_IEEE,
+    AV_CRC_32_IEEE_LE,  /*< reversed bitorder version of AV_CRC_32_IEEE */
+    AV_CRC_16_ANSI_LE,  /*< reversed bitorder version of AV_CRC_16_ANSI */
+    AV_CRC_24_IEEE = 12,
+    AV_CRC_MAX,         /*< Not part of public API! Do not use outside libavutil. */
+}AVCRCId;
+
+/**
+ * Initialize a CRC table.
+ * @param ctx must be an array of size sizeof(AVCRC)*257 or sizeof(AVCRC)*1024
+ * @param le If 1, the lowest bit represents the coefficient for the highest
+ *           exponent of the corresponding polynomial (both for poly and
+ *           actual CRC).
+ *           If 0, you must swap the CRC parameter and the result of av_crc
+ *           if you need the standard representation (can be simplified in
+ *           most cases to e.g. bswap16):
+ *           av_bswap32(crc << (32-bits))
+ * @param bits number of bits for the CRC
+ * @param poly generator polynomial without the x**bits coefficient, in the
+ *             representation as specified by le
+ * @param ctx_size size of ctx in bytes
+ * @return <0 on failure
+ */
+int av_crc_init(AVCRC *ctx, int le, int bits, uint32_t poly, int ctx_size);
+
+/**
+ * Get an initialized standard CRC table.
+ * @param crc_id ID of a standard CRC
+ * @return a pointer to the CRC table or NULL on failure
+ */
+const AVCRC *av_crc_get_table(AVCRCId crc_id);
+
+/**
+ * Calculate the CRC of a block.
+ * @param crc CRC of previous blocks if any or initial value for CRC
+ * @return CRC updated with the data from the given block
+ *
+ * @see av_crc_init() "le" parameter
+ */
+uint32_t av_crc(const AVCRC *ctx, uint32_t crc,
+                const uint8_t *buffer, size_t length) av_pure;
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_CRC_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/dict.h b/3rdparty/include/ffmpeg/libavutil/dict.h
new file mode 100644
index 0000000..f2df687
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/dict.h
@@ -0,0 +1,196 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * Public dictionary API.
+ * @deprecated
+ *  AVDictionary is provided for compatibility with libav. It is both in
+ *  implementation as well as API inefficient. It does not scale and is
+ *  extremely slow with large dictionaries.
+ *  It is recommended that new code uses our tree container from tree.c/h
+ *  where applicable, which uses AVL trees to achieve O(log n) performance.
+ */
+
+#ifndef AVUTIL_DICT_H
+#define AVUTIL_DICT_H
+
+#include <stdint.h>
+
+#include "version.h"
+
+/**
+ * @addtogroup lavu_dict AVDictionary
+ * @ingroup lavu_data
+ *
+ * @brief Simple key:value store
+ *
+ * @{
+ * Dictionaries are used for storing key:value pairs. To create
+ * an AVDictionary, simply pass an address of a NULL pointer to
+ * av_dict_set(). NULL can be used as an empty dictionary wherever
+ * a pointer to an AVDictionary is required.
+ * Use av_dict_get() to retrieve an entry or iterate over all
+ * entries and finally av_dict_free() to free the dictionary
+ * and all its contents.
+ *
+ @code
+   AVDictionary *d = NULL;           // "create" an empty dictionary
+   AVDictionaryEntry *t = NULL;
+
+   av_dict_set(&d, "foo", "bar", 0); // add an entry
+
+   char *k = av_strdup("key");       // if your strings are already allocated,
+   char *v = av_strdup("value");     // you can avoid copying them like this
+   av_dict_set(&d, k, v, AV_DICT_DONT_STRDUP_KEY | AV_DICT_DONT_STRDUP_VAL);
+
+   while (t = av_dict_get(d, "", t, AV_DICT_IGNORE_SUFFIX)) {
+       <....>                             // iterate over all entries in d
+   }
+   av_dict_free(&d);
+ @endcode
+ *
+ */
+
+#define AV_DICT_MATCH_CASE      1   /**< Only get an entry with exact-case key match. Only relevant in av_dict_get(). */
+#define AV_DICT_IGNORE_SUFFIX   2   /**< Return first entry in a dictionary whose first part corresponds to the search key,
+                                         ignoring the suffix of the found key string. Only relevant in av_dict_get(). */
+#define AV_DICT_DONT_STRDUP_KEY 4   /**< Take ownership of a key that's been
+                                         allocated with av_malloc() or another memory allocation function. */
+#define AV_DICT_DONT_STRDUP_VAL 8   /**< Take ownership of a value that's been
+                                         allocated with av_malloc() or another memory allocation function. */
+#define AV_DICT_DONT_OVERWRITE 16   ///< Don't overwrite existing entries.
+#define AV_DICT_APPEND         32   /**< If the entry already exists, append to it.  Note that no
+                                      delimiter is added, the strings are simply concatenated. */
+
+typedef struct AVDictionaryEntry {
+    char *key;
+    char *value;
+} AVDictionaryEntry;
+
+typedef struct AVDictionary AVDictionary;
+
+/**
+ * Get a dictionary entry with matching key.
+ *
+ * The returned entry key or value must not be changed, or it will
+ * cause undefined behavior.
+ *
+ * To iterate through all the dictionary entries, you can set the matching key
+ * to the null string "" and set the AV_DICT_IGNORE_SUFFIX flag.
+ *
+ * @param prev Set to the previous matching element to find the next.
+ *             If set to NULL the first matching element is returned.
+ * @param key matching key
+ * @param flags a collection of AV_DICT_* flags controlling how the entry is retrieved
+ * @return found entry or NULL in case no matching entry was found in the dictionary
+ */
+AVDictionaryEntry *av_dict_get(const AVDictionary *m, const char *key,
+                               const AVDictionaryEntry *prev, int flags);
+
+/**
+ * Get number of entries in dictionary.
+ *
+ * @param m dictionary
+ * @return  number of entries in dictionary
+ */
+int av_dict_count(const AVDictionary *m);
+
+/**
+ * Set the given entry in *pm, overwriting an existing entry.
+ *
+ * Note: If AV_DICT_DONT_STRDUP_KEY or AV_DICT_DONT_STRDUP_VAL is set,
+ * these arguments will be freed on error.
+ *
+ * @param pm pointer to a pointer to a dictionary struct. If *pm is NULL
+ * a dictionary struct is allocated and put in *pm.
+ * @param key entry key to add to *pm (will be av_strduped depending on flags)
+ * @param value entry value to add to *pm (will be av_strduped depending on flags).
+ *        Passing a NULL value will cause an existing entry to be deleted.
+ * @return >= 0 on success otherwise an error code <0
+ */
+int av_dict_set(AVDictionary **pm, const char *key, const char *value, int flags);
+
+/**
+ * Convenience wrapper for av_dict_set that converts the value to a string
+ * and stores it.
+ *
+ * Note: If AV_DICT_DONT_STRDUP_KEY is set, key will be freed on error.
+ */
+int av_dict_set_int(AVDictionary **pm, const char *key, int64_t value, int flags);
+
+/**
+ * Parse the key/value pairs list and add the parsed entries to a dictionary.
+ *
+ * In case of failure, all the successfully set entries are stored in
+ * *pm. You may need to manually free the created dictionary.
+ *
+ * @param key_val_sep  a 0-terminated list of characters used to separate
+ *                     key from value
+ * @param pairs_sep    a 0-terminated list of characters used to separate
+ *                     two pairs from each other
+ * @param flags        flags to use when adding to dictionary.
+ *                     AV_DICT_DONT_STRDUP_KEY and AV_DICT_DONT_STRDUP_VAL
+ *                     are ignored since the key/value tokens will always
+ *                     be duplicated.
+ * @return             0 on success, negative AVERROR code on failure
+ */
+int av_dict_parse_string(AVDictionary **pm, const char *str,
+                         const char *key_val_sep, const char *pairs_sep,
+                         int flags);
+
+/**
+ * Copy entries from one AVDictionary struct into another.
+ * @param dst pointer to a pointer to a AVDictionary struct. If *dst is NULL,
+ *            this function will allocate a struct for you and put it in *dst
+ * @param src pointer to source AVDictionary struct
+ * @param flags flags to use when setting entries in *dst
+ * @note metadata is read using the AV_DICT_IGNORE_SUFFIX flag
+ */
+void av_dict_copy(AVDictionary **dst, const AVDictionary *src, int flags);
+
+/**
+ * Free all the memory allocated for an AVDictionary struct
+ * and all keys and values.
+ */
+void av_dict_free(AVDictionary **m);
+
+/**
+ * Get dictionary entries as a string.
+ *
+ * Create a string containing dictionary's entries.
+ * Such string may be passed back to av_dict_parse_string().
+ * @note String is escaped with backslashes ('\').
+ *
+ * @param[in]  m             dictionary
+ * @param[out] buffer        Pointer to buffer that will be allocated with string containg entries.
+ *                           Buffer must be freed by the caller when is no longer needed.
+ * @param[in]  key_val_sep   character used to separate key from value
+ * @param[in]  pairs_sep     character used to separate two pairs from each other
+ * @return                   >= 0 on success, negative on error
+ * @warning Separators cannot be neither '\\' nor '\0'. They also cannot be the same.
+ */
+int av_dict_get_string(const AVDictionary *m, char **buffer,
+                       const char key_val_sep, const char pairs_sep);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_DICT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/display.h b/3rdparty/include/ffmpeg/libavutil/display.h
new file mode 100644
index 0000000..c0cfee3
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/display.h
@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2014 Vittorio Giovara <vittorio.giovara@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_DISPLAY_H
+#define AVUTIL_DISPLAY_H
+
+#include <stdint.h>
+
+/**
+ * The display transformation matrix specifies an affine transformation that
+ * should be applied to video frames for correct presentation. It is compatible
+ * with the matrices stored in the ISO/IEC 14496-12 container format.
+ *
+ * The data is a 3x3 matrix represented as a 9-element array:
+ *
+ *                                  | a b u |
+ *   (a, b, u, c, d, v, x, y, w) -> | c d v |
+ *                                  | x y w |
+ *
+ * All numbers are stored in native endianness, as 16.16 fixed-point values,
+ * except for u, v and w, which are stored as 2.30 fixed-point values.
+ *
+ * The transformation maps a point (p, q) in the source (pre-transformation)
+ * frame to the point (p', q') in the destination (post-transformation) frame as
+ * follows:
+ *               | a b u |
+ *   (p, q, 1) . | c d v | = z * (p', q', 1)
+ *               | x y w |
+ *
+ * The transformation can also be more explicitly written in components as
+ * follows:
+ *   p' = (a * p + c * q + x) / z;
+ *   q' = (b * p + d * q + y) / z;
+ *   z  =  u * p + v * q + w
+ */
+
+/**
+ * Extract the rotation component of the transformation matrix.
+ *
+ * @param matrix the transformation matrix
+ * @return the angle (in degrees) by which the transformation rotates the frame
+ *         counterclockwise. The angle will be in range [-180.0, 180.0],
+ *         or NaN if the matrix is singular.
+ *
+ * @note floating point numbers are inherently inexact, so callers are
+ *       recommended to round the return value to nearest integer before use.
+ */
+double av_display_rotation_get(const int32_t matrix[9]);
+
+/**
+ * Initialize a transformation matrix describing a pure counterclockwise
+ * rotation by the specified angle (in degrees).
+ *
+ * @param matrix an allocated transformation matrix (will be fully overwritten
+ *               by this function)
+ * @param angle rotation angle in degrees.
+ */
+void av_display_rotation_set(int32_t matrix[9], double angle);
+
+/**
+ * Flip the input matrix horizontally and/or vertically.
+ *
+ * @param matrix an allocated transformation matrix
+ * @param hflip whether the matrix should be flipped horizontally
+ * @param vflip whether the matrix should be flipped vertically
+ */
+void av_display_matrix_flip(int32_t matrix[9], int hflip, int vflip);
+
+#endif /* AVUTIL_DISPLAY_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/downmix_info.h b/3rdparty/include/ffmpeg/libavutil/downmix_info.h
new file mode 100644
index 0000000..221cf5b
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/downmix_info.h
@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 2014 Tim Walker <tdskywalker@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_DOWNMIX_INFO_H
+#define AVUTIL_DOWNMIX_INFO_H
+
+#include "frame.h"
+
+/**
+ * @file
+ * audio downmix medatata
+ */
+
+/**
+ * @addtogroup lavu_audio
+ * @{
+ */
+
+/**
+ * @defgroup downmix_info Audio downmix metadata
+ * @{
+ */
+
+/**
+ * Possible downmix types.
+ */
+enum AVDownmixType {
+    AV_DOWNMIX_TYPE_UNKNOWN, /**< Not indicated. */
+    AV_DOWNMIX_TYPE_LORO,    /**< Lo/Ro 2-channel downmix (Stereo). */
+    AV_DOWNMIX_TYPE_LTRT,    /**< Lt/Rt 2-channel downmix, Dolby Surround compatible. */
+    AV_DOWNMIX_TYPE_DPLII,   /**< Lt/Rt 2-channel downmix, Dolby Pro Logic II compatible. */
+    AV_DOWNMIX_TYPE_NB       /**< Number of downmix types. Not part of ABI. */
+};
+
+/**
+ * This structure describes optional metadata relevant to a downmix procedure.
+ *
+ * All fields are set by the decoder to the value indicated in the audio
+ * bitstream (if present), or to a "sane" default otherwise.
+ */
+typedef struct AVDownmixInfo {
+    /**
+     * Type of downmix preferred by the mastering engineer.
+     */
+    enum AVDownmixType preferred_downmix_type;
+
+    /**
+     * Absolute scale factor representing the nominal level of the center
+     * channel during a regular downmix.
+     */
+    double center_mix_level;
+
+    /**
+     * Absolute scale factor representing the nominal level of the center
+     * channel during an Lt/Rt compatible downmix.
+     */
+    double center_mix_level_ltrt;
+
+    /**
+     * Absolute scale factor representing the nominal level of the surround
+     * channels during a regular downmix.
+     */
+    double surround_mix_level;
+
+    /**
+     * Absolute scale factor representing the nominal level of the surround
+     * channels during an Lt/Rt compatible downmix.
+     */
+    double surround_mix_level_ltrt;
+
+    /**
+     * Absolute scale factor representing the level at which the LFE data is
+     * mixed into L/R channels during downmixing.
+     */
+    double lfe_mix_level;
+} AVDownmixInfo;
+
+/**
+ * Get a frame's AV_FRAME_DATA_DOWNMIX_INFO side data for editing.
+ *
+ * If the side data is absent, it is created and added to the frame.
+ *
+ * @param frame the frame for which the side data is to be obtained or created
+ *
+ * @return the AVDownmixInfo structure to be edited by the caller, or NULL if
+ *         the structure cannot be allocated.
+ */
+AVDownmixInfo *av_downmix_info_update_side_data(AVFrame *frame);
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_DOWNMIX_INFO_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/error.h b/3rdparty/include/ffmpeg/libavutil/error.h
new file mode 100644
index 0000000..71df4da
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/error.h
@@ -0,0 +1,126 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * error code definitions
+ */
+
+#ifndef AVUTIL_ERROR_H
+#define AVUTIL_ERROR_H
+
+#include <errno.h>
+#include <stddef.h>
+
+/**
+ * @addtogroup lavu_error
+ *
+ * @{
+ */
+
+
+/* error handling */
+#if EDOM > 0
+#define AVERROR(e) (-(e))   ///< Returns a negative error code from a POSIX error code, to return from library functions.
+#define AVUNERROR(e) (-(e)) ///< Returns a POSIX error code from a library function error return value.
+#else
+/* Some platforms have E* and errno already negated. */
+#define AVERROR(e) (e)
+#define AVUNERROR(e) (e)
+#endif
+
+#define FFERRTAG(a, b, c, d) (-(int)MKTAG(a, b, c, d))
+
+#define AVERROR_BSF_NOT_FOUND      FFERRTAG(0xF8,'B','S','F') ///< Bitstream filter not found
+#define AVERROR_BUG                FFERRTAG( 'B','U','G','!') ///< Internal bug, also see AVERROR_BUG2
+#define AVERROR_BUFFER_TOO_SMALL   FFERRTAG( 'B','U','F','S') ///< Buffer too small
+#define AVERROR_DECODER_NOT_FOUND  FFERRTAG(0xF8,'D','E','C') ///< Decoder not found
+#define AVERROR_DEMUXER_NOT_FOUND  FFERRTAG(0xF8,'D','E','M') ///< Demuxer not found
+#define AVERROR_ENCODER_NOT_FOUND  FFERRTAG(0xF8,'E','N','C') ///< Encoder not found
+#define AVERROR_EOF                FFERRTAG( 'E','O','F',' ') ///< End of file
+#define AVERROR_EXIT               FFERRTAG( 'E','X','I','T') ///< Immediate exit was requested; the called function should not be restarted
+#define AVERROR_EXTERNAL           FFERRTAG( 'E','X','T',' ') ///< Generic error in an external library
+#define AVERROR_FILTER_NOT_FOUND   FFERRTAG(0xF8,'F','I','L') ///< Filter not found
+#define AVERROR_INVALIDDATA        FFERRTAG( 'I','N','D','A') ///< Invalid data found when processing input
+#define AVERROR_MUXER_NOT_FOUND    FFERRTAG(0xF8,'M','U','X') ///< Muxer not found
+#define AVERROR_OPTION_NOT_FOUND   FFERRTAG(0xF8,'O','P','T') ///< Option not found
+#define AVERROR_PATCHWELCOME       FFERRTAG( 'P','A','W','E') ///< Not yet implemented in FFmpeg, patches welcome
+#define AVERROR_PROTOCOL_NOT_FOUND FFERRTAG(0xF8,'P','R','O') ///< Protocol not found
+
+#define AVERROR_STREAM_NOT_FOUND   FFERRTAG(0xF8,'S','T','R') ///< Stream not found
+/**
+ * This is semantically identical to AVERROR_BUG
+ * it has been introduced in Libav after our AVERROR_BUG and with a modified value.
+ */
+#define AVERROR_BUG2               FFERRTAG( 'B','U','G',' ')
+#define AVERROR_UNKNOWN            FFERRTAG( 'U','N','K','N') ///< Unknown error, typically from an external library
+#define AVERROR_EXPERIMENTAL       (-0x2bb2afa8) ///< Requested feature is flagged experimental. Set strict_std_compliance if you really want to use it.
+#define AVERROR_INPUT_CHANGED      (-0x636e6701) ///< Input changed between calls. Reconfiguration is required. (can be OR-ed with AVERROR_OUTPUT_CHANGED)
+#define AVERROR_OUTPUT_CHANGED     (-0x636e6702) ///< Output changed between calls. Reconfiguration is required. (can be OR-ed with AVERROR_INPUT_CHANGED)
+/* HTTP & RTSP errors */
+#define AVERROR_HTTP_BAD_REQUEST   FFERRTAG(0xF8,'4','0','0')
+#define AVERROR_HTTP_UNAUTHORIZED  FFERRTAG(0xF8,'4','0','1')
+#define AVERROR_HTTP_FORBIDDEN     FFERRTAG(0xF8,'4','0','3')
+#define AVERROR_HTTP_NOT_FOUND     FFERRTAG(0xF8,'4','0','4')
+#define AVERROR_HTTP_OTHER_4XX     FFERRTAG(0xF8,'4','X','X')
+#define AVERROR_HTTP_SERVER_ERROR  FFERRTAG(0xF8,'5','X','X')
+
+#define AV_ERROR_MAX_STRING_SIZE 64
+
+/**
+ * Put a description of the AVERROR code errnum in errbuf.
+ * In case of failure the global variable errno is set to indicate the
+ * error. Even in case of failure av_strerror() will print a generic
+ * error message indicating the errnum provided to errbuf.
+ *
+ * @param errnum      error code to describe
+ * @param errbuf      buffer to which description is written
+ * @param errbuf_size the size in bytes of errbuf
+ * @return 0 on success, a negative value if a description for errnum
+ * cannot be found
+ */
+int av_strerror(int errnum, char *errbuf, size_t errbuf_size);
+
+/**
+ * Fill the provided buffer with a string containing an error string
+ * corresponding to the AVERROR code errnum.
+ *
+ * @param errbuf         a buffer
+ * @param errbuf_size    size in bytes of errbuf
+ * @param errnum         error code to describe
+ * @return the buffer in input, filled with the error description
+ * @see av_strerror()
+ */
+static inline char *av_make_error_string(char *errbuf, size_t errbuf_size, int errnum)
+{
+    av_strerror(errnum, errbuf, errbuf_size);
+    return errbuf;
+}
+
+/**
+ * Convenience macro, the return value should be used only directly in
+ * function arguments but never stand-alone.
+ */
+#define av_err2str(errnum) \
+    av_make_error_string((char[AV_ERROR_MAX_STRING_SIZE]){0}, AV_ERROR_MAX_STRING_SIZE, errnum)
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_ERROR_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/eval.h b/3rdparty/include/ffmpeg/libavutil/eval.h
new file mode 100644
index 0000000..6159b0f
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/eval.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2002 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * simple arithmetic expression evaluator
+ */
+
+#ifndef AVUTIL_EVAL_H
+#define AVUTIL_EVAL_H
+
+#include "avutil.h"
+
+typedef struct AVExpr AVExpr;
+
+/**
+ * Parse and evaluate an expression.
+ * Note, this is significantly slower than av_expr_eval().
+ *
+ * @param res a pointer to a double where is put the result value of
+ * the expression, or NAN in case of error
+ * @param s expression as a zero terminated string, for example "1+2^3+5*5+sin(2/3)"
+ * @param const_names NULL terminated array of zero terminated strings of constant identifiers, for example {"PI", "E", 0}
+ * @param const_values a zero terminated array of values for the identifiers from const_names
+ * @param func1_names NULL terminated array of zero terminated strings of funcs1 identifiers
+ * @param funcs1 NULL terminated array of function pointers for functions which take 1 argument
+ * @param func2_names NULL terminated array of zero terminated strings of funcs2 identifiers
+ * @param funcs2 NULL terminated array of function pointers for functions which take 2 arguments
+ * @param opaque a pointer which will be passed to all functions from funcs1 and funcs2
+ * @param log_ctx parent logging context
+ * @return >= 0 in case of success, a negative value corresponding to an
+ * AVERROR code otherwise
+ */
+int av_expr_parse_and_eval(double *res, const char *s,
+                           const char * const *const_names, const double *const_values,
+                           const char * const *func1_names, double (* const *funcs1)(void *, double),
+                           const char * const *func2_names, double (* const *funcs2)(void *, double, double),
+                           void *opaque, int log_offset, void *log_ctx);
+
+/**
+ * Parse an expression.
+ *
+ * @param expr a pointer where is put an AVExpr containing the parsed
+ * value in case of successful parsing, or NULL otherwise.
+ * The pointed to AVExpr must be freed with av_expr_free() by the user
+ * when it is not needed anymore.
+ * @param s expression as a zero terminated string, for example "1+2^3+5*5+sin(2/3)"
+ * @param const_names NULL terminated array of zero terminated strings of constant identifiers, for example {"PI", "E", 0}
+ * @param func1_names NULL terminated array of zero terminated strings of funcs1 identifiers
+ * @param funcs1 NULL terminated array of function pointers for functions which take 1 argument
+ * @param func2_names NULL terminated array of zero terminated strings of funcs2 identifiers
+ * @param funcs2 NULL terminated array of function pointers for functions which take 2 arguments
+ * @param log_ctx parent logging context
+ * @return >= 0 in case of success, a negative value corresponding to an
+ * AVERROR code otherwise
+ */
+int av_expr_parse(AVExpr **expr, const char *s,
+                  const char * const *const_names,
+                  const char * const *func1_names, double (* const *funcs1)(void *, double),
+                  const char * const *func2_names, double (* const *funcs2)(void *, double, double),
+                  int log_offset, void *log_ctx);
+
+/**
+ * Evaluate a previously parsed expression.
+ *
+ * @param const_values a zero terminated array of values for the identifiers from av_expr_parse() const_names
+ * @param opaque a pointer which will be passed to all functions from funcs1 and funcs2
+ * @return the value of the expression
+ */
+double av_expr_eval(AVExpr *e, const double *const_values, void *opaque);
+
+/**
+ * Free a parsed expression previously created with av_expr_parse().
+ */
+void av_expr_free(AVExpr *e);
+
+/**
+ * Parse the string in numstr and return its value as a double. If
+ * the string is empty, contains only whitespaces, or does not contain
+ * an initial substring that has the expected syntax for a
+ * floating-point number, no conversion is performed. In this case,
+ * returns a value of zero and the value returned in tail is the value
+ * of numstr.
+ *
+ * @param numstr a string representing a number, may contain one of
+ * the International System number postfixes, for example 'K', 'M',
+ * 'G'. If 'i' is appended after the postfix, powers of 2 are used
+ * instead of powers of 10. The 'B' postfix multiplies the value for
+ * 8, and can be appended after another postfix or used alone. This
+ * allows using for example 'KB', 'MiB', 'G' and 'B' as postfix.
+ * @param tail if non-NULL puts here the pointer to the char next
+ * after the last parsed character
+ */
+double av_strtod(const char *numstr, char **tail);
+
+#endif /* AVUTIL_EVAL_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/ffversion.h b/3rdparty/include/ffmpeg/libavutil/ffversion.h
new file mode 100644
index 0000000..5c21019
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/ffversion.h
@@ -0,0 +1,4 @@
+#ifndef AVUTIL_FFVERSION_H
+#define AVUTIL_FFVERSION_H
+#define FFMPEG_VERSION "N-75841-g5911eeb"
+#endif /* AVUTIL_FFVERSION_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/fifo.h b/3rdparty/include/ffmpeg/libavutil/fifo.h
new file mode 100644
index 0000000..0e4070b
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/fifo.h
@@ -0,0 +1,168 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * a very simple circular buffer FIFO implementation
+ */
+
+#ifndef AVUTIL_FIFO_H
+#define AVUTIL_FIFO_H
+
+#include <stdint.h>
+#include "avutil.h"
+#include "attributes.h"
+
+typedef struct AVFifoBuffer {
+    uint8_t *buffer;
+    uint8_t *rptr, *wptr, *end;
+    uint32_t rndx, wndx;
+} AVFifoBuffer;
+
+/**
+ * Initialize an AVFifoBuffer.
+ * @param size of FIFO
+ * @return AVFifoBuffer or NULL in case of memory allocation failure
+ */
+AVFifoBuffer *av_fifo_alloc(unsigned int size);
+
+/**
+ * Initialize an AVFifoBuffer.
+ * @param nmemb number of elements
+ * @param size  size of the single element
+ * @return AVFifoBuffer or NULL in case of memory allocation failure
+ */
+AVFifoBuffer *av_fifo_alloc_array(size_t nmemb, size_t size);
+
+/**
+ * Free an AVFifoBuffer.
+ * @param f AVFifoBuffer to free
+ */
+void av_fifo_free(AVFifoBuffer *f);
+
+/**
+ * Free an AVFifoBuffer and reset pointer to NULL.
+ * @param f AVFifoBuffer to free
+ */
+void av_fifo_freep(AVFifoBuffer **f);
+
+/**
+ * Reset the AVFifoBuffer to the state right after av_fifo_alloc, in particular it is emptied.
+ * @param f AVFifoBuffer to reset
+ */
+void av_fifo_reset(AVFifoBuffer *f);
+
+/**
+ * Return the amount of data in bytes in the AVFifoBuffer, that is the
+ * amount of data you can read from it.
+ * @param f AVFifoBuffer to read from
+ * @return size
+ */
+int av_fifo_size(const AVFifoBuffer *f);
+
+/**
+ * Return the amount of space in bytes in the AVFifoBuffer, that is the
+ * amount of data you can write into it.
+ * @param f AVFifoBuffer to write into
+ * @return size
+ */
+int av_fifo_space(const AVFifoBuffer *f);
+
+/**
+ * Feed data from an AVFifoBuffer to a user-supplied callback.
+ * Similar as av_fifo_gereric_read but without discarding data.
+ * @param f AVFifoBuffer to read from
+ * @param buf_size number of bytes to read
+ * @param func generic read function
+ * @param dest data destination
+ */
+int av_fifo_generic_peek(AVFifoBuffer *f, void *dest, int buf_size, void (*func)(void*, void*, int));
+
+/**
+ * Feed data from an AVFifoBuffer to a user-supplied callback.
+ * @param f AVFifoBuffer to read from
+ * @param buf_size number of bytes to read
+ * @param func generic read function
+ * @param dest data destination
+ */
+int av_fifo_generic_read(AVFifoBuffer *f, void *dest, int buf_size, void (*func)(void*, void*, int));
+
+/**
+ * Feed data from a user-supplied callback to an AVFifoBuffer.
+ * @param f AVFifoBuffer to write to
+ * @param src data source; non-const since it may be used as a
+ * modifiable context by the function defined in func
+ * @param size number of bytes to write
+ * @param func generic write function; the first parameter is src,
+ * the second is dest_buf, the third is dest_buf_size.
+ * func must return the number of bytes written to dest_buf, or <= 0 to
+ * indicate no more data available to write.
+ * If func is NULL, src is interpreted as a simple byte array for source data.
+ * @return the number of bytes written to the FIFO
+ */
+int av_fifo_generic_write(AVFifoBuffer *f, void *src, int size, int (*func)(void*, void*, int));
+
+/**
+ * Resize an AVFifoBuffer.
+ * In case of reallocation failure, the old FIFO is kept unchanged.
+ *
+ * @param f AVFifoBuffer to resize
+ * @param size new AVFifoBuffer size in bytes
+ * @return <0 for failure, >=0 otherwise
+ */
+int av_fifo_realloc2(AVFifoBuffer *f, unsigned int size);
+
+/**
+ * Enlarge an AVFifoBuffer.
+ * In case of reallocation failure, the old FIFO is kept unchanged.
+ * The new fifo size may be larger than the requested size.
+ *
+ * @param f AVFifoBuffer to resize
+ * @param additional_space the amount of space in bytes to allocate in addition to av_fifo_size()
+ * @return <0 for failure, >=0 otherwise
+ */
+int av_fifo_grow(AVFifoBuffer *f, unsigned int additional_space);
+
+/**
+ * Read and discard the specified amount of data from an AVFifoBuffer.
+ * @param f AVFifoBuffer to read from
+ * @param size amount of data to read in bytes
+ */
+void av_fifo_drain(AVFifoBuffer *f, int size);
+
+/**
+ * Return a pointer to the data stored in a FIFO buffer at a certain offset.
+ * The FIFO buffer is not modified.
+ *
+ * @param f    AVFifoBuffer to peek at, f must be non-NULL
+ * @param offs an offset in bytes, its absolute value must be less
+ *             than the used buffer size or the returned pointer will
+ *             point outside to the buffer data.
+ *             The used buffer size can be checked with av_fifo_size().
+ */
+static inline uint8_t *av_fifo_peek2(const AVFifoBuffer *f, int offs)
+{
+    uint8_t *ptr = f->rptr + offs;
+    if (ptr >= f->end)
+        ptr = f->buffer + (ptr - f->end);
+    else if (ptr < f->buffer)
+        ptr = f->end - (f->buffer - ptr);
+    return ptr;
+}
+
+#endif /* AVUTIL_FIFO_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/file.h b/3rdparty/include/ffmpeg/libavutil/file.h
new file mode 100644
index 0000000..1cae295
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/file.h
@@ -0,0 +1,67 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_FILE_H
+#define AVUTIL_FILE_H
+
+#include <stdint.h>
+
+#include "avutil.h"
+
+/**
+ * @file
+ * Misc file utilities.
+ */
+
+/**
+ * Read the file with name filename, and put its content in a newly
+ * allocated buffer or map it with mmap() when available.
+ * In case of success set *bufptr to the read or mmapped buffer, and
+ * *size to the size in bytes of the buffer in *bufptr.
+ * The returned buffer must be released with av_file_unmap().
+ *
+ * @param log_offset loglevel offset used for logging
+ * @param log_ctx context used for logging
+ * @return a non negative number in case of success, a negative value
+ * corresponding to an AVERROR error code in case of failure
+ */
+int av_file_map(const char *filename, uint8_t **bufptr, size_t *size,
+                int log_offset, void *log_ctx);
+
+/**
+ * Unmap or free the buffer bufptr created by av_file_map().
+ *
+ * @param size size in bytes of bufptr, must be the same as returned
+ * by av_file_map()
+ */
+void av_file_unmap(uint8_t *bufptr, size_t size);
+
+/**
+ * Wrapper to work around the lack of mkstemp() on mingw.
+ * Also, tries to create file in /tmp first, if possible.
+ * *prefix can be a character constant; *filename will be allocated internally.
+ * @return file descriptor of opened file (or negative value corresponding to an
+ * AVERROR code on error)
+ * and opened file name in **filename.
+ * @note On very old libcs it is necessary to set a secure umask before
+ *       calling this, av_tempfile() can't call umask itself as it is used in
+ *       libraries and could interfere with the calling application.
+ */
+int av_tempfile(const char *prefix, char **filename, int log_offset, void *log_ctx);
+
+#endif /* AVUTIL_FILE_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/frame.h b/3rdparty/include/ffmpeg/libavutil/frame.h
new file mode 100644
index 0000000..9c6061a
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/frame.h
@@ -0,0 +1,713 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * @ingroup lavu_frame
+ * reference-counted frame API
+ */
+
+#ifndef AVUTIL_FRAME_H
+#define AVUTIL_FRAME_H
+
+#include <stdint.h>
+
+#include "avutil.h"
+#include "buffer.h"
+#include "dict.h"
+#include "rational.h"
+#include "samplefmt.h"
+#include "pixfmt.h"
+#include "version.h"
+
+
+/**
+ * @defgroup lavu_frame AVFrame
+ * @ingroup lavu_data
+ *
+ * @{
+ * AVFrame is an abstraction for reference-counted raw multimedia data.
+ */
+
+enum AVFrameSideDataType {
+    /**
+     * The data is the AVPanScan struct defined in libavcodec.
+     */
+    AV_FRAME_DATA_PANSCAN,
+    /**
+     * ATSC A53 Part 4 Closed Captions.
+     * A53 CC bitstream is stored as uint8_t in AVFrameSideData.data.
+     * The number of bytes of CC data is AVFrameSideData.size.
+     */
+    AV_FRAME_DATA_A53_CC,
+    /**
+     * Stereoscopic 3d metadata.
+     * The data is the AVStereo3D struct defined in libavutil/stereo3d.h.
+     */
+    AV_FRAME_DATA_STEREO3D,
+    /**
+     * The data is the AVMatrixEncoding enum defined in libavutil/channel_layout.h.
+     */
+    AV_FRAME_DATA_MATRIXENCODING,
+    /**
+     * Metadata relevant to a downmix procedure.
+     * The data is the AVDownmixInfo struct defined in libavutil/downmix_info.h.
+     */
+    AV_FRAME_DATA_DOWNMIX_INFO,
+    /**
+     * ReplayGain information in the form of the AVReplayGain struct.
+     */
+    AV_FRAME_DATA_REPLAYGAIN,
+    /**
+     * This side data contains a 3x3 transformation matrix describing an affine
+     * transformation that needs to be applied to the frame for correct
+     * presentation.
+     *
+     * See libavutil/display.h for a detailed description of the data.
+     */
+    AV_FRAME_DATA_DISPLAYMATRIX,
+    /**
+     * Active Format Description data consisting of a single byte as specified
+     * in ETSI TS 101 154 using AVActiveFormatDescription enum.
+     */
+    AV_FRAME_DATA_AFD,
+    /**
+     * Motion vectors exported by some codecs (on demand through the export_mvs
+     * flag set in the libavcodec AVCodecContext flags2 option).
+     * The data is the AVMotionVector struct defined in
+     * libavutil/motion_vector.h.
+     */
+    AV_FRAME_DATA_MOTION_VECTORS,
+    /**
+     * Recommmends skipping the specified number of samples. This is exported
+     * only if the "skip_manual" AVOption is set in libavcodec.
+     * This has the same format as AV_PKT_DATA_SKIP_SAMPLES.
+     * @code
+     * u32le number of samples to skip from start of this packet
+     * u32le number of samples to skip from end of this packet
+     * u8    reason for start skip
+     * u8    reason for end   skip (0=padding silence, 1=convergence)
+     * @endcode
+     */
+    AV_FRAME_DATA_SKIP_SAMPLES,
+
+    /**
+     * This side data must be associated with an audio frame and corresponds to
+     * enum AVAudioServiceType defined in avcodec.h.
+     */
+    AV_FRAME_DATA_AUDIO_SERVICE_TYPE,
+};
+
+enum AVActiveFormatDescription {
+    AV_AFD_SAME         = 8,
+    AV_AFD_4_3          = 9,
+    AV_AFD_16_9         = 10,
+    AV_AFD_14_9         = 11,
+    AV_AFD_4_3_SP_14_9  = 13,
+    AV_AFD_16_9_SP_14_9 = 14,
+    AV_AFD_SP_4_3       = 15,
+};
+
+
+/**
+ * Structure to hold side data for an AVFrame.
+ *
+ * sizeof(AVFrameSideData) is not a part of the public ABI, so new fields may be added
+ * to the end with a minor bump.
+ */
+typedef struct AVFrameSideData {
+    enum AVFrameSideDataType type;
+    uint8_t *data;
+    int      size;
+    AVDictionary *metadata;
+    AVBufferRef *buf;
+} AVFrameSideData;
+
+/**
+ * This structure describes decoded (raw) audio or video data.
+ *
+ * AVFrame must be allocated using av_frame_alloc(). Note that this only
+ * allocates the AVFrame itself, the buffers for the data must be managed
+ * through other means (see below).
+ * AVFrame must be freed with av_frame_free().
+ *
+ * AVFrame is typically allocated once and then reused multiple times to hold
+ * different data (e.g. a single AVFrame to hold frames received from a
+ * decoder). In such a case, av_frame_unref() will free any references held by
+ * the frame and reset it to its original clean state before it
+ * is reused again.
+ *
+ * The data described by an AVFrame is usually reference counted through the
+ * AVBuffer API. The underlying buffer references are stored in AVFrame.buf /
+ * AVFrame.extended_buf. An AVFrame is considered to be reference counted if at
+ * least one reference is set, i.e. if AVFrame.buf[0] != NULL. In such a case,
+ * every single data plane must be contained in one of the buffers in
+ * AVFrame.buf or AVFrame.extended_buf.
+ * There may be a single buffer for all the data, or one separate buffer for
+ * each plane, or anything in between.
+ *
+ * sizeof(AVFrame) is not a part of the public ABI, so new fields may be added
+ * to the end with a minor bump.
+ * Similarly fields that are marked as to be only accessed by
+ * av_opt_ptr() can be reordered. This allows 2 forks to add fields
+ * without breaking compatibility with each other.
+ */
+typedef struct AVFrame {
+#define AV_NUM_DATA_POINTERS 8
+    /**
+     * pointer to the picture/channel planes.
+     * This might be different from the first allocated byte
+     *
+     * Some decoders access areas outside 0,0 - width,height, please
+     * see avcodec_align_dimensions2(). Some filters and swscale can read
+     * up to 16 bytes beyond the planes, if these filters are to be used,
+     * then 16 extra bytes must be allocated.
+     */
+    uint8_t *data[AV_NUM_DATA_POINTERS];
+
+    /**
+     * For video, size in bytes of each picture line.
+     * For audio, size in bytes of each plane.
+     *
+     * For audio, only linesize[0] may be set. For planar audio, each channel
+     * plane must be the same size.
+     *
+     * For video the linesizes should be multiples of the CPUs alignment
+     * preference, this is 16 or 32 for modern desktop CPUs.
+     * Some code requires such alignment other code can be slower without
+     * correct alignment, for yet other it makes no difference.
+     *
+     * @note The linesize may be larger than the size of usable data -- there
+     * may be extra padding present for performance reasons.
+     */
+    int linesize[AV_NUM_DATA_POINTERS];
+
+    /**
+     * pointers to the data planes/channels.
+     *
+     * For video, this should simply point to data[].
+     *
+     * For planar audio, each channel has a separate data pointer, and
+     * linesize[0] contains the size of each channel buffer.
+     * For packed audio, there is just one data pointer, and linesize[0]
+     * contains the total size of the buffer for all channels.
+     *
+     * Note: Both data and extended_data should always be set in a valid frame,
+     * but for planar audio with more channels that can fit in data,
+     * extended_data must be used in order to access all channels.
+     */
+    uint8_t **extended_data;
+
+    /**
+     * width and height of the video frame
+     */
+    int width, height;
+
+    /**
+     * number of audio samples (per channel) described by this frame
+     */
+    int nb_samples;
+
+    /**
+     * format of the frame, -1 if unknown or unset
+     * Values correspond to enum AVPixelFormat for video frames,
+     * enum AVSampleFormat for audio)
+     */
+    int format;
+
+    /**
+     * 1 -> keyframe, 0-> not
+     */
+    int key_frame;
+
+    /**
+     * Picture type of the frame.
+     */
+    enum AVPictureType pict_type;
+
+    /**
+     * Sample aspect ratio for the video frame, 0/1 if unknown/unspecified.
+     */
+    AVRational sample_aspect_ratio;
+
+    /**
+     * Presentation timestamp in time_base units (time when frame should be shown to user).
+     */
+    int64_t pts;
+
+    /**
+     * PTS copied from the AVPacket that was decoded to produce this frame.
+     */
+    int64_t pkt_pts;
+
+    /**
+     * DTS copied from the AVPacket that triggered returning this frame. (if frame threading isn't used)
+     * This is also the Presentation time of this AVFrame calculated from
+     * only AVPacket.dts values without pts values.
+     */
+    int64_t pkt_dts;
+
+    /**
+     * picture number in bitstream order
+     */
+    int coded_picture_number;
+    /**
+     * picture number in display order
+     */
+    int display_picture_number;
+
+    /**
+     * quality (between 1 (good) and FF_LAMBDA_MAX (bad))
+     */
+    int quality;
+
+    /**
+     * for some private data of the user
+     */
+    void *opaque;
+
+#if FF_API_ERROR_FRAME
+    /**
+     * @deprecated unused
+     */
+    attribute_deprecated
+    uint64_t error[AV_NUM_DATA_POINTERS];
+#endif
+
+    /**
+     * When decoding, this signals how much the picture must be delayed.
+     * extra_delay = repeat_pict / (2*fps)
+     */
+    int repeat_pict;
+
+    /**
+     * The content of the picture is interlaced.
+     */
+    int interlaced_frame;
+
+    /**
+     * If the content is interlaced, is top field displayed first.
+     */
+    int top_field_first;
+
+    /**
+     * Tell user application that palette has changed from previous frame.
+     */
+    int palette_has_changed;
+
+    /**
+     * reordered opaque 64bit (generally an integer or a double precision float
+     * PTS but can be anything).
+     * The user sets AVCodecContext.reordered_opaque to represent the input at
+     * that time,
+     * the decoder reorders values as needed and sets AVFrame.reordered_opaque
+     * to exactly one of the values provided by the user through AVCodecContext.reordered_opaque
+     * @deprecated in favor of pkt_pts
+     */
+    int64_t reordered_opaque;
+
+    /**
+     * Sample rate of the audio data.
+     */
+    int sample_rate;
+
+    /**
+     * Channel layout of the audio data.
+     */
+    uint64_t channel_layout;
+
+    /**
+     * AVBuffer references backing the data for this frame. If all elements of
+     * this array are NULL, then this frame is not reference counted. This array
+     * must be filled contiguously -- if buf[i] is non-NULL then buf[j] must
+     * also be non-NULL for all j < i.
+     *
+     * There may be at most one AVBuffer per data plane, so for video this array
+     * always contains all the references. For planar audio with more than
+     * AV_NUM_DATA_POINTERS channels, there may be more buffers than can fit in
+     * this array. Then the extra AVBufferRef pointers are stored in the
+     * extended_buf array.
+     */
+    AVBufferRef *buf[AV_NUM_DATA_POINTERS];
+
+    /**
+     * For planar audio which requires more than AV_NUM_DATA_POINTERS
+     * AVBufferRef pointers, this array will hold all the references which
+     * cannot fit into AVFrame.buf.
+     *
+     * Note that this is different from AVFrame.extended_data, which always
+     * contains all the pointers. This array only contains the extra pointers,
+     * which cannot fit into AVFrame.buf.
+     *
+     * This array is always allocated using av_malloc() by whoever constructs
+     * the frame. It is freed in av_frame_unref().
+     */
+    AVBufferRef **extended_buf;
+    /**
+     * Number of elements in extended_buf.
+     */
+    int        nb_extended_buf;
+
+    AVFrameSideData **side_data;
+    int            nb_side_data;
+
+/**
+ * @defgroup lavu_frame_flags AV_FRAME_FLAGS
+ * Flags describing additional frame properties.
+ *
+ * @{
+ */
+
+/**
+ * The frame data may be corrupted, e.g. due to decoding errors.
+ */
+#define AV_FRAME_FLAG_CORRUPT       (1 << 0)
+/**
+ * @}
+ */
+
+    /**
+     * Frame flags, a combination of @ref lavu_frame_flags
+     */
+    int flags;
+
+    /**
+     * MPEG vs JPEG YUV range.
+     * It must be accessed using av_frame_get_color_range() and
+     * av_frame_set_color_range().
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorRange color_range;
+
+    enum AVColorPrimaries color_primaries;
+
+    enum AVColorTransferCharacteristic color_trc;
+
+    /**
+     * YUV colorspace type.
+     * It must be accessed using av_frame_get_colorspace() and
+     * av_frame_set_colorspace().
+     * - encoding: Set by user
+     * - decoding: Set by libavcodec
+     */
+    enum AVColorSpace colorspace;
+
+    enum AVChromaLocation chroma_location;
+
+    /**
+     * frame timestamp estimated using various heuristics, in stream time base
+     * Code outside libavutil should access this field using:
+     * av_frame_get_best_effort_timestamp(frame)
+     * - encoding: unused
+     * - decoding: set by libavcodec, read by user.
+     */
+    int64_t best_effort_timestamp;
+
+    /**
+     * reordered pos from the last AVPacket that has been input into the decoder
+     * Code outside libavutil should access this field using:
+     * av_frame_get_pkt_pos(frame)
+     * - encoding: unused
+     * - decoding: Read by user.
+     */
+    int64_t pkt_pos;
+
+    /**
+     * duration of the corresponding packet, expressed in
+     * AVStream->time_base units, 0 if unknown.
+     * Code outside libavutil should access this field using:
+     * av_frame_get_pkt_duration(frame)
+     * - encoding: unused
+     * - decoding: Read by user.
+     */
+    int64_t pkt_duration;
+
+    /**
+     * metadata.
+     * Code outside libavutil should access this field using:
+     * av_frame_get_metadata(frame)
+     * - encoding: Set by user.
+     * - decoding: Set by libavcodec.
+     */
+    AVDictionary *metadata;
+
+    /**
+     * decode error flags of the frame, set to a combination of
+     * FF_DECODE_ERROR_xxx flags if the decoder produced a frame, but there
+     * were errors during the decoding.
+     * Code outside libavutil should access this field using:
+     * av_frame_get_decode_error_flags(frame)
+     * - encoding: unused
+     * - decoding: set by libavcodec, read by user.
+     */
+    int decode_error_flags;
+#define FF_DECODE_ERROR_INVALID_BITSTREAM   1
+#define FF_DECODE_ERROR_MISSING_REFERENCE   2
+
+    /**
+     * number of audio channels, only used for audio.
+     * Code outside libavutil should access this field using:
+     * av_frame_get_channels(frame)
+     * - encoding: unused
+     * - decoding: Read by user.
+     */
+    int channels;
+
+    /**
+     * size of the corresponding packet containing the compressed
+     * frame. It must be accessed using av_frame_get_pkt_size() and
+     * av_frame_set_pkt_size().
+     * It is set to a negative value if unknown.
+     * - encoding: unused
+     * - decoding: set by libavcodec, read by user.
+     */
+    int pkt_size;
+
+#if FF_API_FRAME_QP
+    /**
+     * QP table
+     * Not to be accessed directly from outside libavutil
+     */
+    attribute_deprecated
+    int8_t *qscale_table;
+    /**
+     * QP store stride
+     * Not to be accessed directly from outside libavutil
+     */
+    attribute_deprecated
+    int qstride;
+
+    attribute_deprecated
+    int qscale_type;
+
+    /**
+     * Not to be accessed directly from outside libavutil
+     */
+    AVBufferRef *qp_table_buf;
+#endif
+} AVFrame;
+
+/**
+ * Accessors for some AVFrame fields.
+ * The position of these field in the structure is not part of the ABI,
+ * they should not be accessed directly outside libavutil.
+ */
+int64_t av_frame_get_best_effort_timestamp(const AVFrame *frame);
+void    av_frame_set_best_effort_timestamp(AVFrame *frame, int64_t val);
+int64_t av_frame_get_pkt_duration         (const AVFrame *frame);
+void    av_frame_set_pkt_duration         (AVFrame *frame, int64_t val);
+int64_t av_frame_get_pkt_pos              (const AVFrame *frame);
+void    av_frame_set_pkt_pos              (AVFrame *frame, int64_t val);
+int64_t av_frame_get_channel_layout       (const AVFrame *frame);
+void    av_frame_set_channel_layout       (AVFrame *frame, int64_t val);
+int     av_frame_get_channels             (const AVFrame *frame);
+void    av_frame_set_channels             (AVFrame *frame, int     val);
+int     av_frame_get_sample_rate          (const AVFrame *frame);
+void    av_frame_set_sample_rate          (AVFrame *frame, int     val);
+AVDictionary *av_frame_get_metadata       (const AVFrame *frame);
+void          av_frame_set_metadata       (AVFrame *frame, AVDictionary *val);
+int     av_frame_get_decode_error_flags   (const AVFrame *frame);
+void    av_frame_set_decode_error_flags   (AVFrame *frame, int     val);
+int     av_frame_get_pkt_size(const AVFrame *frame);
+void    av_frame_set_pkt_size(AVFrame *frame, int val);
+AVDictionary **avpriv_frame_get_metadatap(AVFrame *frame);
+#if FF_API_FRAME_QP
+int8_t *av_frame_get_qp_table(AVFrame *f, int *stride, int *type);
+int av_frame_set_qp_table(AVFrame *f, AVBufferRef *buf, int stride, int type);
+#endif
+enum AVColorSpace av_frame_get_colorspace(const AVFrame *frame);
+void    av_frame_set_colorspace(AVFrame *frame, enum AVColorSpace val);
+enum AVColorRange av_frame_get_color_range(const AVFrame *frame);
+void    av_frame_set_color_range(AVFrame *frame, enum AVColorRange val);
+
+/**
+ * Get the name of a colorspace.
+ * @return a static string identifying the colorspace; can be NULL.
+ */
+const char *av_get_colorspace_name(enum AVColorSpace val);
+
+/**
+ * Allocate an AVFrame and set its fields to default values.  The resulting
+ * struct must be freed using av_frame_free().
+ *
+ * @return An AVFrame filled with default values or NULL on failure.
+ *
+ * @note this only allocates the AVFrame itself, not the data buffers. Those
+ * must be allocated through other means, e.g. with av_frame_get_buffer() or
+ * manually.
+ */
+AVFrame *av_frame_alloc(void);
+
+/**
+ * Free the frame and any dynamically allocated objects in it,
+ * e.g. extended_data. If the frame is reference counted, it will be
+ * unreferenced first.
+ *
+ * @param frame frame to be freed. The pointer will be set to NULL.
+ */
+void av_frame_free(AVFrame **frame);
+
+/**
+ * Set up a new reference to the data described by the source frame.
+ *
+ * Copy frame properties from src to dst and create a new reference for each
+ * AVBufferRef from src.
+ *
+ * If src is not reference counted, new buffers are allocated and the data is
+ * copied.
+ *
+ * @return 0 on success, a negative AVERROR on error
+ */
+int av_frame_ref(AVFrame *dst, const AVFrame *src);
+
+/**
+ * Create a new frame that references the same data as src.
+ *
+ * This is a shortcut for av_frame_alloc()+av_frame_ref().
+ *
+ * @return newly created AVFrame on success, NULL on error.
+ */
+AVFrame *av_frame_clone(const AVFrame *src);
+
+/**
+ * Unreference all the buffers referenced by frame and reset the frame fields.
+ */
+void av_frame_unref(AVFrame *frame);
+
+/**
+ * Move everything contained in src to dst and reset src.
+ */
+void av_frame_move_ref(AVFrame *dst, AVFrame *src);
+
+/**
+ * Allocate new buffer(s) for audio or video data.
+ *
+ * The following fields must be set on frame before calling this function:
+ * - format (pixel format for video, sample format for audio)
+ * - width and height for video
+ * - nb_samples and channel_layout for audio
+ *
+ * This function will fill AVFrame.data and AVFrame.buf arrays and, if
+ * necessary, allocate and fill AVFrame.extended_data and AVFrame.extended_buf.
+ * For planar formats, one buffer will be allocated for each plane.
+ *
+ * @param frame frame in which to store the new buffers.
+ * @param align required buffer size alignment
+ *
+ * @return 0 on success, a negative AVERROR on error.
+ */
+int av_frame_get_buffer(AVFrame *frame, int align);
+
+/**
+ * Check if the frame data is writable.
+ *
+ * @return A positive value if the frame data is writable (which is true if and
+ * only if each of the underlying buffers has only one reference, namely the one
+ * stored in this frame). Return 0 otherwise.
+ *
+ * If 1 is returned the answer is valid until av_buffer_ref() is called on any
+ * of the underlying AVBufferRefs (e.g. through av_frame_ref() or directly).
+ *
+ * @see av_frame_make_writable(), av_buffer_is_writable()
+ */
+int av_frame_is_writable(AVFrame *frame);
+
+/**
+ * Ensure that the frame data is writable, avoiding data copy if possible.
+ *
+ * Do nothing if the frame is writable, allocate new buffers and copy the data
+ * if it is not.
+ *
+ * @return 0 on success, a negative AVERROR on error.
+ *
+ * @see av_frame_is_writable(), av_buffer_is_writable(),
+ * av_buffer_make_writable()
+ */
+int av_frame_make_writable(AVFrame *frame);
+
+/**
+ * Copy the frame data from src to dst.
+ *
+ * This function does not allocate anything, dst must be already initialized and
+ * allocated with the same parameters as src.
+ *
+ * This function only copies the frame data (i.e. the contents of the data /
+ * extended data arrays), not any other properties.
+ *
+ * @return >= 0 on success, a negative AVERROR on error.
+ */
+int av_frame_copy(AVFrame *dst, const AVFrame *src);
+
+/**
+ * Copy only "metadata" fields from src to dst.
+ *
+ * Metadata for the purpose of this function are those fields that do not affect
+ * the data layout in the buffers.  E.g. pts, sample rate (for audio) or sample
+ * aspect ratio (for video), but not width/height or channel layout.
+ * Side data is also copied.
+ */
+int av_frame_copy_props(AVFrame *dst, const AVFrame *src);
+
+/**
+ * Get the buffer reference a given data plane is stored in.
+ *
+ * @param plane index of the data plane of interest in frame->extended_data.
+ *
+ * @return the buffer reference that contains the plane or NULL if the input
+ * frame is not valid.
+ */
+AVBufferRef *av_frame_get_plane_buffer(AVFrame *frame, int plane);
+
+/**
+ * Add a new side data to a frame.
+ *
+ * @param frame a frame to which the side data should be added
+ * @param type type of the added side data
+ * @param size size of the side data
+ *
+ * @return newly added side data on success, NULL on error
+ */
+AVFrameSideData *av_frame_new_side_data(AVFrame *frame,
+                                        enum AVFrameSideDataType type,
+                                        int size);
+
+/**
+ * @return a pointer to the side data of a given type on success, NULL if there
+ * is no side data with such type in this frame.
+ */
+AVFrameSideData *av_frame_get_side_data(const AVFrame *frame,
+                                        enum AVFrameSideDataType type);
+
+/**
+ * If side data of the supplied type exists in the frame, free it and remove it
+ * from the frame.
+ */
+void av_frame_remove_side_data(AVFrame *frame, enum AVFrameSideDataType type);
+
+/**
+ * @return a string identifying the side data type
+ */
+const char *av_frame_side_data_name(enum AVFrameSideDataType type);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_FRAME_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/hash.h b/3rdparty/include/ffmpeg/libavutil/hash.h
new file mode 100644
index 0000000..d4bcbf8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/hash.h
@@ -0,0 +1,112 @@
+/*
+ * Copyright (C) 2013 Reimar Döffinger <Reimar.Doeffinger@gmx.de>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_HASH_H
+#define AVUTIL_HASH_H
+
+#include <stdint.h>
+
+struct AVHashContext;
+
+/**
+ * Allocate a hash context for the algorithm specified by name.
+ *
+ * @return  >= 0 for success, a negative error code for failure
+ * @note  The context is not initialized, you must call av_hash_init().
+ */
+int av_hash_alloc(struct AVHashContext **ctx, const char *name);
+
+/**
+ * Get the names of available hash algorithms.
+ *
+ * This function can be used to enumerate the algorithms.
+ *
+ * @param i  index of the hash algorithm, starting from 0
+ * @return   a pointer to a static string or NULL if i is out of range
+ */
+const char *av_hash_names(int i);
+
+/**
+ * Get the name of the algorithm corresponding to the given hash context.
+ */
+const char *av_hash_get_name(const struct AVHashContext *ctx);
+
+/**
+ * Maximum value that av_hash_get_size will currently return.
+ *
+ * You can use this if you absolutely want or need to use static allocation
+ * and are fine with not supporting hashes newly added to libavutil without
+ * recompilation.
+ * Note that you still need to check against av_hash_get_size, adding new hashes
+ * with larger sizes will not be considered an ABI change and should not cause
+ * your code to overflow a buffer.
+ */
+#define AV_HASH_MAX_SIZE 64
+
+/**
+ * Get the size of the resulting hash value in bytes.
+ *
+ * The pointer passed to av_hash_final have space for at least this many bytes.
+ */
+int av_hash_get_size(const struct AVHashContext *ctx);
+
+/**
+ * Initialize or reset a hash context.
+ */
+void av_hash_init(struct AVHashContext *ctx);
+
+/**
+ * Update a hash context with additional data.
+ */
+void av_hash_update(struct AVHashContext *ctx, const uint8_t *src, int len);
+
+/**
+ * Finalize a hash context and compute the actual hash value.
+ */
+void av_hash_final(struct AVHashContext *ctx, uint8_t *dst);
+
+/**
+ * Finalize a hash context and compute the actual hash value.
+ * If size is smaller than the hash size, the hash is truncated;
+ * if size is larger, the buffer is padded with 0.
+ */
+void av_hash_final_bin(struct AVHashContext *ctx, uint8_t *dst, int size);
+
+/**
+ * Finalize a hash context and compute the actual hash value as a hex string.
+ * The string is always 0-terminated.
+ * If size is smaller than 2 * hash_size + 1, the hex string is truncated.
+ */
+void av_hash_final_hex(struct AVHashContext *ctx, uint8_t *dst, int size);
+
+/**
+ * Finalize a hash context and compute the actual hash value as a base64 string.
+ * The string is always 0-terminated.
+ * If size is smaller than AV_BASE64_SIZE(hash_size), the base64 string is
+ * truncated.
+ */
+void av_hash_final_b64(struct AVHashContext *ctx, uint8_t *dst, int size);
+
+/**
+ * Free hash context.
+ */
+void av_hash_freep(struct AVHashContext **ctx);
+
+#endif /* AVUTIL_HASH_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/hmac.h b/3rdparty/include/ffmpeg/libavutil/hmac.h
new file mode 100644
index 0000000..576a0a4
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/hmac.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2012 Martin Storsjo
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_HMAC_H
+#define AVUTIL_HMAC_H
+
+#include <stdint.h>
+
+#include "version.h"
+/**
+ * @defgroup lavu_hmac HMAC
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+enum AVHMACType {
+    AV_HMAC_MD5,
+    AV_HMAC_SHA1,
+    AV_HMAC_SHA224,
+    AV_HMAC_SHA256,
+    AV_HMAC_SHA384 = 12,
+    AV_HMAC_SHA512,
+};
+
+typedef struct AVHMAC AVHMAC;
+
+/**
+ * Allocate an AVHMAC context.
+ * @param type The hash function used for the HMAC.
+ */
+AVHMAC *av_hmac_alloc(enum AVHMACType type);
+
+/**
+ * Free an AVHMAC context.
+ * @param ctx The context to free, may be NULL
+ */
+void av_hmac_free(AVHMAC *ctx);
+
+/**
+ * Initialize an AVHMAC context with an authentication key.
+ * @param ctx    The HMAC context
+ * @param key    The authentication key
+ * @param keylen The length of the key, in bytes
+ */
+void av_hmac_init(AVHMAC *ctx, const uint8_t *key, unsigned int keylen);
+
+/**
+ * Hash data with the HMAC.
+ * @param ctx  The HMAC context
+ * @param data The data to hash
+ * @param len  The length of the data, in bytes
+ */
+void av_hmac_update(AVHMAC *ctx, const uint8_t *data, unsigned int len);
+
+/**
+ * Finish hashing and output the HMAC digest.
+ * @param ctx    The HMAC context
+ * @param out    The output buffer to write the digest into
+ * @param outlen The length of the out buffer, in bytes
+ * @return       The number of bytes written to out, or a negative error code.
+ */
+int av_hmac_final(AVHMAC *ctx, uint8_t *out, unsigned int outlen);
+
+/**
+ * Hash an array of data with a key.
+ * @param ctx    The HMAC context
+ * @param data   The data to hash
+ * @param len    The length of the data, in bytes
+ * @param key    The authentication key
+ * @param keylen The length of the key, in bytes
+ * @param out    The output buffer to write the digest into
+ * @param outlen The length of the out buffer, in bytes
+ * @return       The number of bytes written to out, or a negative error code.
+ */
+int av_hmac_calc(AVHMAC *ctx, const uint8_t *data, unsigned int len,
+                 const uint8_t *key, unsigned int keylen,
+                 uint8_t *out, unsigned int outlen);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_HMAC_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/imgutils.h b/3rdparty/include/ffmpeg/libavutil/imgutils.h
new file mode 100644
index 0000000..23282a3
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/imgutils.h
@@ -0,0 +1,213 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_IMGUTILS_H
+#define AVUTIL_IMGUTILS_H
+
+/**
+ * @file
+ * misc image utilities
+ *
+ * @addtogroup lavu_picture
+ * @{
+ */
+
+#include "avutil.h"
+#include "pixdesc.h"
+#include "rational.h"
+
+/**
+ * Compute the max pixel step for each plane of an image with a
+ * format described by pixdesc.
+ *
+ * The pixel step is the distance in bytes between the first byte of
+ * the group of bytes which describe a pixel component and the first
+ * byte of the successive group in the same plane for the same
+ * component.
+ *
+ * @param max_pixsteps an array which is filled with the max pixel step
+ * for each plane. Since a plane may contain different pixel
+ * components, the computed max_pixsteps[plane] is relative to the
+ * component in the plane with the max pixel step.
+ * @param max_pixstep_comps an array which is filled with the component
+ * for each plane which has the max pixel step. May be NULL.
+ */
+void av_image_fill_max_pixsteps(int max_pixsteps[4], int max_pixstep_comps[4],
+                                const AVPixFmtDescriptor *pixdesc);
+
+/**
+ * Compute the size of an image line with format pix_fmt and width
+ * width for the plane plane.
+ *
+ * @return the computed size in bytes
+ */
+int av_image_get_linesize(enum AVPixelFormat pix_fmt, int width, int plane);
+
+/**
+ * Fill plane linesizes for an image with pixel format pix_fmt and
+ * width width.
+ *
+ * @param linesizes array to be filled with the linesize for each plane
+ * @return >= 0 in case of success, a negative error code otherwise
+ */
+int av_image_fill_linesizes(int linesizes[4], enum AVPixelFormat pix_fmt, int width);
+
+/**
+ * Fill plane data pointers for an image with pixel format pix_fmt and
+ * height height.
+ *
+ * @param data pointers array to be filled with the pointer for each image plane
+ * @param ptr the pointer to a buffer which will contain the image
+ * @param linesizes the array containing the linesize for each
+ * plane, should be filled by av_image_fill_linesizes()
+ * @return the size in bytes required for the image buffer, a negative
+ * error code in case of failure
+ */
+int av_image_fill_pointers(uint8_t *data[4], enum AVPixelFormat pix_fmt, int height,
+                           uint8_t *ptr, const int linesizes[4]);
+
+/**
+ * Allocate an image with size w and h and pixel format pix_fmt, and
+ * fill pointers and linesizes accordingly.
+ * The allocated image buffer has to be freed by using
+ * av_freep(&pointers[0]).
+ *
+ * @param align the value to use for buffer size alignment
+ * @return the size in bytes required for the image buffer, a negative
+ * error code in case of failure
+ */
+int av_image_alloc(uint8_t *pointers[4], int linesizes[4],
+                   int w, int h, enum AVPixelFormat pix_fmt, int align);
+
+/**
+ * Copy image plane from src to dst.
+ * That is, copy "height" number of lines of "bytewidth" bytes each.
+ * The first byte of each successive line is separated by *_linesize
+ * bytes.
+ *
+ * bytewidth must be contained by both absolute values of dst_linesize
+ * and src_linesize, otherwise the function behavior is undefined.
+ *
+ * @param dst_linesize linesize for the image plane in dst
+ * @param src_linesize linesize for the image plane in src
+ */
+void av_image_copy_plane(uint8_t       *dst, int dst_linesize,
+                         const uint8_t *src, int src_linesize,
+                         int bytewidth, int height);
+
+/**
+ * Copy image in src_data to dst_data.
+ *
+ * @param dst_linesizes linesizes for the image in dst_data
+ * @param src_linesizes linesizes for the image in src_data
+ */
+void av_image_copy(uint8_t *dst_data[4], int dst_linesizes[4],
+                   const uint8_t *src_data[4], const int src_linesizes[4],
+                   enum AVPixelFormat pix_fmt, int width, int height);
+
+/**
+ * Setup the data pointers and linesizes based on the specified image
+ * parameters and the provided array.
+ *
+ * The fields of the given image are filled in by using the src
+ * address which points to the image data buffer. Depending on the
+ * specified pixel format, one or multiple image data pointers and
+ * line sizes will be set.  If a planar format is specified, several
+ * pointers will be set pointing to the different picture planes and
+ * the line sizes of the different planes will be stored in the
+ * lines_sizes array. Call with src == NULL to get the required
+ * size for the src buffer.
+ *
+ * To allocate the buffer and fill in the dst_data and dst_linesize in
+ * one call, use av_image_alloc().
+ *
+ * @param dst_data      data pointers to be filled in
+ * @param dst_linesizes linesizes for the image in dst_data to be filled in
+ * @param src           buffer which will contain or contains the actual image data, can be NULL
+ * @param pix_fmt       the pixel format of the image
+ * @param width         the width of the image in pixels
+ * @param height        the height of the image in pixels
+ * @param align         the value used in src for linesize alignment
+ * @return the size in bytes required for src, a negative error code
+ * in case of failure
+ */
+int av_image_fill_arrays(uint8_t *dst_data[4], int dst_linesize[4],
+                         const uint8_t *src,
+                         enum AVPixelFormat pix_fmt, int width, int height, int align);
+
+/**
+ * Return the size in bytes of the amount of data required to store an
+ * image with the given parameters.
+ *
+ * @param[in] align the assumed linesize alignment
+ */
+int av_image_get_buffer_size(enum AVPixelFormat pix_fmt, int width, int height, int align);
+
+/**
+ * Copy image data from an image into a buffer.
+ *
+ * av_image_get_buffer_size() can be used to compute the required size
+ * for the buffer to fill.
+ *
+ * @param dst           a buffer into which picture data will be copied
+ * @param dst_size      the size in bytes of dst
+ * @param src_data      pointers containing the source image data
+ * @param src_linesizes linesizes for the image in src_data
+ * @param pix_fmt       the pixel format of the source image
+ * @param width         the width of the source image in pixels
+ * @param height        the height of the source image in pixels
+ * @param align         the assumed linesize alignment for dst
+ * @return the number of bytes written to dst, or a negative value
+ * (error code) on error
+ */
+int av_image_copy_to_buffer(uint8_t *dst, int dst_size,
+                            const uint8_t * const src_data[4], const int src_linesize[4],
+                            enum AVPixelFormat pix_fmt, int width, int height, int align);
+
+/**
+ * Check if the given dimension of an image is valid, meaning that all
+ * bytes of the image can be addressed with a signed int.
+ *
+ * @param w the width of the picture
+ * @param h the height of the picture
+ * @param log_offset the offset to sum to the log level for logging with log_ctx
+ * @param log_ctx the parent logging context, it may be NULL
+ * @return >= 0 if valid, a negative error code otherwise
+ */
+int av_image_check_size(unsigned int w, unsigned int h, int log_offset, void *log_ctx);
+
+/**
+ * Check if the given sample aspect ratio of an image is valid.
+ *
+ * It is considered invalid if the denominator is 0 or if applying the ratio
+ * to the image size would make the smaller dimension less than 1. If the
+ * sar numerator is 0, it is considered unknown and will return as valid.
+ *
+ * @param w width of the image
+ * @param h height of the image
+ * @param sar sample aspect ratio of the image
+ * @return 0 if valid, a negative AVERROR code otherwise
+ */
+int av_image_check_sar(unsigned int w, unsigned int h, AVRational sar);
+
+/**
+ * @}
+ */
+
+
+#endif /* AVUTIL_IMGUTILS_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/intfloat.h b/3rdparty/include/ffmpeg/libavutil/intfloat.h
new file mode 100644
index 0000000..fe3d7ec
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/intfloat.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2011 Mans Rullgard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_INTFLOAT_H
+#define AVUTIL_INTFLOAT_H
+
+#include <stdint.h>
+#include "attributes.h"
+
+union av_intfloat32 {
+    uint32_t i;
+    float    f;
+};
+
+union av_intfloat64 {
+    uint64_t i;
+    double   f;
+};
+
+/**
+ * Reinterpret a 32-bit integer as a float.
+ */
+static av_always_inline float av_int2float(uint32_t i)
+{
+    union av_intfloat32 v;
+    v.i = i;
+    return v.f;
+}
+
+/**
+ * Reinterpret a float as a 32-bit integer.
+ */
+static av_always_inline uint32_t av_float2int(float f)
+{
+    union av_intfloat32 v;
+    v.f = f;
+    return v.i;
+}
+
+/**
+ * Reinterpret a 64-bit integer as a double.
+ */
+static av_always_inline double av_int2double(uint64_t i)
+{
+    union av_intfloat64 v;
+    v.i = i;
+    return v.f;
+}
+
+/**
+ * Reinterpret a double as a 64-bit integer.
+ */
+static av_always_inline uint64_t av_double2int(double f)
+{
+    union av_intfloat64 v;
+    v.f = f;
+    return v.i;
+}
+
+#endif /* AVUTIL_INTFLOAT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/intreadwrite.h b/3rdparty/include/ffmpeg/libavutil/intreadwrite.h
new file mode 100644
index 0000000..51fbe30
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/intreadwrite.h
@@ -0,0 +1,629 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_INTREADWRITE_H
+#define AVUTIL_INTREADWRITE_H
+
+#include <stdint.h>
+#include "libavutil/avconfig.h"
+#include "attributes.h"
+#include "bswap.h"
+
+typedef union {
+    uint64_t u64;
+    uint32_t u32[2];
+    uint16_t u16[4];
+    uint8_t  u8 [8];
+    double   f64;
+    float    f32[2];
+} av_alias av_alias64;
+
+typedef union {
+    uint32_t u32;
+    uint16_t u16[2];
+    uint8_t  u8 [4];
+    float    f32;
+} av_alias av_alias32;
+
+typedef union {
+    uint16_t u16;
+    uint8_t  u8 [2];
+} av_alias av_alias16;
+
+/*
+ * Arch-specific headers can provide any combination of
+ * AV_[RW][BLN](16|24|32|48|64) and AV_(COPY|SWAP|ZERO)(64|128) macros.
+ * Preprocessor symbols must be defined, even if these are implemented
+ * as inline functions.
+ *
+ * R/W means read/write, B/L/N means big/little/native endianness.
+ * The following macros require aligned access, compared to their
+ * unaligned variants: AV_(COPY|SWAP|ZERO)(64|128), AV_[RW]N[8-64]A.
+ * Incorrect usage may range from abysmal performance to crash
+ * depending on the platform.
+ *
+ * The unaligned variants are AV_[RW][BLN][8-64] and AV_COPY*U.
+ */
+
+#ifdef HAVE_AV_CONFIG_H
+
+#include "config.h"
+
+#if   ARCH_ARM
+#   include "arm/intreadwrite.h"
+#elif ARCH_AVR32
+#   include "avr32/intreadwrite.h"
+#elif ARCH_MIPS
+#   include "mips/intreadwrite.h"
+#elif ARCH_PPC
+#   include "ppc/intreadwrite.h"
+#elif ARCH_TOMI
+#   include "tomi/intreadwrite.h"
+#elif ARCH_X86
+#   include "x86/intreadwrite.h"
+#endif
+
+#endif /* HAVE_AV_CONFIG_H */
+
+/*
+ * Map AV_RNXX <-> AV_R[BL]XX for all variants provided by per-arch headers.
+ */
+
+#if AV_HAVE_BIGENDIAN
+
+#   if    defined(AV_RN16) && !defined(AV_RB16)
+#       define AV_RB16(p) AV_RN16(p)
+#   elif !defined(AV_RN16) &&  defined(AV_RB16)
+#       define AV_RN16(p) AV_RB16(p)
+#   endif
+
+#   if    defined(AV_WN16) && !defined(AV_WB16)
+#       define AV_WB16(p, v) AV_WN16(p, v)
+#   elif !defined(AV_WN16) &&  defined(AV_WB16)
+#       define AV_WN16(p, v) AV_WB16(p, v)
+#   endif
+
+#   if    defined(AV_RN24) && !defined(AV_RB24)
+#       define AV_RB24(p) AV_RN24(p)
+#   elif !defined(AV_RN24) &&  defined(AV_RB24)
+#       define AV_RN24(p) AV_RB24(p)
+#   endif
+
+#   if    defined(AV_WN24) && !defined(AV_WB24)
+#       define AV_WB24(p, v) AV_WN24(p, v)
+#   elif !defined(AV_WN24) &&  defined(AV_WB24)
+#       define AV_WN24(p, v) AV_WB24(p, v)
+#   endif
+
+#   if    defined(AV_RN32) && !defined(AV_RB32)
+#       define AV_RB32(p) AV_RN32(p)
+#   elif !defined(AV_RN32) &&  defined(AV_RB32)
+#       define AV_RN32(p) AV_RB32(p)
+#   endif
+
+#   if    defined(AV_WN32) && !defined(AV_WB32)
+#       define AV_WB32(p, v) AV_WN32(p, v)
+#   elif !defined(AV_WN32) &&  defined(AV_WB32)
+#       define AV_WN32(p, v) AV_WB32(p, v)
+#   endif
+
+#   if    defined(AV_RN48) && !defined(AV_RB48)
+#       define AV_RB48(p) AV_RN48(p)
+#   elif !defined(AV_RN48) &&  defined(AV_RB48)
+#       define AV_RN48(p) AV_RB48(p)
+#   endif
+
+#   if    defined(AV_WN48) && !defined(AV_WB48)
+#       define AV_WB48(p, v) AV_WN48(p, v)
+#   elif !defined(AV_WN48) &&  defined(AV_WB48)
+#       define AV_WN48(p, v) AV_WB48(p, v)
+#   endif
+
+#   if    defined(AV_RN64) && !defined(AV_RB64)
+#       define AV_RB64(p) AV_RN64(p)
+#   elif !defined(AV_RN64) &&  defined(AV_RB64)
+#       define AV_RN64(p) AV_RB64(p)
+#   endif
+
+#   if    defined(AV_WN64) && !defined(AV_WB64)
+#       define AV_WB64(p, v) AV_WN64(p, v)
+#   elif !defined(AV_WN64) &&  defined(AV_WB64)
+#       define AV_WN64(p, v) AV_WB64(p, v)
+#   endif
+
+#else /* AV_HAVE_BIGENDIAN */
+
+#   if    defined(AV_RN16) && !defined(AV_RL16)
+#       define AV_RL16(p) AV_RN16(p)
+#   elif !defined(AV_RN16) &&  defined(AV_RL16)
+#       define AV_RN16(p) AV_RL16(p)
+#   endif
+
+#   if    defined(AV_WN16) && !defined(AV_WL16)
+#       define AV_WL16(p, v) AV_WN16(p, v)
+#   elif !defined(AV_WN16) &&  defined(AV_WL16)
+#       define AV_WN16(p, v) AV_WL16(p, v)
+#   endif
+
+#   if    defined(AV_RN24) && !defined(AV_RL24)
+#       define AV_RL24(p) AV_RN24(p)
+#   elif !defined(AV_RN24) &&  defined(AV_RL24)
+#       define AV_RN24(p) AV_RL24(p)
+#   endif
+
+#   if    defined(AV_WN24) && !defined(AV_WL24)
+#       define AV_WL24(p, v) AV_WN24(p, v)
+#   elif !defined(AV_WN24) &&  defined(AV_WL24)
+#       define AV_WN24(p, v) AV_WL24(p, v)
+#   endif
+
+#   if    defined(AV_RN32) && !defined(AV_RL32)
+#       define AV_RL32(p) AV_RN32(p)
+#   elif !defined(AV_RN32) &&  defined(AV_RL32)
+#       define AV_RN32(p) AV_RL32(p)
+#   endif
+
+#   if    defined(AV_WN32) && !defined(AV_WL32)
+#       define AV_WL32(p, v) AV_WN32(p, v)
+#   elif !defined(AV_WN32) &&  defined(AV_WL32)
+#       define AV_WN32(p, v) AV_WL32(p, v)
+#   endif
+
+#   if    defined(AV_RN48) && !defined(AV_RL48)
+#       define AV_RL48(p) AV_RN48(p)
+#   elif !defined(AV_RN48) &&  defined(AV_RL48)
+#       define AV_RN48(p) AV_RL48(p)
+#   endif
+
+#   if    defined(AV_WN48) && !defined(AV_WL48)
+#       define AV_WL48(p, v) AV_WN48(p, v)
+#   elif !defined(AV_WN48) &&  defined(AV_WL48)
+#       define AV_WN48(p, v) AV_WL48(p, v)
+#   endif
+
+#   if    defined(AV_RN64) && !defined(AV_RL64)
+#       define AV_RL64(p) AV_RN64(p)
+#   elif !defined(AV_RN64) &&  defined(AV_RL64)
+#       define AV_RN64(p) AV_RL64(p)
+#   endif
+
+#   if    defined(AV_WN64) && !defined(AV_WL64)
+#       define AV_WL64(p, v) AV_WN64(p, v)
+#   elif !defined(AV_WN64) &&  defined(AV_WL64)
+#       define AV_WN64(p, v) AV_WL64(p, v)
+#   endif
+
+#endif /* !AV_HAVE_BIGENDIAN */
+
+/*
+ * Define AV_[RW]N helper macros to simplify definitions not provided
+ * by per-arch headers.
+ */
+
+#if defined(__GNUC__) && !defined(__TI_COMPILER_VERSION__)
+
+union unaligned_64 { uint64_t l; } __attribute__((packed)) av_alias;
+union unaligned_32 { uint32_t l; } __attribute__((packed)) av_alias;
+union unaligned_16 { uint16_t l; } __attribute__((packed)) av_alias;
+
+#   define AV_RN(s, p) (((const union unaligned_##s *) (p))->l)
+#   define AV_WN(s, p, v) ((((union unaligned_##s *) (p))->l) = (v))
+
+#elif defined(__DECC)
+
+#   define AV_RN(s, p) (*((const __unaligned uint##s##_t*)(p)))
+#   define AV_WN(s, p, v) (*((__unaligned uint##s##_t*)(p)) = (v))
+
+#elif AV_HAVE_FAST_UNALIGNED
+
+#   define AV_RN(s, p) (((const av_alias##s*)(p))->u##s)
+#   define AV_WN(s, p, v) (((av_alias##s*)(p))->u##s = (v))
+
+#else
+
+#ifndef AV_RB16
+#   define AV_RB16(x)                           \
+    ((((const uint8_t*)(x))[0] << 8) |          \
+      ((const uint8_t*)(x))[1])
+#endif
+#ifndef AV_WB16
+#   define AV_WB16(p, darg) do {                \
+        unsigned d = (darg);                    \
+        ((uint8_t*)(p))[1] = (d);               \
+        ((uint8_t*)(p))[0] = (d)>>8;            \
+    } while(0)
+#endif
+
+#ifndef AV_RL16
+#   define AV_RL16(x)                           \
+    ((((const uint8_t*)(x))[1] << 8) |          \
+      ((const uint8_t*)(x))[0])
+#endif
+#ifndef AV_WL16
+#   define AV_WL16(p, darg) do {                \
+        unsigned d = (darg);                    \
+        ((uint8_t*)(p))[0] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+    } while(0)
+#endif
+
+#ifndef AV_RB32
+#   define AV_RB32(x)                                \
+    (((uint32_t)((const uint8_t*)(x))[0] << 24) |    \
+               (((const uint8_t*)(x))[1] << 16) |    \
+               (((const uint8_t*)(x))[2] <<  8) |    \
+                ((const uint8_t*)(x))[3])
+#endif
+#ifndef AV_WB32
+#   define AV_WB32(p, darg) do {                \
+        unsigned d = (darg);                    \
+        ((uint8_t*)(p))[3] = (d);               \
+        ((uint8_t*)(p))[2] = (d)>>8;            \
+        ((uint8_t*)(p))[1] = (d)>>16;           \
+        ((uint8_t*)(p))[0] = (d)>>24;           \
+    } while(0)
+#endif
+
+#ifndef AV_RL32
+#   define AV_RL32(x)                                \
+    (((uint32_t)((const uint8_t*)(x))[3] << 24) |    \
+               (((const uint8_t*)(x))[2] << 16) |    \
+               (((const uint8_t*)(x))[1] <<  8) |    \
+                ((const uint8_t*)(x))[0])
+#endif
+#ifndef AV_WL32
+#   define AV_WL32(p, darg) do {                \
+        unsigned d = (darg);                    \
+        ((uint8_t*)(p))[0] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+        ((uint8_t*)(p))[2] = (d)>>16;           \
+        ((uint8_t*)(p))[3] = (d)>>24;           \
+    } while(0)
+#endif
+
+#ifndef AV_RB64
+#   define AV_RB64(x)                                   \
+    (((uint64_t)((const uint8_t*)(x))[0] << 56) |       \
+     ((uint64_t)((const uint8_t*)(x))[1] << 48) |       \
+     ((uint64_t)((const uint8_t*)(x))[2] << 40) |       \
+     ((uint64_t)((const uint8_t*)(x))[3] << 32) |       \
+     ((uint64_t)((const uint8_t*)(x))[4] << 24) |       \
+     ((uint64_t)((const uint8_t*)(x))[5] << 16) |       \
+     ((uint64_t)((const uint8_t*)(x))[6] <<  8) |       \
+      (uint64_t)((const uint8_t*)(x))[7])
+#endif
+#ifndef AV_WB64
+#   define AV_WB64(p, darg) do {                \
+        uint64_t d = (darg);                    \
+        ((uint8_t*)(p))[7] = (d);               \
+        ((uint8_t*)(p))[6] = (d)>>8;            \
+        ((uint8_t*)(p))[5] = (d)>>16;           \
+        ((uint8_t*)(p))[4] = (d)>>24;           \
+        ((uint8_t*)(p))[3] = (d)>>32;           \
+        ((uint8_t*)(p))[2] = (d)>>40;           \
+        ((uint8_t*)(p))[1] = (d)>>48;           \
+        ((uint8_t*)(p))[0] = (d)>>56;           \
+    } while(0)
+#endif
+
+#ifndef AV_RL64
+#   define AV_RL64(x)                                   \
+    (((uint64_t)((const uint8_t*)(x))[7] << 56) |       \
+     ((uint64_t)((const uint8_t*)(x))[6] << 48) |       \
+     ((uint64_t)((const uint8_t*)(x))[5] << 40) |       \
+     ((uint64_t)((const uint8_t*)(x))[4] << 32) |       \
+     ((uint64_t)((const uint8_t*)(x))[3] << 24) |       \
+     ((uint64_t)((const uint8_t*)(x))[2] << 16) |       \
+     ((uint64_t)((const uint8_t*)(x))[1] <<  8) |       \
+      (uint64_t)((const uint8_t*)(x))[0])
+#endif
+#ifndef AV_WL64
+#   define AV_WL64(p, darg) do {                \
+        uint64_t d = (darg);                    \
+        ((uint8_t*)(p))[0] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+        ((uint8_t*)(p))[2] = (d)>>16;           \
+        ((uint8_t*)(p))[3] = (d)>>24;           \
+        ((uint8_t*)(p))[4] = (d)>>32;           \
+        ((uint8_t*)(p))[5] = (d)>>40;           \
+        ((uint8_t*)(p))[6] = (d)>>48;           \
+        ((uint8_t*)(p))[7] = (d)>>56;           \
+    } while(0)
+#endif
+
+#if AV_HAVE_BIGENDIAN
+#   define AV_RN(s, p)    AV_RB##s(p)
+#   define AV_WN(s, p, v) AV_WB##s(p, v)
+#else
+#   define AV_RN(s, p)    AV_RL##s(p)
+#   define AV_WN(s, p, v) AV_WL##s(p, v)
+#endif
+
+#endif /* HAVE_FAST_UNALIGNED */
+
+#ifndef AV_RN16
+#   define AV_RN16(p) AV_RN(16, p)
+#endif
+
+#ifndef AV_RN32
+#   define AV_RN32(p) AV_RN(32, p)
+#endif
+
+#ifndef AV_RN64
+#   define AV_RN64(p) AV_RN(64, p)
+#endif
+
+#ifndef AV_WN16
+#   define AV_WN16(p, v) AV_WN(16, p, v)
+#endif
+
+#ifndef AV_WN32
+#   define AV_WN32(p, v) AV_WN(32, p, v)
+#endif
+
+#ifndef AV_WN64
+#   define AV_WN64(p, v) AV_WN(64, p, v)
+#endif
+
+#if AV_HAVE_BIGENDIAN
+#   define AV_RB(s, p)    AV_RN##s(p)
+#   define AV_WB(s, p, v) AV_WN##s(p, v)
+#   define AV_RL(s, p)    av_bswap##s(AV_RN##s(p))
+#   define AV_WL(s, p, v) AV_WN##s(p, av_bswap##s(v))
+#else
+#   define AV_RB(s, p)    av_bswap##s(AV_RN##s(p))
+#   define AV_WB(s, p, v) AV_WN##s(p, av_bswap##s(v))
+#   define AV_RL(s, p)    AV_RN##s(p)
+#   define AV_WL(s, p, v) AV_WN##s(p, v)
+#endif
+
+#define AV_RB8(x)     (((const uint8_t*)(x))[0])
+#define AV_WB8(p, d)  do { ((uint8_t*)(p))[0] = (d); } while(0)
+
+#define AV_RL8(x)     AV_RB8(x)
+#define AV_WL8(p, d)  AV_WB8(p, d)
+
+#ifndef AV_RB16
+#   define AV_RB16(p)    AV_RB(16, p)
+#endif
+#ifndef AV_WB16
+#   define AV_WB16(p, v) AV_WB(16, p, v)
+#endif
+
+#ifndef AV_RL16
+#   define AV_RL16(p)    AV_RL(16, p)
+#endif
+#ifndef AV_WL16
+#   define AV_WL16(p, v) AV_WL(16, p, v)
+#endif
+
+#ifndef AV_RB32
+#   define AV_RB32(p)    AV_RB(32, p)
+#endif
+#ifndef AV_WB32
+#   define AV_WB32(p, v) AV_WB(32, p, v)
+#endif
+
+#ifndef AV_RL32
+#   define AV_RL32(p)    AV_RL(32, p)
+#endif
+#ifndef AV_WL32
+#   define AV_WL32(p, v) AV_WL(32, p, v)
+#endif
+
+#ifndef AV_RB64
+#   define AV_RB64(p)    AV_RB(64, p)
+#endif
+#ifndef AV_WB64
+#   define AV_WB64(p, v) AV_WB(64, p, v)
+#endif
+
+#ifndef AV_RL64
+#   define AV_RL64(p)    AV_RL(64, p)
+#endif
+#ifndef AV_WL64
+#   define AV_WL64(p, v) AV_WL(64, p, v)
+#endif
+
+#ifndef AV_RB24
+#   define AV_RB24(x)                           \
+    ((((const uint8_t*)(x))[0] << 16) |         \
+     (((const uint8_t*)(x))[1] <<  8) |         \
+      ((const uint8_t*)(x))[2])
+#endif
+#ifndef AV_WB24
+#   define AV_WB24(p, d) do {                   \
+        ((uint8_t*)(p))[2] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+        ((uint8_t*)(p))[0] = (d)>>16;           \
+    } while(0)
+#endif
+
+#ifndef AV_RL24
+#   define AV_RL24(x)                           \
+    ((((const uint8_t*)(x))[2] << 16) |         \
+     (((const uint8_t*)(x))[1] <<  8) |         \
+      ((const uint8_t*)(x))[0])
+#endif
+#ifndef AV_WL24
+#   define AV_WL24(p, d) do {                   \
+        ((uint8_t*)(p))[0] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+        ((uint8_t*)(p))[2] = (d)>>16;           \
+    } while(0)
+#endif
+
+#ifndef AV_RB48
+#   define AV_RB48(x)                                     \
+    (((uint64_t)((const uint8_t*)(x))[0] << 40) |         \
+     ((uint64_t)((const uint8_t*)(x))[1] << 32) |         \
+     ((uint64_t)((const uint8_t*)(x))[2] << 24) |         \
+     ((uint64_t)((const uint8_t*)(x))[3] << 16) |         \
+     ((uint64_t)((const uint8_t*)(x))[4] <<  8) |         \
+      (uint64_t)((const uint8_t*)(x))[5])
+#endif
+#ifndef AV_WB48
+#   define AV_WB48(p, darg) do {                \
+        uint64_t d = (darg);                    \
+        ((uint8_t*)(p))[5] = (d);               \
+        ((uint8_t*)(p))[4] = (d)>>8;            \
+        ((uint8_t*)(p))[3] = (d)>>16;           \
+        ((uint8_t*)(p))[2] = (d)>>24;           \
+        ((uint8_t*)(p))[1] = (d)>>32;           \
+        ((uint8_t*)(p))[0] = (d)>>40;           \
+    } while(0)
+#endif
+
+#ifndef AV_RL48
+#   define AV_RL48(x)                                     \
+    (((uint64_t)((const uint8_t*)(x))[5] << 40) |         \
+     ((uint64_t)((const uint8_t*)(x))[4] << 32) |         \
+     ((uint64_t)((const uint8_t*)(x))[3] << 24) |         \
+     ((uint64_t)((const uint8_t*)(x))[2] << 16) |         \
+     ((uint64_t)((const uint8_t*)(x))[1] <<  8) |         \
+      (uint64_t)((const uint8_t*)(x))[0])
+#endif
+#ifndef AV_WL48
+#   define AV_WL48(p, darg) do {                \
+        uint64_t d = (darg);                    \
+        ((uint8_t*)(p))[0] = (d);               \
+        ((uint8_t*)(p))[1] = (d)>>8;            \
+        ((uint8_t*)(p))[2] = (d)>>16;           \
+        ((uint8_t*)(p))[3] = (d)>>24;           \
+        ((uint8_t*)(p))[4] = (d)>>32;           \
+        ((uint8_t*)(p))[5] = (d)>>40;           \
+    } while(0)
+#endif
+
+/*
+ * The AV_[RW]NA macros access naturally aligned data
+ * in a type-safe way.
+ */
+
+#define AV_RNA(s, p)    (((const av_alias##s*)(p))->u##s)
+#define AV_WNA(s, p, v) (((av_alias##s*)(p))->u##s = (v))
+
+#ifndef AV_RN16A
+#   define AV_RN16A(p) AV_RNA(16, p)
+#endif
+
+#ifndef AV_RN32A
+#   define AV_RN32A(p) AV_RNA(32, p)
+#endif
+
+#ifndef AV_RN64A
+#   define AV_RN64A(p) AV_RNA(64, p)
+#endif
+
+#ifndef AV_WN16A
+#   define AV_WN16A(p, v) AV_WNA(16, p, v)
+#endif
+
+#ifndef AV_WN32A
+#   define AV_WN32A(p, v) AV_WNA(32, p, v)
+#endif
+
+#ifndef AV_WN64A
+#   define AV_WN64A(p, v) AV_WNA(64, p, v)
+#endif
+
+/*
+ * The AV_COPYxxU macros are suitable for copying data to/from unaligned
+ * memory locations.
+ */
+
+#define AV_COPYU(n, d, s) AV_WN##n(d, AV_RN##n(s));
+
+#ifndef AV_COPY16U
+#   define AV_COPY16U(d, s) AV_COPYU(16, d, s)
+#endif
+
+#ifndef AV_COPY32U
+#   define AV_COPY32U(d, s) AV_COPYU(32, d, s)
+#endif
+
+#ifndef AV_COPY64U
+#   define AV_COPY64U(d, s) AV_COPYU(64, d, s)
+#endif
+
+#ifndef AV_COPY128U
+#   define AV_COPY128U(d, s)                                    \
+    do {                                                        \
+        AV_COPY64U(d, s);                                       \
+        AV_COPY64U((char *)(d) + 8, (const char *)(s) + 8);     \
+    } while(0)
+#endif
+
+/* Parameters for AV_COPY*, AV_SWAP*, AV_ZERO* must be
+ * naturally aligned. They may be implemented using MMX,
+ * so emms_c() must be called before using any float code
+ * afterwards.
+ */
+
+#define AV_COPY(n, d, s) \
+    (((av_alias##n*)(d))->u##n = ((const av_alias##n*)(s))->u##n)
+
+#ifndef AV_COPY16
+#   define AV_COPY16(d, s) AV_COPY(16, d, s)
+#endif
+
+#ifndef AV_COPY32
+#   define AV_COPY32(d, s) AV_COPY(32, d, s)
+#endif
+
+#ifndef AV_COPY64
+#   define AV_COPY64(d, s) AV_COPY(64, d, s)
+#endif
+
+#ifndef AV_COPY128
+#   define AV_COPY128(d, s)                    \
+    do {                                       \
+        AV_COPY64(d, s);                       \
+        AV_COPY64((char*)(d)+8, (char*)(s)+8); \
+    } while(0)
+#endif
+
+#define AV_SWAP(n, a, b) FFSWAP(av_alias##n, *(av_alias##n*)(a), *(av_alias##n*)(b))
+
+#ifndef AV_SWAP64
+#   define AV_SWAP64(a, b) AV_SWAP(64, a, b)
+#endif
+
+#define AV_ZERO(n, d) (((av_alias##n*)(d))->u##n = 0)
+
+#ifndef AV_ZERO16
+#   define AV_ZERO16(d) AV_ZERO(16, d)
+#endif
+
+#ifndef AV_ZERO32
+#   define AV_ZERO32(d) AV_ZERO(32, d)
+#endif
+
+#ifndef AV_ZERO64
+#   define AV_ZERO64(d) AV_ZERO(64, d)
+#endif
+
+#ifndef AV_ZERO128
+#   define AV_ZERO128(d)         \
+    do {                         \
+        AV_ZERO64(d);            \
+        AV_ZERO64((char*)(d)+8); \
+    } while(0)
+#endif
+
+#endif /* AVUTIL_INTREADWRITE_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/lfg.h b/3rdparty/include/ffmpeg/libavutil/lfg.h
new file mode 100644
index 0000000..ec90562
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/lfg.h
@@ -0,0 +1,62 @@
+/*
+ * Lagged Fibonacci PRNG
+ * Copyright (c) 2008 Michael Niedermayer
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_LFG_H
+#define AVUTIL_LFG_H
+
+typedef struct AVLFG {
+    unsigned int state[64];
+    int index;
+} AVLFG;
+
+void av_lfg_init(AVLFG *c, unsigned int seed);
+
+/**
+ * Get the next random unsigned 32-bit number using an ALFG.
+ *
+ * Please also consider a simple LCG like state= state*1664525+1013904223,
+ * it may be good enough and faster for your specific use case.
+ */
+static inline unsigned int av_lfg_get(AVLFG *c){
+    c->state[c->index & 63] = c->state[(c->index-24) & 63] + c->state[(c->index-55) & 63];
+    return c->state[c->index++ & 63];
+}
+
+/**
+ * Get the next random unsigned 32-bit number using a MLFG.
+ *
+ * Please also consider av_lfg_get() above, it is faster.
+ */
+static inline unsigned int av_mlfg_get(AVLFG *c){
+    unsigned int a= c->state[(c->index-55) & 63];
+    unsigned int b= c->state[(c->index-24) & 63];
+    return c->state[c->index++ & 63] = 2*a*b+a+b;
+}
+
+/**
+ * Get the next two numbers generated by a Box-Muller Gaussian
+ * generator using the random numbers issued by lfg.
+ *
+ * @param out array where the two generated numbers are placed
+ */
+void av_bmg_get(AVLFG *lfg, double out[2]);
+
+#endif /* AVUTIL_LFG_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/log.h b/3rdparty/include/ffmpeg/libavutil/log.h
new file mode 100644
index 0000000..321748c
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/log.h
@@ -0,0 +1,359 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_LOG_H
+#define AVUTIL_LOG_H
+
+#include <stdarg.h>
+#include "avutil.h"
+#include "attributes.h"
+#include "version.h"
+
+typedef enum {
+    AV_CLASS_CATEGORY_NA = 0,
+    AV_CLASS_CATEGORY_INPUT,
+    AV_CLASS_CATEGORY_OUTPUT,
+    AV_CLASS_CATEGORY_MUXER,
+    AV_CLASS_CATEGORY_DEMUXER,
+    AV_CLASS_CATEGORY_ENCODER,
+    AV_CLASS_CATEGORY_DECODER,
+    AV_CLASS_CATEGORY_FILTER,
+    AV_CLASS_CATEGORY_BITSTREAM_FILTER,
+    AV_CLASS_CATEGORY_SWSCALER,
+    AV_CLASS_CATEGORY_SWRESAMPLER,
+    AV_CLASS_CATEGORY_DEVICE_VIDEO_OUTPUT = 40,
+    AV_CLASS_CATEGORY_DEVICE_VIDEO_INPUT,
+    AV_CLASS_CATEGORY_DEVICE_AUDIO_OUTPUT,
+    AV_CLASS_CATEGORY_DEVICE_AUDIO_INPUT,
+    AV_CLASS_CATEGORY_DEVICE_OUTPUT,
+    AV_CLASS_CATEGORY_DEVICE_INPUT,
+    AV_CLASS_CATEGORY_NB, ///< not part of ABI/API
+}AVClassCategory;
+
+#define AV_IS_INPUT_DEVICE(category) \
+    (((category) == AV_CLASS_CATEGORY_DEVICE_VIDEO_INPUT) || \
+     ((category) == AV_CLASS_CATEGORY_DEVICE_AUDIO_INPUT) || \
+     ((category) == AV_CLASS_CATEGORY_DEVICE_INPUT))
+
+#define AV_IS_OUTPUT_DEVICE(category) \
+    (((category) == AV_CLASS_CATEGORY_DEVICE_VIDEO_OUTPUT) || \
+     ((category) == AV_CLASS_CATEGORY_DEVICE_AUDIO_OUTPUT) || \
+     ((category) == AV_CLASS_CATEGORY_DEVICE_OUTPUT))
+
+struct AVOptionRanges;
+
+/**
+ * Describe the class of an AVClass context structure. That is an
+ * arbitrary struct of which the first field is a pointer to an
+ * AVClass struct (e.g. AVCodecContext, AVFormatContext etc.).
+ */
+typedef struct AVClass {
+    /**
+     * The name of the class; usually it is the same name as the
+     * context structure type to which the AVClass is associated.
+     */
+    const char* class_name;
+
+    /**
+     * A pointer to a function which returns the name of a context
+     * instance ctx associated with the class.
+     */
+    const char* (*item_name)(void* ctx);
+
+    /**
+     * a pointer to the first option specified in the class if any or NULL
+     *
+     * @see av_set_default_options()
+     */
+    const struct AVOption *option;
+
+    /**
+     * LIBAVUTIL_VERSION with which this structure was created.
+     * This is used to allow fields to be added without requiring major
+     * version bumps everywhere.
+     */
+
+    int version;
+
+    /**
+     * Offset in the structure where log_level_offset is stored.
+     * 0 means there is no such variable
+     */
+    int log_level_offset_offset;
+
+    /**
+     * Offset in the structure where a pointer to the parent context for
+     * logging is stored. For example a decoder could pass its AVCodecContext
+     * to eval as such a parent context, which an av_log() implementation
+     * could then leverage to display the parent context.
+     * The offset can be NULL.
+     */
+    int parent_log_context_offset;
+
+    /**
+     * Return next AVOptions-enabled child or NULL
+     */
+    void* (*child_next)(void *obj, void *prev);
+
+    /**
+     * Return an AVClass corresponding to the next potential
+     * AVOptions-enabled child.
+     *
+     * The difference between child_next and this is that
+     * child_next iterates over _already existing_ objects, while
+     * child_class_next iterates over _all possible_ children.
+     */
+    const struct AVClass* (*child_class_next)(const struct AVClass *prev);
+
+    /**
+     * Category used for visualization (like color)
+     * This is only set if the category is equal for all objects using this class.
+     * available since version (51 << 16 | 56 << 8 | 100)
+     */
+    AVClassCategory category;
+
+    /**
+     * Callback to return the category.
+     * available since version (51 << 16 | 59 << 8 | 100)
+     */
+    AVClassCategory (*get_category)(void* ctx);
+
+    /**
+     * Callback to return the supported/allowed ranges.
+     * available since version (52.12)
+     */
+    int (*query_ranges)(struct AVOptionRanges **, void *obj, const char *key, int flags);
+} AVClass;
+
+/**
+ * @addtogroup lavu_log
+ *
+ * @{
+ *
+ * @defgroup lavu_log_constants Logging Constants
+ *
+ * @{
+ */
+
+/**
+ * Print no output.
+ */
+#define AV_LOG_QUIET    -8
+
+/**
+ * Something went really wrong and we will crash now.
+ */
+#define AV_LOG_PANIC     0
+
+/**
+ * Something went wrong and recovery is not possible.
+ * For example, no header was found for a format which depends
+ * on headers or an illegal combination of parameters is used.
+ */
+#define AV_LOG_FATAL     8
+
+/**
+ * Something went wrong and cannot losslessly be recovered.
+ * However, not all future data is affected.
+ */
+#define AV_LOG_ERROR    16
+
+/**
+ * Something somehow does not look correct. This may or may not
+ * lead to problems. An example would be the use of '-vstrict -2'.
+ */
+#define AV_LOG_WARNING  24
+
+/**
+ * Standard information.
+ */
+#define AV_LOG_INFO     32
+
+/**
+ * Detailed information.
+ */
+#define AV_LOG_VERBOSE  40
+
+/**
+ * Stuff which is only useful for libav* developers.
+ */
+#define AV_LOG_DEBUG    48
+
+/**
+ * Extremely verbose debugging, useful for libav* development.
+ */
+#define AV_LOG_TRACE    56
+
+#define AV_LOG_MAX_OFFSET (AV_LOG_TRACE - AV_LOG_QUIET)
+
+/**
+ * @}
+ */
+
+/**
+ * Sets additional colors for extended debugging sessions.
+ * @code
+   av_log(ctx, AV_LOG_DEBUG|AV_LOG_C(134), "Message in purple\n");
+   @endcode
+ * Requires 256color terminal support. Uses outside debugging is not
+ * recommended.
+ */
+#define AV_LOG_C(x) ((x) << 8)
+
+/**
+ * Send the specified message to the log if the level is less than or equal
+ * to the current av_log_level. By default, all logging messages are sent to
+ * stderr. This behavior can be altered by setting a different logging callback
+ * function.
+ * @see av_log_set_callback
+ *
+ * @param avcl A pointer to an arbitrary struct of which the first field is a
+ *        pointer to an AVClass struct or NULL if general log.
+ * @param level The importance level of the message expressed using a @ref
+ *        lavu_log_constants "Logging Constant".
+ * @param fmt The format string (printf-compatible) that specifies how
+ *        subsequent arguments are converted to output.
+ */
+void av_log(void *avcl, int level, const char *fmt, ...) av_printf_format(3, 4);
+
+
+/**
+ * Send the specified message to the log if the level is less than or equal
+ * to the current av_log_level. By default, all logging messages are sent to
+ * stderr. This behavior can be altered by setting a different logging callback
+ * function.
+ * @see av_log_set_callback
+ *
+ * @param avcl A pointer to an arbitrary struct of which the first field is a
+ *        pointer to an AVClass struct.
+ * @param level The importance level of the message expressed using a @ref
+ *        lavu_log_constants "Logging Constant".
+ * @param fmt The format string (printf-compatible) that specifies how
+ *        subsequent arguments are converted to output.
+ * @param vl The arguments referenced by the format string.
+ */
+void av_vlog(void *avcl, int level, const char *fmt, va_list vl);
+
+/**
+ * Get the current log level
+ *
+ * @see lavu_log_constants
+ *
+ * @return Current log level
+ */
+int av_log_get_level(void);
+
+/**
+ * Set the log level
+ *
+ * @see lavu_log_constants
+ *
+ * @param level Logging level
+ */
+void av_log_set_level(int level);
+
+/**
+ * Set the logging callback
+ *
+ * @note The callback must be thread safe, even if the application does not use
+ *       threads itself as some codecs are multithreaded.
+ *
+ * @see av_log_default_callback
+ *
+ * @param callback A logging function with a compatible signature.
+ */
+void av_log_set_callback(void (*callback)(void*, int, const char*, va_list));
+
+/**
+ * Default logging callback
+ *
+ * It prints the message to stderr, optionally colorizing it.
+ *
+ * @param avcl A pointer to an arbitrary struct of which the first field is a
+ *        pointer to an AVClass struct.
+ * @param level The importance level of the message expressed using a @ref
+ *        lavu_log_constants "Logging Constant".
+ * @param fmt The format string (printf-compatible) that specifies how
+ *        subsequent arguments are converted to output.
+ * @param vl The arguments referenced by the format string.
+ */
+void av_log_default_callback(void *avcl, int level, const char *fmt,
+                             va_list vl);
+
+/**
+ * Return the context name
+ *
+ * @param  ctx The AVClass context
+ *
+ * @return The AVClass class_name
+ */
+const char* av_default_item_name(void* ctx);
+AVClassCategory av_default_get_category(void *ptr);
+
+/**
+ * Format a line of log the same way as the default callback.
+ * @param line          buffer to receive the formatted line
+ * @param line_size     size of the buffer
+ * @param print_prefix  used to store whether the prefix must be printed;
+ *                      must point to a persistent integer initially set to 1
+ */
+void av_log_format_line(void *ptr, int level, const char *fmt, va_list vl,
+                        char *line, int line_size, int *print_prefix);
+
+#if FF_API_DLOG
+/**
+ * av_dlog macros
+ * @deprecated unused
+ * Useful to print debug messages that shouldn't get compiled in normally.
+ */
+
+#ifdef DEBUG
+#    define av_dlog(pctx, ...) av_log(pctx, AV_LOG_DEBUG, __VA_ARGS__)
+#else
+#    define av_dlog(pctx, ...) do { if (0) av_log(pctx, AV_LOG_DEBUG, __VA_ARGS__); } while (0)
+#endif
+#endif /* FF_API_DLOG */
+
+/**
+ * Skip repeated messages, this requires the user app to use av_log() instead of
+ * (f)printf as the 2 would otherwise interfere and lead to
+ * "Last message repeated x times" messages below (f)printf messages with some
+ * bad luck.
+ * Also to receive the last, "last repeated" line if any, the user app must
+ * call av_log(NULL, AV_LOG_QUIET, "%s", ""); at the end
+ */
+#define AV_LOG_SKIP_REPEATED 1
+
+/**
+ * Include the log severity in messages originating from codecs.
+ *
+ * Results in messages such as:
+ * [rawvideo @ 0xDEADBEEF] [error] encode did not produce valid pts
+ */
+#define AV_LOG_PRINT_LEVEL 2
+
+void av_log_set_flags(int arg);
+int av_log_get_flags(void);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_LOG_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/lzo.h b/3rdparty/include/ffmpeg/libavutil/lzo.h
new file mode 100644
index 0000000..c034039
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/lzo.h
@@ -0,0 +1,66 @@
+/*
+ * LZO 1x decompression
+ * copyright (c) 2006 Reimar Doeffinger
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_LZO_H
+#define AVUTIL_LZO_H
+
+/**
+ * @defgroup lavu_lzo LZO
+ * @ingroup lavu_crypto
+ *
+ * @{
+ */
+
+#include <stdint.h>
+
+/** @name Error flags returned by av_lzo1x_decode
+ * @{ */
+/// end of the input buffer reached before decoding finished
+#define AV_LZO_INPUT_DEPLETED  1
+/// decoded data did not fit into output buffer
+#define AV_LZO_OUTPUT_FULL     2
+/// a reference to previously decoded data was wrong
+#define AV_LZO_INVALID_BACKPTR 4
+/// a non-specific error in the compressed bitstream
+#define AV_LZO_ERROR           8
+/** @} */
+
+#define AV_LZO_INPUT_PADDING   8
+#define AV_LZO_OUTPUT_PADDING 12
+
+/**
+ * @brief Decodes LZO 1x compressed data.
+ * @param out output buffer
+ * @param outlen size of output buffer, number of bytes left are returned here
+ * @param in input buffer
+ * @param inlen size of input buffer, number of bytes left are returned here
+ * @return 0 on success, otherwise a combination of the error flags above
+ *
+ * Make sure all buffers are appropriately padded, in must provide
+ * AV_LZO_INPUT_PADDING, out must provide AV_LZO_OUTPUT_PADDING additional bytes.
+ */
+int av_lzo1x_decode(void *out, int *outlen, const void *in, int *inlen);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_LZO_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/macros.h b/3rdparty/include/ffmpeg/libavutil/macros.h
new file mode 100644
index 0000000..4465323
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/macros.h
@@ -0,0 +1,48 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * @ingroup lavu
+ * Utility Preprocessor macros
+ */
+
+#ifndef AVUTIL_MACROS_H
+#define AVUTIL_MACROS_H
+
+/**
+ * @addtogroup preproc_misc Preprocessor String Macros
+ *
+ * String manipulation macros
+ *
+ * @{
+ */
+
+#define AV_STRINGIFY(s)         AV_TOSTRING(s)
+#define AV_TOSTRING(s) #s
+
+#define AV_GLUE(a, b) a ## b
+#define AV_JOIN(a, b) AV_GLUE(a, b)
+
+/**
+ * @}
+ */
+
+#define AV_PRAGMA(s) _Pragma(#s)
+
+#endif /* AVUTIL_MACROS_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/mathematics.h b/3rdparty/include/ffmpeg/libavutil/mathematics.h
new file mode 100644
index 0000000..ac94488
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/mathematics.h
@@ -0,0 +1,164 @@
+/*
+ * copyright (c) 2005-2012 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_MATHEMATICS_H
+#define AVUTIL_MATHEMATICS_H
+
+#include <stdint.h>
+#include <math.h>
+#include "attributes.h"
+#include "rational.h"
+#include "intfloat.h"
+
+#ifndef M_E
+#define M_E            2.7182818284590452354   /* e */
+#endif
+#ifndef M_LN2
+#define M_LN2          0.69314718055994530942  /* log_e 2 */
+#endif
+#ifndef M_LN10
+#define M_LN10         2.30258509299404568402  /* log_e 10 */
+#endif
+#ifndef M_LOG2_10
+#define M_LOG2_10      3.32192809488736234787  /* log_2 10 */
+#endif
+#ifndef M_PHI
+#define M_PHI          1.61803398874989484820   /* phi / golden ratio */
+#endif
+#ifndef M_PI
+#define M_PI           3.14159265358979323846  /* pi */
+#endif
+#ifndef M_PI_2
+#define M_PI_2         1.57079632679489661923  /* pi/2 */
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2      0.70710678118654752440  /* 1/sqrt(2) */
+#endif
+#ifndef M_SQRT2
+#define M_SQRT2        1.41421356237309504880  /* sqrt(2) */
+#endif
+#ifndef NAN
+#define NAN            av_int2float(0x7fc00000)
+#endif
+#ifndef INFINITY
+#define INFINITY       av_int2float(0x7f800000)
+#endif
+
+/**
+ * @addtogroup lavu_math
+ * @{
+ */
+
+
+enum AVRounding {
+    AV_ROUND_ZERO     = 0, ///< Round toward zero.
+    AV_ROUND_INF      = 1, ///< Round away from zero.
+    AV_ROUND_DOWN     = 2, ///< Round toward -infinity.
+    AV_ROUND_UP       = 3, ///< Round toward +infinity.
+    AV_ROUND_NEAR_INF = 5, ///< Round to nearest and halfway cases away from zero.
+    AV_ROUND_PASS_MINMAX = 8192, ///< Flag to pass INT64_MIN/MAX through instead of rescaling, this avoids special cases for AV_NOPTS_VALUE
+};
+
+/**
+ * Return the greatest common divisor of a and b.
+ * If both a and b are 0 or either or both are <0 then behavior is
+ * undefined.
+ */
+int64_t av_const av_gcd(int64_t a, int64_t b);
+
+/**
+ * Rescale a 64-bit integer with rounding to nearest.
+ * A simple a*b/c isn't possible as it can overflow.
+ */
+int64_t av_rescale(int64_t a, int64_t b, int64_t c) av_const;
+
+/**
+ * Rescale a 64-bit integer with specified rounding.
+ * A simple a*b/c isn't possible as it can overflow.
+ *
+ * @return rescaled value a, or if AV_ROUND_PASS_MINMAX is set and a is
+ *         INT64_MIN or INT64_MAX then a is passed through unchanged.
+ */
+int64_t av_rescale_rnd(int64_t a, int64_t b, int64_t c, enum AVRounding) av_const;
+
+/**
+ * Rescale a 64-bit integer by 2 rational numbers.
+ */
+int64_t av_rescale_q(int64_t a, AVRational bq, AVRational cq) av_const;
+
+/**
+ * Rescale a 64-bit integer by 2 rational numbers with specified rounding.
+ *
+ * @return rescaled value a, or if AV_ROUND_PASS_MINMAX is set and a is
+ *         INT64_MIN or INT64_MAX then a is passed through unchanged.
+ */
+int64_t av_rescale_q_rnd(int64_t a, AVRational bq, AVRational cq,
+                         enum AVRounding) av_const;
+
+/**
+ * Compare 2 timestamps each in its own timebases.
+ * The result of the function is undefined if one of the timestamps
+ * is outside the int64_t range when represented in the others timebase.
+ * @return -1 if ts_a is before ts_b, 1 if ts_a is after ts_b or 0 if they represent the same position
+ */
+int av_compare_ts(int64_t ts_a, AVRational tb_a, int64_t ts_b, AVRational tb_b);
+
+/**
+ * Compare 2 integers modulo mod.
+ * That is we compare integers a and b for which only the least
+ * significant log2(mod) bits are known.
+ *
+ * @param mod must be a power of 2
+ * @return a negative value if a is smaller than b
+ *         a positive value if a is greater than b
+ *         0                if a equals          b
+ */
+int64_t av_compare_mod(uint64_t a, uint64_t b, uint64_t mod);
+
+/**
+ * Rescale a timestamp while preserving known durations.
+ *
+ * @param in_ts Input timestamp
+ * @param in_tb Input timebase
+ * @param fs_tb Duration and *last timebase
+ * @param duration duration till the next call
+ * @param out_tb Output timebase
+ */
+int64_t av_rescale_delta(AVRational in_tb, int64_t in_ts,  AVRational fs_tb, int duration, int64_t *last, AVRational out_tb);
+
+/**
+ * Add a value to a timestamp.
+ *
+ * This function guarantees that when the same value is repeatly added that
+ * no accumulation of rounding errors occurs.
+ *
+ * @param ts Input timestamp
+ * @param ts_tb Input timestamp timebase
+ * @param inc value to add to ts
+ * @param inc_tb inc timebase
+ */
+int64_t av_add_stable(AVRational ts_tb, int64_t ts, AVRational inc_tb, int64_t inc);
+
+
+    /**
+ * @}
+ */
+
+#endif /* AVUTIL_MATHEMATICS_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/md5.h b/3rdparty/include/ffmpeg/libavutil/md5.h
new file mode 100644
index 0000000..79702c8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/md5.h
@@ -0,0 +1,81 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_MD5_H
+#define AVUTIL_MD5_H
+
+#include <stdint.h>
+
+#include "attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavu_md5 MD5
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_md5_size;
+
+struct AVMD5;
+
+/**
+ * Allocate an AVMD5 context.
+ */
+struct AVMD5 *av_md5_alloc(void);
+
+/**
+ * Initialize MD5 hashing.
+ *
+ * @param ctx pointer to the function context (of size av_md5_size)
+ */
+void av_md5_init(struct AVMD5 *ctx);
+
+/**
+ * Update hash value.
+ *
+ * @param ctx hash function context
+ * @param src input data to update hash with
+ * @param len input data length
+ */
+void av_md5_update(struct AVMD5 *ctx, const uint8_t *src, int len);
+
+/**
+ * Finish hashing and output digest value.
+ *
+ * @param ctx hash function context
+ * @param dst buffer where output digest value is stored
+ */
+void av_md5_final(struct AVMD5 *ctx, uint8_t *dst);
+
+/**
+ * Hash an array of data.
+ *
+ * @param dst The output buffer to write the digest into
+ * @param src The data to hash
+ * @param len The length of the data, in bytes
+ */
+void av_md5_sum(uint8_t *dst, const uint8_t *src, const int len);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_MD5_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/mem.h b/3rdparty/include/ffmpeg/libavutil/mem.h
new file mode 100644
index 0000000..2a1e36d
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/mem.h
@@ -0,0 +1,389 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * memory handling functions
+ */
+
+#ifndef AVUTIL_MEM_H
+#define AVUTIL_MEM_H
+
+#include <limits.h>
+#include <stdint.h>
+
+#include "attributes.h"
+#include "error.h"
+#include "avutil.h"
+
+/**
+ * @addtogroup lavu_mem
+ * @{
+ */
+
+
+#if defined(__INTEL_COMPILER) && __INTEL_COMPILER < 1110 || defined(__SUNPRO_C)
+    #define DECLARE_ALIGNED(n,t,v)      t __attribute__ ((aligned (n))) v
+    #define DECLARE_ASM_CONST(n,t,v)    const t __attribute__ ((aligned (n))) v
+#elif defined(__TI_COMPILER_VERSION__)
+    #define DECLARE_ALIGNED(n,t,v)                      \
+        AV_PRAGMA(DATA_ALIGN(v,n))                      \
+        t __attribute__((aligned(n))) v
+    #define DECLARE_ASM_CONST(n,t,v)                    \
+        AV_PRAGMA(DATA_ALIGN(v,n))                      \
+        static const t __attribute__((aligned(n))) v
+#elif defined(__GNUC__)
+    #define DECLARE_ALIGNED(n,t,v)      t __attribute__ ((aligned (n))) v
+    #define DECLARE_ASM_CONST(n,t,v)    static const t av_used __attribute__ ((aligned (n))) v
+#elif defined(_MSC_VER)
+    #define DECLARE_ALIGNED(n,t,v)      __declspec(align(n)) t v
+    #define DECLARE_ASM_CONST(n,t,v)    __declspec(align(n)) static const t v
+#else
+    #define DECLARE_ALIGNED(n,t,v)      t v
+    #define DECLARE_ASM_CONST(n,t,v)    static const t v
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(3,1)
+    #define av_malloc_attrib __attribute__((__malloc__))
+#else
+    #define av_malloc_attrib
+#endif
+
+#if AV_GCC_VERSION_AT_LEAST(4,3)
+    #define av_alloc_size(...) __attribute__((alloc_size(__VA_ARGS__)))
+#else
+    #define av_alloc_size(...)
+#endif
+
+/**
+ * Allocate a block of size bytes with alignment suitable for all
+ * memory accesses (including vectors if available on the CPU).
+ * @param size Size in bytes for the memory block to be allocated.
+ * @return Pointer to the allocated block, NULL if the block cannot
+ * be allocated.
+ * @see av_mallocz()
+ */
+void *av_malloc(size_t size) av_malloc_attrib av_alloc_size(1);
+
+/**
+ * Allocate a block of size * nmemb bytes with av_malloc().
+ * @param nmemb Number of elements
+ * @param size Size of the single element
+ * @return Pointer to the allocated block, NULL if the block cannot
+ * be allocated.
+ * @see av_malloc()
+ */
+av_alloc_size(1, 2) static inline void *av_malloc_array(size_t nmemb, size_t size)
+{
+    if (!size || nmemb >= INT_MAX / size)
+        return NULL;
+    return av_malloc(nmemb * size);
+}
+
+/**
+ * Allocate or reallocate a block of memory.
+ * If ptr is NULL and size > 0, allocate a new block. If
+ * size is zero, free the memory block pointed to by ptr.
+ * @param ptr Pointer to a memory block already allocated with
+ * av_realloc() or NULL.
+ * @param size Size in bytes of the memory block to be allocated or
+ * reallocated.
+ * @return Pointer to a newly-reallocated block or NULL if the block
+ * cannot be reallocated or the function is used to free the memory block.
+ * @warning Pointers originating from the av_malloc() family of functions must
+ *          not be passed to av_realloc(). The former can be implemented using
+ *          memalign() (or other functions), and there is no guarantee that
+ *          pointers from such functions can be passed to realloc() at all.
+ *          The situation is undefined according to POSIX and may crash with
+ *          some libc implementations.
+ * @see av_fast_realloc()
+ */
+void *av_realloc(void *ptr, size_t size) av_alloc_size(2);
+
+/**
+ * Allocate or reallocate a block of memory.
+ * This function does the same thing as av_realloc, except:
+ * - It takes two arguments and checks the result of the multiplication for
+ *   integer overflow.
+ * - It frees the input block in case of failure, thus avoiding the memory
+ *   leak with the classic "buf = realloc(buf); if (!buf) return -1;".
+ */
+void *av_realloc_f(void *ptr, size_t nelem, size_t elsize);
+
+/**
+ * Allocate or reallocate a block of memory.
+ * If *ptr is NULL and size > 0, allocate a new block. If
+ * size is zero, free the memory block pointed to by ptr.
+ * @param   ptr Pointer to a pointer to a memory block already allocated
+ *          with av_realloc(), or pointer to a pointer to NULL.
+ *          The pointer is updated on success, or freed on failure.
+ * @param   size Size in bytes for the memory block to be allocated or
+ *          reallocated
+ * @return  Zero on success, an AVERROR error code on failure.
+ * @warning Pointers originating from the av_malloc() family of functions must
+ *          not be passed to av_reallocp(). The former can be implemented using
+ *          memalign() (or other functions), and there is no guarantee that
+ *          pointers from such functions can be passed to realloc() at all.
+ *          The situation is undefined according to POSIX and may crash with
+ *          some libc implementations.
+ */
+int av_reallocp(void *ptr, size_t size);
+
+/**
+ * Allocate or reallocate an array.
+ * If ptr is NULL and nmemb > 0, allocate a new block. If
+ * nmemb is zero, free the memory block pointed to by ptr.
+ * @param ptr Pointer to a memory block already allocated with
+ * av_realloc() or NULL.
+ * @param nmemb Number of elements
+ * @param size Size of the single element
+ * @return Pointer to a newly-reallocated block or NULL if the block
+ * cannot be reallocated or the function is used to free the memory block.
+ * @warning Pointers originating from the av_malloc() family of functions must
+ *          not be passed to av_realloc(). The former can be implemented using
+ *          memalign() (or other functions), and there is no guarantee that
+ *          pointers from such functions can be passed to realloc() at all.
+ *          The situation is undefined according to POSIX and may crash with
+ *          some libc implementations.
+ */
+av_alloc_size(2, 3) void *av_realloc_array(void *ptr, size_t nmemb, size_t size);
+
+/**
+ * Allocate or reallocate an array through a pointer to a pointer.
+ * If *ptr is NULL and nmemb > 0, allocate a new block. If
+ * nmemb is zero, free the memory block pointed to by ptr.
+ * @param ptr Pointer to a pointer to a memory block already allocated
+ * with av_realloc(), or pointer to a pointer to NULL.
+ * The pointer is updated on success, or freed on failure.
+ * @param nmemb Number of elements
+ * @param size Size of the single element
+ * @return Zero on success, an AVERROR error code on failure.
+ * @warning Pointers originating from the av_malloc() family of functions must
+ *          not be passed to av_realloc(). The former can be implemented using
+ *          memalign() (or other functions), and there is no guarantee that
+ *          pointers from such functions can be passed to realloc() at all.
+ *          The situation is undefined according to POSIX and may crash with
+ *          some libc implementations.
+ */
+av_alloc_size(2, 3) int av_reallocp_array(void *ptr, size_t nmemb, size_t size);
+
+/**
+ * Free a memory block which has been allocated with av_malloc(z)() or
+ * av_realloc().
+ * @param ptr Pointer to the memory block which should be freed.
+ * @note ptr = NULL is explicitly allowed.
+ * @note It is recommended that you use av_freep() instead.
+ * @see av_freep()
+ */
+void av_free(void *ptr);
+
+/**
+ * Allocate a block of size bytes with alignment suitable for all
+ * memory accesses (including vectors if available on the CPU) and
+ * zero all the bytes of the block.
+ * @param size Size in bytes for the memory block to be allocated.
+ * @return Pointer to the allocated block, NULL if it cannot be allocated.
+ * @see av_malloc()
+ */
+void *av_mallocz(size_t size) av_malloc_attrib av_alloc_size(1);
+
+/**
+ * Allocate a block of nmemb * size bytes with alignment suitable for all
+ * memory accesses (including vectors if available on the CPU) and
+ * zero all the bytes of the block.
+ * The allocation will fail if nmemb * size is greater than or equal
+ * to INT_MAX.
+ * @param nmemb
+ * @param size
+ * @return Pointer to the allocated block, NULL if it cannot be allocated.
+ */
+void *av_calloc(size_t nmemb, size_t size) av_malloc_attrib;
+
+/**
+ * Allocate a block of size * nmemb bytes with av_mallocz().
+ * @param nmemb Number of elements
+ * @param size Size of the single element
+ * @return Pointer to the allocated block, NULL if the block cannot
+ * be allocated.
+ * @see av_mallocz()
+ * @see av_malloc_array()
+ */
+av_alloc_size(1, 2) static inline void *av_mallocz_array(size_t nmemb, size_t size)
+{
+    if (!size || nmemb >= INT_MAX / size)
+        return NULL;
+    return av_mallocz(nmemb * size);
+}
+
+/**
+ * Duplicate the string s.
+ * @param s string to be duplicated
+ * @return Pointer to a newly-allocated string containing a
+ * copy of s or NULL if the string cannot be allocated.
+ */
+char *av_strdup(const char *s) av_malloc_attrib;
+
+/**
+ * Duplicate a substring of the string s.
+ * @param s string to be duplicated
+ * @param len the maximum length of the resulting string (not counting the
+ *            terminating byte).
+ * @return Pointer to a newly-allocated string containing a
+ * copy of s or NULL if the string cannot be allocated.
+ */
+char *av_strndup(const char *s, size_t len) av_malloc_attrib;
+
+/**
+ * Duplicate the buffer p.
+ * @param p buffer to be duplicated
+ * @return Pointer to a newly allocated buffer containing a
+ * copy of p or NULL if the buffer cannot be allocated.
+ */
+void *av_memdup(const void *p, size_t size);
+
+/**
+ * Free a memory block which has been allocated with av_malloc(z)() or
+ * av_realloc() and set the pointer pointing to it to NULL.
+ * @param ptr Pointer to the pointer to the memory block which should
+ * be freed.
+ * @note passing a pointer to a NULL pointer is safe and leads to no action.
+ * @see av_free()
+ */
+void av_freep(void *ptr);
+
+/**
+ * Add an element to a dynamic array.
+ *
+ * The array to grow is supposed to be an array of pointers to
+ * structures, and the element to add must be a pointer to an already
+ * allocated structure.
+ *
+ * The array is reallocated when its size reaches powers of 2.
+ * Therefore, the amortized cost of adding an element is constant.
+ *
+ * In case of success, the pointer to the array is updated in order to
+ * point to the new grown array, and the number pointed to by nb_ptr
+ * is incremented.
+ * In case of failure, the array is freed, *tab_ptr is set to NULL and
+ * *nb_ptr is set to 0.
+ *
+ * @param tab_ptr pointer to the array to grow
+ * @param nb_ptr  pointer to the number of elements in the array
+ * @param elem    element to add
+ * @see av_dynarray_add_nofree(), av_dynarray2_add()
+ */
+void av_dynarray_add(void *tab_ptr, int *nb_ptr, void *elem);
+
+/**
+ * Add an element to a dynamic array.
+ *
+ * Function has the same functionality as av_dynarray_add(),
+ * but it doesn't free memory on fails. It returns error code
+ * instead and leave current buffer untouched.
+ *
+ * @param tab_ptr pointer to the array to grow
+ * @param nb_ptr  pointer to the number of elements in the array
+ * @param elem    element to add
+ * @return >=0 on success, negative otherwise.
+ * @see av_dynarray_add(), av_dynarray2_add()
+ */
+int av_dynarray_add_nofree(void *tab_ptr, int *nb_ptr, void *elem);
+
+/**
+ * Add an element of size elem_size to a dynamic array.
+ *
+ * The array is reallocated when its number of elements reaches powers of 2.
+ * Therefore, the amortized cost of adding an element is constant.
+ *
+ * In case of success, the pointer to the array is updated in order to
+ * point to the new grown array, and the number pointed to by nb_ptr
+ * is incremented.
+ * In case of failure, the array is freed, *tab_ptr is set to NULL and
+ * *nb_ptr is set to 0.
+ *
+ * @param tab_ptr   pointer to the array to grow
+ * @param nb_ptr    pointer to the number of elements in the array
+ * @param elem_size size in bytes of the elements in the array
+ * @param elem_data pointer to the data of the element to add. If NULL, the space of
+ *                  the new added element is not filled.
+ * @return          pointer to the data of the element to copy in the new allocated space.
+ *                  If NULL, the new allocated space is left uninitialized."
+ * @see av_dynarray_add(), av_dynarray_add_nofree()
+ */
+void *av_dynarray2_add(void **tab_ptr, int *nb_ptr, size_t elem_size,
+                       const uint8_t *elem_data);
+
+/**
+ * Multiply two size_t values checking for overflow.
+ * @return  0 if success, AVERROR(EINVAL) if overflow.
+ */
+static inline int av_size_mult(size_t a, size_t b, size_t *r)
+{
+    size_t t = a * b;
+    /* Hack inspired from glibc: only try the division if nelem and elsize
+     * are both greater than sqrt(SIZE_MAX). */
+    if ((a | b) >= ((size_t)1 << (sizeof(size_t) * 4)) && a && t / a != b)
+        return AVERROR(EINVAL);
+    *r = t;
+    return 0;
+}
+
+/**
+ * Set the maximum size that may me allocated in one block.
+ */
+void av_max_alloc(size_t max);
+
+/**
+ * deliberately overlapping memcpy implementation
+ * @param dst destination buffer
+ * @param back how many bytes back we start (the initial size of the overlapping window), must be > 0
+ * @param cnt number of bytes to copy, must be >= 0
+ *
+ * cnt > back is valid, this will copy the bytes we just copied,
+ * thus creating a repeating pattern with a period length of back.
+ */
+void av_memcpy_backptr(uint8_t *dst, int back, int cnt);
+
+/**
+ * Reallocate the given block if it is not large enough, otherwise do nothing.
+ *
+ * @see av_realloc
+ */
+void *av_fast_realloc(void *ptr, unsigned int *size, size_t min_size);
+
+/**
+ * Allocate a buffer, reusing the given one if large enough.
+ *
+ * Contrary to av_fast_realloc the current buffer contents might not be
+ * preserved and on error the old buffer is freed, thus no special
+ * handling to avoid memleaks is necessary.
+ *
+ * @param ptr pointer to pointer to already allocated buffer, overwritten with pointer to new buffer
+ * @param size size of the buffer *ptr points to
+ * @param min_size minimum size of *ptr buffer after returning, *ptr will be NULL and
+ *                 *size 0 if an error occurred.
+ */
+void av_fast_malloc(void *ptr, unsigned int *size, size_t min_size);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_MEM_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/motion_vector.h b/3rdparty/include/ffmpeg/libavutil/motion_vector.h
new file mode 100644
index 0000000..30cfb99
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/motion_vector.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_MOTION_VECTOR_H
+#define AVUTIL_MOTION_VECTOR_H
+
+#include <stdint.h>
+
+typedef struct AVMotionVector {
+    /**
+     * Where the current macroblock comes from; negative value when it comes
+     * from the past, positive value when it comes from the future.
+     * XXX: set exact relative ref frame reference instead of a +/- 1 "direction".
+     */
+    int32_t source;
+    /**
+     * Width and height of the block.
+     */
+    uint8_t w, h;
+    /**
+     * Absolute source position. Can be outside the frame area.
+     */
+    int16_t src_x, src_y;
+    /**
+     * Absolute destination position. Can be outside the frame area.
+     */
+    int16_t dst_x, dst_y;
+    /**
+     * Extra flag information.
+     * Currently unused.
+     */
+    uint64_t flags;
+} AVMotionVector;
+
+#endif /* AVUTIL_MOTION_VECTOR_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/murmur3.h b/3rdparty/include/ffmpeg/libavutil/murmur3.h
new file mode 100644
index 0000000..f29ed97
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/murmur3.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2013 Reimar Döffinger <Reimar.Doeffinger@gmx.de>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_MURMUR3_H
+#define AVUTIL_MURMUR3_H
+
+#include <stdint.h>
+
+struct AVMurMur3 *av_murmur3_alloc(void);
+void av_murmur3_init_seeded(struct AVMurMur3 *c, uint64_t seed);
+void av_murmur3_init(struct AVMurMur3 *c);
+void av_murmur3_update(struct AVMurMur3 *c, const uint8_t *src, int len);
+void av_murmur3_final(struct AVMurMur3 *c, uint8_t dst[16]);
+
+#endif /* AVUTIL_MURMUR3_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/opt.h b/3rdparty/include/ffmpeg/libavutil/opt.h
new file mode 100644
index 0000000..d6d8df3
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/opt.h
@@ -0,0 +1,855 @@
+/*
+ * AVOptions
+ * copyright (c) 2005 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_OPT_H
+#define AVUTIL_OPT_H
+
+/**
+ * @file
+ * AVOptions
+ */
+
+#include "rational.h"
+#include "avutil.h"
+#include "dict.h"
+#include "log.h"
+#include "pixfmt.h"
+#include "samplefmt.h"
+#include "version.h"
+
+/**
+ * @defgroup avoptions AVOptions
+ * @ingroup lavu_data
+ * @{
+ * AVOptions provide a generic system to declare options on arbitrary structs
+ * ("objects"). An option can have a help text, a type and a range of possible
+ * values. Options may then be enumerated, read and written to.
+ *
+ * @section avoptions_implement Implementing AVOptions
+ * This section describes how to add AVOptions capabilities to a struct.
+ *
+ * All AVOptions-related information is stored in an AVClass. Therefore
+ * the first member of the struct should be a pointer to an AVClass describing it.
+ * The option field of the AVClass must be set to a NULL-terminated static array
+ * of AVOptions. Each AVOption must have a non-empty name, a type, a default
+ * value and for number-type AVOptions also a range of allowed values. It must
+ * also declare an offset in bytes from the start of the struct, where the field
+ * associated with this AVOption is located. Other fields in the AVOption struct
+ * should also be set when applicable, but are not required.
+ *
+ * The following example illustrates an AVOptions-enabled struct:
+ * @code
+ * typedef struct test_struct {
+ *     AVClass *class;
+ *     int      int_opt;
+ *     char    *str_opt;
+ *     uint8_t *bin_opt;
+ *     int      bin_len;
+ * } test_struct;
+ *
+ * static const AVOption test_options[] = {
+ *   { "test_int", "This is a test option of int type.", offsetof(test_struct, int_opt),
+ *     AV_OPT_TYPE_INT, { .i64 = -1 }, INT_MIN, INT_MAX },
+ *   { "test_str", "This is a test option of string type.", offsetof(test_struct, str_opt),
+ *     AV_OPT_TYPE_STRING },
+ *   { "test_bin", "This is a test option of binary type.", offsetof(test_struct, bin_opt),
+ *     AV_OPT_TYPE_BINARY },
+ *   { NULL },
+ * };
+ *
+ * static const AVClass test_class = {
+ *     .class_name = "test class",
+ *     .item_name  = av_default_item_name,
+ *     .option     = test_options,
+ *     .version    = LIBAVUTIL_VERSION_INT,
+ * };
+ * @endcode
+ *
+ * Next, when allocating your struct, you must ensure that the AVClass pointer
+ * is set to the correct value. Then, av_opt_set_defaults() can be called to
+ * initialize defaults. After that the struct is ready to be used with the
+ * AVOptions API.
+ *
+ * When cleaning up, you may use the av_opt_free() function to automatically
+ * free all the allocated string and binary options.
+ *
+ * Continuing with the above example:
+ *
+ * @code
+ * test_struct *alloc_test_struct(void)
+ * {
+ *     test_struct *ret = av_malloc(sizeof(*ret));
+ *     ret->class = &test_class;
+ *     av_opt_set_defaults(ret);
+ *     return ret;
+ * }
+ * void free_test_struct(test_struct **foo)
+ * {
+ *     av_opt_free(*foo);
+ *     av_freep(foo);
+ * }
+ * @endcode
+ *
+ * @subsection avoptions_implement_nesting Nesting
+ *      It may happen that an AVOptions-enabled struct contains another
+ *      AVOptions-enabled struct as a member (e.g. AVCodecContext in
+ *      libavcodec exports generic options, while its priv_data field exports
+ *      codec-specific options). In such a case, it is possible to set up the
+ *      parent struct to export a child's options. To do that, simply
+ *      implement AVClass.child_next() and AVClass.child_class_next() in the
+ *      parent struct's AVClass.
+ *      Assuming that the test_struct from above now also contains a
+ *      child_struct field:
+ *
+ *      @code
+ *      typedef struct child_struct {
+ *          AVClass *class;
+ *          int flags_opt;
+ *      } child_struct;
+ *      static const AVOption child_opts[] = {
+ *          { "test_flags", "This is a test option of flags type.",
+ *            offsetof(child_struct, flags_opt), AV_OPT_TYPE_FLAGS, { .i64 = 0 }, INT_MIN, INT_MAX },
+ *          { NULL },
+ *      };
+ *      static const AVClass child_class = {
+ *          .class_name = "child class",
+ *          .item_name  = av_default_item_name,
+ *          .option     = child_opts,
+ *          .version    = LIBAVUTIL_VERSION_INT,
+ *      };
+ *
+ *      void *child_next(void *obj, void *prev)
+ *      {
+ *          test_struct *t = obj;
+ *          if (!prev && t->child_struct)
+ *              return t->child_struct;
+ *          return NULL
+ *      }
+ *      const AVClass child_class_next(const AVClass *prev)
+ *      {
+ *          return prev ? NULL : &child_class;
+ *      }
+ *      @endcode
+ *      Putting child_next() and child_class_next() as defined above into
+ *      test_class will now make child_struct's options accessible through
+ *      test_struct (again, proper setup as described above needs to be done on
+ *      child_struct right after it is created).
+ *
+ *      From the above example it might not be clear why both child_next()
+ *      and child_class_next() are needed. The distinction is that child_next()
+ *      iterates over actually existing objects, while child_class_next()
+ *      iterates over all possible child classes. E.g. if an AVCodecContext
+ *      was initialized to use a codec which has private options, then its
+ *      child_next() will return AVCodecContext.priv_data and finish
+ *      iterating. OTOH child_class_next() on AVCodecContext.av_class will
+ *      iterate over all available codecs with private options.
+ *
+ * @subsection avoptions_implement_named_constants Named constants
+ *      It is possible to create named constants for options. Simply set the unit
+ *      field of the option the constants should apply to a string and
+ *      create the constants themselves as options of type AV_OPT_TYPE_CONST
+ *      with their unit field set to the same string.
+ *      Their default_val field should contain the value of the named
+ *      constant.
+ *      For example, to add some named constants for the test_flags option
+ *      above, put the following into the child_opts array:
+ *      @code
+ *      { "test_flags", "This is a test option of flags type.",
+ *        offsetof(child_struct, flags_opt), AV_OPT_TYPE_FLAGS, { .i64 = 0 }, INT_MIN, INT_MAX, "test_unit" },
+ *      { "flag1", "This is a flag with value 16", 0, AV_OPT_TYPE_CONST, { .i64 = 16 }, 0, 0, "test_unit" },
+ *      @endcode
+ *
+ * @section avoptions_use Using AVOptions
+ * This section deals with accessing options in an AVOptions-enabled struct.
+ * Such structs in FFmpeg are e.g. AVCodecContext in libavcodec or
+ * AVFormatContext in libavformat.
+ *
+ * @subsection avoptions_use_examine Examining AVOptions
+ * The basic functions for examining options are av_opt_next(), which iterates
+ * over all options defined for one object, and av_opt_find(), which searches
+ * for an option with the given name.
+ *
+ * The situation is more complicated with nesting. An AVOptions-enabled struct
+ * may have AVOptions-enabled children. Passing the AV_OPT_SEARCH_CHILDREN flag
+ * to av_opt_find() will make the function search children recursively.
+ *
+ * For enumerating there are basically two cases. The first is when you want to
+ * get all options that may potentially exist on the struct and its children
+ * (e.g.  when constructing documentation). In that case you should call
+ * av_opt_child_class_next() recursively on the parent struct's AVClass.  The
+ * second case is when you have an already initialized struct with all its
+ * children and you want to get all options that can be actually written or read
+ * from it. In that case you should call av_opt_child_next() recursively (and
+ * av_opt_next() on each result).
+ *
+ * @subsection avoptions_use_get_set Reading and writing AVOptions
+ * When setting options, you often have a string read directly from the
+ * user. In such a case, simply passing it to av_opt_set() is enough. For
+ * non-string type options, av_opt_set() will parse the string according to the
+ * option type.
+ *
+ * Similarly av_opt_get() will read any option type and convert it to a string
+ * which will be returned. Do not forget that the string is allocated, so you
+ * have to free it with av_free().
+ *
+ * In some cases it may be more convenient to put all options into an
+ * AVDictionary and call av_opt_set_dict() on it. A specific case of this
+ * are the format/codec open functions in lavf/lavc which take a dictionary
+ * filled with option as a parameter. This makes it possible to set some options
+ * that cannot be set otherwise, since e.g. the input file format is not known
+ * before the file is actually opened.
+ */
+
+enum AVOptionType{
+    AV_OPT_TYPE_FLAGS,
+    AV_OPT_TYPE_INT,
+    AV_OPT_TYPE_INT64,
+    AV_OPT_TYPE_DOUBLE,
+    AV_OPT_TYPE_FLOAT,
+    AV_OPT_TYPE_STRING,
+    AV_OPT_TYPE_RATIONAL,
+    AV_OPT_TYPE_BINARY,  ///< offset must point to a pointer immediately followed by an int for the length
+    AV_OPT_TYPE_DICT,
+    AV_OPT_TYPE_CONST = 128,
+    AV_OPT_TYPE_IMAGE_SIZE = MKBETAG('S','I','Z','E'), ///< offset must point to two consecutive integers
+    AV_OPT_TYPE_PIXEL_FMT  = MKBETAG('P','F','M','T'),
+    AV_OPT_TYPE_SAMPLE_FMT = MKBETAG('S','F','M','T'),
+    AV_OPT_TYPE_VIDEO_RATE = MKBETAG('V','R','A','T'), ///< offset must point to AVRational
+    AV_OPT_TYPE_DURATION   = MKBETAG('D','U','R',' '),
+    AV_OPT_TYPE_COLOR      = MKBETAG('C','O','L','R'),
+    AV_OPT_TYPE_CHANNEL_LAYOUT = MKBETAG('C','H','L','A'),
+    AV_OPT_TYPE_BOOL           = MKBETAG('B','O','O','L'),
+};
+
+/**
+ * AVOption
+ */
+typedef struct AVOption {
+    const char *name;
+
+    /**
+     * short English help text
+     * @todo What about other languages?
+     */
+    const char *help;
+
+    /**
+     * The offset relative to the context structure where the option
+     * value is stored. It should be 0 for named constants.
+     */
+    int offset;
+    enum AVOptionType type;
+
+    /**
+     * the default value for scalar options
+     */
+    union {
+        int64_t i64;
+        double dbl;
+        const char *str;
+        /* TODO those are unused now */
+        AVRational q;
+    } default_val;
+    double min;                 ///< minimum valid value for the option
+    double max;                 ///< maximum valid value for the option
+
+    int flags;
+#define AV_OPT_FLAG_ENCODING_PARAM  1   ///< a generic parameter which can be set by the user for muxing or encoding
+#define AV_OPT_FLAG_DECODING_PARAM  2   ///< a generic parameter which can be set by the user for demuxing or decoding
+#if FF_API_OPT_TYPE_METADATA
+#define AV_OPT_FLAG_METADATA        4   ///< some data extracted or inserted into the file like title, comment, ...
+#endif
+#define AV_OPT_FLAG_AUDIO_PARAM     8
+#define AV_OPT_FLAG_VIDEO_PARAM     16
+#define AV_OPT_FLAG_SUBTITLE_PARAM  32
+/**
+ * The option is inteded for exporting values to the caller.
+ */
+#define AV_OPT_FLAG_EXPORT          64
+/**
+ * The option may not be set through the AVOptions API, only read.
+ * This flag only makes sense when AV_OPT_FLAG_EXPORT is also set.
+ */
+#define AV_OPT_FLAG_READONLY        128
+#define AV_OPT_FLAG_FILTERING_PARAM (1<<16) ///< a generic parameter which can be set by the user for filtering
+//FIXME think about enc-audio, ... style flags
+
+    /**
+     * The logical unit to which the option belongs. Non-constant
+     * options and corresponding named constants share the same
+     * unit. May be NULL.
+     */
+    const char *unit;
+} AVOption;
+
+/**
+ * A single allowed range of values, or a single allowed value.
+ */
+typedef struct AVOptionRange {
+    const char *str;
+    /**
+     * Value range.
+     * For string ranges this represents the min/max length.
+     * For dimensions this represents the min/max pixel count or width/height in multi-component case.
+     */
+    double value_min, value_max;
+    /**
+     * Value's component range.
+     * For string this represents the unicode range for chars, 0-127 limits to ASCII.
+     */
+    double component_min, component_max;
+    /**
+     * Range flag.
+     * If set to 1 the struct encodes a range, if set to 0 a single value.
+     */
+    int is_range;
+} AVOptionRange;
+
+/**
+ * List of AVOptionRange structs.
+ */
+typedef struct AVOptionRanges {
+    /**
+     * Array of option ranges.
+     *
+     * Most of option types use just one component.
+     * Following describes multi-component option types:
+     *
+     * AV_OPT_TYPE_IMAGE_SIZE:
+     * component index 0: range of pixel count (width * height).
+     * component index 1: range of width.
+     * component index 2: range of height.
+     *
+     * @note To obtain multi-component version of this structure, user must
+     *       provide AV_OPT_MULTI_COMPONENT_RANGE to av_opt_query_ranges or
+     *       av_opt_query_ranges_default function.
+     *
+     * Multi-component range can be read as in following example:
+     *
+     * @code
+     * int range_index, component_index;
+     * AVOptionRanges *ranges;
+     * AVOptionRange *range[3]; //may require more than 3 in the future.
+     * av_opt_query_ranges(&ranges, obj, key, AV_OPT_MULTI_COMPONENT_RANGE);
+     * for (range_index = 0; range_index < ranges->nb_ranges; range_index++) {
+     *     for (component_index = 0; component_index < ranges->nb_components; component_index++)
+     *         range[component_index] = ranges->range[ranges->nb_ranges * component_index + range_index];
+     *     //do something with range here.
+     * }
+     * av_opt_freep_ranges(&ranges);
+     * @endcode
+     */
+    AVOptionRange **range;
+    /**
+     * Number of ranges per component.
+     */
+    int nb_ranges;
+    /**
+     * Number of componentes.
+     */
+    int nb_components;
+} AVOptionRanges;
+
+/**
+ * Show the obj options.
+ *
+ * @param req_flags requested flags for the options to show. Show only the
+ * options for which it is opt->flags & req_flags.
+ * @param rej_flags rejected flags for the options to show. Show only the
+ * options for which it is !(opt->flags & req_flags).
+ * @param av_log_obj log context to use for showing the options
+ */
+int av_opt_show2(void *obj, void *av_log_obj, int req_flags, int rej_flags);
+
+/**
+ * Set the values of all AVOption fields to their default values.
+ *
+ * @param s an AVOption-enabled struct (its first member must be a pointer to AVClass)
+ */
+void av_opt_set_defaults(void *s);
+
+/**
+ * Set the values of all AVOption fields to their default values. Only these
+ * AVOption fields for which (opt->flags & mask) == flags will have their
+ * default applied to s.
+ *
+ * @param s an AVOption-enabled struct (its first member must be a pointer to AVClass)
+ * @param mask combination of AV_OPT_FLAG_*
+ * @param flags combination of AV_OPT_FLAG_*
+ */
+void av_opt_set_defaults2(void *s, int mask, int flags);
+
+/**
+ * Parse the key/value pairs list in opts. For each key/value pair
+ * found, stores the value in the field in ctx that is named like the
+ * key. ctx must be an AVClass context, storing is done using
+ * AVOptions.
+ *
+ * @param opts options string to parse, may be NULL
+ * @param key_val_sep a 0-terminated list of characters used to
+ * separate key from value
+ * @param pairs_sep a 0-terminated list of characters used to separate
+ * two pairs from each other
+ * @return the number of successfully set key/value pairs, or a negative
+ * value corresponding to an AVERROR code in case of error:
+ * AVERROR(EINVAL) if opts cannot be parsed,
+ * the error code issued by av_opt_set() if a key/value pair
+ * cannot be set
+ */
+int av_set_options_string(void *ctx, const char *opts,
+                          const char *key_val_sep, const char *pairs_sep);
+
+/**
+ * Parse the key-value pairs list in opts. For each key=value pair found,
+ * set the value of the corresponding option in ctx.
+ *
+ * @param ctx          the AVClass object to set options on
+ * @param opts         the options string, key-value pairs separated by a
+ *                     delimiter
+ * @param shorthand    a NULL-terminated array of options names for shorthand
+ *                     notation: if the first field in opts has no key part,
+ *                     the key is taken from the first element of shorthand;
+ *                     then again for the second, etc., until either opts is
+ *                     finished, shorthand is finished or a named option is
+ *                     found; after that, all options must be named
+ * @param key_val_sep  a 0-terminated list of characters used to separate
+ *                     key from value, for example '='
+ * @param pairs_sep    a 0-terminated list of characters used to separate
+ *                     two pairs from each other, for example ':' or ','
+ * @return  the number of successfully set key=value pairs, or a negative
+ *          value corresponding to an AVERROR code in case of error:
+ *          AVERROR(EINVAL) if opts cannot be parsed,
+ *          the error code issued by av_set_string3() if a key/value pair
+ *          cannot be set
+ *
+ * Options names must use only the following characters: a-z A-Z 0-9 - . / _
+ * Separators must use characters distinct from option names and from each
+ * other.
+ */
+int av_opt_set_from_string(void *ctx, const char *opts,
+                           const char *const *shorthand,
+                           const char *key_val_sep, const char *pairs_sep);
+/**
+ * Free all allocated objects in obj.
+ */
+void av_opt_free(void *obj);
+
+/**
+ * Check whether a particular flag is set in a flags field.
+ *
+ * @param field_name the name of the flag field option
+ * @param flag_name the name of the flag to check
+ * @return non-zero if the flag is set, zero if the flag isn't set,
+ *         isn't of the right type, or the flags field doesn't exist.
+ */
+int av_opt_flag_is_set(void *obj, const char *field_name, const char *flag_name);
+
+/**
+ * Set all the options from a given dictionary on an object.
+ *
+ * @param obj a struct whose first element is a pointer to AVClass
+ * @param options options to process. This dictionary will be freed and replaced
+ *                by a new one containing all options not found in obj.
+ *                Of course this new dictionary needs to be freed by caller
+ *                with av_dict_free().
+ *
+ * @return 0 on success, a negative AVERROR if some option was found in obj,
+ *         but could not be set.
+ *
+ * @see av_dict_copy()
+ */
+int av_opt_set_dict(void *obj, struct AVDictionary **options);
+
+
+/**
+ * Set all the options from a given dictionary on an object.
+ *
+ * @param obj a struct whose first element is a pointer to AVClass
+ * @param options options to process. This dictionary will be freed and replaced
+ *                by a new one containing all options not found in obj.
+ *                Of course this new dictionary needs to be freed by caller
+ *                with av_dict_free().
+ * @param search_flags A combination of AV_OPT_SEARCH_*.
+ *
+ * @return 0 on success, a negative AVERROR if some option was found in obj,
+ *         but could not be set.
+ *
+ * @see av_dict_copy()
+ */
+int av_opt_set_dict2(void *obj, struct AVDictionary **options, int search_flags);
+
+/**
+ * Extract a key-value pair from the beginning of a string.
+ *
+ * @param ropts        pointer to the options string, will be updated to
+ *                     point to the rest of the string (one of the pairs_sep
+ *                     or the final NUL)
+ * @param key_val_sep  a 0-terminated list of characters used to separate
+ *                     key from value, for example '='
+ * @param pairs_sep    a 0-terminated list of characters used to separate
+ *                     two pairs from each other, for example ':' or ','
+ * @param flags        flags; see the AV_OPT_FLAG_* values below
+ * @param rkey         parsed key; must be freed using av_free()
+ * @param rval         parsed value; must be freed using av_free()
+ *
+ * @return  >=0 for success, or a negative value corresponding to an
+ *          AVERROR code in case of error; in particular:
+ *          AVERROR(EINVAL) if no key is present
+ *
+ */
+int av_opt_get_key_value(const char **ropts,
+                         const char *key_val_sep, const char *pairs_sep,
+                         unsigned flags,
+                         char **rkey, char **rval);
+
+enum {
+
+    /**
+     * Accept to parse a value without a key; the key will then be returned
+     * as NULL.
+     */
+    AV_OPT_FLAG_IMPLICIT_KEY = 1,
+};
+
+/**
+ * @defgroup opt_eval_funcs Evaluating option strings
+ * @{
+ * This group of functions can be used to evaluate option strings
+ * and get numbers out of them. They do the same thing as av_opt_set(),
+ * except the result is written into the caller-supplied pointer.
+ *
+ * @param obj a struct whose first element is a pointer to AVClass.
+ * @param o an option for which the string is to be evaluated.
+ * @param val string to be evaluated.
+ * @param *_out value of the string will be written here.
+ *
+ * @return 0 on success, a negative number on failure.
+ */
+int av_opt_eval_flags (void *obj, const AVOption *o, const char *val, int        *flags_out);
+int av_opt_eval_int   (void *obj, const AVOption *o, const char *val, int        *int_out);
+int av_opt_eval_int64 (void *obj, const AVOption *o, const char *val, int64_t    *int64_out);
+int av_opt_eval_float (void *obj, const AVOption *o, const char *val, float      *float_out);
+int av_opt_eval_double(void *obj, const AVOption *o, const char *val, double     *double_out);
+int av_opt_eval_q     (void *obj, const AVOption *o, const char *val, AVRational *q_out);
+/**
+ * @}
+ */
+
+#define AV_OPT_SEARCH_CHILDREN   0x0001 /**< Search in possible children of the
+                                             given object first. */
+/**
+ *  The obj passed to av_opt_find() is fake -- only a double pointer to AVClass
+ *  instead of a required pointer to a struct containing AVClass. This is
+ *  useful for searching for options without needing to allocate the corresponding
+ *  object.
+ */
+#define AV_OPT_SEARCH_FAKE_OBJ   0x0002
+
+/**
+ *  Allows av_opt_query_ranges and av_opt_query_ranges_default to return more than
+ *  one component for certain option types.
+ *  @see AVOptionRanges for details.
+ */
+#define AV_OPT_MULTI_COMPONENT_RANGE 0x1000
+
+/**
+ * Look for an option in an object. Consider only options which
+ * have all the specified flags set.
+ *
+ * @param[in] obj A pointer to a struct whose first element is a
+ *                pointer to an AVClass.
+ *                Alternatively a double pointer to an AVClass, if
+ *                AV_OPT_SEARCH_FAKE_OBJ search flag is set.
+ * @param[in] name The name of the option to look for.
+ * @param[in] unit When searching for named constants, name of the unit
+ *                 it belongs to.
+ * @param opt_flags Find only options with all the specified flags set (AV_OPT_FLAG).
+ * @param search_flags A combination of AV_OPT_SEARCH_*.
+ *
+ * @return A pointer to the option found, or NULL if no option
+ *         was found.
+ *
+ * @note Options found with AV_OPT_SEARCH_CHILDREN flag may not be settable
+ * directly with av_opt_set(). Use special calls which take an options
+ * AVDictionary (e.g. avformat_open_input()) to set options found with this
+ * flag.
+ */
+const AVOption *av_opt_find(void *obj, const char *name, const char *unit,
+                            int opt_flags, int search_flags);
+
+/**
+ * Look for an option in an object. Consider only options which
+ * have all the specified flags set.
+ *
+ * @param[in] obj A pointer to a struct whose first element is a
+ *                pointer to an AVClass.
+ *                Alternatively a double pointer to an AVClass, if
+ *                AV_OPT_SEARCH_FAKE_OBJ search flag is set.
+ * @param[in] name The name of the option to look for.
+ * @param[in] unit When searching for named constants, name of the unit
+ *                 it belongs to.
+ * @param opt_flags Find only options with all the specified flags set (AV_OPT_FLAG).
+ * @param search_flags A combination of AV_OPT_SEARCH_*.
+ * @param[out] target_obj if non-NULL, an object to which the option belongs will be
+ * written here. It may be different from obj if AV_OPT_SEARCH_CHILDREN is present
+ * in search_flags. This parameter is ignored if search_flags contain
+ * AV_OPT_SEARCH_FAKE_OBJ.
+ *
+ * @return A pointer to the option found, or NULL if no option
+ *         was found.
+ */
+const AVOption *av_opt_find2(void *obj, const char *name, const char *unit,
+                             int opt_flags, int search_flags, void **target_obj);
+
+/**
+ * Iterate over all AVOptions belonging to obj.
+ *
+ * @param obj an AVOptions-enabled struct or a double pointer to an
+ *            AVClass describing it.
+ * @param prev result of the previous call to av_opt_next() on this object
+ *             or NULL
+ * @return next AVOption or NULL
+ */
+const AVOption *av_opt_next(const void *obj, const AVOption *prev);
+
+/**
+ * Iterate over AVOptions-enabled children of obj.
+ *
+ * @param prev result of a previous call to this function or NULL
+ * @return next AVOptions-enabled child or NULL
+ */
+void *av_opt_child_next(void *obj, void *prev);
+
+/**
+ * Iterate over potential AVOptions-enabled children of parent.
+ *
+ * @param prev result of a previous call to this function or NULL
+ * @return AVClass corresponding to next potential child or NULL
+ */
+const AVClass *av_opt_child_class_next(const AVClass *parent, const AVClass *prev);
+
+/**
+ * @defgroup opt_set_funcs Option setting functions
+ * @{
+ * Those functions set the field of obj with the given name to value.
+ *
+ * @param[in] obj A struct whose first element is a pointer to an AVClass.
+ * @param[in] name the name of the field to set
+ * @param[in] val The value to set. In case of av_opt_set() if the field is not
+ * of a string type, then the given string is parsed.
+ * SI postfixes and some named scalars are supported.
+ * If the field is of a numeric type, it has to be a numeric or named
+ * scalar. Behavior with more than one scalar and +- infix operators
+ * is undefined.
+ * If the field is of a flags type, it has to be a sequence of numeric
+ * scalars or named flags separated by '+' or '-'. Prefixing a flag
+ * with '+' causes it to be set without affecting the other flags;
+ * similarly, '-' unsets a flag.
+ * @param search_flags flags passed to av_opt_find2. I.e. if AV_OPT_SEARCH_CHILDREN
+ * is passed here, then the option may be set on a child of obj.
+ *
+ * @return 0 if the value has been set, or an AVERROR code in case of
+ * error:
+ * AVERROR_OPTION_NOT_FOUND if no matching option exists
+ * AVERROR(ERANGE) if the value is out of range
+ * AVERROR(EINVAL) if the value is not valid
+ */
+int av_opt_set         (void *obj, const char *name, const char *val, int search_flags);
+int av_opt_set_int     (void *obj, const char *name, int64_t     val, int search_flags);
+int av_opt_set_double  (void *obj, const char *name, double      val, int search_flags);
+int av_opt_set_q       (void *obj, const char *name, AVRational  val, int search_flags);
+int av_opt_set_bin     (void *obj, const char *name, const uint8_t *val, int size, int search_flags);
+int av_opt_set_image_size(void *obj, const char *name, int w, int h, int search_flags);
+int av_opt_set_pixel_fmt (void *obj, const char *name, enum AVPixelFormat fmt, int search_flags);
+int av_opt_set_sample_fmt(void *obj, const char *name, enum AVSampleFormat fmt, int search_flags);
+int av_opt_set_video_rate(void *obj, const char *name, AVRational val, int search_flags);
+int av_opt_set_channel_layout(void *obj, const char *name, int64_t ch_layout, int search_flags);
+/**
+ * @note Any old dictionary present is discarded and replaced with a copy of the new one. The
+ * caller still owns val is and responsible for freeing it.
+ */
+int av_opt_set_dict_val(void *obj, const char *name, const AVDictionary *val, int search_flags);
+
+/**
+ * Set a binary option to an integer list.
+ *
+ * @param obj    AVClass object to set options on
+ * @param name   name of the binary option
+ * @param val    pointer to an integer list (must have the correct type with
+ *               regard to the contents of the list)
+ * @param term   list terminator (usually 0 or -1)
+ * @param flags  search flags
+ */
+#define av_opt_set_int_list(obj, name, val, term, flags) \
+    (av_int_list_length(val, term) > INT_MAX / sizeof(*(val)) ? \
+     AVERROR(EINVAL) : \
+     av_opt_set_bin(obj, name, (const uint8_t *)(val), \
+                    av_int_list_length(val, term) * sizeof(*(val)), flags))
+
+/**
+ * @}
+ */
+
+/**
+ * @defgroup opt_get_funcs Option getting functions
+ * @{
+ * Those functions get a value of the option with the given name from an object.
+ *
+ * @param[in] obj a struct whose first element is a pointer to an AVClass.
+ * @param[in] name name of the option to get.
+ * @param[in] search_flags flags passed to av_opt_find2. I.e. if AV_OPT_SEARCH_CHILDREN
+ * is passed here, then the option may be found in a child of obj.
+ * @param[out] out_val value of the option will be written here
+ * @return >=0 on success, a negative error code otherwise
+ */
+/**
+ * @note the returned string will be av_malloc()ed and must be av_free()ed by the caller
+ */
+int av_opt_get         (void *obj, const char *name, int search_flags, uint8_t   **out_val);
+int av_opt_get_int     (void *obj, const char *name, int search_flags, int64_t    *out_val);
+int av_opt_get_double  (void *obj, const char *name, int search_flags, double     *out_val);
+int av_opt_get_q       (void *obj, const char *name, int search_flags, AVRational *out_val);
+int av_opt_get_image_size(void *obj, const char *name, int search_flags, int *w_out, int *h_out);
+int av_opt_get_pixel_fmt (void *obj, const char *name, int search_flags, enum AVPixelFormat *out_fmt);
+int av_opt_get_sample_fmt(void *obj, const char *name, int search_flags, enum AVSampleFormat *out_fmt);
+int av_opt_get_video_rate(void *obj, const char *name, int search_flags, AVRational *out_val);
+int av_opt_get_channel_layout(void *obj, const char *name, int search_flags, int64_t *ch_layout);
+/**
+ * @param[out] out_val The returned dictionary is a copy of the actual value and must
+ * be freed with av_dict_free() by the caller
+ */
+int av_opt_get_dict_val(void *obj, const char *name, int search_flags, AVDictionary **out_val);
+/**
+ * @}
+ */
+/**
+ * Gets a pointer to the requested field in a struct.
+ * This function allows accessing a struct even when its fields are moved or
+ * renamed since the application making the access has been compiled,
+ *
+ * @returns a pointer to the field, it can be cast to the correct type and read
+ *          or written to.
+ */
+void *av_opt_ptr(const AVClass *avclass, void *obj, const char *name);
+
+/**
+ * Free an AVOptionRanges struct and set it to NULL.
+ */
+void av_opt_freep_ranges(AVOptionRanges **ranges);
+
+/**
+ * Get a list of allowed ranges for the given option.
+ *
+ * The returned list may depend on other fields in obj like for example profile.
+ *
+ * @param flags is a bitmask of flags, undefined flags should not be set and should be ignored
+ *              AV_OPT_SEARCH_FAKE_OBJ indicates that the obj is a double pointer to a AVClass instead of a full instance
+ *              AV_OPT_MULTI_COMPONENT_RANGE indicates that function may return more than one component, @see AVOptionRanges
+ *
+ * The result must be freed with av_opt_freep_ranges.
+ *
+ * @return number of compontents returned on success, a negative errro code otherwise
+ */
+int av_opt_query_ranges(AVOptionRanges **, void *obj, const char *key, int flags);
+
+/**
+ * Copy options from src object into dest object.
+ *
+ * Options that require memory allocation (e.g. string or binary) are malloc'ed in dest object.
+ * Original memory allocated for such options is freed unless both src and dest options points to the same memory.
+ *
+ * @param dest Object to copy from
+ * @param src  Object to copy into
+ * @return 0 on success, negative on error
+ */
+int av_opt_copy(void *dest, const void *src);
+
+/**
+ * Get a default list of allowed ranges for the given option.
+ *
+ * This list is constructed without using the AVClass.query_ranges() callback
+ * and can be used as fallback from within the callback.
+ *
+ * @param flags is a bitmask of flags, undefined flags should not be set and should be ignored
+ *              AV_OPT_SEARCH_FAKE_OBJ indicates that the obj is a double pointer to a AVClass instead of a full instance
+ *              AV_OPT_MULTI_COMPONENT_RANGE indicates that function may return more than one component, @see AVOptionRanges
+ *
+ * The result must be freed with av_opt_free_ranges.
+ *
+ * @return number of compontents returned on success, a negative errro code otherwise
+ */
+int av_opt_query_ranges_default(AVOptionRanges **, void *obj, const char *key, int flags);
+
+/**
+ * Check if given option is set to its default value.
+ *
+ * Options o must belong to the obj. This function must not be called to check child's options state.
+ * @see av_opt_is_set_to_default_by_name().
+ *
+ * @param obj  AVClass object to check option on
+ * @param o    option to be checked
+ * @return     >0 when option is set to its default,
+ *              0 when option is not set its default,
+ *             <0 on error
+ */
+int av_opt_is_set_to_default(void *obj, const AVOption *o);
+
+/**
+ * Check if given option is set to its default value.
+ *
+ * @param obj          AVClass object to check option on
+ * @param name         option name
+ * @param search_flags combination of AV_OPT_SEARCH_*
+ * @return             >0 when option is set to its default,
+ *                     0 when option is not set its default,
+ *                     <0 on error
+ */
+int av_opt_is_set_to_default_by_name(void *obj, const char *name, int search_flags);
+
+
+#define AV_OPT_SERIALIZE_SKIP_DEFAULTS              0x00000001  ///< Serialize options that are not set to default values only.
+#define AV_OPT_SERIALIZE_OPT_FLAGS_EXACT            0x00000002  ///< Serialize options that exactly match opt_flags only.
+
+/**
+ * Serialize object's options.
+ *
+ * Create a string containing object's serialized options.
+ * Such string may be passed back to av_opt_set_from_string() in order to restore option values.
+ * A key/value or pairs separator occurring in the serialized value or
+ * name string are escaped through the av_escape() function.
+ *
+ * @param[in]  obj           AVClass object to serialize
+ * @param[in]  opt_flags     serialize options with all the specified flags set (AV_OPT_FLAG)
+ * @param[in]  flags         combination of AV_OPT_SERIALIZE_* flags
+ * @param[out] buffer        Pointer to buffer that will be allocated with string containg serialized options.
+ *                           Buffer must be freed by the caller when is no longer needed.
+ * @param[in]  key_val_sep   character used to separate key from value
+ * @param[in]  pairs_sep     character used to separate two pairs from each other
+ * @return                   >= 0 on success, negative on error
+ * @warning Separators cannot be neither '\\' nor '\0'. They also cannot be the same.
+ */
+int av_opt_serialize(void *obj, int opt_flags, int flags, char **buffer,
+                     const char key_val_sep, const char pairs_sep);
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_OPT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/parseutils.h b/3rdparty/include/ffmpeg/libavutil/parseutils.h
new file mode 100644
index 0000000..e66d24b
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/parseutils.h
@@ -0,0 +1,193 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_PARSEUTILS_H
+#define AVUTIL_PARSEUTILS_H
+
+#include <time.h>
+
+#include "rational.h"
+
+/**
+ * @file
+ * misc parsing utilities
+ */
+
+/**
+ * Parse str and store the parsed ratio in q.
+ *
+ * Note that a ratio with infinite (1/0) or negative value is
+ * considered valid, so you should check on the returned value if you
+ * want to exclude those values.
+ *
+ * The undefined value can be expressed using the "0:0" string.
+ *
+ * @param[in,out] q pointer to the AVRational which will contain the ratio
+ * @param[in] str the string to parse: it has to be a string in the format
+ * num:den, a float number or an expression
+ * @param[in] max the maximum allowed numerator and denominator
+ * @param[in] log_offset log level offset which is applied to the log
+ * level of log_ctx
+ * @param[in] log_ctx parent logging context
+ * @return >= 0 on success, a negative error code otherwise
+ */
+int av_parse_ratio(AVRational *q, const char *str, int max,
+                   int log_offset, void *log_ctx);
+
+#define av_parse_ratio_quiet(rate, str, max) \
+    av_parse_ratio(rate, str, max, AV_LOG_MAX_OFFSET, NULL)
+
+/**
+ * Parse str and put in width_ptr and height_ptr the detected values.
+ *
+ * @param[in,out] width_ptr pointer to the variable which will contain the detected
+ * width value
+ * @param[in,out] height_ptr pointer to the variable which will contain the detected
+ * height value
+ * @param[in] str the string to parse: it has to be a string in the format
+ * width x height or a valid video size abbreviation.
+ * @return >= 0 on success, a negative error code otherwise
+ */
+int av_parse_video_size(int *width_ptr, int *height_ptr, const char *str);
+
+/**
+ * Parse str and store the detected values in *rate.
+ *
+ * @param[in,out] rate pointer to the AVRational which will contain the detected
+ * frame rate
+ * @param[in] str the string to parse: it has to be a string in the format
+ * rate_num / rate_den, a float number or a valid video rate abbreviation
+ * @return >= 0 on success, a negative error code otherwise
+ */
+int av_parse_video_rate(AVRational *rate, const char *str);
+
+/**
+ * Put the RGBA values that correspond to color_string in rgba_color.
+ *
+ * @param color_string a string specifying a color. It can be the name of
+ * a color (case insensitive match) or a [0x|#]RRGGBB[AA] sequence,
+ * possibly followed by "@" and a string representing the alpha
+ * component.
+ * The alpha component may be a string composed by "0x" followed by an
+ * hexadecimal number or a decimal number between 0.0 and 1.0, which
+ * represents the opacity value (0x00/0.0 means completely transparent,
+ * 0xff/1.0 completely opaque).
+ * If the alpha component is not specified then 0xff is assumed.
+ * The string "random" will result in a random color.
+ * @param slen length of the initial part of color_string containing the
+ * color. It can be set to -1 if color_string is a null terminated string
+ * containing nothing else than the color.
+ * @return >= 0 in case of success, a negative value in case of
+ * failure (for example if color_string cannot be parsed).
+ */
+int av_parse_color(uint8_t *rgba_color, const char *color_string, int slen,
+                   void *log_ctx);
+
+/**
+ * Get the name of a color from the internal table of hard-coded named
+ * colors.
+ *
+ * This function is meant to enumerate the color names recognized by
+ * av_parse_color().
+ *
+ * @param color_idx index of the requested color, starting from 0
+ * @param rgbp      if not NULL, will point to a 3-elements array with the color value in RGB
+ * @return the color name string or NULL if color_idx is not in the array
+ */
+const char *av_get_known_color_name(int color_idx, const uint8_t **rgb);
+
+/**
+ * Parse timestr and return in *time a corresponding number of
+ * microseconds.
+ *
+ * @param timeval puts here the number of microseconds corresponding
+ * to the string in timestr. If the string represents a duration, it
+ * is the number of microseconds contained in the time interval.  If
+ * the string is a date, is the number of microseconds since 1st of
+ * January, 1970 up to the time of the parsed date.  If timestr cannot
+ * be successfully parsed, set *time to INT64_MIN.
+
+ * @param timestr a string representing a date or a duration.
+ * - If a date the syntax is:
+ * @code
+ * [{YYYY-MM-DD|YYYYMMDD}[T|t| ]]{{HH:MM:SS[.m...]]]}|{HHMMSS[.m...]]]}}[Z]
+ * now
+ * @endcode
+ * If the value is "now" it takes the current time.
+ * Time is local time unless Z is appended, in which case it is
+ * interpreted as UTC.
+ * If the year-month-day part is not specified it takes the current
+ * year-month-day.
+ * - If a duration the syntax is:
+ * @code
+ * [-][HH:]MM:SS[.m...]
+ * [-]S+[.m...]
+ * @endcode
+ * @param duration flag which tells how to interpret timestr, if not
+ * zero timestr is interpreted as a duration, otherwise as a date
+ * @return >= 0 in case of success, a negative value corresponding to an
+ * AVERROR code otherwise
+ */
+int av_parse_time(int64_t *timeval, const char *timestr, int duration);
+
+/**
+ * Attempt to find a specific tag in a URL.
+ *
+ * syntax: '?tag1=val1&tag2=val2...'. Little URL decoding is done.
+ * Return 1 if found.
+ */
+int av_find_info_tag(char *arg, int arg_size, const char *tag1, const char *info);
+
+/**
+ * Simplified version of strptime
+ *
+ * Parse the input string p according to the format string fmt and
+ * store its results in the structure dt.
+ * This implementation supports only a subset of the formats supported
+ * by the standard strptime().
+ *
+ * The supported input field descriptors are listed below.
+ * - %H: the hour as a decimal number, using a 24-hour clock, in the
+ *   range '00' through '23'
+ * - %J: hours as a decimal number, in the range '0' through INT_MAX
+ * - %M: the minute as a decimal number, using a 24-hour clock, in the
+ *   range '00' through '59'
+ * - %S: the second as a decimal number, using a 24-hour clock, in the
+ *   range '00' through '59'
+ * - %Y: the year as a decimal number, using the Gregorian calendar
+ * - %m: the month as a decimal number, in the range '1' through '12'
+ * - %d: the day of the month as a decimal number, in the range '1'
+ *   through '31'
+ * - %T: alias for '%H:%M:%S'
+ * - %%: a literal '%'
+ *
+ * @return a pointer to the first character not processed in this function
+ *         call. In case the input string contains more characters than
+ *         required by the format string the return value points right after
+ *         the last consumed input character. In case the whole input string
+ *         is consumed the return value points to the null byte at the end of
+ *         the string. On failure NULL is returned.
+ */
+char *av_small_strptime(const char *p, const char *fmt, struct tm *dt);
+
+/**
+ * Convert the decomposed UTC time in tm to a time_t value.
+ */
+time_t av_timegm(struct tm *tm);
+
+#endif /* AVUTIL_PARSEUTILS_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/pixdesc.h b/3rdparty/include/ffmpeg/libavutil/pixdesc.h
new file mode 100644
index 0000000..a6056fe
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/pixdesc.h
@@ -0,0 +1,394 @@
+/*
+ * pixel format descriptor
+ * Copyright (c) 2009 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_PIXDESC_H
+#define AVUTIL_PIXDESC_H
+
+#include <inttypes.h>
+
+#include "attributes.h"
+#include "pixfmt.h"
+#include "version.h"
+
+typedef struct AVComponentDescriptor {
+    /**
+     * Which of the 4 planes contains the component.
+     */
+    int plane;
+
+    /**
+     * Number of elements between 2 horizontally consecutive pixels.
+     * Elements are bits for bitstream formats, bytes otherwise.
+     */
+    int step;
+
+    /**
+     * Number of elements before the component of the first pixel.
+     * Elements are bits for bitstream formats, bytes otherwise.
+     */
+    int offset;
+
+    /**
+     * Number of least significant bits that must be shifted away
+     * to get the value.
+     */
+    int shift;
+
+    /**
+     * Number of bits in the component.
+     */
+    int depth;
+
+#if FF_API_PLUS1_MINUS1
+    /** deprecated, use step instead */
+    attribute_deprecated int step_minus1;
+
+    /** deprecated, use depth instead */
+    attribute_deprecated int depth_minus1;
+
+    /** deprecated, use offset instead */
+    attribute_deprecated int offset_plus1;
+#endif
+} AVComponentDescriptor;
+
+/**
+ * Descriptor that unambiguously describes how the bits of a pixel are
+ * stored in the up to 4 data planes of an image. It also stores the
+ * subsampling factors and number of components.
+ *
+ * @note This is separate of the colorspace (RGB, YCbCr, YPbPr, JPEG-style YUV
+ *       and all the YUV variants) AVPixFmtDescriptor just stores how values
+ *       are stored not what these values represent.
+ */
+typedef struct AVPixFmtDescriptor {
+    const char *name;
+    uint8_t nb_components;  ///< The number of components each pixel has, (1-4)
+
+    /**
+     * Amount to shift the luma width right to find the chroma width.
+     * For YV12 this is 1 for example.
+     * chroma_width = -((-luma_width) >> log2_chroma_w)
+     * The note above is needed to ensure rounding up.
+     * This value only refers to the chroma components.
+     */
+    uint8_t log2_chroma_w;  ///< chroma_width = -((-luma_width )>>log2_chroma_w)
+
+    /**
+     * Amount to shift the luma height right to find the chroma height.
+     * For YV12 this is 1 for example.
+     * chroma_height= -((-luma_height) >> log2_chroma_h)
+     * The note above is needed to ensure rounding up.
+     * This value only refers to the chroma components.
+     */
+    uint8_t log2_chroma_h;
+
+    /**
+     * Combination of AV_PIX_FMT_FLAG_... flags.
+     */
+    uint64_t flags;
+
+    /**
+     * Parameters that describe how pixels are packed.
+     * If the format has 1 or 2 components, then luma is 0.
+     * If the format has 3 or 4 components:
+     *   if the RGB flag is set then 0 is red, 1 is green and 2 is blue;
+     *   otherwise 0 is luma, 1 is chroma-U and 2 is chroma-V.
+     *
+     * If present, the Alpha channel is always the last component.
+     */
+    AVComponentDescriptor comp[4];
+
+    /**
+     * Alternative comma-separated names.
+     */
+    const char *alias;
+} AVPixFmtDescriptor;
+
+/**
+ * Pixel format is big-endian.
+ */
+#define AV_PIX_FMT_FLAG_BE           (1 << 0)
+/**
+ * Pixel format has a palette in data[1], values are indexes in this palette.
+ */
+#define AV_PIX_FMT_FLAG_PAL          (1 << 1)
+/**
+ * All values of a component are bit-wise packed end to end.
+ */
+#define AV_PIX_FMT_FLAG_BITSTREAM    (1 << 2)
+/**
+ * Pixel format is an HW accelerated format.
+ */
+#define AV_PIX_FMT_FLAG_HWACCEL      (1 << 3)
+/**
+ * At least one pixel component is not in the first data plane.
+ */
+#define AV_PIX_FMT_FLAG_PLANAR       (1 << 4)
+/**
+ * The pixel format contains RGB-like data (as opposed to YUV/grayscale).
+ */
+#define AV_PIX_FMT_FLAG_RGB          (1 << 5)
+
+/**
+ * The pixel format is "pseudo-paletted". This means that it contains a
+ * fixed palette in the 2nd plane but the palette is fixed/constant for each
+ * PIX_FMT. This allows interpreting the data as if it was PAL8, which can
+ * in some cases be simpler. Or the data can be interpreted purely based on
+ * the pixel format without using the palette.
+ * An example of a pseudo-paletted format is AV_PIX_FMT_GRAY8
+ */
+#define AV_PIX_FMT_FLAG_PSEUDOPAL    (1 << 6)
+
+/**
+ * The pixel format has an alpha channel. This is set on all formats that
+ * support alpha in some way. The exception is AV_PIX_FMT_PAL8, which can
+ * carry alpha as part of the palette. Details are explained in the
+ * AVPixelFormat enum, and are also encoded in the corresponding
+ * AVPixFmtDescriptor.
+ *
+ * The alpha is always straight, never pre-multiplied.
+ *
+ * If a codec or a filter does not support alpha, it should set all alpha to
+ * opaque, or use the equivalent pixel formats without alpha component, e.g.
+ * AV_PIX_FMT_RGB0 (or AV_PIX_FMT_RGB24 etc.) instead of AV_PIX_FMT_RGBA.
+ */
+#define AV_PIX_FMT_FLAG_ALPHA        (1 << 7)
+
+/**
+ * Read a line from an image, and write the values of the
+ * pixel format component c to dst.
+ *
+ * @param data the array containing the pointers to the planes of the image
+ * @param linesize the array containing the linesizes of the image
+ * @param desc the pixel format descriptor for the image
+ * @param x the horizontal coordinate of the first pixel to read
+ * @param y the vertical coordinate of the first pixel to read
+ * @param w the width of the line to read, that is the number of
+ * values to write to dst
+ * @param read_pal_component if not zero and the format is a paletted
+ * format writes the values corresponding to the palette
+ * component c in data[1] to dst, rather than the palette indexes in
+ * data[0]. The behavior is undefined if the format is not paletted.
+ */
+void av_read_image_line(uint16_t *dst, const uint8_t *data[4],
+                        const int linesize[4], const AVPixFmtDescriptor *desc,
+                        int x, int y, int c, int w, int read_pal_component);
+
+/**
+ * Write the values from src to the pixel format component c of an
+ * image line.
+ *
+ * @param src array containing the values to write
+ * @param data the array containing the pointers to the planes of the
+ * image to write into. It is supposed to be zeroed.
+ * @param linesize the array containing the linesizes of the image
+ * @param desc the pixel format descriptor for the image
+ * @param x the horizontal coordinate of the first pixel to write
+ * @param y the vertical coordinate of the first pixel to write
+ * @param w the width of the line to write, that is the number of
+ * values to write to the image line
+ */
+void av_write_image_line(const uint16_t *src, uint8_t *data[4],
+                         const int linesize[4], const AVPixFmtDescriptor *desc,
+                         int x, int y, int c, int w);
+
+/**
+ * Return the pixel format corresponding to name.
+ *
+ * If there is no pixel format with name name, then looks for a
+ * pixel format with the name corresponding to the native endian
+ * format of name.
+ * For example in a little-endian system, first looks for "gray16",
+ * then for "gray16le".
+ *
+ * Finally if no pixel format has been found, returns AV_PIX_FMT_NONE.
+ */
+enum AVPixelFormat av_get_pix_fmt(const char *name);
+
+/**
+ * Return the short name for a pixel format, NULL in case pix_fmt is
+ * unknown.
+ *
+ * @see av_get_pix_fmt(), av_get_pix_fmt_string()
+ */
+const char *av_get_pix_fmt_name(enum AVPixelFormat pix_fmt);
+
+/**
+ * Print in buf the string corresponding to the pixel format with
+ * number pix_fmt, or a header if pix_fmt is negative.
+ *
+ * @param buf the buffer where to write the string
+ * @param buf_size the size of buf
+ * @param pix_fmt the number of the pixel format to print the
+ * corresponding info string, or a negative value to print the
+ * corresponding header.
+ */
+char *av_get_pix_fmt_string(char *buf, int buf_size,
+                            enum AVPixelFormat pix_fmt);
+
+/**
+ * Return the number of bits per pixel used by the pixel format
+ * described by pixdesc. Note that this is not the same as the number
+ * of bits per sample.
+ *
+ * The returned number of bits refers to the number of bits actually
+ * used for storing the pixel information, that is padding bits are
+ * not counted.
+ */
+int av_get_bits_per_pixel(const AVPixFmtDescriptor *pixdesc);
+
+/**
+ * Return the number of bits per pixel for the pixel format
+ * described by pixdesc, including any padding or unused bits.
+ */
+int av_get_padded_bits_per_pixel(const AVPixFmtDescriptor *pixdesc);
+
+/**
+ * @return a pixel format descriptor for provided pixel format or NULL if
+ * this pixel format is unknown.
+ */
+const AVPixFmtDescriptor *av_pix_fmt_desc_get(enum AVPixelFormat pix_fmt);
+
+/**
+ * Iterate over all pixel format descriptors known to libavutil.
+ *
+ * @param prev previous descriptor. NULL to get the first descriptor.
+ *
+ * @return next descriptor or NULL after the last descriptor
+ */
+const AVPixFmtDescriptor *av_pix_fmt_desc_next(const AVPixFmtDescriptor *prev);
+
+/**
+ * @return an AVPixelFormat id described by desc, or AV_PIX_FMT_NONE if desc
+ * is not a valid pointer to a pixel format descriptor.
+ */
+enum AVPixelFormat av_pix_fmt_desc_get_id(const AVPixFmtDescriptor *desc);
+
+/**
+ * Utility function to access log2_chroma_w log2_chroma_h from
+ * the pixel format AVPixFmtDescriptor.
+ *
+ * See av_get_chroma_sub_sample() for a function that asserts a
+ * valid pixel format instead of returning an error code.
+ * Its recommended that you use avcodec_get_chroma_sub_sample unless
+ * you do check the return code!
+ *
+ * @param[in]  pix_fmt the pixel format
+ * @param[out] h_shift store log2_chroma_w
+ * @param[out] v_shift store log2_chroma_h
+ *
+ * @return 0 on success, AVERROR(ENOSYS) on invalid or unknown pixel format
+ */
+int av_pix_fmt_get_chroma_sub_sample(enum AVPixelFormat pix_fmt,
+                                     int *h_shift, int *v_shift);
+
+/**
+ * @return number of planes in pix_fmt, a negative AVERROR if pix_fmt is not a
+ * valid pixel format.
+ */
+int av_pix_fmt_count_planes(enum AVPixelFormat pix_fmt);
+
+/**
+ * Utility function to swap the endianness of a pixel format.
+ *
+ * @param[in]  pix_fmt the pixel format
+ *
+ * @return pixel format with swapped endianness if it exists,
+ * otherwise AV_PIX_FMT_NONE
+ */
+enum AVPixelFormat av_pix_fmt_swap_endianness(enum AVPixelFormat pix_fmt);
+
+#define FF_LOSS_RESOLUTION  0x0001 /**< loss due to resolution change */
+#define FF_LOSS_DEPTH       0x0002 /**< loss due to color depth change */
+#define FF_LOSS_COLORSPACE  0x0004 /**< loss due to color space conversion */
+#define FF_LOSS_ALPHA       0x0008 /**< loss of alpha bits */
+#define FF_LOSS_COLORQUANT  0x0010 /**< loss due to color quantization */
+#define FF_LOSS_CHROMA      0x0020 /**< loss of chroma (e.g. RGB to gray conversion) */
+
+/**
+ * Compute what kind of losses will occur when converting from one specific
+ * pixel format to another.
+ * When converting from one pixel format to another, information loss may occur.
+ * For example, when converting from RGB24 to GRAY, the color information will
+ * be lost. Similarly, other losses occur when converting from some formats to
+ * other formats. These losses can involve loss of chroma, but also loss of
+ * resolution, loss of color depth, loss due to the color space conversion, loss
+ * of the alpha bits or loss due to color quantization.
+ * av_get_fix_fmt_loss() informs you about the various types of losses
+ * which will occur when converting from one pixel format to another.
+ *
+ * @param[in] dst_pix_fmt destination pixel format
+ * @param[in] src_pix_fmt source pixel format
+ * @param[in] has_alpha Whether the source pixel format alpha channel is used.
+ * @return Combination of flags informing you what kind of losses will occur
+ * (maximum loss for an invalid dst_pix_fmt).
+ */
+int av_get_pix_fmt_loss(enum AVPixelFormat dst_pix_fmt,
+                        enum AVPixelFormat src_pix_fmt,
+                        int has_alpha);
+
+/**
+ * Compute what kind of losses will occur when converting from one specific
+ * pixel format to another.
+ * When converting from one pixel format to another, information loss may occur.
+ * For example, when converting from RGB24 to GRAY, the color information will
+ * be lost. Similarly, other losses occur when converting from some formats to
+ * other formats. These losses can involve loss of chroma, but also loss of
+ * resolution, loss of color depth, loss due to the color space conversion, loss
+ * of the alpha bits or loss due to color quantization.
+ * av_get_fix_fmt_loss() informs you about the various types of losses
+ * which will occur when converting from one pixel format to another.
+ *
+ * @param[in] dst_pix_fmt destination pixel format
+ * @param[in] src_pix_fmt source pixel format
+ * @param[in] has_alpha Whether the source pixel format alpha channel is used.
+ * @return Combination of flags informing you what kind of losses will occur
+ * (maximum loss for an invalid dst_pix_fmt).
+ */
+enum AVPixelFormat av_find_best_pix_fmt_of_2(enum AVPixelFormat dst_pix_fmt1, enum AVPixelFormat dst_pix_fmt2,
+                                             enum AVPixelFormat src_pix_fmt, int has_alpha, int *loss_ptr);
+
+/**
+ * @return the name for provided color range or NULL if unknown.
+ */
+const char *av_color_range_name(enum AVColorRange range);
+
+/**
+ * @return the name for provided color primaries or NULL if unknown.
+ */
+const char *av_color_primaries_name(enum AVColorPrimaries primaries);
+
+/**
+ * @return the name for provided color transfer or NULL if unknown.
+ */
+const char *av_color_transfer_name(enum AVColorTransferCharacteristic transfer);
+
+/**
+ * @return the name for provided color space or NULL if unknown.
+ */
+const char *av_color_space_name(enum AVColorSpace space);
+
+/**
+ * @return the name for provided chroma location or NULL if unknown.
+ */
+const char *av_chroma_location_name(enum AVChromaLocation location);
+
+#endif /* AVUTIL_PIXDESC_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/pixelutils.h b/3rdparty/include/ffmpeg/libavutil/pixelutils.h
new file mode 100644
index 0000000..a8dbc15
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/pixelutils.h
@@ -0,0 +1,52 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_PIXELUTILS_H
+#define AVUTIL_PIXELUTILS_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include "common.h"
+
+/**
+ * Sum of abs(src1[x] - src2[x])
+ */
+typedef int (*av_pixelutils_sad_fn)(const uint8_t *src1, ptrdiff_t stride1,
+                                    const uint8_t *src2, ptrdiff_t stride2);
+
+/**
+ * Get a potentially optimized pointer to a Sum-of-absolute-differences
+ * function (see the av_pixelutils_sad_fn prototype).
+ *
+ * @param w_bits  1<<w_bits is the requested width of the block size
+ * @param h_bits  1<<h_bits is the requested height of the block size
+ * @param aligned If set to 2, the returned sad function will assume src1 and
+ *                src2 addresses are aligned on the block size.
+ *                If set to 1, the returned sad function will assume src1 is
+ *                aligned on the block size.
+ *                If set to 0, the returned sad function assume no particular
+ *                alignment.
+ * @param log_ctx context used for logging, can be NULL
+ *
+ * @return a pointer to the SAD function or NULL in case of error (because of
+ *         invalid parameters)
+ */
+av_pixelutils_sad_fn av_pixelutils_get_sad_fn(int w_bits, int h_bits,
+                                              int aligned, void *log_ctx);
+
+#endif /* AVUTIL_PIXELUTILS_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/pixfmt.h b/3rdparty/include/ffmpeg/libavutil/pixfmt.h
new file mode 100644
index 0000000..32044f0
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/pixfmt.h
@@ -0,0 +1,469 @@
+/*
+ * copyright (c) 2006 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_PIXFMT_H
+#define AVUTIL_PIXFMT_H
+
+/**
+ * @file
+ * pixel format definitions
+ *
+ */
+
+#include "libavutil/avconfig.h"
+#include "version.h"
+
+#define AVPALETTE_SIZE 1024
+#define AVPALETTE_COUNT 256
+
+/**
+ * Pixel format.
+ *
+ * @note
+ * AV_PIX_FMT_RGB32 is handled in an endian-specific manner. An RGBA
+ * color is put together as:
+ *  (A << 24) | (R << 16) | (G << 8) | B
+ * This is stored as BGRA on little-endian CPU architectures and ARGB on
+ * big-endian CPUs.
+ *
+ * @par
+ * When the pixel format is palettized RGB32 (AV_PIX_FMT_PAL8), the palettized
+ * image data is stored in AVFrame.data[0]. The palette is transported in
+ * AVFrame.data[1], is 1024 bytes long (256 4-byte entries) and is
+ * formatted the same as in AV_PIX_FMT_RGB32 described above (i.e., it is
+ * also endian-specific). Note also that the individual RGB32 palette
+ * components stored in AVFrame.data[1] should be in the range 0..255.
+ * This is important as many custom PAL8 video codecs that were designed
+ * to run on the IBM VGA graphics adapter use 6-bit palette components.
+ *
+ * @par
+ * For all the 8bit per pixel formats, an RGB32 palette is in data[1] like
+ * for pal8. This palette is filled in automatically by the function
+ * allocating the picture.
+ */
+enum AVPixelFormat {
+    AV_PIX_FMT_NONE = -1,
+    AV_PIX_FMT_YUV420P,   ///< planar YUV 4:2:0, 12bpp, (1 Cr & Cb sample per 2x2 Y samples)
+    AV_PIX_FMT_YUYV422,   ///< packed YUV 4:2:2, 16bpp, Y0 Cb Y1 Cr
+    AV_PIX_FMT_RGB24,     ///< packed RGB 8:8:8, 24bpp, RGBRGB...
+    AV_PIX_FMT_BGR24,     ///< packed RGB 8:8:8, 24bpp, BGRBGR...
+    AV_PIX_FMT_YUV422P,   ///< planar YUV 4:2:2, 16bpp, (1 Cr & Cb sample per 2x1 Y samples)
+    AV_PIX_FMT_YUV444P,   ///< planar YUV 4:4:4, 24bpp, (1 Cr & Cb sample per 1x1 Y samples)
+    AV_PIX_FMT_YUV410P,   ///< planar YUV 4:1:0,  9bpp, (1 Cr & Cb sample per 4x4 Y samples)
+    AV_PIX_FMT_YUV411P,   ///< planar YUV 4:1:1, 12bpp, (1 Cr & Cb sample per 4x1 Y samples)
+    AV_PIX_FMT_GRAY8,     ///<        Y        ,  8bpp
+    AV_PIX_FMT_MONOWHITE, ///<        Y        ,  1bpp, 0 is white, 1 is black, in each byte pixels are ordered from the msb to the lsb
+    AV_PIX_FMT_MONOBLACK, ///<        Y        ,  1bpp, 0 is black, 1 is white, in each byte pixels are ordered from the msb to the lsb
+    AV_PIX_FMT_PAL8,      ///< 8 bit with AV_PIX_FMT_RGB32 palette
+    AV_PIX_FMT_YUVJ420P,  ///< planar YUV 4:2:0, 12bpp, full scale (JPEG), deprecated in favor of AV_PIX_FMT_YUV420P and setting color_range
+    AV_PIX_FMT_YUVJ422P,  ///< planar YUV 4:2:2, 16bpp, full scale (JPEG), deprecated in favor of AV_PIX_FMT_YUV422P and setting color_range
+    AV_PIX_FMT_YUVJ444P,  ///< planar YUV 4:4:4, 24bpp, full scale (JPEG), deprecated in favor of AV_PIX_FMT_YUV444P and setting color_range
+#if FF_API_XVMC
+    AV_PIX_FMT_XVMC_MPEG2_MC,///< XVideo Motion Acceleration via common packet passing
+    AV_PIX_FMT_XVMC_MPEG2_IDCT,
+#define AV_PIX_FMT_XVMC AV_PIX_FMT_XVMC_MPEG2_IDCT
+#endif /* FF_API_XVMC */
+    AV_PIX_FMT_UYVY422,   ///< packed YUV 4:2:2, 16bpp, Cb Y0 Cr Y1
+    AV_PIX_FMT_UYYVYY411, ///< packed YUV 4:1:1, 12bpp, Cb Y0 Y1 Cr Y2 Y3
+    AV_PIX_FMT_BGR8,      ///< packed RGB 3:3:2,  8bpp, (msb)2B 3G 3R(lsb)
+    AV_PIX_FMT_BGR4,      ///< packed RGB 1:2:1 bitstream,  4bpp, (msb)1B 2G 1R(lsb), a byte contains two pixels, the first pixel in the byte is the one composed by the 4 msb bits
+    AV_PIX_FMT_BGR4_BYTE, ///< packed RGB 1:2:1,  8bpp, (msb)1B 2G 1R(lsb)
+    AV_PIX_FMT_RGB8,      ///< packed RGB 3:3:2,  8bpp, (msb)2R 3G 3B(lsb)
+    AV_PIX_FMT_RGB4,      ///< packed RGB 1:2:1 bitstream,  4bpp, (msb)1R 2G 1B(lsb), a byte contains two pixels, the first pixel in the byte is the one composed by the 4 msb bits
+    AV_PIX_FMT_RGB4_BYTE, ///< packed RGB 1:2:1,  8bpp, (msb)1R 2G 1B(lsb)
+    AV_PIX_FMT_NV12,      ///< planar YUV 4:2:0, 12bpp, 1 plane for Y and 1 plane for the UV components, which are interleaved (first byte U and the following byte V)
+    AV_PIX_FMT_NV21,      ///< as above, but U and V bytes are swapped
+
+    AV_PIX_FMT_ARGB,      ///< packed ARGB 8:8:8:8, 32bpp, ARGBARGB...
+    AV_PIX_FMT_RGBA,      ///< packed RGBA 8:8:8:8, 32bpp, RGBARGBA...
+    AV_PIX_FMT_ABGR,      ///< packed ABGR 8:8:8:8, 32bpp, ABGRABGR...
+    AV_PIX_FMT_BGRA,      ///< packed BGRA 8:8:8:8, 32bpp, BGRABGRA...
+
+    AV_PIX_FMT_GRAY16BE,  ///<        Y        , 16bpp, big-endian
+    AV_PIX_FMT_GRAY16LE,  ///<        Y        , 16bpp, little-endian
+    AV_PIX_FMT_YUV440P,   ///< planar YUV 4:4:0 (1 Cr & Cb sample per 1x2 Y samples)
+    AV_PIX_FMT_YUVJ440P,  ///< planar YUV 4:4:0 full scale (JPEG), deprecated in favor of AV_PIX_FMT_YUV440P and setting color_range
+    AV_PIX_FMT_YUVA420P,  ///< planar YUV 4:2:0, 20bpp, (1 Cr & Cb sample per 2x2 Y & A samples)
+#if FF_API_VDPAU
+    AV_PIX_FMT_VDPAU_H264,///< H.264 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+    AV_PIX_FMT_VDPAU_MPEG1,///< MPEG-1 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+    AV_PIX_FMT_VDPAU_MPEG2,///< MPEG-2 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+    AV_PIX_FMT_VDPAU_WMV3,///< WMV3 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+    AV_PIX_FMT_VDPAU_VC1, ///< VC-1 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+#endif
+    AV_PIX_FMT_RGB48BE,   ///< packed RGB 16:16:16, 48bpp, 16R, 16G, 16B, the 2-byte value for each R/G/B component is stored as big-endian
+    AV_PIX_FMT_RGB48LE,   ///< packed RGB 16:16:16, 48bpp, 16R, 16G, 16B, the 2-byte value for each R/G/B component is stored as little-endian
+
+    AV_PIX_FMT_RGB565BE,  ///< packed RGB 5:6:5, 16bpp, (msb)   5R 6G 5B(lsb), big-endian
+    AV_PIX_FMT_RGB565LE,  ///< packed RGB 5:6:5, 16bpp, (msb)   5R 6G 5B(lsb), little-endian
+    AV_PIX_FMT_RGB555BE,  ///< packed RGB 5:5:5, 16bpp, (msb)1X 5R 5G 5B(lsb), big-endian   , X=unused/undefined
+    AV_PIX_FMT_RGB555LE,  ///< packed RGB 5:5:5, 16bpp, (msb)1X 5R 5G 5B(lsb), little-endian, X=unused/undefined
+
+    AV_PIX_FMT_BGR565BE,  ///< packed BGR 5:6:5, 16bpp, (msb)   5B 6G 5R(lsb), big-endian
+    AV_PIX_FMT_BGR565LE,  ///< packed BGR 5:6:5, 16bpp, (msb)   5B 6G 5R(lsb), little-endian
+    AV_PIX_FMT_BGR555BE,  ///< packed BGR 5:5:5, 16bpp, (msb)1X 5B 5G 5R(lsb), big-endian   , X=unused/undefined
+    AV_PIX_FMT_BGR555LE,  ///< packed BGR 5:5:5, 16bpp, (msb)1X 5B 5G 5R(lsb), little-endian, X=unused/undefined
+
+#if FF_API_VAAPI
+    /** @name Deprecated pixel formats */
+    /**@{*/
+    AV_PIX_FMT_VAAPI_MOCO, ///< HW acceleration through VA API at motion compensation entry-point, Picture.data[3] contains a vaapi_render_state struct which contains macroblocks as well as various fields extracted from headers
+    AV_PIX_FMT_VAAPI_IDCT, ///< HW acceleration through VA API at IDCT entry-point, Picture.data[3] contains a vaapi_render_state struct which contains fields extracted from headers
+    AV_PIX_FMT_VAAPI_VLD,  ///< HW decoding through VA API, Picture.data[3] contains a vaapi_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+    /**@}*/
+    AV_PIX_FMT_VAAPI = AV_PIX_FMT_VAAPI_VLD,
+#else
+    /**
+     *  Hardware acceleration through VA-API, data[3] contains a
+     *  VASurfaceID.
+     */
+    AV_PIX_FMT_VAAPI,
+#endif
+
+    AV_PIX_FMT_YUV420P16LE,  ///< planar YUV 4:2:0, 24bpp, (1 Cr & Cb sample per 2x2 Y samples), little-endian
+    AV_PIX_FMT_YUV420P16BE,  ///< planar YUV 4:2:0, 24bpp, (1 Cr & Cb sample per 2x2 Y samples), big-endian
+    AV_PIX_FMT_YUV422P16LE,  ///< planar YUV 4:2:2, 32bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_YUV422P16BE,  ///< planar YUV 4:2:2, 32bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+    AV_PIX_FMT_YUV444P16LE,  ///< planar YUV 4:4:4, 48bpp, (1 Cr & Cb sample per 1x1 Y samples), little-endian
+    AV_PIX_FMT_YUV444P16BE,  ///< planar YUV 4:4:4, 48bpp, (1 Cr & Cb sample per 1x1 Y samples), big-endian
+#if FF_API_VDPAU
+    AV_PIX_FMT_VDPAU_MPEG4,  ///< MPEG4 HW decoding with VDPAU, data[0] contains a vdpau_render_state struct which contains the bitstream of the slices as well as various fields extracted from headers
+#endif
+    AV_PIX_FMT_DXVA2_VLD,    ///< HW decoding through DXVA2, Picture.data[3] contains a LPDIRECT3DSURFACE9 pointer
+
+    AV_PIX_FMT_RGB444LE,  ///< packed RGB 4:4:4, 16bpp, (msb)4X 4R 4G 4B(lsb), little-endian, X=unused/undefined
+    AV_PIX_FMT_RGB444BE,  ///< packed RGB 4:4:4, 16bpp, (msb)4X 4R 4G 4B(lsb), big-endian,    X=unused/undefined
+    AV_PIX_FMT_BGR444LE,  ///< packed BGR 4:4:4, 16bpp, (msb)4X 4B 4G 4R(lsb), little-endian, X=unused/undefined
+    AV_PIX_FMT_BGR444BE,  ///< packed BGR 4:4:4, 16bpp, (msb)4X 4B 4G 4R(lsb), big-endian,    X=unused/undefined
+    AV_PIX_FMT_YA8,       ///< 8bit gray, 8bit alpha
+
+    AV_PIX_FMT_Y400A = AV_PIX_FMT_YA8, ///< alias for AV_PIX_FMT_YA8
+    AV_PIX_FMT_GRAY8A= AV_PIX_FMT_YA8, ///< alias for AV_PIX_FMT_YA8
+
+    AV_PIX_FMT_BGR48BE,   ///< packed RGB 16:16:16, 48bpp, 16B, 16G, 16R, the 2-byte value for each R/G/B component is stored as big-endian
+    AV_PIX_FMT_BGR48LE,   ///< packed RGB 16:16:16, 48bpp, 16B, 16G, 16R, the 2-byte value for each R/G/B component is stored as little-endian
+
+    /**
+     * The following 12 formats have the disadvantage of needing 1 format for each bit depth.
+     * Notice that each 9/10 bits sample is stored in 16 bits with extra padding.
+     * If you want to support multiple bit depths, then using AV_PIX_FMT_YUV420P16* with the bpp stored separately is better.
+     */
+    AV_PIX_FMT_YUV420P9BE, ///< planar YUV 4:2:0, 13.5bpp, (1 Cr & Cb sample per 2x2 Y samples), big-endian
+    AV_PIX_FMT_YUV420P9LE, ///< planar YUV 4:2:0, 13.5bpp, (1 Cr & Cb sample per 2x2 Y samples), little-endian
+    AV_PIX_FMT_YUV420P10BE,///< planar YUV 4:2:0, 15bpp, (1 Cr & Cb sample per 2x2 Y samples), big-endian
+    AV_PIX_FMT_YUV420P10LE,///< planar YUV 4:2:0, 15bpp, (1 Cr & Cb sample per 2x2 Y samples), little-endian
+    AV_PIX_FMT_YUV422P10BE,///< planar YUV 4:2:2, 20bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+    AV_PIX_FMT_YUV422P10LE,///< planar YUV 4:2:2, 20bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_YUV444P9BE, ///< planar YUV 4:4:4, 27bpp, (1 Cr & Cb sample per 1x1 Y samples), big-endian
+    AV_PIX_FMT_YUV444P9LE, ///< planar YUV 4:4:4, 27bpp, (1 Cr & Cb sample per 1x1 Y samples), little-endian
+    AV_PIX_FMT_YUV444P10BE,///< planar YUV 4:4:4, 30bpp, (1 Cr & Cb sample per 1x1 Y samples), big-endian
+    AV_PIX_FMT_YUV444P10LE,///< planar YUV 4:4:4, 30bpp, (1 Cr & Cb sample per 1x1 Y samples), little-endian
+    AV_PIX_FMT_YUV422P9BE, ///< planar YUV 4:2:2, 18bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+    AV_PIX_FMT_YUV422P9LE, ///< planar YUV 4:2:2, 18bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_VDA_VLD,    ///< hardware decoding through VDA
+    AV_PIX_FMT_GBRP,      ///< planar GBR 4:4:4 24bpp
+    AV_PIX_FMT_GBRP9BE,   ///< planar GBR 4:4:4 27bpp, big-endian
+    AV_PIX_FMT_GBRP9LE,   ///< planar GBR 4:4:4 27bpp, little-endian
+    AV_PIX_FMT_GBRP10BE,  ///< planar GBR 4:4:4 30bpp, big-endian
+    AV_PIX_FMT_GBRP10LE,  ///< planar GBR 4:4:4 30bpp, little-endian
+    AV_PIX_FMT_GBRP16BE,  ///< planar GBR 4:4:4 48bpp, big-endian
+    AV_PIX_FMT_GBRP16LE,  ///< planar GBR 4:4:4 48bpp, little-endian
+    AV_PIX_FMT_YUVA422P,  ///< planar YUV 4:2:2 24bpp, (1 Cr & Cb sample per 2x1 Y & A samples)
+    AV_PIX_FMT_YUVA444P,  ///< planar YUV 4:4:4 32bpp, (1 Cr & Cb sample per 1x1 Y & A samples)
+    AV_PIX_FMT_YUVA420P9BE,  ///< planar YUV 4:2:0 22.5bpp, (1 Cr & Cb sample per 2x2 Y & A samples), big-endian
+    AV_PIX_FMT_YUVA420P9LE,  ///< planar YUV 4:2:0 22.5bpp, (1 Cr & Cb sample per 2x2 Y & A samples), little-endian
+    AV_PIX_FMT_YUVA422P9BE,  ///< planar YUV 4:2:2 27bpp, (1 Cr & Cb sample per 2x1 Y & A samples), big-endian
+    AV_PIX_FMT_YUVA422P9LE,  ///< planar YUV 4:2:2 27bpp, (1 Cr & Cb sample per 2x1 Y & A samples), little-endian
+    AV_PIX_FMT_YUVA444P9BE,  ///< planar YUV 4:4:4 36bpp, (1 Cr & Cb sample per 1x1 Y & A samples), big-endian
+    AV_PIX_FMT_YUVA444P9LE,  ///< planar YUV 4:4:4 36bpp, (1 Cr & Cb sample per 1x1 Y & A samples), little-endian
+    AV_PIX_FMT_YUVA420P10BE, ///< planar YUV 4:2:0 25bpp, (1 Cr & Cb sample per 2x2 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA420P10LE, ///< planar YUV 4:2:0 25bpp, (1 Cr & Cb sample per 2x2 Y & A samples, little-endian)
+    AV_PIX_FMT_YUVA422P10BE, ///< planar YUV 4:2:2 30bpp, (1 Cr & Cb sample per 2x1 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA422P10LE, ///< planar YUV 4:2:2 30bpp, (1 Cr & Cb sample per 2x1 Y & A samples, little-endian)
+    AV_PIX_FMT_YUVA444P10BE, ///< planar YUV 4:4:4 40bpp, (1 Cr & Cb sample per 1x1 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA444P10LE, ///< planar YUV 4:4:4 40bpp, (1 Cr & Cb sample per 1x1 Y & A samples, little-endian)
+    AV_PIX_FMT_YUVA420P16BE, ///< planar YUV 4:2:0 40bpp, (1 Cr & Cb sample per 2x2 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA420P16LE, ///< planar YUV 4:2:0 40bpp, (1 Cr & Cb sample per 2x2 Y & A samples, little-endian)
+    AV_PIX_FMT_YUVA422P16BE, ///< planar YUV 4:2:2 48bpp, (1 Cr & Cb sample per 2x1 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA422P16LE, ///< planar YUV 4:2:2 48bpp, (1 Cr & Cb sample per 2x1 Y & A samples, little-endian)
+    AV_PIX_FMT_YUVA444P16BE, ///< planar YUV 4:4:4 64bpp, (1 Cr & Cb sample per 1x1 Y & A samples, big-endian)
+    AV_PIX_FMT_YUVA444P16LE, ///< planar YUV 4:4:4 64bpp, (1 Cr & Cb sample per 1x1 Y & A samples, little-endian)
+
+    AV_PIX_FMT_VDPAU,     ///< HW acceleration through VDPAU, Picture.data[3] contains a VdpVideoSurface
+
+    AV_PIX_FMT_XYZ12LE,      ///< packed XYZ 4:4:4, 36 bpp, (msb) 12X, 12Y, 12Z (lsb), the 2-byte value for each X/Y/Z is stored as little-endian, the 4 lower bits are set to 0
+    AV_PIX_FMT_XYZ12BE,      ///< packed XYZ 4:4:4, 36 bpp, (msb) 12X, 12Y, 12Z (lsb), the 2-byte value for each X/Y/Z is stored as big-endian, the 4 lower bits are set to 0
+    AV_PIX_FMT_NV16,         ///< interleaved chroma YUV 4:2:2, 16bpp, (1 Cr & Cb sample per 2x1 Y samples)
+    AV_PIX_FMT_NV20LE,       ///< interleaved chroma YUV 4:2:2, 20bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_NV20BE,       ///< interleaved chroma YUV 4:2:2, 20bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+
+    AV_PIX_FMT_RGBA64BE,     ///< packed RGBA 16:16:16:16, 64bpp, 16R, 16G, 16B, 16A, the 2-byte value for each R/G/B/A component is stored as big-endian
+    AV_PIX_FMT_RGBA64LE,     ///< packed RGBA 16:16:16:16, 64bpp, 16R, 16G, 16B, 16A, the 2-byte value for each R/G/B/A component is stored as little-endian
+    AV_PIX_FMT_BGRA64BE,     ///< packed RGBA 16:16:16:16, 64bpp, 16B, 16G, 16R, 16A, the 2-byte value for each R/G/B/A component is stored as big-endian
+    AV_PIX_FMT_BGRA64LE,     ///< packed RGBA 16:16:16:16, 64bpp, 16B, 16G, 16R, 16A, the 2-byte value for each R/G/B/A component is stored as little-endian
+
+    AV_PIX_FMT_YVYU422,   ///< packed YUV 4:2:2, 16bpp, Y0 Cr Y1 Cb
+
+    AV_PIX_FMT_VDA,          ///< HW acceleration through VDA, data[3] contains a CVPixelBufferRef
+
+    AV_PIX_FMT_YA16BE,       ///< 16bit gray, 16bit alpha (big-endian)
+    AV_PIX_FMT_YA16LE,       ///< 16bit gray, 16bit alpha (little-endian)
+
+    AV_PIX_FMT_GBRAP,        ///< planar GBRA 4:4:4:4 32bpp
+    AV_PIX_FMT_GBRAP16BE,    ///< planar GBRA 4:4:4:4 64bpp, big-endian
+    AV_PIX_FMT_GBRAP16LE,    ///< planar GBRA 4:4:4:4 64bpp, little-endian
+    /**
+     *  HW acceleration through QSV, data[3] contains a pointer to the
+     *  mfxFrameSurface1 structure.
+     */
+    AV_PIX_FMT_QSV,
+    /**
+     * HW acceleration though MMAL, data[3] contains a pointer to the
+     * MMAL_BUFFER_HEADER_T structure.
+     */
+    AV_PIX_FMT_MMAL,
+
+    AV_PIX_FMT_D3D11VA_VLD,  ///< HW decoding through Direct3D11, Picture.data[3] contains a ID3D11VideoDecoderOutputView pointer
+
+    AV_PIX_FMT_0RGB=0x123+4,///< packed RGB 8:8:8, 32bpp, XRGBXRGB...   X=unused/undefined
+    AV_PIX_FMT_RGB0,        ///< packed RGB 8:8:8, 32bpp, RGBXRGBX...   X=unused/undefined
+    AV_PIX_FMT_0BGR,        ///< packed BGR 8:8:8, 32bpp, XBGRXBGR...   X=unused/undefined
+    AV_PIX_FMT_BGR0,        ///< packed BGR 8:8:8, 32bpp, BGRXBGRX...   X=unused/undefined
+
+    AV_PIX_FMT_YUV420P12BE, ///< planar YUV 4:2:0,18bpp, (1 Cr & Cb sample per 2x2 Y samples), big-endian
+    AV_PIX_FMT_YUV420P12LE, ///< planar YUV 4:2:0,18bpp, (1 Cr & Cb sample per 2x2 Y samples), little-endian
+    AV_PIX_FMT_YUV420P14BE, ///< planar YUV 4:2:0,21bpp, (1 Cr & Cb sample per 2x2 Y samples), big-endian
+    AV_PIX_FMT_YUV420P14LE, ///< planar YUV 4:2:0,21bpp, (1 Cr & Cb sample per 2x2 Y samples), little-endian
+    AV_PIX_FMT_YUV422P12BE, ///< planar YUV 4:2:2,24bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+    AV_PIX_FMT_YUV422P12LE, ///< planar YUV 4:2:2,24bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_YUV422P14BE, ///< planar YUV 4:2:2,28bpp, (1 Cr & Cb sample per 2x1 Y samples), big-endian
+    AV_PIX_FMT_YUV422P14LE, ///< planar YUV 4:2:2,28bpp, (1 Cr & Cb sample per 2x1 Y samples), little-endian
+    AV_PIX_FMT_YUV444P12BE, ///< planar YUV 4:4:4,36bpp, (1 Cr & Cb sample per 1x1 Y samples), big-endian
+    AV_PIX_FMT_YUV444P12LE, ///< planar YUV 4:4:4,36bpp, (1 Cr & Cb sample per 1x1 Y samples), little-endian
+    AV_PIX_FMT_YUV444P14BE, ///< planar YUV 4:4:4,42bpp, (1 Cr & Cb sample per 1x1 Y samples), big-endian
+    AV_PIX_FMT_YUV444P14LE, ///< planar YUV 4:4:4,42bpp, (1 Cr & Cb sample per 1x1 Y samples), little-endian
+    AV_PIX_FMT_GBRP12BE,    ///< planar GBR 4:4:4 36bpp, big-endian
+    AV_PIX_FMT_GBRP12LE,    ///< planar GBR 4:4:4 36bpp, little-endian
+    AV_PIX_FMT_GBRP14BE,    ///< planar GBR 4:4:4 42bpp, big-endian
+    AV_PIX_FMT_GBRP14LE,    ///< planar GBR 4:4:4 42bpp, little-endian
+    AV_PIX_FMT_YUVJ411P,    ///< planar YUV 4:1:1, 12bpp, (1 Cr & Cb sample per 4x1 Y samples) full scale (JPEG), deprecated in favor of AV_PIX_FMT_YUV411P and setting color_range
+
+    AV_PIX_FMT_BAYER_BGGR8,    ///< bayer, BGBG..(odd line), GRGR..(even line), 8-bit samples */
+    AV_PIX_FMT_BAYER_RGGB8,    ///< bayer, RGRG..(odd line), GBGB..(even line), 8-bit samples */
+    AV_PIX_FMT_BAYER_GBRG8,    ///< bayer, GBGB..(odd line), RGRG..(even line), 8-bit samples */
+    AV_PIX_FMT_BAYER_GRBG8,    ///< bayer, GRGR..(odd line), BGBG..(even line), 8-bit samples */
+    AV_PIX_FMT_BAYER_BGGR16LE, ///< bayer, BGBG..(odd line), GRGR..(even line), 16-bit samples, little-endian */
+    AV_PIX_FMT_BAYER_BGGR16BE, ///< bayer, BGBG..(odd line), GRGR..(even line), 16-bit samples, big-endian */
+    AV_PIX_FMT_BAYER_RGGB16LE, ///< bayer, RGRG..(odd line), GBGB..(even line), 16-bit samples, little-endian */
+    AV_PIX_FMT_BAYER_RGGB16BE, ///< bayer, RGRG..(odd line), GBGB..(even line), 16-bit samples, big-endian */
+    AV_PIX_FMT_BAYER_GBRG16LE, ///< bayer, GBGB..(odd line), RGRG..(even line), 16-bit samples, little-endian */
+    AV_PIX_FMT_BAYER_GBRG16BE, ///< bayer, GBGB..(odd line), RGRG..(even line), 16-bit samples, big-endian */
+    AV_PIX_FMT_BAYER_GRBG16LE, ///< bayer, GRGR..(odd line), BGBG..(even line), 16-bit samples, little-endian */
+    AV_PIX_FMT_BAYER_GRBG16BE, ///< bayer, GRGR..(odd line), BGBG..(even line), 16-bit samples, big-endian */
+#if !FF_API_XVMC
+    AV_PIX_FMT_XVMC,///< XVideo Motion Acceleration via common packet passing
+#endif /* !FF_API_XVMC */
+    AV_PIX_FMT_YUV440P10LE, ///< planar YUV 4:4:0,20bpp, (1 Cr & Cb sample per 1x2 Y samples), little-endian
+    AV_PIX_FMT_YUV440P10BE, ///< planar YUV 4:4:0,20bpp, (1 Cr & Cb sample per 1x2 Y samples), big-endian
+    AV_PIX_FMT_YUV440P12LE, ///< planar YUV 4:4:0,24bpp, (1 Cr & Cb sample per 1x2 Y samples), little-endian
+    AV_PIX_FMT_YUV440P12BE, ///< planar YUV 4:4:0,24bpp, (1 Cr & Cb sample per 1x2 Y samples), big-endian
+    AV_PIX_FMT_AYUV64LE,    ///< packed AYUV 4:4:4,64bpp (1 Cr & Cb sample per 1x1 Y & A samples), little-endian
+    AV_PIX_FMT_AYUV64BE,    ///< packed AYUV 4:4:4,64bpp (1 Cr & Cb sample per 1x1 Y & A samples), big-endian
+
+    AV_PIX_FMT_VIDEOTOOLBOX, ///< hardware decoding through Videotoolbox
+
+    AV_PIX_FMT_NB,        ///< number of pixel formats, DO NOT USE THIS if you want to link with shared libav* because the number of formats might differ between versions
+};
+
+#define AV_PIX_FMT_Y400A AV_PIX_FMT_GRAY8A
+#define AV_PIX_FMT_GBR24P AV_PIX_FMT_GBRP
+
+#if AV_HAVE_BIGENDIAN
+#   define AV_PIX_FMT_NE(be, le) AV_PIX_FMT_##be
+#else
+#   define AV_PIX_FMT_NE(be, le) AV_PIX_FMT_##le
+#endif
+
+#define AV_PIX_FMT_RGB32   AV_PIX_FMT_NE(ARGB, BGRA)
+#define AV_PIX_FMT_RGB32_1 AV_PIX_FMT_NE(RGBA, ABGR)
+#define AV_PIX_FMT_BGR32   AV_PIX_FMT_NE(ABGR, RGBA)
+#define AV_PIX_FMT_BGR32_1 AV_PIX_FMT_NE(BGRA, ARGB)
+#define AV_PIX_FMT_0RGB32  AV_PIX_FMT_NE(0RGB, BGR0)
+#define AV_PIX_FMT_0BGR32  AV_PIX_FMT_NE(0BGR, RGB0)
+
+#define AV_PIX_FMT_GRAY16 AV_PIX_FMT_NE(GRAY16BE, GRAY16LE)
+#define AV_PIX_FMT_YA16   AV_PIX_FMT_NE(YA16BE,   YA16LE)
+#define AV_PIX_FMT_RGB48  AV_PIX_FMT_NE(RGB48BE,  RGB48LE)
+#define AV_PIX_FMT_RGB565 AV_PIX_FMT_NE(RGB565BE, RGB565LE)
+#define AV_PIX_FMT_RGB555 AV_PIX_FMT_NE(RGB555BE, RGB555LE)
+#define AV_PIX_FMT_RGB444 AV_PIX_FMT_NE(RGB444BE, RGB444LE)
+#define AV_PIX_FMT_RGBA64 AV_PIX_FMT_NE(RGBA64BE, RGBA64LE)
+#define AV_PIX_FMT_BGR48  AV_PIX_FMT_NE(BGR48BE,  BGR48LE)
+#define AV_PIX_FMT_BGR565 AV_PIX_FMT_NE(BGR565BE, BGR565LE)
+#define AV_PIX_FMT_BGR555 AV_PIX_FMT_NE(BGR555BE, BGR555LE)
+#define AV_PIX_FMT_BGR444 AV_PIX_FMT_NE(BGR444BE, BGR444LE)
+#define AV_PIX_FMT_BGRA64 AV_PIX_FMT_NE(BGRA64BE, BGRA64LE)
+
+#define AV_PIX_FMT_YUV420P9  AV_PIX_FMT_NE(YUV420P9BE , YUV420P9LE)
+#define AV_PIX_FMT_YUV422P9  AV_PIX_FMT_NE(YUV422P9BE , YUV422P9LE)
+#define AV_PIX_FMT_YUV444P9  AV_PIX_FMT_NE(YUV444P9BE , YUV444P9LE)
+#define AV_PIX_FMT_YUV420P10 AV_PIX_FMT_NE(YUV420P10BE, YUV420P10LE)
+#define AV_PIX_FMT_YUV422P10 AV_PIX_FMT_NE(YUV422P10BE, YUV422P10LE)
+#define AV_PIX_FMT_YUV440P10 AV_PIX_FMT_NE(YUV440P10BE, YUV440P10LE)
+#define AV_PIX_FMT_YUV444P10 AV_PIX_FMT_NE(YUV444P10BE, YUV444P10LE)
+#define AV_PIX_FMT_YUV420P12 AV_PIX_FMT_NE(YUV420P12BE, YUV420P12LE)
+#define AV_PIX_FMT_YUV422P12 AV_PIX_FMT_NE(YUV422P12BE, YUV422P12LE)
+#define AV_PIX_FMT_YUV440P12 AV_PIX_FMT_NE(YUV440P12BE, YUV440P12LE)
+#define AV_PIX_FMT_YUV444P12 AV_PIX_FMT_NE(YUV444P12BE, YUV444P12LE)
+#define AV_PIX_FMT_YUV420P14 AV_PIX_FMT_NE(YUV420P14BE, YUV420P14LE)
+#define AV_PIX_FMT_YUV422P14 AV_PIX_FMT_NE(YUV422P14BE, YUV422P14LE)
+#define AV_PIX_FMT_YUV444P14 AV_PIX_FMT_NE(YUV444P14BE, YUV444P14LE)
+#define AV_PIX_FMT_YUV420P16 AV_PIX_FMT_NE(YUV420P16BE, YUV420P16LE)
+#define AV_PIX_FMT_YUV422P16 AV_PIX_FMT_NE(YUV422P16BE, YUV422P16LE)
+#define AV_PIX_FMT_YUV444P16 AV_PIX_FMT_NE(YUV444P16BE, YUV444P16LE)
+
+#define AV_PIX_FMT_GBRP9     AV_PIX_FMT_NE(GBRP9BE ,    GBRP9LE)
+#define AV_PIX_FMT_GBRP10    AV_PIX_FMT_NE(GBRP10BE,    GBRP10LE)
+#define AV_PIX_FMT_GBRP12    AV_PIX_FMT_NE(GBRP12BE,    GBRP12LE)
+#define AV_PIX_FMT_GBRP14    AV_PIX_FMT_NE(GBRP14BE,    GBRP14LE)
+#define AV_PIX_FMT_GBRP16    AV_PIX_FMT_NE(GBRP16BE,    GBRP16LE)
+#define AV_PIX_FMT_GBRAP16   AV_PIX_FMT_NE(GBRAP16BE,   GBRAP16LE)
+
+#define AV_PIX_FMT_BAYER_BGGR16 AV_PIX_FMT_NE(BAYER_BGGR16BE,    BAYER_BGGR16LE)
+#define AV_PIX_FMT_BAYER_RGGB16 AV_PIX_FMT_NE(BAYER_RGGB16BE,    BAYER_RGGB16LE)
+#define AV_PIX_FMT_BAYER_GBRG16 AV_PIX_FMT_NE(BAYER_GBRG16BE,    BAYER_GBRG16LE)
+#define AV_PIX_FMT_BAYER_GRBG16 AV_PIX_FMT_NE(BAYER_GRBG16BE,    BAYER_GRBG16LE)
+
+
+#define AV_PIX_FMT_YUVA420P9  AV_PIX_FMT_NE(YUVA420P9BE , YUVA420P9LE)
+#define AV_PIX_FMT_YUVA422P9  AV_PIX_FMT_NE(YUVA422P9BE , YUVA422P9LE)
+#define AV_PIX_FMT_YUVA444P9  AV_PIX_FMT_NE(YUVA444P9BE , YUVA444P9LE)
+#define AV_PIX_FMT_YUVA420P10 AV_PIX_FMT_NE(YUVA420P10BE, YUVA420P10LE)
+#define AV_PIX_FMT_YUVA422P10 AV_PIX_FMT_NE(YUVA422P10BE, YUVA422P10LE)
+#define AV_PIX_FMT_YUVA444P10 AV_PIX_FMT_NE(YUVA444P10BE, YUVA444P10LE)
+#define AV_PIX_FMT_YUVA420P16 AV_PIX_FMT_NE(YUVA420P16BE, YUVA420P16LE)
+#define AV_PIX_FMT_YUVA422P16 AV_PIX_FMT_NE(YUVA422P16BE, YUVA422P16LE)
+#define AV_PIX_FMT_YUVA444P16 AV_PIX_FMT_NE(YUVA444P16BE, YUVA444P16LE)
+
+#define AV_PIX_FMT_XYZ12      AV_PIX_FMT_NE(XYZ12BE, XYZ12LE)
+#define AV_PIX_FMT_NV20       AV_PIX_FMT_NE(NV20BE,  NV20LE)
+#define AV_PIX_FMT_AYUV64     AV_PIX_FMT_NE(AYUV64BE, AYUV64LE)
+
+/**
+  * Chromaticity coordinates of the source primaries.
+  */
+enum AVColorPrimaries {
+    AVCOL_PRI_RESERVED0   = 0,
+    AVCOL_PRI_BT709       = 1,  ///< also ITU-R BT1361 / IEC 61966-2-4 / SMPTE RP177 Annex B
+    AVCOL_PRI_UNSPECIFIED = 2,
+    AVCOL_PRI_RESERVED    = 3,
+    AVCOL_PRI_BT470M      = 4,  ///< also FCC Title 47 Code of Federal Regulations 73.682 (a)(20)
+
+    AVCOL_PRI_BT470BG     = 5,  ///< also ITU-R BT601-6 625 / ITU-R BT1358 625 / ITU-R BT1700 625 PAL & SECAM
+    AVCOL_PRI_SMPTE170M   = 6,  ///< also ITU-R BT601-6 525 / ITU-R BT1358 525 / ITU-R BT1700 NTSC
+    AVCOL_PRI_SMPTE240M   = 7,  ///< functionally identical to above
+    AVCOL_PRI_FILM        = 8,  ///< colour filters using Illuminant C
+    AVCOL_PRI_BT2020      = 9,  ///< ITU-R BT2020
+    AVCOL_PRI_SMPTEST428_1= 10, ///< SMPTE ST 428-1 (CIE 1931 XYZ)
+    AVCOL_PRI_NB,               ///< Not part of ABI
+};
+
+/**
+ * Color Transfer Characteristic.
+ */
+enum AVColorTransferCharacteristic {
+    AVCOL_TRC_RESERVED0    = 0,
+    AVCOL_TRC_BT709        = 1,  ///< also ITU-R BT1361
+    AVCOL_TRC_UNSPECIFIED  = 2,
+    AVCOL_TRC_RESERVED     = 3,
+    AVCOL_TRC_GAMMA22      = 4,  ///< also ITU-R BT470M / ITU-R BT1700 625 PAL & SECAM
+    AVCOL_TRC_GAMMA28      = 5,  ///< also ITU-R BT470BG
+    AVCOL_TRC_SMPTE170M    = 6,  ///< also ITU-R BT601-6 525 or 625 / ITU-R BT1358 525 or 625 / ITU-R BT1700 NTSC
+    AVCOL_TRC_SMPTE240M    = 7,
+    AVCOL_TRC_LINEAR       = 8,  ///< "Linear transfer characteristics"
+    AVCOL_TRC_LOG          = 9,  ///< "Logarithmic transfer characteristic (100:1 range)"
+    AVCOL_TRC_LOG_SQRT     = 10, ///< "Logarithmic transfer characteristic (100 * Sqrt(10) : 1 range)"
+    AVCOL_TRC_IEC61966_2_4 = 11, ///< IEC 61966-2-4
+    AVCOL_TRC_BT1361_ECG   = 12, ///< ITU-R BT1361 Extended Colour Gamut
+    AVCOL_TRC_IEC61966_2_1 = 13, ///< IEC 61966-2-1 (sRGB or sYCC)
+    AVCOL_TRC_BT2020_10    = 14, ///< ITU-R BT2020 for 10 bit system
+    AVCOL_TRC_BT2020_12    = 15, ///< ITU-R BT2020 for 12 bit system
+    AVCOL_TRC_SMPTEST2084  = 16, ///< SMPTE ST 2084 for 10, 12, 14 and 16 bit systems
+    AVCOL_TRC_SMPTEST428_1 = 17, ///< SMPTE ST 428-1
+    AVCOL_TRC_NB,                ///< Not part of ABI
+};
+
+/**
+ * YUV colorspace type.
+ */
+enum AVColorSpace {
+    AVCOL_SPC_RGB         = 0,  ///< order of coefficients is actually GBR, also IEC 61966-2-1 (sRGB)
+    AVCOL_SPC_BT709       = 1,  ///< also ITU-R BT1361 / IEC 61966-2-4 xvYCC709 / SMPTE RP177 Annex B
+    AVCOL_SPC_UNSPECIFIED = 2,
+    AVCOL_SPC_RESERVED    = 3,
+    AVCOL_SPC_FCC         = 4,  ///< FCC Title 47 Code of Federal Regulations 73.682 (a)(20)
+    AVCOL_SPC_BT470BG     = 5,  ///< also ITU-R BT601-6 625 / ITU-R BT1358 625 / ITU-R BT1700 625 PAL & SECAM / IEC 61966-2-4 xvYCC601
+    AVCOL_SPC_SMPTE170M   = 6,  ///< also ITU-R BT601-6 525 / ITU-R BT1358 525 / ITU-R BT1700 NTSC / functionally identical to above
+    AVCOL_SPC_SMPTE240M   = 7,
+    AVCOL_SPC_YCOCG       = 8,  ///< Used by Dirac / VC-2 and H.264 FRext, see ITU-T SG16
+    AVCOL_SPC_BT2020_NCL  = 9,  ///< ITU-R BT2020 non-constant luminance system
+    AVCOL_SPC_BT2020_CL   = 10, ///< ITU-R BT2020 constant luminance system
+    AVCOL_SPC_NB,               ///< Not part of ABI
+};
+#define AVCOL_SPC_YCGCO AVCOL_SPC_YCOCG
+
+
+/**
+ * MPEG vs JPEG YUV range.
+ */
+enum AVColorRange {
+    AVCOL_RANGE_UNSPECIFIED = 0,
+    AVCOL_RANGE_MPEG        = 1, ///< the normal 219*2^(n-8) "MPEG" YUV ranges
+    AVCOL_RANGE_JPEG        = 2, ///< the normal     2^n-1   "JPEG" YUV ranges
+    AVCOL_RANGE_NB,              ///< Not part of ABI
+};
+
+/**
+ * Location of chroma samples.
+ *
+ * Illustration showing the location of the first (top left) chroma sample of the
+ * image, the left shows only luma, the right
+ * shows the location of the chroma sample, the 2 could be imagined to overlay
+ * each other but are drawn separately due to limitations of ASCII
+ *
+ *                1st 2nd       1st 2nd horizontal luma sample positions
+ *                 v   v         v   v
+ *                 ______        ______
+ *1st luma line > |X   X ...    |3 4 X ...     X are luma samples,
+ *                |             |1 2           1-6 are possible chroma positions
+ *2nd luma line > |X   X ...    |5 6 X ...     0 is undefined/unknown position
+ */
+enum AVChromaLocation {
+    AVCHROMA_LOC_UNSPECIFIED = 0,
+    AVCHROMA_LOC_LEFT        = 1, ///< mpeg2/4 4:2:0, h264 default for 4:2:0
+    AVCHROMA_LOC_CENTER      = 2, ///< mpeg1 4:2:0, jpeg 4:2:0, h263 4:2:0
+    AVCHROMA_LOC_TOPLEFT     = 3, ///< ITU-R 601, SMPTE 274M 296M S314M(DV 4:1:1), mpeg2 4:2:2
+    AVCHROMA_LOC_TOP         = 4,
+    AVCHROMA_LOC_BOTTOMLEFT  = 5,
+    AVCHROMA_LOC_BOTTOM      = 6,
+    AVCHROMA_LOC_NB,              ///< Not part of ABI
+};
+
+#endif /* AVUTIL_PIXFMT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/random_seed.h b/3rdparty/include/ffmpeg/libavutil/random_seed.h
new file mode 100644
index 0000000..0462a04
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/random_seed.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2009 Baptiste Coudurier <baptiste.coudurier@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_RANDOM_SEED_H
+#define AVUTIL_RANDOM_SEED_H
+
+#include <stdint.h>
+/**
+ * @addtogroup lavu_crypto
+ * @{
+ */
+
+/**
+ * Get a seed to use in conjunction with random functions.
+ * This function tries to provide a good seed at a best effort bases.
+ * Its possible to call this function multiple times if more bits are needed.
+ * It can be quite slow, which is why it should only be used as seed for a faster
+ * PRNG. The quality of the seed depends on the platform.
+ */
+uint32_t av_get_random_seed(void);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_RANDOM_SEED_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/rational.h b/3rdparty/include/ffmpeg/libavutil/rational.h
new file mode 100644
index 0000000..2897469
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/rational.h
@@ -0,0 +1,173 @@
+/*
+ * rational numbers
+ * Copyright (c) 2003 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * rational numbers
+ * @author Michael Niedermayer <michaelni@gmx.at>
+ */
+
+#ifndef AVUTIL_RATIONAL_H
+#define AVUTIL_RATIONAL_H
+
+#include <stdint.h>
+#include <limits.h>
+#include "attributes.h"
+
+/**
+ * @addtogroup lavu_math
+ * @{
+ */
+
+/**
+ * rational number numerator/denominator
+ */
+typedef struct AVRational{
+    int num; ///< numerator
+    int den; ///< denominator
+} AVRational;
+
+/**
+ * Create a rational.
+ * Useful for compilers that do not support compound literals.
+ * @note  The return value is not reduced.
+ */
+static inline AVRational av_make_q(int num, int den)
+{
+    AVRational r = { num, den };
+    return r;
+}
+
+/**
+ * Compare two rationals.
+ * @param a first rational
+ * @param b second rational
+ * @return 0 if a==b, 1 if a>b, -1 if a<b, and INT_MIN if one of the
+ * values is of the form 0/0
+ */
+static inline int av_cmp_q(AVRational a, AVRational b){
+    const int64_t tmp= a.num * (int64_t)b.den - b.num * (int64_t)a.den;
+
+    if(tmp) return (int)((tmp ^ a.den ^ b.den)>>63)|1;
+    else if(b.den && a.den) return 0;
+    else if(a.num && b.num) return (a.num>>31) - (b.num>>31);
+    else                    return INT_MIN;
+}
+
+/**
+ * Convert rational to double.
+ * @param a rational to convert
+ * @return (double) a
+ */
+static inline double av_q2d(AVRational a){
+    return a.num / (double) a.den;
+}
+
+/**
+ * Reduce a fraction.
+ * This is useful for framerate calculations.
+ * @param dst_num destination numerator
+ * @param dst_den destination denominator
+ * @param num source numerator
+ * @param den source denominator
+ * @param max the maximum allowed for dst_num & dst_den
+ * @return 1 if exact, 0 otherwise
+ */
+int av_reduce(int *dst_num, int *dst_den, int64_t num, int64_t den, int64_t max);
+
+/**
+ * Multiply two rationals.
+ * @param b first rational
+ * @param c second rational
+ * @return b*c
+ */
+AVRational av_mul_q(AVRational b, AVRational c) av_const;
+
+/**
+ * Divide one rational by another.
+ * @param b first rational
+ * @param c second rational
+ * @return b/c
+ */
+AVRational av_div_q(AVRational b, AVRational c) av_const;
+
+/**
+ * Add two rationals.
+ * @param b first rational
+ * @param c second rational
+ * @return b+c
+ */
+AVRational av_add_q(AVRational b, AVRational c) av_const;
+
+/**
+ * Subtract one rational from another.
+ * @param b first rational
+ * @param c second rational
+ * @return b-c
+ */
+AVRational av_sub_q(AVRational b, AVRational c) av_const;
+
+/**
+ * Invert a rational.
+ * @param q value
+ * @return 1 / q
+ */
+static av_always_inline AVRational av_inv_q(AVRational q)
+{
+    AVRational r = { q.den, q.num };
+    return r;
+}
+
+/**
+ * Convert a double precision floating point number to a rational.
+ * inf is expressed as {1,0} or {-1,0} depending on the sign.
+ *
+ * @param d double to convert
+ * @param max the maximum allowed numerator and denominator
+ * @return (AVRational) d
+ */
+AVRational av_d2q(double d, int max) av_const;
+
+/**
+ * @return 1 if q1 is nearer to q than q2, -1 if q2 is nearer
+ * than q1, 0 if they have the same distance.
+ */
+int av_nearer_q(AVRational q, AVRational q1, AVRational q2);
+
+/**
+ * Find the nearest value in q_list to q.
+ * @param q_list an array of rationals terminated by {0, 0}
+ * @return the index of the nearest value found in the array
+ */
+int av_find_nearest_q_idx(AVRational q, const AVRational* q_list);
+
+/**
+ * Converts a AVRational to a IEEE 32bit float.
+ *
+ * The float is returned in a uint32_t and its value is platform indepenant.
+ */
+uint32_t av_q2intfloat(AVRational q);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_RATIONAL_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/replaygain.h b/3rdparty/include/ffmpeg/libavutil/replaygain.h
new file mode 100644
index 0000000..5c03e19
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/replaygain.h
@@ -0,0 +1,51 @@
+/*
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_REPLAYGAIN_H
+#define AVUTIL_REPLAYGAIN_H
+
+#include <stdint.h>
+
+/**
+ * ReplayGain information (see
+ * http://wiki.hydrogenaudio.org/index.php?title=ReplayGain_1.0_specification).
+ * The size of this struct is a part of the public ABI.
+ */
+typedef struct AVReplayGain {
+    /**
+     * Track replay gain in microbels (divide by 100000 to get the value in dB).
+     * Should be set to INT32_MIN when unknown.
+     */
+    int32_t track_gain;
+    /**
+     * Peak track amplitude, with 100000 representing full scale (but values
+     * may overflow). 0 when unknown.
+     */
+    uint32_t track_peak;
+    /**
+     * Same as track_gain, but for the whole album.
+     */
+    int32_t album_gain;
+    /**
+     * Same as track_peak, but for the whole album,
+     */
+    uint32_t album_peak;
+} AVReplayGain;
+
+#endif /* AVUTIL_REPLAYGAIN_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/ripemd.h b/3rdparty/include/ffmpeg/libavutil/ripemd.h
new file mode 100644
index 0000000..7b0c8bc
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/ripemd.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2007 Michael Niedermayer <michaelni@gmx.at>
+ * Copyright (C) 2013 James Almer <jamrial@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_RIPEMD_H
+#define AVUTIL_RIPEMD_H
+
+#include <stdint.h>
+
+#include "attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavu_ripemd RIPEMD
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_ripemd_size;
+
+struct AVRIPEMD;
+
+/**
+ * Allocate an AVRIPEMD context.
+ */
+struct AVRIPEMD *av_ripemd_alloc(void);
+
+/**
+ * Initialize RIPEMD hashing.
+ *
+ * @param context pointer to the function context (of size av_ripemd_size)
+ * @param bits    number of bits in digest (128, 160, 256 or 320 bits)
+ * @return        zero if initialization succeeded, -1 otherwise
+ */
+int av_ripemd_init(struct AVRIPEMD* context, int bits);
+
+/**
+ * Update hash value.
+ *
+ * @param context hash function context
+ * @param data    input data to update hash with
+ * @param len     input data length
+ */
+void av_ripemd_update(struct AVRIPEMD* context, const uint8_t* data, unsigned int len);
+
+/**
+ * Finish hashing and output digest value.
+ *
+ * @param context hash function context
+ * @param digest  buffer where output digest value is stored
+ */
+void av_ripemd_final(struct AVRIPEMD* context, uint8_t *digest);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_RIPEMD_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/samplefmt.h b/3rdparty/include/ffmpeg/libavutil/samplefmt.h
new file mode 100644
index 0000000..6a8a031
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/samplefmt.h
@@ -0,0 +1,271 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_SAMPLEFMT_H
+#define AVUTIL_SAMPLEFMT_H
+
+#include <stdint.h>
+
+#include "avutil.h"
+#include "attributes.h"
+
+/**
+ * @addtogroup lavu_audio
+ * @{
+ *
+ * @defgroup lavu_sampfmts Audio sample formats
+ *
+ * Audio sample format enumeration and related convenience functions.
+ * @{
+ *
+ */
+
+/**
+ * Audio sample formats
+ *
+ * - The data described by the sample format is always in native-endian order.
+ *   Sample values can be expressed by native C types, hence the lack of a signed
+ *   24-bit sample format even though it is a common raw audio data format.
+ *
+ * - The floating-point formats are based on full volume being in the range
+ *   [-1.0, 1.0]. Any values outside this range are beyond full volume level.
+ *
+ * - The data layout as used in av_samples_fill_arrays() and elsewhere in FFmpeg
+ *   (such as AVFrame in libavcodec) is as follows:
+ *
+ * @par
+ * For planar sample formats, each audio channel is in a separate data plane,
+ * and linesize is the buffer size, in bytes, for a single plane. All data
+ * planes must be the same size. For packed sample formats, only the first data
+ * plane is used, and samples for each channel are interleaved. In this case,
+ * linesize is the buffer size, in bytes, for the 1 plane.
+ *
+ */
+enum AVSampleFormat {
+    AV_SAMPLE_FMT_NONE = -1,
+    AV_SAMPLE_FMT_U8,          ///< unsigned 8 bits
+    AV_SAMPLE_FMT_S16,         ///< signed 16 bits
+    AV_SAMPLE_FMT_S32,         ///< signed 32 bits
+    AV_SAMPLE_FMT_FLT,         ///< float
+    AV_SAMPLE_FMT_DBL,         ///< double
+
+    AV_SAMPLE_FMT_U8P,         ///< unsigned 8 bits, planar
+    AV_SAMPLE_FMT_S16P,        ///< signed 16 bits, planar
+    AV_SAMPLE_FMT_S32P,        ///< signed 32 bits, planar
+    AV_SAMPLE_FMT_FLTP,        ///< float, planar
+    AV_SAMPLE_FMT_DBLP,        ///< double, planar
+
+    AV_SAMPLE_FMT_NB           ///< Number of sample formats. DO NOT USE if linking dynamically
+};
+
+/**
+ * Return the name of sample_fmt, or NULL if sample_fmt is not
+ * recognized.
+ */
+const char *av_get_sample_fmt_name(enum AVSampleFormat sample_fmt);
+
+/**
+ * Return a sample format corresponding to name, or AV_SAMPLE_FMT_NONE
+ * on error.
+ */
+enum AVSampleFormat av_get_sample_fmt(const char *name);
+
+/**
+ * Return the planar<->packed alternative form of the given sample format, or
+ * AV_SAMPLE_FMT_NONE on error. If the passed sample_fmt is already in the
+ * requested planar/packed format, the format returned is the same as the
+ * input.
+ */
+enum AVSampleFormat av_get_alt_sample_fmt(enum AVSampleFormat sample_fmt, int planar);
+
+/**
+ * Get the packed alternative form of the given sample format.
+ *
+ * If the passed sample_fmt is already in packed format, the format returned is
+ * the same as the input.
+ *
+ * @return  the packed alternative form of the given sample format or
+            AV_SAMPLE_FMT_NONE on error.
+ */
+enum AVSampleFormat av_get_packed_sample_fmt(enum AVSampleFormat sample_fmt);
+
+/**
+ * Get the planar alternative form of the given sample format.
+ *
+ * If the passed sample_fmt is already in planar format, the format returned is
+ * the same as the input.
+ *
+ * @return  the planar alternative form of the given sample format or
+            AV_SAMPLE_FMT_NONE on error.
+ */
+enum AVSampleFormat av_get_planar_sample_fmt(enum AVSampleFormat sample_fmt);
+
+/**
+ * Generate a string corresponding to the sample format with
+ * sample_fmt, or a header if sample_fmt is negative.
+ *
+ * @param buf the buffer where to write the string
+ * @param buf_size the size of buf
+ * @param sample_fmt the number of the sample format to print the
+ * corresponding info string, or a negative value to print the
+ * corresponding header.
+ * @return the pointer to the filled buffer or NULL if sample_fmt is
+ * unknown or in case of other errors
+ */
+char *av_get_sample_fmt_string(char *buf, int buf_size, enum AVSampleFormat sample_fmt);
+
+/**
+ * Return number of bytes per sample.
+ *
+ * @param sample_fmt the sample format
+ * @return number of bytes per sample or zero if unknown for the given
+ * sample format
+ */
+int av_get_bytes_per_sample(enum AVSampleFormat sample_fmt);
+
+/**
+ * Check if the sample format is planar.
+ *
+ * @param sample_fmt the sample format to inspect
+ * @return 1 if the sample format is planar, 0 if it is interleaved
+ */
+int av_sample_fmt_is_planar(enum AVSampleFormat sample_fmt);
+
+/**
+ * Get the required buffer size for the given audio parameters.
+ *
+ * @param[out] linesize calculated linesize, may be NULL
+ * @param nb_channels   the number of channels
+ * @param nb_samples    the number of samples in a single channel
+ * @param sample_fmt    the sample format
+ * @param align         buffer size alignment (0 = default, 1 = no alignment)
+ * @return              required buffer size, or negative error code on failure
+ */
+int av_samples_get_buffer_size(int *linesize, int nb_channels, int nb_samples,
+                               enum AVSampleFormat sample_fmt, int align);
+
+/**
+ * @}
+ *
+ * @defgroup lavu_sampmanip Samples manipulation
+ *
+ * Functions that manipulate audio samples
+ * @{
+ */
+
+/**
+ * Fill plane data pointers and linesize for samples with sample
+ * format sample_fmt.
+ *
+ * The audio_data array is filled with the pointers to the samples data planes:
+ * for planar, set the start point of each channel's data within the buffer,
+ * for packed, set the start point of the entire buffer only.
+ *
+ * The value pointed to by linesize is set to the aligned size of each
+ * channel's data buffer for planar layout, or to the aligned size of the
+ * buffer for all channels for packed layout.
+ *
+ * The buffer in buf must be big enough to contain all the samples
+ * (use av_samples_get_buffer_size() to compute its minimum size),
+ * otherwise the audio_data pointers will point to invalid data.
+ *
+ * @see enum AVSampleFormat
+ * The documentation for AVSampleFormat describes the data layout.
+ *
+ * @param[out] audio_data  array to be filled with the pointer for each channel
+ * @param[out] linesize    calculated linesize, may be NULL
+ * @param buf              the pointer to a buffer containing the samples
+ * @param nb_channels      the number of channels
+ * @param nb_samples       the number of samples in a single channel
+ * @param sample_fmt       the sample format
+ * @param align            buffer size alignment (0 = default, 1 = no alignment)
+ * @return                 >=0 on success or a negative error code on failure
+ * @todo return minimum size in bytes required for the buffer in case
+ * of success at the next bump
+ */
+int av_samples_fill_arrays(uint8_t **audio_data, int *linesize,
+                           const uint8_t *buf,
+                           int nb_channels, int nb_samples,
+                           enum AVSampleFormat sample_fmt, int align);
+
+/**
+ * Allocate a samples buffer for nb_samples samples, and fill data pointers and
+ * linesize accordingly.
+ * The allocated samples buffer can be freed by using av_freep(&audio_data[0])
+ * Allocated data will be initialized to silence.
+ *
+ * @see enum AVSampleFormat
+ * The documentation for AVSampleFormat describes the data layout.
+ *
+ * @param[out] audio_data  array to be filled with the pointer for each channel
+ * @param[out] linesize    aligned size for audio buffer(s), may be NULL
+ * @param nb_channels      number of audio channels
+ * @param nb_samples       number of samples per channel
+ * @param align            buffer size alignment (0 = default, 1 = no alignment)
+ * @return                 >=0 on success or a negative error code on failure
+ * @todo return the size of the allocated buffer in case of success at the next bump
+ * @see av_samples_fill_arrays()
+ * @see av_samples_alloc_array_and_samples()
+ */
+int av_samples_alloc(uint8_t **audio_data, int *linesize, int nb_channels,
+                     int nb_samples, enum AVSampleFormat sample_fmt, int align);
+
+/**
+ * Allocate a data pointers array, samples buffer for nb_samples
+ * samples, and fill data pointers and linesize accordingly.
+ *
+ * This is the same as av_samples_alloc(), but also allocates the data
+ * pointers array.
+ *
+ * @see av_samples_alloc()
+ */
+int av_samples_alloc_array_and_samples(uint8_t ***audio_data, int *linesize, int nb_channels,
+                                       int nb_samples, enum AVSampleFormat sample_fmt, int align);
+
+/**
+ * Copy samples from src to dst.
+ *
+ * @param dst destination array of pointers to data planes
+ * @param src source array of pointers to data planes
+ * @param dst_offset offset in samples at which the data will be written to dst
+ * @param src_offset offset in samples at which the data will be read from src
+ * @param nb_samples number of samples to be copied
+ * @param nb_channels number of audio channels
+ * @param sample_fmt audio sample format
+ */
+int av_samples_copy(uint8_t **dst, uint8_t * const *src, int dst_offset,
+                    int src_offset, int nb_samples, int nb_channels,
+                    enum AVSampleFormat sample_fmt);
+
+/**
+ * Fill an audio buffer with silence.
+ *
+ * @param audio_data  array of pointers to data planes
+ * @param offset      offset in samples at which to start filling
+ * @param nb_samples  number of samples to fill
+ * @param nb_channels number of audio channels
+ * @param sample_fmt  audio sample format
+ */
+int av_samples_set_silence(uint8_t **audio_data, int offset, int nb_samples,
+                           int nb_channels, enum AVSampleFormat sample_fmt);
+
+/**
+ * @}
+ * @}
+ */
+#endif /* AVUTIL_SAMPLEFMT_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/sha.h b/3rdparty/include/ffmpeg/libavutil/sha.h
new file mode 100644
index 0000000..bf4377e
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/sha.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2007 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_SHA_H
+#define AVUTIL_SHA_H
+
+#include <stdint.h>
+
+#include "attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavu_sha SHA
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_sha_size;
+
+struct AVSHA;
+
+/**
+ * Allocate an AVSHA context.
+ */
+struct AVSHA *av_sha_alloc(void);
+
+/**
+ * Initialize SHA-1 or SHA-2 hashing.
+ *
+ * @param context pointer to the function context (of size av_sha_size)
+ * @param bits    number of bits in digest (SHA-1 - 160 bits, SHA-2 224 or 256 bits)
+ * @return        zero if initialization succeeded, -1 otherwise
+ */
+int av_sha_init(struct AVSHA* context, int bits);
+
+/**
+ * Update hash value.
+ *
+ * @param context hash function context
+ * @param data    input data to update hash with
+ * @param len     input data length
+ */
+void av_sha_update(struct AVSHA* context, const uint8_t* data, unsigned int len);
+
+/**
+ * Finish hashing and output digest value.
+ *
+ * @param context hash function context
+ * @param digest  buffer where output digest value is stored
+ */
+void av_sha_final(struct AVSHA* context, uint8_t *digest);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_SHA_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/sha512.h b/3rdparty/include/ffmpeg/libavutil/sha512.h
new file mode 100644
index 0000000..7b08701
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/sha512.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2007 Michael Niedermayer <michaelni@gmx.at>
+ * Copyright (C) 2013 James Almer <jamrial@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_SHA512_H
+#define AVUTIL_SHA512_H
+
+#include <stdint.h>
+
+#include "attributes.h"
+#include "version.h"
+
+/**
+ * @defgroup lavu_sha512 SHA512
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_sha512_size;
+
+struct AVSHA512;
+
+/**
+ * Allocate an AVSHA512 context.
+ */
+struct AVSHA512 *av_sha512_alloc(void);
+
+/**
+ * Initialize SHA-2 512 hashing.
+ *
+ * @param context pointer to the function context (of size av_sha512_size)
+ * @param bits    number of bits in digest (224, 256, 384 or 512 bits)
+ * @return        zero if initialization succeeded, -1 otherwise
+ */
+int av_sha512_init(struct AVSHA512* context, int bits);
+
+/**
+ * Update hash value.
+ *
+ * @param context hash function context
+ * @param data    input data to update hash with
+ * @param len     input data length
+ */
+void av_sha512_update(struct AVSHA512* context, const uint8_t* data, unsigned int len);
+
+/**
+ * Finish hashing and output digest value.
+ *
+ * @param context hash function context
+ * @param digest  buffer where output digest value is stored
+ */
+void av_sha512_final(struct AVSHA512* context, uint8_t *digest);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_SHA512_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/stereo3d.h b/3rdparty/include/ffmpeg/libavutil/stereo3d.h
new file mode 100644
index 0000000..1135dc9
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/stereo3d.h
@@ -0,0 +1,152 @@
+/*
+ * Copyright (c) 2013 Vittorio Giovara <vittorio.giovara@gmail.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_STEREO3D_H
+#define AVUTIL_STEREO3D_H
+
+#include <stdint.h>
+
+#include "frame.h"
+
+/**
+ * List of possible 3D Types
+ */
+enum AVStereo3DType {
+    /**
+     * Video is not stereoscopic (and metadata has to be there).
+     */
+    AV_STEREO3D_2D,
+
+    /**
+     * Views are next to each other.
+     *
+     *    LLLLRRRR
+     *    LLLLRRRR
+     *    LLLLRRRR
+     *    ...
+     */
+    AV_STEREO3D_SIDEBYSIDE,
+
+    /**
+     * Views are on top of each other.
+     *
+     *    LLLLLLLL
+     *    LLLLLLLL
+     *    RRRRRRRR
+     *    RRRRRRRR
+     */
+    AV_STEREO3D_TOPBOTTOM,
+
+    /**
+     * Views are alternated temporally.
+     *
+     *     frame0   frame1   frame2   ...
+     *    LLLLLLLL RRRRRRRR LLLLLLLL
+     *    LLLLLLLL RRRRRRRR LLLLLLLL
+     *    LLLLLLLL RRRRRRRR LLLLLLLL
+     *    ...      ...      ...
+     */
+    AV_STEREO3D_FRAMESEQUENCE,
+
+    /**
+     * Views are packed in a checkerboard-like structure per pixel.
+     *
+     *    LRLRLRLR
+     *    RLRLRLRL
+     *    LRLRLRLR
+     *    ...
+     */
+    AV_STEREO3D_CHECKERBOARD,
+
+    /**
+     * Views are next to each other, but when upscaling
+     * apply a checkerboard pattern.
+     *
+     *     LLLLRRRR          L L L L    R R R R
+     *     LLLLRRRR    =>     L L L L  R R R R
+     *     LLLLRRRR          L L L L    R R R R
+     *     LLLLRRRR           L L L L  R R R R
+     */
+    AV_STEREO3D_SIDEBYSIDE_QUINCUNX,
+
+    /**
+     * Views are packed per line, as if interlaced.
+     *
+     *    LLLLLLLL
+     *    RRRRRRRR
+     *    LLLLLLLL
+     *    ...
+     */
+    AV_STEREO3D_LINES,
+
+    /**
+     * Views are packed per column.
+     *
+     *    LRLRLRLR
+     *    LRLRLRLR
+     *    LRLRLRLR
+     *    ...
+     */
+    AV_STEREO3D_COLUMNS,
+};
+
+
+/**
+ * Inverted views, Right/Bottom represents the left view.
+ */
+#define AV_STEREO3D_FLAG_INVERT     (1 << 0)
+
+/**
+ * Stereo 3D type: this structure describes how two videos are packed
+ * within a single video surface, with additional information as needed.
+ *
+ * @note The struct must be allocated with av_stereo3d_alloc() and
+ *       its size is not a part of the public ABI.
+ */
+typedef struct AVStereo3D {
+    /**
+     * How views are packed within the video.
+     */
+    enum AVStereo3DType type;
+
+    /**
+     * Additional information about the frame packing.
+     */
+    int flags;
+} AVStereo3D;
+
+/**
+ * Allocate an AVStereo3D structure and set its fields to default values.
+ * The resulting struct can be freed using av_freep().
+ *
+ * @return An AVStereo3D filled with default values or NULL on failure.
+ */
+AVStereo3D *av_stereo3d_alloc(void);
+
+/**
+ * Allocate a complete AVFrameSideData and add it to the frame.
+ *
+ * @param frame The frame which side data is added to.
+ *
+ * @return The AVStereo3D structure to be filled by caller.
+ */
+AVStereo3D *av_stereo3d_create_side_data(AVFrame *frame);
+
+#endif /* AVUTIL_STEREO3D_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/tea.h b/3rdparty/include/ffmpeg/libavutil/tea.h
new file mode 100644
index 0000000..dd929bd
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/tea.h
@@ -0,0 +1,71 @@
+/*
+ * A 32-bit implementation of the TEA algorithm
+ * Copyright (c) 2015 Vesselin Bontchev
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_TEA_H
+#define AVUTIL_TEA_H
+
+#include <stdint.h>
+
+/**
+ * @file
+ * @brief Public header for libavutil TEA algorithm
+ * @defgroup lavu_tea TEA
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+extern const int av_tea_size;
+
+struct AVTEA;
+
+/**
+  * Allocate an AVTEA context
+  * To free the struct: av_free(ptr)
+  */
+struct AVTEA *av_tea_alloc(void);
+
+/**
+ * Initialize an AVTEA context.
+ *
+ * @param ctx an AVTEA context
+ * @param key a key of 16 bytes used for encryption/decryption
+ * @param rounds the number of rounds in TEA (64 is the "standard")
+ */
+void av_tea_init(struct AVTEA *ctx, const uint8_t key[16], int rounds);
+
+/**
+ * Encrypt or decrypt a buffer using a previously initialized context.
+ *
+ * @param ctx an AVTEA context
+ * @param dst destination array, can be equal to src
+ * @param src source array, can be equal to dst
+ * @param count number of 8 byte blocks
+ * @param iv initialization vector for CBC mode, if NULL then ECB will be used
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_tea_crypt(struct AVTEA *ctx, uint8_t *dst, const uint8_t *src,
+                  int count, uint8_t *iv, int decrypt);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_TEA_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/threadmessage.h b/3rdparty/include/ffmpeg/libavutil/threadmessage.h
new file mode 100644
index 0000000..a8481d8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/threadmessage.h
@@ -0,0 +1,91 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with FFmpeg; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_THREADMESSAGE_H
+#define AVUTIL_THREADMESSAGE_H
+
+typedef struct AVThreadMessageQueue AVThreadMessageQueue;
+
+typedef enum AVThreadMessageFlags {
+
+    /**
+     * Perform non-blocking operation.
+     * If this flag is set, send and recv operations are non-blocking and
+     * return AVERROR(EAGAIN) immediately if they can not proceed.
+     */
+    AV_THREAD_MESSAGE_NONBLOCK = 1,
+
+} AVThreadMessageFlags;
+
+/**
+ * Allocate a new message queue.
+ *
+ * @param mq      pointer to the message queue
+ * @param nelem   maximum number of elements in the queue
+ * @param elsize  size of each element in the queue
+ * @return  >=0 for success; <0 for error, in particular AVERROR(ENOSYS) if
+ *          lavu was built without thread support
+ */
+int av_thread_message_queue_alloc(AVThreadMessageQueue **mq,
+                                  unsigned nelem,
+                                  unsigned elsize);
+
+/**
+ * Free a message queue.
+ *
+ * The message queue must no longer be in use by another thread.
+ */
+void av_thread_message_queue_free(AVThreadMessageQueue **mq);
+
+/**
+ * Send a message on the queue.
+ */
+int av_thread_message_queue_send(AVThreadMessageQueue *mq,
+                                 void *msg,
+                                 unsigned flags);
+
+/**
+ * Receive a message from the queue.
+ */
+int av_thread_message_queue_recv(AVThreadMessageQueue *mq,
+                                 void *msg,
+                                 unsigned flags);
+
+/**
+ * Set the sending error code.
+ *
+ * If the error code is set to non-zero, av_thread_message_queue_recv() will
+ * return it immediately when there are no longer available messages.
+ * Conventional values, such as AVERROR_EOF or AVERROR(EAGAIN), can be used
+ * to cause the receiving thread to stop or suspend its operation.
+ */
+void av_thread_message_queue_set_err_send(AVThreadMessageQueue *mq,
+                                          int err);
+
+/**
+ * Set the receiving error code.
+ *
+ * If the error code is set to non-zero, av_thread_message_queue_send() will
+ * return it immediately. Conventional values, such as AVERROR_EOF or
+ * AVERROR(EAGAIN), can be used to cause the sending thread to stop or
+ * suspend its operation.
+ */
+void av_thread_message_queue_set_err_recv(AVThreadMessageQueue *mq,
+                                          int err);
+
+#endif /* AVUTIL_THREADMESSAGE_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/time.h b/3rdparty/include/ffmpeg/libavutil/time.h
new file mode 100644
index 0000000..dc169b0
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/time.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2000-2003 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_TIME_H
+#define AVUTIL_TIME_H
+
+#include <stdint.h>
+
+/**
+ * Get the current time in microseconds.
+ */
+int64_t av_gettime(void);
+
+/**
+ * Get the current time in microseconds since some unspecified starting point.
+ * On platforms that support it, the time comes from a monotonic clock
+ * This property makes this time source ideal for measuring relative time.
+ * The returned values may not be monotonic on platforms where a monotonic
+ * clock is not available.
+ */
+int64_t av_gettime_relative(void);
+
+/**
+ * Indicates with a boolean result if the av_gettime_relative() time source
+ * is monotonic.
+ */
+int av_gettime_relative_is_monotonic(void);
+
+/**
+ * Sleep for a period of time.  Although the duration is expressed in
+ * microseconds, the actual delay may be rounded to the precision of the
+ * system timer.
+ *
+ * @param  usec Number of microseconds to sleep.
+ * @return zero on success or (negative) error code.
+ */
+int av_usleep(unsigned usec);
+
+#endif /* AVUTIL_TIME_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/timecode.h b/3rdparty/include/ffmpeg/libavutil/timecode.h
new file mode 100644
index 0000000..56e3975
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/timecode.h
@@ -0,0 +1,140 @@
+/*
+ * Copyright (c) 2006 Smartjog S.A.S, Baptiste Coudurier <baptiste.coudurier@gmail.com>
+ * Copyright (c) 2011-2012 Smartjog S.A.S, Clément Bœsch <clement.boesch@smartjog.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * Timecode helpers header
+ */
+
+#ifndef AVUTIL_TIMECODE_H
+#define AVUTIL_TIMECODE_H
+
+#include <stdint.h>
+#include "rational.h"
+
+#define AV_TIMECODE_STR_SIZE 16
+
+enum AVTimecodeFlag {
+    AV_TIMECODE_FLAG_DROPFRAME      = 1<<0, ///< timecode is drop frame
+    AV_TIMECODE_FLAG_24HOURSMAX     = 1<<1, ///< timecode wraps after 24 hours
+    AV_TIMECODE_FLAG_ALLOWNEGATIVE  = 1<<2, ///< negative time values are allowed
+};
+
+typedef struct {
+    int start;          ///< timecode frame start (first base frame number)
+    uint32_t flags;     ///< flags such as drop frame, +24 hours support, ...
+    AVRational rate;    ///< frame rate in rational form
+    unsigned fps;       ///< frame per second; must be consistent with the rate field
+} AVTimecode;
+
+/**
+ * Adjust frame number for NTSC drop frame time code.
+ *
+ * @param framenum frame number to adjust
+ * @param fps      frame per second, 30 or 60
+ * @return         adjusted frame number
+ * @warning        adjustment is only valid in NTSC 29.97 and 59.94
+ */
+int av_timecode_adjust_ntsc_framenum2(int framenum, int fps);
+
+/**
+ * Convert frame number to SMPTE 12M binary representation.
+ *
+ * @param tc       timecode data correctly initialized
+ * @param framenum frame number
+ * @return         the SMPTE binary representation
+ *
+ * @note Frame number adjustment is automatically done in case of drop timecode,
+ *       you do NOT have to call av_timecode_adjust_ntsc_framenum2().
+ * @note The frame number is relative to tc->start.
+ * @note Color frame (CF), binary group flags (BGF) and biphase mark polarity
+ *       correction (PC) bits are set to zero.
+ */
+uint32_t av_timecode_get_smpte_from_framenum(const AVTimecode *tc, int framenum);
+
+/**
+ * Load timecode string in buf.
+ *
+ * @param buf      destination buffer, must be at least AV_TIMECODE_STR_SIZE long
+ * @param tc       timecode data correctly initialized
+ * @param framenum frame number
+ * @return         the buf parameter
+ *
+ * @note Timecode representation can be a negative timecode and have more than
+ *       24 hours, but will only be honored if the flags are correctly set.
+ * @note The frame number is relative to tc->start.
+ */
+char *av_timecode_make_string(const AVTimecode *tc, char *buf, int framenum);
+
+/**
+ * Get the timecode string from the SMPTE timecode format.
+ *
+ * @param buf        destination buffer, must be at least AV_TIMECODE_STR_SIZE long
+ * @param tcsmpte    the 32-bit SMPTE timecode
+ * @param prevent_df prevent the use of a drop flag when it is known the DF bit
+ *                   is arbitrary
+ * @return           the buf parameter
+ */
+char *av_timecode_make_smpte_tc_string(char *buf, uint32_t tcsmpte, int prevent_df);
+
+/**
+ * Get the timecode string from the 25-bit timecode format (MPEG GOP format).
+ *
+ * @param buf     destination buffer, must be at least AV_TIMECODE_STR_SIZE long
+ * @param tc25bit the 25-bits timecode
+ * @return        the buf parameter
+ */
+char *av_timecode_make_mpeg_tc_string(char *buf, uint32_t tc25bit);
+
+/**
+ * Init a timecode struct with the passed parameters.
+ *
+ * @param log_ctx     a pointer to an arbitrary struct of which the first field
+ *                    is a pointer to an AVClass struct (used for av_log)
+ * @param tc          pointer to an allocated AVTimecode
+ * @param rate        frame rate in rational form
+ * @param flags       miscellaneous flags such as drop frame, +24 hours, ...
+ *                    (see AVTimecodeFlag)
+ * @param frame_start the first frame number
+ * @return            0 on success, AVERROR otherwise
+ */
+int av_timecode_init(AVTimecode *tc, AVRational rate, int flags, int frame_start, void *log_ctx);
+
+/**
+ * Parse timecode representation (hh:mm:ss[:;.]ff).
+ *
+ * @param log_ctx a pointer to an arbitrary struct of which the first field is a
+ *                pointer to an AVClass struct (used for av_log).
+ * @param tc      pointer to an allocated AVTimecode
+ * @param rate    frame rate in rational form
+ * @param str     timecode string which will determine the frame start
+ * @return        0 on success, AVERROR otherwise
+ */
+int av_timecode_init_from_string(AVTimecode *tc, AVRational rate, const char *str, void *log_ctx);
+
+/**
+ * Check if the timecode feature is available for the given frame rate
+ *
+ * @return 0 if supported, <0 otherwise
+ */
+int av_timecode_check_frame_rate(AVRational rate);
+
+#endif /* AVUTIL_TIMECODE_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/timestamp.h b/3rdparty/include/ffmpeg/libavutil/timestamp.h
new file mode 100644
index 0000000..11777f6
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/timestamp.h
@@ -0,0 +1,79 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * timestamp utils, mostly useful for debugging/logging purposes
+ */
+
+#ifndef AVUTIL_TIMESTAMP_H
+#define AVUTIL_TIMESTAMP_H
+
+#include "common.h"
+
+#if defined(__cplusplus) && !defined(__STDC_FORMAT_MACROS) && !defined(PRId64)
+#error missing -D__STDC_FORMAT_MACROS / #define __STDC_FORMAT_MACROS
+#endif
+
+#define AV_TS_MAX_STRING_SIZE 32
+
+/**
+ * Fill the provided buffer with a string containing a timestamp
+ * representation.
+ *
+ * @param buf a buffer with size in bytes of at least AV_TS_MAX_STRING_SIZE
+ * @param ts the timestamp to represent
+ * @return the buffer in input
+ */
+static inline char *av_ts_make_string(char *buf, int64_t ts)
+{
+#define snprintf _snprintf
+    if (ts == AV_NOPTS_VALUE) snprintf(buf, AV_TS_MAX_STRING_SIZE, "NOPTS");
+    else                      snprintf(buf, AV_TS_MAX_STRING_SIZE, "%" PRId64, ts);
+    return buf;
+}
+
+/**
+ * Convenience macro, the return value should be used only directly in
+ * function arguments but never stand-alone.
+ */
+#define av_ts2str(ts) av_ts_make_string((char[AV_TS_MAX_STRING_SIZE]){0}, ts)
+
+/**
+ * Fill the provided buffer with a string containing a timestamp time
+ * representation.
+ *
+ * @param buf a buffer with size in bytes of at least AV_TS_MAX_STRING_SIZE
+ * @param ts the timestamp to represent
+ * @param tb the timebase of the timestamp
+ * @return the buffer in input
+ */
+static inline char *av_ts_make_time_string(char *buf, int64_t ts, AVRational *tb)
+{
+    if (ts == AV_NOPTS_VALUE) snprintf(buf, AV_TS_MAX_STRING_SIZE, "NOPTS");
+    else                      snprintf(buf, AV_TS_MAX_STRING_SIZE, "%.6g", av_q2d(*tb) * ts);
+    return buf;
+}
+
+/**
+ * Convenience macro, the return value should be used only directly in
+ * function arguments but never stand-alone.
+ */
+#define av_ts2timestr(ts, tb) av_ts_make_time_string((char[AV_TS_MAX_STRING_SIZE]){0}, ts, tb)
+
+#endif /* AVUTIL_TIMESTAMP_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/twofish.h b/3rdparty/include/ffmpeg/libavutil/twofish.h
new file mode 100644
index 0000000..813cfec
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/twofish.h
@@ -0,0 +1,70 @@
+/*
+ * An implementation of the TwoFish algorithm
+ * Copyright (c) 2015 Supraja Meedinti
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_TWOFISH_H
+#define AVUTIL_TWOFISH_H
+
+#include <stdint.h>
+
+
+/**
+  * @file
+  * @brief Public header for libavutil TWOFISH algorithm
+  * @defgroup lavu_twofish TWOFISH
+  * @ingroup lavu_crypto
+  * @{
+  */
+
+extern const int av_twofish_size;
+
+struct AVTWOFISH;
+
+/**
+  * Allocate an AVTWOFISH context
+  * To free the struct: av_free(ptr)
+  */
+struct AVTWOFISH *av_twofish_alloc(void);
+
+/**
+  * Initialize an AVTWOFISH context.
+  *
+  * @param ctx an AVTWOFISH context
+  * @param key a key of size ranging from 1 to 32 bytes used for encryption/decryption
+  * @param key_bits number of keybits: 128, 192, 256 If less than the required, padded with zeroes to nearest valid value; return value is 0 if key_bits is 128/192/256, -1 if less than 0, 1 otherwise
+ */
+int av_twofish_init(struct AVTWOFISH *ctx, const uint8_t *key, int key_bits);
+
+/**
+  * Encrypt or decrypt a buffer using a previously initialized context
+  *
+  * @param ctx an AVTWOFISH context
+  * @param dst destination array, can be equal to src
+  * @param src source array, can be equal to dst
+  * @param count number of 16 byte blocks
+  * @paran iv initialization vector for CBC mode, NULL for ECB mode
+  * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_twofish_crypt(struct AVTWOFISH *ctx, uint8_t *dst, const uint8_t *src, int count, uint8_t* iv, int decrypt);
+
+/**
+ * @}
+ */
+#endif /* AVUTIL_TWOFISH_H */
diff --git a/3rdparty/include/ffmpeg/libavutil/version.h b/3rdparty/include/ffmpeg/libavutil/version.h
new file mode 100644
index 0000000..b100b94
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/version.h
@@ -0,0 +1,121 @@
+/*
+ * copyright (c) 2003 Fabrice Bellard
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_VERSION_H
+#define AVUTIL_VERSION_H
+
+#include "macros.h"
+
+/**
+ * @addtogroup version_utils
+ *
+ * Useful to check and match library version in order to maintain
+ * backward compatibility.
+ *
+ * @{
+ */
+
+#define AV_VERSION_INT(a, b, c) ((a)<<16 | (b)<<8 | (c))
+#define AV_VERSION_DOT(a, b, c) a ##.## b ##.## c
+#define AV_VERSION(a, b, c) AV_VERSION_DOT(a, b, c)
+
+/**
+ * @}
+ */
+
+/**
+ * @file
+ * @ingroup lavu
+ * Libavutil version macros
+ */
+
+/**
+ * @defgroup lavu_ver Version and Build diagnostics
+ *
+ * Macros and function useful to check at compiletime and at runtime
+ * which version of libavutil is in use.
+ *
+ * @{
+ */
+
+#define LIBAVUTIL_VERSION_MAJOR  55
+#define LIBAVUTIL_VERSION_MINOR   2
+#define LIBAVUTIL_VERSION_MICRO 100
+
+#define LIBAVUTIL_VERSION_INT   AV_VERSION_INT(LIBAVUTIL_VERSION_MAJOR, \
+                                               LIBAVUTIL_VERSION_MINOR, \
+                                               LIBAVUTIL_VERSION_MICRO)
+#define LIBAVUTIL_VERSION       AV_VERSION(LIBAVUTIL_VERSION_MAJOR,     \
+                                           LIBAVUTIL_VERSION_MINOR,     \
+                                           LIBAVUTIL_VERSION_MICRO)
+#define LIBAVUTIL_BUILD         LIBAVUTIL_VERSION_INT
+
+#define LIBAVUTIL_IDENT         "Lavu" AV_STRINGIFY(LIBAVUTIL_VERSION)
+
+/**
+ * @}
+ *
+ * @defgroup depr_guards Deprecation guards
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ *
+ * @note, when bumping the major version it is recommended to manually
+ * disable each FF_API_* in its own commit instead of disabling them all
+ * at once through the bump. This improves the git bisect-ability of the change.
+ *
+ * @{
+ */
+
+#ifndef FF_API_VDPAU
+#define FF_API_VDPAU                    (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_XVMC
+#define FF_API_XVMC                     (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_OPT_TYPE_METADATA
+#define FF_API_OPT_TYPE_METADATA        (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_DLOG
+#define FF_API_DLOG                     (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_CRYPTO_CONTEXT
+#define FF_API_CRYPTO_CONTEXT           (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_VAAPI
+#define FF_API_VAAPI                    (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_FRAME_QP
+#define FF_API_FRAME_QP                 (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_PLUS1_MINUS1
+#define FF_API_PLUS1_MINUS1             (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+#ifndef FF_API_ERROR_FRAME
+#define FF_API_ERROR_FRAME              (LIBAVUTIL_VERSION_MAJOR < 56)
+#endif
+
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_VERSION_H */
+
diff --git a/3rdparty/include/ffmpeg/libavutil/xtea.h b/3rdparty/include/ffmpeg/libavutil/xtea.h
new file mode 100644
index 0000000..4281fd8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libavutil/xtea.h
@@ -0,0 +1,74 @@
+/*
+ * A 32-bit implementation of the XTEA algorithm
+ * Copyright (c) 2012 Samuel Pitoiset
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef AVUTIL_XTEA_H
+#define AVUTIL_XTEA_H
+
+#include <stdint.h>
+#include "version.h"
+
+/**
+ * @file
+ * @brief Public header for libavutil XTEA algorithm
+ * @defgroup lavu_xtea XTEA
+ * @ingroup lavu_crypto
+ * @{
+ */
+
+#if FF_API_CRYPTO_CONTEXT
+typedef struct AVXTEA {
+    uint32_t key[16];
+} AVXTEA;
+#else
+typedef struct AVXTEA AVXTEA;
+#endif
+
+/**
+ * Allocate an AVXTEA context.
+ */
+AVXTEA *av_xtea_alloc(void);
+
+/**
+ * Initialize an AVXTEA context.
+ *
+ * @param ctx an AVXTEA context
+ * @param key a key of 16 bytes used for encryption/decryption
+ */
+void av_xtea_init(struct AVXTEA *ctx, const uint8_t key[16]);
+
+/**
+ * Encrypt or decrypt a buffer using a previously initialized context.
+ *
+ * @param ctx an AVXTEA context
+ * @param dst destination array, can be equal to src
+ * @param src source array, can be equal to dst
+ * @param count number of 8 byte blocks
+ * @param iv initialization vector for CBC mode, if NULL then ECB will be used
+ * @param decrypt 0 for encryption, 1 for decryption
+ */
+void av_xtea_crypt(struct AVXTEA *ctx, uint8_t *dst, const uint8_t *src,
+                   int count, uint8_t *iv, int decrypt);
+
+/**
+ * @}
+ */
+
+#endif /* AVUTIL_XTEA_H */
diff --git a/3rdparty/include/ffmpeg/libpostproc/postprocess.h b/3rdparty/include/ffmpeg/libpostproc/postprocess.h
new file mode 100644
index 0000000..2b55ed6
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libpostproc/postprocess.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2001-2003 Michael Niedermayer (michaelni@gmx.at)
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef POSTPROC_POSTPROCESS_H
+#define POSTPROC_POSTPROCESS_H
+
+/**
+ * @file
+ * @ingroup lpp
+ * external API header
+ */
+
+/**
+ * @defgroup lpp Libpostproc
+ * @{
+ */
+
+#include "libpostproc/version.h"
+
+/**
+ * Return the LIBPOSTPROC_VERSION_INT constant.
+ */
+unsigned postproc_version(void);
+
+/**
+ * Return the libpostproc build-time configuration.
+ */
+const char *postproc_configuration(void);
+
+/**
+ * Return the libpostproc license.
+ */
+const char *postproc_license(void);
+
+#define PP_QUALITY_MAX 6
+
+#if FF_API_QP_TYPE
+#define QP_STORE_T int8_t //deprecated
+#endif
+
+#include <inttypes.h>
+
+typedef void pp_context;
+typedef void pp_mode;
+
+#if LIBPOSTPROC_VERSION_INT < (52<<16)
+typedef pp_context pp_context_t;
+typedef pp_mode pp_mode_t;
+extern const char *const pp_help; ///< a simple help text
+#else
+extern const char pp_help[]; ///< a simple help text
+#endif
+
+void  pp_postprocess(const uint8_t * src[3], const int srcStride[3],
+                     uint8_t * dst[3], const int dstStride[3],
+                     int horizontalSize, int verticalSize,
+                     const int8_t *QP_store,  int QP_stride,
+                     pp_mode *mode, pp_context *ppContext, int pict_type);
+
+
+/**
+ * Return a pp_mode or NULL if an error occurred.
+ *
+ * @param name    the string after "-pp" on the command line
+ * @param quality a number from 0 to PP_QUALITY_MAX
+ */
+pp_mode *pp_get_mode_by_name_and_quality(const char *name, int quality);
+void pp_free_mode(pp_mode *mode);
+
+pp_context *pp_get_context(int width, int height, int flags);
+void pp_free_context(pp_context *ppContext);
+
+#define PP_CPU_CAPS_MMX   0x80000000
+#define PP_CPU_CAPS_MMX2  0x20000000
+#define PP_CPU_CAPS_3DNOW 0x40000000
+#define PP_CPU_CAPS_ALTIVEC 0x10000000
+#define PP_CPU_CAPS_AUTO  0x00080000
+
+#define PP_FORMAT         0x00000008
+#define PP_FORMAT_420    (0x00000011|PP_FORMAT)
+#define PP_FORMAT_422    (0x00000001|PP_FORMAT)
+#define PP_FORMAT_411    (0x00000002|PP_FORMAT)
+#define PP_FORMAT_444    (0x00000000|PP_FORMAT)
+#define PP_FORMAT_440    (0x00000010|PP_FORMAT)
+
+#define PP_PICT_TYPE_QP2  0x00000010 ///< MPEG2 style QScale
+
+/**
+ * @}
+ */
+
+#endif /* POSTPROC_POSTPROCESS_H */
diff --git a/3rdparty/include/ffmpeg/libpostproc/version.h b/3rdparty/include/ffmpeg/libpostproc/version.h
new file mode 100644
index 0000000..db557a5
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libpostproc/version.h
@@ -0,0 +1,49 @@
+/*
+ * Version macros.
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef POSTPROC_POSTPROCESS_VERSION_H
+#define POSTPROC_POSTPROCESS_VERSION_H
+
+/**
+ * @file
+ * Libpostproc version macros
+ */
+
+#include "libavutil/avutil.h"
+
+#define LIBPOSTPROC_VERSION_MAJOR  54
+#define LIBPOSTPROC_VERSION_MINOR   0
+#define LIBPOSTPROC_VERSION_MICRO 100
+
+#define LIBPOSTPROC_VERSION_INT AV_VERSION_INT(LIBPOSTPROC_VERSION_MAJOR, \
+                                               LIBPOSTPROC_VERSION_MINOR, \
+                                               LIBPOSTPROC_VERSION_MICRO)
+#define LIBPOSTPROC_VERSION     AV_VERSION(LIBPOSTPROC_VERSION_MAJOR, \
+                                           LIBPOSTPROC_VERSION_MINOR, \
+                                           LIBPOSTPROC_VERSION_MICRO)
+#define LIBPOSTPROC_BUILD       LIBPOSTPROC_VERSION_INT
+
+#define LIBPOSTPROC_IDENT       "postproc" AV_STRINGIFY(LIBPOSTPROC_VERSION)
+
+#ifndef FF_API_QP_TYPE
+#define FF_API_QP_TYPE     (LIBPOSTPROC_VERSION_MAJOR < 55)
+#endif
+
+#endif /* POSTPROC_POSTPROCESS_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libswresample/swresample.h b/3rdparty/include/ffmpeg/libswresample/swresample.h
new file mode 100644
index 0000000..e1617f4
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libswresample/swresample.h
@@ -0,0 +1,553 @@
+/*
+ * Copyright (C) 2011-2013 Michael Niedermayer (michaelni@gmx.at)
+ *
+ * This file is part of libswresample
+ *
+ * libswresample is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * libswresample is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with libswresample; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef SWRESAMPLE_SWRESAMPLE_H
+#define SWRESAMPLE_SWRESAMPLE_H
+
+/**
+ * @file
+ * @ingroup lswr
+ * libswresample public header
+ */
+
+/**
+ * @defgroup lswr Libswresample
+ * @{
+ *
+ * Libswresample (lswr) is a library that handles audio resampling, sample
+ * format conversion and mixing.
+ *
+ * Interaction with lswr is done through SwrContext, which is
+ * allocated with swr_alloc() or swr_alloc_set_opts(). It is opaque, so all parameters
+ * must be set with the @ref avoptions API.
+ *
+ * The first thing you will need to do in order to use lswr is to allocate
+ * SwrContext. This can be done with swr_alloc() or swr_alloc_set_opts(). If you
+ * are using the former, you must set options through the @ref avoptions API.
+ * The latter function provides the same feature, but it allows you to set some
+ * common options in the same statement.
+ *
+ * For example the following code will setup conversion from planar float sample
+ * format to interleaved signed 16-bit integer, downsampling from 48kHz to
+ * 44.1kHz and downmixing from 5.1 channels to stereo (using the default mixing
+ * matrix). This is using the swr_alloc() function.
+ * @code
+ * SwrContext *swr = swr_alloc();
+ * av_opt_set_channel_layout(swr, "in_channel_layout",  AV_CH_LAYOUT_5POINT1, 0);
+ * av_opt_set_channel_layout(swr, "out_channel_layout", AV_CH_LAYOUT_STEREO,  0);
+ * av_opt_set_int(swr, "in_sample_rate",     48000,                0);
+ * av_opt_set_int(swr, "out_sample_rate",    44100,                0);
+ * av_opt_set_sample_fmt(swr, "in_sample_fmt",  AV_SAMPLE_FMT_FLTP, 0);
+ * av_opt_set_sample_fmt(swr, "out_sample_fmt", AV_SAMPLE_FMT_S16,  0);
+ * @endcode
+ *
+ * The same job can be done using swr_alloc_set_opts() as well:
+ * @code
+ * SwrContext *swr = swr_alloc_set_opts(NULL,  // we're allocating a new context
+ *                       AV_CH_LAYOUT_STEREO,  // out_ch_layout
+ *                       AV_SAMPLE_FMT_S16,    // out_sample_fmt
+ *                       44100,                // out_sample_rate
+ *                       AV_CH_LAYOUT_5POINT1, // in_ch_layout
+ *                       AV_SAMPLE_FMT_FLTP,   // in_sample_fmt
+ *                       48000,                // in_sample_rate
+ *                       0,                    // log_offset
+ *                       NULL);                // log_ctx
+ * @endcode
+ *
+ * Once all values have been set, it must be initialized with swr_init(). If
+ * you need to change the conversion parameters, you can change the parameters
+ * using @ref AVOptions, as described above in the first example; or by using
+ * swr_alloc_set_opts(), but with the first argument the allocated context.
+ * You must then call swr_init() again.
+ *
+ * The conversion itself is done by repeatedly calling swr_convert().
+ * Note that the samples may get buffered in swr if you provide insufficient
+ * output space or if sample rate conversion is done, which requires "future"
+ * samples. Samples that do not require future input can be retrieved at any
+ * time by using swr_convert() (in_count can be set to 0).
+ * At the end of conversion the resampling buffer can be flushed by calling
+ * swr_convert() with NULL in and 0 in_count.
+ *
+ * The samples used in the conversion process can be managed with the libavutil
+ * @ref lavu_sampmanip "samples manipulation" API, including av_samples_alloc()
+ * function used in the following example.
+ *
+ * The delay between input and output, can at any time be found by using
+ * swr_get_delay().
+ *
+ * The following code demonstrates the conversion loop assuming the parameters
+ * from above and caller-defined functions get_input() and handle_output():
+ * @code
+ * uint8_t **input;
+ * int in_samples;
+ *
+ * while (get_input(&input, &in_samples)) {
+ *     uint8_t *output;
+ *     int out_samples = av_rescale_rnd(swr_get_delay(swr, 48000) +
+ *                                      in_samples, 44100, 48000, AV_ROUND_UP);
+ *     av_samples_alloc(&output, NULL, 2, out_samples,
+ *                      AV_SAMPLE_FMT_S16, 0);
+ *     out_samples = swr_convert(swr, &output, out_samples,
+ *                                      input, in_samples);
+ *     handle_output(output, out_samples);
+ *     av_freep(&output);
+ * }
+ * @endcode
+ *
+ * When the conversion is finished, the conversion
+ * context and everything associated with it must be freed with swr_free().
+ * A swr_close() function is also available, but it exists mainly for
+ * compatibility with libavresample, and is not required to be called.
+ *
+ * There will be no memory leak if the data is not completely flushed before
+ * swr_free().
+ */
+
+#include <stdint.h>
+#include "libavutil/frame.h"
+#include "libavutil/samplefmt.h"
+
+#include "libswresample/version.h"
+
+#if LIBSWRESAMPLE_VERSION_MAJOR < 1
+#define SWR_CH_MAX 32   ///< Maximum number of channels
+#endif
+
+/**
+ * @name Option constants
+ * These constants are used for the @ref avoptions interface for lswr.
+ * @{
+ *
+ */
+
+#define SWR_FLAG_RESAMPLE 1 ///< Force resampling even if equal sample rate
+//TODO use int resample ?
+//long term TODO can we enable this dynamically?
+
+/** Dithering algorithms */
+enum SwrDitherType {
+    SWR_DITHER_NONE = 0,
+    SWR_DITHER_RECTANGULAR,
+    SWR_DITHER_TRIANGULAR,
+    SWR_DITHER_TRIANGULAR_HIGHPASS,
+
+    SWR_DITHER_NS = 64,         ///< not part of API/ABI
+    SWR_DITHER_NS_LIPSHITZ,
+    SWR_DITHER_NS_F_WEIGHTED,
+    SWR_DITHER_NS_MODIFIED_E_WEIGHTED,
+    SWR_DITHER_NS_IMPROVED_E_WEIGHTED,
+    SWR_DITHER_NS_SHIBATA,
+    SWR_DITHER_NS_LOW_SHIBATA,
+    SWR_DITHER_NS_HIGH_SHIBATA,
+    SWR_DITHER_NB,              ///< not part of API/ABI
+};
+
+/** Resampling Engines */
+enum SwrEngine {
+    SWR_ENGINE_SWR,             /**< SW Resampler */
+    SWR_ENGINE_SOXR,            /**< SoX Resampler */
+    SWR_ENGINE_NB,              ///< not part of API/ABI
+};
+
+/** Resampling Filter Types */
+enum SwrFilterType {
+    SWR_FILTER_TYPE_CUBIC,              /**< Cubic */
+    SWR_FILTER_TYPE_BLACKMAN_NUTTALL,   /**< Blackman Nuttall Windowed Sinc */
+    SWR_FILTER_TYPE_KAISER,             /**< Kaiser Windowed Sinc */
+};
+
+/**
+ * @}
+ */
+
+/**
+ * The libswresample context. Unlike libavcodec and libavformat, this structure
+ * is opaque. This means that if you would like to set options, you must use
+ * the @ref avoptions API and cannot directly set values to members of the
+ * structure.
+ */
+typedef struct SwrContext SwrContext;
+
+/**
+ * Get the AVClass for SwrContext. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ * @return the AVClass of SwrContext
+ */
+const AVClass *swr_get_class(void);
+
+/**
+ * @name SwrContext constructor functions
+ * @{
+ */
+
+/**
+ * Allocate SwrContext.
+ *
+ * If you use this function you will need to set the parameters (manually or
+ * with swr_alloc_set_opts()) before calling swr_init().
+ *
+ * @see swr_alloc_set_opts(), swr_init(), swr_free()
+ * @return NULL on error, allocated context otherwise
+ */
+struct SwrContext *swr_alloc(void);
+
+/**
+ * Initialize context after user parameters have been set.
+ * @note The context must be configured using the AVOption API.
+ *
+ * @see av_opt_set_int()
+ * @see av_opt_set_dict()
+ *
+ * @param[in,out]   s Swr context to initialize
+ * @return AVERROR error code in case of failure.
+ */
+int swr_init(struct SwrContext *s);
+
+/**
+ * Check whether an swr context has been initialized or not.
+ *
+ * @param[in]       s Swr context to check
+ * @see swr_init()
+ * @return positive if it has been initialized, 0 if not initialized
+ */
+int swr_is_initialized(struct SwrContext *s);
+
+/**
+ * Allocate SwrContext if needed and set/reset common parameters.
+ *
+ * This function does not require s to be allocated with swr_alloc(). On the
+ * other hand, swr_alloc() can use swr_alloc_set_opts() to set the parameters
+ * on the allocated context.
+ *
+ * @param s               existing Swr context if available, or NULL if not
+ * @param out_ch_layout   output channel layout (AV_CH_LAYOUT_*)
+ * @param out_sample_fmt  output sample format (AV_SAMPLE_FMT_*).
+ * @param out_sample_rate output sample rate (frequency in Hz)
+ * @param in_ch_layout    input channel layout (AV_CH_LAYOUT_*)
+ * @param in_sample_fmt   input sample format (AV_SAMPLE_FMT_*).
+ * @param in_sample_rate  input sample rate (frequency in Hz)
+ * @param log_offset      logging level offset
+ * @param log_ctx         parent logging context, can be NULL
+ *
+ * @see swr_init(), swr_free()
+ * @return NULL on error, allocated context otherwise
+ */
+struct SwrContext *swr_alloc_set_opts(struct SwrContext *s,
+                                      int64_t out_ch_layout, enum AVSampleFormat out_sample_fmt, int out_sample_rate,
+                                      int64_t  in_ch_layout, enum AVSampleFormat  in_sample_fmt, int  in_sample_rate,
+                                      int log_offset, void *log_ctx);
+
+/**
+ * @}
+ *
+ * @name SwrContext destructor functions
+ * @{
+ */
+
+/**
+ * Free the given SwrContext and set the pointer to NULL.
+ *
+ * @param[in] s a pointer to a pointer to Swr context
+ */
+void swr_free(struct SwrContext **s);
+
+/**
+ * Closes the context so that swr_is_initialized() returns 0.
+ *
+ * The context can be brought back to life by running swr_init(),
+ * swr_init() can also be used without swr_close().
+ * This function is mainly provided for simplifying the usecase
+ * where one tries to support libavresample and libswresample.
+ *
+ * @param[in,out] s Swr context to be closed
+ */
+void swr_close(struct SwrContext *s);
+
+/**
+ * @}
+ *
+ * @name Core conversion functions
+ * @{
+ */
+
+/** Convert audio.
+ *
+ * in and in_count can be set to 0 to flush the last few samples out at the
+ * end.
+ *
+ * If more input is provided than output space, then the input will be buffered.
+ * You can avoid this buffering by using swr_get_out_samples() to retrieve an
+ * upper bound on the required number of output samples for the given number of
+ * input samples. Conversion will run directly without copying whenever possible.
+ *
+ * @param s         allocated Swr context, with parameters set
+ * @param out       output buffers, only the first one need be set in case of packed audio
+ * @param out_count amount of space available for output in samples per channel
+ * @param in        input buffers, only the first one need to be set in case of packed audio
+ * @param in_count  number of input samples available in one channel
+ *
+ * @return number of samples output per channel, negative value on error
+ */
+int swr_convert(struct SwrContext *s, uint8_t **out, int out_count,
+                                const uint8_t **in , int in_count);
+
+/**
+ * Convert the next timestamp from input to output
+ * timestamps are in 1/(in_sample_rate * out_sample_rate) units.
+ *
+ * @note There are 2 slightly differently behaving modes.
+ *       @li When automatic timestamp compensation is not used, (min_compensation >= FLT_MAX)
+ *              in this case timestamps will be passed through with delays compensated
+ *       @li When automatic timestamp compensation is used, (min_compensation < FLT_MAX)
+ *              in this case the output timestamps will match output sample numbers.
+ *              See ffmpeg-resampler(1) for the two modes of compensation.
+ *
+ * @param s[in]     initialized Swr context
+ * @param pts[in]   timestamp for the next input sample, INT64_MIN if unknown
+ * @see swr_set_compensation(), swr_drop_output(), and swr_inject_silence() are
+ *      function used internally for timestamp compensation.
+ * @return the output timestamp for the next output sample
+ */
+int64_t swr_next_pts(struct SwrContext *s, int64_t pts);
+
+/**
+ * @}
+ *
+ * @name Low-level option setting functions
+ * These functons provide a means to set low-level options that is not possible
+ * with the AVOption API.
+ * @{
+ */
+
+/**
+ * Activate resampling compensation ("soft" compensation). This function is
+ * internally called when needed in swr_next_pts().
+ *
+ * @param[in,out] s             allocated Swr context. If it is not initialized,
+ *                              or SWR_FLAG_RESAMPLE is not set, swr_init() is
+ *                              called with the flag set.
+ * @param[in]     sample_delta  delta in PTS per sample
+ * @param[in]     compensation_distance number of samples to compensate for
+ * @return    >= 0 on success, AVERROR error codes if:
+ *            @li @c s is NULL,
+ *            @li @c compensation_distance is less than 0,
+ *            @li @c compensation_distance is 0 but sample_delta is not,
+ *            @li compensation unsupported by resampler, or
+ *            @li swr_init() fails when called.
+ */
+int swr_set_compensation(struct SwrContext *s, int sample_delta, int compensation_distance);
+
+/**
+ * Set a customized input channel mapping.
+ *
+ * @param[in,out] s           allocated Swr context, not yet initialized
+ * @param[in]     channel_map customized input channel mapping (array of channel
+ *                            indexes, -1 for a muted channel)
+ * @return >= 0 on success, or AVERROR error code in case of failure.
+ */
+int swr_set_channel_mapping(struct SwrContext *s, const int *channel_map);
+
+/**
+ * Set a customized remix matrix.
+ *
+ * @param s       allocated Swr context, not yet initialized
+ * @param matrix  remix coefficients; matrix[i + stride * o] is
+ *                the weight of input channel i in output channel o
+ * @param stride  offset between lines of the matrix
+ * @return  >= 0 on success, or AVERROR error code in case of failure.
+ */
+int swr_set_matrix(struct SwrContext *s, const double *matrix, int stride);
+
+/**
+ * @}
+ *
+ * @name Sample handling functions
+ * @{
+ */
+
+/**
+ * Drops the specified number of output samples.
+ *
+ * This function, along with swr_inject_silence(), is called by swr_next_pts()
+ * if needed for "hard" compensation.
+ *
+ * @param s     allocated Swr context
+ * @param count number of samples to be dropped
+ *
+ * @return >= 0 on success, or a negative AVERROR code on failure
+ */
+int swr_drop_output(struct SwrContext *s, int count);
+
+/**
+ * Injects the specified number of silence samples.
+ *
+ * This function, along with swr_drop_output(), is called by swr_next_pts()
+ * if needed for "hard" compensation.
+ *
+ * @param s     allocated Swr context
+ * @param count number of samples to be dropped
+ *
+ * @return >= 0 on success, or a negative AVERROR code on failure
+ */
+int swr_inject_silence(struct SwrContext *s, int count);
+
+/**
+ * Gets the delay the next input sample will experience relative to the next output sample.
+ *
+ * Swresample can buffer data if more input has been provided than available
+ * output space, also converting between sample rates needs a delay.
+ * This function returns the sum of all such delays.
+ * The exact delay is not necessarily an integer value in either input or
+ * output sample rate. Especially when downsampling by a large value, the
+ * output sample rate may be a poor choice to represent the delay, similarly
+ * for upsampling and the input sample rate.
+ *
+ * @param s     swr context
+ * @param base  timebase in which the returned delay will be:
+ *              @li if it's set to 1 the returned delay is in seconds
+ *              @li if it's set to 1000 the returned delay is in milliseconds
+ *              @li if it's set to the input sample rate then the returned
+ *                  delay is in input samples
+ *              @li if it's set to the output sample rate then the returned
+ *                  delay is in output samples
+ *              @li if it's the least common multiple of in_sample_rate and
+ *                  out_sample_rate then an exact rounding-free delay will be
+ *                  returned
+ * @returns     the delay in 1 / @c base units.
+ */
+int64_t swr_get_delay(struct SwrContext *s, int64_t base);
+
+/**
+ * Find an upper bound on the number of samples that the next swr_convert
+ * call will output, if called with in_samples of input samples. This
+ * depends on the internal state, and anything changing the internal state
+ * (like further swr_convert() calls) will may change the number of samples
+ * swr_get_out_samples() returns for the same number of input samples.
+ *
+ * @param in_samples    number of input samples.
+ * @note any call to swr_inject_silence(), swr_convert(), swr_next_pts()
+ *       or swr_set_compensation() invalidates this limit
+ * @note it is recommended to pass the correct available buffer size
+ *       to all functions like swr_convert() even if swr_get_out_samples()
+ *       indicates that less would be used.
+ * @returns an upper bound on the number of samples that the next swr_convert
+ *          will output or a negative value to indicate an error
+ */
+int swr_get_out_samples(struct SwrContext *s, int in_samples);
+
+/**
+ * @}
+ *
+ * @name Configuration accessors
+ * @{
+ */
+
+/**
+ * Return the @ref LIBSWRESAMPLE_VERSION_INT constant.
+ *
+ * This is useful to check if the build-time libswresample has the same version
+ * as the run-time one.
+ *
+ * @returns     the unsigned int-typed version
+ */
+unsigned swresample_version(void);
+
+/**
+ * Return the swr build-time configuration.
+ *
+ * @returns     the build-time @c ./configure flags
+ */
+const char *swresample_configuration(void);
+
+/**
+ * Return the swr license.
+ *
+ * @returns     the license of libswresample, determined at build-time
+ */
+const char *swresample_license(void);
+
+/**
+ * @}
+ *
+ * @name AVFrame based API
+ * @{
+ */
+
+/**
+ * Convert the samples in the input AVFrame and write them to the output AVFrame.
+ *
+ * Input and output AVFrames must have channel_layout, sample_rate and format set.
+ *
+ * If the output AVFrame does not have the data pointers allocated the nb_samples
+ * field will be set using av_frame_get_buffer()
+ * is called to allocate the frame.
+ *
+ * The output AVFrame can be NULL or have fewer allocated samples than required.
+ * In this case, any remaining samples not written to the output will be added
+ * to an internal FIFO buffer, to be returned at the next call to this function
+ * or to swr_convert().
+ *
+ * If converting sample rate, there may be data remaining in the internal
+ * resampling delay buffer. swr_get_delay() tells the number of
+ * remaining samples. To get this data as output, call this function or
+ * swr_convert() with NULL input.
+ *
+ * If the SwrContext configuration does not match the output and
+ * input AVFrame settings the conversion does not take place and depending on
+ * which AVFrame is not matching AVERROR_OUTPUT_CHANGED, AVERROR_INPUT_CHANGED
+ * or the result of a bitwise-OR of them is returned.
+ *
+ * @see swr_delay()
+ * @see swr_convert()
+ * @see swr_get_delay()
+ *
+ * @param swr             audio resample context
+ * @param output          output AVFrame
+ * @param input           input AVFrame
+ * @return                0 on success, AVERROR on failure or nonmatching
+ *                        configuration.
+ */
+int swr_convert_frame(SwrContext *swr,
+                      AVFrame *output, const AVFrame *input);
+
+/**
+ * Configure or reconfigure the SwrContext using the information
+ * provided by the AVFrames.
+ *
+ * The original resampling context is reset even on failure.
+ * The function calls swr_close() internally if the context is open.
+ *
+ * @see swr_close();
+ *
+ * @param swr             audio resample context
+ * @param output          output AVFrame
+ * @param input           input AVFrame
+ * @return                0 on success, AVERROR on failure.
+ */
+int swr_config_frame(SwrContext *swr, const AVFrame *out, const AVFrame *in);
+
+/**
+ * @}
+ * @}
+ */
+
+#endif /* SWRESAMPLE_SWRESAMPLE_H */
diff --git a/3rdparty/include/ffmpeg/libswresample/version.h b/3rdparty/include/ffmpeg/libswresample/version.h
new file mode 100644
index 0000000..12b3282
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libswresample/version.h
@@ -0,0 +1,45 @@
+/*
+ * Version macros.
+ *
+ * This file is part of libswresample
+ *
+ * libswresample is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * libswresample is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with libswresample; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef SWR_VERSION_H
+#define SWR_VERSION_H
+
+/**
+ * @file
+ * Libswresample version macros
+ */
+
+#include "libavutil/avutil.h"
+
+#define LIBSWRESAMPLE_VERSION_MAJOR   2
+#define LIBSWRESAMPLE_VERSION_MINOR   0
+#define LIBSWRESAMPLE_VERSION_MICRO 100
+
+#define LIBSWRESAMPLE_VERSION_INT  AV_VERSION_INT(LIBSWRESAMPLE_VERSION_MAJOR, \
+                                                  LIBSWRESAMPLE_VERSION_MINOR, \
+                                                  LIBSWRESAMPLE_VERSION_MICRO)
+#define LIBSWRESAMPLE_VERSION      AV_VERSION(LIBSWRESAMPLE_VERSION_MAJOR, \
+                                              LIBSWRESAMPLE_VERSION_MINOR, \
+                                              LIBSWRESAMPLE_VERSION_MICRO)
+#define LIBSWRESAMPLE_BUILD        LIBSWRESAMPLE_VERSION_INT
+
+#define LIBSWRESAMPLE_IDENT        "SwR" AV_STRINGIFY(LIBSWRESAMPLE_VERSION)
+
+#endif /* SWR_VERSION_H */
diff --git a/3rdparty/include/ffmpeg/libswscale/swscale.h b/3rdparty/include/ffmpeg/libswscale/swscale.h
new file mode 100644
index 0000000..ff3f630
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libswscale/swscale.h
@@ -0,0 +1,349 @@
+/*
+ * Copyright (C) 2001-2011 Michael Niedermayer <michaelni@gmx.at>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef SWSCALE_SWSCALE_H
+#define SWSCALE_SWSCALE_H
+
+/**
+ * @file
+ * @ingroup libsws
+ * external API header
+ */
+
+#include <stdint.h>
+
+#include "libavutil/avutil.h"
+#include "libavutil/log.h"
+#include "libavutil/pixfmt.h"
+#include "version.h"
+
+/**
+ * @defgroup libsws Color conversion and scaling
+ * @{
+ *
+ * Return the LIBSWSCALE_VERSION_INT constant.
+ */
+unsigned swscale_version(void);
+
+/**
+ * Return the libswscale build-time configuration.
+ */
+const char *swscale_configuration(void);
+
+/**
+ * Return the libswscale license.
+ */
+const char *swscale_license(void);
+
+/* values for the flags, the stuff on the command line is different */
+#define SWS_FAST_BILINEAR     1
+#define SWS_BILINEAR          2
+#define SWS_BICUBIC           4
+#define SWS_X                 8
+#define SWS_POINT          0x10
+#define SWS_AREA           0x20
+#define SWS_BICUBLIN       0x40
+#define SWS_GAUSS          0x80
+#define SWS_SINC          0x100
+#define SWS_LANCZOS       0x200
+#define SWS_SPLINE        0x400
+
+#define SWS_SRC_V_CHR_DROP_MASK     0x30000
+#define SWS_SRC_V_CHR_DROP_SHIFT    16
+
+#define SWS_PARAM_DEFAULT           123456
+
+#define SWS_PRINT_INFO              0x1000
+
+//the following 3 flags are not completely implemented
+//internal chrominace subsampling info
+#define SWS_FULL_CHR_H_INT    0x2000
+//input subsampling info
+#define SWS_FULL_CHR_H_INP    0x4000
+#define SWS_DIRECT_BGR        0x8000
+#define SWS_ACCURATE_RND      0x40000
+#define SWS_BITEXACT          0x80000
+#define SWS_ERROR_DIFFUSION  0x800000
+
+#define SWS_MAX_REDUCE_CUTOFF 0.002
+
+#define SWS_CS_ITU709         1
+#define SWS_CS_FCC            4
+#define SWS_CS_ITU601         5
+#define SWS_CS_ITU624         5
+#define SWS_CS_SMPTE170M      5
+#define SWS_CS_SMPTE240M      7
+#define SWS_CS_DEFAULT        5
+
+/**
+ * Return a pointer to yuv<->rgb coefficients for the given colorspace
+ * suitable for sws_setColorspaceDetails().
+ *
+ * @param colorspace One of the SWS_CS_* macros. If invalid,
+ * SWS_CS_DEFAULT is used.
+ */
+const int *sws_getCoefficients(int colorspace);
+
+// when used for filters they must have an odd number of elements
+// coeffs cannot be shared between vectors
+typedef struct SwsVector {
+    double *coeff;              ///< pointer to the list of coefficients
+    int length;                 ///< number of coefficients in the vector
+} SwsVector;
+
+// vectors can be shared
+typedef struct SwsFilter {
+    SwsVector *lumH;
+    SwsVector *lumV;
+    SwsVector *chrH;
+    SwsVector *chrV;
+} SwsFilter;
+
+struct SwsContext;
+
+/**
+ * Return a positive value if pix_fmt is a supported input format, 0
+ * otherwise.
+ */
+int sws_isSupportedInput(enum AVPixelFormat pix_fmt);
+
+/**
+ * Return a positive value if pix_fmt is a supported output format, 0
+ * otherwise.
+ */
+int sws_isSupportedOutput(enum AVPixelFormat pix_fmt);
+
+/**
+ * @param[in]  pix_fmt the pixel format
+ * @return a positive value if an endianness conversion for pix_fmt is
+ * supported, 0 otherwise.
+ */
+int sws_isSupportedEndiannessConversion(enum AVPixelFormat pix_fmt);
+
+/**
+ * Allocate an empty SwsContext. This must be filled and passed to
+ * sws_init_context(). For filling see AVOptions, options.c and
+ * sws_setColorspaceDetails().
+ */
+struct SwsContext *sws_alloc_context(void);
+
+/**
+ * Initialize the swscaler context sws_context.
+ *
+ * @return zero or positive value on success, a negative value on
+ * error
+ */
+int sws_init_context(struct SwsContext *sws_context, SwsFilter *srcFilter, SwsFilter *dstFilter);
+
+/**
+ * Free the swscaler context swsContext.
+ * If swsContext is NULL, then does nothing.
+ */
+void sws_freeContext(struct SwsContext *swsContext);
+
+/**
+ * Allocate and return an SwsContext. You need it to perform
+ * scaling/conversion operations using sws_scale().
+ *
+ * @param srcW the width of the source image
+ * @param srcH the height of the source image
+ * @param srcFormat the source image format
+ * @param dstW the width of the destination image
+ * @param dstH the height of the destination image
+ * @param dstFormat the destination image format
+ * @param flags specify which algorithm and options to use for rescaling
+ * @param param extra parameters to tune the used scaler
+ *              For SWS_BICUBIC param[0] and [1] tune the shape of the basis
+ *              function, param[0] tunes f(1) and param[1] f´(1)
+ *              For SWS_GAUSS param[0] tunes the exponent and thus cutoff
+ *              frequency
+ *              For SWS_LANCZOS param[0] tunes the width of the window function
+ * @return a pointer to an allocated context, or NULL in case of error
+ * @note this function is to be removed after a saner alternative is
+ *       written
+ */
+struct SwsContext *sws_getContext(int srcW, int srcH, enum AVPixelFormat srcFormat,
+                                  int dstW, int dstH, enum AVPixelFormat dstFormat,
+                                  int flags, SwsFilter *srcFilter,
+                                  SwsFilter *dstFilter, const double *param);
+
+/**
+ * Scale the image slice in srcSlice and put the resulting scaled
+ * slice in the image in dst. A slice is a sequence of consecutive
+ * rows in an image.
+ *
+ * Slices have to be provided in sequential order, either in
+ * top-bottom or bottom-top order. If slices are provided in
+ * non-sequential order the behavior of the function is undefined.
+ *
+ * @param c         the scaling context previously created with
+ *                  sws_getContext()
+ * @param srcSlice  the array containing the pointers to the planes of
+ *                  the source slice
+ * @param srcStride the array containing the strides for each plane of
+ *                  the source image
+ * @param srcSliceY the position in the source image of the slice to
+ *                  process, that is the number (counted starting from
+ *                  zero) in the image of the first row of the slice
+ * @param srcSliceH the height of the source slice, that is the number
+ *                  of rows in the slice
+ * @param dst       the array containing the pointers to the planes of
+ *                  the destination image
+ * @param dstStride the array containing the strides for each plane of
+ *                  the destination image
+ * @return          the height of the output slice
+ */
+int sws_scale(struct SwsContext *c, const uint8_t *const srcSlice[],
+              const int srcStride[], int srcSliceY, int srcSliceH,
+              uint8_t *const dst[], const int dstStride[]);
+
+/**
+ * @param dstRange flag indicating the while-black range of the output (1=jpeg / 0=mpeg)
+ * @param srcRange flag indicating the while-black range of the input (1=jpeg / 0=mpeg)
+ * @param table the yuv2rgb coefficients describing the output yuv space, normally ff_yuv2rgb_coeffs[x]
+ * @param inv_table the yuv2rgb coefficients describing the input yuv space, normally ff_yuv2rgb_coeffs[x]
+ * @param brightness 16.16 fixed point brightness correction
+ * @param contrast 16.16 fixed point contrast correction
+ * @param saturation 16.16 fixed point saturation correction
+ * @return -1 if not supported
+ */
+int sws_setColorspaceDetails(struct SwsContext *c, const int inv_table[4],
+                             int srcRange, const int table[4], int dstRange,
+                             int brightness, int contrast, int saturation);
+
+/**
+ * @return -1 if not supported
+ */
+int sws_getColorspaceDetails(struct SwsContext *c, int **inv_table,
+                             int *srcRange, int **table, int *dstRange,
+                             int *brightness, int *contrast, int *saturation);
+
+/**
+ * Allocate and return an uninitialized vector with length coefficients.
+ */
+SwsVector *sws_allocVec(int length);
+
+/**
+ * Return a normalized Gaussian curve used to filter stuff
+ * quality = 3 is high quality, lower is lower quality.
+ */
+SwsVector *sws_getGaussianVec(double variance, double quality);
+
+/**
+ * Allocate and return a vector with length coefficients, all
+ * with the same value c.
+ */
+SwsVector *sws_getConstVec(double c, int length);
+
+/**
+ * Allocate and return a vector with just one coefficient, with
+ * value 1.0.
+ */
+SwsVector *sws_getIdentityVec(void);
+
+/**
+ * Scale all the coefficients of a by the scalar value.
+ */
+void sws_scaleVec(SwsVector *a, double scalar);
+
+/**
+ * Scale all the coefficients of a so that their sum equals height.
+ */
+void sws_normalizeVec(SwsVector *a, double height);
+void sws_convVec(SwsVector *a, SwsVector *b);
+void sws_addVec(SwsVector *a, SwsVector *b);
+void sws_subVec(SwsVector *a, SwsVector *b);
+void sws_shiftVec(SwsVector *a, int shift);
+
+/**
+ * Allocate and return a clone of the vector a, that is a vector
+ * with the same coefficients as a.
+ */
+SwsVector *sws_cloneVec(SwsVector *a);
+
+/**
+ * Print with av_log() a textual representation of the vector a
+ * if log_level <= av_log_level.
+ */
+void sws_printVec2(SwsVector *a, AVClass *log_ctx, int log_level);
+
+void sws_freeVec(SwsVector *a);
+
+SwsFilter *sws_getDefaultFilter(float lumaGBlur, float chromaGBlur,
+                                float lumaSharpen, float chromaSharpen,
+                                float chromaHShift, float chromaVShift,
+                                int verbose);
+void sws_freeFilter(SwsFilter *filter);
+
+/**
+ * Check if context can be reused, otherwise reallocate a new one.
+ *
+ * If context is NULL, just calls sws_getContext() to get a new
+ * context. Otherwise, checks if the parameters are the ones already
+ * saved in context. If that is the case, returns the current
+ * context. Otherwise, frees context and gets a new context with
+ * the new parameters.
+ *
+ * Be warned that srcFilter and dstFilter are not checked, they
+ * are assumed to remain the same.
+ */
+struct SwsContext *sws_getCachedContext(struct SwsContext *context,
+                                        int srcW, int srcH, enum AVPixelFormat srcFormat,
+                                        int dstW, int dstH, enum AVPixelFormat dstFormat,
+                                        int flags, SwsFilter *srcFilter,
+                                        SwsFilter *dstFilter, const double *param);
+
+/**
+ * Convert an 8-bit paletted frame into a frame with a color depth of 32 bits.
+ *
+ * The output frame will have the same packed format as the palette.
+ *
+ * @param src        source frame buffer
+ * @param dst        destination frame buffer
+ * @param num_pixels number of pixels to convert
+ * @param palette    array with [256] entries, which must match color arrangement (RGB or BGR) of src
+ */
+void sws_convertPalette8ToPacked32(const uint8_t *src, uint8_t *dst, int num_pixels, const uint8_t *palette);
+
+/**
+ * Convert an 8-bit paletted frame into a frame with a color depth of 24 bits.
+ *
+ * With the palette format "ABCD", the destination frame ends up with the format "ABC".
+ *
+ * @param src        source frame buffer
+ * @param dst        destination frame buffer
+ * @param num_pixels number of pixels to convert
+ * @param palette    array with [256] entries, which must match color arrangement (RGB or BGR) of src
+ */
+void sws_convertPalette8ToPacked24(const uint8_t *src, uint8_t *dst, int num_pixels, const uint8_t *palette);
+
+/**
+ * Get the AVClass for swsContext. It can be used in combination with
+ * AV_OPT_SEARCH_FAKE_OBJ for examining options.
+ *
+ * @see av_opt_find().
+ */
+const AVClass *sws_get_class(void);
+
+/**
+ * @}
+ */
+
+#endif /* SWSCALE_SWSCALE_H */
diff --git a/3rdparty/include/ffmpeg/libswscale/version.h b/3rdparty/include/ffmpeg/libswscale/version.h
new file mode 100644
index 0000000..24908b8
--- /dev/null
+++ b/3rdparty/include/ffmpeg/libswscale/version.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#ifndef SWSCALE_VERSION_H
+#define SWSCALE_VERSION_H
+
+/**
+ * @file
+ * swscale version macros
+ */
+
+#include "libavutil/version.h"
+
+#define LIBSWSCALE_VERSION_MAJOR   4
+#define LIBSWSCALE_VERSION_MINOR   0
+#define LIBSWSCALE_VERSION_MICRO 100
+
+#define LIBSWSCALE_VERSION_INT  AV_VERSION_INT(LIBSWSCALE_VERSION_MAJOR, \
+                                               LIBSWSCALE_VERSION_MINOR, \
+                                               LIBSWSCALE_VERSION_MICRO)
+#define LIBSWSCALE_VERSION      AV_VERSION(LIBSWSCALE_VERSION_MAJOR, \
+                                           LIBSWSCALE_VERSION_MINOR, \
+                                           LIBSWSCALE_VERSION_MICRO)
+#define LIBSWSCALE_BUILD        LIBSWSCALE_VERSION_INT
+
+#define LIBSWSCALE_IDENT        "SwS" AV_STRINGIFY(LIBSWSCALE_VERSION)
+
+/**
+ * FF_API_* defines may be placed below to indicate public API that will be
+ * dropped at a future version bump. The defines themselves are not part of
+ * the public API and may change, break or disappear at any time.
+ */
+
+#endif /* SWSCALE_VERSION_H */
diff --git a/3rdparty/include/opencv/cv.h b/3rdparty/include/opencv/cv.h
new file mode 100644
index 0000000..0aefc6d
--- /dev/null
+++ b/3rdparty/include/opencv/cv.h
@@ -0,0 +1,73 @@
+/*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*/
+
+#ifndef __OPENCV_OLD_CV_H__
+#define __OPENCV_OLD_CV_H__
+
+#if defined(_MSC_VER)
+    #define CV_DO_PRAGMA(x) __pragma(x)
+    #define __CVSTR2__(x) #x
+    #define __CVSTR1__(x) __CVSTR2__(x)
+    #define __CVMSVCLOC__ __FILE__ "("__CVSTR1__(__LINE__)") : "
+    #define CV_MSG_PRAGMA(_msg) CV_DO_PRAGMA(message (__CVMSVCLOC__ _msg))
+#elif defined(__GNUC__)
+    #define CV_DO_PRAGMA(x) _Pragma (#x)
+    #define CV_MSG_PRAGMA(_msg) CV_DO_PRAGMA(message (_msg))
+#else
+    #define CV_DO_PRAGMA(x)
+    #define CV_MSG_PRAGMA(_msg)
+#endif
+#define CV_WARNING(x) CV_MSG_PRAGMA("Warning: " #x)
+
+//CV_WARNING("This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module")
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/photo/photo_c.h"
+#include "opencv2/video/tracking_c.h"
+#include "opencv2/objdetect/objdetect_c.h"
+
+#if !defined(CV_IMPL)
+#define CV_IMPL extern "C"
+#endif //CV_IMPL
+
+#endif // __OPENCV_OLD_CV_H_
diff --git a/3rdparty/include/opencv/cv.hpp b/3rdparty/include/opencv/cv.hpp
new file mode 100644
index 0000000..e498d7a
--- /dev/null
+++ b/3rdparty/include/opencv/cv.hpp
@@ -0,0 +1,60 @@
+/*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*/
+
+#ifndef __OPENCV_OLD_CV_HPP__
+#define __OPENCV_OLD_CV_HPP__
+
+//#if defined(__GNUC__)
+//#warning "This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module"
+//#endif
+
+#include "cv.h"
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/photo.hpp"
+#include "opencv2/video.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/objdetect.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv/cvaux.h b/3rdparty/include/opencv/cvaux.h
new file mode 100644
index 0000000..fe86c5d
--- /dev/null
+++ b/3rdparty/include/opencv/cvaux.h
@@ -0,0 +1,57 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OLD_AUX_H__
+#define __OPENCV_OLD_AUX_H__
+
+//#if defined(__GNUC__)
+//#warning "This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module"
+//#endif
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/photo/photo_c.h"
+#include "opencv2/video/tracking_c.h"
+#include "opencv2/objdetect/objdetect_c.h"
+
+#endif
+
+/* End of file. */
diff --git a/3rdparty/include/opencv/cvaux.hpp b/3rdparty/include/opencv/cvaux.hpp
new file mode 100644
index 0000000..b0e60a3
--- /dev/null
+++ b/3rdparty/include/opencv/cvaux.hpp
@@ -0,0 +1,52 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OLD_AUX_HPP__
+#define __OPENCV_OLD_AUX_HPP__
+
+//#if defined(__GNUC__)
+//#warning "This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module"
+//#endif
+
+#include "cvaux.h"
+#include "opencv2/core/utility.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv/cvwimage.h b/3rdparty/include/opencv/cvwimage.h
new file mode 100644
index 0000000..de89c92
--- /dev/null
+++ b/3rdparty/include/opencv/cvwimage.h
@@ -0,0 +1,46 @@
+///////////////////////////////////////////////////////////////////////////////
+//  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) 2008, Google, 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 Intel Corporation or contributors 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.
+
+
+#ifndef __OPENCV_OLD_WIMAGE_HPP__
+#define __OPENCV_OLD_WIMAGE_HPP__
+
+#include "opencv2/core/wimage.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv/cxcore.h b/3rdparty/include/opencv/cxcore.h
new file mode 100644
index 0000000..0982bd7
--- /dev/null
+++ b/3rdparty/include/opencv/cxcore.h
@@ -0,0 +1,52 @@
+/*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*/
+
+#ifndef __OPENCV_OLD_CXCORE_H__
+#define __OPENCV_OLD_CXCORE_H__
+
+//#if defined(__GNUC__)
+//#warning "This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module"
+//#endif
+
+#include "opencv2/core/core_c.h"
+
+#endif
diff --git a/3rdparty/include/opencv/cxcore.hpp b/3rdparty/include/opencv/cxcore.hpp
new file mode 100644
index 0000000..9af4ac7
--- /dev/null
+++ b/3rdparty/include/opencv/cxcore.hpp
@@ -0,0 +1,53 @@
+/*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*/
+
+#ifndef __OPENCV_OLD_CXCORE_HPP__
+#define __OPENCV_OLD_CXCORE_HPP__
+
+//#if defined(__GNUC__)
+//#warning "This is a deprecated opencv header provided for compatibility. Please include a header from a corresponding opencv module"
+//#endif
+
+#include "cxcore.h"
+#include "opencv2/core.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv/cxeigen.hpp b/3rdparty/include/opencv/cxeigen.hpp
new file mode 100644
index 0000000..1f04d1a
--- /dev/null
+++ b/3rdparty/include/opencv/cxeigen.hpp
@@ -0,0 +1,48 @@
+/*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*/
+
+#ifndef __OPENCV_OLD_EIGEN_HPP__
+#define __OPENCV_OLD_EIGEN_HPP__
+
+#include "opencv2/core/eigen.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv/cxmisc.h b/3rdparty/include/opencv/cxmisc.h
new file mode 100644
index 0000000..6c93a0c
--- /dev/null
+++ b/3rdparty/include/opencv/cxmisc.h
@@ -0,0 +1,8 @@
+#ifndef __OPENCV_OLD_CXMISC_H__
+#define __OPENCV_OLD_CXMISC_H__
+
+#ifdef __cplusplus
+#  include "opencv2/core/utility.hpp"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv/highgui.h b/3rdparty/include/opencv/highgui.h
new file mode 100644
index 0000000..0261029
--- /dev/null
+++ b/3rdparty/include/opencv/highgui.h
@@ -0,0 +1,48 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OLD_HIGHGUI_H__
+#define __OPENCV_OLD_HIGHGUI_H__
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/highgui/highgui_c.h"
+
+#endif
diff --git a/3rdparty/include/opencv/ml.h b/3rdparty/include/opencv/ml.h
new file mode 100644
index 0000000..d8e967f
--- /dev/null
+++ b/3rdparty/include/opencv/ml.h
@@ -0,0 +1,47 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OLD_ML_H__
+#define __OPENCV_OLD_ML_H__
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/ml.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv2/calib3d.hpp b/3rdparty/include/opencv2/calib3d.hpp
new file mode 100644
index 0000000..66ffe2c
--- /dev/null
+++ b/3rdparty/include/opencv2/calib3d.hpp
@@ -0,0 +1,1873 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CALIB3D_HPP__
+#define __OPENCV_CALIB3D_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/core/affine.hpp"
+
+/**
+  @defgroup calib3d Camera Calibration and 3D Reconstruction
+
+The functions in this section use a so-called pinhole camera model. In this model, a scene view is
+formed by projecting 3D points into the image plane using a perspective transformation.
+
+\f[s  \; m' = A [R|t] M'\f]
+
+or
+
+\f[s  \vecthree{u}{v}{1} = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}
+\begin{bmatrix}
+r_{11} & r_{12} & r_{13} & t_1  \\
+r_{21} & r_{22} & r_{23} & t_2  \\
+r_{31} & r_{32} & r_{33} & t_3
+\end{bmatrix}
+\begin{bmatrix}
+X \\
+Y \\
+Z \\
+1
+\end{bmatrix}\f]
+
+where:
+
+-   \f$(X, Y, Z)\f$ are the coordinates of a 3D point in the world coordinate space
+-   \f$(u, v)\f$ are the coordinates of the projection point in pixels
+-   \f$A\f$ is a camera matrix, or a matrix of intrinsic parameters
+-   \f$(cx, cy)\f$ is a principal point that is usually at the image center
+-   \f$fx, fy\f$ are the focal lengths expressed in pixel units.
+
+Thus, if an image from the camera is scaled by a factor, all of these parameters should be scaled
+(multiplied/divided, respectively) by the same factor. The matrix of intrinsic parameters does not
+depend on the scene viewed. So, once estimated, it can be re-used as long as the focal length is
+fixed (in case of zoom lens). The joint rotation-translation matrix \f$[R|t]\f$ is called a matrix of
+extrinsic parameters. It is used to describe the camera motion around a static scene, or vice versa,
+rigid motion of an object in front of a still camera. That is, \f$[R|t]\f$ translates coordinates of a
+point \f$(X, Y, Z)\f$ to a coordinate system, fixed with respect to the camera. The transformation above
+is equivalent to the following (when \f$z \ne 0\f$ ):
+
+\f[\begin{array}{l}
+\vecthree{x}{y}{z} = R  \vecthree{X}{Y}{Z} + t \\
+x' = x/z \\
+y' = y/z \\
+u = f_x*x' + c_x \\
+v = f_y*y' + c_y
+\end{array}\f]
+
+Real lenses usually have some distortion, mostly radial distortion and slight tangential distortion.
+So, the above model is extended as:
+
+\f[\begin{array}{l} \vecthree{x}{y}{z} = R  \vecthree{X}{Y}{Z} + t \\ x' = x/z \\ y' = y/z \\ x'' = x'  \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4 \\ y'' = y'  \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_1 r^2 + s_2 r^4 \\ \text{where} \quad r^2 = x'^2 + y'^2  \\ u = f_x*x'' + c_x \\ v = f_y*y'' + c_y \end{array}\f]
+
+\f$k_1\f$, \f$k_2\f$, \f$k_3\f$, \f$k_4\f$, \f$k_5\f$, and \f$k_6\f$ are radial distortion coefficients. \f$p_1\f$ and \f$p_2\f$ are
+tangential distortion coefficients. \f$s_1\f$, \f$s_2\f$, \f$s_3\f$, and \f$s_4\f$, are the thin prism distortion
+coefficients. Higher-order coefficients are not considered in OpenCV. In the functions below the
+coefficients are passed or returned as
+
+\f[(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f]
+
+vector. That is, if the vector contains four elements, it means that \f$k_3=0\f$ . The distortion
+coefficients do not depend on the scene viewed. Thus, they also belong to the intrinsic camera
+parameters. And they remain the same regardless of the captured image resolution. If, for example, a
+camera has been calibrated on images of 320 x 240 resolution, absolutely the same distortion
+coefficients can be used for 640 x 480 images from the same camera while \f$f_x\f$, \f$f_y\f$, \f$c_x\f$, and
+\f$c_y\f$ need to be scaled appropriately.
+
+The functions below use the above model to do the following:
+
+-   Project 3D points to the image plane given intrinsic and extrinsic parameters.
+-   Compute extrinsic parameters given intrinsic parameters, a few 3D points, and their
+projections.
+-   Estimate intrinsic and extrinsic camera parameters from several views of a known calibration
+pattern (every view is described by several 3D-2D point correspondences).
+-   Estimate the relative position and orientation of the stereo camera "heads" and compute the
+*rectification* transformation that makes the camera optical axes parallel.
+
+@note
+   -   A calibration sample for 3 cameras in horizontal position can be found at
+        opencv_source_code/samples/cpp/3calibration.cpp
+    -   A calibration sample based on a sequence of images can be found at
+        opencv_source_code/samples/cpp/calibration.cpp
+    -   A calibration sample in order to do 3D reconstruction can be found at
+        opencv_source_code/samples/cpp/build3dmodel.cpp
+    -   A calibration sample of an artificially generated camera and chessboard patterns can be
+        found at opencv_source_code/samples/cpp/calibration_artificial.cpp
+    -   A calibration example on stereo calibration can be found at
+        opencv_source_code/samples/cpp/stereo_calib.cpp
+    -   A calibration example on stereo matching can be found at
+        opencv_source_code/samples/cpp/stereo_match.cpp
+    -   (Python) A camera calibration sample can be found at
+        opencv_source_code/samples/python2/calibrate.py
+
+  @{
+    @defgroup calib3d_fisheye Fisheye camera model
+
+    Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the
+    matrix X) The coordinate vector of P in the camera reference frame is:
+
+    \f[Xc = R X + T\f]
+
+    where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y
+    and z the 3 coordinates of Xc:
+
+    \f[x = Xc_1 \\ y = Xc_2 \\ z = Xc_3\f]
+
+    The pinehole projection coordinates of P is [a; b] where
+
+    \f[a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r)\f]
+
+    Fisheye distortion:
+
+    \f[\theta_d = \theta (1 + k_1 \theta^2 + k_2 \theta^4 + k_3 \theta^6 + k_4 \theta^8)\f]
+
+    The distorted point coordinates are [x'; y'] where
+
+    \f[x' = (\theta_d / r) x \\ y' = (\theta_d / r) y \f]
+
+    Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:
+
+    \f[u = f_x (x' + \alpha y') + c_x \\
+    v = f_y yy + c_y\f]
+
+    @defgroup calib3d_c C API
+
+  @}
+ */
+
+namespace cv
+{
+
+//! @addtogroup calib3d
+//! @{
+
+//! type of the robust estimation algorithm
+enum { LMEDS  = 4, //!< least-median algorithm
+       RANSAC = 8, //!< RANSAC algorithm
+       RHO    = 16 //!< RHO algorithm
+     };
+
+enum { SOLVEPNP_ITERATIVE = 0,
+       SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+       SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+       SOLVEPNP_DLS       = 3, // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+       SOLVEPNP_UPNP      = 4  // A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation"
+
+};
+
+enum { CALIB_CB_ADAPTIVE_THRESH = 1,
+       CALIB_CB_NORMALIZE_IMAGE = 2,
+       CALIB_CB_FILTER_QUADS    = 4,
+       CALIB_CB_FAST_CHECK      = 8
+     };
+
+enum { CALIB_CB_SYMMETRIC_GRID  = 1,
+       CALIB_CB_ASYMMETRIC_GRID = 2,
+       CALIB_CB_CLUSTERING      = 4
+     };
+
+enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
+       CALIB_FIX_ASPECT_RATIO    = 0x00002,
+       CALIB_FIX_PRINCIPAL_POINT = 0x00004,
+       CALIB_ZERO_TANGENT_DIST   = 0x00008,
+       CALIB_FIX_FOCAL_LENGTH    = 0x00010,
+       CALIB_FIX_K1              = 0x00020,
+       CALIB_FIX_K2              = 0x00040,
+       CALIB_FIX_K3              = 0x00080,
+       CALIB_FIX_K4              = 0x00800,
+       CALIB_FIX_K5              = 0x01000,
+       CALIB_FIX_K6              = 0x02000,
+       CALIB_RATIONAL_MODEL      = 0x04000,
+       CALIB_THIN_PRISM_MODEL    = 0x08000,
+       CALIB_FIX_S1_S2_S3_S4     = 0x10000,
+       // only for stereo
+       CALIB_FIX_INTRINSIC       = 0x00100,
+       CALIB_SAME_FOCAL_LENGTH   = 0x00200,
+       // for stereo rectification
+       CALIB_ZERO_DISPARITY      = 0x00400
+     };
+
+//! the algorithm for finding fundamental matrix
+enum { FM_7POINT = 1, //!< 7-point algorithm
+       FM_8POINT = 2, //!< 8-point algorithm
+       FM_LMEDS  = 4, //!< least-median algorithm
+       FM_RANSAC = 8  //!< RANSAC algorithm
+     };
+
+
+
+/** @brief Converts a rotation matrix to a rotation vector or vice versa.
+
+@param src Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).
+@param dst Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.
+@param jacobian Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial
+derivatives of the output array components with respect to the input array components.
+
+\f[\begin{array}{l} \theta \leftarrow norm(r) \\ r  \leftarrow r/ \theta \\ R =  \cos{\theta} I + (1- \cos{\theta} ) r r^T +  \sin{\theta} \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\f]
+
+Inverse transformation can be also done easily, since
+
+\f[\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\f]
+
+A rotation vector is a convenient and most compact representation of a rotation matrix (since any
+rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry
+optimization procedures like calibrateCamera, stereoCalibrate, or solvePnP .
+ */
+CV_EXPORTS_W void Rodrigues( InputArray src, OutputArray dst, OutputArray jacobian = noArray() );
+
+/** @brief Finds a perspective transformation between two planes.
+
+@param srcPoints Coordinates of the points in the original plane, a matrix of the type CV_32FC2
+or vector\<Point2f\> .
+@param dstPoints Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
+a vector\<Point2f\> .
+@param method Method used to computed a homography matrix. The following methods are possible:
+-   **0** - a regular method using all the points
+-   **RANSAC** - RANSAC-based robust method
+-   **LMEDS** - Least-Median robust method
+-   **RHO**    - PROSAC-based robust method
+@param ransacReprojThreshold Maximum allowed reprojection error to treat a point pair as an inlier
+(used in the RANSAC and RHO methods only). That is, if
+\f[\| \texttt{dstPoints} _i -  \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|  >  \texttt{ransacReprojThreshold}\f]
+then the point \f$i\f$ is considered an outlier. If srcPoints and dstPoints are measured in pixels,
+it usually makes sense to set this parameter somewhere in the range of 1 to 10.
+@param mask Optional output mask set by a robust method ( RANSAC or LMEDS ). Note that the input
+mask values are ignored.
+@param maxIters The maximum number of RANSAC iterations, 2000 is the maximum it can be.
+@param confidence Confidence level, between 0 and 1.
+
+The functions find and return the perspective transformation \f$H\f$ between the source and the
+destination planes:
+
+\f[s_i  \vecthree{x'_i}{y'_i}{1} \sim H  \vecthree{x_i}{y_i}{1}\f]
+
+so that the back-projection error
+
+\f[\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\f]
+
+is minimized. If the parameter method is set to the default value 0, the function uses all the point
+pairs to compute an initial homography estimate with a simple least-squares scheme.
+
+However, if not all of the point pairs ( \f$srcPoints_i\f$, \f$dstPoints_i\f$ ) fit the rigid perspective
+transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
+you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
+random subsets of the corresponding point pairs (of four pairs each), estimate the homography matrix
+using this subset and a simple least-square algorithm, and then compute the quality/goodness of the
+computed homography (which is the number of inliers for RANSAC or the median re-projection error for
+LMeDs). The best subset is then used to produce the initial estimate of the homography matrix and
+the mask of inliers/outliers.
+
+Regardless of the method, robust or not, the computed homography matrix is refined further (using
+inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
+re-projection error even more.
+
+The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
+distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
+correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
+noise is rather small, use the default method (method=0).
+
+The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
+determined up to a scale. Thus, it is normalized so that \f$h_{33}=1\f$. Note that whenever an H matrix
+cannot be estimated, an empty one will be returned.
+
+@sa
+   getAffineTransform, getPerspectiveTransform, estimateRigidTransform, warpPerspective,
+    perspectiveTransform
+
+@note
+   -   A example on calculating a homography for image matching can be found at
+        opencv_source_code/samples/cpp/video_homography.cpp
+
+ */
+CV_EXPORTS_W Mat findHomography( InputArray srcPoints, InputArray dstPoints,
+                                 int method = 0, double ransacReprojThreshold = 3,
+                                 OutputArray mask=noArray(), const int maxIters = 2000,
+                                 const double confidence = 0.995);
+
+/** @overload */
+CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints,
+                               OutputArray mask, int method = 0, double ransacReprojThreshold = 3 );
+
+/** @brief Computes an RQ decomposition of 3x3 matrices.
+
+@param src 3x3 input matrix.
+@param mtxR Output 3x3 upper-triangular matrix.
+@param mtxQ Output 3x3 orthogonal matrix.
+@param Qx Optional output 3x3 rotation matrix around x-axis.
+@param Qy Optional output 3x3 rotation matrix around y-axis.
+@param Qz Optional output 3x3 rotation matrix around z-axis.
+
+The function computes a RQ decomposition using the given rotations. This function is used in
+decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
+and a rotation matrix.
+
+It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
+degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
+sequence of rotations about the three principle axes that results in the same orientation of an
+object, eg. see @cite Slabaugh . Returned tree rotation matrices and corresponding three Euler angules
+are only one of the possible solutions.
+ */
+CV_EXPORTS_W Vec3d RQDecomp3x3( InputArray src, OutputArray mtxR, OutputArray mtxQ,
+                                OutputArray Qx = noArray(),
+                                OutputArray Qy = noArray(),
+                                OutputArray Qz = noArray());
+
+/** @brief Decomposes a projection matrix into a rotation matrix and a camera matrix.
+
+@param projMatrix 3x4 input projection matrix P.
+@param cameraMatrix Output 3x3 camera matrix K.
+@param rotMatrix Output 3x3 external rotation matrix R.
+@param transVect Output 4x1 translation vector T.
+@param rotMatrixX Optional 3x3 rotation matrix around x-axis.
+@param rotMatrixY Optional 3x3 rotation matrix around y-axis.
+@param rotMatrixZ Optional 3x3 rotation matrix around z-axis.
+@param eulerAngles Optional three-element vector containing three Euler angles of rotation in
+degrees.
+
+The function computes a decomposition of a projection matrix into a calibration and a rotation
+matrix and the position of a camera.
+
+It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
+be used in OpenGL. Note, there is always more than one sequence of rotations about the three
+principle axes that results in the same orientation of an object, eg. see @cite Slabaugh . Returned
+tree rotation matrices and corresponding three Euler angules are only one of the possible solutions.
+
+The function is based on RQDecomp3x3 .
+ */
+CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix,
+                                             OutputArray rotMatrix, OutputArray transVect,
+                                             OutputArray rotMatrixX = noArray(),
+                                             OutputArray rotMatrixY = noArray(),
+                                             OutputArray rotMatrixZ = noArray(),
+                                             OutputArray eulerAngles =noArray() );
+
+/** @brief Computes partial derivatives of the matrix product for each multiplied matrix.
+
+@param A First multiplied matrix.
+@param B Second multiplied matrix.
+@param dABdA First output derivative matrix d(A\*B)/dA of size
+\f$\texttt{A.rows*B.cols} \times {A.rows*A.cols}\f$ .
+@param dABdB Second output derivative matrix d(A\*B)/dB of size
+\f$\texttt{A.rows*B.cols} \times {B.rows*B.cols}\f$ .
+
+The function computes partial derivatives of the elements of the matrix product \f$A*B\f$ with regard to
+the elements of each of the two input matrices. The function is used to compute the Jacobian
+matrices in stereoCalibrate but can also be used in any other similar optimization function.
+ */
+CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB );
+
+/** @brief Combines two rotation-and-shift transformations.
+
+@param rvec1 First rotation vector.
+@param tvec1 First translation vector.
+@param rvec2 Second rotation vector.
+@param tvec2 Second translation vector.
+@param rvec3 Output rotation vector of the superposition.
+@param tvec3 Output translation vector of the superposition.
+@param dr3dr1
+@param dr3dt1
+@param dr3dr2
+@param dr3dt2
+@param dt3dr1
+@param dt3dt1
+@param dt3dr2
+@param dt3dt2 Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and
+tvec2, respectively.
+
+The functions compute:
+
+\f[\begin{array}{l} \texttt{rvec3} =  \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right )  \\ \texttt{tvec3} =  \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \texttt{tvec1} +  \texttt{tvec2} \end{array} ,\f]
+
+where \f$\mathrm{rodrigues}\f$ denotes a rotation vector to a rotation matrix transformation, and
+\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See Rodrigues for details.
+
+Also, the functions can compute the derivatives of the output vectors with regards to the input
+vectors (see matMulDeriv ). The functions are used inside stereoCalibrate but can also be used in
+your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
+function that contains a matrix multiplication.
+ */
+CV_EXPORTS_W void composeRT( InputArray rvec1, InputArray tvec1,
+                             InputArray rvec2, InputArray tvec2,
+                             OutputArray rvec3, OutputArray tvec3,
+                             OutputArray dr3dr1 = noArray(), OutputArray dr3dt1 = noArray(),
+                             OutputArray dr3dr2 = noArray(), OutputArray dr3dt2 = noArray(),
+                             OutputArray dt3dr1 = noArray(), OutputArray dt3dt1 = noArray(),
+                             OutputArray dt3dr2 = noArray(), OutputArray dt3dt2 = noArray() );
+
+/** @brief Projects 3D points to an image plane.
+
+@param objectPoints Array of object points, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or
+vector\<Point3f\> ), where N is the number of points in the view.
+@param rvec Rotation vector. See Rodrigues for details.
+@param tvec Translation vector.
+@param cameraMatrix Camera matrix \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements. If
+the vector is NULL/empty, the zero distortion coefficients are assumed.
+@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
+vector\<Point2f\> .
+@param jacobian Optional output 2Nx(10+\<numDistCoeffs\>) jacobian matrix of derivatives of image
+points with respect to components of the rotation vector, translation vector, focal lengths,
+coordinates of the principal point and the distortion coefficients. In the old interface different
+components of the jacobian are returned via different output parameters.
+@param aspectRatio Optional "fixed aspect ratio" parameter. If the parameter is not 0, the
+function assumes that the aspect ratio (*fx/fy*) is fixed and correspondingly adjusts the jacobian
+matrix.
+
+The function computes projections of 3D points to the image plane given intrinsic and extrinsic
+camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
+image points coordinates (as functions of all the input parameters) with respect to the particular
+parameters, intrinsic and/or extrinsic. The Jacobians are used during the global optimization in
+calibrateCamera, solvePnP, and stereoCalibrate . The function itself can also be used to compute a
+re-projection error given the current intrinsic and extrinsic parameters.
+
+@note By setting rvec=tvec=(0,0,0) or by setting cameraMatrix to a 3x3 identity matrix, or by
+passing zero distortion coefficients, you can get various useful partial cases of the function. This
+means that you can compute the distorted coordinates for a sparse set of points or apply a
+perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.
+ */
+CV_EXPORTS_W void projectPoints( InputArray objectPoints,
+                                 InputArray rvec, InputArray tvec,
+                                 InputArray cameraMatrix, InputArray distCoeffs,
+                                 OutputArray imagePoints,
+                                 OutputArray jacobian = noArray(),
+                                 double aspectRatio = 0 );
+
+/** @brief Finds an object pose from 3D-2D point correspondences.
+
+@param objectPoints Array of object points in the object coordinate space, 3xN/Nx3 1-channel or
+1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
+@param imagePoints Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel,
+where N is the number of points. vector\<Point2f\> can be also passed here.
+@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements. If
+the vector is NULL/empty, the zero distortion coefficients are assumed.
+@param rvec Output rotation vector (see Rodrigues ) that, together with tvec , brings points from
+the model coordinate system to the camera coordinate system.
+@param tvec Output translation vector.
+@param useExtrinsicGuess Parameter used for SOLVEPNP_ITERATIVE. If true (1), the function uses
+the provided rvec and tvec values as initial approximations of the rotation and translation
+vectors, respectively, and further optimizes them.
+@param flags Method for solving a PnP problem:
+-   **SOLVEPNP_ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In
+this case the function finds such a pose that minimizes reprojection error, that is the sum
+of squared distances between the observed projections imagePoints and the projected (using
+projectPoints ) objectPoints .
+-   **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
+"Complete Solution Classification for the Perspective-Three-Point Problem". In this case the
+function requires exactly four object and image points.
+-   **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the
+paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
+-   **SOLVEPNP_DLS** Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis.
+"A Direct Least-Squares (DLS) Method for PnP".
+-   **SOLVEPNP_UPNP** Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto,
+F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
+Estimation". In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
+assuming that both have the same value. Then the cameraMatrix is updated with the estimated
+focal length.
+
+The function estimates the object pose given a set of object points, their corresponding image
+projections, as well as the camera matrix and the distortion coefficients.
+
+@note
+   -   An example of how to use solvePnP for planar augmented reality can be found at
+        opencv_source_code/samples/python2/plane_ar.py
+   -   If you are using Python:
+        - Numpy array slices won't work as input because solvePnP requires contiguous
+        arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
+        modules/calib3d/src/solvepnp.cpp version 2.4.9)
+        - The P3P algorithm requires image points to be in an array of shape (N,1,2) due
+        to its calling of cv::undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
+        which requires 2-channel information.
+        - Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
+        it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
+        np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
+ */
+CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
+                            InputArray cameraMatrix, InputArray distCoeffs,
+                            OutputArray rvec, OutputArray tvec,
+                            bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );
+
+/** @brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
+
+@param objectPoints Array of object points in the object coordinate space, 3xN/Nx3 1-channel or
+1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
+@param imagePoints Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel,
+where N is the number of points. vector\<Point2f\> can be also passed here.
+@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements. If
+the vector is NULL/empty, the zero distortion coefficients are assumed.
+@param rvec Output rotation vector (see Rodrigues ) that, together with tvec , brings points from
+the model coordinate system to the camera coordinate system.
+@param tvec Output translation vector.
+@param useExtrinsicGuess Parameter used for SOLVEPNP_ITERATIVE. If true (1), the function uses
+the provided rvec and tvec values as initial approximations of the rotation and translation
+vectors, respectively, and further optimizes them.
+@param iterationsCount Number of iterations.
+@param reprojectionError Inlier threshold value used by the RANSAC procedure. The parameter value
+is the maximum allowed distance between the observed and computed point projections to consider it
+an inlier.
+@param confidence The probability that the algorithm produces a useful result.
+@param inliers Output vector that contains indices of inliers in objectPoints and imagePoints .
+@param flags Method for solving a PnP problem (see solvePnP ).
+
+The function estimates an object pose given a set of object points, their corresponding image
+projections, as well as the camera matrix and the distortion coefficients. This function finds such
+a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
+projections imagePoints and the projected (using projectPoints ) objectPoints. The use of RANSAC
+makes the function resistant to outliers.
+
+@note
+   -   An example of how to use solvePNPRansac for object detection can be found at
+        opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
+ */
+CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
+                                  InputArray cameraMatrix, InputArray distCoeffs,
+                                  OutputArray rvec, OutputArray tvec,
+                                  bool useExtrinsicGuess = false, int iterationsCount = 100,
+                                  float reprojectionError = 8.0, double confidence = 0.99,
+                                  OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );
+
+/** @brief Finds an initial camera matrix from 3D-2D point correspondences.
+
+@param objectPoints Vector of vectors of the calibration pattern points in the calibration pattern
+coordinate space. In the old interface all the per-view vectors are concatenated. See
+calibrateCamera for details.
+@param imagePoints Vector of vectors of the projections of the calibration pattern points. In the
+old interface all the per-view vectors are concatenated.
+@param imageSize Image size in pixels used to initialize the principal point.
+@param aspectRatio If it is zero or negative, both \f$f_x\f$ and \f$f_y\f$ are estimated independently.
+Otherwise, \f$f_x = f_y * \texttt{aspectRatio}\f$ .
+
+The function estimates and returns an initial camera matrix for the camera calibration process.
+Currently, the function only supports planar calibration patterns, which are patterns where each
+object point has z-coordinate =0.
+ */
+CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
+                                     InputArrayOfArrays imagePoints,
+                                     Size imageSize, double aspectRatio = 1.0 );
+
+/** @brief Finds the positions of internal corners of the chessboard.
+
+@param image Source chessboard view. It must be an 8-bit grayscale or color image.
+@param patternSize Number of inner corners per a chessboard row and column
+( patternSize = cvSize(points_per_row,points_per_colum) = cvSize(columns,rows) ).
+@param corners Output array of detected corners.
+@param flags Various operation flags that can be zero or a combination of the following values:
+-   **CV_CALIB_CB_ADAPTIVE_THRESH** Use adaptive thresholding to convert the image to black
+and white, rather than a fixed threshold level (computed from the average image brightness).
+-   **CV_CALIB_CB_NORMALIZE_IMAGE** Normalize the image gamma with equalizeHist before
+applying fixed or adaptive thresholding.
+-   **CV_CALIB_CB_FILTER_QUADS** Use additional criteria (like contour area, perimeter,
+square-like shape) to filter out false quads extracted at the contour retrieval stage.
+-   **CALIB_CB_FAST_CHECK** Run a fast check on the image that looks for chessboard corners,
+and shortcut the call if none is found. This can drastically speed up the call in the
+degenerate condition when no chessboard is observed.
+
+The function attempts to determine whether the input image is a view of the chessboard pattern and
+locate the internal chessboard corners. The function returns a non-zero value if all of the corners
+are found and they are placed in a certain order (row by row, left to right in every row).
+Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
+a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
+squares touch each other. The detected coordinates are approximate, and to determine their positions
+more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with
+different parameters if returned coordinates are not accurate enough.
+
+Sample usage of detecting and drawing chessboard corners: :
+@code
+    Size patternsize(8,6); //interior number of corners
+    Mat gray = ....; //source image
+    vector<Point2f> corners; //this will be filled by the detected corners
+
+    //CALIB_CB_FAST_CHECK saves a lot of time on images
+    //that do not contain any chessboard corners
+    bool patternfound = findChessboardCorners(gray, patternsize, corners,
+            CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
+            + CALIB_CB_FAST_CHECK);
+
+    if(patternfound)
+      cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
+        TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
+
+    drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
+@endcode
+@note The function requires white space (like a square-thick border, the wider the better) around
+the board to make the detection more robust in various environments. Otherwise, if there is no
+border and the background is dark, the outer black squares cannot be segmented properly and so the
+square grouping and ordering algorithm fails.
+ */
+CV_EXPORTS_W bool findChessboardCorners( InputArray image, Size patternSize, OutputArray corners,
+                                         int flags = CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE );
+
+//! finds subpixel-accurate positions of the chessboard corners
+CV_EXPORTS bool find4QuadCornerSubpix( InputArray img, InputOutputArray corners, Size region_size );
+
+/** @brief Renders the detected chessboard corners.
+
+@param image Destination image. It must be an 8-bit color image.
+@param patternSize Number of inner corners per a chessboard row and column
+(patternSize = cv::Size(points_per_row,points_per_column)).
+@param corners Array of detected corners, the output of findChessboardCorners.
+@param patternWasFound Parameter indicating whether the complete board was found or not. The
+return value of findChessboardCorners should be passed here.
+
+The function draws individual chessboard corners detected either as red circles if the board was not
+found, or as colored corners connected with lines if the board was found.
+ */
+CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
+                                         InputArray corners, bool patternWasFound );
+
+/** @brief Finds centers in the grid of circles.
+
+@param image grid view of input circles; it must be an 8-bit grayscale or color image.
+@param patternSize number of circles per row and column
+( patternSize = Size(points_per_row, points_per_colum) ).
+@param centers output array of detected centers.
+@param flags various operation flags that can be one of the following values:
+-   **CALIB_CB_SYMMETRIC_GRID** uses symmetric pattern of circles.
+-   **CALIB_CB_ASYMMETRIC_GRID** uses asymmetric pattern of circles.
+-   **CALIB_CB_CLUSTERING** uses a special algorithm for grid detection. It is more robust to
+perspective distortions but much more sensitive to background clutter.
+@param blobDetector feature detector that finds blobs like dark circles on light background.
+
+The function attempts to determine whether the input image contains a grid of circles. If it is, the
+function locates centers of the circles. The function returns a non-zero value if all of the centers
+have been found and they have been placed in a certain order (row by row, left to right in every
+row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0.
+
+Sample usage of detecting and drawing the centers of circles: :
+@code
+    Size patternsize(7,7); //number of centers
+    Mat gray = ....; //source image
+    vector<Point2f> centers; //this will be filled by the detected centers
+
+    bool patternfound = findCirclesGrid(gray, patternsize, centers);
+
+    drawChessboardCorners(img, patternsize, Mat(centers), patternfound);
+@endcode
+@note The function requires white space (like a square-thick border, the wider the better) around
+the board to make the detection more robust in various environments.
+ */
+CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
+                                   OutputArray centers, int flags = CALIB_CB_SYMMETRIC_GRID,
+                                   const Ptr<FeatureDetector> &blobDetector = SimpleBlobDetector::create());
+
+/** @brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
+
+@param objectPoints In the new interface it is a vector of vectors of calibration pattern points in
+the calibration pattern coordinate space (e.g. std::vector<std::vector<cv::Vec3f>>). The outer
+vector contains as many elements as the number of the pattern views. If the same calibration pattern
+is shown in each view and it is fully visible, all the vectors will be the same. Although, it is
+possible to use partially occluded patterns, or even different patterns in different views. Then,
+the vectors will be different. The points are 3D, but since they are in a pattern coordinate system,
+then, if the rig is planar, it may make sense to put the model to a XY coordinate plane so that
+Z-coordinate of each input object point is 0.
+In the old interface all the vectors of object points from different views are concatenated
+together.
+@param imagePoints In the new interface it is a vector of vectors of the projections of calibration
+pattern points (e.g. std::vector<std::vector<cv::Vec2f>>). imagePoints.size() and
+objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.
+In the old interface all the vectors of object points from different views are concatenated
+together.
+@param imageSize Size of the image used only to initialize the intrinsic camera matrix.
+@param cameraMatrix Output 3x3 floating-point camera matrix
+\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
+and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
+initialized before calling the function.
+@param distCoeffs Output vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements.
+@param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view
+(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
+k-th translation vector (see the next output parameter description) brings the calibration pattern
+from the model coordinate space (in which object points are specified) to the world coordinate
+space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
+@param tvecs Output vector of translation vectors estimated for each pattern view.
+@param flags Different flags that may be zero or a combination of the following values:
+-   **CV_CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
+fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
+center ( imageSize is used), and focal distances are computed in a least-squares fashion.
+Note, that if intrinsic parameters are known, there is no need to use this function just to
+estimate extrinsic parameters. Use solvePnP instead.
+-   **CV_CALIB_FIX_PRINCIPAL_POINT** The principal point is not changed during the global
+optimization. It stays at the center or at a different location specified when
+CV_CALIB_USE_INTRINSIC_GUESS is set too.
+-   **CV_CALIB_FIX_ASPECT_RATIO** The functions considers only fy as a free parameter. The
+ratio fx/fy stays the same as in the input cameraMatrix . When
+CV_CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are
+ignored, only their ratio is computed and used further.
+-   **CV_CALIB_ZERO_TANGENT_DIST** Tangential distortion coefficients \f$(p_1, p_2)\f$ are set
+to zeros and stay zero.
+-   **CV_CALIB_FIX_K1,...,CV_CALIB_FIX_K6** The corresponding radial distortion
+coefficient is not changed during the optimization. If CV_CALIB_USE_INTRINSIC_GUESS is
+set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
+-   **CV_CALIB_RATIONAL_MODEL** Coefficients k4, k5, and k6 are enabled. To provide the
+backward compatibility, this extra flag should be explicitly specified to make the
+calibration function use the rational model and return 8 coefficients. If the flag is not
+set, the function computes and returns only 5 distortion coefficients.
+-   **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the
+backward compatibility, this extra flag should be explicitly specified to make the
+calibration function use the thin prism model and return 12 coefficients. If the flag is not
+set, the function computes and returns only 5 distortion coefficients.
+-   **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during
+the optimization. If CV_CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
+supplied distCoeffs matrix is used. Otherwise, it is set to 0.
+@param criteria Termination criteria for the iterative optimization algorithm.
+
+The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
+views. The algorithm is based on @cite Zhang2000 and @cite BouguetMCT . The coordinates of 3D object
+points and their corresponding 2D projections in each view must be specified. That may be achieved
+by using an object with a known geometry and easily detectable feature points. Such an object is
+called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as
+a calibration rig (see findChessboardCorners ). Currently, initialization of intrinsic parameters
+(when CV_CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration
+patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also
+be used as long as initial cameraMatrix is provided.
+
+The algorithm performs the following steps:
+
+-   Compute the initial intrinsic parameters (the option only available for planar calibration
+    patterns) or read them from the input parameters. The distortion coefficients are all set to
+    zeros initially unless some of CV_CALIB_FIX_K? are specified.
+
+-   Estimate the initial camera pose as if the intrinsic parameters have been already known. This is
+    done using solvePnP .
+
+-   Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error,
+    that is, the total sum of squared distances between the observed feature points imagePoints and
+    the projected (using the current estimates for camera parameters and the poses) object points
+    objectPoints. See projectPoints for details.
+
+The function returns the final re-projection error.
+
+@note
+   If you use a non-square (=non-NxN) grid and findChessboardCorners for calibration, and
+    calibrateCamera returns bad values (zero distortion coefficients, an image center very far from
+    (w/2-0.5,h/2-0.5), and/or large differences between \f$f_x\f$ and \f$f_y\f$ (ratios of 10:1 or more)),
+    then you have probably used patternSize=cvSize(rows,cols) instead of using
+    patternSize=cvSize(cols,rows) in findChessboardCorners .
+
+@sa
+   findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort
+ */
+CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
+                                     InputArrayOfArrays imagePoints, Size imageSize,
+                                     InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+                                     OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
+                                     int flags = 0, TermCriteria criteria = TermCriteria(
+                                        TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
+
+/** @brief Computes useful camera characteristics from the camera matrix.
+
+@param cameraMatrix Input camera matrix that can be estimated by calibrateCamera or
+stereoCalibrate .
+@param imageSize Input image size in pixels.
+@param apertureWidth Physical width in mm of the sensor.
+@param apertureHeight Physical height in mm of the sensor.
+@param fovx Output field of view in degrees along the horizontal sensor axis.
+@param fovy Output field of view in degrees along the vertical sensor axis.
+@param focalLength Focal length of the lens in mm.
+@param principalPoint Principal point in mm.
+@param aspectRatio \f$f_y/f_x\f$
+
+The function computes various useful camera characteristics from the previously estimated camera
+matrix.
+
+@note
+   Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for
+    the chessboard pitch (it can thus be any value).
+ */
+CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, Size imageSize,
+                                           double apertureWidth, double apertureHeight,
+                                           CV_OUT double& fovx, CV_OUT double& fovy,
+                                           CV_OUT double& focalLength, CV_OUT Point2d& principalPoint,
+                                           CV_OUT double& aspectRatio );
+
+/** @brief Calibrates the stereo camera.
+
+@param objectPoints Vector of vectors of the calibration pattern points.
+@param imagePoints1 Vector of vectors of the projections of the calibration pattern points,
+observed by the first camera.
+@param imagePoints2 Vector of vectors of the projections of the calibration pattern points,
+observed by the second camera.
+@param cameraMatrix1 Input/output first camera matrix:
+\f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If
+any of CV_CALIB_USE_INTRINSIC_GUESS , CV_CALIB_FIX_ASPECT_RATIO ,
+CV_CALIB_FIX_INTRINSIC , or CV_CALIB_FIX_FOCAL_LENGTH are specified, some or all of the
+matrix components must be initialized. See the flags description for details.
+@param distCoeffs1 Input/output vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 ot 12 elements. The
+output vector length depends on the flags.
+@param cameraMatrix2 Input/output second camera matrix. The parameter is similar to cameraMatrix1
+@param distCoeffs2 Input/output lens distortion coefficients for the second camera. The parameter
+is similar to distCoeffs1 .
+@param imageSize Size of the image used only to initialize intrinsic camera matrix.
+@param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
+@param T Output translation vector between the coordinate systems of the cameras.
+@param E Output essential matrix.
+@param F Output fundamental matrix.
+@param flags Different flags that may be zero or a combination of the following values:
+-   **CV_CALIB_FIX_INTRINSIC** Fix cameraMatrix? and distCoeffs? so that only R, T, E , and F
+matrices are estimated.
+-   **CV_CALIB_USE_INTRINSIC_GUESS** Optimize some or all of the intrinsic parameters
+according to the specified flags. Initial values are provided by the user.
+-   **CV_CALIB_FIX_PRINCIPAL_POINT** Fix the principal points during the optimization.
+-   **CV_CALIB_FIX_FOCAL_LENGTH** Fix \f$f^{(j)}_x\f$ and \f$f^{(j)}_y\f$ .
+-   **CV_CALIB_FIX_ASPECT_RATIO** Optimize \f$f^{(j)}_y\f$ . Fix the ratio \f$f^{(j)}_x/f^{(j)}_y\f$
+.
+-   **CV_CALIB_SAME_FOCAL_LENGTH** Enforce \f$f^{(0)}_x=f^{(1)}_x\f$ and \f$f^{(0)}_y=f^{(1)}_y\f$ .
+-   **CV_CALIB_ZERO_TANGENT_DIST** Set tangential distortion coefficients for each camera to
+zeros and fix there.
+-   **CV_CALIB_FIX_K1,...,CV_CALIB_FIX_K6** Do not change the corresponding radial
+distortion coefficient during the optimization. If CV_CALIB_USE_INTRINSIC_GUESS is set,
+the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
+-   **CV_CALIB_RATIONAL_MODEL** Enable coefficients k4, k5, and k6. To provide the backward
+compatibility, this extra flag should be explicitly specified to make the calibration
+function use the rational model and return 8 coefficients. If the flag is not set, the
+function computes and returns only 5 distortion coefficients.
+-   **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the
+backward compatibility, this extra flag should be explicitly specified to make the
+calibration function use the thin prism model and return 12 coefficients. If the flag is not
+set, the function computes and returns only 5 distortion coefficients.
+-   **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during
+the optimization. If CV_CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
+supplied distCoeffs matrix is used. Otherwise, it is set to 0.
+@param criteria Termination criteria for the iterative optimization algorithm.
+
+The function estimates transformation between two cameras making a stereo pair. If you have a stereo
+camera where the relative position and orientation of two cameras is fixed, and if you computed
+poses of an object relative to the first camera and to the second camera, (R1, T1) and (R2, T2),
+respectively (this can be done with solvePnP ), then those poses definitely relate to each other.
+This means that, given ( \f$R_1\f$,\f$T_1\f$ ), it should be possible to compute ( \f$R_2\f$,\f$T_2\f$ ). You only
+need to know the position and orientation of the second camera relative to the first camera. This is
+what the described function does. It computes ( \f$R\f$,\f$T\f$ ) so that:
+
+\f[R_2=R*R_1
+T_2=R*T_1 + T,\f]
+
+Optionally, it computes the essential matrix E:
+
+\f[E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} *R\f]
+
+where \f$T_i\f$ are components of the translation vector \f$T\f$ : \f$T=[T_0, T_1, T_2]^T\f$ . And the function
+can also compute the fundamental matrix F:
+
+\f[F = cameraMatrix2^{-T} E cameraMatrix1^{-1}\f]
+
+Besides the stereo-related information, the function can also perform a full calibration of each of
+two cameras. However, due to the high dimensionality of the parameter space and noise in the input
+data, the function can diverge from the correct solution. If the intrinsic parameters can be
+estimated with high accuracy for each of the cameras individually (for example, using
+calibrateCamera ), you are recommended to do so and then pass CV_CALIB_FIX_INTRINSIC flag to the
+function along with the computed intrinsic parameters. Otherwise, if all the parameters are
+estimated at once, it makes sense to restrict some parameters, for example, pass
+CV_CALIB_SAME_FOCAL_LENGTH and CV_CALIB_ZERO_TANGENT_DIST flags, which is usually a
+reasonable assumption.
+
+Similarly to calibrateCamera , the function minimizes the total re-projection error for all the
+points in all the available views from both cameras. The function returns the final value of the
+re-projection error.
+ */
+CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
+                                     InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                     InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
+                                     InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
+                                     Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F,
+                                     int flags = CALIB_FIX_INTRINSIC,
+                                     TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6) );
+
+
+/** @brief Computes rectification transforms for each head of a calibrated stereo camera.
+
+@param cameraMatrix1 First camera matrix.
+@param cameraMatrix2 Second camera matrix.
+@param distCoeffs1 First camera distortion parameters.
+@param distCoeffs2 Second camera distortion parameters.
+@param imageSize Size of the image used for stereo calibration.
+@param R Rotation matrix between the coordinate systems of the first and the second cameras.
+@param T Translation vector between coordinate systems of the cameras.
+@param R1 Output 3x3 rectification transform (rotation matrix) for the first camera.
+@param R2 Output 3x3 rectification transform (rotation matrix) for the second camera.
+@param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
+camera.
+@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
+camera.
+@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
+@param flags Operation flags that may be zero or CV_CALIB_ZERO_DISPARITY . If the flag is set,
+the function makes the principal points of each camera have the same pixel coordinates in the
+rectified views. And if the flag is not set, the function may still shift the images in the
+horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
+useful image area.
+@param alpha Free scaling parameter. If it is -1 or absent, the function performs the default
+scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
+images are zoomed and shifted so that only valid pixels are visible (no black areas after
+rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
+pixels from the original images from the cameras are retained in the rectified images (no source
+image pixels are lost). Obviously, any intermediate value yields an intermediate result between
+those two extreme cases.
+@param newImageSize New image resolution after rectification. The same size should be passed to
+initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
+is passed (default), it is set to the original imageSize . Setting it to larger value can help you
+preserve details in the original image, especially when there is a big radial distortion.
+@param validPixROI1 Optional output rectangles inside the rectified images where all the pixels
+are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
+(see the picture below).
+@param validPixROI2 Optional output rectangles inside the rectified images where all the pixels
+are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
+(see the picture below).
+
+The function computes the rotation matrices for each camera that (virtually) make both camera image
+planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
+the dense stereo correspondence problem. The function takes the matrices computed by stereoCalibrate
+as input. As output, it provides two rotation matrices and also two projection matrices in the new
+coordinates. The function distinguishes the following two cases:
+
+-   **Horizontal stereo**: the first and the second camera views are shifted relative to each other
+    mainly along the x axis (with possible small vertical shift). In the rectified images, the
+    corresponding epipolar lines in the left and right cameras are horizontal and have the same
+    y-coordinate. P1 and P2 look like:
+
+    \f[\texttt{P1} = \begin{bmatrix} f & 0 & cx_1 & 0 \\ 0 & f & cy & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix}\f]
+
+    \f[\texttt{P2} = \begin{bmatrix} f & 0 & cx_2 & T_x*f \\ 0 & f & cy & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix} ,\f]
+
+    where \f$T_x\f$ is a horizontal shift between the cameras and \f$cx_1=cx_2\f$ if
+    CV_CALIB_ZERO_DISPARITY is set.
+
+-   **Vertical stereo**: the first and the second camera views are shifted relative to each other
+    mainly in vertical direction (and probably a bit in the horizontal direction too). The epipolar
+    lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
+
+    \f[\texttt{P1} = \begin{bmatrix} f & 0 & cx & 0 \\ 0 & f & cy_1 & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix}\f]
+
+    \f[\texttt{P2} = \begin{bmatrix} f & 0 & cx & 0 \\ 0 & f & cy_2 & T_y*f \\ 0 & 0 & 1 & 0 \end{bmatrix} ,\f]
+
+    where \f$T_y\f$ is a vertical shift between the cameras and \f$cy_1=cy_2\f$ if CALIB_ZERO_DISPARITY is
+    set.
+
+As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
+matrices. The matrices, together with R1 and R2 , can then be passed to initUndistortRectifyMap to
+initialize the rectification map for each camera.
+
+See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
+the corresponding image regions. This means that the images are well rectified, which is what most
+stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
+their interiors are all valid pixels.
+
+![image](pics/stereo_undistort.jpg)
+ */
+CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs1,
+                                 InputArray cameraMatrix2, InputArray distCoeffs2,
+                                 Size imageSize, InputArray R, InputArray T,
+                                 OutputArray R1, OutputArray R2,
+                                 OutputArray P1, OutputArray P2,
+                                 OutputArray Q, int flags = CALIB_ZERO_DISPARITY,
+                                 double alpha = -1, Size newImageSize = Size(),
+                                 CV_OUT Rect* validPixROI1 = 0, CV_OUT Rect* validPixROI2 = 0 );
+
+/** @brief Computes a rectification transform for an uncalibrated stereo camera.
+
+@param points1 Array of feature points in the first image.
+@param points2 The corresponding points in the second image. The same formats as in
+findFundamentalMat are supported.
+@param F Input fundamental matrix. It can be computed from the same set of point pairs using
+findFundamentalMat .
+@param imgSize Size of the image.
+@param H1 Output rectification homography matrix for the first image.
+@param H2 Output rectification homography matrix for the second image.
+@param threshold Optional threshold used to filter out the outliers. If the parameter is greater
+than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
+for which \f$|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold}\f$ ) are
+rejected prior to computing the homographies. Otherwise,all the points are considered inliers.
+
+The function computes the rectification transformations without knowing intrinsic parameters of the
+cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
+related difference from stereoRectify is that the function outputs not the rectification
+transformations in the object (3D) space, but the planar perspective transformations encoded by the
+homography matrices H1 and H2 . The function implements the algorithm @cite Hartley99 .
+
+@note
+   While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily
+    depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion,
+    it would be better to correct it before computing the fundamental matrix and calling this
+    function. For example, distortion coefficients can be estimated for each head of stereo camera
+    separately by using calibrateCamera . Then, the images can be corrected using undistort , or
+    just the point coordinates can be corrected with undistortPoints .
+ */
+CV_EXPORTS_W bool stereoRectifyUncalibrated( InputArray points1, InputArray points2,
+                                             InputArray F, Size imgSize,
+                                             OutputArray H1, OutputArray H2,
+                                             double threshold = 5 );
+
+//! computes the rectification transformations for 3-head camera, where all the heads are on the same line.
+CV_EXPORTS_W float rectify3Collinear( InputArray cameraMatrix1, InputArray distCoeffs1,
+                                      InputArray cameraMatrix2, InputArray distCoeffs2,
+                                      InputArray cameraMatrix3, InputArray distCoeffs3,
+                                      InputArrayOfArrays imgpt1, InputArrayOfArrays imgpt3,
+                                      Size imageSize, InputArray R12, InputArray T12,
+                                      InputArray R13, InputArray T13,
+                                      OutputArray R1, OutputArray R2, OutputArray R3,
+                                      OutputArray P1, OutputArray P2, OutputArray P3,
+                                      OutputArray Q, double alpha, Size newImgSize,
+                                      CV_OUT Rect* roi1, CV_OUT Rect* roi2, int flags );
+
+/** @brief Returns the new camera matrix based on the free scaling parameter.
+
+@param cameraMatrix Input camera matrix.
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements. If
+the vector is NULL/empty, the zero distortion coefficients are assumed.
+@param imageSize Original image size.
+@param alpha Free scaling parameter between 0 (when all the pixels in the undistorted image are
+valid) and 1 (when all the source image pixels are retained in the undistorted image). See
+stereoRectify for details.
+@param newImgSize Image size after rectification. By default,it is set to imageSize .
+@param validPixROI Optional output rectangle that outlines all-good-pixels region in the
+undistorted image. See roi1, roi2 description in stereoRectify .
+@param centerPrincipalPoint Optional flag that indicates whether in the new camera matrix the
+principal point should be at the image center or not. By default, the principal point is chosen to
+best fit a subset of the source image (determined by alpha) to the corrected image.
+@return new_camera_matrix Output new camera matrix.
+
+The function computes and returns the optimal new camera matrix based on the free scaling parameter.
+By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
+image pixels if there is valuable information in the corners alpha=1 , or get something in between.
+When alpha\>0 , the undistortion result is likely to have some black pixels corresponding to
+"virtual" pixels outside of the captured distorted image. The original camera matrix, distortion
+coefficients, the computed new camera matrix, and newImageSize should be passed to
+initUndistortRectifyMap to produce the maps for remap .
+ */
+CV_EXPORTS_W Mat getOptimalNewCameraMatrix( InputArray cameraMatrix, InputArray distCoeffs,
+                                            Size imageSize, double alpha, Size newImgSize = Size(),
+                                            CV_OUT Rect* validPixROI = 0,
+                                            bool centerPrincipalPoint = false);
+
+/** @brief Converts points from Euclidean to homogeneous space.
+
+@param src Input vector of N-dimensional points.
+@param dst Output vector of N+1-dimensional points.
+
+The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of
+point coordinates. That is, each point (x1, x2, ..., xn) is converted to (x1, x2, ..., xn, 1).
+ */
+CV_EXPORTS_W void convertPointsToHomogeneous( InputArray src, OutputArray dst );
+
+/** @brief Converts points from homogeneous to Euclidean space.
+
+@param src Input vector of N-dimensional points.
+@param dst Output vector of N-1-dimensional points.
+
+The function converts points homogeneous to Euclidean space using perspective projection. That is,
+each point (x1, x2, ... x(n-1), xn) is converted to (x1/xn, x2/xn, ..., x(n-1)/xn). When xn=0, the
+output point coordinates will be (0,0,0,...).
+ */
+CV_EXPORTS_W void convertPointsFromHomogeneous( InputArray src, OutputArray dst );
+
+/** @brief Converts points to/from homogeneous coordinates.
+
+@param src Input array or vector of 2D, 3D, or 4D points.
+@param dst Output vector of 2D, 3D, or 4D points.
+
+The function converts 2D or 3D points from/to homogeneous coordinates by calling either
+convertPointsToHomogeneous or convertPointsFromHomogeneous.
+
+@note The function is obsolete. Use one of the previous two functions instead.
+ */
+CV_EXPORTS void convertPointsHomogeneous( InputArray src, OutputArray dst );
+
+/** @brief Calculates a fundamental matrix from the corresponding points in two images.
+
+@param points1 Array of N points from the first image. The point coordinates should be
+floating-point (single or double precision).
+@param points2 Array of the second image points of the same size and format as points1 .
+@param method Method for computing a fundamental matrix.
+-   **CV_FM_7POINT** for a 7-point algorithm. \f$N = 7\f$
+-   **CV_FM_8POINT** for an 8-point algorithm. \f$N \ge 8\f$
+-   **CV_FM_RANSAC** for the RANSAC algorithm. \f$N \ge 8\f$
+-   **CV_FM_LMEDS** for the LMedS algorithm. \f$N \ge 8\f$
+@param param1 Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
+line in pixels, beyond which the point is considered an outlier and is not used for computing the
+final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
+point localization, image resolution, and the image noise.
+@param param2 Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level
+of confidence (probability) that the estimated matrix is correct.
+@param mask
+
+The epipolar geometry is described by the following equation:
+
+\f[[p_2; 1]^T F [p_1; 1] = 0\f]
+
+where \f$F\f$ is a fundamental matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
+second images, respectively.
+
+The function calculates the fundamental matrix using one of four methods listed above and returns
+the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point
+algorithm, the function may return up to 3 solutions ( \f$9 \times 3\f$ matrix that stores all 3
+matrices sequentially).
+
+The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the
+epipolar lines corresponding to the specified points. It can also be passed to
+stereoRectifyUncalibrated to compute the rectification transformation. :
+@code
+    // Example. Estimation of fundamental matrix using the RANSAC algorithm
+    int point_count = 100;
+    vector<Point2f> points1(point_count);
+    vector<Point2f> points2(point_count);
+
+    // initialize the points here ...
+    for( int i = 0; i < point_count; i++ )
+    {
+        points1[i] = ...;
+        points2[i] = ...;
+    }
+
+    Mat fundamental_matrix =
+     findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
+@endcode
+ */
+CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
+                                     int method = FM_RANSAC,
+                                     double param1 = 3., double param2 = 0.99,
+                                     OutputArray mask = noArray() );
+
+/** @overload */
+CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
+                                   OutputArray mask, int method = FM_RANSAC,
+                                   double param1 = 3., double param2 = 0.99 );
+
+/** @brief Calculates an essential matrix from the corresponding points in two images.
+
+@param points1 Array of N (N \>= 5) 2D points from the first image. The point coordinates should
+be floating-point (single or double precision).
+@param points2 Array of the second image points of the same size and format as points1 .
+@param focal focal length of the camera. Note that this function assumes that points1 and points2
+are feature points from cameras with same focal length and principle point.
+@param pp principle point of the camera.
+@param method Method for computing a fundamental matrix.
+-   **RANSAC** for the RANSAC algorithm.
+-   **MEDS** for the LMedS algorithm.
+@param threshold Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
+line in pixels, beyond which the point is considered an outlier and is not used for computing the
+final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
+point localization, image resolution, and the image noise.
+@param prob Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
+confidence (probability) that the estimated matrix is correct.
+@param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
+for the other points. The array is computed only in the RANSAC and LMedS methods.
+
+This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 .
+@cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
+
+\f[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0 \\\f]\f[K =
+\begin{bmatrix}
+f & 0 & x_{pp}  \\
+0 & f & y_{pp}  \\
+0 & 0 & 1
+\end{bmatrix}\f]
+
+where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
+second images, respectively. The result of this function may be passed further to
+decomposeEssentialMat or recoverPose to recover the relative pose between cameras.
+ */
+CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
+                                 double focal = 1.0, Point2d pp = Point2d(0, 0),
+                                 int method = RANSAC, double prob = 0.999,
+                                 double threshold = 1.0, OutputArray mask = noArray() );
+
+/** @brief Decompose an essential matrix to possible rotations and translation.
+
+@param E The input essential matrix.
+@param R1 One possible rotation matrix.
+@param R2 Another possible rotation matrix.
+@param t One possible translation.
+
+This function decompose an essential matrix E using svd decomposition @cite HartleyZ00 . Generally 4
+possible poses exists for a given E. They are \f$[R_1, t]\f$, \f$[R_1, -t]\f$, \f$[R_2, t]\f$, \f$[R_2, -t]\f$. By
+decomposing E, you can only get the direction of the translation, so the function returns unit t.
+ */
+CV_EXPORTS_W void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
+
+/** @brief Recover relative camera rotation and translation from an estimated essential matrix and the
+corresponding points in two images, using cheirality check. Returns the number of inliers which pass
+the check.
+
+@param E The input essential matrix.
+@param points1 Array of N 2D points from the first image. The point coordinates should be
+floating-point (single or double precision).
+@param points2 Array of the second image points of the same size and format as points1 .
+@param R Recovered relative rotation.
+@param t Recoverd relative translation.
+@param focal Focal length of the camera. Note that this function assumes that points1 and points2
+are feature points from cameras with same focal length and principle point.
+@param pp Principle point of the camera.
+@param mask Input/output mask for inliers in points1 and points2.
+:   If it is not empty, then it marks inliers in points1 and points2 for then given essential
+matrix E. Only these inliers will be used to recover pose. In the output mask only inliers
+which pass the cheirality check.
+This function decomposes an essential matrix using decomposeEssentialMat and then verifies possible
+pose hypotheses by doing cheirality check. The cheirality check basically means that the
+triangulated 3D points should have positive depth. Some details can be found in @cite Nister03 .
+
+This function can be used to process output E and mask from findEssentialMat. In this scenario,
+points1 and points2 are the same input for findEssentialMat. :
+@code
+    // Example. Estimation of fundamental matrix using the RANSAC algorithm
+    int point_count = 100;
+    vector<Point2f> points1(point_count);
+    vector<Point2f> points2(point_count);
+
+    // initialize the points here ...
+    for( int i = 0; i < point_count; i++ )
+    {
+        points1[i] = ...;
+        points2[i] = ...;
+    }
+
+    double focal = 1.0;
+    cv::Point2d pp(0.0, 0.0);
+    Mat E, R, t, mask;
+
+    E = findEssentialMat(points1, points2, focal, pp, RANSAC, 0.999, 1.0, mask);
+    recoverPose(E, points1, points2, R, t, focal, pp, mask);
+@endcode
+ */
+CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
+                            OutputArray R, OutputArray t,
+                            double focal = 1.0, Point2d pp = Point2d(0, 0),
+                            InputOutputArray mask = noArray() );
+
+
+/** @brief For points in an image of a stereo pair, computes the corresponding epilines in the other image.
+
+@param points Input points. \f$N \times 1\f$ or \f$1 \times N\f$ matrix of type CV_32FC2 or
+vector\<Point2f\> .
+@param whichImage Index of the image (1 or 2) that contains the points .
+@param F Fundamental matrix that can be estimated using findFundamentalMat or stereoRectify .
+@param lines Output vector of the epipolar lines corresponding to the points in the other image.
+Each line \f$ax + by + c=0\f$ is encoded by 3 numbers \f$(a, b, c)\f$ .
+
+For every point in one of the two images of a stereo pair, the function finds the equation of the
+corresponding epipolar line in the other image.
+
+From the fundamental matrix definition (see findFundamentalMat ), line \f$l^{(2)}_i\f$ in the second
+image for the point \f$p^{(1)}_i\f$ in the first image (when whichImage=1 ) is computed as:
+
+\f[l^{(2)}_i = F p^{(1)}_i\f]
+
+And vice versa, when whichImage=2, \f$l^{(1)}_i\f$ is computed from \f$p^{(2)}_i\f$ as:
+
+\f[l^{(1)}_i = F^T p^{(2)}_i\f]
+
+Line coefficients are defined up to a scale. They are normalized so that \f$a_i^2+b_i^2=1\f$ .
+ */
+CV_EXPORTS_W void computeCorrespondEpilines( InputArray points, int whichImage,
+                                             InputArray F, OutputArray lines );
+
+/** @brief Reconstructs points by triangulation.
+
+@param projMatr1 3x4 projection matrix of the first camera.
+@param projMatr2 3x4 projection matrix of the second camera.
+@param projPoints1 2xN array of feature points in the first image. In case of c++ version it can
+be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
+@param projPoints2 2xN array of corresponding points in the second image. In case of c++ version
+it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
+@param points4D 4xN array of reconstructed points in homogeneous coordinates.
+
+The function reconstructs 3-dimensional points (in homogeneous coordinates) by using their
+observations with a stereo camera. Projections matrices can be obtained from stereoRectify.
+
+@note
+   Keep in mind that all input data should be of float type in order for this function to work.
+
+@sa
+   reprojectImageTo3D
+ */
+CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
+                                     InputArray projPoints1, InputArray projPoints2,
+                                     OutputArray points4D );
+
+/** @brief Refines coordinates of corresponding points.
+
+@param F 3x3 fundamental matrix.
+@param points1 1xN array containing the first set of points.
+@param points2 1xN array containing the second set of points.
+@param newPoints1 The optimized points1.
+@param newPoints2 The optimized points2.
+
+The function implements the Optimal Triangulation Method (see Multiple View Geometry for details).
+For each given point correspondence points1[i] \<-\> points2[i], and a fundamental matrix F, it
+computes the corrected correspondences newPoints1[i] \<-\> newPoints2[i] that minimize the geometric
+error \f$d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\f$ (where \f$d(a,b)\f$ is the
+geometric distance between points \f$a\f$ and \f$b\f$ ) subject to the epipolar constraint
+\f$newPoints2^T * F * newPoints1 = 0\f$ .
+ */
+CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
+                                  OutputArray newPoints1, OutputArray newPoints2 );
+
+/** @brief Filters off small noise blobs (speckles) in the disparity map
+
+@param img The input 16-bit signed disparity image
+@param newVal The disparity value used to paint-off the speckles
+@param maxSpeckleSize The maximum speckle size to consider it a speckle. Larger blobs are not
+affected by the algorithm
+@param maxDiff Maximum difference between neighbor disparity pixels to put them into the same
+blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point
+disparity map, where disparity values are multiplied by 16, this scale factor should be taken into
+account when specifying this parameter value.
+@param buf The optional temporary buffer to avoid memory allocation within the function.
+ */
+CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal,
+                                  int maxSpeckleSize, double maxDiff,
+                                  InputOutputArray buf = noArray() );
+
+//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
+CV_EXPORTS_W Rect getValidDisparityROI( Rect roi1, Rect roi2,
+                                        int minDisparity, int numberOfDisparities,
+                                        int SADWindowSize );
+
+//! validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm
+CV_EXPORTS_W void validateDisparity( InputOutputArray disparity, InputArray cost,
+                                     int minDisparity, int numberOfDisparities,
+                                     int disp12MaxDisp = 1 );
+
+/** @brief Reprojects a disparity image to 3D space.
+
+@param disparity Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit
+floating-point disparity image.
+@param _3dImage Output 3-channel floating-point image of the same size as disparity . Each
+element of _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity
+map.
+@param Q \f$4 \times 4\f$ perspective transformation matrix that can be obtained with stereoRectify.
+@param handleMissingValues Indicates, whether the function should handle missing values (i.e.
+points where the disparity was not computed). If handleMissingValues=true, then pixels with the
+minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed
+to 3D points with a very large Z value (currently set to 10000).
+@param ddepth The optional output array depth. If it is -1, the output image will have CV_32F
+depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
+
+The function transforms a single-channel disparity map to a 3-channel image representing a 3D
+surface. That is, for each pixel (x,y) andthe corresponding disparity d=disparity(x,y) , it
+computes:
+
+\f[\begin{array}{l} [X \; Y \; Z \; W]^T =  \texttt{Q} *[x \; y \; \texttt{disparity} (x,y) \; 1]^T  \\ \texttt{\_3dImage} (x,y) = (X/W, \; Y/W, \; Z/W) \end{array}\f]
+
+The matrix Q can be an arbitrary \f$4 \times 4\f$ matrix (for example, the one computed by
+stereoRectify). To reproject a sparse set of points {(x,y,d),...} to 3D space, use
+perspectiveTransform .
+ */
+CV_EXPORTS_W void reprojectImageTo3D( InputArray disparity,
+                                      OutputArray _3dImage, InputArray Q,
+                                      bool handleMissingValues = false,
+                                      int ddepth = -1 );
+
+/** @brief Computes an optimal affine transformation between two 3D point sets.
+
+@param src First input 3D point set.
+@param dst Second input 3D point set.
+@param out Output 3D affine transformation matrix \f$3 \times 4\f$ .
+@param inliers Output vector indicating which points are inliers.
+@param ransacThreshold Maximum reprojection error in the RANSAC algorithm to consider a point as
+an inlier.
+@param confidence Confidence level, between 0 and 1, for the estimated transformation. Anything
+between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
+significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
+
+The function estimates an optimal 3D affine transformation between two 3D point sets using the
+RANSAC algorithm.
+ */
+CV_EXPORTS_W  int estimateAffine3D(InputArray src, InputArray dst,
+                                   OutputArray out, OutputArray inliers,
+                                   double ransacThreshold = 3, double confidence = 0.99);
+
+/** @brief Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).
+
+@param H The input homography matrix between two images.
+@param K The input intrinsic camera calibration matrix.
+@param rotations Array of rotation matrices.
+@param translations Array of translation matrices.
+@param normals Array of plane normal matrices.
+
+This function extracts relative camera motion between two views observing a planar object from the
+homography H induced by the plane. The intrinsic camera matrix K must also be provided. The function
+may return up to four mathematical solution sets. At least two of the solutions may further be
+invalidated if point correspondences are available by applying positive depth constraint (all points
+must be in front of the camera). The decomposition method is described in detail in @cite Malis .
+ */
+CV_EXPORTS_W int decomposeHomographyMat(InputArray H,
+                                        InputArray K,
+                                        OutputArrayOfArrays rotations,
+                                        OutputArrayOfArrays translations,
+                                        OutputArrayOfArrays normals);
+
+/** @brief The base class for stereo correspondence algorithms.
+ */
+class CV_EXPORTS_W StereoMatcher : public Algorithm
+{
+public:
+    enum { DISP_SHIFT = 4,
+           DISP_SCALE = (1 << DISP_SHIFT)
+         };
+
+    /** @brief Computes disparity map for the specified stereo pair
+
+    @param left Left 8-bit single-channel image.
+    @param right Right image of the same size and the same type as the left one.
+    @param disparity Output disparity map. It has the same size as the input images. Some algorithms,
+    like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value
+    has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map.
+     */
+    CV_WRAP virtual void compute( InputArray left, InputArray right,
+                                  OutputArray disparity ) = 0;
+
+    CV_WRAP virtual int getMinDisparity() const = 0;
+    CV_WRAP virtual void setMinDisparity(int minDisparity) = 0;
+
+    CV_WRAP virtual int getNumDisparities() const = 0;
+    CV_WRAP virtual void setNumDisparities(int numDisparities) = 0;
+
+    CV_WRAP virtual int getBlockSize() const = 0;
+    CV_WRAP virtual void setBlockSize(int blockSize) = 0;
+
+    CV_WRAP virtual int getSpeckleWindowSize() const = 0;
+    CV_WRAP virtual void setSpeckleWindowSize(int speckleWindowSize) = 0;
+
+    CV_WRAP virtual int getSpeckleRange() const = 0;
+    CV_WRAP virtual void setSpeckleRange(int speckleRange) = 0;
+
+    CV_WRAP virtual int getDisp12MaxDiff() const = 0;
+    CV_WRAP virtual void setDisp12MaxDiff(int disp12MaxDiff) = 0;
+};
+
+
+/** @brief Class for computing stereo correspondence using the block matching algorithm, introduced and
+contributed to OpenCV by K. Konolige.
+ */
+class CV_EXPORTS_W StereoBM : public StereoMatcher
+{
+public:
+    enum { PREFILTER_NORMALIZED_RESPONSE = 0,
+           PREFILTER_XSOBEL              = 1
+         };
+
+    CV_WRAP virtual int getPreFilterType() const = 0;
+    CV_WRAP virtual void setPreFilterType(int preFilterType) = 0;
+
+    CV_WRAP virtual int getPreFilterSize() const = 0;
+    CV_WRAP virtual void setPreFilterSize(int preFilterSize) = 0;
+
+    CV_WRAP virtual int getPreFilterCap() const = 0;
+    CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
+
+    CV_WRAP virtual int getTextureThreshold() const = 0;
+    CV_WRAP virtual void setTextureThreshold(int textureThreshold) = 0;
+
+    CV_WRAP virtual int getUniquenessRatio() const = 0;
+    CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
+
+    CV_WRAP virtual int getSmallerBlockSize() const = 0;
+    CV_WRAP virtual void setSmallerBlockSize(int blockSize) = 0;
+
+    CV_WRAP virtual Rect getROI1() const = 0;
+    CV_WRAP virtual void setROI1(Rect roi1) = 0;
+
+    CV_WRAP virtual Rect getROI2() const = 0;
+    CV_WRAP virtual void setROI2(Rect roi2) = 0;
+
+    /** @brief Creates StereoBM object
+
+    @param numDisparities the disparity search range. For each pixel algorithm will find the best
+    disparity from 0 (default minimum disparity) to numDisparities. The search range can then be
+    shifted by changing the minimum disparity.
+    @param blockSize the linear size of the blocks compared by the algorithm. The size should be odd
+    (as the block is centered at the current pixel). Larger block size implies smoother, though less
+    accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher
+    chance for algorithm to find a wrong correspondence.
+
+    The function create StereoBM object. You can then call StereoBM::compute() to compute disparity for
+    a specific stereo pair.
+     */
+    CV_WRAP static Ptr<StereoBM> create(int numDisparities = 0, int blockSize = 21);
+};
+
+/** @brief The class implements the modified H. Hirschmuller algorithm @cite HH08 that differs from the original
+one as follows:
+
+-   By default, the algorithm is single-pass, which means that you consider only 5 directions
+instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the
+algorithm but beware that it may consume a lot of memory.
+-   The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the
+blocks to single pixels.
+-   Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi
+sub-pixel metric from @cite BT98 is used. Though, the color images are supported as well.
+-   Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for
+example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness
+check, quadratic interpolation and speckle filtering).
+
+@note
+   -   (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found
+        at opencv_source_code/samples/python2/stereo_match.py
+ */
+class CV_EXPORTS_W StereoSGBM : public StereoMatcher
+{
+public:
+    enum
+    {
+        MODE_SGBM = 0,
+        MODE_HH   = 1
+    };
+
+    CV_WRAP virtual int getPreFilterCap() const = 0;
+    CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
+
+    CV_WRAP virtual int getUniquenessRatio() const = 0;
+    CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
+
+    CV_WRAP virtual int getP1() const = 0;
+    CV_WRAP virtual void setP1(int P1) = 0;
+
+    CV_WRAP virtual int getP2() const = 0;
+    CV_WRAP virtual void setP2(int P2) = 0;
+
+    CV_WRAP virtual int getMode() const = 0;
+    CV_WRAP virtual void setMode(int mode) = 0;
+
+    /** @brief Creates StereoSGBM object
+
+    @param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
+    rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
+    @param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
+    zero. In the current implementation, this parameter must be divisible by 16.
+    @param blockSize Matched block size. It must be an odd number \>=1 . Normally, it should be
+    somewhere in the 3..11 range.
+    @param P1 The first parameter controlling the disparity smoothness. See below.
+    @param P2 The second parameter controlling the disparity smoothness. The larger the values are,
+    the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
+    between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor
+    pixels. The algorithm requires P2 \> P1 . See stereo_match.cpp sample where some reasonably good
+    P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and
+    32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).
+    @param disp12MaxDiff Maximum allowed difference (in integer pixel units) in the left-right
+    disparity check. Set it to a non-positive value to disable the check.
+    @param preFilterCap Truncation value for the prefiltered image pixels. The algorithm first
+    computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
+    The result values are passed to the Birchfield-Tomasi pixel cost function.
+    @param uniquenessRatio Margin in percentage by which the best (minimum) computed cost function
+    value should "win" the second best value to consider the found match correct. Normally, a value
+    within the 5-15 range is good enough.
+    @param speckleWindowSize Maximum size of smooth disparity regions to consider their noise speckles
+    and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
+    50-200 range.
+    @param speckleRange Maximum disparity variation within each connected component. If you do speckle
+    filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
+    Normally, 1 or 2 is good enough.
+    @param mode Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming
+    algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
+    huge for HD-size pictures. By default, it is set to false .
+
+    The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
+    set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
+    to a custom value.
+     */
+    CV_WRAP static Ptr<StereoSGBM> create(int minDisparity, int numDisparities, int blockSize,
+                                          int P1 = 0, int P2 = 0, int disp12MaxDiff = 0,
+                                          int preFilterCap = 0, int uniquenessRatio = 0,
+                                          int speckleWindowSize = 0, int speckleRange = 0,
+                                          int mode = StereoSGBM::MODE_SGBM);
+};
+
+//! @} calib3d
+
+/** @brief The methods in this namespace use a so-called fisheye camera model.
+  @ingroup calib3d_fisheye
+*/
+namespace fisheye
+{
+//! @addtogroup calib3d_fisheye
+//! @{
+
+    enum{
+        CALIB_USE_INTRINSIC_GUESS   = 1,
+        CALIB_RECOMPUTE_EXTRINSIC   = 2,
+        CALIB_CHECK_COND            = 4,
+        CALIB_FIX_SKEW              = 8,
+        CALIB_FIX_K1                = 16,
+        CALIB_FIX_K2                = 32,
+        CALIB_FIX_K3                = 64,
+        CALIB_FIX_K4                = 128,
+        CALIB_FIX_INTRINSIC         = 256
+    };
+
+    /** @brief Projects points using fisheye model
+
+    @param objectPoints Array of object points, 1xN/Nx1 3-channel (or vector\<Point3f\> ), where N is
+    the number of points in the view.
+    @param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
+    vector\<Point2f\>.
+    @param affine
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param alpha The skew coefficient.
+    @param jacobian Optional output 2Nx15 jacobian matrix of derivatives of image points with respect
+    to components of the focal lengths, coordinates of the principal point, distortion coefficients,
+    rotation vector, translation vector, and the skew. In the old interface different components of
+    the jacobian are returned via different output parameters.
+
+    The function computes projections of 3D points to the image plane given intrinsic and extrinsic
+    camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
+    image points coordinates (as functions of all the input parameters) with respect to the particular
+    parameters, intrinsic and/or extrinsic.
+     */
+    CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
+        InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
+
+    /** @overload */
+    CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
+        InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
+
+    /** @brief Distorts 2D points using fisheye model.
+
+    @param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
+    the number of points in the view.
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param alpha The skew coefficient.
+    @param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
+     */
+    CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
+
+    /** @brief Undistorts 2D points using fisheye model
+
+    @param distorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is the
+    number of points in the view.
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+    1-channel or 1x1 3-channel
+    @param P New camera matrix (3x3) or new projection matrix (3x4)
+    @param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
+     */
+    CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
+        InputArray K, InputArray D, InputArray R = noArray(), InputArray P  = noArray());
+
+    /** @brief Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero
+    distortion is used, if R or P is empty identity matrixes are used.
+
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+    1-channel or 1x1 3-channel
+    @param P New camera matrix (3x3) or new projection matrix (3x4)
+    @param size Undistorted image size.
+    @param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
+    for details.
+    @param map1 The first output map.
+    @param map2 The second output map.
+     */
+    CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
+        const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
+
+    /** @brief Transforms an image to compensate for fisheye lens distortion.
+
+    @param distorted image with fisheye lens distortion.
+    @param undistorted Output image with compensated fisheye lens distortion.
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param Knew Camera matrix of the distorted image. By default, it is the identity matrix but you
+    may additionally scale and shift the result by using a different matrix.
+    @param new_size
+
+    The function transforms an image to compensate radial and tangential lens distortion.
+
+    The function is simply a combination of fisheye::initUndistortRectifyMap (with unity R ) and remap
+    (with bilinear interpolation). See the former function for details of the transformation being
+    performed.
+
+    See below the results of undistortImage.
+       -   a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
+            k_4, k_5, k_6) of distortion were optimized under calibration)
+        -   b\) result of fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
+            k_3, k_4) of fisheye distortion were optimized under calibration)
+        -   c\) original image was captured with fisheye lens
+
+    Pictures a) and b) almost the same. But if we consider points of image located far from the center
+    of image, we can notice that on image a) these points are distorted.
+
+    ![image](pics/fisheye_undistorted.jpg)
+     */
+    CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted,
+        InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
+
+    /** @brief Estimates new camera matrix for undistortion or rectification.
+
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param image_size
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+    1-channel or 1x1 3-channel
+    @param P New camera matrix (3x3) or new projection matrix (3x4)
+    @param balance Sets the new focal length in range between the min focal length and the max focal
+    length. Balance is in range of [0, 1].
+    @param new_size
+    @param fov_scale Divisor for new focal length.
+     */
+    CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
+        OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
+
+    /** @brief Performs camera calibaration
+
+    @param objectPoints vector of vectors of calibration pattern points in the calibration pattern
+    coordinate space.
+    @param imagePoints vector of vectors of the projections of calibration pattern points.
+    imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to
+    objectPoints[i].size() for each i.
+    @param image_size Size of the image used only to initialize the intrinsic camera matrix.
+    @param K Output 3x3 floating-point camera matrix
+    \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If
+    fisheye::CALIB_USE_INTRINSIC_GUESS/ is specified, some or all of fx, fy, cx, cy must be
+    initialized before calling the function.
+    @param D Output vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
+    @param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
+    That is, each k-th rotation vector together with the corresponding k-th translation vector (see
+    the next output parameter description) brings the calibration pattern from the model coordinate
+    space (in which object points are specified) to the world coordinate space, that is, a real
+    position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
+    @param tvecs Output vector of translation vectors estimated for each pattern view.
+    @param flags Different flags that may be zero or a combination of the following values:
+    -   **fisheye::CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
+    fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
+    center ( imageSize is used), and focal distances are computed in a least-squares fashion.
+    -   **fisheye::CALIB_RECOMPUTE_EXTRINSIC** Extrinsic will be recomputed after each iteration
+    of intrinsic optimization.
+    -   **fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
+    -   **fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
+    -   **fisheye::CALIB_FIX_K1..4** Selected distortion coefficients are set to zeros and stay
+    zero.
+    @param criteria Termination criteria for the iterative optimization algorithm.
+     */
+    CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
+        InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
+            TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
+
+    /** @brief Stereo rectification for fisheye camera model
+
+    @param K1 First camera matrix.
+    @param D1 First camera distortion parameters.
+    @param K2 Second camera matrix.
+    @param D2 Second camera distortion parameters.
+    @param imageSize Size of the image used for stereo calibration.
+    @param R Rotation matrix between the coordinate systems of the first and the second
+    cameras.
+    @param tvec Translation vector between coordinate systems of the cameras.
+    @param R1 Output 3x3 rectification transform (rotation matrix) for the first camera.
+    @param R2 Output 3x3 rectification transform (rotation matrix) for the second camera.
+    @param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
+    camera.
+    @param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
+    camera.
+    @param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
+    @param flags Operation flags that may be zero or CV_CALIB_ZERO_DISPARITY . If the flag is set,
+    the function makes the principal points of each camera have the same pixel coordinates in the
+    rectified views. And if the flag is not set, the function may still shift the images in the
+    horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
+    useful image area.
+    @param newImageSize New image resolution after rectification. The same size should be passed to
+    initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
+    is passed (default), it is set to the original imageSize . Setting it to larger value can help you
+    preserve details in the original image, especially when there is a big radial distortion.
+    @param balance Sets the new focal length in range between the min focal length and the max focal
+    length. Balance is in range of [0, 1].
+    @param fov_scale Divisor for new focal length.
+     */
+    CV_EXPORTS_W void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
+        OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
+        double balance = 0.0, double fov_scale = 1.0);
+
+    /** @brief Performs stereo calibration
+
+    @param objectPoints Vector of vectors of the calibration pattern points.
+    @param imagePoints1 Vector of vectors of the projections of the calibration pattern points,
+    observed by the first camera.
+    @param imagePoints2 Vector of vectors of the projections of the calibration pattern points,
+    observed by the second camera.
+    @param K1 Input/output first camera matrix:
+    \f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If
+    any of fisheye::CALIB_USE_INTRINSIC_GUESS , fisheye::CV_CALIB_FIX_INTRINSIC are specified,
+    some or all of the matrix components must be initialized.
+    @param D1 Input/output vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$ of 4 elements.
+    @param K2 Input/output second camera matrix. The parameter is similar to K1 .
+    @param D2 Input/output lens distortion coefficients for the second camera. The parameter is
+    similar to D1 .
+    @param imageSize Size of the image used only to initialize intrinsic camera matrix.
+    @param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
+    @param T Output translation vector between the coordinate systems of the cameras.
+    @param flags Different flags that may be zero or a combination of the following values:
+    -   **fisheye::CV_CALIB_FIX_INTRINSIC** Fix K1, K2? and D1, D2? so that only R, T matrices
+    are estimated.
+    -   **fisheye::CALIB_USE_INTRINSIC_GUESS** K1, K2 contains valid initial values of
+    fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
+    center (imageSize is used), and focal distances are computed in a least-squares fashion.
+    -   **fisheye::CALIB_RECOMPUTE_EXTRINSIC** Extrinsic will be recomputed after each iteration
+    of intrinsic optimization.
+    -   **fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
+    -   **fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
+    -   **fisheye::CALIB_FIX_K1..4** Selected distortion coefficients are set to zeros and stay
+    zero.
+    @param criteria Termination criteria for the iterative optimization algorithm.
+     */
+    CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                  InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
+                                  OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC,
+                                  TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
+
+//! @} calib3d_fisheye
+}
+
+} // cv
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/calib3d/calib3d_c.h"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/calib3d/calib3d.hpp b/3rdparty/include/opencv2/calib3d/calib3d.hpp
new file mode 100644
index 0000000..b3da45e
--- /dev/null
+++ b/3rdparty/include/opencv2/calib3d/calib3d.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/calib3d.hpp"
diff --git a/3rdparty/include/opencv2/calib3d/calib3d_c.h b/3rdparty/include/opencv2/calib3d/calib3d_c.h
new file mode 100644
index 0000000..2392692
--- /dev/null
+++ b/3rdparty/include/opencv2/calib3d/calib3d_c.h
@@ -0,0 +1,422 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CALIB3D_C_H__
+#define __OPENCV_CALIB3D_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup calib3d_c
+  @{
+  */
+
+/****************************************************************************************\
+*                      Camera Calibration, Pose Estimation and Stereo                    *
+\****************************************************************************************/
+
+typedef struct CvPOSITObject CvPOSITObject;
+
+/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
+CVAPI(CvPOSITObject*)  cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
+
+
+/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
+   an object given its model and projection in a weak-perspective case */
+CVAPI(void)  cvPOSIT(  CvPOSITObject* posit_object, CvPoint2D32f* image_points,
+                       double focal_length, CvTermCriteria criteria,
+                       float* rotation_matrix, float* translation_vector);
+
+/* Releases CvPOSITObject structure */
+CVAPI(void)  cvReleasePOSITObject( CvPOSITObject**  posit_object );
+
+/* updates the number of RANSAC iterations */
+CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
+                                   int model_points, int max_iters );
+
+CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
+
+/* Calculates fundamental matrix given a set of corresponding points */
+#define CV_FM_7POINT 1
+#define CV_FM_8POINT 2
+
+#define CV_LMEDS 4
+#define CV_RANSAC 8
+
+#define CV_FM_LMEDS_ONLY  CV_LMEDS
+#define CV_FM_RANSAC_ONLY CV_RANSAC
+#define CV_FM_LMEDS CV_LMEDS
+#define CV_FM_RANSAC CV_RANSAC
+
+enum
+{
+    CV_ITERATIVE = 0,
+    CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+    CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+    CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+};
+
+CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
+                                 CvMat* fundamental_matrix,
+                                 int method CV_DEFAULT(CV_FM_RANSAC),
+                                 double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
+                                 CvMat* status CV_DEFAULT(NULL) );
+
+/* For each input point on one of images
+   computes parameters of the corresponding
+   epipolar line on the other image */
+CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
+                                         int which_image,
+                                         const CvMat* fundamental_matrix,
+                                         CvMat* correspondent_lines );
+
+/* Triangulation functions */
+
+CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
+                                CvMat* projPoints1, CvMat* projPoints2,
+                                CvMat* points4D);
+
+CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
+                             CvMat* new_points1, CvMat* new_points2);
+
+
+/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
+   alpha=0 - only valid pixels will be retained in the undistorted image
+   alpha=1 - all the source image pixels will be retained in the undistorted image
+*/
+CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
+                                         const CvMat* dist_coeffs,
+                                         CvSize image_size, double alpha,
+                                         CvMat* new_camera_matrix,
+                                         CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
+                                         CvRect* valid_pixel_ROI CV_DEFAULT(0),
+                                         int center_principal_point CV_DEFAULT(0));
+
+/* Converts rotation vector to rotation matrix or vice versa */
+CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
+                         CvMat* jacobian CV_DEFAULT(0) );
+
+/* Finds perspective transformation between the object plane and image (view) plane */
+CVAPI(int) cvFindHomography( const CvMat* src_points,
+                             const CvMat* dst_points,
+                             CvMat* homography,
+                             int method CV_DEFAULT(0),
+                             double ransacReprojThreshold CV_DEFAULT(3),
+                             CvMat* mask CV_DEFAULT(0),
+                             int maxIters CV_DEFAULT(2000),
+                             double confidence CV_DEFAULT(0.995));
+
+/* Computes RQ decomposition for 3x3 matrices */
+CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
+                           CvMat *matrixQx CV_DEFAULT(NULL),
+                           CvMat *matrixQy CV_DEFAULT(NULL),
+                           CvMat *matrixQz CV_DEFAULT(NULL),
+                           CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
+
+/* Computes projection matrix decomposition */
+CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
+                                         CvMat *rotMatr, CvMat *posVect,
+                                         CvMat *rotMatrX CV_DEFAULT(NULL),
+                                         CvMat *rotMatrY CV_DEFAULT(NULL),
+                                         CvMat *rotMatrZ CV_DEFAULT(NULL),
+                                         CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
+
+/* Computes d(AB)/dA and d(AB)/dB */
+CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
+
+/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
+   t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
+CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
+                         const CvMat* _rvec2, const CvMat* _tvec2,
+                         CvMat* _rvec3, CvMat* _tvec3,
+                         CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
+                         CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
+                         CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
+                         CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
+
+/* Projects object points to the view plane using
+   the specified extrinsic and intrinsic camera parameters */
+CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
+                              const CvMat* translation_vector, const CvMat* camera_matrix,
+                              const CvMat* distortion_coeffs, CvMat* image_points,
+                              CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
+                              CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
+                              CvMat* dpddist CV_DEFAULT(NULL),
+                              double aspect_ratio CV_DEFAULT(0));
+
+/* Finds extrinsic camera parameters from
+   a few known corresponding point pairs and intrinsic parameters */
+CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
+                                          const CvMat* image_points,
+                                          const CvMat* camera_matrix,
+                                          const CvMat* distortion_coeffs,
+                                          CvMat* rotation_vector,
+                                          CvMat* translation_vector,
+                                          int use_extrinsic_guess CV_DEFAULT(0) );
+
+/* Computes initial estimate of the intrinsic camera parameters
+   in case of planar calibration target (e.g. chessboard) */
+CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
+                                     const CvMat* image_points,
+                                     const CvMat* npoints, CvSize image_size,
+                                     CvMat* camera_matrix,
+                                     double aspect_ratio CV_DEFAULT(1.) );
+
+#define CV_CALIB_CB_ADAPTIVE_THRESH  1
+#define CV_CALIB_CB_NORMALIZE_IMAGE  2
+#define CV_CALIB_CB_FILTER_QUADS     4
+#define CV_CALIB_CB_FAST_CHECK       8
+
+// Performs a fast check if a chessboard is in the input image. This is a workaround to
+// a problem of cvFindChessboardCorners being slow on images with no chessboard
+// - src: input image
+// - size: chessboard size
+// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
+// 0 if there is no chessboard, -1 in case of error
+CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
+
+    /* Detects corners on a chessboard calibration pattern */
+CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
+                                    CvPoint2D32f* corners,
+                                    int* corner_count CV_DEFAULT(NULL),
+                                    int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
+
+/* Draws individual chessboard corners or the whole chessboard detected */
+CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
+                                     CvPoint2D32f* corners,
+                                     int count, int pattern_was_found );
+
+#define CV_CALIB_USE_INTRINSIC_GUESS  1
+#define CV_CALIB_FIX_ASPECT_RATIO     2
+#define CV_CALIB_FIX_PRINCIPAL_POINT  4
+#define CV_CALIB_ZERO_TANGENT_DIST    8
+#define CV_CALIB_FIX_FOCAL_LENGTH 16
+#define CV_CALIB_FIX_K1  32
+#define CV_CALIB_FIX_K2  64
+#define CV_CALIB_FIX_K3  128
+#define CV_CALIB_FIX_K4  2048
+#define CV_CALIB_FIX_K5  4096
+#define CV_CALIB_FIX_K6  8192
+#define CV_CALIB_RATIONAL_MODEL 16384
+#define CV_CALIB_THIN_PRISM_MODEL 32768
+#define CV_CALIB_FIX_S1_S2_S3_S4  65536
+
+
+/* Finds intrinsic and extrinsic camera parameters
+   from a few views of known calibration pattern */
+CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
+                                const CvMat* image_points,
+                                const CvMat* point_counts,
+                                CvSize image_size,
+                                CvMat* camera_matrix,
+                                CvMat* distortion_coeffs,
+                                CvMat* rotation_vectors CV_DEFAULT(NULL),
+                                CvMat* translation_vectors CV_DEFAULT(NULL),
+                                int flags CV_DEFAULT(0),
+                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+                                    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
+
+/* Computes various useful characteristics of the camera from the data computed by
+   cvCalibrateCamera2 */
+CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
+                                CvSize image_size,
+                                double aperture_width CV_DEFAULT(0),
+                                double aperture_height CV_DEFAULT(0),
+                                double *fovx CV_DEFAULT(NULL),
+                                double *fovy CV_DEFAULT(NULL),
+                                double *focal_length CV_DEFAULT(NULL),
+                                CvPoint2D64f *principal_point CV_DEFAULT(NULL),
+                                double *pixel_aspect_ratio CV_DEFAULT(NULL));
+
+#define CV_CALIB_FIX_INTRINSIC  256
+#define CV_CALIB_SAME_FOCAL_LENGTH 512
+
+/* Computes the transformation from one camera coordinate system to another one
+   from a few correspondent views of the same calibration target. Optionally, calibrates
+   both cameras */
+CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
+                               const CvMat* image_points2, const CvMat* npoints,
+                               CvMat* camera_matrix1, CvMat* dist_coeffs1,
+                               CvMat* camera_matrix2, CvMat* dist_coeffs2,
+                               CvSize image_size, CvMat* R, CvMat* T,
+                               CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
+                               int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
+                               CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+                                   CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
+
+#define CV_CALIB_ZERO_DISPARITY 1024
+
+/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
+   views parallel (=> to make all the epipolar lines horizontal or vertical) */
+CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
+                             const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
+                             CvSize image_size, const CvMat* R, const CvMat* T,
+                             CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
+                             CvMat* Q CV_DEFAULT(0),
+                             int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
+                             double alpha CV_DEFAULT(-1),
+                             CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
+                             CvRect* valid_pix_ROI1 CV_DEFAULT(0),
+                             CvRect* valid_pix_ROI2 CV_DEFAULT(0));
+
+/* Computes rectification transformations for uncalibrated pair of images using a set
+   of point correspondences */
+CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
+                                        const CvMat* F, CvSize img_size,
+                                        CvMat* H1, CvMat* H2,
+                                        double threshold CV_DEFAULT(5));
+
+
+
+/* stereo correspondence parameters and functions */
+
+#define CV_STEREO_BM_NORMALIZED_RESPONSE  0
+#define CV_STEREO_BM_XSOBEL               1
+
+/* Block matching algorithm structure */
+typedef struct CvStereoBMState
+{
+    // pre-filtering (normalization of input images)
+    int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
+    int preFilterSize; // averaging window size: ~5x5..21x21
+    int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
+
+    // correspondence using Sum of Absolute Difference (SAD)
+    int SADWindowSize; // ~5x5..21x21
+    int minDisparity;  // minimum disparity (can be negative)
+    int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
+
+    // post-filtering
+    int textureThreshold;  // the disparity is only computed for pixels
+                           // with textured enough neighborhood
+    int uniquenessRatio;   // accept the computed disparity d* only if
+                           // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
+                           // for any d != d*+/-1 within the search range.
+    int speckleWindowSize; // disparity variation window
+    int speckleRange; // acceptable range of variation in window
+
+    int trySmallerWindows; // if 1, the results may be more accurate,
+                           // at the expense of slower processing
+    CvRect roi1, roi2;
+    int disp12MaxDiff;
+
+    // temporary buffers
+    CvMat* preFilteredImg0;
+    CvMat* preFilteredImg1;
+    CvMat* slidingSumBuf;
+    CvMat* cost;
+    CvMat* disp;
+} CvStereoBMState;
+
+#define CV_STEREO_BM_BASIC 0
+#define CV_STEREO_BM_FISH_EYE 1
+#define CV_STEREO_BM_NARROW 2
+
+CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
+                                              int numberOfDisparities CV_DEFAULT(0));
+
+CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
+
+CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
+                                          CvArr* disparity, CvStereoBMState* state );
+
+CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
+                                      int numberOfDisparities, int SADWindowSize );
+
+CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
+                                 int minDisparity, int numberOfDisparities,
+                                 int disp12MaxDiff CV_DEFAULT(1) );
+
+/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
+CVAPI(void)  cvReprojectImageTo3D( const CvArr* disparityImage,
+                                   CvArr* _3dImage, const CvMat* Q,
+                                   int handleMissingValues CV_DEFAULT(0) );
+
+/** @} calib3d_c */
+
+#ifdef __cplusplus
+} // extern "C"
+
+//////////////////////////////////////////////////////////////////////////////////////////
+class CV_EXPORTS CvLevMarq
+{
+public:
+    CvLevMarq();
+    CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
+              cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
+              bool completeSymmFlag=false );
+    ~CvLevMarq();
+    void init( int nparams, int nerrs, CvTermCriteria criteria=
+              cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
+              bool completeSymmFlag=false );
+    bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
+    bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
+
+    void clear();
+    void step();
+    enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
+
+    cv::Ptr<CvMat> mask;
+    cv::Ptr<CvMat> prevParam;
+    cv::Ptr<CvMat> param;
+    cv::Ptr<CvMat> J;
+    cv::Ptr<CvMat> err;
+    cv::Ptr<CvMat> JtJ;
+    cv::Ptr<CvMat> JtJN;
+    cv::Ptr<CvMat> JtErr;
+    cv::Ptr<CvMat> JtJV;
+    cv::Ptr<CvMat> JtJW;
+    double prevErrNorm, errNorm;
+    int lambdaLg10;
+    CvTermCriteria criteria;
+    int state;
+    int iters;
+    bool completeSymmFlag;
+};
+
+#endif
+
+#endif /* __OPENCV_CALIB3D_C_H__ */
diff --git a/3rdparty/include/opencv2/core.hpp b/3rdparty/include/opencv2/core.hpp
new file mode 100644
index 0000000..6594476
--- /dev/null
+++ b/3rdparty/include/opencv2/core.hpp
@@ -0,0 +1,3111 @@
+/*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) 2000-2015, Intel Corporation, all rights reserved.
+// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_HPP__
+#define __OPENCV_CORE_HPP__
+
+#ifndef __cplusplus
+#  error core.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/version.hpp"
+#include "opencv2/core/base.hpp"
+#include "opencv2/core/cvstd.hpp"
+#include "opencv2/core/traits.hpp"
+#include "opencv2/core/matx.hpp"
+#include "opencv2/core/types.hpp"
+#include "opencv2/core/mat.hpp"
+#include "opencv2/core/persistence.hpp"
+
+/**
+@defgroup core Core functionality
+@{
+    @defgroup core_basic Basic structures
+    @defgroup core_c C structures and operations
+    @{
+        @defgroup core_c_glue Connections with C++
+    @}
+    @defgroup core_array Operations on arrays
+    @defgroup core_xml XML/YAML Persistence
+    @defgroup core_cluster Clustering
+    @defgroup core_utils Utility and system functions and macros
+    @{
+        @defgroup core_utils_neon NEON utilities
+    @}
+    @defgroup core_opengl OpenGL interoperability
+    @defgroup core_ipp Intel IPP Asynchronous C/C++ Converters
+    @defgroup core_optim Optimization Algorithms
+    @defgroup core_directx DirectX interoperability
+    @defgroup core_eigen Eigen support
+    @defgroup core_opencl OpenCL support
+@}
+ */
+
+namespace cv {
+
+//! @addtogroup core_utils
+//! @{
+
+/*! @brief Class passed to an error.
+
+This class encapsulates all or almost all necessary
+information about the error happened in the program. The exception is
+usually constructed and thrown implicitly via CV_Error and CV_Error_ macros.
+@see error
+ */
+class CV_EXPORTS Exception : public std::exception
+{
+public:
+    /*!
+     Default constructor
+     */
+    Exception();
+    /*!
+     Full constructor. Normally the constuctor is not called explicitly.
+     Instead, the macros CV_Error(), CV_Error_() and CV_Assert() are used.
+    */
+    Exception(int _code, const String& _err, const String& _func, const String& _file, int _line);
+    virtual ~Exception() throw();
+
+    /*!
+     \return the error description and the context as a text string.
+    */
+    virtual const char *what() const throw();
+    void formatMessage();
+
+    String msg; ///< the formatted error message
+
+    int code; ///< error code @see CVStatus
+    String err; ///< error description
+    String func; ///< function name. Available only when the compiler supports getting it
+    String file; ///< source file name where the error has occured
+    int line; ///< line number in the source file where the error has occured
+};
+
+/*! @brief Signals an error and raises the exception.
+
+By default the function prints information about the error to stderr,
+then it either stops if cv::setBreakOnError() had been called before or raises the exception.
+It is possible to alternate error processing by using cv::redirectError().
+@param exc the exception raisen.
+@deprecated drop this version
+ */
+CV_EXPORTS void error( const Exception& exc );
+
+enum SortFlags { SORT_EVERY_ROW    = 0, //!< each matrix row is sorted independently
+                 SORT_EVERY_COLUMN = 1, //!< each matrix column is sorted
+                                        //!< independently; this flag and the previous one are
+                                        //!< mutually exclusive.
+                 SORT_ASCENDING    = 0, //!< each matrix row is sorted in the ascending
+                                        //!< order.
+                 SORT_DESCENDING   = 16 //!< each matrix row is sorted in the
+                                        //!< descending order; this flag and the previous one are also
+                                        //!< mutually exclusive.
+               };
+
+//! @} core_utils
+
+//! @addtogroup core
+//! @{
+
+//! Covariation flags
+enum CovarFlags {
+    /** The output covariance matrix is calculated as:
+       \f[\texttt{scale}   \cdot  [  \texttt{vects}  [0]-  \texttt{mean}  , \texttt{vects}  [1]-  \texttt{mean}  ,...]^T  \cdot  [ \texttt{vects}  [0]- \texttt{mean}  , \texttt{vects}  [1]- \texttt{mean}  ,...],\f]
+       The covariance matrix will be nsamples x nsamples. Such an unusual covariance matrix is used
+       for fast PCA of a set of very large vectors (see, for example, the EigenFaces technique for
+       face recognition). Eigenvalues of this "scrambled" matrix match the eigenvalues of the true
+       covariance matrix. The "true" eigenvectors can be easily calculated from the eigenvectors of
+       the "scrambled" covariance matrix. */
+    COVAR_SCRAMBLED = 0,
+    /**The output covariance matrix is calculated as:
+        \f[\texttt{scale}   \cdot  [  \texttt{vects}  [0]-  \texttt{mean}  , \texttt{vects}  [1]-  \texttt{mean}  ,...]  \cdot  [ \texttt{vects}  [0]- \texttt{mean}  , \texttt{vects}  [1]- \texttt{mean}  ,...]^T,\f]
+        covar will be a square matrix of the same size as the total number of elements in each input
+        vector. One and only one of COVAR_SCRAMBLED and COVAR_NORMAL must be specified.*/
+    COVAR_NORMAL    = 1,
+    /** If the flag is specified, the function does not calculate mean from
+        the input vectors but, instead, uses the passed mean vector. This is useful if mean has been
+        pre-calculated or known in advance, or if the covariance matrix is calculated by parts. In
+        this case, mean is not a mean vector of the input sub-set of vectors but rather the mean
+        vector of the whole set.*/
+    COVAR_USE_AVG   = 2,
+    /** If the flag is specified, the covariance matrix is scaled. In the
+        "normal" mode, scale is 1./nsamples . In the "scrambled" mode, scale is the reciprocal of the
+        total number of elements in each input vector. By default (if the flag is not specified), the
+        covariance matrix is not scaled ( scale=1 ).*/
+    COVAR_SCALE     = 4,
+    /** If the flag is
+        specified, all the input vectors are stored as rows of the samples matrix. mean should be a
+        single-row vector in this case.*/
+    COVAR_ROWS      = 8,
+    /** If the flag is
+        specified, all the input vectors are stored as columns of the samples matrix. mean should be a
+        single-column vector in this case.*/
+    COVAR_COLS      = 16
+};
+
+//! k-Means flags
+enum KmeansFlags {
+    /** Select random initial centers in each attempt.*/
+    KMEANS_RANDOM_CENTERS     = 0,
+    /** Use kmeans++ center initialization by Arthur and Vassilvitskii [Arthur2007].*/
+    KMEANS_PP_CENTERS         = 2,
+    /** During the first (and possibly the only) attempt, use the
+        user-supplied labels instead of computing them from the initial centers. For the second and
+        further attempts, use the random or semi-random centers. Use one of KMEANS_\*_CENTERS flag
+        to specify the exact method.*/
+    KMEANS_USE_INITIAL_LABELS = 1
+};
+
+//! type of line
+enum LineTypes {
+    FILLED  = -1,
+    LINE_4  = 4, //!< 4-connected line
+    LINE_8  = 8, //!< 8-connected line
+    LINE_AA = 16 //!< antialiased line
+};
+
+//! Only a subset of Hershey fonts
+//! <http://sources.isc.org/utils/misc/hershey-font.txt> are supported
+enum HersheyFonts {
+    FONT_HERSHEY_SIMPLEX        = 0, //!< normal size sans-serif font
+    FONT_HERSHEY_PLAIN          = 1, //!< small size sans-serif font
+    FONT_HERSHEY_DUPLEX         = 2, //!< normal size sans-serif font (more complex than FONT_HERSHEY_SIMPLEX)
+    FONT_HERSHEY_COMPLEX        = 3, //!< normal size serif font
+    FONT_HERSHEY_TRIPLEX        = 4, //!< normal size serif font (more complex than FONT_HERSHEY_COMPLEX)
+    FONT_HERSHEY_COMPLEX_SMALL  = 5, //!< smaller version of FONT_HERSHEY_COMPLEX
+    FONT_HERSHEY_SCRIPT_SIMPLEX = 6, //!< hand-writing style font
+    FONT_HERSHEY_SCRIPT_COMPLEX = 7, //!< more complex variant of FONT_HERSHEY_SCRIPT_SIMPLEX
+    FONT_ITALIC                 = 16 //!< flag for italic font
+};
+
+enum ReduceTypes { REDUCE_SUM = 0, //!< the output is the sum of all rows/columns of the matrix.
+                   REDUCE_AVG = 1, //!< the output is the mean vector of all rows/columns of the matrix.
+                   REDUCE_MAX = 2, //!< the output is the maximum (column/row-wise) of all rows/columns of the matrix.
+                   REDUCE_MIN = 3  //!< the output is the minimum (column/row-wise) of all rows/columns of the matrix.
+                 };
+
+
+/** @brief Swaps two matrices
+*/
+CV_EXPORTS void swap(Mat& a, Mat& b);
+/** @overload */
+CV_EXPORTS void swap( UMat& a, UMat& b );
+
+//! @} core
+
+//! @addtogroup core_array
+//! @{
+
+/** @brief Computes the source location of an extrapolated pixel.
+
+The function computes and returns the coordinate of a donor pixel corresponding to the specified
+extrapolated pixel when using the specified extrapolation border mode. For example, if you use
+cv::BORDER_WRAP mode in the horizontal direction, cv::BORDER_REFLECT_101 in the vertical direction and
+want to compute value of the "virtual" pixel Point(-5, 100) in a floating-point image img , it
+looks like:
+@code{.cpp}
+    float val = img.at<float>(borderInterpolate(100, img.rows, cv::BORDER_REFLECT_101),
+                              borderInterpolate(-5, img.cols, cv::BORDER_WRAP));
+@endcode
+Normally, the function is not called directly. It is used inside filtering functions and also in
+copyMakeBorder.
+@param p 0-based coordinate of the extrapolated pixel along one of the axes, likely \<0 or \>= len
+@param len Length of the array along the corresponding axis.
+@param borderType Border type, one of the cv::BorderTypes, except for cv::BORDER_TRANSPARENT and
+cv::BORDER_ISOLATED . When borderType==cv::BORDER_CONSTANT , the function always returns -1, regardless
+of p and len.
+
+@sa copyMakeBorder
+*/
+CV_EXPORTS_W int borderInterpolate(int p, int len, int borderType);
+
+/** @brief Forms a border around an image.
+
+The function copies the source image into the middle of the destination image. The areas to the
+left, to the right, above and below the copied source image will be filled with extrapolated
+pixels. This is not what filtering functions based on it do (they extrapolate pixels on-fly), but
+what other more complex functions, including your own, may do to simplify image boundary handling.
+
+The function supports the mode when src is already in the middle of dst . In this case, the
+function does not copy src itself but simply constructs the border, for example:
+
+@code{.cpp}
+    // let border be the same in all directions
+    int border=2;
+    // constructs a larger image to fit both the image and the border
+    Mat gray_buf(rgb.rows + border*2, rgb.cols + border*2, rgb.depth());
+    // select the middle part of it w/o copying data
+    Mat gray(gray_canvas, Rect(border, border, rgb.cols, rgb.rows));
+    // convert image from RGB to grayscale
+    cvtColor(rgb, gray, COLOR_RGB2GRAY);
+    // form a border in-place
+    copyMakeBorder(gray, gray_buf, border, border,
+                   border, border, BORDER_REPLICATE);
+    // now do some custom filtering ...
+    ...
+@endcode
+@note When the source image is a part (ROI) of a bigger image, the function will try to use the
+pixels outside of the ROI to form a border. To disable this feature and always do extrapolation, as
+if src was not a ROI, use borderType | BORDER_ISOLATED.
+
+@param src Source image.
+@param dst Destination image of the same type as src and the size Size(src.cols+left+right,
+src.rows+top+bottom) .
+@param top
+@param bottom
+@param left
+@param right Parameter specifying how many pixels in each direction from the source image rectangle
+to extrapolate. For example, top=1, bottom=1, left=1, right=1 mean that 1 pixel-wide border needs
+to be built.
+@param borderType Border type. See borderInterpolate for details.
+@param value Border value if borderType==BORDER_CONSTANT .
+
+@sa  borderInterpolate
+*/
+CV_EXPORTS_W void copyMakeBorder(InputArray src, OutputArray dst,
+                                 int top, int bottom, int left, int right,
+                                 int borderType, const Scalar& value = Scalar() );
+
+/** @brief Calculates the per-element sum of two arrays or an array and a scalar.
+
+The function add calculates:
+- Sum of two arrays when both input arrays have the same size and the same number of channels:
+\f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1}(I) +  \texttt{src2}(I)) \quad \texttt{if mask}(I) \ne0\f]
+- Sum of an array and a scalar when src2 is constructed from Scalar or has the same number of
+elements as `src1.channels()`:
+\f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1}(I) +  \texttt{src2} ) \quad \texttt{if mask}(I) \ne0\f]
+- Sum of a scalar and an array when src1 is constructed from Scalar or has the same number of
+elements as `src2.channels()`:
+\f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1} +  \texttt{src2}(I) ) \quad \texttt{if mask}(I) \ne0\f]
+where `I` is a multi-dimensional index of array elements. In case of multi-channel arrays, each
+channel is processed independently.
+
+The first function in the list above can be replaced with matrix expressions:
+@code{.cpp}
+    dst = src1 + src2;
+    dst += src1; // equivalent to add(dst, src1, dst);
+@endcode
+The input arrays and the output array can all have the same or different depths. For example, you
+can add a 16-bit unsigned array to a 8-bit signed array and store the sum as a 32-bit
+floating-point array. Depth of the output array is determined by the dtype parameter. In the second
+and third cases above, as well as in the first case, when src1.depth() == src2.depth(), dtype can
+be set to the default -1. In this case, the output array will have the same depth as the input
+array, be it src1, src2 or both.
+@note Saturation is not applied when the output array has the depth CV_32S. You may even get
+result of an incorrect sign in the case of overflow.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array that has the same size and number of channels as the input array(s); the
+depth is defined by dtype or src1/src2.
+@param mask optional operation mask - 8-bit single channel array, that specifies elements of the
+output array to be changed.
+@param dtype optional depth of the output array (see the discussion below).
+@sa subtract, addWeighted, scaleAdd, Mat::convertTo
+*/
+CV_EXPORTS_W void add(InputArray src1, InputArray src2, OutputArray dst,
+                      InputArray mask = noArray(), int dtype = -1);
+
+/** @brief Calculates the per-element difference between two arrays or array and a scalar.
+
+The function subtract calculates:
+- Difference between two arrays, when both input arrays have the same size and the same number of
+channels:
+    \f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1}(I) -  \texttt{src2}(I)) \quad \texttt{if mask}(I) \ne0\f]
+- Difference between an array and a scalar, when src2 is constructed from Scalar or has the same
+number of elements as `src1.channels()`:
+    \f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1}(I) -  \texttt{src2} ) \quad \texttt{if mask}(I) \ne0\f]
+- Difference between a scalar and an array, when src1 is constructed from Scalar or has the same
+number of elements as `src2.channels()`:
+    \f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src1} -  \texttt{src2}(I) ) \quad \texttt{if mask}(I) \ne0\f]
+- The reverse difference between a scalar and an array in the case of `SubRS`:
+    \f[\texttt{dst}(I) =  \texttt{saturate} ( \texttt{src2} -  \texttt{src1}(I) ) \quad \texttt{if mask}(I) \ne0\f]
+where I is a multi-dimensional index of array elements. In case of multi-channel arrays, each
+channel is processed independently.
+
+The first function in the list above can be replaced with matrix expressions:
+@code{.cpp}
+    dst = src1 - src2;
+    dst -= src1; // equivalent to subtract(dst, src1, dst);
+@endcode
+The input arrays and the output array can all have the same or different depths. For example, you
+can subtract to 8-bit unsigned arrays and store the difference in a 16-bit signed array. Depth of
+the output array is determined by dtype parameter. In the second and third cases above, as well as
+in the first case, when src1.depth() == src2.depth(), dtype can be set to the default -1. In this
+case the output array will have the same depth as the input array, be it src1, src2 or both.
+@note Saturation is not applied when the output array has the depth CV_32S. You may even get
+result of an incorrect sign in the case of overflow.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array of the same size and the same number of channels as the input array.
+@param mask optional operation mask; this is an 8-bit single channel array that specifies elements
+of the output array to be changed.
+@param dtype optional depth of the output array
+@sa  add, addWeighted, scaleAdd, Mat::convertTo
+  */
+CV_EXPORTS_W void subtract(InputArray src1, InputArray src2, OutputArray dst,
+                           InputArray mask = noArray(), int dtype = -1);
+
+
+/** @brief Calculates the per-element scaled product of two arrays.
+
+The function multiply calculates the per-element product of two arrays:
+
+\f[\texttt{dst} (I)= \texttt{saturate} ( \texttt{scale} \cdot \texttt{src1} (I)  \cdot \texttt{src2} (I))\f]
+
+There is also a @ref MatrixExpressions -friendly variant of the first function. See Mat::mul .
+
+For a not-per-element matrix product, see gemm .
+
+@note Saturation is not applied when the output array has the depth
+CV_32S. You may even get result of an incorrect sign in the case of
+overflow.
+@param src1 first input array.
+@param src2 second input array of the same size and the same type as src1.
+@param dst output array of the same size and type as src1.
+@param scale optional scale factor.
+@param dtype optional depth of the output array
+@sa add, subtract, divide, scaleAdd, addWeighted, accumulate, accumulateProduct, accumulateSquare,
+Mat::convertTo
+*/
+CV_EXPORTS_W void multiply(InputArray src1, InputArray src2,
+                           OutputArray dst, double scale = 1, int dtype = -1);
+
+/** @brief Performs per-element division of two arrays or a scalar by an array.
+
+The functions divide divide one array by another:
+\f[\texttt{dst(I) = saturate(src1(I)*scale/src2(I))}\f]
+or a scalar by an array when there is no src1 :
+\f[\texttt{dst(I) = saturate(scale/src2(I))}\f]
+
+When src2(I) is zero, dst(I) will also be zero. Different channels of
+multi-channel arrays are processed independently.
+
+@note Saturation is not applied when the output array has the depth CV_32S. You may even get
+result of an incorrect sign in the case of overflow.
+@param src1 first input array.
+@param src2 second input array of the same size and type as src1.
+@param scale scalar factor.
+@param dst output array of the same size and type as src2.
+@param dtype optional depth of the output array; if -1, dst will have depth src2.depth(), but in
+case of an array-by-array division, you can only pass -1 when src1.depth()==src2.depth().
+@sa  multiply, add, subtract
+*/
+CV_EXPORTS_W void divide(InputArray src1, InputArray src2, OutputArray dst,
+                         double scale = 1, int dtype = -1);
+
+/** @overload */
+CV_EXPORTS_W void divide(double scale, InputArray src2,
+                         OutputArray dst, int dtype = -1);
+
+/** @brief Calculates the sum of a scaled array and another array.
+
+The function scaleAdd is one of the classical primitive linear algebra operations, known as DAXPY
+or SAXPY in [BLAS](http://en.wikipedia.org/wiki/Basic_Linear_Algebra_Subprograms). It calculates
+the sum of a scaled array and another array:
+\f[\texttt{dst} (I)= \texttt{scale} \cdot \texttt{src1} (I) +  \texttt{src2} (I)\f]
+The function can also be emulated with a matrix expression, for example:
+@code{.cpp}
+    Mat A(3, 3, CV_64F);
+    ...
+    A.row(0) = A.row(1)*2 + A.row(2);
+@endcode
+@param src1 first input array.
+@param alpha scale factor for the first array.
+@param src2 second input array of the same size and type as src1.
+@param dst output array of the same size and type as src1.
+@sa add, addWeighted, subtract, Mat::dot, Mat::convertTo
+*/
+CV_EXPORTS_W void scaleAdd(InputArray src1, double alpha, InputArray src2, OutputArray dst);
+
+/** @brief Calculates the weighted sum of two arrays.
+
+The function addWeighted calculates the weighted sum of two arrays as follows:
+\f[\texttt{dst} (I)= \texttt{saturate} ( \texttt{src1} (I)* \texttt{alpha} +  \texttt{src2} (I)* \texttt{beta} +  \texttt{gamma} )\f]
+where I is a multi-dimensional index of array elements. In case of multi-channel arrays, each
+channel is processed independently.
+The function can be replaced with a matrix expression:
+@code{.cpp}
+    dst = src1*alpha + src2*beta + gamma;
+@endcode
+@note Saturation is not applied when the output array has the depth CV_32S. You may even get
+result of an incorrect sign in the case of overflow.
+@param src1 first input array.
+@param alpha weight of the first array elements.
+@param src2 second input array of the same size and channel number as src1.
+@param beta weight of the second array elements.
+@param gamma scalar added to each sum.
+@param dst output array that has the same size and number of channels as the input arrays.
+@param dtype optional depth of the output array; when both input arrays have the same depth, dtype
+can be set to -1, which will be equivalent to src1.depth().
+@sa  add, subtract, scaleAdd, Mat::convertTo
+*/
+CV_EXPORTS_W void addWeighted(InputArray src1, double alpha, InputArray src2,
+                              double beta, double gamma, OutputArray dst, int dtype = -1);
+
+/** @brief Scales, calculates absolute values, and converts the result to 8-bit.
+
+On each element of the input array, the function convertScaleAbs
+performs three operations sequentially: scaling, taking an absolute
+value, conversion to an unsigned 8-bit type:
+\f[\texttt{dst} (I)= \texttt{saturate\_cast<uchar>} (| \texttt{src} (I)* \texttt{alpha} +  \texttt{beta} |)\f]
+In case of multi-channel arrays, the function processes each channel
+independently. When the output is not 8-bit, the operation can be
+emulated by calling the Mat::convertTo method (or by using matrix
+expressions) and then by calculating an absolute value of the result.
+For example:
+@code{.cpp}
+    Mat_<float> A(30,30);
+    randu(A, Scalar(-100), Scalar(100));
+    Mat_<float> B = A*5 + 3;
+    B = abs(B);
+    // Mat_<float> B = abs(A*5+3) will also do the job,
+    // but it will allocate a temporary matrix
+@endcode
+@param src input array.
+@param dst output array.
+@param alpha optional scale factor.
+@param beta optional delta added to the scaled values.
+@sa  Mat::convertTo, cv::abs(const Mat&)
+*/
+CV_EXPORTS_W void convertScaleAbs(InputArray src, OutputArray dst,
+                                  double alpha = 1, double beta = 0);
+
+/** @brief Performs a look-up table transform of an array.
+
+The function LUT fills the output array with values from the look-up table. Indices of the entries
+are taken from the input array. That is, the function processes each element of src as follows:
+\f[\texttt{dst} (I)  \leftarrow \texttt{lut(src(I) + d)}\f]
+where
+\f[d =  \fork{0}{if \texttt{src} has depth \texttt{CV\_8U}}{128}{if \texttt{src} has depth \texttt{CV\_8S}}\f]
+@param src input array of 8-bit elements.
+@param lut look-up table of 256 elements; in case of multi-channel input array, the table should
+either have a single channel (in this case the same table is used for all channels) or the same
+number of channels as in the input array.
+@param dst output array of the same size and number of channels as src, and the same depth as lut.
+@sa  convertScaleAbs, Mat::convertTo
+*/
+CV_EXPORTS_W void LUT(InputArray src, InputArray lut, OutputArray dst);
+
+/** @brief Calculates the sum of array elements.
+
+The functions sum calculate and return the sum of array elements,
+independently for each channel.
+@param src input array that must have from 1 to 4 channels.
+@sa  countNonZero, mean, meanStdDev, norm, minMaxLoc, reduce
+*/
+CV_EXPORTS_AS(sumElems) Scalar sum(InputArray src);
+
+/** @brief Counts non-zero array elements.
+
+The function returns the number of non-zero elements in src :
+\f[\sum _{I: \; \texttt{src} (I) \ne0 } 1\f]
+@param src single-channel array.
+@sa  mean, meanStdDev, norm, minMaxLoc, calcCovarMatrix
+*/
+CV_EXPORTS_W int countNonZero( InputArray src );
+
+/** @brief Returns the list of locations of non-zero pixels
+
+Given a binary matrix (likely returned from an operation such
+as threshold(), compare(), >, ==, etc, return all of
+the non-zero indices as a cv::Mat or std::vector<cv::Point> (x,y)
+For example:
+@code{.cpp}
+    cv::Mat binaryImage; // input, binary image
+    cv::Mat locations;   // output, locations of non-zero pixels
+    cv::findNonZero(binaryImage, locations);
+
+    // access pixel coordinates
+    Point pnt = locations.at<Point>(i);
+@endcode
+or
+@code{.cpp}
+    cv::Mat binaryImage; // input, binary image
+    vector<Point> locations;   // output, locations of non-zero pixels
+    cv::findNonZero(binaryImage, locations);
+
+    // access pixel coordinates
+    Point pnt = locations[i];
+@endcode
+@param src single-channel array (type CV_8UC1)
+@param idx the output array, type of cv::Mat or std::vector<Point>, corresponding to non-zero indices in the input
+*/
+CV_EXPORTS_W void findNonZero( InputArray src, OutputArray idx );
+
+/** @brief Calculates an average (mean) of array elements.
+
+The function mean calculates the mean value M of array elements,
+independently for each channel, and return it:
+\f[\begin{array}{l} N =  \sum _{I: \; \texttt{mask} (I) \ne 0} 1 \\ M_c =  \left ( \sum _{I: \; \texttt{mask} (I) \ne 0}{ \texttt{mtx} (I)_c} \right )/N \end{array}\f]
+When all the mask elements are 0's, the functions return Scalar::all(0)
+@param src input array that should have from 1 to 4 channels so that the result can be stored in
+Scalar_ .
+@param mask optional operation mask.
+@sa  countNonZero, meanStdDev, norm, minMaxLoc
+*/
+CV_EXPORTS_W Scalar mean(InputArray src, InputArray mask = noArray());
+
+/** Calculates a mean and standard deviation of array elements.
+
+The function meanStdDev calculates the mean and the standard deviation M
+of array elements independently for each channel and returns it via the
+output parameters:
+\f[\begin{array}{l} N =  \sum _{I, \texttt{mask} (I)  \ne 0} 1 \\ \texttt{mean} _c =  \frac{\sum_{ I: \; \texttt{mask}(I) \ne 0} \texttt{src} (I)_c}{N} \\ \texttt{stddev} _c =  \sqrt{\frac{\sum_{ I: \; \texttt{mask}(I) \ne 0} \left ( \texttt{src} (I)_c -  \texttt{mean} _c \right )^2}{N}} \end{array}\f]
+When all the mask elements are 0's, the functions return
+mean=stddev=Scalar::all(0).
+@note The calculated standard deviation is only the diagonal of the
+complete normalized covariance matrix. If the full matrix is needed, you
+can reshape the multi-channel array M x N to the single-channel array
+M\*N x mtx.channels() (only possible when the matrix is continuous) and
+then pass the matrix to calcCovarMatrix .
+@param src input array that should have from 1 to 4 channels so that the results can be stored in
+Scalar_ 's.
+@param mean output parameter: calculated mean value.
+@param stddev output parameter: calculateded standard deviation.
+@param mask optional operation mask.
+@sa  countNonZero, mean, norm, minMaxLoc, calcCovarMatrix
+*/
+CV_EXPORTS_W void meanStdDev(InputArray src, OutputArray mean, OutputArray stddev,
+                             InputArray mask=noArray());
+
+/** @brief Calculates an absolute array norm, an absolute difference norm, or a
+relative difference norm.
+
+The functions norm calculate an absolute norm of src1 (when there is no
+src2 ):
+
+\f[norm =  \forkthree{\|\texttt{src1}\|_{L_{\infty}} =  \max _I | \texttt{src1} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_INF}\) }
+{ \| \texttt{src1} \| _{L_1} =  \sum _I | \texttt{src1} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_L1}\) }
+{ \| \texttt{src1} \| _{L_2} =  \sqrt{\sum_I \texttt{src1}(I)^2} }{if  \(\texttt{normType} = \texttt{NORM\_L2}\) }\f]
+
+or an absolute or relative difference norm if src2 is there:
+
+\f[norm =  \forkthree{\|\texttt{src1}-\texttt{src2}\|_{L_{\infty}} =  \max _I | \texttt{src1} (I) -  \texttt{src2} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_INF}\) }
+{ \| \texttt{src1} - \texttt{src2} \| _{L_1} =  \sum _I | \texttt{src1} (I) -  \texttt{src2} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_L1}\) }
+{ \| \texttt{src1} - \texttt{src2} \| _{L_2} =  \sqrt{\sum_I (\texttt{src1}(I) - \texttt{src2}(I))^2} }{if  \(\texttt{normType} = \texttt{NORM\_L2}\) }\f]
+
+or
+
+\f[norm =  \forkthree{\frac{\|\texttt{src1}-\texttt{src2}\|_{L_{\infty}}    }{\|\texttt{src2}\|_{L_{\infty}} }}{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_INF}\) }
+{ \frac{\|\texttt{src1}-\texttt{src2}\|_{L_1} }{\|\texttt{src2}\|_{L_1}} }{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_L1}\) }
+{ \frac{\|\texttt{src1}-\texttt{src2}\|_{L_2} }{\|\texttt{src2}\|_{L_2}} }{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_L2}\) }\f]
+
+The functions norm return the calculated norm.
+
+When the mask parameter is specified and it is not empty, the norm is
+calculated only over the region specified by the mask.
+
+A multi-channel input arrays are treated as a single-channel, that is,
+the results for all channels are combined.
+
+@param src1 first input array.
+@param normType type of the norm (see cv::NormTypes).
+@param mask optional operation mask; it must have the same size as src1 and CV_8UC1 type.
+*/
+CV_EXPORTS_W double norm(InputArray src1, int normType = NORM_L2, InputArray mask = noArray());
+
+/** @overload
+@param src1 first input array.
+@param src2 second input array of the same size and the same type as src1.
+@param normType type of the norm (cv::NormTypes).
+@param mask optional operation mask; it must have the same size as src1 and CV_8UC1 type.
+*/
+CV_EXPORTS_W double norm(InputArray src1, InputArray src2,
+                         int normType = NORM_L2, InputArray mask = noArray());
+/** @overload
+@param src first input array.
+@param normType type of the norm (see cv::NormTypes).
+*/
+CV_EXPORTS double norm( const SparseMat& src, int normType );
+
+/** @brief computes PSNR image/video quality metric
+
+see http://en.wikipedia.org/wiki/Peak_signal-to-noise_ratio for details
+@todo document
+  */
+CV_EXPORTS_W double PSNR(InputArray src1, InputArray src2);
+
+/** @brief naive nearest neighbor finder
+
+see http://en.wikipedia.org/wiki/Nearest_neighbor_search
+@todo document
+  */
+CV_EXPORTS_W void batchDistance(InputArray src1, InputArray src2,
+                                OutputArray dist, int dtype, OutputArray nidx,
+                                int normType = NORM_L2, int K = 0,
+                                InputArray mask = noArray(), int update = 0,
+                                bool crosscheck = false);
+
+/** @brief Normalizes the norm or value range of an array.
+
+The functions normalize scale and shift the input array elements so that
+\f[\| \texttt{dst} \| _{L_p}= \texttt{alpha}\f]
+(where p=Inf, 1 or 2) when normType=NORM_INF, NORM_L1, or NORM_L2, respectively; or so that
+\f[\min _I  \texttt{dst} (I)= \texttt{alpha} , \, \, \max _I  \texttt{dst} (I)= \texttt{beta}\f]
+
+when normType=NORM_MINMAX (for dense arrays only). The optional mask specifies a sub-array to be
+normalized. This means that the norm or min-n-max are calculated over the sub-array, and then this
+sub-array is modified to be normalized. If you want to only use the mask to calculate the norm or
+min-max but modify the whole array, you can use norm and Mat::convertTo.
+
+In case of sparse matrices, only the non-zero values are analyzed and transformed. Because of this,
+the range transformation for sparse matrices is not allowed since it can shift the zero level.
+
+@param src input array.
+@param dst output array of the same size as src .
+@param alpha norm value to normalize to or the lower range boundary in case of the range
+normalization.
+@param beta upper range boundary in case of the range normalization; it is not used for the norm
+normalization.
+@param norm_type normalization type (see cv::NormTypes).
+@param dtype when negative, the output array has the same type as src; otherwise, it has the same
+number of channels as src and the depth =CV_MAT_DEPTH(dtype).
+@param mask optional operation mask.
+@sa norm, Mat::convertTo, SparseMat::convertTo
+*/
+CV_EXPORTS_W void normalize( InputArray src, InputOutputArray dst, double alpha = 1, double beta = 0,
+                             int norm_type = NORM_L2, int dtype = -1, InputArray mask = noArray());
+
+/** @overload
+@param src input array.
+@param dst output array of the same size as src .
+@param alpha norm value to normalize to or the lower range boundary in case of the range
+normalization.
+@param normType normalization type (see cv::NormTypes).
+*/
+CV_EXPORTS void normalize( const SparseMat& src, SparseMat& dst, double alpha, int normType );
+
+/** @brief Finds the global minimum and maximum in an array.
+
+The functions minMaxLoc find the minimum and maximum element values and their positions. The
+extremums are searched across the whole array or, if mask is not an empty array, in the specified
+array region.
+
+The functions do not work with multi-channel arrays. If you need to find minimum or maximum
+elements across all the channels, use Mat::reshape first to reinterpret the array as
+single-channel. Or you may extract the particular channel using either extractImageCOI , or
+mixChannels , or split .
+@param src input single-channel array.
+@param minVal pointer to the returned minimum value; NULL is used if not required.
+@param maxVal pointer to the returned maximum value; NULL is used if not required.
+@param minLoc pointer to the returned minimum location (in 2D case); NULL is used if not required.
+@param maxLoc pointer to the returned maximum location (in 2D case); NULL is used if not required.
+@param mask optional mask used to select a sub-array.
+@sa max, min, compare, inRange, extractImageCOI, mixChannels, split, Mat::reshape
+*/
+CV_EXPORTS_W void minMaxLoc(InputArray src, CV_OUT double* minVal,
+                            CV_OUT double* maxVal = 0, CV_OUT Point* minLoc = 0,
+                            CV_OUT Point* maxLoc = 0, InputArray mask = noArray());
+
+
+/** @brief Finds the global minimum and maximum in an array
+
+The function minMaxIdx finds the minimum and maximum element values and their positions. The
+extremums are searched across the whole array or, if mask is not an empty array, in the specified
+array region. The function does not work with multi-channel arrays. If you need to find minimum or
+maximum elements across all the channels, use Mat::reshape first to reinterpret the array as
+single-channel. Or you may extract the particular channel using either extractImageCOI , or
+mixChannels , or split . In case of a sparse matrix, the minimum is found among non-zero elements
+only.
+@note When minIdx is not NULL, it must have at least 2 elements (as well as maxIdx), even if src is
+a single-row or single-column matrix. In OpenCV (following MATLAB) each array has at least 2
+dimensions, i.e. single-column matrix is Mx1 matrix (and therefore minIdx/maxIdx will be
+(i1,0)/(i2,0)) and single-row matrix is 1xN matrix (and therefore minIdx/maxIdx will be
+(0,j1)/(0,j2)).
+@param src input single-channel array.
+@param minVal pointer to the returned minimum value; NULL is used if not required.
+@param maxVal pointer to the returned maximum value; NULL is used if not required.
+@param minIdx pointer to the returned minimum location (in nD case); NULL is used if not required;
+Otherwise, it must point to an array of src.dims elements, the coordinates of the minimum element
+in each dimension are stored there sequentially.
+@param maxIdx pointer to the returned maximum location (in nD case). NULL is used if not required.
+@param mask specified array region
+*/
+CV_EXPORTS void minMaxIdx(InputArray src, double* minVal, double* maxVal = 0,
+                          int* minIdx = 0, int* maxIdx = 0, InputArray mask = noArray());
+
+/** @overload
+@param a input single-channel array.
+@param minVal pointer to the returned minimum value; NULL is used if not required.
+@param maxVal pointer to the returned maximum value; NULL is used if not required.
+@param minIdx pointer to the returned minimum location (in nD case); NULL is used if not required;
+Otherwise, it must point to an array of src.dims elements, the coordinates of the minimum element
+in each dimension are stored there sequentially.
+@param maxIdx pointer to the returned maximum location (in nD case). NULL is used if not required.
+*/
+CV_EXPORTS void minMaxLoc(const SparseMat& a, double* minVal,
+                          double* maxVal, int* minIdx = 0, int* maxIdx = 0);
+
+/** @brief Reduces a matrix to a vector.
+
+The function reduce reduces the matrix to a vector by treating the matrix rows/columns as a set of
+1D vectors and performing the specified operation on the vectors until a single row/column is
+obtained. For example, the function can be used to compute horizontal and vertical projections of a
+raster image. In case of REDUCE_SUM and REDUCE_AVG , the output may have a larger element
+bit-depth to preserve accuracy. And multi-channel arrays are also supported in these two reduction
+modes.
+@param src input 2D matrix.
+@param dst output vector. Its size and type is defined by dim and dtype parameters.
+@param dim dimension index along which the matrix is reduced. 0 means that the matrix is reduced to
+a single row. 1 means that the matrix is reduced to a single column.
+@param rtype reduction operation that could be one of cv::ReduceTypes
+@param dtype when negative, the output vector will have the same type as the input matrix,
+otherwise, its type will be CV_MAKE_TYPE(CV_MAT_DEPTH(dtype), src.channels()).
+@sa repeat
+*/
+CV_EXPORTS_W void reduce(InputArray src, OutputArray dst, int dim, int rtype, int dtype = -1);
+
+/** @brief Creates one multichannel array out of several single-channel ones.
+
+The functions merge merge several arrays to make a single multi-channel array. That is, each
+element of the output array will be a concatenation of the elements of the input arrays, where
+elements of i-th input array are treated as mv[i].channels()-element vectors.
+
+The function split does the reverse operation. If you need to shuffle channels in some other
+advanced way, use mixChannels .
+@param mv input array of matrices to be merged; all the matrices in mv must have the same
+size and the same depth.
+@param count number of input matrices when mv is a plain C array; it must be greater than zero.
+@param dst output array of the same size and the same depth as mv[0]; The number of channels will
+be the total number of channels in the matrix array.
+@sa  mixChannels, split, Mat::reshape
+*/
+CV_EXPORTS void merge(const Mat* mv, size_t count, OutputArray dst);
+
+/** @overload
+@param mv input vector of matrices to be merged; all the matrices in mv must have the same
+size and the same depth.
+@param dst output array of the same size and the same depth as mv[0]; The number of channels will
+be the total number of channels in the matrix array.
+  */
+CV_EXPORTS_W void merge(InputArrayOfArrays mv, OutputArray dst);
+
+/** @brief Divides a multi-channel array into several single-channel arrays.
+
+The functions split split a multi-channel array into separate single-channel arrays:
+\f[\texttt{mv} [c](I) =  \texttt{src} (I)_c\f]
+If you need to extract a single channel or do some other sophisticated channel permutation, use
+mixChannels .
+@param src input multi-channel array.
+@param mvbegin output array; the number of arrays must match src.channels(); the arrays themselves are
+reallocated, if needed.
+@sa merge, mixChannels, cvtColor
+*/
+CV_EXPORTS void split(const Mat& src, Mat* mvbegin);
+
+/** @overload
+@param m input multi-channel array.
+@param mv output vector of arrays; the arrays themselves are reallocated, if needed.
+*/
+CV_EXPORTS_W void split(InputArray m, OutputArrayOfArrays mv);
+
+/** @brief Copies specified channels from input arrays to the specified channels of
+output arrays.
+
+The functions mixChannels provide an advanced mechanism for shuffling image channels.
+
+split and merge and some forms of cvtColor are partial cases of mixChannels .
+
+In the example below, the code splits a 4-channel RGBA image into a 3-channel BGR (with R and B
+channels swapped) and a separate alpha-channel image:
+@code{.cpp}
+    Mat rgba( 100, 100, CV_8UC4, Scalar(1,2,3,4) );
+    Mat bgr( rgba.rows, rgba.cols, CV_8UC3 );
+    Mat alpha( rgba.rows, rgba.cols, CV_8UC1 );
+
+    // forming an array of matrices is a quite efficient operation,
+    // because the matrix data is not copied, only the headers
+    Mat out[] = { bgr, alpha };
+    // rgba[0] -> bgr[2], rgba[1] -> bgr[1],
+    // rgba[2] -> bgr[0], rgba[3] -> alpha[0]
+    int from_to[] = { 0,2, 1,1, 2,0, 3,3 };
+    mixChannels( &rgba, 1, out, 2, from_to, 4 );
+@endcode
+@note Unlike many other new-style C++ functions in OpenCV (see the introduction section and
+Mat::create ), mixChannels requires the output arrays to be pre-allocated before calling the
+function.
+@param src input array or vector of matricesl; all of the matrices must have the same size and the
+same depth.
+@param nsrcs number of matrices in src.
+@param dst output array or vector of matrices; all the matrices *must be allocated*; their size and
+depth must be the same as in src[0].
+@param ndsts number of matrices in dst.
+@param fromTo array of index pairs specifying which channels are copied and where; fromTo[k\*2] is
+a 0-based index of the input channel in src, fromTo[k\*2+1] is an index of the output channel in
+dst; the continuous channel numbering is used: the first input image channels are indexed from 0 to
+src[0].channels()-1, the second input image channels are indexed from src[0].channels() to
+src[0].channels() + src[1].channels()-1, and so on, the same scheme is used for the output image
+channels; as a special case, when fromTo[k\*2] is negative, the corresponding output channel is
+filled with zero .
+@param npairs number of index pairs in fromTo.
+@sa split, merge, cvtColor
+*/
+CV_EXPORTS void mixChannels(const Mat* src, size_t nsrcs, Mat* dst, size_t ndsts,
+                            const int* fromTo, size_t npairs);
+
+/** @overload
+@param src input array or vector of matricesl; all of the matrices must have the same size and the
+same depth.
+@param dst output array or vector of matrices; all the matrices *must be allocated*; their size and
+depth must be the same as in src[0].
+@param fromTo array of index pairs specifying which channels are copied and where; fromTo[k\*2] is
+a 0-based index of the input channel in src, fromTo[k\*2+1] is an index of the output channel in
+dst; the continuous channel numbering is used: the first input image channels are indexed from 0 to
+src[0].channels()-1, the second input image channels are indexed from src[0].channels() to
+src[0].channels() + src[1].channels()-1, and so on, the same scheme is used for the output image
+channels; as a special case, when fromTo[k\*2] is negative, the corresponding output channel is
+filled with zero .
+@param npairs number of index pairs in fromTo.
+*/
+CV_EXPORTS void mixChannels(InputArrayOfArrays src, InputOutputArrayOfArrays dst,
+                            const int* fromTo, size_t npairs);
+
+/** @overload
+@param src input array or vector of matricesl; all of the matrices must have the same size and the
+same depth.
+@param dst output array or vector of matrices; all the matrices *must be allocated*; their size and
+depth must be the same as in src[0].
+@param fromTo array of index pairs specifying which channels are copied and where; fromTo[k\*2] is
+a 0-based index of the input channel in src, fromTo[k\*2+1] is an index of the output channel in
+dst; the continuous channel numbering is used: the first input image channels are indexed from 0 to
+src[0].channels()-1, the second input image channels are indexed from src[0].channels() to
+src[0].channels() + src[1].channels()-1, and so on, the same scheme is used for the output image
+channels; as a special case, when fromTo[k\*2] is negative, the corresponding output channel is
+filled with zero .
+*/
+CV_EXPORTS_W void mixChannels(InputArrayOfArrays src, InputOutputArrayOfArrays dst,
+                              const std::vector<int>& fromTo);
+
+/** @brief extracts a single channel from src (coi is 0-based index)
+@todo document
+*/
+CV_EXPORTS_W void extractChannel(InputArray src, OutputArray dst, int coi);
+
+/** @brief inserts a single channel to dst (coi is 0-based index)
+@todo document
+*/
+CV_EXPORTS_W void insertChannel(InputArray src, InputOutputArray dst, int coi);
+
+/** @brief Flips a 2D array around vertical, horizontal, or both axes.
+
+The function flip flips the array in one of three different ways (row
+and column indices are 0-based):
+\f[\texttt{dst} _{ij} =
+\left\{
+\begin{array}{l l}
+\texttt{src} _{\texttt{src.rows}-i-1,j} & if\;  \texttt{flipCode} = 0 \\
+\texttt{src} _{i, \texttt{src.cols} -j-1} & if\;  \texttt{flipCode} > 0 \\
+\texttt{src} _{ \texttt{src.rows} -i-1, \texttt{src.cols} -j-1} & if\; \texttt{flipCode} < 0 \\
+\end{array}
+\right.\f]
+The example scenarios of using the function are the following:
+*   Vertical flipping of the image (flipCode == 0) to switch between
+    top-left and bottom-left image origin. This is a typical operation
+    in video processing on Microsoft Windows\* OS.
+*   Horizontal flipping of the image with the subsequent horizontal
+    shift and absolute difference calculation to check for a
+    vertical-axis symmetry (flipCode \> 0).
+*   Simultaneous horizontal and vertical flipping of the image with
+    the subsequent shift and absolute difference calculation to check
+    for a central symmetry (flipCode \< 0).
+*   Reversing the order of point arrays (flipCode \> 0 or
+    flipCode == 0).
+@param src input array.
+@param dst output array of the same size and type as src.
+@param flipCode a flag to specify how to flip the array; 0 means
+flipping around the x-axis and positive value (for example, 1) means
+flipping around y-axis. Negative value (for example, -1) means flipping
+around both axes.
+@sa transpose , repeat , completeSymm
+*/
+CV_EXPORTS_W void flip(InputArray src, OutputArray dst, int flipCode);
+
+/** @brief Fills the output array with repeated copies of the input array.
+
+The functions repeat duplicate the input array one or more times along each of the two axes:
+\f[\texttt{dst} _{ij}= \texttt{src} _{i\mod src.rows, \; j\mod src.cols }\f]
+The second variant of the function is more convenient to use with @ref MatrixExpressions.
+@param src input array to replicate.
+@param dst output array of the same type as src.
+@param ny Flag to specify how many times the src is repeated along the
+vertical axis.
+@param nx Flag to specify how many times the src is repeated along the
+horizontal axis.
+@sa reduce
+*/
+CV_EXPORTS_W void repeat(InputArray src, int ny, int nx, OutputArray dst);
+
+/** @overload
+@param src input array to replicate.
+@param ny Flag to specify how many times the src is repeated along the
+vertical axis.
+@param nx Flag to specify how many times the src is repeated along the
+horizontal axis.
+  */
+CV_EXPORTS Mat repeat(const Mat& src, int ny, int nx);
+
+/** @brief Applies horizontal concatenation to given matrices.
+
+The function horizontally concatenates two or more cv::Mat matrices (with the same number of rows).
+@code{.cpp}
+    cv::Mat matArray[] = { cv::Mat(4, 1, CV_8UC1, cv::Scalar(1)),
+                           cv::Mat(4, 1, CV_8UC1, cv::Scalar(2)),
+                           cv::Mat(4, 1, CV_8UC1, cv::Scalar(3)),};
+
+    cv::Mat out;
+    cv::hconcat( matArray, 3, out );
+    //out:
+    //[1, 2, 3;
+    // 1, 2, 3;
+    // 1, 2, 3;
+    // 1, 2, 3]
+@endcode
+@param src input array or vector of matrices. all of the matrices must have the same number of rows and the same depth.
+@param nsrc number of matrices in src.
+@param dst output array. It has the same number of rows and depth as the src, and the sum of cols of the src.
+@sa cv::vconcat(const Mat*, size_t, OutputArray), @sa cv::vconcat(InputArrayOfArrays, OutputArray) and @sa cv::vconcat(InputArray, InputArray, OutputArray)
+*/
+CV_EXPORTS void hconcat(const Mat* src, size_t nsrc, OutputArray dst);
+/** @overload
+ @code{.cpp}
+    cv::Mat_<float> A = (cv::Mat_<float>(3, 2) << 1, 4,
+                                                  2, 5,
+                                                  3, 6);
+    cv::Mat_<float> B = (cv::Mat_<float>(3, 2) << 7, 10,
+                                                  8, 11,
+                                                  9, 12);
+
+    cv::Mat C;
+    cv::hconcat(A, B, C);
+    //C:
+    //[1, 4, 7, 10;
+    // 2, 5, 8, 11;
+    // 3, 6, 9, 12]
+ @endcode
+ @param src1 first input array to be considered for horizontal concatenation.
+ @param src2 second input array to be considered for horizontal concatenation.
+ @param dst output array. It has the same number of rows and depth as the src1 and src2, and the sum of cols of the src1 and src2.
+ */
+CV_EXPORTS void hconcat(InputArray src1, InputArray src2, OutputArray dst);
+/** @overload
+ @code{.cpp}
+    std::vector<cv::Mat> matrices = { cv::Mat(4, 1, CV_8UC1, cv::Scalar(1)),
+                                      cv::Mat(4, 1, CV_8UC1, cv::Scalar(2)),
+                                      cv::Mat(4, 1, CV_8UC1, cv::Scalar(3)),};
+
+    cv::Mat out;
+    cv::hconcat( matrices, out );
+    //out:
+    //[1, 2, 3;
+    // 1, 2, 3;
+    // 1, 2, 3;
+    // 1, 2, 3]
+ @endcode
+ @param src input array or vector of matrices. all of the matrices must have the same number of rows and the same depth.
+ @param dst output array. It has the same number of rows and depth as the src, and the sum of cols of the src.
+same depth.
+ */
+CV_EXPORTS_W void hconcat(InputArrayOfArrays src, OutputArray dst);
+
+/** @brief Applies vertical concatenation to given matrices.
+
+The function vertically concatenates two or more cv::Mat matrices (with the same number of cols).
+@code{.cpp}
+    cv::Mat matArray[] = { cv::Mat(1, 4, CV_8UC1, cv::Scalar(1)),
+                           cv::Mat(1, 4, CV_8UC1, cv::Scalar(2)),
+                           cv::Mat(1, 4, CV_8UC1, cv::Scalar(3)),};
+
+    cv::Mat out;
+    cv::vconcat( matArray, 3, out );
+    //out:
+    //[1,   1,   1,   1;
+    // 2,   2,   2,   2;
+    // 3,   3,   3,   3]
+@endcode
+@param src input array or vector of matrices. all of the matrices must have the same number of cols and the same depth.
+@param nsrc number of matrices in src.
+@param dst output array. It has the same number of cols and depth as the src, and the sum of rows of the src.
+@sa cv::hconcat(const Mat*, size_t, OutputArray), @sa cv::hconcat(InputArrayOfArrays, OutputArray) and @sa cv::hconcat(InputArray, InputArray, OutputArray)
+*/
+CV_EXPORTS void vconcat(const Mat* src, size_t nsrc, OutputArray dst);
+/** @overload
+ @code{.cpp}
+    cv::Mat_<float> A = (cv::Mat_<float>(3, 2) << 1, 7,
+                                                  2, 8,
+                                                  3, 9);
+    cv::Mat_<float> B = (cv::Mat_<float>(3, 2) << 4, 10,
+                                                  5, 11,
+                                                  6, 12);
+
+    cv::Mat C;
+    cv::vconcat(A, B, C);
+    //C:
+    //[1, 7;
+    // 2, 8;
+    // 3, 9;
+    // 4, 10;
+    // 5, 11;
+    // 6, 12]
+ @endcode
+ @param src1 first input array to be considered for vertical concatenation.
+ @param src2 second input array to be considered for vertical concatenation.
+ @param dst output array. It has the same number of cols and depth as the src1 and src2, and the sum of rows of the src1 and src2.
+ */
+CV_EXPORTS void vconcat(InputArray src1, InputArray src2, OutputArray dst);
+/** @overload
+ @code{.cpp}
+    std::vector<cv::Mat> matrices = { cv::Mat(1, 4, CV_8UC1, cv::Scalar(1)),
+                                      cv::Mat(1, 4, CV_8UC1, cv::Scalar(2)),
+                                      cv::Mat(1, 4, CV_8UC1, cv::Scalar(3)),};
+
+    cv::Mat out;
+    cv::vconcat( matrices, out );
+    //out:
+    //[1,   1,   1,   1;
+    // 2,   2,   2,   2;
+    // 3,   3,   3,   3]
+ @endcode
+ @param src input array or vector of matrices. all of the matrices must have the same number of cols and the same depth
+ @param dst output array. It has the same number of cols and depth as the src, and the sum of rows of the src.
+same depth.
+ */
+CV_EXPORTS_W void vconcat(InputArrayOfArrays src, OutputArray dst);
+
+/** @brief computes bitwise conjunction of the two arrays (dst = src1 & src2)
+Calculates the per-element bit-wise conjunction of two arrays or an
+array and a scalar.
+
+The function calculates the per-element bit-wise logical conjunction for:
+*   Two arrays when src1 and src2 have the same size:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \wedge \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+*   An array and a scalar when src2 is constructed from Scalar or has
+    the same number of elements as `src1.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \wedge \texttt{src2} \quad \texttt{if mask} (I) \ne0\f]
+*   A scalar and an array when src1 is constructed from Scalar or has
+    the same number of elements as `src2.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1}  \wedge \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+In case of floating-point arrays, their machine-specific bit
+representations (usually IEEE754-compliant) are used for the operation.
+In case of multi-channel arrays, each channel is processed
+independently. In the second and third cases above, the scalar is first
+converted to the array type.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array that has the same size and type as the input
+arrays.
+@param mask optional operation mask, 8-bit single channel array, that
+specifies elements of the output array to be changed.
+*/
+CV_EXPORTS_W void bitwise_and(InputArray src1, InputArray src2,
+                              OutputArray dst, InputArray mask = noArray());
+
+/** @brief Calculates the per-element bit-wise disjunction of two arrays or an
+array and a scalar.
+
+The function calculates the per-element bit-wise logical disjunction for:
+*   Two arrays when src1 and src2 have the same size:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \vee \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+*   An array and a scalar when src2 is constructed from Scalar or has
+    the same number of elements as `src1.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \vee \texttt{src2} \quad \texttt{if mask} (I) \ne0\f]
+*   A scalar and an array when src1 is constructed from Scalar or has
+    the same number of elements as `src2.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1}  \vee \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+In case of floating-point arrays, their machine-specific bit
+representations (usually IEEE754-compliant) are used for the operation.
+In case of multi-channel arrays, each channel is processed
+independently. In the second and third cases above, the scalar is first
+converted to the array type.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array that has the same size and type as the input
+arrays.
+@param mask optional operation mask, 8-bit single channel array, that
+specifies elements of the output array to be changed.
+*/
+CV_EXPORTS_W void bitwise_or(InputArray src1, InputArray src2,
+                             OutputArray dst, InputArray mask = noArray());
+
+/** @brief Calculates the per-element bit-wise "exclusive or" operation on two
+arrays or an array and a scalar.
+
+The function calculates the per-element bit-wise logical "exclusive-or"
+operation for:
+*   Two arrays when src1 and src2 have the same size:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \oplus \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+*   An array and a scalar when src2 is constructed from Scalar or has
+    the same number of elements as `src1.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \oplus \texttt{src2} \quad \texttt{if mask} (I) \ne0\f]
+*   A scalar and an array when src1 is constructed from Scalar or has
+    the same number of elements as `src2.channels()`:
+    \f[\texttt{dst} (I) =  \texttt{src1}  \oplus \texttt{src2} (I) \quad \texttt{if mask} (I) \ne0\f]
+In case of floating-point arrays, their machine-specific bit
+representations (usually IEEE754-compliant) are used for the operation.
+In case of multi-channel arrays, each channel is processed
+independently. In the 2nd and 3rd cases above, the scalar is first
+converted to the array type.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array that has the same size and type as the input
+arrays.
+@param mask optional operation mask, 8-bit single channel array, that
+specifies elements of the output array to be changed.
+*/
+CV_EXPORTS_W void bitwise_xor(InputArray src1, InputArray src2,
+                              OutputArray dst, InputArray mask = noArray());
+
+/** @brief  Inverts every bit of an array.
+
+The function calculates per-element bit-wise inversion of the input
+array:
+\f[\texttt{dst} (I) =  \neg \texttt{src} (I)\f]
+In case of a floating-point input array, its machine-specific bit
+representation (usually IEEE754-compliant) is used for the operation. In
+case of multi-channel arrays, each channel is processed independently.
+@param src input array.
+@param dst output array that has the same size and type as the input
+array.
+@param mask optional operation mask, 8-bit single channel array, that
+specifies elements of the output array to be changed.
+*/
+CV_EXPORTS_W void bitwise_not(InputArray src, OutputArray dst,
+                              InputArray mask = noArray());
+
+/** @brief Calculates the per-element absolute difference between two arrays or between an array and a scalar.
+
+The function absdiff calculates:
+*   Absolute difference between two arrays when they have the same
+    size and type:
+    \f[\texttt{dst}(I) =  \texttt{saturate} (| \texttt{src1}(I) -  \texttt{src2}(I)|)\f]
+*   Absolute difference between an array and a scalar when the second
+    array is constructed from Scalar or has as many elements as the
+    number of channels in `src1`:
+    \f[\texttt{dst}(I) =  \texttt{saturate} (| \texttt{src1}(I) -  \texttt{src2} |)\f]
+*   Absolute difference between a scalar and an array when the first
+    array is constructed from Scalar or has as many elements as the
+    number of channels in `src2`:
+    \f[\texttt{dst}(I) =  \texttt{saturate} (| \texttt{src1} -  \texttt{src2}(I) |)\f]
+    where I is a multi-dimensional index of array elements. In case of
+    multi-channel arrays, each channel is processed independently.
+@note Saturation is not applied when the arrays have the depth CV_32S.
+You may even get a negative value in the case of overflow.
+@param src1 first input array or a scalar.
+@param src2 second input array or a scalar.
+@param dst output array that has the same size and type as input arrays.
+@sa cv::abs(const Mat&)
+*/
+CV_EXPORTS_W void absdiff(InputArray src1, InputArray src2, OutputArray dst);
+
+/** @brief  Checks if array elements lie between the elements of two other arrays.
+
+The function checks the range as follows:
+-   For every element of a single-channel input array:
+    \f[\texttt{dst} (I)= \texttt{lowerb} (I)_0  \leq \texttt{src} (I)_0 \leq  \texttt{upperb} (I)_0\f]
+-   For two-channel arrays:
+    \f[\texttt{dst} (I)= \texttt{lowerb} (I)_0  \leq \texttt{src} (I)_0 \leq  \texttt{upperb} (I)_0  \land \texttt{lowerb} (I)_1  \leq \texttt{src} (I)_1 \leq  \texttt{upperb} (I)_1\f]
+-   and so forth.
+
+That is, dst (I) is set to 255 (all 1 -bits) if src (I) is within the
+specified 1D, 2D, 3D, ... box and 0 otherwise.
+
+When the lower and/or upper boundary parameters are scalars, the indexes
+(I) at lowerb and upperb in the above formulas should be omitted.
+@param src first input array.
+@param lowerb inclusive lower boundary array or a scalar.
+@param upperb inclusive upper boundary array or a scalar.
+@param dst output array of the same size as src and CV_8U type.
+*/
+CV_EXPORTS_W void inRange(InputArray src, InputArray lowerb,
+                          InputArray upperb, OutputArray dst);
+
+/** @brief Performs the per-element comparison of two arrays or an array and scalar value.
+
+The function compares:
+*   Elements of two arrays when src1 and src2 have the same size:
+    \f[\texttt{dst} (I) =  \texttt{src1} (I)  \,\texttt{cmpop}\, \texttt{src2} (I)\f]
+*   Elements of src1 with a scalar src2 when src2 is constructed from
+    Scalar or has a single element:
+    \f[\texttt{dst} (I) =  \texttt{src1}(I) \,\texttt{cmpop}\,  \texttt{src2}\f]
+*   src1 with elements of src2 when src1 is constructed from Scalar or
+    has a single element:
+    \f[\texttt{dst} (I) =  \texttt{src1}  \,\texttt{cmpop}\, \texttt{src2} (I)\f]
+When the comparison result is true, the corresponding element of output
+array is set to 255. The comparison operations can be replaced with the
+equivalent matrix expressions:
+@code{.cpp}
+    Mat dst1 = src1 >= src2;
+    Mat dst2 = src1 < 8;
+    ...
+@endcode
+@param src1 first input array or a scalar; when it is an array, it must have a single channel.
+@param src2 second input array or a scalar; when it is an array, it must have a single channel.
+@param dst output array of type ref CV_8U that has the same size and the same number of channels as
+    the input arrays.
+@param cmpop a flag, that specifies correspondence between the arrays (cv::CmpTypes)
+@sa checkRange, min, max, threshold
+*/
+CV_EXPORTS_W void compare(InputArray src1, InputArray src2, OutputArray dst, int cmpop);
+
+/** @brief Calculates per-element minimum of two arrays or an array and a scalar.
+
+The functions min calculate the per-element minimum of two arrays:
+\f[\texttt{dst} (I)= \min ( \texttt{src1} (I), \texttt{src2} (I))\f]
+or array and a scalar:
+\f[\texttt{dst} (I)= \min ( \texttt{src1} (I), \texttt{value} )\f]
+@param src1 first input array.
+@param src2 second input array of the same size and type as src1.
+@param dst output array of the same size and type as src1.
+@sa max, compare, inRange, minMaxLoc
+*/
+CV_EXPORTS_W void min(InputArray src1, InputArray src2, OutputArray dst);
+/** @overload
+needed to avoid conflicts with const _Tp& std::min(const _Tp&, const _Tp&, _Compare)
+*/
+CV_EXPORTS void min(const Mat& src1, const Mat& src2, Mat& dst);
+/** @overload
+needed to avoid conflicts with const _Tp& std::min(const _Tp&, const _Tp&, _Compare)
+*/
+CV_EXPORTS void min(const UMat& src1, const UMat& src2, UMat& dst);
+
+/** @brief Calculates per-element maximum of two arrays or an array and a scalar.
+
+The functions max calculate the per-element maximum of two arrays:
+\f[\texttt{dst} (I)= \max ( \texttt{src1} (I), \texttt{src2} (I))\f]
+or array and a scalar:
+\f[\texttt{dst} (I)= \max ( \texttt{src1} (I), \texttt{value} )\f]
+@param src1 first input array.
+@param src2 second input array of the same size and type as src1 .
+@param dst output array of the same size and type as src1.
+@sa  min, compare, inRange, minMaxLoc, @ref MatrixExpressions
+*/
+CV_EXPORTS_W void max(InputArray src1, InputArray src2, OutputArray dst);
+/** @overload
+needed to avoid conflicts with const _Tp& std::min(const _Tp&, const _Tp&, _Compare)
+*/
+CV_EXPORTS void max(const Mat& src1, const Mat& src2, Mat& dst);
+/** @overload
+needed to avoid conflicts with const _Tp& std::min(const _Tp&, const _Tp&, _Compare)
+*/
+CV_EXPORTS void max(const UMat& src1, const UMat& src2, UMat& dst);
+
+/** @brief Calculates a square root of array elements.
+
+The functions sqrt calculate a square root of each input array element.
+In case of multi-channel arrays, each channel is processed
+independently. The accuracy is approximately the same as of the built-in
+std::sqrt .
+@param src input floating-point array.
+@param dst output array of the same size and type as src.
+*/
+CV_EXPORTS_W void sqrt(InputArray src, OutputArray dst);
+
+/** @brief Raises every array element to a power.
+
+The function pow raises every element of the input array to power :
+\f[\texttt{dst} (I) =  \fork{\texttt{src}(I)^power}{if \texttt{power} is integer}{|\texttt{src}(I)|^power}{otherwise}\f]
+
+So, for a non-integer power exponent, the absolute values of input array
+elements are used. However, it is possible to get true values for
+negative values using some extra operations. In the example below,
+computing the 5th root of array src shows:
+@code{.cpp}
+    Mat mask = src < 0;
+    pow(src, 1./5, dst);
+    subtract(Scalar::all(0), dst, dst, mask);
+@endcode
+For some values of power, such as integer values, 0.5 and -0.5,
+specialized faster algorithms are used.
+
+Special values (NaN, Inf) are not handled.
+@param src input array.
+@param power exponent of power.
+@param dst output array of the same size and type as src.
+@sa sqrt, exp, log, cartToPolar, polarToCart
+*/
+CV_EXPORTS_W void pow(InputArray src, double power, OutputArray dst);
+
+/** @brief Calculates the exponent of every array element.
+
+The function exp calculates the exponent of every element of the input
+array:
+\f[\texttt{dst} [I] = e^{ src(I) }\f]
+
+The maximum relative error is about 7e-6 for single-precision input and
+less than 1e-10 for double-precision input. Currently, the function
+converts denormalized values to zeros on output. Special values (NaN,
+Inf) are not handled.
+@param src input array.
+@param dst output array of the same size and type as src.
+@sa log , cartToPolar , polarToCart , phase , pow , sqrt , magnitude
+*/
+CV_EXPORTS_W void exp(InputArray src, OutputArray dst);
+
+/** @brief Calculates the natural logarithm of every array element.
+
+The function log calculates the natural logarithm of the absolute value
+of every element of the input array:
+\f[\texttt{dst} (I) =  \fork{\log |\texttt{src}(I)|}{if \(\texttt{src}(I) \ne 0\) }{\texttt{C}}{otherwise}\f]
+
+where C is a large negative number (about -700 in the current
+implementation). The maximum relative error is about 7e-6 for
+single-precision input and less than 1e-10 for double-precision input.
+Special values (NaN, Inf) are not handled.
+@param src input array.
+@param dst output array of the same size and type as src .
+@sa exp, cartToPolar, polarToCart, phase, pow, sqrt, magnitude
+*/
+CV_EXPORTS_W void log(InputArray src, OutputArray dst);
+
+/** @brief Calculates x and y coordinates of 2D vectors from their magnitude and angle.
+
+The function polarToCart calculates the Cartesian coordinates of each 2D
+vector represented by the corresponding elements of magnitude and angle:
+\f[\begin{array}{l} \texttt{x} (I) =  \texttt{magnitude} (I) \cos ( \texttt{angle} (I)) \\ \texttt{y} (I) =  \texttt{magnitude} (I) \sin ( \texttt{angle} (I)) \\ \end{array}\f]
+
+The relative accuracy of the estimated coordinates is about 1e-6.
+@param magnitude input floating-point array of magnitudes of 2D vectors;
+it can be an empty matrix (=Mat()), in this case, the function assumes
+that all the magnitudes are =1; if it is not empty, it must have the
+same size and type as angle.
+@param angle input floating-point array of angles of 2D vectors.
+@param x output array of x-coordinates of 2D vectors; it has the same
+size and type as angle.
+@param y output array of y-coordinates of 2D vectors; it has the same
+size and type as angle.
+@param angleInDegrees when true, the input angles are measured in
+degrees, otherwise, they are measured in radians.
+@sa cartToPolar, magnitude, phase, exp, log, pow, sqrt
+*/
+CV_EXPORTS_W void polarToCart(InputArray magnitude, InputArray angle,
+                              OutputArray x, OutputArray y, bool angleInDegrees = false);
+
+/** @brief Calculates the magnitude and angle of 2D vectors.
+
+The function cartToPolar calculates either the magnitude, angle, or both
+for every 2D vector (x(I),y(I)):
+\f[\begin{array}{l} \texttt{magnitude} (I)= \sqrt{\texttt{x}(I)^2+\texttt{y}(I)^2} , \\ \texttt{angle} (I)= \texttt{atan2} ( \texttt{y} (I), \texttt{x} (I))[ \cdot180 / \pi ] \end{array}\f]
+
+The angles are calculated with accuracy about 0.3 degrees. For the point
+(0,0), the angle is set to 0.
+@param x array of x-coordinates; this must be a single-precision or
+double-precision floating-point array.
+@param y array of y-coordinates, that must have the same size and same type as x.
+@param magnitude output array of magnitudes of the same size and type as x.
+@param angle output array of angles that has the same size and type as
+x; the angles are measured in radians (from 0 to 2\*Pi) or in degrees (0 to 360 degrees).
+@param angleInDegrees a flag, indicating whether the angles are measured
+in radians (which is by default), or in degrees.
+@sa Sobel, Scharr
+*/
+CV_EXPORTS_W void cartToPolar(InputArray x, InputArray y,
+                              OutputArray magnitude, OutputArray angle,
+                              bool angleInDegrees = false);
+
+/** @brief Calculates the rotation angle of 2D vectors.
+
+The function phase calculates the rotation angle of each 2D vector that
+is formed from the corresponding elements of x and y :
+\f[\texttt{angle} (I) =  \texttt{atan2} ( \texttt{y} (I), \texttt{x} (I))\f]
+
+The angle estimation accuracy is about 0.3 degrees. When x(I)=y(I)=0 ,
+the corresponding angle(I) is set to 0.
+@param x input floating-point array of x-coordinates of 2D vectors.
+@param y input array of y-coordinates of 2D vectors; it must have the
+same size and the same type as x.
+@param angle output array of vector angles; it has the same size and
+same type as x .
+@param angleInDegrees when true, the function calculates the angle in
+degrees, otherwise, they are measured in radians.
+*/
+CV_EXPORTS_W void phase(InputArray x, InputArray y, OutputArray angle,
+                        bool angleInDegrees = false);
+
+/** @brief Calculates the magnitude of 2D vectors.
+
+The function magnitude calculates the magnitude of 2D vectors formed
+from the corresponding elements of x and y arrays:
+\f[\texttt{dst} (I) =  \sqrt{\texttt{x}(I)^2 + \texttt{y}(I)^2}\f]
+@param x floating-point array of x-coordinates of the vectors.
+@param y floating-point array of y-coordinates of the vectors; it must
+have the same size as x.
+@param magnitude output array of the same size and type as x.
+@sa cartToPolar, polarToCart, phase, sqrt
+*/
+CV_EXPORTS_W void magnitude(InputArray x, InputArray y, OutputArray magnitude);
+
+/** @brief Checks every element of an input array for invalid values.
+
+The functions checkRange check that every array element is neither NaN nor infinite. When minVal \<
+-DBL_MAX and maxVal \< DBL_MAX, the functions also check that each value is between minVal and
+maxVal. In case of multi-channel arrays, each channel is processed independently. If some values
+are out of range, position of the first outlier is stored in pos (when pos != NULL). Then, the
+functions either return false (when quiet=true) or throw an exception.
+@param a input array.
+@param quiet a flag, indicating whether the functions quietly return false when the array elements
+are out of range or they throw an exception.
+@param pos optional output parameter, when not NULL, must be a pointer to array of src.dims
+elements.
+@param minVal inclusive lower boundary of valid values range.
+@param maxVal exclusive upper boundary of valid values range.
+*/
+CV_EXPORTS_W bool checkRange(InputArray a, bool quiet = true, CV_OUT Point* pos = 0,
+                            double minVal = -DBL_MAX, double maxVal = DBL_MAX);
+
+/** @brief converts NaN's to the given number
+*/
+CV_EXPORTS_W void patchNaNs(InputOutputArray a, double val = 0);
+
+/** @brief Performs generalized matrix multiplication.
+
+The function performs generalized matrix multiplication similar to the
+gemm functions in BLAS level 3. For example,
+`gemm(src1, src2, alpha, src3, beta, dst, GEMM_1_T + GEMM_3_T)`
+corresponds to
+\f[\texttt{dst} =  \texttt{alpha} \cdot \texttt{src1} ^T  \cdot \texttt{src2} +  \texttt{beta} \cdot \texttt{src3} ^T\f]
+
+In case of complex (two-channel) data, performed a complex matrix
+multiplication.
+
+The function can be replaced with a matrix expression. For example, the
+above call can be replaced with:
+@code{.cpp}
+    dst = alpha*src1.t()*src2 + beta*src3.t();
+@endcode
+@param src1 first multiplied input matrix that could be real(CV_32FC1,
+CV_64FC1) or complex(CV_32FC2, CV_64FC2).
+@param src2 second multiplied input matrix of the same type as src1.
+@param alpha weight of the matrix product.
+@param src3 third optional delta matrix added to the matrix product; it
+should have the same type as src1 and src2.
+@param beta weight of src3.
+@param dst output matrix; it has the proper size and the same type as
+input matrices.
+@param flags operation flags (cv::GemmFlags)
+@sa mulTransposed , transform
+*/
+CV_EXPORTS_W void gemm(InputArray src1, InputArray src2, double alpha,
+                       InputArray src3, double beta, OutputArray dst, int flags = 0);
+
+/** @brief Calculates the product of a matrix and its transposition.
+
+The function mulTransposed calculates the product of src and its
+transposition:
+\f[\texttt{dst} = \texttt{scale} ( \texttt{src} - \texttt{delta} )^T ( \texttt{src} - \texttt{delta} )\f]
+if aTa=true , and
+\f[\texttt{dst} = \texttt{scale} ( \texttt{src} - \texttt{delta} ) ( \texttt{src} - \texttt{delta} )^T\f]
+otherwise. The function is used to calculate the covariance matrix. With
+zero delta, it can be used as a faster substitute for general matrix
+product A\*B when B=A'
+@param src input single-channel matrix. Note that unlike gemm, the
+function can multiply not only floating-point matrices.
+@param dst output square matrix.
+@param aTa Flag specifying the multiplication ordering. See the
+description below.
+@param delta Optional delta matrix subtracted from src before the
+multiplication. When the matrix is empty ( delta=noArray() ), it is
+assumed to be zero, that is, nothing is subtracted. If it has the same
+size as src , it is simply subtracted. Otherwise, it is "repeated" (see
+repeat ) to cover the full src and then subtracted. Type of the delta
+matrix, when it is not empty, must be the same as the type of created
+output matrix. See the dtype parameter description below.
+@param scale Optional scale factor for the matrix product.
+@param dtype Optional type of the output matrix. When it is negative,
+the output matrix will have the same type as src . Otherwise, it will be
+type=CV_MAT_DEPTH(dtype) that should be either CV_32F or CV_64F .
+@sa calcCovarMatrix, gemm, repeat, reduce
+*/
+CV_EXPORTS_W void mulTransposed( InputArray src, OutputArray dst, bool aTa,
+                                 InputArray delta = noArray(),
+                                 double scale = 1, int dtype = -1 );
+
+/** @brief Transposes a matrix.
+
+The function transpose transposes the matrix src :
+\f[\texttt{dst} (i,j) =  \texttt{src} (j,i)\f]
+@note No complex conjugation is done in case of a complex matrix. It it
+should be done separately if needed.
+@param src input array.
+@param dst output array of the same type as src.
+*/
+CV_EXPORTS_W void transpose(InputArray src, OutputArray dst);
+
+/** @brief Performs the matrix transformation of every array element.
+
+The function transform performs the matrix transformation of every
+element of the array src and stores the results in dst :
+\f[\texttt{dst} (I) =  \texttt{m} \cdot \texttt{src} (I)\f]
+(when m.cols=src.channels() ), or
+\f[\texttt{dst} (I) =  \texttt{m} \cdot [ \texttt{src} (I); 1]\f]
+(when m.cols=src.channels()+1 )
+
+Every element of the N -channel array src is interpreted as N -element
+vector that is transformed using the M x N or M x (N+1) matrix m to
+M-element vector - the corresponding element of the output array dst .
+
+The function may be used for geometrical transformation of
+N -dimensional points, arbitrary linear color space transformation (such
+as various kinds of RGB to YUV transforms), shuffling the image
+channels, and so forth.
+@param src input array that must have as many channels (1 to 4) as
+m.cols or m.cols-1.
+@param dst output array of the same size and depth as src; it has as
+many channels as m.rows.
+@param m transformation 2x2 or 2x3 floating-point matrix.
+@sa perspectiveTransform, getAffineTransform, estimateRigidTransform, warpAffine, warpPerspective
+*/
+CV_EXPORTS_W void transform(InputArray src, OutputArray dst, InputArray m );
+
+/** @brief Performs the perspective matrix transformation of vectors.
+
+The function perspectiveTransform transforms every element of src by
+treating it as a 2D or 3D vector, in the following way:
+\f[(x, y, z)  \rightarrow (x'/w, y'/w, z'/w)\f]
+where
+\f[(x', y', z', w') =  \texttt{mat} \cdot \begin{bmatrix} x & y & z & 1  \end{bmatrix}\f]
+and
+\f[w =  \fork{w'}{if \(w' \ne 0\)}{\infty}{otherwise}\f]
+
+Here a 3D vector transformation is shown. In case of a 2D vector
+transformation, the z component is omitted.
+
+@note The function transforms a sparse set of 2D or 3D vectors. If you
+want to transform an image using perspective transformation, use
+warpPerspective . If you have an inverse problem, that is, you want to
+compute the most probable perspective transformation out of several
+pairs of corresponding points, you can use getPerspectiveTransform or
+findHomography .
+@param src input two-channel or three-channel floating-point array; each
+element is a 2D/3D vector to be transformed.
+@param dst output array of the same size and type as src.
+@param m 3x3 or 4x4 floating-point transformation matrix.
+@sa  transform, warpPerspective, getPerspectiveTransform, findHomography
+*/
+CV_EXPORTS_W void perspectiveTransform(InputArray src, OutputArray dst, InputArray m );
+
+/** @brief Copies the lower or the upper half of a square matrix to another half.
+
+The function completeSymm copies the lower half of a square matrix to
+its another half. The matrix diagonal remains unchanged:
+*   \f$\texttt{mtx}_{ij}=\texttt{mtx}_{ji}\f$ for \f$i > j\f$ if
+    lowerToUpper=false
+*   \f$\texttt{mtx}_{ij}=\texttt{mtx}_{ji}\f$ for \f$i < j\f$ if
+    lowerToUpper=true
+@param mtx input-output floating-point square matrix.
+@param lowerToUpper operation flag; if true, the lower half is copied to
+the upper half. Otherwise, the upper half is copied to the lower half.
+@sa flip, transpose
+*/
+CV_EXPORTS_W void completeSymm(InputOutputArray mtx, bool lowerToUpper = false);
+
+/** @brief Initializes a scaled identity matrix.
+
+The function setIdentity initializes a scaled identity matrix:
+\f[\texttt{mtx} (i,j)= \fork{\texttt{value}}{ if \(i=j\)}{0}{otherwise}\f]
+
+The function can also be emulated using the matrix initializers and the
+matrix expressions:
+@code
+    Mat A = Mat::eye(4, 3, CV_32F)*5;
+    // A will be set to [[5, 0, 0], [0, 5, 0], [0, 0, 5], [0, 0, 0]]
+@endcode
+@param mtx matrix to initialize (not necessarily square).
+@param s value to assign to diagonal elements.
+@sa Mat::zeros, Mat::ones, Mat::setTo, Mat::operator=
+*/
+CV_EXPORTS_W void setIdentity(InputOutputArray mtx, const Scalar& s = Scalar(1));
+
+/** @brief Returns the determinant of a square floating-point matrix.
+
+The function determinant calculates and returns the determinant of the
+specified matrix. For small matrices ( mtx.cols=mtx.rows\<=3 ), the
+direct method is used. For larger matrices, the function uses LU
+factorization with partial pivoting.
+
+For symmetric positively-determined matrices, it is also possible to use
+eigen decomposition to calculate the determinant.
+@param mtx input matrix that must have CV_32FC1 or CV_64FC1 type and
+square size.
+@sa trace, invert, solve, eigen, @ref MatrixExpressions
+*/
+CV_EXPORTS_W double determinant(InputArray mtx);
+
+/** @brief Returns the trace of a matrix.
+
+The function trace returns the sum of the diagonal elements of the
+matrix mtx .
+\f[\mathrm{tr} ( \texttt{mtx} ) =  \sum _i  \texttt{mtx} (i,i)\f]
+@param mtx input matrix.
+*/
+CV_EXPORTS_W Scalar trace(InputArray mtx);
+
+/** @brief Finds the inverse or pseudo-inverse of a matrix.
+
+The function invert inverts the matrix src and stores the result in dst
+. When the matrix src is singular or non-square, the function calculates
+the pseudo-inverse matrix (the dst matrix) so that norm(src\*dst - I) is
+minimal, where I is an identity matrix.
+
+In case of the DECOMP_LU method, the function returns non-zero value if
+the inverse has been successfully calculated and 0 if src is singular.
+
+In case of the DECOMP_SVD method, the function returns the inverse
+condition number of src (the ratio of the smallest singular value to the
+largest singular value) and 0 if src is singular. The SVD method
+calculates a pseudo-inverse matrix if src is singular.
+
+Similarly to DECOMP_LU, the method DECOMP_CHOLESKY works only with
+non-singular square matrices that should also be symmetrical and
+positively defined. In this case, the function stores the inverted
+matrix in dst and returns non-zero. Otherwise, it returns 0.
+
+@param src input floating-point M x N matrix.
+@param dst output matrix of N x M size and the same type as src.
+@param flags inversion method (cv::DecompTypes)
+@sa solve, SVD
+*/
+CV_EXPORTS_W double invert(InputArray src, OutputArray dst, int flags = DECOMP_LU);
+
+/** @brief Solves one or more linear systems or least-squares problems.
+
+The function solve solves a linear system or least-squares problem (the
+latter is possible with SVD or QR methods, or by specifying the flag
+DECOMP_NORMAL ):
+\f[\texttt{dst} =  \arg \min _X \| \texttt{src1} \cdot \texttt{X} -  \texttt{src2} \|\f]
+
+If DECOMP_LU or DECOMP_CHOLESKY method is used, the function returns 1
+if src1 (or \f$\texttt{src1}^T\texttt{src1}\f$ ) is non-singular. Otherwise,
+it returns 0. In the latter case, dst is not valid. Other methods find a
+pseudo-solution in case of a singular left-hand side part.
+
+@note If you want to find a unity-norm solution of an under-defined
+singular system \f$\texttt{src1}\cdot\texttt{dst}=0\f$ , the function solve
+will not do the work. Use SVD::solveZ instead.
+
+@param src1 input matrix on the left-hand side of the system.
+@param src2 input matrix on the right-hand side of the system.
+@param dst output solution.
+@param flags solution (matrix inversion) method (cv::DecompTypes)
+@sa invert, SVD, eigen
+*/
+CV_EXPORTS_W bool solve(InputArray src1, InputArray src2,
+                        OutputArray dst, int flags = DECOMP_LU);
+
+/** @brief Sorts each row or each column of a matrix.
+
+The function sort sorts each matrix row or each matrix column in
+ascending or descending order. So you should pass two operation flags to
+get desired behaviour. If you want to sort matrix rows or columns
+lexicographically, you can use STL std::sort generic function with the
+proper comparison predicate.
+
+@param src input single-channel array.
+@param dst output array of the same size and type as src.
+@param flags operation flags, a combination of cv::SortFlags
+@sa sortIdx, randShuffle
+*/
+CV_EXPORTS_W void sort(InputArray src, OutputArray dst, int flags);
+
+/** @brief Sorts each row or each column of a matrix.
+
+The function sortIdx sorts each matrix row or each matrix column in the
+ascending or descending order. So you should pass two operation flags to
+get desired behaviour. Instead of reordering the elements themselves, it
+stores the indices of sorted elements in the output array. For example:
+@code
+    Mat A = Mat::eye(3,3,CV_32F), B;
+    sortIdx(A, B, SORT_EVERY_ROW + SORT_ASCENDING);
+    // B will probably contain
+    // (because of equal elements in A some permutations are possible):
+    // [[1, 2, 0], [0, 2, 1], [0, 1, 2]]
+@endcode
+@param src input single-channel array.
+@param dst output integer array of the same size as src.
+@param flags operation flags that could be a combination of cv::SortFlags
+@sa sort, randShuffle
+*/
+CV_EXPORTS_W void sortIdx(InputArray src, OutputArray dst, int flags);
+
+/** @brief Finds the real roots of a cubic equation.
+
+The function solveCubic finds the real roots of a cubic equation:
+-   if coeffs is a 4-element vector:
+\f[\texttt{coeffs} [0] x^3 +  \texttt{coeffs} [1] x^2 +  \texttt{coeffs} [2] x +  \texttt{coeffs} [3] = 0\f]
+-   if coeffs is a 3-element vector:
+\f[x^3 +  \texttt{coeffs} [0] x^2 +  \texttt{coeffs} [1] x +  \texttt{coeffs} [2] = 0\f]
+
+The roots are stored in the roots array.
+@param coeffs equation coefficients, an array of 3 or 4 elements.
+@param roots output array of real roots that has 1 or 3 elements.
+*/
+CV_EXPORTS_W int solveCubic(InputArray coeffs, OutputArray roots);
+
+/** @brief Finds the real or complex roots of a polynomial equation.
+
+The function solvePoly finds real and complex roots of a polynomial equation:
+\f[\texttt{coeffs} [n] x^{n} +  \texttt{coeffs} [n-1] x^{n-1} + ... +  \texttt{coeffs} [1] x +  \texttt{coeffs} [0] = 0\f]
+@param coeffs array of polynomial coefficients.
+@param roots output (complex) array of roots.
+@param maxIters maximum number of iterations the algorithm does.
+*/
+CV_EXPORTS_W double solvePoly(InputArray coeffs, OutputArray roots, int maxIters = 300);
+
+/** @brief Calculates eigenvalues and eigenvectors of a symmetric matrix.
+
+The functions eigen calculate just eigenvalues, or eigenvalues and eigenvectors of the symmetric
+matrix src:
+@code
+    src*eigenvectors.row(i).t() = eigenvalues.at<srcType>(i)*eigenvectors.row(i).t()
+@endcode
+@note in the new and the old interfaces different ordering of eigenvalues and eigenvectors
+parameters is used.
+@param src input matrix that must have CV_32FC1 or CV_64FC1 type, square size and be symmetrical
+(src ^T^ == src).
+@param eigenvalues output vector of eigenvalues of the same type as src; the eigenvalues are stored
+in the descending order.
+@param eigenvectors output matrix of eigenvectors; it has the same size and type as src; the
+eigenvectors are stored as subsequent matrix rows, in the same order as the corresponding
+eigenvalues.
+@sa completeSymm , PCA
+*/
+CV_EXPORTS_W bool eigen(InputArray src, OutputArray eigenvalues,
+                        OutputArray eigenvectors = noArray());
+
+/** @brief Calculates the covariance matrix of a set of vectors.
+
+The functions calcCovarMatrix calculate the covariance matrix and, optionally, the mean vector of
+the set of input vectors.
+@param samples samples stored as separate matrices
+@param nsamples number of samples
+@param covar output covariance matrix of the type ctype and square size.
+@param mean input or output (depending on the flags) array as the average value of the input vectors.
+@param flags operation flags as a combination of cv::CovarFlags
+@param ctype type of the matrixl; it equals 'CV_64F' by default.
+@sa PCA, mulTransposed, Mahalanobis
+@todo InputArrayOfArrays
+*/
+CV_EXPORTS void calcCovarMatrix( const Mat* samples, int nsamples, Mat& covar, Mat& mean,
+                                 int flags, int ctype = CV_64F);
+
+/** @overload
+@note use cv::COVAR_ROWS or cv::COVAR_COLS flag
+@param samples samples stored as rows/columns of a single matrix.
+@param covar output covariance matrix of the type ctype and square size.
+@param mean input or output (depending on the flags) array as the average value of the input vectors.
+@param flags operation flags as a combination of cv::CovarFlags
+@param ctype type of the matrixl; it equals 'CV_64F' by default.
+*/
+CV_EXPORTS_W void calcCovarMatrix( InputArray samples, OutputArray covar,
+                                   InputOutputArray mean, int flags, int ctype = CV_64F);
+
+/** wrap PCA::operator() */
+CV_EXPORTS_W void PCACompute(InputArray data, InputOutputArray mean,
+                             OutputArray eigenvectors, int maxComponents = 0);
+
+/** wrap PCA::operator() */
+CV_EXPORTS_W void PCACompute(InputArray data, InputOutputArray mean,
+                             OutputArray eigenvectors, double retainedVariance);
+
+/** wrap PCA::project */
+CV_EXPORTS_W void PCAProject(InputArray data, InputArray mean,
+                             InputArray eigenvectors, OutputArray result);
+
+/** wrap PCA::backProject */
+CV_EXPORTS_W void PCABackProject(InputArray data, InputArray mean,
+                                 InputArray eigenvectors, OutputArray result);
+
+/** wrap SVD::compute */
+CV_EXPORTS_W void SVDecomp( InputArray src, OutputArray w, OutputArray u, OutputArray vt, int flags = 0 );
+
+/** wrap SVD::backSubst */
+CV_EXPORTS_W void SVBackSubst( InputArray w, InputArray u, InputArray vt,
+                               InputArray rhs, OutputArray dst );
+
+/** @brief Calculates the Mahalanobis distance between two vectors.
+
+The function Mahalanobis calculates and returns the weighted distance between two vectors:
+\f[d( \texttt{vec1} , \texttt{vec2} )= \sqrt{\sum_{i,j}{\texttt{icovar(i,j)}\cdot(\texttt{vec1}(I)-\texttt{vec2}(I))\cdot(\texttt{vec1(j)}-\texttt{vec2(j)})} }\f]
+The covariance matrix may be calculated using the cv::calcCovarMatrix function and then inverted using
+the invert function (preferably using the cv::DECOMP_SVD method, as the most accurate).
+@param v1 first 1D input vector.
+@param v2 second 1D input vector.
+@param icovar inverse covariance matrix.
+*/
+CV_EXPORTS_W double Mahalanobis(InputArray v1, InputArray v2, InputArray icovar);
+
+/** @brief Performs a forward or inverse Discrete Fourier transform of a 1D or 2D floating-point array.
+
+The function performs one of the following:
+-   Forward the Fourier transform of a 1D vector of N elements:
+    \f[Y = F^{(N)}  \cdot X,\f]
+    where \f$F^{(N)}_{jk}=\exp(-2\pi i j k/N)\f$ and \f$i=\sqrt{-1}\f$
+-   Inverse the Fourier transform of a 1D vector of N elements:
+    \f[\begin{array}{l} X'=  \left (F^{(N)} \right )^{-1}  \cdot Y =  \left (F^{(N)} \right )^*  \cdot y  \\ X = (1/N)  \cdot X, \end{array}\f]
+    where \f$F^*=\left(\textrm{Re}(F^{(N)})-\textrm{Im}(F^{(N)})\right)^T\f$
+-   Forward the 2D Fourier transform of a M x N matrix:
+    \f[Y = F^{(M)}  \cdot X  \cdot F^{(N)}\f]
+-   Inverse the 2D Fourier transform of a M x N matrix:
+    \f[\begin{array}{l} X'=  \left (F^{(M)} \right )^*  \cdot Y  \cdot \left (F^{(N)} \right )^* \\ X =  \frac{1}{M \cdot N} \cdot X' \end{array}\f]
+
+In case of real (single-channel) data, the output spectrum of the forward Fourier transform or input
+spectrum of the inverse Fourier transform can be represented in a packed format called *CCS*
+(complex-conjugate-symmetrical). It was borrowed from IPL (Intel\* Image Processing Library). Here
+is how 2D *CCS* spectrum looks:
+\f[\begin{bmatrix} Re Y_{0,0} & Re Y_{0,1} & Im Y_{0,1} & Re Y_{0,2} & Im Y_{0,2} &  \cdots & Re Y_{0,N/2-1} & Im Y_{0,N/2-1} & Re Y_{0,N/2}  \\ Re Y_{1,0} & Re Y_{1,1} & Im Y_{1,1} & Re Y_{1,2} & Im Y_{1,2} &  \cdots & Re Y_{1,N/2-1} & Im Y_{1,N/2-1} & Re Y_{1,N/2}  \\ Im Y_{1,0} & Re Y_{2,1} & Im Y_{2,1} & Re Y_{2,2} & Im Y_{2,2} &  \cdots & Re Y_{2,N/2-1} & Im Y_{2,N/2-1} & Im Y_{1,N/2}  \\ \hdotsfor{9} \\ Re Y_{M/2-1,0} &  Re Y_{M-3,1}  & Im Y_{M-3,1} &  \hdotsfor{3} & Re Y_{M-3,N/2-1} & Im Y_{M-3,N/2-1}& Re Y_{M/2-1,N/2}  \\ Im Y_{M/2-1,0} &  Re Y_{M-2,1}  & Im Y_{M-2,1} &  \hdotsfor{3} & Re Y_{M-2,N/2-1} & Im Y_{M-2,N/2-1}& Im Y_{M/2-1,N/2}  \\ Re Y_{M/2,0}  &  Re Y_{M-1,1} &  Im Y_{M-1,1} &  \hdotsfor{3} & Re Y_{M-1,N/2-1} & Im Y_{M-1,N/2-1}& Re Y_{M/2,N/2} \end{bmatrix}\f]
+
+In case of 1D transform of a real vector, the output looks like the first row of the matrix above.
+
+So, the function chooses an operation mode depending on the flags and size of the input array:
+-   If DFT_ROWS is set or the input array has a single row or single column, the function
+    performs a 1D forward or inverse transform of each row of a matrix when DFT_ROWS is set.
+    Otherwise, it performs a 2D transform.
+-   If the input array is real and DFT_INVERSE is not set, the function performs a forward 1D or
+    2D transform:
+    -   When DFT_COMPLEX_OUTPUT is set, the output is a complex matrix of the same size as
+        input.
+    -   When DFT_COMPLEX_OUTPUT is not set, the output is a real matrix of the same size as
+        input. In case of 2D transform, it uses the packed format as shown above. In case of a
+        single 1D transform, it looks like the first row of the matrix above. In case of
+        multiple 1D transforms (when using the DFT_ROWS flag), each row of the output matrix
+        looks like the first row of the matrix above.
+-   If the input array is complex and either DFT_INVERSE or DFT_REAL_OUTPUT are not set, the
+    output is a complex array of the same size as input. The function performs a forward or
+    inverse 1D or 2D transform of the whole input array or each row of the input array
+    independently, depending on the flags DFT_INVERSE and DFT_ROWS.
+-   When DFT_INVERSE is set and the input array is real, or it is complex but DFT_REAL_OUTPUT
+    is set, the output is a real array of the same size as input. The function performs a 1D or 2D
+    inverse transformation of the whole input array or each individual row, depending on the flags
+    DFT_INVERSE and DFT_ROWS.
+
+If DFT_SCALE is set, the scaling is done after the transformation.
+
+Unlike dct , the function supports arrays of arbitrary size. But only those arrays are processed
+efficiently, whose sizes can be factorized in a product of small prime numbers (2, 3, and 5 in the
+current implementation). Such an efficient DFT size can be calculated using the getOptimalDFTSize
+method.
+
+The sample below illustrates how to calculate a DFT-based convolution of two 2D real arrays:
+@code
+    void convolveDFT(InputArray A, InputArray B, OutputArray C)
+    {
+        // reallocate the output array if needed
+        C.create(abs(A.rows - B.rows)+1, abs(A.cols - B.cols)+1, A.type());
+        Size dftSize;
+        // calculate the size of DFT transform
+        dftSize.width = getOptimalDFTSize(A.cols + B.cols - 1);
+        dftSize.height = getOptimalDFTSize(A.rows + B.rows - 1);
+
+        // allocate temporary buffers and initialize them with 0's
+        Mat tempA(dftSize, A.type(), Scalar::all(0));
+        Mat tempB(dftSize, B.type(), Scalar::all(0));
+
+        // copy A and B to the top-left corners of tempA and tempB, respectively
+        Mat roiA(tempA, Rect(0,0,A.cols,A.rows));
+        A.copyTo(roiA);
+        Mat roiB(tempB, Rect(0,0,B.cols,B.rows));
+        B.copyTo(roiB);
+
+        // now transform the padded A & B in-place;
+        // use "nonzeroRows" hint for faster processing
+        dft(tempA, tempA, 0, A.rows);
+        dft(tempB, tempB, 0, B.rows);
+
+        // multiply the spectrums;
+        // the function handles packed spectrum representations well
+        mulSpectrums(tempA, tempB, tempA);
+
+        // transform the product back from the frequency domain.
+        // Even though all the result rows will be non-zero,
+        // you need only the first C.rows of them, and thus you
+        // pass nonzeroRows == C.rows
+        dft(tempA, tempA, DFT_INVERSE + DFT_SCALE, C.rows);
+
+        // now copy the result back to C.
+        tempA(Rect(0, 0, C.cols, C.rows)).copyTo(C);
+
+        // all the temporary buffers will be deallocated automatically
+    }
+@endcode
+To optimize this sample, consider the following approaches:
+-   Since nonzeroRows != 0 is passed to the forward transform calls and since A and B are copied to
+    the top-left corners of tempA and tempB, respectively, it is not necessary to clear the whole
+    tempA and tempB. It is only necessary to clear the tempA.cols - A.cols ( tempB.cols - B.cols)
+    rightmost columns of the matrices.
+-   This DFT-based convolution does not have to be applied to the whole big arrays, especially if B
+    is significantly smaller than A or vice versa. Instead, you can calculate convolution by parts.
+    To do this, you need to split the output array C into multiple tiles. For each tile, estimate
+    which parts of A and B are required to calculate convolution in this tile. If the tiles in C are
+    too small, the speed will decrease a lot because of repeated work. In the ultimate case, when
+    each tile in C is a single pixel, the algorithm becomes equivalent to the naive convolution
+    algorithm. If the tiles are too big, the temporary arrays tempA and tempB become too big and
+    there is also a slowdown because of bad cache locality. So, there is an optimal tile size
+    somewhere in the middle.
+-   If different tiles in C can be calculated in parallel and, thus, the convolution is done by
+    parts, the loop can be threaded.
+
+All of the above improvements have been implemented in matchTemplate and filter2D . Therefore, by
+using them, you can get the performance even better than with the above theoretically optimal
+implementation. Though, those two functions actually calculate cross-correlation, not convolution,
+so you need to "flip" the second convolution operand B vertically and horizontally using flip .
+@note
+-   An example using the discrete fourier transform can be found at
+    opencv_source_code/samples/cpp/dft.cpp
+-   (Python) An example using the dft functionality to perform Wiener deconvolution can be found
+    at opencv_source/samples/python2/deconvolution.py
+-   (Python) An example rearranging the quadrants of a Fourier image can be found at
+    opencv_source/samples/python2/dft.py
+@param src input array that could be real or complex.
+@param dst output array whose size and type depends on the flags .
+@param flags transformation flags, representing a combination of the cv::DftFlags
+@param nonzeroRows when the parameter is not zero, the function assumes that only the first
+nonzeroRows rows of the input array (DFT_INVERSE is not set) or only the first nonzeroRows of the
+output array (DFT_INVERSE is set) contain non-zeros, thus, the function can handle the rest of the
+rows more efficiently and save some time; this technique is very useful for calculating array
+cross-correlation or convolution using DFT.
+@sa dct , getOptimalDFTSize , mulSpectrums, filter2D , matchTemplate , flip , cartToPolar ,
+magnitude , phase
+*/
+CV_EXPORTS_W void dft(InputArray src, OutputArray dst, int flags = 0, int nonzeroRows = 0);
+
+/** @brief Calculates the inverse Discrete Fourier Transform of a 1D or 2D array.
+
+idft(src, dst, flags) is equivalent to dft(src, dst, flags | DFT_INVERSE) .
+@note None of dft and idft scales the result by default. So, you should pass DFT_SCALE to one of
+dft or idft explicitly to make these transforms mutually inverse.
+@sa dft, dct, idct, mulSpectrums, getOptimalDFTSize
+@param src input floating-point real or complex array.
+@param dst output array whose size and type depend on the flags.
+@param flags operation flags (see dft and cv::DftFlags).
+@param nonzeroRows number of dst rows to process; the rest of the rows have undefined content (see
+the convolution sample in dft description.
+*/
+CV_EXPORTS_W void idft(InputArray src, OutputArray dst, int flags = 0, int nonzeroRows = 0);
+
+/** @brief Performs a forward or inverse discrete Cosine transform of 1D or 2D array.
+
+The function dct performs a forward or inverse discrete Cosine transform (DCT) of a 1D or 2D
+floating-point array:
+-   Forward Cosine transform of a 1D vector of N elements:
+    \f[Y = C^{(N)}  \cdot X\f]
+    where
+    \f[C^{(N)}_{jk}= \sqrt{\alpha_j/N} \cos \left ( \frac{\pi(2k+1)j}{2N} \right )\f]
+    and
+    \f$\alpha_0=1\f$, \f$\alpha_j=2\f$ for *j \> 0*.
+-   Inverse Cosine transform of a 1D vector of N elements:
+    \f[X =  \left (C^{(N)} \right )^{-1}  \cdot Y =  \left (C^{(N)} \right )^T  \cdot Y\f]
+    (since \f$C^{(N)}\f$ is an orthogonal matrix, \f$C^{(N)} \cdot \left(C^{(N)}\right)^T = I\f$ )
+-   Forward 2D Cosine transform of M x N matrix:
+    \f[Y = C^{(N)}  \cdot X  \cdot \left (C^{(N)} \right )^T\f]
+-   Inverse 2D Cosine transform of M x N matrix:
+    \f[X =  \left (C^{(N)} \right )^T  \cdot X  \cdot C^{(N)}\f]
+
+The function chooses the mode of operation by looking at the flags and size of the input array:
+-   If (flags & DCT_INVERSE) == 0 , the function does a forward 1D or 2D transform. Otherwise, it
+    is an inverse 1D or 2D transform.
+-   If (flags & DCT_ROWS) != 0 , the function performs a 1D transform of each row.
+-   If the array is a single column or a single row, the function performs a 1D transform.
+-   If none of the above is true, the function performs a 2D transform.
+
+@note Currently dct supports even-size arrays (2, 4, 6 ...). For data analysis and approximation, you
+can pad the array when necessary.
+Also, the function performance depends very much, and not monotonically, on the array size (see
+getOptimalDFTSize ). In the current implementation DCT of a vector of size N is calculated via DFT
+of a vector of size N/2 . Thus, the optimal DCT size N1 \>= N can be calculated as:
+@code
+    size_t getOptimalDCTSize(size_t N) { return 2*getOptimalDFTSize((N+1)/2); }
+    N1 = getOptimalDCTSize(N);
+@endcode
+@param src input floating-point array.
+@param dst output array of the same size and type as src .
+@param flags transformation flags as a combination of cv::DftFlags (DCT_*)
+@sa dft , getOptimalDFTSize , idct
+*/
+CV_EXPORTS_W void dct(InputArray src, OutputArray dst, int flags = 0);
+
+/** @brief Calculates the inverse Discrete Cosine Transform of a 1D or 2D array.
+
+idct(src, dst, flags) is equivalent to dct(src, dst, flags | DCT_INVERSE).
+@param src input floating-point single-channel array.
+@param dst output array of the same size and type as src.
+@param flags operation flags.
+@sa  dct, dft, idft, getOptimalDFTSize
+*/
+CV_EXPORTS_W void idct(InputArray src, OutputArray dst, int flags = 0);
+
+/** @brief Performs the per-element multiplication of two Fourier spectrums.
+
+The function mulSpectrums performs the per-element multiplication of the two CCS-packed or complex
+matrices that are results of a real or complex Fourier transform.
+
+The function, together with dft and idft , may be used to calculate convolution (pass conjB=false )
+or correlation (pass conjB=true ) of two arrays rapidly. When the arrays are complex, they are
+simply multiplied (per element) with an optional conjugation of the second-array elements. When the
+arrays are real, they are assumed to be CCS-packed (see dft for details).
+@param a first input array.
+@param b second input array of the same size and type as src1 .
+@param c output array of the same size and type as src1 .
+@param flags operation flags; currently, the only supported flag is cv::DFT_ROWS, which indicates that
+each row of src1 and src2 is an independent 1D Fourier spectrum. If you do not want to use this flag, then simply add a `0` as value.
+@param conjB optional flag that conjugates the second input array before the multiplication (true)
+or not (false).
+*/
+CV_EXPORTS_W void mulSpectrums(InputArray a, InputArray b, OutputArray c,
+                               int flags, bool conjB = false);
+
+/** @brief Returns the optimal DFT size for a given vector size.
+
+DFT performance is not a monotonic function of a vector size. Therefore, when you calculate
+convolution of two arrays or perform the spectral analysis of an array, it usually makes sense to
+pad the input data with zeros to get a bit larger array that can be transformed much faster than the
+original one. Arrays whose size is a power-of-two (2, 4, 8, 16, 32, ...) are the fastest to process.
+Though, the arrays whose size is a product of 2's, 3's, and 5's (for example, 300 = 5\*5\*3\*2\*2)
+are also processed quite efficiently.
+
+The function getOptimalDFTSize returns the minimum number N that is greater than or equal to vecsize
+so that the DFT of a vector of size N can be processed efficiently. In the current implementation N
+= 2 ^p^ \* 3 ^q^ \* 5 ^r^ for some integer p, q, r.
+
+The function returns a negative number if vecsize is too large (very close to INT_MAX ).
+
+While the function cannot be used directly to estimate the optimal vector size for DCT transform
+(since the current DCT implementation supports only even-size vectors), it can be easily processed
+as getOptimalDFTSize((vecsize+1)/2)\*2.
+@param vecsize vector size.
+@sa dft , dct , idft , idct , mulSpectrums
+*/
+CV_EXPORTS_W int getOptimalDFTSize(int vecsize);
+
+/** @brief Returns the default random number generator.
+
+The function theRNG returns the default random number generator. For each thread, there is a
+separate random number generator, so you can use the function safely in multi-thread environments.
+If you just need to get a single random number using this generator or initialize an array, you can
+use randu or randn instead. But if you are going to generate many random numbers inside a loop, it
+is much faster to use this function to retrieve the generator and then use RNG::operator _Tp() .
+@sa RNG, randu, randn
+*/
+CV_EXPORTS RNG& theRNG();
+
+/** @brief Generates a single uniformly-distributed random number or an array of random numbers.
+
+Non-template variant of the function fills the matrix dst with uniformly-distributed
+random numbers from the specified range:
+\f[\texttt{low} _c  \leq \texttt{dst} (I)_c <  \texttt{high} _c\f]
+@param dst output array of random numbers; the array must be pre-allocated.
+@param low inclusive lower boundary of the generated random numbers.
+@param high exclusive upper boundary of the generated random numbers.
+@sa RNG, randn, theRNG
+*/
+CV_EXPORTS_W void randu(InputOutputArray dst, InputArray low, InputArray high);
+
+/** @brief Fills the array with normally distributed random numbers.
+
+The function randn fills the matrix dst with normally distributed random numbers with the specified
+mean vector and the standard deviation matrix. The generated random numbers are clipped to fit the
+value range of the output array data type.
+@param dst output array of random numbers; the array must be pre-allocated and have 1 to 4 channels.
+@param mean mean value (expectation) of the generated random numbers.
+@param stddev standard deviation of the generated random numbers; it can be either a vector (in
+which case a diagonal standard deviation matrix is assumed) or a square matrix.
+@sa RNG, randu
+*/
+CV_EXPORTS_W void randn(InputOutputArray dst, InputArray mean, InputArray stddev);
+
+/** @brief Shuffles the array elements randomly.
+
+The function randShuffle shuffles the specified 1D array by randomly choosing pairs of elements and
+swapping them. The number of such swap operations will be dst.rows\*dst.cols\*iterFactor .
+@param dst input/output numerical 1D array.
+@param iterFactor scale factor that determines the number of random swap operations (see the details
+below).
+@param rng optional random number generator used for shuffling; if it is zero, theRNG () is used
+instead.
+@sa RNG, sort
+*/
+CV_EXPORTS_W void randShuffle(InputOutputArray dst, double iterFactor = 1., RNG* rng = 0);
+
+/** @brief Principal Component Analysis
+
+The class is used to calculate a special basis for a set of vectors. The
+basis will consist of eigenvectors of the covariance matrix calculated
+from the input set of vectors. The class %PCA can also transform
+vectors to/from the new coordinate space defined by the basis. Usually,
+in this new coordinate system, each vector from the original set (and
+any linear combination of such vectors) can be quite accurately
+approximated by taking its first few components, corresponding to the
+eigenvectors of the largest eigenvalues of the covariance matrix.
+Geometrically it means that you calculate a projection of the vector to
+a subspace formed by a few eigenvectors corresponding to the dominant
+eigenvalues of the covariance matrix. And usually such a projection is
+very close to the original vector. So, you can represent the original
+vector from a high-dimensional space with a much shorter vector
+consisting of the projected vector's coordinates in the subspace. Such a
+transformation is also known as Karhunen-Loeve Transform, or KLT.
+See http://en.wikipedia.org/wiki/Principal_component_analysis
+
+The sample below is the function that takes two matrices. The first
+function stores a set of vectors (a row per vector) that is used to
+calculate PCA. The second function stores another "test" set of vectors
+(a row per vector). First, these vectors are compressed with PCA, then
+reconstructed back, and then the reconstruction error norm is computed
+and printed for each vector. :
+
+@code{.cpp}
+using namespace cv;
+
+PCA compressPCA(const Mat& pcaset, int maxComponents,
+                const Mat& testset, Mat& compressed)
+{
+    PCA pca(pcaset, // pass the data
+            Mat(), // we do not have a pre-computed mean vector,
+                   // so let the PCA engine to compute it
+            PCA::DATA_AS_ROW, // indicate that the vectors
+                                // are stored as matrix rows
+                                // (use PCA::DATA_AS_COL if the vectors are
+                                // the matrix columns)
+            maxComponents // specify, how many principal components to retain
+            );
+    // if there is no test data, just return the computed basis, ready-to-use
+    if( !testset.data )
+        return pca;
+    CV_Assert( testset.cols == pcaset.cols );
+
+    compressed.create(testset.rows, maxComponents, testset.type());
+
+    Mat reconstructed;
+    for( int i = 0; i < testset.rows; i++ )
+    {
+        Mat vec = testset.row(i), coeffs = compressed.row(i), reconstructed;
+        // compress the vector, the result will be stored
+        // in the i-th row of the output matrix
+        pca.project(vec, coeffs);
+        // and then reconstruct it
+        pca.backProject(coeffs, reconstructed);
+        // and measure the error
+        printf("%d. diff = %g\n", i, norm(vec, reconstructed, NORM_L2));
+    }
+    return pca;
+}
+@endcode
+@sa calcCovarMatrix, mulTransposed, SVD, dft, dct
+*/
+class CV_EXPORTS PCA
+{
+public:
+    enum Flags { DATA_AS_ROW = 0, //!< indicates that the input samples are stored as matrix rows
+                 DATA_AS_COL = 1, //!< indicates that the input samples are stored as matrix columns
+                 USE_AVG     = 2  //!
+               };
+
+    /** @brief default constructor
+
+    The default constructor initializes an empty %PCA structure. The other
+    constructors initialize the structure and call PCA::operator()().
+    */
+    PCA();
+
+    /** @overload
+    @param data input samples stored as matrix rows or matrix columns.
+    @param mean optional mean value; if the matrix is empty (@c noArray()),
+    the mean is computed from the data.
+    @param flags operation flags; currently the parameter is only used to
+    specify the data layout (PCA::Flags)
+    @param maxComponents maximum number of components that %PCA should
+    retain; by default, all the components are retained.
+    */
+    PCA(InputArray data, InputArray mean, int flags, int maxComponents = 0);
+
+    /** @overload
+    @param data input samples stored as matrix rows or matrix columns.
+    @param mean optional mean value; if the matrix is empty (noArray()),
+    the mean is computed from the data.
+    @param flags operation flags; currently the parameter is only used to
+    specify the data layout (PCA::Flags)
+    @param retainedVariance Percentage of variance that PCA should retain.
+    Using this parameter will let the PCA decided how many components to
+    retain but it will always keep at least 2.
+    */
+    PCA(InputArray data, InputArray mean, int flags, double retainedVariance);
+
+    /** @brief performs %PCA
+
+    The operator performs %PCA of the supplied dataset. It is safe to reuse
+    the same PCA structure for multiple datasets. That is, if the structure
+    has been previously used with another dataset, the existing internal
+    data is reclaimed and the new eigenvalues, @ref eigenvectors , and @ref
+    mean are allocated and computed.
+
+    The computed eigenvalues are sorted from the largest to the smallest and
+    the corresponding eigenvectors are stored as eigenvectors rows.
+
+    @param data input samples stored as the matrix rows or as the matrix
+    columns.
+    @param mean optional mean value; if the matrix is empty (noArray()),
+    the mean is computed from the data.
+    @param flags operation flags; currently the parameter is only used to
+    specify the data layout. (Flags)
+    @param maxComponents maximum number of components that PCA should
+    retain; by default, all the components are retained.
+    */
+    PCA& operator()(InputArray data, InputArray mean, int flags, int maxComponents = 0);
+
+    /** @overload
+    @param data input samples stored as the matrix rows or as the matrix
+    columns.
+    @param mean optional mean value; if the matrix is empty (noArray()),
+    the mean is computed from the data.
+    @param flags operation flags; currently the parameter is only used to
+    specify the data layout. (PCA::Flags)
+    @param retainedVariance Percentage of variance that %PCA should retain.
+    Using this parameter will let the %PCA decided how many components to
+    retain but it will always keep at least 2.
+     */
+    PCA& operator()(InputArray data, InputArray mean, int flags, double retainedVariance);
+
+    /** @brief Projects vector(s) to the principal component subspace.
+
+    The methods project one or more vectors to the principal component
+    subspace, where each vector projection is represented by coefficients in
+    the principal component basis. The first form of the method returns the
+    matrix that the second form writes to the result. So the first form can
+    be used as a part of expression while the second form can be more
+    efficient in a processing loop.
+    @param vec input vector(s); must have the same dimensionality and the
+    same layout as the input data used at %PCA phase, that is, if
+    DATA_AS_ROW are specified, then `vec.cols==data.cols`
+    (vector dimensionality) and `vec.rows` is the number of vectors to
+    project, and the same is true for the PCA::DATA_AS_COL case.
+    */
+    Mat project(InputArray vec) const;
+
+    /** @overload
+    @param vec input vector(s); must have the same dimensionality and the
+    same layout as the input data used at PCA phase, that is, if
+    DATA_AS_ROW are specified, then `vec.cols==data.cols`
+    (vector dimensionality) and `vec.rows` is the number of vectors to
+    project, and the same is true for the PCA::DATA_AS_COL case.
+    @param result output vectors; in case of PCA::DATA_AS_COL, the
+    output matrix has as many columns as the number of input vectors, this
+    means that `result.cols==vec.cols` and the number of rows match the
+    number of principal components (for example, `maxComponents` parameter
+    passed to the constructor).
+     */
+    void project(InputArray vec, OutputArray result) const;
+
+    /** @brief Reconstructs vectors from their PC projections.
+
+    The methods are inverse operations to PCA::project. They take PC
+    coordinates of projected vectors and reconstruct the original vectors.
+    Unless all the principal components have been retained, the
+    reconstructed vectors are different from the originals. But typically,
+    the difference is small if the number of components is large enough (but
+    still much smaller than the original vector dimensionality). As a
+    result, PCA is used.
+    @param vec coordinates of the vectors in the principal component
+    subspace, the layout and size are the same as of PCA::project output
+    vectors.
+     */
+    Mat backProject(InputArray vec) const;
+
+    /** @overload
+    @param vec coordinates of the vectors in the principal component
+    subspace, the layout and size are the same as of PCA::project output
+    vectors.
+    @param result reconstructed vectors; the layout and size are the same as
+    of PCA::project input vectors.
+     */
+    void backProject(InputArray vec, OutputArray result) const;
+
+    /** @brief write and load PCA matrix
+
+*/
+    void write(FileStorage& fs ) const;
+    void read(const FileNode& fs);
+
+    Mat eigenvectors; //!< eigenvectors of the covariation matrix
+    Mat eigenvalues; //!< eigenvalues of the covariation matrix
+    Mat mean; //!< mean value subtracted before the projection and added after the back projection
+};
+
+/** @example pca.cpp
+  An example using %PCA for dimensionality reduction while maintaining an amount of variance
+ */
+
+/**
+   @brief Linear Discriminant Analysis
+   @todo document this class
+ */
+class CV_EXPORTS LDA
+{
+public:
+    /** @brief constructor
+    Initializes a LDA with num_components (default 0) and specifies how
+    samples are aligned (default dataAsRow=true).
+    */
+    explicit LDA(int num_components = 0);
+
+    /** Initializes and performs a Discriminant Analysis with Fisher's
+     Optimization Criterion on given data in src and corresponding labels
+     in labels. If 0 (or less) number of components are given, they are
+     automatically determined for given data in computation.
+    */
+    LDA(InputArrayOfArrays src, InputArray labels, int num_components = 0);
+
+    /** Serializes this object to a given filename.
+      */
+    void save(const String& filename) const;
+
+    /** Deserializes this object from a given filename.
+      */
+    void load(const String& filename);
+
+    /** Serializes this object to a given cv::FileStorage.
+      */
+    void save(FileStorage& fs) const;
+
+    /** Deserializes this object from a given cv::FileStorage.
+      */
+    void load(const FileStorage& node);
+
+    /** destructor
+      */
+    ~LDA();
+
+    /** Compute the discriminants for data in src and labels.
+      */
+    void compute(InputArrayOfArrays src, InputArray labels);
+
+    /** Projects samples into the LDA subspace.
+      */
+    Mat project(InputArray src);
+
+    /** Reconstructs projections from the LDA subspace.
+      */
+    Mat reconstruct(InputArray src);
+
+    /** Returns the eigenvectors of this LDA.
+      */
+    Mat eigenvectors() const { return _eigenvectors; }
+
+    /** Returns the eigenvalues of this LDA.
+      */
+    Mat eigenvalues() const { return _eigenvalues; }
+
+    static Mat subspaceProject(InputArray W, InputArray mean, InputArray src);
+    static Mat subspaceReconstruct(InputArray W, InputArray mean, InputArray src);
+
+protected:
+    bool _dataAsRow;
+    int _num_components;
+    Mat _eigenvectors;
+    Mat _eigenvalues;
+
+    void lda(InputArrayOfArrays src, InputArray labels);
+};
+
+/** @brief Singular Value Decomposition
+
+Class for computing Singular Value Decomposition of a floating-point
+matrix. The Singular Value Decomposition is used to solve least-square
+problems, under-determined linear systems, invert matrices, compute
+condition numbers, and so on.
+
+If you want to compute a condition number of a matrix or an absolute value of
+its determinant, you do not need `u` and `vt`. You can pass
+flags=SVD::NO_UV|... . Another flag SVD::FULL_UV indicates that full-size u
+and vt must be computed, which is not necessary most of the time.
+
+@sa invert, solve, eigen, determinant
+*/
+class CV_EXPORTS SVD
+{
+public:
+    enum Flags {
+        /** allow the algorithm to modify the decomposed matrix; it can save space and speed up
+            processing. currently ignored. */
+        MODIFY_A = 1,
+        /** indicates that only a vector of singular values `w` is to be processed, while u and vt
+            will be set to empty matrices */
+        NO_UV    = 2,
+        /** when the matrix is not square, by default the algorithm produces u and vt matrices of
+            sufficiently large size for the further A reconstruction; if, however, FULL_UV flag is
+            specified, u and vt will be full-size square orthogonal matrices.*/
+        FULL_UV  = 4
+    };
+
+    /** @brief the default constructor
+
+    initializes an empty SVD structure
+      */
+    SVD();
+
+    /** @overload
+    initializes an empty SVD structure and then calls SVD::operator()
+    @param src decomposed matrix.
+    @param flags operation flags (SVD::Flags)
+      */
+    SVD( InputArray src, int flags = 0 );
+
+    /** @brief the operator that performs SVD. The previously allocated u, w and vt are released.
+
+    The operator performs the singular value decomposition of the supplied
+    matrix. The u,`vt` , and the vector of singular values w are stored in
+    the structure. The same SVD structure can be reused many times with
+    different matrices. Each time, if needed, the previous u,`vt` , and w
+    are reclaimed and the new matrices are created, which is all handled by
+    Mat::create.
+    @param src decomposed matrix.
+    @param flags operation flags (SVD::Flags)
+      */
+    SVD& operator ()( InputArray src, int flags = 0 );
+
+    /** @brief decomposes matrix and stores the results to user-provided matrices
+
+    The methods/functions perform SVD of matrix. Unlike SVD::SVD constructor
+    and SVD::operator(), they store the results to the user-provided
+    matrices:
+
+    @code{.cpp}
+    Mat A, w, u, vt;
+    SVD::compute(A, w, u, vt);
+    @endcode
+
+    @param src decomposed matrix
+    @param w calculated singular values
+    @param u calculated left singular vectors
+    @param vt transposed matrix of right singular values
+    @param flags operation flags - see SVD::SVD.
+      */
+    static void compute( InputArray src, OutputArray w,
+                         OutputArray u, OutputArray vt, int flags = 0 );
+
+    /** @overload
+    computes singular values of a matrix
+    @param src decomposed matrix
+    @param w calculated singular values
+    @param flags operation flags - see SVD::Flags.
+      */
+    static void compute( InputArray src, OutputArray w, int flags = 0 );
+
+    /** @brief performs back substitution
+      */
+    static void backSubst( InputArray w, InputArray u,
+                           InputArray vt, InputArray rhs,
+                           OutputArray dst );
+
+    /** @brief solves an under-determined singular linear system
+
+    The method finds a unit-length solution x of a singular linear system
+    A\*x = 0. Depending on the rank of A, there can be no solutions, a
+    single solution or an infinite number of solutions. In general, the
+    algorithm solves the following problem:
+    \f[dst =  \arg \min _{x:  \| x \| =1}  \| src  \cdot x  \|\f]
+    @param src left-hand-side matrix.
+    @param dst found solution.
+      */
+    static void solveZ( InputArray src, OutputArray dst );
+
+    /** @brief performs a singular value back substitution.
+
+    The method calculates a back substitution for the specified right-hand
+    side:
+
+    \f[\texttt{x} =  \texttt{vt} ^T  \cdot diag( \texttt{w} )^{-1}  \cdot \texttt{u} ^T  \cdot \texttt{rhs} \sim \texttt{A} ^{-1}  \cdot \texttt{rhs}\f]
+
+    Using this technique you can either get a very accurate solution of the
+    convenient linear system, or the best (in the least-squares terms)
+    pseudo-solution of an overdetermined linear system.
+
+    @param rhs right-hand side of a linear system (u\*w\*v')\*dst = rhs to
+    be solved, where A has been previously decomposed.
+
+    @param dst found solution of the system.
+
+    @note Explicit SVD with the further back substitution only makes sense
+    if you need to solve many linear systems with the same left-hand side
+    (for example, src ). If all you need is to solve a single system
+    (possibly with multiple rhs immediately available), simply call solve
+    add pass DECOMP_SVD there. It does absolutely the same thing.
+      */
+    void backSubst( InputArray rhs, OutputArray dst ) const;
+
+    /** @todo document */
+    template<typename _Tp, int m, int n, int nm> static
+    void compute( const Matx<_Tp, m, n>& a, Matx<_Tp, nm, 1>& w, Matx<_Tp, m, nm>& u, Matx<_Tp, n, nm>& vt );
+
+    /** @todo document */
+    template<typename _Tp, int m, int n, int nm> static
+    void compute( const Matx<_Tp, m, n>& a, Matx<_Tp, nm, 1>& w );
+
+    /** @todo document */
+    template<typename _Tp, int m, int n, int nm, int nb> static
+    void backSubst( const Matx<_Tp, nm, 1>& w, const Matx<_Tp, m, nm>& u, const Matx<_Tp, n, nm>& vt, const Matx<_Tp, m, nb>& rhs, Matx<_Tp, n, nb>& dst );
+
+    Mat u, w, vt;
+};
+
+/** @brief Random Number Generator
+
+Random number generator. It encapsulates the state (currently, a 64-bit
+integer) and has methods to return scalar random values and to fill
+arrays with random values. Currently it supports uniform and Gaussian
+(normal) distributions. The generator uses Multiply-With-Carry
+algorithm, introduced by G. Marsaglia (
+<http://en.wikipedia.org/wiki/Multiply-with-carry> ).
+Gaussian-distribution random numbers are generated using the Ziggurat
+algorithm ( <http://en.wikipedia.org/wiki/Ziggurat_algorithm> ),
+introduced by G. Marsaglia and W. W. Tsang.
+*/
+class CV_EXPORTS RNG
+{
+public:
+    enum { UNIFORM = 0,
+           NORMAL  = 1
+         };
+
+    /** @brief constructor
+
+    These are the RNG constructors. The first form sets the state to some
+    pre-defined value, equal to 2\*\*32-1 in the current implementation. The
+    second form sets the state to the specified value. If you passed state=0
+    , the constructor uses the above default value instead to avoid the
+    singular random number sequence, consisting of all zeros.
+    */
+    RNG();
+    /** @overload
+    @param state 64-bit value used to initialize the RNG.
+    */
+    RNG(uint64 state);
+    /**The method updates the state using the MWC algorithm and returns the
+    next 32-bit random number.*/
+    unsigned next();
+
+    /**Each of the methods updates the state using the MWC algorithm and
+    returns the next random number of the specified type. In case of integer
+    types, the returned number is from the available value range for the
+    specified type. In case of floating-point types, the returned value is
+    from [0,1) range.
+    */
+    operator uchar();
+    /** @overload */
+    operator schar();
+    /** @overload */
+    operator ushort();
+    /** @overload */
+    operator short();
+    /** @overload */
+    operator unsigned();
+    /** @overload */
+    operator int();
+    /** @overload */
+    operator float();
+    /** @overload */
+    operator double();
+
+    /** @brief returns a random integer sampled uniformly from [0, N).
+
+    The methods transform the state using the MWC algorithm and return the
+    next random number. The first form is equivalent to RNG::next . The
+    second form returns the random number modulo N , which means that the
+    result is in the range [0, N) .
+    */
+    unsigned operator ()();
+    /** @overload
+    @param N upper non-inclusive boundary of the returned random number.
+    */
+    unsigned operator ()(unsigned N);
+
+    /** @brief returns uniformly distributed integer random number from [a,b) range
+
+    The methods transform the state using the MWC algorithm and return the
+    next uniformly-distributed random number of the specified type, deduced
+    from the input parameter type, from the range [a, b) . There is a nuance
+    illustrated by the following sample:
+
+    @code{.cpp}
+    RNG rng;
+
+    // always produces 0
+    double a = rng.uniform(0, 1);
+
+    // produces double from [0, 1)
+    double a1 = rng.uniform((double)0, (double)1);
+
+    // produces float from [0, 1)
+    double b = rng.uniform(0.f, 1.f);
+
+    // produces double from [0, 1)
+    double c = rng.uniform(0., 1.);
+
+    // may cause compiler error because of ambiguity:
+    //  RNG::uniform(0, (int)0.999999)? or RNG::uniform((double)0, 0.99999)?
+    double d = rng.uniform(0, 0.999999);
+    @endcode
+
+    The compiler does not take into account the type of the variable to
+    which you assign the result of RNG::uniform . The only thing that
+    matters to the compiler is the type of a and b parameters. So, if you
+    want a floating-point random number, but the range boundaries are
+    integer numbers, either put dots in the end, if they are constants, or
+    use explicit type cast operators, as in the a1 initialization above.
+    @param a lower inclusive boundary of the returned random numbers.
+    @param b upper non-inclusive boundary of the returned random numbers.
+      */
+    int uniform(int a, int b);
+    /** @overload */
+    float uniform(float a, float b);
+    /** @overload */
+    double uniform(double a, double b);
+
+    /** @brief Fills arrays with random numbers.
+
+    @param mat 2D or N-dimensional matrix; currently matrices with more than
+    4 channels are not supported by the methods, use Mat::reshape as a
+    possible workaround.
+    @param distType distribution type, RNG::UNIFORM or RNG::NORMAL.
+    @param a first distribution parameter; in case of the uniform
+    distribution, this is an inclusive lower boundary, in case of the normal
+    distribution, this is a mean value.
+    @param b second distribution parameter; in case of the uniform
+    distribution, this is a non-inclusive upper boundary, in case of the
+    normal distribution, this is a standard deviation (diagonal of the
+    standard deviation matrix or the full standard deviation matrix).
+    @param saturateRange pre-saturation flag; for uniform distribution only;
+    if true, the method will first convert a and b to the acceptable value
+    range (according to the mat datatype) and then will generate uniformly
+    distributed random numbers within the range [saturate(a), saturate(b)),
+    if saturateRange=false, the method will generate uniformly distributed
+    random numbers in the original range [a, b) and then will saturate them,
+    it means, for example, that
+    <tt>theRNG().fill(mat_8u, RNG::UNIFORM, -DBL_MAX, DBL_MAX)</tt> will likely
+    produce array mostly filled with 0's and 255's, since the range (0, 255)
+    is significantly smaller than [-DBL_MAX, DBL_MAX).
+
+    Each of the methods fills the matrix with the random values from the
+    specified distribution. As the new numbers are generated, the RNG state
+    is updated accordingly. In case of multiple-channel images, every
+    channel is filled independently, which means that RNG cannot generate
+    samples from the multi-dimensional Gaussian distribution with
+    non-diagonal covariance matrix directly. To do that, the method
+    generates samples from multi-dimensional standard Gaussian distribution
+    with zero mean and identity covariation matrix, and then transforms them
+    using transform to get samples from the specified Gaussian distribution.
+    */
+    void fill( InputOutputArray mat, int distType, InputArray a, InputArray b, bool saturateRange = false );
+
+    /** @brief Returns the next random number sampled from the Gaussian distribution
+    @param sigma standard deviation of the distribution.
+
+    The method transforms the state using the MWC algorithm and returns the
+    next random number from the Gaussian distribution N(0,sigma) . That is,
+    the mean value of the returned random numbers is zero and the standard
+    deviation is the specified sigma .
+    */
+    double gaussian(double sigma);
+
+    uint64 state;
+};
+
+/** @brief Mersenne Twister random number generator
+
+Inspired by http://www.math.sci.hiroshima-u.ac.jp/~m-mat/MT/MT2002/CODES/mt19937ar.c
+@todo document
+ */
+class CV_EXPORTS RNG_MT19937
+{
+public:
+    RNG_MT19937();
+    RNG_MT19937(unsigned s);
+    void seed(unsigned s);
+
+    unsigned next();
+
+    operator int();
+    operator unsigned();
+    operator float();
+    operator double();
+
+    unsigned operator ()(unsigned N);
+    unsigned operator ()();
+
+    /** @brief returns uniformly distributed integer random number from [a,b) range
+
+*/
+    int uniform(int a, int b);
+    /** @brief returns uniformly distributed floating-point random number from [a,b) range
+
+*/
+    float uniform(float a, float b);
+    /** @brief returns uniformly distributed double-precision floating-point random number from [a,b) range
+
+*/
+    double uniform(double a, double b);
+
+private:
+    enum PeriodParameters {N = 624, M = 397};
+    unsigned state[N];
+    int mti;
+};
+
+//! @} core_array
+
+//! @addtogroup core_cluster
+//!  @{
+
+/** @example kmeans.cpp
+  An example on K-means clustering
+*/
+
+/** @brief Finds centers of clusters and groups input samples around the clusters.
+
+The function kmeans implements a k-means algorithm that finds the centers of cluster_count clusters
+and groups the input samples around the clusters. As an output, \f$\texttt{labels}_i\f$ contains a
+0-based cluster index for the sample stored in the \f$i^{th}\f$ row of the samples matrix.
+
+@note
+-   (Python) An example on K-means clustering can be found at
+    opencv_source_code/samples/python2/kmeans.py
+@param data Data for clustering. An array of N-Dimensional points with float coordinates is needed.
+Examples of this array can be:
+-   Mat points(count, 2, CV_32F);
+-   Mat points(count, 1, CV_32FC2);
+-   Mat points(1, count, CV_32FC2);
+-   std::vector\<cv::Point2f\> points(sampleCount);
+@param K Number of clusters to split the set by.
+@param bestLabels Input/output integer array that stores the cluster indices for every sample.
+@param criteria The algorithm termination criteria, that is, the maximum number of iterations and/or
+the desired accuracy. The accuracy is specified as criteria.epsilon. As soon as each of the cluster
+centers moves by less than criteria.epsilon on some iteration, the algorithm stops.
+@param attempts Flag to specify the number of times the algorithm is executed using different
+initial labellings. The algorithm returns the labels that yield the best compactness (see the last
+function parameter).
+@param flags Flag that can take values of cv::KmeansFlags
+@param centers Output matrix of the cluster centers, one row per each cluster center.
+@return The function returns the compactness measure that is computed as
+\f[\sum _i  \| \texttt{samples} _i -  \texttt{centers} _{ \texttt{labels} _i} \| ^2\f]
+after every attempt. The best (minimum) value is chosen and the corresponding labels and the
+compactness value are returned by the function. Basically, you can use only the core of the
+function, set the number of attempts to 1, initialize labels each time using a custom algorithm,
+pass them with the ( flags = KMEANS_USE_INITIAL_LABELS ) flag, and then choose the best
+(most-compact) clustering.
+*/
+CV_EXPORTS_W double kmeans( InputArray data, int K, InputOutputArray bestLabels,
+                            TermCriteria criteria, int attempts,
+                            int flags, OutputArray centers = noArray() );
+
+//! @} core_cluster
+
+//! @addtogroup core_basic
+//! @{
+
+/////////////////////////////// Formatted output of cv::Mat ///////////////////////////
+
+/** @todo document */
+class CV_EXPORTS Formatted
+{
+public:
+    virtual const char* next() = 0;
+    virtual void reset() = 0;
+    virtual ~Formatted();
+};
+
+/** @todo document */
+class CV_EXPORTS Formatter
+{
+public:
+    enum { FMT_DEFAULT = 0,
+           FMT_MATLAB  = 1,
+           FMT_CSV     = 2,
+           FMT_PYTHON  = 3,
+           FMT_NUMPY   = 4,
+           FMT_C       = 5
+         };
+
+    virtual ~Formatter();
+
+    virtual Ptr<Formatted> format(const Mat& mtx) const = 0;
+
+    virtual void set32fPrecision(int p = 8) = 0;
+    virtual void set64fPrecision(int p = 16) = 0;
+    virtual void setMultiline(bool ml = true) = 0;
+
+    static Ptr<Formatter> get(int fmt = FMT_DEFAULT);
+
+};
+
+//////////////////////////////////////// Algorithm ////////////////////////////////////
+
+class CV_EXPORTS Algorithm;
+
+template<typename _Tp> struct ParamType {};
+
+
+/** @brief This is a base class for all more or less complex algorithms in OpenCV
+
+especially for classes of algorithms, for which there can be multiple implementations. The examples
+are stereo correspondence (for which there are algorithms like block matching, semi-global block
+matching, graph-cut etc.), background subtraction (which can be done using mixture-of-gaussians
+models, codebook-based algorithm etc.), optical flow (block matching, Lucas-Kanade, Horn-Schunck
+etc.).
+
+Here is example of SIFT use in your application via Algorithm interface:
+@code
+    #include "opencv2/opencv.hpp"
+    #include "opencv2/xfeatures2d.hpp"
+    using namespace cv::xfeatures2d;
+
+    Ptr<Feature2D> sift = SIFT::create();
+    FileStorage fs("sift_params.xml", FileStorage::READ);
+    if( fs.isOpened() ) // if we have file with parameters, read them
+    {
+        sift->read(fs["sift_params"]);
+        fs.release();
+    }
+    else // else modify the parameters and store them; user can later edit the file to use different parameters
+    {
+        sift->setContrastThreshold(0.01f); // lower the contrast threshold, compared to the default value
+        {
+            WriteStructContext ws(fs, "sift_params", CV_NODE_MAP);
+            sift->write(fs);
+        }
+    }
+    Mat image = imread("myimage.png", 0), descriptors;
+    vector<KeyPoint> keypoints;
+    sift->detectAndCompute(image, noArray(), keypoints, descriptors);
+@endcode
+ */
+class CV_EXPORTS_W Algorithm
+{
+public:
+    Algorithm();
+    virtual ~Algorithm();
+
+    /** @brief Clears the algorithm state
+    */
+    CV_WRAP virtual void clear() {}
+
+    /** @brief Stores algorithm parameters in a file storage
+    */
+    virtual void write(FileStorage& fs) const { (void)fs; }
+
+    /** @brief Reads algorithm parameters from a file storage
+    */
+    virtual void read(const FileNode& fn) { (void)fn; }
+
+    /** @brief Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read
+     */
+    virtual bool empty() const { return false; }
+
+    /** @brief Reads algorithm from the file node
+
+     This is static template method of Algorithm. It's usage is following (in the case of SVM):
+     @code
+     Ptr<SVM> svm = Algorithm::read<SVM>(fn);
+     @endcode
+     In order to make this method work, the derived class must overwrite Algorithm::read(const
+     FileNode& fn) and also have static create() method without parameters
+     (or with all the optional parameters)
+     */
+    template<typename _Tp> static Ptr<_Tp> read(const FileNode& fn)
+    {
+        Ptr<_Tp> obj = _Tp::create();
+        obj->read(fn);
+        return !obj->empty() ? obj : Ptr<_Tp>();
+    }
+
+    /** @brief Loads algorithm from the file
+
+     @param filename Name of the file to read.
+     @param objname The optional name of the node to read (if empty, the first top-level node will be used)
+
+     This is static template method of Algorithm. It's usage is following (in the case of SVM):
+     @code
+     Ptr<SVM> svm = Algorithm::load<SVM>("my_svm_model.xml");
+     @endcode
+     In order to make this method work, the derived class must overwrite Algorithm::read(const
+     FileNode& fn).
+     */
+    template<typename _Tp> static Ptr<_Tp> load(const String& filename, const String& objname=String())
+    {
+        FileStorage fs(filename, FileStorage::READ);
+        FileNode fn = objname.empty() ? fs.getFirstTopLevelNode() : fs[objname];
+        Ptr<_Tp> obj = _Tp::create();
+        obj->read(fn);
+        return !obj->empty() ? obj : Ptr<_Tp>();
+    }
+
+    /** @brief Loads algorithm from a String
+
+     @param strModel The string variable containing the model you want to load.
+     @param objname The optional name of the node to read (if empty, the first top-level node will be used)
+
+     This is static template method of Algorithm. It's usage is following (in the case of SVM):
+     @code
+     Ptr<SVM> svm = Algorithm::loadFromString<SVM>(myStringModel);
+     @endcode
+     */
+    template<typename _Tp> static Ptr<_Tp> loadFromString(const String& strModel, const String& objname=String())
+    {
+        FileStorage fs(strModel, FileStorage::READ + FileStorage::MEMORY);
+        FileNode fn = objname.empty() ? fs.getFirstTopLevelNode() : fs[objname];
+        Ptr<_Tp> obj = _Tp::create();
+        obj->read(fn);
+        return !obj->empty() ? obj : Ptr<_Tp>();
+    }
+
+    /** Saves the algorithm to a file.
+     In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs). */
+    CV_WRAP virtual void save(const String& filename) const;
+
+    /** Returns the algorithm string identifier.
+     This string is used as top level xml/yml node tag when the object is saved to a file or string. */
+    CV_WRAP virtual String getDefaultName() const;
+};
+
+struct Param {
+    enum { INT=0, BOOLEAN=1, REAL=2, STRING=3, MAT=4, MAT_VECTOR=5, ALGORITHM=6, FLOAT=7,
+           UNSIGNED_INT=8, UINT64=9, UCHAR=11 };
+};
+
+
+
+template<> struct ParamType<bool>
+{
+    typedef bool const_param_type;
+    typedef bool member_type;
+
+    enum { type = Param::BOOLEAN };
+};
+
+template<> struct ParamType<int>
+{
+    typedef int const_param_type;
+    typedef int member_type;
+
+    enum { type = Param::INT };
+};
+
+template<> struct ParamType<double>
+{
+    typedef double const_param_type;
+    typedef double member_type;
+
+    enum { type = Param::REAL };
+};
+
+template<> struct ParamType<String>
+{
+    typedef const String& const_param_type;
+    typedef String member_type;
+
+    enum { type = Param::STRING };
+};
+
+template<> struct ParamType<Mat>
+{
+    typedef const Mat& const_param_type;
+    typedef Mat member_type;
+
+    enum { type = Param::MAT };
+};
+
+template<> struct ParamType<std::vector<Mat> >
+{
+    typedef const std::vector<Mat>& const_param_type;
+    typedef std::vector<Mat> member_type;
+
+    enum { type = Param::MAT_VECTOR };
+};
+
+template<> struct ParamType<Algorithm>
+{
+    typedef const Ptr<Algorithm>& const_param_type;
+    typedef Ptr<Algorithm> member_type;
+
+    enum { type = Param::ALGORITHM };
+};
+
+template<> struct ParamType<float>
+{
+    typedef float const_param_type;
+    typedef float member_type;
+
+    enum { type = Param::FLOAT };
+};
+
+template<> struct ParamType<unsigned>
+{
+    typedef unsigned const_param_type;
+    typedef unsigned member_type;
+
+    enum { type = Param::UNSIGNED_INT };
+};
+
+template<> struct ParamType<uint64>
+{
+    typedef uint64 const_param_type;
+    typedef uint64 member_type;
+
+    enum { type = Param::UINT64 };
+};
+
+template<> struct ParamType<uchar>
+{
+    typedef uchar const_param_type;
+    typedef uchar member_type;
+
+    enum { type = Param::UCHAR };
+};
+
+//! @} core_basic
+
+} //namespace cv
+
+#include "opencv2/core/operations.hpp"
+#include "opencv2/core/cvstd.inl.hpp"
+#include "opencv2/core/utility.hpp"
+#include "opencv2/core/optim.hpp"
+
+#endif /*__OPENCV_CORE_HPP__*/
diff --git a/3rdparty/include/opencv2/core/affine.hpp b/3rdparty/include/opencv2/core/affine.hpp
new file mode 100644
index 0000000..3b527cd
--- /dev/null
+++ b/3rdparty/include/opencv2/core/affine.hpp
@@ -0,0 +1,522 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_AFFINE3_HPP__
+#define __OPENCV_CORE_AFFINE3_HPP__
+
+#ifdef __cplusplus
+
+#include <opencv2/core.hpp>
+
+namespace cv
+{
+
+//! @addtogroup core
+//! @{
+
+    /** @brief Affine transform
+      @todo document
+     */
+    template<typename T>
+    class Affine3
+    {
+    public:
+        typedef T float_type;
+        typedef Matx<float_type, 3, 3> Mat3;
+        typedef Matx<float_type, 4, 4> Mat4;
+        typedef Vec<float_type, 3> Vec3;
+
+        Affine3();
+
+        //! Augmented affine matrix
+        Affine3(const Mat4& affine);
+
+        //! Rotation matrix
+        Affine3(const Mat3& R, const Vec3& t = Vec3::all(0));
+
+        //! Rodrigues vector
+        Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0));
+
+        //! Combines all contructors above. Supports 4x4, 4x3, 3x3, 1x3, 3x1 sizes of data matrix
+        explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0));
+
+        //! From 16th element array
+        explicit Affine3(const float_type* vals);
+
+        //! Create identity transform
+        static Affine3 Identity();
+
+        //! Rotation matrix
+        void rotation(const Mat3& R);
+
+        //! Rodrigues vector
+        void rotation(const Vec3& rvec);
+
+        //! Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+        void rotation(const Mat& data);
+
+        void linear(const Mat3& L);
+        void translation(const Vec3& t);
+
+        Mat3 rotation() const;
+        Mat3 linear() const;
+        Vec3 translation() const;
+
+        //! Rodrigues vector
+        Vec3 rvec() const;
+
+        Affine3 inv(int method = cv::DECOMP_SVD) const;
+
+        //! a.rotate(R) is equivalent to Affine(R, 0) * a;
+        Affine3 rotate(const Mat3& R) const;
+
+        //! a.rotate(R) is equivalent to Affine(rvec, 0) * a;
+        Affine3 rotate(const Vec3& rvec) const;
+
+        //! a.translate(t) is equivalent to Affine(E, t) * a;
+        Affine3 translate(const Vec3& t) const;
+
+        //! a.concatenate(affine) is equivalent to affine * a;
+        Affine3 concatenate(const Affine3& affine) const;
+
+        template <typename Y> operator Affine3<Y>() const;
+
+        template <typename Y> Affine3<Y> cast() const;
+
+        Mat4 matrix;
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine);
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine);
+        operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const;
+        operator Eigen::Transform<T, 3, Eigen::Affine>() const;
+#endif
+    };
+
+    template<typename T> static
+    Affine3<T> operator*(const Affine3<T>& affine1, const Affine3<T>& affine2);
+
+    template<typename T, typename V> static
+    V operator*(const Affine3<T>& affine, const V& vector);
+
+    typedef Affine3<float> Affine3f;
+    typedef Affine3<double> Affine3d;
+
+    static Vec3f operator*(const Affine3f& affine, const Vec3f& vector);
+    static Vec3d operator*(const Affine3d& affine, const Vec3d& vector);
+
+    template<typename _Tp> class DataType< Affine3<_Tp> >
+    {
+    public:
+        typedef Affine3<_Tp>                               value_type;
+        typedef Affine3<typename DataType<_Tp>::work_type> work_type;
+        typedef _Tp                                        channel_type;
+
+        enum { generic_type = 0,
+               depth        = DataType<channel_type>::depth,
+               channels     = 16,
+               fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+               type         = CV_MAKETYPE(depth, channels)
+             };
+
+        typedef Vec<channel_type, channels> vec_type;
+    };
+
+//! @} core
+
+}
+
+//! @cond IGNORED
+
+///////////////////////////////////////////////////////////////////////////////////
+// Implementaiton
+
+template<typename T> inline
+cv::Affine3<T>::Affine3()
+    : matrix(Mat4::eye())
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat4& affine)
+    : matrix(affine)
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat3& R, const Vec3& t)
+{
+    rotation(R);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Vec3& _rvec, const Vec3& t)
+{
+    rotation(_rvec);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 4 && data.rows == 4)
+    {
+        data.copyTo(matrix);
+        return;
+    }
+    else if (data.cols == 4 && data.rows == 3)
+    {
+        rotation(data(Rect(0, 0, 3, 3)));
+        translation(data(Rect(3, 0, 1, 3)));
+        return;
+    }
+
+    rotation(data);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const float_type* vals) : matrix(vals)
+{}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::Identity()
+{
+    return Affine3<T>(cv::Affine3<T>::Mat4::eye());
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Mat3& R)
+{
+    linear(R);
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Vec3& _rvec)
+{
+    double rx = _rvec[0], ry = _rvec[1], rz = _rvec[2];
+    double theta = std::sqrt(rx*rx + ry*ry + rz*rz);
+
+    if (theta < DBL_EPSILON)
+        rotation(Mat3::eye());
+    else
+    {
+        const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+
+        double c = std::cos(theta);
+        double s = std::sin(theta);
+        double c1 = 1. - c;
+        double itheta = (theta != 0) ? 1./theta : 0.;
+
+        rx *= itheta; ry *= itheta; rz *= itheta;
+
+        double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
+        double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
+        Mat3 R;
+
+        // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
+        // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
+        for(int k = 0; k < 9; ++k)
+            R.val[k] = static_cast<float_type>(c*I[k] + c1*rrt[k] + s*_r_x_[k]);
+
+        rotation(R);
+    }
+}
+
+//Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+template<typename T> inline
+void cv::Affine3<T>::rotation(const cv::Mat& data)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 3 && data.rows == 3)
+    {
+        Mat3 R;
+        data.copyTo(R);
+        rotation(R);
+    }
+    else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3))
+    {
+        Vec3 _rvec;
+        data.reshape(1, 3).copyTo(_rvec);
+        rotation(_rvec);
+    }
+    else
+        CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1");
+}
+
+template<typename T> inline
+void cv::Affine3<T>::linear(const Mat3& L)
+{
+    matrix.val[0] = L.val[0]; matrix.val[1] = L.val[1];  matrix.val[ 2] = L.val[2];
+    matrix.val[4] = L.val[3]; matrix.val[5] = L.val[4];  matrix.val[ 6] = L.val[5];
+    matrix.val[8] = L.val[6]; matrix.val[9] = L.val[7];  matrix.val[10] = L.val[8];
+}
+
+template<typename T> inline
+void cv::Affine3<T>::translation(const Vec3& t)
+{
+    matrix.val[3] = t[0]; matrix.val[7] = t[1]; matrix.val[11] = t[2];
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::rotation() const
+{
+    return linear();
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::linear() const
+{
+    typename cv::Affine3<T>::Mat3 R;
+    R.val[0] = matrix.val[0];  R.val[1] = matrix.val[1];  R.val[2] = matrix.val[ 2];
+    R.val[3] = matrix.val[4];  R.val[4] = matrix.val[5];  R.val[5] = matrix.val[ 6];
+    R.val[6] = matrix.val[8];  R.val[7] = matrix.val[9];  R.val[8] = matrix.val[10];
+    return R;
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Vec3 cv::Affine3<T>::translation() const
+{
+    return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]);
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Vec3 cv::Affine3<T>::rvec() const
+{
+    cv::Vec3d w;
+    cv::Matx33d u, vt, R = rotation();
+    cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
+    R = u * vt;
+
+    double rx = R.val[7] - R.val[5];
+    double ry = R.val[2] - R.val[6];
+    double rz = R.val[3] - R.val[1];
+
+    double s = std::sqrt((rx*rx + ry*ry + rz*rz)*0.25);
+    double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5;
+    c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c;
+    double theta = acos(c);
+
+    if( s < 1e-5 )
+    {
+        if( c > 0 )
+            rx = ry = rz = 0;
+        else
+        {
+            double t;
+            t = (R.val[0] + 1) * 0.5;
+            rx = std::sqrt(std::max(t, 0.0));
+            t = (R.val[4] + 1) * 0.5;
+            ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0);
+            t = (R.val[8] + 1) * 0.5;
+            rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0);
+
+            if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R.val[5] > 0) != (ry*rz > 0) )
+                rz = -rz;
+            theta /= std::sqrt(rx*rx + ry*ry + rz*rz);
+            rx *= theta;
+            ry *= theta;
+            rz *= theta;
+        }
+    }
+    else
+    {
+        double vth = 1/(2*s);
+        vth *= theta;
+        rx *= vth; ry *= vth; rz *= vth;
+    }
+
+    return cv::Vec3d(rx, ry, rz);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::inv(int method) const
+{
+    return matrix.inv(method);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Mat3& R) const
+{
+    Mat3 Lc = linear();
+    Vec3 tc = translation();
+    Mat4 result;
+    result.val[12] = result.val[13] = result.val[14] = 0;
+    result.val[15] = 1;
+
+    for(int j = 0; j < 3; ++j)
+    {
+        for(int i = 0; i < 3; ++i)
+        {
+            float_type value = 0;
+            for(int k = 0; k < 3; ++k)
+                value += R(j, k) * Lc(k, i);
+            result(j, i) = value;
+        }
+
+        result(j, 3) = R.row(j).dot(tc.t());
+    }
+    return result;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Vec3& _rvec) const
+{
+    return rotate(Affine3f(_rvec).rotation());
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::translate(const Vec3& t) const
+{
+    Mat4 m = matrix;
+    m.val[ 3] += t[0];
+    m.val[ 7] += t[1];
+    m.val[11] += t[2];
+    return m;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::concatenate(const Affine3<T>& affine) const
+{
+    return (*this).rotate(affine.rotation()).translate(affine.translation());
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<T>::operator Affine3<Y>() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<Y> cv::Affine3<T>::cast() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::operator*(const cv::Affine3<T>& affine1, const cv::Affine3<T>& affine2)
+{
+    return affine2.concatenate(affine1);
+}
+
+template<typename T, typename V> inline
+V cv::operator*(const cv::Affine3<T>& affine, const V& v)
+{
+    const typename Affine3<T>::Mat4& m = affine.matrix;
+
+    V r;
+    r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[ 2] * v.z + m.val[ 3];
+    r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[ 6] * v.z + m.val[ 7];
+    r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3f cv::operator*(const cv::Affine3f& affine, const cv::Vec3f& v)
+{
+    const cv::Matx44f& m = affine.matrix;
+    cv::Vec3f r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v)
+{
+    const cv::Matx44d& m = affine.matrix;
+    cv::Vec3d r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine)
+{
+    cv::Mat(4, 4, cv::DataType<T>::type, affine.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine)
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> a = affine;
+    cv::Mat(4, 4, cv::DataType<T>::type, a.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> r;
+    cv::Mat hdr(4, 4, cv::DataType<T>::type, r.matrix().data());
+    cv::Mat(matrix, false).copyTo(hdr);
+    return r;
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine>() const
+{
+    return this->operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>();
+}
+
+#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */
+
+//! @endcond
+
+#endif /* __cplusplus */
+
+#endif /* __OPENCV_CORE_AFFINE3_HPP__ */
diff --git a/3rdparty/include/opencv2/core/base.hpp b/3rdparty/include/opencv2/core/base.hpp
new file mode 100644
index 0000000..83cc311
--- /dev/null
+++ b/3rdparty/include/opencv2/core/base.hpp
@@ -0,0 +1,745 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2014, Itseez 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*/
+
+#ifndef __OPENCV_CORE_BASE_HPP__
+#define __OPENCV_CORE_BASE_HPP__
+
+#ifndef __cplusplus
+#  error base.hpp header must be compiled as C++
+#endif
+
+#include <climits>
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/cvstd.hpp"
+#include "opencv2/hal.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_utils
+//! @{
+
+namespace Error {
+//! error codes
+enum Code {
+    StsOk=                       0,  //!< everithing is ok
+    StsBackTrace=               -1,  //!< pseudo error for back trace
+    StsError=                   -2,  //!< unknown /unspecified error
+    StsInternal=                -3,  //!< internal error (bad state)
+    StsNoMem=                   -4,  //!< insufficient memory
+    StsBadArg=                  -5,  //!< function arg/param is bad
+    StsBadFunc=                 -6,  //!< unsupported function
+    StsNoConv=                  -7,  //!< iter. didn't converge
+    StsAutoTrace=               -8,  //!< tracing
+    HeaderIsNull=               -9,  //!< image header is NULL
+    BadImageSize=              -10,  //!< image size is invalid
+    BadOffset=                 -11,  //!< offset is invalid
+    BadDataPtr=                -12,  //!<
+    BadStep=                   -13,  //!<
+    BadModelOrChSeq=           -14,  //!<
+    BadNumChannels=            -15,  //!<
+    BadNumChannel1U=           -16,  //!<
+    BadDepth=                  -17,  //!<
+    BadAlphaChannel=           -18,  //!<
+    BadOrder=                  -19,  //!<
+    BadOrigin=                 -20,  //!<
+    BadAlign=                  -21,  //!<
+    BadCallBack=               -22,  //!<
+    BadTileSize=               -23,  //!<
+    BadCOI=                    -24,  //!<
+    BadROISize=                -25,  //!<
+    MaskIsTiled=               -26,  //!<
+    StsNullPtr=                -27,  //!< null pointer
+    StsVecLengthErr=           -28,  //!< incorrect vector length
+    StsFilterStructContentErr= -29,  //!< incorr. filter structure content
+    StsKernelStructContentErr= -30,  //!< incorr. transform kernel content
+    StsFilterOffsetErr=        -31,  //!< incorrect filter ofset value
+    StsBadSize=                -201, //!< the input/output structure size is incorrect
+    StsDivByZero=              -202, //!< division by zero
+    StsInplaceNotSupported=    -203, //!< in-place operation is not supported
+    StsObjectNotFound=         -204, //!< request can't be completed
+    StsUnmatchedFormats=       -205, //!< formats of input/output arrays differ
+    StsBadFlag=                -206, //!< flag is wrong or not supported
+    StsBadPoint=               -207, //!< bad CvPoint
+    StsBadMask=                -208, //!< bad format of mask (neither 8uC1 nor 8sC1)
+    StsUnmatchedSizes=         -209, //!< sizes of input/output structures do not match
+    StsUnsupportedFormat=      -210, //!< the data format/type is not supported by the function
+    StsOutOfRange=             -211, //!< some of parameters are out of range
+    StsParseError=             -212, //!< invalid syntax/structure of the parsed file
+    StsNotImplemented=         -213, //!< the requested function/feature is not implemented
+    StsBadMemBlock=            -214, //!< an allocated block has been corrupted
+    StsAssert=                 -215, //!< assertion failed
+    GpuNotSupported=           -216,
+    GpuApiCallError=           -217,
+    OpenGlNotSupported=        -218,
+    OpenGlApiCallError=        -219,
+    OpenCLApiCallError=        -220,
+    OpenCLDoubleNotSupported=  -221,
+    OpenCLInitError=           -222,
+    OpenCLNoAMDBlasFft=        -223
+};
+} //Error
+
+//! @} core_utils
+
+//! @addtogroup core_array
+//! @{
+
+//! matrix decomposition types
+enum DecompTypes {
+    /** Gaussian elimination with the optimal pivot element chosen. */
+    DECOMP_LU       = 0,
+    /** singular value decomposition (SVD) method; the system can be over-defined and/or the matrix
+    src1 can be singular */
+    DECOMP_SVD      = 1,
+    /** eigenvalue decomposition; the matrix src1 must be symmetrical */
+    DECOMP_EIG      = 2,
+    /** Cholesky \f$LL^T\f$ factorization; the matrix src1 must be symmetrical and positively
+    defined */
+    DECOMP_CHOLESKY = 3,
+    /** QR factorization; the system can be over-defined and/or the matrix src1 can be singular */
+    DECOMP_QR       = 4,
+    /** while all the previous flags are mutually exclusive, this flag can be used together with
+    any of the previous; it means that the normal equations
+    \f$\texttt{src1}^T\cdot\texttt{src1}\cdot\texttt{dst}=\texttt{src1}^T\texttt{src2}\f$ are
+    solved instead of the original system
+    \f$\texttt{src1}\cdot\texttt{dst}=\texttt{src2}\f$ */
+    DECOMP_NORMAL   = 16
+};
+
+/** norm types
+- For one array:
+\f[norm =  \forkthree{\|\texttt{src1}\|_{L_{\infty}} =  \max _I | \texttt{src1} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_INF}\) }
+{ \| \texttt{src1} \| _{L_1} =  \sum _I | \texttt{src1} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_L1}\) }
+{ \| \texttt{src1} \| _{L_2} =  \sqrt{\sum_I \texttt{src1}(I)^2} }{if  \(\texttt{normType} = \texttt{NORM\_L2}\) }\f]
+
+- Absolute norm for two arrays
+\f[norm =  \forkthree{\|\texttt{src1}-\texttt{src2}\|_{L_{\infty}} =  \max _I | \texttt{src1} (I) -  \texttt{src2} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_INF}\) }
+{ \| \texttt{src1} - \texttt{src2} \| _{L_1} =  \sum _I | \texttt{src1} (I) -  \texttt{src2} (I)|}{if  \(\texttt{normType} = \texttt{NORM\_L1}\) }
+{ \| \texttt{src1} - \texttt{src2} \| _{L_2} =  \sqrt{\sum_I (\texttt{src1}(I) - \texttt{src2}(I))^2} }{if  \(\texttt{normType} = \texttt{NORM\_L2}\) }\f]
+
+- Relative norm for two arrays
+\f[norm =  \forkthree{\frac{\|\texttt{src1}-\texttt{src2}\|_{L_{\infty}}    }{\|\texttt{src2}\|_{L_{\infty}} }}{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_INF}\) }
+{ \frac{\|\texttt{src1}-\texttt{src2}\|_{L_1} }{\|\texttt{src2}\|_{L_1}} }{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_L1}\) }
+{ \frac{\|\texttt{src1}-\texttt{src2}\|_{L_2} }{\|\texttt{src2}\|_{L_2}} }{if  \(\texttt{normType} = \texttt{NORM\_RELATIVE\_L2}\) }\f]
+  */
+enum NormTypes { NORM_INF       = 1,
+                 NORM_L1        = 2,
+                 NORM_L2        = 4,
+                 NORM_L2SQR     = 5,
+                 NORM_HAMMING   = 6,
+                 NORM_HAMMING2  = 7,
+                 NORM_TYPE_MASK = 7,
+                 NORM_RELATIVE  = 8, //!< flag
+                 NORM_MINMAX    = 32 //!< flag
+               };
+
+//! comparison types
+enum CmpTypes { CMP_EQ = 0, //!< src1 is equal to src2.
+                CMP_GT = 1, //!< src1 is greater than src2.
+                CMP_GE = 2, //!< src1 is greater than or equal to src2.
+                CMP_LT = 3, //!< src1 is less than src2.
+                CMP_LE = 4, //!< src1 is less than or equal to src2.
+                CMP_NE = 5  //!< src1 is unequal to src2.
+              };
+
+//! generalized matrix multiplication flags
+enum GemmFlags { GEMM_1_T = 1, //!< transposes src1
+                 GEMM_2_T = 2, //!< transposes src2
+                 GEMM_3_T = 4 //!< transposes src3
+               };
+
+enum DftFlags {
+    /** performs an inverse 1D or 2D transform instead of the default forward
+        transform. */
+    DFT_INVERSE        = 1,
+    /** scales the result: divide it by the number of array elements. Normally, it is
+        combined with DFT_INVERSE. */
+    DFT_SCALE          = 2,
+    /** performs a forward or inverse transform of every individual row of the input
+        matrix; this flag enables you to transform multiple vectors simultaneously and can be used to
+        decrease the overhead (which is sometimes several times larger than the processing itself) to
+        perform 3D and higher-dimensional transformations and so forth.*/
+    DFT_ROWS           = 4,
+    /** performs a forward transformation of 1D or 2D real array; the result,
+        though being a complex array, has complex-conjugate symmetry (*CCS*, see the function
+        description below for details), and such an array can be packed into a real array of the same
+        size as input, which is the fastest option and which is what the function does by default;
+        however, you may wish to get a full complex array (for simpler spectrum analysis, and so on) -
+        pass the flag to enable the function to produce a full-size complex output array. */
+    DFT_COMPLEX_OUTPUT = 16,
+    /** performs an inverse transformation of a 1D or 2D complex array; the
+        result is normally a complex array of the same size, however, if the input array has
+        conjugate-complex symmetry (for example, it is a result of forward transformation with
+        DFT_COMPLEX_OUTPUT flag), the output is a real array; while the function itself does not
+        check whether the input is symmetrical or not, you can pass the flag and then the function
+        will assume the symmetry and produce the real output array (note that when the input is packed
+        into a real array and inverse transformation is executed, the function treats the input as a
+        packed complex-conjugate symmetrical array, and the output will also be a real array). */
+    DFT_REAL_OUTPUT    = 32,
+    /** performs an inverse 1D or 2D transform instead of the default forward transform. */
+    DCT_INVERSE        = DFT_INVERSE,
+    /** performs a forward or inverse transform of every individual row of the input
+        matrix. This flag enables you to transform multiple vectors simultaneously and can be used to
+        decrease the overhead (which is sometimes several times larger than the processing itself) to
+        perform 3D and higher-dimensional transforms and so forth.*/
+    DCT_ROWS           = DFT_ROWS
+};
+
+//! Various border types, image boundaries are denoted with `|`
+//! @see borderInterpolate, copyMakeBorder
+enum BorderTypes {
+    BORDER_CONSTANT    = 0, //!< `iiiiii|abcdefgh|iiiiiii`  with some specified `i`
+    BORDER_REPLICATE   = 1, //!< `aaaaaa|abcdefgh|hhhhhhh`
+    BORDER_REFLECT     = 2, //!< `fedcba|abcdefgh|hgfedcb`
+    BORDER_WRAP        = 3, //!< `cdefgh|abcdefgh|abcdefg`
+    BORDER_REFLECT_101 = 4, //!< `gfedcb|abcdefgh|gfedcba`
+    BORDER_TRANSPARENT = 5, //!< `uvwxyz|absdefgh|ijklmno`
+
+    BORDER_REFLECT101  = BORDER_REFLECT_101, //!< same as BORDER_REFLECT_101
+    BORDER_DEFAULT     = BORDER_REFLECT_101, //!< same as BORDER_REFLECT_101
+    BORDER_ISOLATED    = 16 //!< do not look outside of ROI
+};
+
+//! @} core_array
+
+//! @addtogroup core_utils
+//! @{
+
+//! @cond IGNORED
+
+//////////////// static assert /////////////////
+#define CVAUX_CONCAT_EXP(a, b) a##b
+#define CVAUX_CONCAT(a, b) CVAUX_CONCAT_EXP(a,b)
+
+#if defined(__clang__)
+#  ifndef __has_extension
+#    define __has_extension __has_feature /* compatibility, for older versions of clang */
+#  endif
+#  if __has_extension(cxx_static_assert)
+#    define CV_StaticAssert(condition, reason)    static_assert((condition), reason " " #condition)
+#  endif
+#elif defined(__GNUC__)
+#  if (defined(__GXX_EXPERIMENTAL_CXX0X__) || __cplusplus >= 201103L)
+#    define CV_StaticAssert(condition, reason)    static_assert((condition), reason " " #condition)
+#  endif
+#elif defined(_MSC_VER)
+#  if _MSC_VER >= 1600 /* MSVC 10 */
+#    define CV_StaticAssert(condition, reason)    static_assert((condition), reason " " #condition)
+#  endif
+#endif
+#ifndef CV_StaticAssert
+#  if defined(__GNUC__) && (__GNUC__ > 3) && (__GNUC_MINOR__ > 2)
+#    define CV_StaticAssert(condition, reason) ({ extern int __attribute__((error("CV_StaticAssert: " reason " " #condition))) CV_StaticAssert(); ((condition) ? 0 : CV_StaticAssert()); })
+#  else
+     template <bool x> struct CV_StaticAssert_failed;
+     template <> struct CV_StaticAssert_failed<true> { enum { val = 1 }; };
+     template<int x> struct CV_StaticAssert_test {};
+#    define CV_StaticAssert(condition, reason)\
+       typedef cv::CV_StaticAssert_test< sizeof(cv::CV_StaticAssert_failed< static_cast<bool>(condition) >) > CVAUX_CONCAT(CV_StaticAssert_failed_at_, __LINE__)
+#  endif
+#endif
+
+// Suppress warning "-Wdeprecated-declarations" / C4996
+#if defined(_MSC_VER)
+    #define CV_DO_PRAGMA(x) __pragma(x)
+#elif defined(__GNUC__)
+    #define CV_DO_PRAGMA(x) _Pragma (#x)
+#else
+    #define CV_DO_PRAGMA(x)
+#endif
+
+#ifdef _MSC_VER
+#define CV_SUPPRESS_DEPRECATED_START \
+    CV_DO_PRAGMA(warning(push)) \
+    CV_DO_PRAGMA(warning(disable: 4996))
+#define CV_SUPPRESS_DEPRECATED_END CV_DO_PRAGMA(warning(pop))
+#elif defined (__clang__) || ((__GNUC__)  && ((__GNUC__ > 4) || ((__GNUC__ == 4) && (__GNUC_MINOR__ > 5))))
+#define CV_SUPPRESS_DEPRECATED_START \
+    CV_DO_PRAGMA(GCC diagnostic push) \
+    CV_DO_PRAGMA(GCC diagnostic ignored "-Wdeprecated-declarations")
+#define CV_SUPPRESS_DEPRECATED_END CV_DO_PRAGMA(GCC diagnostic pop)
+#else
+#define CV_SUPPRESS_DEPRECATED_START
+#define CV_SUPPRESS_DEPRECATED_END
+#endif
+//! @endcond
+
+/*! @brief Signals an error and raises the exception.
+
+By default the function prints information about the error to stderr,
+then it either stops if setBreakOnError() had been called before or raises the exception.
+It is possible to alternate error processing by using redirectError().
+@param _code - error code (Error::Code)
+@param _err - error description
+@param _func - function name. Available only when the compiler supports getting it
+@param _file - source file name where the error has occured
+@param _line - line number in the source file where the error has occured
+@see CV_Error, CV_Error_, CV_ErrorNoReturn, CV_ErrorNoReturn_, CV_Assert, CV_DbgAssert
+ */
+CV_EXPORTS void error(int _code, const String& _err, const char* _func, const char* _file, int _line);
+
+#ifdef __GNUC__
+# if defined __clang__ || defined __APPLE__
+#   pragma GCC diagnostic push
+#   pragma GCC diagnostic ignored "-Winvalid-noreturn"
+# endif
+#endif
+
+/** same as cv::error, but does not return */
+CV_INLINE CV_NORETURN void errorNoReturn(int _code, const String& _err, const char* _func, const char* _file, int _line)
+{
+    error(_code, _err, _func, _file, _line);
+#ifdef __GNUC__
+# if !defined __clang__ && !defined __APPLE__
+    // this suppresses this warning: "noreturn" function does return [enabled by default]
+    __builtin_trap();
+    // or use infinite loop: for (;;) {}
+# endif
+#endif
+}
+#ifdef __GNUC__
+# if defined __clang__ || defined __APPLE__
+#   pragma GCC diagnostic pop
+# endif
+#endif
+
+#if defined __GNUC__
+#define CV_Func __func__
+#elif defined _MSC_VER
+#define CV_Func __FUNCTION__
+#else
+#define CV_Func ""
+#endif
+
+/** @brief Call the error handler.
+
+Currently, the error handler prints the error code and the error message to the standard
+error stream `stderr`. In the Debug configuration, it then provokes memory access violation, so that
+the execution stack and all the parameters can be analyzed by the debugger. In the Release
+configuration, the exception is thrown.
+
+@param code one of Error::Code
+@param msg error message
+*/
+#define CV_Error( code, msg ) cv::error( code, msg, CV_Func, __FILE__, __LINE__ )
+
+/**  @brief Call the error handler.
+
+This macro can be used to construct an error message on-fly to include some dynamic information,
+for example:
+@code
+    // note the extra parentheses around the formatted text message
+    CV_Error_( CV_StsOutOfRange,
+    ("the value at (%d, %d)=%g is out of range", badPt.x, badPt.y, badValue));
+@endcode
+@param code one of Error::Code
+@param args printf-like formatted error message in parentheses
+*/
+#define CV_Error_( code, args ) cv::error( code, cv::format args, CV_Func, __FILE__, __LINE__ )
+
+/** @brief Checks a condition at runtime and throws exception if it fails
+
+The macros CV_Assert (and CV_DbgAssert(expr)) evaluate the specified expression. If it is 0, the macros
+raise an error (see cv::error). The macro CV_Assert checks the condition in both Debug and Release
+configurations while CV_DbgAssert is only retained in the Debug configuration.
+*/
+#define CV_Assert( expr ) if(!!(expr)) ; else cv::error( cv::Error::StsAssert, #expr, CV_Func, __FILE__, __LINE__ )
+
+/** same as CV_Error(code,msg), but does not return */
+#define CV_ErrorNoReturn( code, msg ) cv::errorNoReturn( code, msg, CV_Func, __FILE__, __LINE__ )
+
+/** same as CV_Error_(code,args), but does not return */
+#define CV_ErrorNoReturn_( code, args ) cv::errorNoReturn( code, cv::format args, CV_Func, __FILE__, __LINE__ )
+
+/** replaced with CV_Assert(expr) in Debug configuration */
+#ifdef _DEBUG
+#  define CV_DbgAssert(expr) CV_Assert(expr)
+#else
+#  define CV_DbgAssert(expr)
+#endif
+
+/*
+ * Hamming distance functor - counts the bit differences between two strings - useful for the Brief descriptor
+ * bit count of A exclusive XOR'ed with B
+ */
+struct CV_EXPORTS Hamming
+{
+    enum { normType = NORM_HAMMING };
+    typedef unsigned char ValueType;
+    typedef int ResultType;
+
+    /** this will count the bits in a ^ b
+     */
+    ResultType operator()( const unsigned char* a, const unsigned char* b, int size ) const;
+};
+
+typedef Hamming HammingLUT;
+
+/////////////////////////////////// inline norms ////////////////////////////////////
+
+template<typename _Tp> inline _Tp cv_abs(_Tp x) { return std::abs(x); }
+inline int cv_abs(uchar x) { return x; }
+inline int cv_abs(schar x) { return std::abs(x); }
+inline int cv_abs(ushort x) { return x; }
+inline int cv_abs(short x) { return std::abs(x); }
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normL2Sqr(const _Tp* a, int n)
+{
+    _AccTp s = 0;
+    int i=0;
+#if CV_ENABLE_UNROLLED
+    for( ; i <= n - 4; i += 4 )
+    {
+        _AccTp v0 = a[i], v1 = a[i+1], v2 = a[i+2], v3 = a[i+3];
+        s += v0*v0 + v1*v1 + v2*v2 + v3*v3;
+    }
+#endif
+    for( ; i < n; i++ )
+    {
+        _AccTp v = a[i];
+        s += v*v;
+    }
+    return s;
+}
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normL1(const _Tp* a, int n)
+{
+    _AccTp s = 0;
+    int i = 0;
+#if CV_ENABLE_UNROLLED
+    for(; i <= n - 4; i += 4 )
+    {
+        s += (_AccTp)cv_abs(a[i]) + (_AccTp)cv_abs(a[i+1]) +
+            (_AccTp)cv_abs(a[i+2]) + (_AccTp)cv_abs(a[i+3]);
+    }
+#endif
+    for( ; i < n; i++ )
+        s += cv_abs(a[i]);
+    return s;
+}
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normInf(const _Tp* a, int n)
+{
+    _AccTp s = 0;
+    for( int i = 0; i < n; i++ )
+        s = std::max(s, (_AccTp)cv_abs(a[i]));
+    return s;
+}
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normL2Sqr(const _Tp* a, const _Tp* b, int n)
+{
+    _AccTp s = 0;
+    int i= 0;
+#if CV_ENABLE_UNROLLED
+    for(; i <= n - 4; i += 4 )
+    {
+        _AccTp v0 = _AccTp(a[i] - b[i]), v1 = _AccTp(a[i+1] - b[i+1]), v2 = _AccTp(a[i+2] - b[i+2]), v3 = _AccTp(a[i+3] - b[i+3]);
+        s += v0*v0 + v1*v1 + v2*v2 + v3*v3;
+    }
+#endif
+    for( ; i < n; i++ )
+    {
+        _AccTp v = _AccTp(a[i] - b[i]);
+        s += v*v;
+    }
+    return s;
+}
+
+static inline float normL2Sqr(const float* a, const float* b, int n)
+{
+    float s = 0.f;
+    for( int i = 0; i < n; i++ )
+    {
+        float v = a[i] - b[i];
+        s += v*v;
+    }
+    return s;
+}
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normL1(const _Tp* a, const _Tp* b, int n)
+{
+    _AccTp s = 0;
+    int i= 0;
+#if CV_ENABLE_UNROLLED
+    for(; i <= n - 4; i += 4 )
+    {
+        _AccTp v0 = _AccTp(a[i] - b[i]), v1 = _AccTp(a[i+1] - b[i+1]), v2 = _AccTp(a[i+2] - b[i+2]), v3 = _AccTp(a[i+3] - b[i+3]);
+        s += std::abs(v0) + std::abs(v1) + std::abs(v2) + std::abs(v3);
+    }
+#endif
+    for( ; i < n; i++ )
+    {
+        _AccTp v = _AccTp(a[i] - b[i]);
+        s += std::abs(v);
+    }
+    return s;
+}
+
+inline float normL1(const float* a, const float* b, int n)
+{
+    float s = 0.f;
+    for( int i = 0; i < n; i++ )
+    {
+        s += std::abs(a[i] - b[i]);
+    }
+    return s;
+}
+
+inline int normL1(const uchar* a, const uchar* b, int n)
+{
+    int s = 0;
+    for( int i = 0; i < n; i++ )
+    {
+        s += std::abs(a[i] - b[i]);
+    }
+    return s;
+}
+
+template<typename _Tp, typename _AccTp> static inline
+_AccTp normInf(const _Tp* a, const _Tp* b, int n)
+{
+    _AccTp s = 0;
+    for( int i = 0; i < n; i++ )
+    {
+        _AccTp v0 = a[i] - b[i];
+        s = std::max(s, std::abs(v0));
+    }
+    return s;
+}
+
+/** @brief Computes the cube root of an argument.
+
+ The function cubeRoot computes \f$\sqrt[3]{\texttt{val}}\f$. Negative arguments are handled correctly.
+ NaN and Inf are not handled. The accuracy approaches the maximum possible accuracy for
+ single-precision data.
+ @param val A function argument.
+ */
+CV_EXPORTS_W float cubeRoot(float val);
+
+/** @brief Calculates the angle of a 2D vector in degrees.
+
+ The function fastAtan2 calculates the full-range angle of an input 2D vector. The angle is measured
+ in degrees and varies from 0 to 360 degrees. The accuracy is about 0.3 degrees.
+ @param x x-coordinate of the vector.
+ @param y y-coordinate of the vector.
+ */
+CV_EXPORTS_W float fastAtan2(float y, float x);
+
+/** proxy for hal::LU */
+CV_EXPORTS int LU(float* A, size_t astep, int m, float* b, size_t bstep, int n);
+/** proxy for hal::LU */
+CV_EXPORTS int LU(double* A, size_t astep, int m, double* b, size_t bstep, int n);
+/** proxy for hal::Cholesky */
+CV_EXPORTS bool Cholesky(float* A, size_t astep, int m, float* b, size_t bstep, int n);
+/** proxy for hal::Cholesky */
+CV_EXPORTS bool Cholesky(double* A, size_t astep, int m, double* b, size_t bstep, int n);
+
+////////////////// forward declarations for important OpenCV types //////////////////
+
+//! @cond IGNORED
+
+template<typename _Tp, int cn> class Vec;
+template<typename _Tp, int m, int n> class Matx;
+
+template<typename _Tp> class Complex;
+template<typename _Tp> class Point_;
+template<typename _Tp> class Point3_;
+template<typename _Tp> class Size_;
+template<typename _Tp> class Rect_;
+template<typename _Tp> class Scalar_;
+
+class CV_EXPORTS RotatedRect;
+class CV_EXPORTS Range;
+class CV_EXPORTS TermCriteria;
+class CV_EXPORTS KeyPoint;
+class CV_EXPORTS DMatch;
+class CV_EXPORTS RNG;
+
+class CV_EXPORTS Mat;
+class CV_EXPORTS MatExpr;
+
+class CV_EXPORTS UMat;
+
+class CV_EXPORTS SparseMat;
+typedef Mat MatND;
+
+template<typename _Tp> class Mat_;
+template<typename _Tp> class SparseMat_;
+
+class CV_EXPORTS MatConstIterator;
+class CV_EXPORTS SparseMatIterator;
+class CV_EXPORTS SparseMatConstIterator;
+template<typename _Tp> class MatIterator_;
+template<typename _Tp> class MatConstIterator_;
+template<typename _Tp> class SparseMatIterator_;
+template<typename _Tp> class SparseMatConstIterator_;
+
+namespace ogl
+{
+    class CV_EXPORTS Buffer;
+    class CV_EXPORTS Texture2D;
+    class CV_EXPORTS Arrays;
+}
+
+namespace cuda
+{
+    class CV_EXPORTS GpuMat;
+    class CV_EXPORTS HostMem;
+    class CV_EXPORTS Stream;
+    class CV_EXPORTS Event;
+}
+
+namespace cudev
+{
+    template <typename _Tp> class GpuMat_;
+}
+
+namespace ipp
+{
+CV_EXPORTS void setIppStatus(int status, const char * const funcname = NULL, const char * const filename = NULL,
+                             int line = 0);
+CV_EXPORTS int getIppStatus();
+CV_EXPORTS String getIppErrorLocation();
+CV_EXPORTS bool useIPP();
+CV_EXPORTS void setUseIPP(bool flag);
+
+} // ipp
+
+//! @endcond
+
+//! @} core_utils
+
+//! @addtogroup core_utils_neon
+//! @{
+
+#if CV_NEON
+
+inline int32x2_t cv_vrnd_s32_f32(float32x2_t v)
+{
+    static int32x2_t v_sign = vdup_n_s32(1 << 31),
+        v_05 = vreinterpret_s32_f32(vdup_n_f32(0.5f));
+
+    int32x2_t v_addition = vorr_s32(v_05, vand_s32(v_sign, vreinterpret_s32_f32(v)));
+    return vcvt_s32_f32(vadd_f32(v, vreinterpret_f32_s32(v_addition)));
+}
+
+inline int32x4_t cv_vrndq_s32_f32(float32x4_t v)
+{
+    static int32x4_t v_sign = vdupq_n_s32(1 << 31),
+        v_05 = vreinterpretq_s32_f32(vdupq_n_f32(0.5f));
+
+    int32x4_t v_addition = vorrq_s32(v_05, vandq_s32(v_sign, vreinterpretq_s32_f32(v)));
+    return vcvtq_s32_f32(vaddq_f32(v, vreinterpretq_f32_s32(v_addition)));
+}
+
+inline uint32x2_t cv_vrnd_u32_f32(float32x2_t v)
+{
+    static float32x2_t v_05 = vdup_n_f32(0.5f);
+    return vcvt_u32_f32(vadd_f32(v, v_05));
+}
+
+inline uint32x4_t cv_vrndq_u32_f32(float32x4_t v)
+{
+    static float32x4_t v_05 = vdupq_n_f32(0.5f);
+    return vcvtq_u32_f32(vaddq_f32(v, v_05));
+}
+
+inline float32x4_t cv_vrecpq_f32(float32x4_t val)
+{
+    float32x4_t reciprocal = vrecpeq_f32(val);
+    reciprocal = vmulq_f32(vrecpsq_f32(val, reciprocal), reciprocal);
+    reciprocal = vmulq_f32(vrecpsq_f32(val, reciprocal), reciprocal);
+    return reciprocal;
+}
+
+inline float32x2_t cv_vrecp_f32(float32x2_t val)
+{
+    float32x2_t reciprocal = vrecpe_f32(val);
+    reciprocal = vmul_f32(vrecps_f32(val, reciprocal), reciprocal);
+    reciprocal = vmul_f32(vrecps_f32(val, reciprocal), reciprocal);
+    return reciprocal;
+}
+
+inline float32x4_t cv_vrsqrtq_f32(float32x4_t val)
+{
+    float32x4_t e = vrsqrteq_f32(val);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(e, e), val), e);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(e, e), val), e);
+    return e;
+}
+
+inline float32x2_t cv_vrsqrt_f32(float32x2_t val)
+{
+    float32x2_t e = vrsqrte_f32(val);
+    e = vmul_f32(vrsqrts_f32(vmul_f32(e, e), val), e);
+    e = vmul_f32(vrsqrts_f32(vmul_f32(e, e), val), e);
+    return e;
+}
+
+inline float32x4_t cv_vsqrtq_f32(float32x4_t val)
+{
+    return cv_vrecpq_f32(cv_vrsqrtq_f32(val));
+}
+
+inline float32x2_t cv_vsqrt_f32(float32x2_t val)
+{
+    return cv_vrecp_f32(cv_vrsqrt_f32(val));
+}
+
+#endif
+
+//! @} core_utils_neon
+
+} // cv
+
+#include "sse_utils.hpp"
+
+#endif //__OPENCV_CORE_BASE_HPP__
diff --git a/3rdparty/include/opencv2/core/bufferpool.hpp b/3rdparty/include/opencv2/core/bufferpool.hpp
new file mode 100644
index 0000000..76df2d2
--- /dev/null
+++ b/3rdparty/include/opencv2/core/bufferpool.hpp
@@ -0,0 +1,31 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+//
+// Copyright (C) 2014, Advanced Micro Devices, Inc., all rights reserved.
+
+#ifndef __OPENCV_CORE_BUFFER_POOL_HPP__
+#define __OPENCV_CORE_BUFFER_POOL_HPP__
+
+namespace cv
+{
+
+//! @addtogroup core
+//! @{
+
+class BufferPoolController
+{
+protected:
+    ~BufferPoolController() { }
+public:
+    virtual size_t getReservedSize() const = 0;
+    virtual size_t getMaxReservedSize() const = 0;
+    virtual void setMaxReservedSize(size_t size) = 0;
+    virtual void freeAllReservedBuffers() = 0;
+};
+
+//! @}
+
+}
+
+#endif // __OPENCV_CORE_BUFFER_POOL_HPP__
diff --git a/3rdparty/include/opencv2/core/core.hpp b/3rdparty/include/opencv2/core/core.hpp
new file mode 100644
index 0000000..4389183
--- /dev/null
+++ b/3rdparty/include/opencv2/core/core.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/core.hpp"
diff --git a/3rdparty/include/opencv2/core/core_c.h b/3rdparty/include/opencv2/core/core_c.h
new file mode 100644
index 0000000..a0ed632
--- /dev/null
+++ b/3rdparty/include/opencv2/core/core_c.h
@@ -0,0 +1,3152 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+#ifndef __OPENCV_CORE_C_H__
+#define __OPENCV_CORE_C_H__
+
+#include "opencv2/core/types_c.h"
+
+#ifdef __cplusplus
+#  ifdef _MSC_VER
+/* disable warning C4190: 'function' has C-linkage specified, but returns UDT 'typename'
+                          which is incompatible with C
+
+   It is OK to disable it because we only extend few plain structures with
+   C++ construrtors for simpler interoperability with C++ API of the library
+*/
+#    pragma warning(disable:4190)
+#  elif defined __clang__ && __clang_major__ >= 3
+#    pragma GCC diagnostic ignored "-Wreturn-type-c-linkage"
+#  endif
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup core_c
+    @{
+*/
+
+/****************************************************************************************\
+*          Array allocation, deallocation, initialization and access to elements         *
+\****************************************************************************************/
+
+/** `malloc` wrapper.
+   If there is no enough memory, the function
+   (as well as other OpenCV functions that call cvAlloc)
+   raises an error. */
+CVAPI(void*)  cvAlloc( size_t size );
+
+/** `free` wrapper.
+   Here and further all the memory releasing functions
+   (that all call cvFree) take double pointer in order to
+   to clear pointer to the data after releasing it.
+   Passing pointer to NULL pointer is Ok: nothing happens in this case
+*/
+CVAPI(void)   cvFree_( void* ptr );
+#define cvFree(ptr) (cvFree_(*(ptr)), *(ptr)=0)
+
+/** @brief Creates an image header but does not allocate the image data.
+
+@param size Image width and height
+@param depth Image depth (see cvCreateImage )
+@param channels Number of channels (see cvCreateImage )
+ */
+CVAPI(IplImage*)  cvCreateImageHeader( CvSize size, int depth, int channels );
+
+/** @brief Initializes an image header that was previously allocated.
+
+The returned IplImage\* points to the initialized header.
+@param image Image header to initialize
+@param size Image width and height
+@param depth Image depth (see cvCreateImage )
+@param channels Number of channels (see cvCreateImage )
+@param origin Top-left IPL_ORIGIN_TL or bottom-left IPL_ORIGIN_BL
+@param align Alignment for image rows, typically 4 or 8 bytes
+ */
+CVAPI(IplImage*) cvInitImageHeader( IplImage* image, CvSize size, int depth,
+                                   int channels, int origin CV_DEFAULT(0),
+                                   int align CV_DEFAULT(4));
+
+/** @brief Creates an image header and allocates the image data.
+
+This function call is equivalent to the following code:
+@code
+    header = cvCreateImageHeader(size, depth, channels);
+    cvCreateData(header);
+@endcode
+@param size Image width and height
+@param depth Bit depth of image elements. See IplImage for valid depths.
+@param channels Number of channels per pixel. See IplImage for details. This function only creates
+images with interleaved channels.
+ */
+CVAPI(IplImage*)  cvCreateImage( CvSize size, int depth, int channels );
+
+/** @brief Deallocates an image header.
+
+This call is an analogue of :
+@code
+    if(image )
+    {
+        iplDeallocate(*image, IPL_IMAGE_HEADER | IPL_IMAGE_ROI);
+        *image = 0;
+    }
+@endcode
+but it does not use IPL functions by default (see the CV_TURN_ON_IPL_COMPATIBILITY macro).
+@param image Double pointer to the image header
+ */
+CVAPI(void)  cvReleaseImageHeader( IplImage** image );
+
+/** @brief Deallocates the image header and the image data.
+
+This call is a shortened form of :
+@code
+    if(*image )
+    {
+        cvReleaseData(*image);
+        cvReleaseImageHeader(image);
+    }
+@endcode
+@param image Double pointer to the image header
+*/
+CVAPI(void)  cvReleaseImage( IplImage** image );
+
+/** Creates a copy of IPL image (widthStep may differ) */
+CVAPI(IplImage*) cvCloneImage( const IplImage* image );
+
+/** @brief Sets the channel of interest in an IplImage.
+
+If the ROI is set to NULL and the coi is *not* 0, the ROI is allocated. Most OpenCV functions do
+*not* support the COI setting, so to process an individual image/matrix channel one may copy (via
+cvCopy or cvSplit) the channel to a separate image/matrix, process it and then copy the result
+back (via cvCopy or cvMerge) if needed.
+@param image A pointer to the image header
+@param coi The channel of interest. 0 - all channels are selected, 1 - first channel is selected,
+etc. Note that the channel indices become 1-based.
+ */
+CVAPI(void)  cvSetImageCOI( IplImage* image, int coi );
+
+/** @brief Returns the index of the channel of interest.
+
+Returns the channel of interest of in an IplImage. Returned values correspond to the coi in
+cvSetImageCOI.
+@param image A pointer to the image header
+ */
+CVAPI(int)  cvGetImageCOI( const IplImage* image );
+
+/** @brief Sets an image Region Of Interest (ROI) for a given rectangle.
+
+If the original image ROI was NULL and the rect is not the whole image, the ROI structure is
+allocated.
+
+Most OpenCV functions support the use of ROI and treat the image rectangle as a separate image. For
+example, all of the pixel coordinates are counted from the top-left (or bottom-left) corner of the
+ROI, not the original image.
+@param image A pointer to the image header
+@param rect The ROI rectangle
+ */
+CVAPI(void)  cvSetImageROI( IplImage* image, CvRect rect );
+
+/** @brief Resets the image ROI to include the entire image and releases the ROI structure.
+
+This produces a similar result to the following, but in addition it releases the ROI structure. :
+@code
+    cvSetImageROI(image, cvRect(0, 0, image->width, image->height ));
+    cvSetImageCOI(image, 0);
+@endcode
+@param image A pointer to the image header
+ */
+CVAPI(void)  cvResetImageROI( IplImage* image );
+
+/** @brief Returns the image ROI.
+
+If there is no ROI set, cvRect(0,0,image-\>width,image-\>height) is returned.
+@param image A pointer to the image header
+ */
+CVAPI(CvRect) cvGetImageROI( const IplImage* image );
+
+/** @brief Creates a matrix header but does not allocate the matrix data.
+
+The function allocates a new matrix header and returns a pointer to it. The matrix data can then be
+allocated using cvCreateData or set explicitly to user-allocated data via cvSetData.
+@param rows Number of rows in the matrix
+@param cols Number of columns in the matrix
+@param type Type of the matrix elements, see cvCreateMat
+ */
+CVAPI(CvMat*)  cvCreateMatHeader( int rows, int cols, int type );
+
+#define CV_AUTOSTEP  0x7fffffff
+
+/** @brief Initializes a pre-allocated matrix header.
+
+This function is often used to process raw data with OpenCV matrix functions. For example, the
+following code computes the matrix product of two matrices, stored as ordinary arrays:
+@code
+    double a[] = { 1, 2, 3, 4,
+                   5, 6, 7, 8,
+                   9, 10, 11, 12 };
+
+    double b[] = { 1, 5, 9,
+                   2, 6, 10,
+                   3, 7, 11,
+                   4, 8, 12 };
+
+    double c[9];
+    CvMat Ma, Mb, Mc ;
+
+    cvInitMatHeader(&Ma, 3, 4, CV_64FC1, a);
+    cvInitMatHeader(&Mb, 4, 3, CV_64FC1, b);
+    cvInitMatHeader(&Mc, 3, 3, CV_64FC1, c);
+
+    cvMatMulAdd(&Ma, &Mb, 0, &Mc);
+    // the c array now contains the product of a (3x4) and b (4x3)
+@endcode
+@param mat A pointer to the matrix header to be initialized
+@param rows Number of rows in the matrix
+@param cols Number of columns in the matrix
+@param type Type of the matrix elements, see cvCreateMat .
+@param data Optional: data pointer assigned to the matrix header
+@param step Optional: full row width in bytes of the assigned data. By default, the minimal
+possible step is used which assumes there are no gaps between subsequent rows of the matrix.
+ */
+CVAPI(CvMat*) cvInitMatHeader( CvMat* mat, int rows, int cols,
+                              int type, void* data CV_DEFAULT(NULL),
+                              int step CV_DEFAULT(CV_AUTOSTEP) );
+
+/** @brief Creates a matrix header and allocates the matrix data.
+
+The function call is equivalent to the following code:
+@code
+    CvMat* mat = cvCreateMatHeader(rows, cols, type);
+    cvCreateData(mat);
+@endcode
+@param rows Number of rows in the matrix
+@param cols Number of columns in the matrix
+@param type The type of the matrix elements in the form
+CV_\<bit depth\>\<S|U|F\>C\<number of channels\> , where S=signed, U=unsigned, F=float. For
+example, CV _ 8UC1 means the elements are 8-bit unsigned and the there is 1 channel, and CV _
+32SC2 means the elements are 32-bit signed and there are 2 channels.
+ */
+CVAPI(CvMat*)  cvCreateMat( int rows, int cols, int type );
+
+/** @brief Deallocates a matrix.
+
+The function decrements the matrix data reference counter and deallocates matrix header. If the data
+reference counter is 0, it also deallocates the data. :
+@code
+    if(*mat )
+        cvDecRefData(*mat);
+    cvFree((void**)mat);
+@endcode
+@param mat Double pointer to the matrix
+ */
+CVAPI(void)  cvReleaseMat( CvMat** mat );
+
+/** @brief Decrements an array data reference counter.
+
+The function decrements the data reference counter in a CvMat or CvMatND if the reference counter
+
+pointer is not NULL. If the counter reaches zero, the data is deallocated. In the current
+implementation the reference counter is not NULL only if the data was allocated using the
+cvCreateData function. The counter will be NULL in other cases such as: external data was assigned
+to the header using cvSetData, header is part of a larger matrix or image, or the header was
+converted from an image or n-dimensional matrix header.
+@param arr Pointer to an array header
+ */
+CV_INLINE  void  cvDecRefData( CvArr* arr )
+{
+    if( CV_IS_MAT( arr ))
+    {
+        CvMat* mat = (CvMat*)arr;
+        mat->data.ptr = NULL;
+        if( mat->refcount != NULL && --*mat->refcount == 0 )
+            cvFree( &mat->refcount );
+        mat->refcount = NULL;
+    }
+    else if( CV_IS_MATND( arr ))
+    {
+        CvMatND* mat = (CvMatND*)arr;
+        mat->data.ptr = NULL;
+        if( mat->refcount != NULL && --*mat->refcount == 0 )
+            cvFree( &mat->refcount );
+        mat->refcount = NULL;
+    }
+}
+
+/** @brief Increments array data reference counter.
+
+The function increments CvMat or CvMatND data reference counter and returns the new counter value if
+the reference counter pointer is not NULL, otherwise it returns zero.
+@param arr Array header
+ */
+CV_INLINE  int  cvIncRefData( CvArr* arr )
+{
+    int refcount = 0;
+    if( CV_IS_MAT( arr ))
+    {
+        CvMat* mat = (CvMat*)arr;
+        if( mat->refcount != NULL )
+            refcount = ++*mat->refcount;
+    }
+    else if( CV_IS_MATND( arr ))
+    {
+        CvMatND* mat = (CvMatND*)arr;
+        if( mat->refcount != NULL )
+            refcount = ++*mat->refcount;
+    }
+    return refcount;
+}
+
+
+/** Creates an exact copy of the input matrix (except, may be, step value) */
+CVAPI(CvMat*) cvCloneMat( const CvMat* mat );
+
+
+/** @brief Returns matrix header corresponding to the rectangular sub-array of input image or matrix.
+
+The function returns header, corresponding to a specified rectangle of the input array. In other
+
+words, it allows the user to treat a rectangular part of input array as a stand-alone array. ROI is
+taken into account by the function so the sub-array of ROI is actually extracted.
+@param arr Input array
+@param submat Pointer to the resultant sub-array header
+@param rect Zero-based coordinates of the rectangle of interest
+ */
+CVAPI(CvMat*) cvGetSubRect( const CvArr* arr, CvMat* submat, CvRect rect );
+#define cvGetSubArr cvGetSubRect
+
+/** @brief Returns array row or row span.
+
+The functions return the header, corresponding to a specified row/row span of the input array.
+cvGetRow(arr, submat, row) is a shortcut for cvGetRows(arr, submat, row, row+1).
+@param arr Input array
+@param submat Pointer to the resulting sub-array header
+@param start_row Zero-based index of the starting row (inclusive) of the span
+@param end_row Zero-based index of the ending row (exclusive) of the span
+@param delta_row Index step in the row span. That is, the function extracts every delta_row -th
+row from start_row and up to (but not including) end_row .
+ */
+CVAPI(CvMat*) cvGetRows( const CvArr* arr, CvMat* submat,
+                        int start_row, int end_row,
+                        int delta_row CV_DEFAULT(1));
+
+/** @overload
+@param arr Input array
+@param submat Pointer to the resulting sub-array header
+@param row Zero-based index of the selected row
+*/
+CV_INLINE  CvMat*  cvGetRow( const CvArr* arr, CvMat* submat, int row )
+{
+    return cvGetRows( arr, submat, row, row + 1, 1 );
+}
+
+
+/** @brief Returns one of more array columns.
+
+The functions return the header, corresponding to a specified column span of the input array. That
+
+is, no data is copied. Therefore, any modifications of the submatrix will affect the original array.
+If you need to copy the columns, use cvCloneMat. cvGetCol(arr, submat, col) is a shortcut for
+cvGetCols(arr, submat, col, col+1).
+@param arr Input array
+@param submat Pointer to the resulting sub-array header
+@param start_col Zero-based index of the starting column (inclusive) of the span
+@param end_col Zero-based index of the ending column (exclusive) of the span
+ */
+CVAPI(CvMat*) cvGetCols( const CvArr* arr, CvMat* submat,
+                        int start_col, int end_col );
+
+/** @overload
+@param arr Input array
+@param submat Pointer to the resulting sub-array header
+@param col Zero-based index of the selected column
+*/
+CV_INLINE  CvMat*  cvGetCol( const CvArr* arr, CvMat* submat, int col )
+{
+    return cvGetCols( arr, submat, col, col + 1 );
+}
+
+/** @brief Returns one of array diagonals.
+
+The function returns the header, corresponding to a specified diagonal of the input array.
+@param arr Input array
+@param submat Pointer to the resulting sub-array header
+@param diag Index of the array diagonal. Zero value corresponds to the main diagonal, -1
+corresponds to the diagonal above the main, 1 corresponds to the diagonal below the main, and so
+forth.
+ */
+CVAPI(CvMat*) cvGetDiag( const CvArr* arr, CvMat* submat,
+                            int diag CV_DEFAULT(0));
+
+/** low-level scalar <-> raw data conversion functions */
+CVAPI(void) cvScalarToRawData( const CvScalar* scalar, void* data, int type,
+                              int extend_to_12 CV_DEFAULT(0) );
+
+CVAPI(void) cvRawDataToScalar( const void* data, int type, CvScalar* scalar );
+
+/** @brief Creates a new matrix header but does not allocate the matrix data.
+
+The function allocates a header for a multi-dimensional dense array. The array data can further be
+allocated using cvCreateData or set explicitly to user-allocated data via cvSetData.
+@param dims Number of array dimensions
+@param sizes Array of dimension sizes
+@param type Type of array elements, see cvCreateMat
+ */
+CVAPI(CvMatND*)  cvCreateMatNDHeader( int dims, const int* sizes, int type );
+
+/** @brief Creates the header and allocates the data for a multi-dimensional dense array.
+
+This function call is equivalent to the following code:
+@code
+    CvMatND* mat = cvCreateMatNDHeader(dims, sizes, type);
+    cvCreateData(mat);
+@endcode
+@param dims Number of array dimensions. This must not exceed CV_MAX_DIM (32 by default, but can be
+changed at build time).
+@param sizes Array of dimension sizes.
+@param type Type of array elements, see cvCreateMat .
+ */
+CVAPI(CvMatND*)  cvCreateMatND( int dims, const int* sizes, int type );
+
+/** @brief Initializes a pre-allocated multi-dimensional array header.
+
+@param mat A pointer to the array header to be initialized
+@param dims The number of array dimensions
+@param sizes An array of dimension sizes
+@param type Type of array elements, see cvCreateMat
+@param data Optional data pointer assigned to the matrix header
+ */
+CVAPI(CvMatND*)  cvInitMatNDHeader( CvMatND* mat, int dims, const int* sizes,
+                                    int type, void* data CV_DEFAULT(NULL) );
+
+/** @brief Deallocates a multi-dimensional array.
+
+The function decrements the array data reference counter and releases the array header. If the
+reference counter reaches 0, it also deallocates the data. :
+@code
+    if(*mat )
+        cvDecRefData(*mat);
+    cvFree((void**)mat);
+@endcode
+@param mat Double pointer to the array
+ */
+CV_INLINE  void  cvReleaseMatND( CvMatND** mat )
+{
+    cvReleaseMat( (CvMat**)mat );
+}
+
+/** Creates a copy of CvMatND (except, may be, steps) */
+CVAPI(CvMatND*) cvCloneMatND( const CvMatND* mat );
+
+/** @brief Creates sparse array.
+
+The function allocates a multi-dimensional sparse array. Initially the array contain no elements,
+that is PtrND and other related functions will return 0 for every index.
+@param dims Number of array dimensions. In contrast to the dense matrix, the number of dimensions is
+practically unlimited (up to \f$2^{16}\f$ ).
+@param sizes Array of dimension sizes
+@param type Type of array elements. The same as for CvMat
+ */
+CVAPI(CvSparseMat*)  cvCreateSparseMat( int dims, const int* sizes, int type );
+
+/** @brief Deallocates sparse array.
+
+The function releases the sparse array and clears the array pointer upon exit.
+@param mat Double pointer to the array
+ */
+CVAPI(void)  cvReleaseSparseMat( CvSparseMat** mat );
+
+/** Creates a copy of CvSparseMat (except, may be, zero items) */
+CVAPI(CvSparseMat*) cvCloneSparseMat( const CvSparseMat* mat );
+
+/** @brief Initializes sparse array elements iterator.
+
+The function initializes iterator of sparse array elements and returns pointer to the first element,
+or NULL if the array is empty.
+@param mat Input array
+@param mat_iterator Initialized iterator
+ */
+CVAPI(CvSparseNode*) cvInitSparseMatIterator( const CvSparseMat* mat,
+                                              CvSparseMatIterator* mat_iterator );
+
+/** @brief Returns the next sparse matrix element
+
+The function moves iterator to the next sparse matrix element and returns pointer to it. In the
+current version there is no any particular order of the elements, because they are stored in the
+hash table. The sample below demonstrates how to iterate through the sparse matrix:
+@code
+    // print all the non-zero sparse matrix elements and compute their sum
+    double sum = 0;
+    int i, dims = cvGetDims(sparsemat);
+    CvSparseMatIterator it;
+    CvSparseNode* node = cvInitSparseMatIterator(sparsemat, &it);
+
+    for(; node != 0; node = cvGetNextSparseNode(&it))
+    {
+        int* idx = CV_NODE_IDX(array, node);
+        float val = *(float*)CV_NODE_VAL(array, node);
+        printf("M");
+        for(i = 0; i < dims; i++ )
+            printf("[%d]", idx[i]);
+        printf("=%g\n", val);
+
+        sum += val;
+    }
+
+    printf("nTotal sum = %g\n", sum);
+@endcode
+@param mat_iterator Sparse array iterator
+ */
+CV_INLINE CvSparseNode* cvGetNextSparseNode( CvSparseMatIterator* mat_iterator )
+{
+    if( mat_iterator->node->next )
+        return mat_iterator->node = mat_iterator->node->next;
+    else
+    {
+        int idx;
+        for( idx = ++mat_iterator->curidx; idx < mat_iterator->mat->hashsize; idx++ )
+        {
+            CvSparseNode* node = (CvSparseNode*)mat_iterator->mat->hashtable[idx];
+            if( node )
+            {
+                mat_iterator->curidx = idx;
+                return mat_iterator->node = node;
+            }
+        }
+        return NULL;
+    }
+}
+
+
+#define CV_MAX_ARR 10
+
+/** matrix iterator: used for n-ary operations on dense arrays */
+typedef struct CvNArrayIterator
+{
+    int count; /**< number of arrays */
+    int dims; /**< number of dimensions to iterate */
+    CvSize size; /**< maximal common linear size: { width = size, height = 1 } */
+    uchar* ptr[CV_MAX_ARR]; /**< pointers to the array slices */
+    int stack[CV_MAX_DIM]; /**< for internal use */
+    CvMatND* hdr[CV_MAX_ARR]; /**< pointers to the headers of the
+                                 matrices that are processed */
+}
+CvNArrayIterator;
+
+#define CV_NO_DEPTH_CHECK     1
+#define CV_NO_CN_CHECK        2
+#define CV_NO_SIZE_CHECK      4
+
+/** initializes iterator that traverses through several arrays simulteneously
+   (the function together with cvNextArraySlice is used for
+    N-ari element-wise operations) */
+CVAPI(int) cvInitNArrayIterator( int count, CvArr** arrs,
+                                 const CvArr* mask, CvMatND* stubs,
+                                 CvNArrayIterator* array_iterator,
+                                 int flags CV_DEFAULT(0) );
+
+/** returns zero value if iteration is finished, non-zero (slice length) otherwise */
+CVAPI(int) cvNextNArraySlice( CvNArrayIterator* array_iterator );
+
+
+/** @brief Returns type of array elements.
+
+The function returns type of the array elements. In the case of IplImage the type is converted to
+CvMat-like representation. For example, if the image has been created as:
+@code
+    IplImage* img = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
+@endcode
+The code cvGetElemType(img) will return CV_8UC3.
+@param arr Input array
+ */
+CVAPI(int) cvGetElemType( const CvArr* arr );
+
+/** @brief Return number of array dimensions
+
+The function returns the array dimensionality and the array of dimension sizes. In the case of
+IplImage or CvMat it always returns 2 regardless of number of image/matrix rows. For example, the
+following code calculates total number of array elements:
+@code
+    int sizes[CV_MAX_DIM];
+    int i, total = 1;
+    int dims = cvGetDims(arr, size);
+    for(i = 0; i < dims; i++ )
+        total *= sizes[i];
+@endcode
+@param arr Input array
+@param sizes Optional output vector of the array dimension sizes. For 2d arrays the number of rows
+(height) goes first, number of columns (width) next.
+ */
+CVAPI(int) cvGetDims( const CvArr* arr, int* sizes CV_DEFAULT(NULL) );
+
+
+/** @brief Returns array size along the specified dimension.
+
+@param arr Input array
+@param index Zero-based dimension index (for matrices 0 means number of rows, 1 means number of
+columns; for images 0 means height, 1 means width)
+ */
+CVAPI(int) cvGetDimSize( const CvArr* arr, int index );
+
+
+/** @brief Return pointer to a particular array element.
+
+The functions return a pointer to a specific array element. Number of array dimension should match
+to the number of indices passed to the function except for cvPtr1D function that can be used for
+sequential access to 1D, 2D or nD dense arrays.
+
+The functions can be used for sparse arrays as well - if the requested node does not exist they
+create it and set it to zero.
+
+All these as well as other functions accessing array elements ( cvGetND , cvGetRealND , cvSet
+, cvSetND , cvSetRealND ) raise an error in case if the element index is out of range.
+@param arr Input array
+@param idx0 The first zero-based component of the element index
+@param type Optional output parameter: type of matrix elements
+ */
+CVAPI(uchar*) cvPtr1D( const CvArr* arr, int idx0, int* type CV_DEFAULT(NULL));
+/** @overload */
+CVAPI(uchar*) cvPtr2D( const CvArr* arr, int idx0, int idx1, int* type CV_DEFAULT(NULL) );
+/** @overload */
+CVAPI(uchar*) cvPtr3D( const CvArr* arr, int idx0, int idx1, int idx2,
+                      int* type CV_DEFAULT(NULL));
+/** @overload
+@param arr Input array
+@param idx Array of the element indices
+@param type Optional output parameter: type of matrix elements
+@param create_node Optional input parameter for sparse matrices. Non-zero value of the parameter
+means that the requested element is created if it does not exist already.
+@param precalc_hashval Optional input parameter for sparse matrices. If the pointer is not NULL,
+the function does not recalculate the node hash value, but takes it from the specified location.
+It is useful for speeding up pair-wise operations (TODO: provide an example)
+*/
+CVAPI(uchar*) cvPtrND( const CvArr* arr, const int* idx, int* type CV_DEFAULT(NULL),
+                      int create_node CV_DEFAULT(1),
+                      unsigned* precalc_hashval CV_DEFAULT(NULL));
+
+/** @brief Return a specific array element.
+
+The functions return a specific array element. In the case of a sparse array the functions return 0
+if the requested node does not exist (no new node is created by the functions).
+@param arr Input array
+@param idx0 The first zero-based component of the element index
+ */
+CVAPI(CvScalar) cvGet1D( const CvArr* arr, int idx0 );
+/** @overload */
+CVAPI(CvScalar) cvGet2D( const CvArr* arr, int idx0, int idx1 );
+/** @overload */
+CVAPI(CvScalar) cvGet3D( const CvArr* arr, int idx0, int idx1, int idx2 );
+/** @overload
+@param arr Input array
+@param idx Array of the element indices
+*/
+CVAPI(CvScalar) cvGetND( const CvArr* arr, const int* idx );
+
+/** @brief Return a specific element of single-channel 1D, 2D, 3D or nD array.
+
+Returns a specific element of a single-channel array. If the array has multiple channels, a runtime
+error is raised. Note that Get?D functions can be used safely for both single-channel and
+multiple-channel arrays though they are a bit slower.
+
+In the case of a sparse array the functions return 0 if the requested node does not exist (no new
+node is created by the functions).
+@param arr Input array. Must have a single channel.
+@param idx0 The first zero-based component of the element index
+ */
+CVAPI(double) cvGetReal1D( const CvArr* arr, int idx0 );
+/** @overload */
+CVAPI(double) cvGetReal2D( const CvArr* arr, int idx0, int idx1 );
+/** @overload */
+CVAPI(double) cvGetReal3D( const CvArr* arr, int idx0, int idx1, int idx2 );
+/** @overload
+@param arr Input array. Must have a single channel.
+@param idx Array of the element indices
+*/
+CVAPI(double) cvGetRealND( const CvArr* arr, const int* idx );
+
+/** @brief Change the particular array element.
+
+The functions assign the new value to a particular array element. In the case of a sparse array the
+functions create the node if it does not exist yet.
+@param arr Input array
+@param idx0 The first zero-based component of the element index
+@param value The assigned value
+ */
+CVAPI(void) cvSet1D( CvArr* arr, int idx0, CvScalar value );
+/** @overload */
+CVAPI(void) cvSet2D( CvArr* arr, int idx0, int idx1, CvScalar value );
+/** @overload */
+CVAPI(void) cvSet3D( CvArr* arr, int idx0, int idx1, int idx2, CvScalar value );
+/** @overload
+@param arr Input array
+@param idx Array of the element indices
+@param value The assigned value
+*/
+CVAPI(void) cvSetND( CvArr* arr, const int* idx, CvScalar value );
+
+/** @brief Change a specific array element.
+
+The functions assign a new value to a specific element of a single-channel array. If the array has
+multiple channels, a runtime error is raised. Note that the Set\*D function can be used safely for
+both single-channel and multiple-channel arrays, though they are a bit slower.
+
+In the case of a sparse array the functions create the node if it does not yet exist.
+@param arr Input array
+@param idx0 The first zero-based component of the element index
+@param value The assigned value
+ */
+CVAPI(void) cvSetReal1D( CvArr* arr, int idx0, double value );
+/** @overload */
+CVAPI(void) cvSetReal2D( CvArr* arr, int idx0, int idx1, double value );
+/** @overload */
+CVAPI(void) cvSetReal3D( CvArr* arr, int idx0,
+                        int idx1, int idx2, double value );
+/** @overload
+@param arr Input array
+@param idx Array of the element indices
+@param value The assigned value
+*/
+CVAPI(void) cvSetRealND( CvArr* arr, const int* idx, double value );
+
+/** clears element of ND dense array,
+   in case of sparse arrays it deletes the specified node */
+CVAPI(void) cvClearND( CvArr* arr, const int* idx );
+
+/** @brief Returns matrix header for arbitrary array.
+
+The function returns a matrix header for the input array that can be a matrix - CvMat, an image -
+IplImage, or a multi-dimensional dense array - CvMatND (the third option is allowed only if
+allowND != 0) . In the case of matrix the function simply returns the input pointer. In the case of
+IplImage\* or CvMatND it initializes the header structure with parameters of the current image ROI
+and returns &header. Because COI is not supported by CvMat, it is returned separately.
+
+The function provides an easy way to handle both types of arrays - IplImage and CvMat using the same
+code. Input array must have non-zero data pointer, otherwise the function will report an error.
+
+@note If the input array is IplImage with planar data layout and COI set, the function returns the
+pointer to the selected plane and COI == 0. This feature allows user to process IplImage structures
+with planar data layout, even though OpenCV does not support such images.
+@param arr Input array
+@param header Pointer to CvMat structure used as a temporary buffer
+@param coi Optional output parameter for storing COI
+@param allowND If non-zero, the function accepts multi-dimensional dense arrays (CvMatND\*) and
+returns 2D matrix (if CvMatND has two dimensions) or 1D matrix (when CvMatND has 1 dimension or
+more than 2 dimensions). The CvMatND array must be continuous.
+@sa cvGetImage, cvarrToMat.
+ */
+CVAPI(CvMat*) cvGetMat( const CvArr* arr, CvMat* header,
+                       int* coi CV_DEFAULT(NULL),
+                       int allowND CV_DEFAULT(0));
+
+/** @brief Returns image header for arbitrary array.
+
+The function returns the image header for the input array that can be a matrix (CvMat) or image
+(IplImage). In the case of an image the function simply returns the input pointer. In the case of
+CvMat it initializes an image_header structure with the parameters of the input matrix. Note that
+if we transform IplImage to CvMat using cvGetMat and then transform CvMat back to IplImage using
+this function, we will get different headers if the ROI is set in the original image.
+@param arr Input array
+@param image_header Pointer to IplImage structure used as a temporary buffer
+ */
+CVAPI(IplImage*) cvGetImage( const CvArr* arr, IplImage* image_header );
+
+
+/** @brief Changes the shape of a multi-dimensional array without copying the data.
+
+The function is an advanced version of cvReshape that can work with multi-dimensional arrays as
+well (though it can work with ordinary images and matrices) and change the number of dimensions.
+
+Below are the two samples from the cvReshape description rewritten using cvReshapeMatND:
+@code
+    IplImage* color_img = cvCreateImage(cvSize(320,240), IPL_DEPTH_8U, 3);
+    IplImage gray_img_hdr, *gray_img;
+    gray_img = (IplImage*)cvReshapeMatND(color_img, sizeof(gray_img_hdr), &gray_img_hdr, 1, 0, 0);
+    ...
+    int size[] = { 2, 2, 2 };
+    CvMatND* mat = cvCreateMatND(3, size, CV_32F);
+    CvMat row_header, *row;
+    row = (CvMat*)cvReshapeMatND(mat, sizeof(row_header), &row_header, 0, 1, 0);
+@endcode
+In C, the header file for this function includes a convenient macro cvReshapeND that does away with
+the sizeof_header parameter. So, the lines containing the call to cvReshapeMatND in the examples
+may be replaced as follow:
+@code
+    gray_img = (IplImage*)cvReshapeND(color_img, &gray_img_hdr, 1, 0, 0);
+    ...
+    row = (CvMat*)cvReshapeND(mat, &row_header, 0, 1, 0);
+@endcode
+@param arr Input array
+@param sizeof_header Size of output header to distinguish between IplImage, CvMat and CvMatND
+output headers
+@param header Output header to be filled
+@param new_cn New number of channels. new_cn = 0 means that the number of channels remains
+unchanged.
+@param new_dims New number of dimensions. new_dims = 0 means that the number of dimensions
+remains the same.
+@param new_sizes Array of new dimension sizes. Only new_dims-1 values are used, because the
+total number of elements must remain the same. Thus, if new_dims = 1, new_sizes array is not
+used.
+ */
+CVAPI(CvArr*) cvReshapeMatND( const CvArr* arr,
+                             int sizeof_header, CvArr* header,
+                             int new_cn, int new_dims, int* new_sizes );
+
+#define cvReshapeND( arr, header, new_cn, new_dims, new_sizes )   \
+      cvReshapeMatND( (arr), sizeof(*(header)), (header),         \
+                      (new_cn), (new_dims), (new_sizes))
+
+/** @brief Changes shape of matrix/image without copying data.
+
+The function initializes the CvMat header so that it points to the same data as the original array
+but has a different shape - different number of channels, different number of rows, or both.
+
+The following example code creates one image buffer and two image headers, the first is for a
+320x240x3 image and the second is for a 960x240x1 image:
+@code
+    IplImage* color_img = cvCreateImage(cvSize(320,240), IPL_DEPTH_8U, 3);
+    CvMat gray_mat_hdr;
+    IplImage gray_img_hdr, *gray_img;
+    cvReshape(color_img, &gray_mat_hdr, 1);
+    gray_img = cvGetImage(&gray_mat_hdr, &gray_img_hdr);
+@endcode
+And the next example converts a 3x3 matrix to a single 1x9 vector:
+@code
+    CvMat* mat = cvCreateMat(3, 3, CV_32F);
+    CvMat row_header, *row;
+    row = cvReshape(mat, &row_header, 0, 1);
+@endcode
+@param arr Input array
+@param header Output header to be filled
+@param new_cn New number of channels. 'new_cn = 0' means that the number of channels remains
+unchanged.
+@param new_rows New number of rows. 'new_rows = 0' means that the number of rows remains
+unchanged unless it needs to be changed according to new_cn value.
+*/
+CVAPI(CvMat*) cvReshape( const CvArr* arr, CvMat* header,
+                        int new_cn, int new_rows CV_DEFAULT(0) );
+
+/** Repeats source 2d array several times in both horizontal and
+   vertical direction to fill destination array */
+CVAPI(void) cvRepeat( const CvArr* src, CvArr* dst );
+
+/** @brief Allocates array data
+
+The function allocates image, matrix or multi-dimensional dense array data. Note that in the case of
+matrix types OpenCV allocation functions are used. In the case of IplImage they are used unless
+CV_TURN_ON_IPL_COMPATIBILITY() has been called before. In the latter case IPL functions are used
+to allocate the data.
+@param arr Array header
+ */
+CVAPI(void)  cvCreateData( CvArr* arr );
+
+/** @brief Releases array data.
+
+The function releases the array data. In the case of CvMat or CvMatND it simply calls
+cvDecRefData(), that is the function can not deallocate external data. See also the note to
+cvCreateData .
+@param arr Array header
+ */
+CVAPI(void)  cvReleaseData( CvArr* arr );
+
+/** @brief Assigns user data to the array header.
+
+The function assigns user data to the array header. Header should be initialized before using
+cvCreateMatHeader, cvCreateImageHeader, cvCreateMatNDHeader, cvInitMatHeader,
+cvInitImageHeader or cvInitMatNDHeader.
+@param arr Array header
+@param data User data
+@param step Full row length in bytes
+ */
+CVAPI(void)  cvSetData( CvArr* arr, void* data, int step );
+
+/** @brief Retrieves low-level information about the array.
+
+The function fills output variables with low-level information about the array data. All output
+
+parameters are optional, so some of the pointers may be set to NULL. If the array is IplImage with
+ROI set, the parameters of ROI are returned.
+
+The following example shows how to get access to array elements. It computes absolute values of the
+array elements :
+@code
+    float* data;
+    int step;
+    CvSize size;
+
+    cvGetRawData(array, (uchar**)&data, &step, &size);
+    step /= sizeof(data[0]);
+
+    for(int y = 0; y < size.height; y++, data += step )
+        for(int x = 0; x < size.width; x++ )
+            data[x] = (float)fabs(data[x]);
+@endcode
+@param arr Array header
+@param data Output pointer to the whole image origin or ROI origin if ROI is set
+@param step Output full row length in bytes
+@param roi_size Output ROI size
+ */
+CVAPI(void) cvGetRawData( const CvArr* arr, uchar** data,
+                         int* step CV_DEFAULT(NULL),
+                         CvSize* roi_size CV_DEFAULT(NULL));
+
+/** @brief Returns size of matrix or image ROI.
+
+The function returns number of rows (CvSize::height) and number of columns (CvSize::width) of the
+input matrix or image. In the case of image the size of ROI is returned.
+@param arr array header
+ */
+CVAPI(CvSize) cvGetSize( const CvArr* arr );
+
+/** @brief Copies one array to another.
+
+The function copies selected elements from an input array to an output array:
+
+\f[\texttt{dst} (I)= \texttt{src} (I)  \quad \text{if} \quad \texttt{mask} (I)  \ne 0.\f]
+
+If any of the passed arrays is of IplImage type, then its ROI and COI fields are used. Both arrays
+must have the same type, the same number of dimensions, and the same size. The function can also
+copy sparse arrays (mask is not supported in this case).
+@param src The source array
+@param dst The destination array
+@param mask Operation mask, 8-bit single channel array; specifies elements of the destination array
+to be changed
+ */
+CVAPI(void)  cvCopy( const CvArr* src, CvArr* dst,
+                     const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @brief Sets every element of an array to a given value.
+
+The function copies the scalar value to every selected element of the destination array:
+\f[\texttt{arr} (I)= \texttt{value} \quad \text{if} \quad \texttt{mask} (I)  \ne 0\f]
+If array arr is of IplImage type, then is ROI used, but COI must not be set.
+@param arr The destination array
+@param value Fill value
+@param mask Operation mask, 8-bit single channel array; specifies elements of the destination
+array to be changed
+ */
+CVAPI(void)  cvSet( CvArr* arr, CvScalar value,
+                    const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @brief Clears the array.
+
+The function clears the array. In the case of dense arrays (CvMat, CvMatND or IplImage),
+cvZero(array) is equivalent to cvSet(array,cvScalarAll(0),0). In the case of sparse arrays all the
+elements are removed.
+@param arr Array to be cleared
+ */
+CVAPI(void)  cvSetZero( CvArr* arr );
+#define cvZero  cvSetZero
+
+
+/** Splits a multi-channel array into the set of single-channel arrays or
+   extracts particular [color] plane */
+CVAPI(void)  cvSplit( const CvArr* src, CvArr* dst0, CvArr* dst1,
+                      CvArr* dst2, CvArr* dst3 );
+
+/** Merges a set of single-channel arrays into the single multi-channel array
+   or inserts one particular [color] plane to the array */
+CVAPI(void)  cvMerge( const CvArr* src0, const CvArr* src1,
+                      const CvArr* src2, const CvArr* src3,
+                      CvArr* dst );
+
+/** Copies several channels from input arrays to
+   certain channels of output arrays */
+CVAPI(void)  cvMixChannels( const CvArr** src, int src_count,
+                            CvArr** dst, int dst_count,
+                            const int* from_to, int pair_count );
+
+/** @brief Converts one array to another with optional linear transformation.
+
+The function has several different purposes, and thus has several different names. It copies one
+array to another with optional scaling, which is performed first, and/or optional type conversion,
+performed after:
+
+\f[\texttt{dst} (I) =  \texttt{scale} \texttt{src} (I) + ( \texttt{shift} _0, \texttt{shift} _1,...)\f]
+
+All the channels of multi-channel arrays are processed independently.
+
+The type of conversion is done with rounding and saturation, that is if the result of scaling +
+conversion can not be represented exactly by a value of the destination array element type, it is
+set to the nearest representable value on the real axis.
+@param src Source array
+@param dst Destination array
+@param scale Scale factor
+@param shift Value added to the scaled source array elements
+ */
+CVAPI(void)  cvConvertScale( const CvArr* src, CvArr* dst,
+                             double scale CV_DEFAULT(1),
+                             double shift CV_DEFAULT(0) );
+#define cvCvtScale cvConvertScale
+#define cvScale  cvConvertScale
+#define cvConvert( src, dst )  cvConvertScale( (src), (dst), 1, 0 )
+
+
+/** Performs linear transformation on every source array element,
+   stores absolute value of the result:
+   dst(x,y,c) = abs(scale*src(x,y,c)+shift).
+   destination array must have 8u type.
+   In other cases one may use cvConvertScale + cvAbsDiffS */
+CVAPI(void)  cvConvertScaleAbs( const CvArr* src, CvArr* dst,
+                                double scale CV_DEFAULT(1),
+                                double shift CV_DEFAULT(0) );
+#define cvCvtScaleAbs  cvConvertScaleAbs
+
+
+/** checks termination criteria validity and
+   sets eps to default_eps (if it is not set),
+   max_iter to default_max_iters (if it is not set)
+*/
+CVAPI(CvTermCriteria) cvCheckTermCriteria( CvTermCriteria criteria,
+                                           double default_eps,
+                                           int default_max_iters );
+
+/****************************************************************************************\
+*                   Arithmetic, logic and comparison operations                          *
+\****************************************************************************************/
+
+/** dst(mask) = src1(mask) + src2(mask) */
+CVAPI(void)  cvAdd( const CvArr* src1, const CvArr* src2, CvArr* dst,
+                    const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(mask) = src(mask) + value */
+CVAPI(void)  cvAddS( const CvArr* src, CvScalar value, CvArr* dst,
+                     const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(mask) = src1(mask) - src2(mask) */
+CVAPI(void)  cvSub( const CvArr* src1, const CvArr* src2, CvArr* dst,
+                    const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(mask) = src(mask) - value = src(mask) + (-value) */
+CV_INLINE  void  cvSubS( const CvArr* src, CvScalar value, CvArr* dst,
+                         const CvArr* mask CV_DEFAULT(NULL))
+{
+    cvAddS( src, cvScalar( -value.val[0], -value.val[1], -value.val[2], -value.val[3]),
+            dst, mask );
+}
+
+/** dst(mask) = value - src(mask) */
+CVAPI(void)  cvSubRS( const CvArr* src, CvScalar value, CvArr* dst,
+                      const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src1(idx) * src2(idx) * scale
+   (scaled element-wise multiplication of 2 arrays) */
+CVAPI(void)  cvMul( const CvArr* src1, const CvArr* src2,
+                    CvArr* dst, double scale CV_DEFAULT(1) );
+
+/** element-wise division/inversion with scaling:
+    dst(idx) = src1(idx) * scale / src2(idx)
+    or dst(idx) = scale / src2(idx) if src1 == 0 */
+CVAPI(void)  cvDiv( const CvArr* src1, const CvArr* src2,
+                    CvArr* dst, double scale CV_DEFAULT(1));
+
+/** dst = src1 * scale + src2 */
+CVAPI(void)  cvScaleAdd( const CvArr* src1, CvScalar scale,
+                         const CvArr* src2, CvArr* dst );
+#define cvAXPY( A, real_scalar, B, C ) cvScaleAdd(A, cvRealScalar(real_scalar), B, C)
+
+/** dst = src1 * alpha + src2 * beta + gamma */
+CVAPI(void)  cvAddWeighted( const CvArr* src1, double alpha,
+                            const CvArr* src2, double beta,
+                            double gamma, CvArr* dst );
+
+/** @brief Calculates the dot product of two arrays in Euclidean metrics.
+
+The function calculates and returns the Euclidean dot product of two arrays.
+
+\f[src1  \bullet src2 =  \sum _I ( \texttt{src1} (I)  \texttt{src2} (I))\f]
+
+In the case of multiple channel arrays, the results for all channels are accumulated. In particular,
+cvDotProduct(a,a) where a is a complex vector, will return \f$||\texttt{a}||^2\f$. The function can
+process multi-dimensional arrays, row by row, layer by layer, and so on.
+@param src1 The first source array
+@param src2 The second source array
+ */
+CVAPI(double)  cvDotProduct( const CvArr* src1, const CvArr* src2 );
+
+/** dst(idx) = src1(idx) & src2(idx) */
+CVAPI(void) cvAnd( const CvArr* src1, const CvArr* src2,
+                  CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src(idx) & value */
+CVAPI(void) cvAndS( const CvArr* src, CvScalar value,
+                   CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src1(idx) | src2(idx) */
+CVAPI(void) cvOr( const CvArr* src1, const CvArr* src2,
+                 CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src(idx) | value */
+CVAPI(void) cvOrS( const CvArr* src, CvScalar value,
+                  CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src1(idx) ^ src2(idx) */
+CVAPI(void) cvXor( const CvArr* src1, const CvArr* src2,
+                  CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = src(idx) ^ value */
+CVAPI(void) cvXorS( const CvArr* src, CvScalar value,
+                   CvArr* dst, const CvArr* mask CV_DEFAULT(NULL));
+
+/** dst(idx) = ~src(idx) */
+CVAPI(void) cvNot( const CvArr* src, CvArr* dst );
+
+/** dst(idx) = lower(idx) <= src(idx) < upper(idx) */
+CVAPI(void) cvInRange( const CvArr* src, const CvArr* lower,
+                      const CvArr* upper, CvArr* dst );
+
+/** dst(idx) = lower <= src(idx) < upper */
+CVAPI(void) cvInRangeS( const CvArr* src, CvScalar lower,
+                       CvScalar upper, CvArr* dst );
+
+#define CV_CMP_EQ   0
+#define CV_CMP_GT   1
+#define CV_CMP_GE   2
+#define CV_CMP_LT   3
+#define CV_CMP_LE   4
+#define CV_CMP_NE   5
+
+/** The comparison operation support single-channel arrays only.
+   Destination image should be 8uC1 or 8sC1 */
+
+/** dst(idx) = src1(idx) _cmp_op_ src2(idx) */
+CVAPI(void) cvCmp( const CvArr* src1, const CvArr* src2, CvArr* dst, int cmp_op );
+
+/** dst(idx) = src1(idx) _cmp_op_ value */
+CVAPI(void) cvCmpS( const CvArr* src, double value, CvArr* dst, int cmp_op );
+
+/** dst(idx) = min(src1(idx),src2(idx)) */
+CVAPI(void) cvMin( const CvArr* src1, const CvArr* src2, CvArr* dst );
+
+/** dst(idx) = max(src1(idx),src2(idx)) */
+CVAPI(void) cvMax( const CvArr* src1, const CvArr* src2, CvArr* dst );
+
+/** dst(idx) = min(src(idx),value) */
+CVAPI(void) cvMinS( const CvArr* src, double value, CvArr* dst );
+
+/** dst(idx) = max(src(idx),value) */
+CVAPI(void) cvMaxS( const CvArr* src, double value, CvArr* dst );
+
+/** dst(x,y,c) = abs(src1(x,y,c) - src2(x,y,c)) */
+CVAPI(void) cvAbsDiff( const CvArr* src1, const CvArr* src2, CvArr* dst );
+
+/** dst(x,y,c) = abs(src(x,y,c) - value(c)) */
+CVAPI(void) cvAbsDiffS( const CvArr* src, CvArr* dst, CvScalar value );
+#define cvAbs( src, dst ) cvAbsDiffS( (src), (dst), cvScalarAll(0))
+
+/****************************************************************************************\
+*                                Math operations                                         *
+\****************************************************************************************/
+
+/** Does cartesian->polar coordinates conversion.
+   Either of output components (magnitude or angle) is optional */
+CVAPI(void)  cvCartToPolar( const CvArr* x, const CvArr* y,
+                            CvArr* magnitude, CvArr* angle CV_DEFAULT(NULL),
+                            int angle_in_degrees CV_DEFAULT(0));
+
+/** Does polar->cartesian coordinates conversion.
+   Either of output components (magnitude or angle) is optional.
+   If magnitude is missing it is assumed to be all 1's */
+CVAPI(void)  cvPolarToCart( const CvArr* magnitude, const CvArr* angle,
+                            CvArr* x, CvArr* y,
+                            int angle_in_degrees CV_DEFAULT(0));
+
+/** Does powering: dst(idx) = src(idx)^power */
+CVAPI(void)  cvPow( const CvArr* src, CvArr* dst, double power );
+
+/** Does exponention: dst(idx) = exp(src(idx)).
+   Overflow is not handled yet. Underflow is handled.
+   Maximal relative error is ~7e-6 for single-precision input */
+CVAPI(void)  cvExp( const CvArr* src, CvArr* dst );
+
+/** Calculates natural logarithms: dst(idx) = log(abs(src(idx))).
+   Logarithm of 0 gives large negative number(~-700)
+   Maximal relative error is ~3e-7 for single-precision output
+*/
+CVAPI(void)  cvLog( const CvArr* src, CvArr* dst );
+
+/** Fast arctangent calculation */
+CVAPI(float) cvFastArctan( float y, float x );
+
+/** Fast cubic root calculation */
+CVAPI(float)  cvCbrt( float value );
+
+#define  CV_CHECK_RANGE    1
+#define  CV_CHECK_QUIET    2
+/** Checks array values for NaNs, Infs or simply for too large numbers
+   (if CV_CHECK_RANGE is set). If CV_CHECK_QUIET is set,
+   no runtime errors is raised (function returns zero value in case of "bad" values).
+   Otherwise cvError is called */
+CVAPI(int)  cvCheckArr( const CvArr* arr, int flags CV_DEFAULT(0),
+                        double min_val CV_DEFAULT(0), double max_val CV_DEFAULT(0));
+#define cvCheckArray cvCheckArr
+
+#define CV_RAND_UNI      0
+#define CV_RAND_NORMAL   1
+
+/** @brief Fills an array with random numbers and updates the RNG state.
+
+The function fills the destination array with uniformly or normally distributed random numbers.
+@param rng CvRNG state initialized by cvRNG
+@param arr The destination array
+@param dist_type Distribution type
+> -   **CV_RAND_UNI** uniform distribution
+> -   **CV_RAND_NORMAL** normal or Gaussian distribution
+@param param1 The first parameter of the distribution. In the case of a uniform distribution it is
+the inclusive lower boundary of the random numbers range. In the case of a normal distribution it
+is the mean value of the random numbers.
+@param param2 The second parameter of the distribution. In the case of a uniform distribution it
+is the exclusive upper boundary of the random numbers range. In the case of a normal distribution
+it is the standard deviation of the random numbers.
+@sa randu, randn, RNG::fill.
+ */
+CVAPI(void) cvRandArr( CvRNG* rng, CvArr* arr, int dist_type,
+                      CvScalar param1, CvScalar param2 );
+
+CVAPI(void) cvRandShuffle( CvArr* mat, CvRNG* rng,
+                           double iter_factor CV_DEFAULT(1.));
+
+#define CV_SORT_EVERY_ROW 0
+#define CV_SORT_EVERY_COLUMN 1
+#define CV_SORT_ASCENDING 0
+#define CV_SORT_DESCENDING 16
+
+CVAPI(void) cvSort( const CvArr* src, CvArr* dst CV_DEFAULT(NULL),
+                    CvArr* idxmat CV_DEFAULT(NULL),
+                    int flags CV_DEFAULT(0));
+
+/** Finds real roots of a cubic equation */
+CVAPI(int) cvSolveCubic( const CvMat* coeffs, CvMat* roots );
+
+/** Finds all real and complex roots of a polynomial equation */
+CVAPI(void) cvSolvePoly(const CvMat* coeffs, CvMat *roots2,
+      int maxiter CV_DEFAULT(20), int fig CV_DEFAULT(100));
+
+/****************************************************************************************\
+*                                Matrix operations                                       *
+\****************************************************************************************/
+
+/** @brief Calculates the cross product of two 3D vectors.
+
+The function calculates the cross product of two 3D vectors:
+\f[\texttt{dst} =  \texttt{src1} \times \texttt{src2}\f]
+or:
+\f[\begin{array}{l} \texttt{dst} _1 =  \texttt{src1} _2  \texttt{src2} _3 -  \texttt{src1} _3  \texttt{src2} _2 \\ \texttt{dst} _2 =  \texttt{src1} _3  \texttt{src2} _1 -  \texttt{src1} _1  \texttt{src2} _3 \\ \texttt{dst} _3 =  \texttt{src1} _1  \texttt{src2} _2 -  \texttt{src1} _2  \texttt{src2} _1 \end{array}\f]
+@param src1 The first source vector
+@param src2 The second source vector
+@param dst The destination vector
+ */
+CVAPI(void)  cvCrossProduct( const CvArr* src1, const CvArr* src2, CvArr* dst );
+
+/** Matrix transform: dst = A*B + C, C is optional */
+#define cvMatMulAdd( src1, src2, src3, dst ) cvGEMM( (src1), (src2), 1., (src3), 1., (dst), 0 )
+#define cvMatMul( src1, src2, dst )  cvMatMulAdd( (src1), (src2), NULL, (dst))
+
+#define CV_GEMM_A_T 1
+#define CV_GEMM_B_T 2
+#define CV_GEMM_C_T 4
+/** Extended matrix transform:
+   dst = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T */
+CVAPI(void)  cvGEMM( const CvArr* src1, const CvArr* src2, double alpha,
+                     const CvArr* src3, double beta, CvArr* dst,
+                     int tABC CV_DEFAULT(0));
+#define cvMatMulAddEx cvGEMM
+
+/** Transforms each element of source array and stores
+   resultant vectors in destination array */
+CVAPI(void)  cvTransform( const CvArr* src, CvArr* dst,
+                          const CvMat* transmat,
+                          const CvMat* shiftvec CV_DEFAULT(NULL));
+#define cvMatMulAddS cvTransform
+
+/** Does perspective transform on every element of input array */
+CVAPI(void)  cvPerspectiveTransform( const CvArr* src, CvArr* dst,
+                                     const CvMat* mat );
+
+/** Calculates (A-delta)*(A-delta)^T (order=0) or (A-delta)^T*(A-delta) (order=1) */
+CVAPI(void) cvMulTransposed( const CvArr* src, CvArr* dst, int order,
+                             const CvArr* delta CV_DEFAULT(NULL),
+                             double scale CV_DEFAULT(1.) );
+
+/** Tranposes matrix. Square matrices can be transposed in-place */
+CVAPI(void)  cvTranspose( const CvArr* src, CvArr* dst );
+#define cvT cvTranspose
+
+/** Completes the symmetric matrix from the lower (LtoR=0) or from the upper (LtoR!=0) part */
+CVAPI(void)  cvCompleteSymm( CvMat* matrix, int LtoR CV_DEFAULT(0) );
+
+/** Mirror array data around horizontal (flip=0),
+   vertical (flip=1) or both(flip=-1) axises:
+   cvFlip(src) flips images vertically and sequences horizontally (inplace) */
+CVAPI(void)  cvFlip( const CvArr* src, CvArr* dst CV_DEFAULT(NULL),
+                     int flip_mode CV_DEFAULT(0));
+#define cvMirror cvFlip
+
+
+#define CV_SVD_MODIFY_A   1
+#define CV_SVD_U_T        2
+#define CV_SVD_V_T        4
+
+/** Performs Singular Value Decomposition of a matrix */
+CVAPI(void)   cvSVD( CvArr* A, CvArr* W, CvArr* U CV_DEFAULT(NULL),
+                     CvArr* V CV_DEFAULT(NULL), int flags CV_DEFAULT(0));
+
+/** Performs Singular Value Back Substitution (solves A*X = B):
+   flags must be the same as in cvSVD */
+CVAPI(void)   cvSVBkSb( const CvArr* W, const CvArr* U,
+                        const CvArr* V, const CvArr* B,
+                        CvArr* X, int flags );
+
+#define CV_LU  0
+#define CV_SVD 1
+#define CV_SVD_SYM 2
+#define CV_CHOLESKY 3
+#define CV_QR  4
+#define CV_NORMAL 16
+
+/** Inverts matrix */
+CVAPI(double)  cvInvert( const CvArr* src, CvArr* dst,
+                         int method CV_DEFAULT(CV_LU));
+#define cvInv cvInvert
+
+/** Solves linear system (src1)*(dst) = (src2)
+   (returns 0 if src1 is a singular and CV_LU method is used) */
+CVAPI(int)  cvSolve( const CvArr* src1, const CvArr* src2, CvArr* dst,
+                     int method CV_DEFAULT(CV_LU));
+
+/** Calculates determinant of input matrix */
+CVAPI(double) cvDet( const CvArr* mat );
+
+/** Calculates trace of the matrix (sum of elements on the main diagonal) */
+CVAPI(CvScalar) cvTrace( const CvArr* mat );
+
+/** Finds eigen values and vectors of a symmetric matrix */
+CVAPI(void)  cvEigenVV( CvArr* mat, CvArr* evects, CvArr* evals,
+                        double eps CV_DEFAULT(0),
+                        int lowindex CV_DEFAULT(-1),
+                        int highindex CV_DEFAULT(-1));
+
+///* Finds selected eigen values and vectors of a symmetric matrix */
+//CVAPI(void)  cvSelectedEigenVV( CvArr* mat, CvArr* evects, CvArr* evals,
+//                                int lowindex, int highindex );
+
+/** Makes an identity matrix (mat_ij = i == j) */
+CVAPI(void)  cvSetIdentity( CvArr* mat, CvScalar value CV_DEFAULT(cvRealScalar(1)) );
+
+/** Fills matrix with given range of numbers */
+CVAPI(CvArr*)  cvRange( CvArr* mat, double start, double end );
+
+/**   @anchor core_c_CovarFlags
+@name Flags for cvCalcCovarMatrix
+@see cvCalcCovarMatrix
+  @{
+*/
+
+/** flag for cvCalcCovarMatrix, transpose([v1-avg, v2-avg,...]) * [v1-avg,v2-avg,...] */
+#define CV_COVAR_SCRAMBLED 0
+
+/** flag for cvCalcCovarMatrix, [v1-avg, v2-avg,...] * transpose([v1-avg,v2-avg,...]) */
+#define CV_COVAR_NORMAL    1
+
+/** flag for cvCalcCovarMatrix, do not calc average (i.e. mean vector) - use the input vector instead
+   (useful for calculating covariance matrix by parts) */
+#define CV_COVAR_USE_AVG   2
+
+/** flag for cvCalcCovarMatrix, scale the covariance matrix coefficients by number of the vectors */
+#define CV_COVAR_SCALE     4
+
+/** flag for cvCalcCovarMatrix, all the input vectors are stored in a single matrix, as its rows */
+#define CV_COVAR_ROWS      8
+
+/** flag for cvCalcCovarMatrix, all the input vectors are stored in a single matrix, as its columns */
+#define CV_COVAR_COLS     16
+
+/** @} */
+
+/** Calculates covariation matrix for a set of vectors
+@see @ref core_c_CovarFlags "flags"
+*/
+CVAPI(void)  cvCalcCovarMatrix( const CvArr** vects, int count,
+                                CvArr* cov_mat, CvArr* avg, int flags );
+
+#define CV_PCA_DATA_AS_ROW 0
+#define CV_PCA_DATA_AS_COL 1
+#define CV_PCA_USE_AVG 2
+CVAPI(void)  cvCalcPCA( const CvArr* data, CvArr* mean,
+                        CvArr* eigenvals, CvArr* eigenvects, int flags );
+
+CVAPI(void)  cvProjectPCA( const CvArr* data, const CvArr* mean,
+                           const CvArr* eigenvects, CvArr* result );
+
+CVAPI(void)  cvBackProjectPCA( const CvArr* proj, const CvArr* mean,
+                               const CvArr* eigenvects, CvArr* result );
+
+/** Calculates Mahalanobis(weighted) distance */
+CVAPI(double)  cvMahalanobis( const CvArr* vec1, const CvArr* vec2, const CvArr* mat );
+#define cvMahalonobis  cvMahalanobis
+
+/****************************************************************************************\
+*                                    Array Statistics                                    *
+\****************************************************************************************/
+
+/** Finds sum of array elements */
+CVAPI(CvScalar)  cvSum( const CvArr* arr );
+
+/** Calculates number of non-zero pixels */
+CVAPI(int)  cvCountNonZero( const CvArr* arr );
+
+/** Calculates mean value of array elements */
+CVAPI(CvScalar)  cvAvg( const CvArr* arr, const CvArr* mask CV_DEFAULT(NULL) );
+
+/** Calculates mean and standard deviation of pixel values */
+CVAPI(void)  cvAvgSdv( const CvArr* arr, CvScalar* mean, CvScalar* std_dev,
+                       const CvArr* mask CV_DEFAULT(NULL) );
+
+/** Finds global minimum, maximum and their positions */
+CVAPI(void)  cvMinMaxLoc( const CvArr* arr, double* min_val, double* max_val,
+                          CvPoint* min_loc CV_DEFAULT(NULL),
+                          CvPoint* max_loc CV_DEFAULT(NULL),
+                          const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @anchor core_c_NormFlags
+  @name Flags for cvNorm and cvNormalize
+  @{
+*/
+#define CV_C            1
+#define CV_L1           2
+#define CV_L2           4
+#define CV_NORM_MASK    7
+#define CV_RELATIVE     8
+#define CV_DIFF         16
+#define CV_MINMAX       32
+
+#define CV_DIFF_C       (CV_DIFF | CV_C)
+#define CV_DIFF_L1      (CV_DIFF | CV_L1)
+#define CV_DIFF_L2      (CV_DIFF | CV_L2)
+#define CV_RELATIVE_C   (CV_RELATIVE | CV_C)
+#define CV_RELATIVE_L1  (CV_RELATIVE | CV_L1)
+#define CV_RELATIVE_L2  (CV_RELATIVE | CV_L2)
+/** @} */
+
+/** Finds norm, difference norm or relative difference norm for an array (or two arrays)
+@see ref core_c_NormFlags "flags"
+*/
+CVAPI(double)  cvNorm( const CvArr* arr1, const CvArr* arr2 CV_DEFAULT(NULL),
+                       int norm_type CV_DEFAULT(CV_L2),
+                       const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @see ref core_c_NormFlags "flags" */
+CVAPI(void)  cvNormalize( const CvArr* src, CvArr* dst,
+                          double a CV_DEFAULT(1.), double b CV_DEFAULT(0.),
+                          int norm_type CV_DEFAULT(CV_L2),
+                          const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @anchor core_c_ReduceFlags
+  @name Flags for cvReduce
+  @{
+*/
+#define CV_REDUCE_SUM 0
+#define CV_REDUCE_AVG 1
+#define CV_REDUCE_MAX 2
+#define CV_REDUCE_MIN 3
+/** @} */
+
+/** @see @ref core_c_ReduceFlags "flags" */
+CVAPI(void)  cvReduce( const CvArr* src, CvArr* dst, int dim CV_DEFAULT(-1),
+                       int op CV_DEFAULT(CV_REDUCE_SUM) );
+
+/****************************************************************************************\
+*                      Discrete Linear Transforms and Related Functions                  *
+\****************************************************************************************/
+
+/** @anchor core_c_DftFlags
+  @name Flags for cvDFT, cvDCT and cvMulSpectrums
+  @{
+  */
+#define CV_DXT_FORWARD  0
+#define CV_DXT_INVERSE  1
+#define CV_DXT_SCALE    2 /**< divide result by size of array */
+#define CV_DXT_INV_SCALE (CV_DXT_INVERSE + CV_DXT_SCALE)
+#define CV_DXT_INVERSE_SCALE CV_DXT_INV_SCALE
+#define CV_DXT_ROWS     4 /**< transform each row individually */
+#define CV_DXT_MUL_CONJ 8 /**< conjugate the second argument of cvMulSpectrums */
+/** @} */
+
+/** Discrete Fourier Transform:
+    complex->complex,
+    real->ccs (forward),
+    ccs->real (inverse)
+@see core_c_DftFlags "flags"
+*/
+CVAPI(void)  cvDFT( const CvArr* src, CvArr* dst, int flags,
+                    int nonzero_rows CV_DEFAULT(0) );
+#define cvFFT cvDFT
+
+/** Multiply results of DFTs: DFT(X)*DFT(Y) or DFT(X)*conj(DFT(Y))
+@see core_c_DftFlags "flags"
+*/
+CVAPI(void)  cvMulSpectrums( const CvArr* src1, const CvArr* src2,
+                             CvArr* dst, int flags );
+
+/** Finds optimal DFT vector size >= size0 */
+CVAPI(int)  cvGetOptimalDFTSize( int size0 );
+
+/** Discrete Cosine Transform
+@see core_c_DftFlags "flags"
+*/
+CVAPI(void)  cvDCT( const CvArr* src, CvArr* dst, int flags );
+
+/****************************************************************************************\
+*                              Dynamic data structures                                   *
+\****************************************************************************************/
+
+/** Calculates length of sequence slice (with support of negative indices). */
+CVAPI(int) cvSliceLength( CvSlice slice, const CvSeq* seq );
+
+
+/** Creates new memory storage.
+   block_size == 0 means that default,
+   somewhat optimal size, is used (currently, it is 64K) */
+CVAPI(CvMemStorage*)  cvCreateMemStorage( int block_size CV_DEFAULT(0));
+
+
+/** Creates a memory storage that will borrow memory blocks from parent storage */
+CVAPI(CvMemStorage*)  cvCreateChildMemStorage( CvMemStorage* parent );
+
+
+/** Releases memory storage. All the children of a parent must be released before
+   the parent. A child storage returns all the blocks to parent when it is released */
+CVAPI(void)  cvReleaseMemStorage( CvMemStorage** storage );
+
+
+/** Clears memory storage. This is the only way(!!!) (besides cvRestoreMemStoragePos)
+   to reuse memory allocated for the storage - cvClearSeq,cvClearSet ...
+   do not free any memory.
+   A child storage returns all the blocks to the parent when it is cleared */
+CVAPI(void)  cvClearMemStorage( CvMemStorage* storage );
+
+/** Remember a storage "free memory" position */
+CVAPI(void)  cvSaveMemStoragePos( const CvMemStorage* storage, CvMemStoragePos* pos );
+
+/** Restore a storage "free memory" position */
+CVAPI(void)  cvRestoreMemStoragePos( CvMemStorage* storage, CvMemStoragePos* pos );
+
+/** Allocates continuous buffer of the specified size in the storage */
+CVAPI(void*) cvMemStorageAlloc( CvMemStorage* storage, size_t size );
+
+/** Allocates string in memory storage */
+CVAPI(CvString) cvMemStorageAllocString( CvMemStorage* storage, const char* ptr,
+                                         int len CV_DEFAULT(-1) );
+
+/** Creates new empty sequence that will reside in the specified storage */
+CVAPI(CvSeq*)  cvCreateSeq( int seq_flags, size_t header_size,
+                            size_t elem_size, CvMemStorage* storage );
+
+/** Changes default size (granularity) of sequence blocks.
+   The default size is ~1Kbyte */
+CVAPI(void)  cvSetSeqBlockSize( CvSeq* seq, int delta_elems );
+
+
+/** Adds new element to the end of sequence. Returns pointer to the element */
+CVAPI(schar*)  cvSeqPush( CvSeq* seq, const void* element CV_DEFAULT(NULL));
+
+
+/** Adds new element to the beginning of sequence. Returns pointer to it */
+CVAPI(schar*)  cvSeqPushFront( CvSeq* seq, const void* element CV_DEFAULT(NULL));
+
+
+/** Removes the last element from sequence and optionally saves it */
+CVAPI(void)  cvSeqPop( CvSeq* seq, void* element CV_DEFAULT(NULL));
+
+
+/** Removes the first element from sequence and optioanally saves it */
+CVAPI(void)  cvSeqPopFront( CvSeq* seq, void* element CV_DEFAULT(NULL));
+
+
+#define CV_FRONT 1
+#define CV_BACK 0
+/** Adds several new elements to the end of sequence */
+CVAPI(void)  cvSeqPushMulti( CvSeq* seq, const void* elements,
+                             int count, int in_front CV_DEFAULT(0) );
+
+/** Removes several elements from the end of sequence and optionally saves them */
+CVAPI(void)  cvSeqPopMulti( CvSeq* seq, void* elements,
+                            int count, int in_front CV_DEFAULT(0) );
+
+/** Inserts a new element in the middle of sequence.
+   cvSeqInsert(seq,0,elem) == cvSeqPushFront(seq,elem) */
+CVAPI(schar*)  cvSeqInsert( CvSeq* seq, int before_index,
+                            const void* element CV_DEFAULT(NULL));
+
+/** Removes specified sequence element */
+CVAPI(void)  cvSeqRemove( CvSeq* seq, int index );
+
+
+/** Removes all the elements from the sequence. The freed memory
+   can be reused later only by the same sequence unless cvClearMemStorage
+   or cvRestoreMemStoragePos is called */
+CVAPI(void)  cvClearSeq( CvSeq* seq );
+
+
+/** Retrieves pointer to specified sequence element.
+   Negative indices are supported and mean counting from the end
+   (e.g -1 means the last sequence element) */
+CVAPI(schar*)  cvGetSeqElem( const CvSeq* seq, int index );
+
+/** Calculates index of the specified sequence element.
+   Returns -1 if element does not belong to the sequence */
+CVAPI(int)  cvSeqElemIdx( const CvSeq* seq, const void* element,
+                         CvSeqBlock** block CV_DEFAULT(NULL) );
+
+/** Initializes sequence writer. The new elements will be added to the end of sequence */
+CVAPI(void)  cvStartAppendToSeq( CvSeq* seq, CvSeqWriter* writer );
+
+
+/** Combination of cvCreateSeq and cvStartAppendToSeq */
+CVAPI(void)  cvStartWriteSeq( int seq_flags, int header_size,
+                              int elem_size, CvMemStorage* storage,
+                              CvSeqWriter* writer );
+
+/** Closes sequence writer, updates sequence header and returns pointer
+   to the resultant sequence
+   (which may be useful if the sequence was created using cvStartWriteSeq))
+*/
+CVAPI(CvSeq*)  cvEndWriteSeq( CvSeqWriter* writer );
+
+
+/** Updates sequence header. May be useful to get access to some of previously
+   written elements via cvGetSeqElem or sequence reader */
+CVAPI(void)   cvFlushSeqWriter( CvSeqWriter* writer );
+
+
+/** Initializes sequence reader.
+   The sequence can be read in forward or backward direction */
+CVAPI(void) cvStartReadSeq( const CvSeq* seq, CvSeqReader* reader,
+                           int reverse CV_DEFAULT(0) );
+
+
+/** Returns current sequence reader position (currently observed sequence element) */
+CVAPI(int)  cvGetSeqReaderPos( CvSeqReader* reader );
+
+
+/** Changes sequence reader position. It may seek to an absolute or
+   to relative to the current position */
+CVAPI(void)   cvSetSeqReaderPos( CvSeqReader* reader, int index,
+                                 int is_relative CV_DEFAULT(0));
+
+/** Copies sequence content to a continuous piece of memory */
+CVAPI(void*)  cvCvtSeqToArray( const CvSeq* seq, void* elements,
+                               CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ) );
+
+/** Creates sequence header for array.
+   After that all the operations on sequences that do not alter the content
+   can be applied to the resultant sequence */
+CVAPI(CvSeq*) cvMakeSeqHeaderForArray( int seq_type, int header_size,
+                                       int elem_size, void* elements, int total,
+                                       CvSeq* seq, CvSeqBlock* block );
+
+/** Extracts sequence slice (with or without copying sequence elements) */
+CVAPI(CvSeq*) cvSeqSlice( const CvSeq* seq, CvSlice slice,
+                         CvMemStorage* storage CV_DEFAULT(NULL),
+                         int copy_data CV_DEFAULT(0));
+
+CV_INLINE CvSeq* cvCloneSeq( const CvSeq* seq, CvMemStorage* storage CV_DEFAULT(NULL))
+{
+    return cvSeqSlice( seq, CV_WHOLE_SEQ, storage, 1 );
+}
+
+/** Removes sequence slice */
+CVAPI(void)  cvSeqRemoveSlice( CvSeq* seq, CvSlice slice );
+
+/** Inserts a sequence or array into another sequence */
+CVAPI(void)  cvSeqInsertSlice( CvSeq* seq, int before_index, const CvArr* from_arr );
+
+/** a < b ? -1 : a > b ? 1 : 0 */
+typedef int (CV_CDECL* CvCmpFunc)(const void* a, const void* b, void* userdata );
+
+/** Sorts sequence in-place given element comparison function */
+CVAPI(void) cvSeqSort( CvSeq* seq, CvCmpFunc func, void* userdata CV_DEFAULT(NULL) );
+
+/** Finds element in a [sorted] sequence */
+CVAPI(schar*) cvSeqSearch( CvSeq* seq, const void* elem, CvCmpFunc func,
+                           int is_sorted, int* elem_idx,
+                           void* userdata CV_DEFAULT(NULL) );
+
+/** Reverses order of sequence elements in-place */
+CVAPI(void) cvSeqInvert( CvSeq* seq );
+
+/** Splits sequence into one or more equivalence classes using the specified criteria */
+CVAPI(int)  cvSeqPartition( const CvSeq* seq, CvMemStorage* storage,
+                            CvSeq** labels, CvCmpFunc is_equal, void* userdata );
+
+/************ Internal sequence functions ************/
+CVAPI(void)  cvChangeSeqBlock( void* reader, int direction );
+CVAPI(void)  cvCreateSeqBlock( CvSeqWriter* writer );
+
+
+/** Creates a new set */
+CVAPI(CvSet*)  cvCreateSet( int set_flags, int header_size,
+                            int elem_size, CvMemStorage* storage );
+
+/** Adds new element to the set and returns pointer to it */
+CVAPI(int)  cvSetAdd( CvSet* set_header, CvSetElem* elem CV_DEFAULT(NULL),
+                      CvSetElem** inserted_elem CV_DEFAULT(NULL) );
+
+/** Fast variant of cvSetAdd */
+CV_INLINE  CvSetElem* cvSetNew( CvSet* set_header )
+{
+    CvSetElem* elem = set_header->free_elems;
+    if( elem )
+    {
+        set_header->free_elems = elem->next_free;
+        elem->flags = elem->flags & CV_SET_ELEM_IDX_MASK;
+        set_header->active_count++;
+    }
+    else
+        cvSetAdd( set_header, NULL, &elem );
+    return elem;
+}
+
+/** Removes set element given its pointer */
+CV_INLINE  void cvSetRemoveByPtr( CvSet* set_header, void* elem )
+{
+    CvSetElem* _elem = (CvSetElem*)elem;
+    assert( _elem->flags >= 0 /*&& (elem->flags & CV_SET_ELEM_IDX_MASK) < set_header->total*/ );
+    _elem->next_free = set_header->free_elems;
+    _elem->flags = (_elem->flags & CV_SET_ELEM_IDX_MASK) | CV_SET_ELEM_FREE_FLAG;
+    set_header->free_elems = _elem;
+    set_header->active_count--;
+}
+
+/** Removes element from the set by its index  */
+CVAPI(void)   cvSetRemove( CvSet* set_header, int index );
+
+/** Returns a set element by index. If the element doesn't belong to the set,
+   NULL is returned */
+CV_INLINE CvSetElem* cvGetSetElem( const CvSet* set_header, int idx )
+{
+    CvSetElem* elem = (CvSetElem*)(void *)cvGetSeqElem( (CvSeq*)set_header, idx );
+    return elem && CV_IS_SET_ELEM( elem ) ? elem : 0;
+}
+
+/** Removes all the elements from the set */
+CVAPI(void)  cvClearSet( CvSet* set_header );
+
+/** Creates new graph */
+CVAPI(CvGraph*)  cvCreateGraph( int graph_flags, int header_size,
+                                int vtx_size, int edge_size,
+                                CvMemStorage* storage );
+
+/** Adds new vertex to the graph */
+CVAPI(int)  cvGraphAddVtx( CvGraph* graph, const CvGraphVtx* vtx CV_DEFAULT(NULL),
+                           CvGraphVtx** inserted_vtx CV_DEFAULT(NULL) );
+
+
+/** Removes vertex from the graph together with all incident edges */
+CVAPI(int)  cvGraphRemoveVtx( CvGraph* graph, int index );
+CVAPI(int)  cvGraphRemoveVtxByPtr( CvGraph* graph, CvGraphVtx* vtx );
+
+
+/** Link two vertices specifed by indices or pointers if they
+   are not connected or return pointer to already existing edge
+   connecting the vertices.
+   Functions return 1 if a new edge was created, 0 otherwise */
+CVAPI(int)  cvGraphAddEdge( CvGraph* graph,
+                            int start_idx, int end_idx,
+                            const CvGraphEdge* edge CV_DEFAULT(NULL),
+                            CvGraphEdge** inserted_edge CV_DEFAULT(NULL) );
+
+CVAPI(int)  cvGraphAddEdgeByPtr( CvGraph* graph,
+                               CvGraphVtx* start_vtx, CvGraphVtx* end_vtx,
+                               const CvGraphEdge* edge CV_DEFAULT(NULL),
+                               CvGraphEdge** inserted_edge CV_DEFAULT(NULL) );
+
+/** Remove edge connecting two vertices */
+CVAPI(void)  cvGraphRemoveEdge( CvGraph* graph, int start_idx, int end_idx );
+CVAPI(void)  cvGraphRemoveEdgeByPtr( CvGraph* graph, CvGraphVtx* start_vtx,
+                                     CvGraphVtx* end_vtx );
+
+/** Find edge connecting two vertices */
+CVAPI(CvGraphEdge*)  cvFindGraphEdge( const CvGraph* graph, int start_idx, int end_idx );
+CVAPI(CvGraphEdge*)  cvFindGraphEdgeByPtr( const CvGraph* graph,
+                                           const CvGraphVtx* start_vtx,
+                                           const CvGraphVtx* end_vtx );
+#define cvGraphFindEdge cvFindGraphEdge
+#define cvGraphFindEdgeByPtr cvFindGraphEdgeByPtr
+
+/** Remove all vertices and edges from the graph */
+CVAPI(void)  cvClearGraph( CvGraph* graph );
+
+
+/** Count number of edges incident to the vertex */
+CVAPI(int)  cvGraphVtxDegree( const CvGraph* graph, int vtx_idx );
+CVAPI(int)  cvGraphVtxDegreeByPtr( const CvGraph* graph, const CvGraphVtx* vtx );
+
+
+/** Retrieves graph vertex by given index */
+#define cvGetGraphVtx( graph, idx ) (CvGraphVtx*)cvGetSetElem((CvSet*)(graph), (idx))
+
+/** Retrieves index of a graph vertex given its pointer */
+#define cvGraphVtxIdx( graph, vtx ) ((vtx)->flags & CV_SET_ELEM_IDX_MASK)
+
+/** Retrieves index of a graph edge given its pointer */
+#define cvGraphEdgeIdx( graph, edge ) ((edge)->flags & CV_SET_ELEM_IDX_MASK)
+
+#define cvGraphGetVtxCount( graph ) ((graph)->active_count)
+#define cvGraphGetEdgeCount( graph ) ((graph)->edges->active_count)
+
+#define  CV_GRAPH_VERTEX        1
+#define  CV_GRAPH_TREE_EDGE     2
+#define  CV_GRAPH_BACK_EDGE     4
+#define  CV_GRAPH_FORWARD_EDGE  8
+#define  CV_GRAPH_CROSS_EDGE    16
+#define  CV_GRAPH_ANY_EDGE      30
+#define  CV_GRAPH_NEW_TREE      32
+#define  CV_GRAPH_BACKTRACKING  64
+#define  CV_GRAPH_OVER          -1
+
+#define  CV_GRAPH_ALL_ITEMS    -1
+
+/** flags for graph vertices and edges */
+#define  CV_GRAPH_ITEM_VISITED_FLAG  (1 << 30)
+#define  CV_IS_GRAPH_VERTEX_VISITED(vtx) \
+    (((CvGraphVtx*)(vtx))->flags & CV_GRAPH_ITEM_VISITED_FLAG)
+#define  CV_IS_GRAPH_EDGE_VISITED(edge) \
+    (((CvGraphEdge*)(edge))->flags & CV_GRAPH_ITEM_VISITED_FLAG)
+#define  CV_GRAPH_SEARCH_TREE_NODE_FLAG   (1 << 29)
+#define  CV_GRAPH_FORWARD_EDGE_FLAG       (1 << 28)
+
+typedef struct CvGraphScanner
+{
+    CvGraphVtx* vtx;       /* current graph vertex (or current edge origin) */
+    CvGraphVtx* dst;       /* current graph edge destination vertex */
+    CvGraphEdge* edge;     /* current edge */
+
+    CvGraph* graph;        /* the graph */
+    CvSeq*   stack;        /* the graph vertex stack */
+    int      index;        /* the lower bound of certainly visited vertices */
+    int      mask;         /* event mask */
+}
+CvGraphScanner;
+
+/** Creates new graph scanner. */
+CVAPI(CvGraphScanner*)  cvCreateGraphScanner( CvGraph* graph,
+                                             CvGraphVtx* vtx CV_DEFAULT(NULL),
+                                             int mask CV_DEFAULT(CV_GRAPH_ALL_ITEMS));
+
+/** Releases graph scanner. */
+CVAPI(void) cvReleaseGraphScanner( CvGraphScanner** scanner );
+
+/** Get next graph element */
+CVAPI(int)  cvNextGraphItem( CvGraphScanner* scanner );
+
+/** Creates a copy of graph */
+CVAPI(CvGraph*) cvCloneGraph( const CvGraph* graph, CvMemStorage* storage );
+
+
+/** Does look-up transformation. Elements of the source array
+   (that should be 8uC1 or 8sC1) are used as indexes in lutarr 256-element table */
+CVAPI(void) cvLUT( const CvArr* src, CvArr* dst, const CvArr* lut );
+
+
+/******************* Iteration through the sequence tree *****************/
+typedef struct CvTreeNodeIterator
+{
+    const void* node;
+    int level;
+    int max_level;
+}
+CvTreeNodeIterator;
+
+CVAPI(void) cvInitTreeNodeIterator( CvTreeNodeIterator* tree_iterator,
+                                   const void* first, int max_level );
+CVAPI(void*) cvNextTreeNode( CvTreeNodeIterator* tree_iterator );
+CVAPI(void*) cvPrevTreeNode( CvTreeNodeIterator* tree_iterator );
+
+/** Inserts sequence into tree with specified "parent" sequence.
+   If parent is equal to frame (e.g. the most external contour),
+   then added contour will have null pointer to parent. */
+CVAPI(void) cvInsertNodeIntoTree( void* node, void* parent, void* frame );
+
+/** Removes contour from tree (together with the contour children). */
+CVAPI(void) cvRemoveNodeFromTree( void* node, void* frame );
+
+/** Gathers pointers to all the sequences,
+   accessible from the `first`, to the single sequence */
+CVAPI(CvSeq*) cvTreeToNodeSeq( const void* first, int header_size,
+                              CvMemStorage* storage );
+
+/** The function implements the K-means algorithm for clustering an array of sample
+   vectors in a specified number of classes */
+#define CV_KMEANS_USE_INITIAL_LABELS    1
+CVAPI(int) cvKMeans2( const CvArr* samples, int cluster_count, CvArr* labels,
+                      CvTermCriteria termcrit, int attempts CV_DEFAULT(1),
+                      CvRNG* rng CV_DEFAULT(0), int flags CV_DEFAULT(0),
+                      CvArr* _centers CV_DEFAULT(0), double* compactness CV_DEFAULT(0) );
+
+/****************************************************************************************\
+*                                    System functions                                    *
+\****************************************************************************************/
+
+/** Loads optimized functions from IPP, MKL etc. or switches back to pure C code */
+CVAPI(int)  cvUseOptimized( int on_off );
+
+typedef IplImage* (CV_STDCALL* Cv_iplCreateImageHeader)
+                            (int,int,int,char*,char*,int,int,int,int,int,
+                            IplROI*,IplImage*,void*,IplTileInfo*);
+typedef void (CV_STDCALL* Cv_iplAllocateImageData)(IplImage*,int,int);
+typedef void (CV_STDCALL* Cv_iplDeallocate)(IplImage*,int);
+typedef IplROI* (CV_STDCALL* Cv_iplCreateROI)(int,int,int,int,int);
+typedef IplImage* (CV_STDCALL* Cv_iplCloneImage)(const IplImage*);
+
+/** @brief Makes OpenCV use IPL functions for allocating IplImage and IplROI structures.
+
+Normally, the function is not called directly. Instead, a simple macro
+CV_TURN_ON_IPL_COMPATIBILITY() is used that calls cvSetIPLAllocators and passes there pointers
+to IPL allocation functions. :
+@code
+    ...
+    CV_TURN_ON_IPL_COMPATIBILITY()
+    ...
+@endcode
+@param create_header pointer to a function, creating IPL image header.
+@param allocate_data pointer to a function, allocating IPL image data.
+@param deallocate pointer to a function, deallocating IPL image.
+@param create_roi pointer to a function, creating IPL image ROI (i.e. Region of Interest).
+@param clone_image pointer to a function, cloning an IPL image.
+ */
+CVAPI(void) cvSetIPLAllocators( Cv_iplCreateImageHeader create_header,
+                               Cv_iplAllocateImageData allocate_data,
+                               Cv_iplDeallocate deallocate,
+                               Cv_iplCreateROI create_roi,
+                               Cv_iplCloneImage clone_image );
+
+#define CV_TURN_ON_IPL_COMPATIBILITY()                                  \
+    cvSetIPLAllocators( iplCreateImageHeader, iplAllocateImage,         \
+                        iplDeallocate, iplCreateROI, iplCloneImage )
+
+/****************************************************************************************\
+*                                    Data Persistence                                    *
+\****************************************************************************************/
+
+/********************************** High-level functions ********************************/
+
+/** @brief Opens file storage for reading or writing data.
+
+The function opens file storage for reading or writing data. In the latter case, a new file is
+created or an existing file is rewritten. The type of the read or written file is determined by the
+filename extension: .xml for XML and .yml or .yaml for YAML. The function returns a pointer to the
+CvFileStorage structure. If the file cannot be opened then the function returns NULL.
+@param filename Name of the file associated with the storage
+@param memstorage Memory storage used for temporary data and for
+:   storing dynamic structures, such as CvSeq or CvGraph . If it is NULL, a temporary memory
+    storage is created and used.
+@param flags Can be one of the following:
+> -   **CV_STORAGE_READ** the storage is open for reading
+> -   **CV_STORAGE_WRITE** the storage is open for writing
+@param encoding
+ */
+CVAPI(CvFileStorage*)  cvOpenFileStorage( const char* filename, CvMemStorage* memstorage,
+                                          int flags, const char* encoding CV_DEFAULT(NULL) );
+
+/** @brief Releases file storage.
+
+The function closes the file associated with the storage and releases all the temporary structures.
+It must be called after all I/O operations with the storage are finished.
+@param fs Double pointer to the released file storage
+ */
+CVAPI(void) cvReleaseFileStorage( CvFileStorage** fs );
+
+/** returns attribute value or 0 (NULL) if there is no such attribute */
+CVAPI(const char*) cvAttrValue( const CvAttrList* attr, const char* attr_name );
+
+/** @brief Starts writing a new structure.
+
+The function starts writing a compound structure (collection) that can be a sequence or a map. After
+all the structure fields, which can be scalars or structures, are written, cvEndWriteStruct should
+be called. The function can be used to group some objects or to implement the write function for a
+some user object (see CvTypeInfo).
+@param fs File storage
+@param name Name of the written structure. The structure can be accessed by this name when the
+storage is read.
+@param struct_flags A combination one of the following values:
+-   **CV_NODE_SEQ** the written structure is a sequence (see discussion of CvFileStorage ),
+    that is, its elements do not have a name.
+-   **CV_NODE_MAP** the written structure is a map (see discussion of CvFileStorage ), that
+    is, all its elements have names.
+One and only one of the two above flags must be specified
+-   **CV_NODE_FLOW** the optional flag that makes sense only for YAML streams. It means that
+     the structure is written as a flow (not as a block), which is more compact. It is
+     recommended to use this flag for structures or arrays whose elements are all scalars.
+@param type_name Optional parameter - the object type name. In
+    case of XML it is written as a type_id attribute of the structure opening tag. In the case of
+    YAML it is written after a colon following the structure name (see the example in
+    CvFileStorage description). Mainly it is used with user objects. When the storage is read, the
+    encoded type name is used to determine the object type (see CvTypeInfo and cvFindType ).
+@param attributes This parameter is not used in the current implementation
+ */
+CVAPI(void) cvStartWriteStruct( CvFileStorage* fs, const char* name,
+                                int struct_flags, const char* type_name CV_DEFAULT(NULL),
+                                CvAttrList attributes CV_DEFAULT(cvAttrList()));
+
+/** @brief Finishes writing to a file node collection.
+@param fs File storage
+@sa cvStartWriteStruct.
+ */
+CVAPI(void) cvEndWriteStruct( CvFileStorage* fs );
+
+/** @brief Writes an integer value.
+
+The function writes a single integer value (with or without a name) to the file storage.
+@param fs File storage
+@param name Name of the written value. Should be NULL if and only if the parent structure is a
+sequence.
+@param value The written value
+ */
+CVAPI(void) cvWriteInt( CvFileStorage* fs, const char* name, int value );
+
+/** @brief Writes a floating-point value.
+
+The function writes a single floating-point value (with or without a name) to file storage. Special
+values are encoded as follows: NaN (Not A Number) as .NaN, infinity as +.Inf or -.Inf.
+
+The following example shows how to use the low-level writing functions to store custom structures,
+such as termination criteria, without registering a new type. :
+@code
+    void write_termcriteria( CvFileStorage* fs, const char* struct_name,
+                             CvTermCriteria* termcrit )
+    {
+        cvStartWriteStruct( fs, struct_name, CV_NODE_MAP, NULL, cvAttrList(0,0));
+        cvWriteComment( fs, "termination criteria", 1 ); // just a description
+        if( termcrit->type & CV_TERMCRIT_ITER )
+            cvWriteInteger( fs, "max_iterations", termcrit->max_iter );
+        if( termcrit->type & CV_TERMCRIT_EPS )
+            cvWriteReal( fs, "accuracy", termcrit->epsilon );
+        cvEndWriteStruct( fs );
+    }
+@endcode
+@param fs File storage
+@param name Name of the written value. Should be NULL if and only if the parent structure is a
+sequence.
+@param value The written value
+*/
+CVAPI(void) cvWriteReal( CvFileStorage* fs, const char* name, double value );
+
+/** @brief Writes a text string.
+
+The function writes a text string to file storage.
+@param fs File storage
+@param name Name of the written string . Should be NULL if and only if the parent structure is a
+sequence.
+@param str The written text string
+@param quote If non-zero, the written string is put in quotes, regardless of whether they are
+required. Otherwise, if the flag is zero, quotes are used only when they are required (e.g. when
+the string starts with a digit or contains spaces).
+ */
+CVAPI(void) cvWriteString( CvFileStorage* fs, const char* name,
+                           const char* str, int quote CV_DEFAULT(0) );
+
+/** @brief Writes a comment.
+
+The function writes a comment into file storage. The comments are skipped when the storage is read.
+@param fs File storage
+@param comment The written comment, single-line or multi-line
+@param eol_comment If non-zero, the function tries to put the comment at the end of current line.
+If the flag is zero, if the comment is multi-line, or if it does not fit at the end of the current
+line, the comment starts a new line.
+ */
+CVAPI(void) cvWriteComment( CvFileStorage* fs, const char* comment,
+                            int eol_comment );
+
+/** @brief Writes an object to file storage.
+
+The function writes an object to file storage. First, the appropriate type info is found using
+cvTypeOf. Then, the write method associated with the type info is called.
+
+Attributes are used to customize the writing procedure. The standard types support the following
+attributes (all the dt attributes have the same format as in cvWriteRawData):
+
+-# CvSeq
+    -   **header_dt** description of user fields of the sequence header that follow CvSeq, or
+        CvChain (if the sequence is a Freeman chain) or CvContour (if the sequence is a contour or
+        point sequence)
+    -   **dt** description of the sequence elements.
+    -   **recursive** if the attribute is present and is not equal to "0" or "false", the whole
+        tree of sequences (contours) is stored.
+-# CvGraph
+    -   **header_dt** description of user fields of the graph header that follows CvGraph;
+    -   **vertex_dt** description of user fields of graph vertices
+    -   **edge_dt** description of user fields of graph edges (note that the edge weight is
+        always written, so there is no need to specify it explicitly)
+
+Below is the code that creates the YAML file shown in the CvFileStorage description:
+@code
+    #include "cxcore.h"
+
+    int main( int argc, char** argv )
+    {
+        CvMat* mat = cvCreateMat( 3, 3, CV_32F );
+        CvFileStorage* fs = cvOpenFileStorage( "example.yml", 0, CV_STORAGE_WRITE );
+
+        cvSetIdentity( mat );
+        cvWrite( fs, "A", mat, cvAttrList(0,0) );
+
+        cvReleaseFileStorage( &fs );
+        cvReleaseMat( &mat );
+        return 0;
+    }
+@endcode
+@param fs File storage
+@param name Name of the written object. Should be NULL if and only if the parent structure is a
+sequence.
+@param ptr Pointer to the object
+@param attributes The attributes of the object. They are specific for each particular type (see
+the discussion below).
+ */
+CVAPI(void) cvWrite( CvFileStorage* fs, const char* name, const void* ptr,
+                         CvAttrList attributes CV_DEFAULT(cvAttrList()));
+
+/** @brief Starts the next stream.
+
+The function finishes the currently written stream and starts the next stream. In the case of XML
+the file with multiple streams looks like this:
+@code{.xml}
+    <opencv_storage>
+    <!-- stream #1 data -->
+    </opencv_storage>
+    <opencv_storage>
+    <!-- stream #2 data -->
+    </opencv_storage>
+    ...
+@endcode
+The YAML file will look like this:
+@code{.yaml}
+    %YAML:1.0
+    # stream #1 data
+    ...
+    ---
+    # stream #2 data
+@endcode
+This is useful for concatenating files or for resuming the writing process.
+@param fs File storage
+ */
+CVAPI(void) cvStartNextStream( CvFileStorage* fs );
+
+/** @brief Writes multiple numbers.
+
+The function writes an array, whose elements consist of single or multiple numbers. The function
+call can be replaced with a loop containing a few cvWriteInt and cvWriteReal calls, but a single
+call is more efficient. Note that because none of the elements have a name, they should be written
+to a sequence rather than a map.
+@param fs File storage
+@param src Pointer to the written array
+@param len Number of the array elements to write
+@param dt Specification of each array element, see @ref format_spec "format specification"
+ */
+CVAPI(void) cvWriteRawData( CvFileStorage* fs, const void* src,
+                                int len, const char* dt );
+
+/** @brief Returns a unique pointer for a given name.
+
+The function returns a unique pointer for each particular file node name. This pointer can be then
+passed to the cvGetFileNode function that is faster than cvGetFileNodeByName because it compares
+text strings by comparing pointers rather than the strings' content.
+
+Consider the following example where an array of points is encoded as a sequence of 2-entry maps:
+@code
+    points:
+      - { x: 10, y: 10 }
+      - { x: 20, y: 20 }
+      - { x: 30, y: 30 }
+      # ...
+@endcode
+Then, it is possible to get hashed "x" and "y" pointers to speed up decoding of the points. :
+@code
+    #include "cxcore.h"
+
+    int main( int argc, char** argv )
+    {
+        CvFileStorage* fs = cvOpenFileStorage( "points.yml", 0, CV_STORAGE_READ );
+        CvStringHashNode* x_key = cvGetHashedNode( fs, "x", -1, 1 );
+        CvStringHashNode* y_key = cvGetHashedNode( fs, "y", -1, 1 );
+        CvFileNode* points = cvGetFileNodeByName( fs, 0, "points" );
+
+        if( CV_NODE_IS_SEQ(points->tag) )
+        {
+            CvSeq* seq = points->data.seq;
+            int i, total = seq->total;
+            CvSeqReader reader;
+            cvStartReadSeq( seq, &reader, 0 );
+            for( i = 0; i < total; i++ )
+            {
+                CvFileNode* pt = (CvFileNode*)reader.ptr;
+    #if 1 // faster variant
+                CvFileNode* xnode = cvGetFileNode( fs, pt, x_key, 0 );
+                CvFileNode* ynode = cvGetFileNode( fs, pt, y_key, 0 );
+                assert( xnode && CV_NODE_IS_INT(xnode->tag) &&
+                        ynode && CV_NODE_IS_INT(ynode->tag));
+                int x = xnode->data.i; // or x = cvReadInt( xnode, 0 );
+                int y = ynode->data.i; // or y = cvReadInt( ynode, 0 );
+    #elif 1 // slower variant; does not use x_key & y_key
+                CvFileNode* xnode = cvGetFileNodeByName( fs, pt, "x" );
+                CvFileNode* ynode = cvGetFileNodeByName( fs, pt, "y" );
+                assert( xnode && CV_NODE_IS_INT(xnode->tag) &&
+                        ynode && CV_NODE_IS_INT(ynode->tag));
+                int x = xnode->data.i; // or x = cvReadInt( xnode, 0 );
+                int y = ynode->data.i; // or y = cvReadInt( ynode, 0 );
+    #else // the slowest yet the easiest to use variant
+                int x = cvReadIntByName( fs, pt, "x", 0 );
+                int y = cvReadIntByName( fs, pt, "y", 0 );
+    #endif
+                CV_NEXT_SEQ_ELEM( seq->elem_size, reader );
+                printf("
+            }
+        }
+        cvReleaseFileStorage( &fs );
+        return 0;
+    }
+@endcode
+Please note that whatever method of accessing a map you are using, it is still much slower than
+using plain sequences; for example, in the above example, it is more efficient to encode the points
+as pairs of integers in a single numeric sequence.
+@param fs File storage
+@param name Literal node name
+@param len Length of the name (if it is known apriori), or -1 if it needs to be calculated
+@param create_missing Flag that specifies, whether an absent key should be added into the hash table
+*/
+CVAPI(CvStringHashNode*) cvGetHashedKey( CvFileStorage* fs, const char* name,
+                                        int len CV_DEFAULT(-1),
+                                        int create_missing CV_DEFAULT(0));
+
+/** @brief Retrieves one of the top-level nodes of the file storage.
+
+The function returns one of the top-level file nodes. The top-level nodes do not have a name, they
+correspond to the streams that are stored one after another in the file storage. If the index is out
+of range, the function returns a NULL pointer, so all the top-level nodes can be iterated by
+subsequent calls to the function with stream_index=0,1,..., until the NULL pointer is returned.
+This function can be used as a base for recursive traversal of the file storage.
+@param fs File storage
+@param stream_index Zero-based index of the stream. See cvStartNextStream . In most cases,
+there is only one stream in the file; however, there can be several.
+ */
+CVAPI(CvFileNode*) cvGetRootFileNode( const CvFileStorage* fs,
+                                     int stream_index CV_DEFAULT(0) );
+
+/** @brief Finds a node in a map or file storage.
+
+The function finds a file node. It is a faster version of cvGetFileNodeByName (see
+cvGetHashedKey discussion). Also, the function can insert a new node, if it is not in the map yet.
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches a top-level node. If both map and
+key are NULLs, the function returns the root file node - a map that contains top-level nodes.
+@param key Unique pointer to the node name, retrieved with cvGetHashedKey
+@param create_missing Flag that specifies whether an absent node should be added to the map
+ */
+CVAPI(CvFileNode*) cvGetFileNode( CvFileStorage* fs, CvFileNode* map,
+                                 const CvStringHashNode* key,
+                                 int create_missing CV_DEFAULT(0) );
+
+/** @brief Finds a node in a map or file storage.
+
+The function finds a file node by name. The node is searched either in map or, if the pointer is
+NULL, among the top-level file storage nodes. Using this function for maps and cvGetSeqElem (or
+sequence reader) for sequences, it is possible to navigate through the file storage. To speed up
+multiple queries for a certain key (e.g., in the case of an array of structures) one may use a
+combination of cvGetHashedKey and cvGetFileNode.
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches in all the top-level nodes
+(streams), starting with the first one.
+@param name The file node name
+ */
+CVAPI(CvFileNode*) cvGetFileNodeByName( const CvFileStorage* fs,
+                                       const CvFileNode* map,
+                                       const char* name );
+
+/** @brief Retrieves an integer value from a file node.
+
+The function returns an integer that is represented by the file node. If the file node is NULL, the
+default_value is returned (thus, it is convenient to call the function right after cvGetFileNode
+without checking for a NULL pointer). If the file node has type CV_NODE_INT, then node-\>data.i is
+returned. If the file node has type CV_NODE_REAL, then node-\>data.f is converted to an integer
+and returned. Otherwise the error is reported.
+@param node File node
+@param default_value The value that is returned if node is NULL
+ */
+CV_INLINE int cvReadInt( const CvFileNode* node, int default_value CV_DEFAULT(0) )
+{
+    return !node ? default_value :
+        CV_NODE_IS_INT(node->tag) ? node->data.i :
+        CV_NODE_IS_REAL(node->tag) ? cvRound(node->data.f) : 0x7fffffff;
+}
+
+/** @brief Finds a file node and returns its value.
+
+The function is a simple superposition of cvGetFileNodeByName and cvReadInt.
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches a top-level node.
+@param name The node name
+@param default_value The value that is returned if the file node is not found
+ */
+CV_INLINE int cvReadIntByName( const CvFileStorage* fs, const CvFileNode* map,
+                         const char* name, int default_value CV_DEFAULT(0) )
+{
+    return cvReadInt( cvGetFileNodeByName( fs, map, name ), default_value );
+}
+
+/** @brief Retrieves a floating-point value from a file node.
+
+The function returns a floating-point value that is represented by the file node. If the file node
+is NULL, the default_value is returned (thus, it is convenient to call the function right after
+cvGetFileNode without checking for a NULL pointer). If the file node has type CV_NODE_REAL ,
+then node-\>data.f is returned. If the file node has type CV_NODE_INT , then node-:math:\>data.f
+is converted to floating-point and returned. Otherwise the result is not determined.
+@param node File node
+@param default_value The value that is returned if node is NULL
+ */
+CV_INLINE double cvReadReal( const CvFileNode* node, double default_value CV_DEFAULT(0.) )
+{
+    return !node ? default_value :
+        CV_NODE_IS_INT(node->tag) ? (double)node->data.i :
+        CV_NODE_IS_REAL(node->tag) ? node->data.f : 1e300;
+}
+
+/** @brief Finds a file node and returns its value.
+
+The function is a simple superposition of cvGetFileNodeByName and cvReadReal .
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches a top-level node.
+@param name The node name
+@param default_value The value that is returned if the file node is not found
+ */
+CV_INLINE double cvReadRealByName( const CvFileStorage* fs, const CvFileNode* map,
+                        const char* name, double default_value CV_DEFAULT(0.) )
+{
+    return cvReadReal( cvGetFileNodeByName( fs, map, name ), default_value );
+}
+
+/** @brief Retrieves a text string from a file node.
+
+The function returns a text string that is represented by the file node. If the file node is NULL,
+the default_value is returned (thus, it is convenient to call the function right after
+cvGetFileNode without checking for a NULL pointer). If the file node has type CV_NODE_STR , then
+node-:math:\>data.str.ptr is returned. Otherwise the result is not determined.
+@param node File node
+@param default_value The value that is returned if node is NULL
+ */
+CV_INLINE const char* cvReadString( const CvFileNode* node,
+                        const char* default_value CV_DEFAULT(NULL) )
+{
+    return !node ? default_value : CV_NODE_IS_STRING(node->tag) ? node->data.str.ptr : 0;
+}
+
+/** @brief Finds a file node by its name and returns its value.
+
+The function is a simple superposition of cvGetFileNodeByName and cvReadString .
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches a top-level node.
+@param name The node name
+@param default_value The value that is returned if the file node is not found
+ */
+CV_INLINE const char* cvReadStringByName( const CvFileStorage* fs, const CvFileNode* map,
+                        const char* name, const char* default_value CV_DEFAULT(NULL) )
+{
+    return cvReadString( cvGetFileNodeByName( fs, map, name ), default_value );
+}
+
+
+/** @brief Decodes an object and returns a pointer to it.
+
+The function decodes a user object (creates an object in a native representation from the file
+storage subtree) and returns it. The object to be decoded must be an instance of a registered type
+that supports the read method (see CvTypeInfo). The type of the object is determined by the type
+name that is encoded in the file. If the object is a dynamic structure, it is created either in
+memory storage and passed to cvOpenFileStorage or, if a NULL pointer was passed, in temporary
+memory storage, which is released when cvReleaseFileStorage is called. Otherwise, if the object is
+not a dynamic structure, it is created in a heap and should be released with a specialized function
+or by using the generic cvRelease.
+@param fs File storage
+@param node The root object node
+@param attributes Unused parameter
+ */
+CVAPI(void*) cvRead( CvFileStorage* fs, CvFileNode* node,
+                        CvAttrList* attributes CV_DEFAULT(NULL));
+
+/** @brief Finds an object by name and decodes it.
+
+The function is a simple superposition of cvGetFileNodeByName and cvRead.
+@param fs File storage
+@param map The parent map. If it is NULL, the function searches a top-level node.
+@param name The node name
+@param attributes Unused parameter
+ */
+CV_INLINE void* cvReadByName( CvFileStorage* fs, const CvFileNode* map,
+                              const char* name, CvAttrList* attributes CV_DEFAULT(NULL) )
+{
+    return cvRead( fs, cvGetFileNodeByName( fs, map, name ), attributes );
+}
+
+
+/** @brief Initializes the file node sequence reader.
+
+The function initializes the sequence reader to read data from a file node. The initialized reader
+can be then passed to cvReadRawDataSlice.
+@param fs File storage
+@param src The file node (a sequence) to read numbers from
+@param reader Pointer to the sequence reader
+ */
+CVAPI(void) cvStartReadRawData( const CvFileStorage* fs, const CvFileNode* src,
+                               CvSeqReader* reader );
+
+/** @brief Initializes file node sequence reader.
+
+The function reads one or more elements from the file node, representing a sequence, to a
+user-specified array. The total number of read sequence elements is a product of total and the
+number of components in each array element. For example, if dt=2if, the function will read total\*3
+sequence elements. As with any sequence, some parts of the file node sequence can be skipped or read
+repeatedly by repositioning the reader using cvSetSeqReaderPos.
+@param fs File storage
+@param reader The sequence reader. Initialize it with cvStartReadRawData .
+@param count The number of elements to read
+@param dst Pointer to the destination array
+@param dt Specification of each array element. It has the same format as in cvWriteRawData .
+ */
+CVAPI(void) cvReadRawDataSlice( const CvFileStorage* fs, CvSeqReader* reader,
+                               int count, void* dst, const char* dt );
+
+/** @brief Reads multiple numbers.
+
+The function reads elements from a file node that represents a sequence of scalars.
+@param fs File storage
+@param src The file node (a sequence) to read numbers from
+@param dst Pointer to the destination array
+@param dt Specification of each array element. It has the same format as in cvWriteRawData .
+ */
+CVAPI(void) cvReadRawData( const CvFileStorage* fs, const CvFileNode* src,
+                          void* dst, const char* dt );
+
+/** @brief Writes a file node to another file storage.
+
+The function writes a copy of a file node to file storage. Possible applications of the function are
+merging several file storages into one and conversion between XML and YAML formats.
+@param fs Destination file storage
+@param new_node_name New name of the file node in the destination file storage. To keep the
+existing name, use cvcvGetFileNodeName
+@param node The written node
+@param embed If the written node is a collection and this parameter is not zero, no extra level of
+hierarchy is created. Instead, all the elements of node are written into the currently written
+structure. Of course, map elements can only be embedded into another map, and sequence elements
+can only be embedded into another sequence.
+ */
+CVAPI(void) cvWriteFileNode( CvFileStorage* fs, const char* new_node_name,
+                            const CvFileNode* node, int embed );
+
+/** @brief Returns the name of a file node.
+
+The function returns the name of a file node or NULL, if the file node does not have a name or if
+node is NULL.
+@param node File node
+ */
+CVAPI(const char*) cvGetFileNodeName( const CvFileNode* node );
+
+/*********************************** Adding own types ***********************************/
+
+/** @brief Registers a new type.
+
+The function registers a new type, which is described by info . The function creates a copy of the
+structure, so the user should delete it after calling the function.
+@param info Type info structure
+ */
+CVAPI(void) cvRegisterType( const CvTypeInfo* info );
+
+/** @brief Unregisters the type.
+
+The function unregisters a type with a specified name. If the name is unknown, it is possible to
+locate the type info by an instance of the type using cvTypeOf or by iterating the type list,
+starting from cvFirstType, and then calling cvUnregisterType(info-\>typeName).
+@param type_name Name of an unregistered type
+ */
+CVAPI(void) cvUnregisterType( const char* type_name );
+
+/** @brief Returns the beginning of a type list.
+
+The function returns the first type in the list of registered types. Navigation through the list can
+be done via the prev and next fields of the CvTypeInfo structure.
+ */
+CVAPI(CvTypeInfo*) cvFirstType(void);
+
+/** @brief Finds a type by its name.
+
+The function finds a registered type by its name. It returns NULL if there is no type with the
+specified name.
+@param type_name Type name
+ */
+CVAPI(CvTypeInfo*) cvFindType( const char* type_name );
+
+/** @brief Returns the type of an object.
+
+The function finds the type of a given object. It iterates through the list of registered types and
+calls the is_instance function/method for every type info structure with that object until one of
+them returns non-zero or until the whole list has been traversed. In the latter case, the function
+returns NULL.
+@param struct_ptr The object pointer
+ */
+CVAPI(CvTypeInfo*) cvTypeOf( const void* struct_ptr );
+
+/** @brief Releases an object.
+
+The function finds the type of a given object and calls release with the double pointer.
+@param struct_ptr Double pointer to the object
+ */
+CVAPI(void) cvRelease( void** struct_ptr );
+
+/** @brief Makes a clone of an object.
+
+The function finds the type of a given object and calls clone with the passed object. Of course, if
+you know the object type, for example, struct_ptr is CvMat\*, it is faster to call the specific
+function, like cvCloneMat.
+@param struct_ptr The object to clone
+ */
+CVAPI(void*) cvClone( const void* struct_ptr );
+
+/** @brief Saves an object to a file.
+
+The function saves an object to a file. It provides a simple interface to cvWrite .
+@param filename File name
+@param struct_ptr Object to save
+@param name Optional object name. If it is NULL, the name will be formed from filename .
+@param comment Optional comment to put in the beginning of the file
+@param attributes Optional attributes passed to cvWrite
+ */
+CVAPI(void) cvSave( const char* filename, const void* struct_ptr,
+                    const char* name CV_DEFAULT(NULL),
+                    const char* comment CV_DEFAULT(NULL),
+                    CvAttrList attributes CV_DEFAULT(cvAttrList()));
+
+/** @brief Loads an object from a file.
+
+The function loads an object from a file. It basically reads the specified file, find the first
+top-level node and calls cvRead for that node. If the file node does not have type information or
+the type information can not be found by the type name, the function returns NULL. After the object
+is loaded, the file storage is closed and all the temporary buffers are deleted. Thus, to load a
+dynamic structure, such as a sequence, contour, or graph, one should pass a valid memory storage
+destination to the function.
+@param filename File name
+@param memstorage Memory storage for dynamic structures, such as CvSeq or CvGraph . It is not used
+for matrices or images.
+@param name Optional object name. If it is NULL, the first top-level object in the storage will be
+loaded.
+@param real_name Optional output parameter that will contain the name of the loaded object
+(useful if name=NULL )
+ */
+CVAPI(void*) cvLoad( const char* filename,
+                     CvMemStorage* memstorage CV_DEFAULT(NULL),
+                     const char* name CV_DEFAULT(NULL),
+                     const char** real_name CV_DEFAULT(NULL) );
+
+/*********************************** Measuring Execution Time ***************************/
+
+/** helper functions for RNG initialization and accurate time measurement:
+   uses internal clock counter on x86 */
+CVAPI(int64)  cvGetTickCount( void );
+CVAPI(double) cvGetTickFrequency( void );
+
+/*********************************** CPU capabilities ***********************************/
+
+CVAPI(int) cvCheckHardwareSupport(int feature);
+
+/*********************************** Multi-Threading ************************************/
+
+/** retrieve/set the number of threads used in OpenMP implementations */
+CVAPI(int)  cvGetNumThreads( void );
+CVAPI(void) cvSetNumThreads( int threads CV_DEFAULT(0) );
+/** get index of the thread being executed */
+CVAPI(int)  cvGetThreadNum( void );
+
+
+/********************************** Error Handling **************************************/
+
+/** Get current OpenCV error status */
+CVAPI(int) cvGetErrStatus( void );
+
+/** Sets error status silently */
+CVAPI(void) cvSetErrStatus( int status );
+
+#define CV_ErrModeLeaf     0   /* Print error and exit program */
+#define CV_ErrModeParent   1   /* Print error and continue */
+#define CV_ErrModeSilent   2   /* Don't print and continue */
+
+/** Retrives current error processing mode */
+CVAPI(int)  cvGetErrMode( void );
+
+/** Sets error processing mode, returns previously used mode */
+CVAPI(int) cvSetErrMode( int mode );
+
+/** Sets error status and performs some additonal actions (displaying message box,
+ writing message to stderr, terminating application etc.)
+ depending on the current error mode */
+CVAPI(void) cvError( int status, const char* func_name,
+                    const char* err_msg, const char* file_name, int line );
+
+/** Retrieves textual description of the error given its code */
+CVAPI(const char*) cvErrorStr( int status );
+
+/** Retrieves detailed information about the last error occured */
+CVAPI(int) cvGetErrInfo( const char** errcode_desc, const char** description,
+                        const char** filename, int* line );
+
+/** Maps IPP error codes to the counterparts from OpenCV */
+CVAPI(int) cvErrorFromIppStatus( int ipp_status );
+
+typedef int (CV_CDECL *CvErrorCallback)( int status, const char* func_name,
+                                        const char* err_msg, const char* file_name, int line, void* userdata );
+
+/** Assigns a new error-handling function */
+CVAPI(CvErrorCallback) cvRedirectError( CvErrorCallback error_handler,
+                                       void* userdata CV_DEFAULT(NULL),
+                                       void** prev_userdata CV_DEFAULT(NULL) );
+
+/** Output nothing */
+CVAPI(int) cvNulDevReport( int status, const char* func_name, const char* err_msg,
+                          const char* file_name, int line, void* userdata );
+
+/** Output to console(fprintf(stderr,...)) */
+CVAPI(int) cvStdErrReport( int status, const char* func_name, const char* err_msg,
+                          const char* file_name, int line, void* userdata );
+
+/** Output to MessageBox(WIN32) */
+CVAPI(int) cvGuiBoxReport( int status, const char* func_name, const char* err_msg,
+                          const char* file_name, int line, void* userdata );
+
+#define OPENCV_ERROR(status,func,context)                           \
+cvError((status),(func),(context),__FILE__,__LINE__)
+
+#define OPENCV_ASSERT(expr,func,context)                            \
+{if (! (expr))                                      \
+{OPENCV_ERROR(CV_StsInternal,(func),(context));}}
+
+#define OPENCV_CALL( Func )                                         \
+{                                                                   \
+Func;                                                           \
+}
+
+
+/** CV_FUNCNAME macro defines icvFuncName constant which is used by CV_ERROR macro */
+#ifdef CV_NO_FUNC_NAMES
+#define CV_FUNCNAME( Name )
+#define cvFuncName ""
+#else
+#define CV_FUNCNAME( Name )  \
+static char cvFuncName[] = Name
+#endif
+
+
+/**
+ CV_ERROR macro unconditionally raises error with passed code and message.
+ After raising error, control will be transferred to the exit label.
+ */
+#define CV_ERROR( Code, Msg )                                       \
+{                                                                   \
+    cvError( (Code), cvFuncName, Msg, __FILE__, __LINE__ );        \
+    __CV_EXIT__;                                                   \
+}
+
+/**
+ CV_CHECK macro checks error status after CV (or IPL)
+ function call. If error detected, control will be transferred to the exit
+ label.
+ */
+#define CV_CHECK()                                                  \
+{                                                                   \
+    if( cvGetErrStatus() < 0 )                                      \
+        CV_ERROR( CV_StsBackTrace, "Inner function failed." );      \
+}
+
+
+/**
+ CV_CALL macro calls CV (or IPL) function, checks error status and
+ signals a error if the function failed. Useful in "parent node"
+ error procesing mode
+ */
+#define CV_CALL( Func )                                             \
+{                                                                   \
+    Func;                                                           \
+    CV_CHECK();                                                     \
+}
+
+
+/** Runtime assertion macro */
+#define CV_ASSERT( Condition )                                          \
+{                                                                       \
+    if( !(Condition) )                                                  \
+        CV_ERROR( CV_StsInternal, "Assertion: " #Condition " failed" ); \
+}
+
+#define __CV_BEGIN__       {
+#define __CV_END__         goto exit; exit: ; }
+#define __CV_EXIT__        goto exit
+
+/** @} core_c */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#ifdef __cplusplus
+
+//! @addtogroup core_c_glue
+//! @{
+
+//! class for automatic module/RTTI data registration/unregistration
+struct CV_EXPORTS CvType
+{
+    CvType( const char* type_name,
+            CvIsInstanceFunc is_instance, CvReleaseFunc release=0,
+            CvReadFunc read=0, CvWriteFunc write=0, CvCloneFunc clone=0 );
+    ~CvType();
+    CvTypeInfo* info;
+
+    static CvTypeInfo* first;
+    static CvTypeInfo* last;
+};
+
+//! @}
+
+#include "opencv2/core/utility.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_c_glue
+//! @{
+
+/////////////////////////////////////////// glue ///////////////////////////////////////////
+
+//! converts array (CvMat or IplImage) to cv::Mat
+CV_EXPORTS Mat cvarrToMat(const CvArr* arr, bool copyData=false,
+                          bool allowND=true, int coiMode=0,
+                          AutoBuffer<double>* buf=0);
+
+static inline Mat cvarrToMatND(const CvArr* arr, bool copyData=false, int coiMode=0)
+{
+    return cvarrToMat(arr, copyData, true, coiMode);
+}
+
+
+//! extracts Channel of Interest from CvMat or IplImage and makes cv::Mat out of it.
+CV_EXPORTS void extractImageCOI(const CvArr* arr, OutputArray coiimg, int coi=-1);
+//! inserts single-channel cv::Mat into a multi-channel CvMat or IplImage
+CV_EXPORTS void insertImageCOI(InputArray coiimg, CvArr* arr, int coi=-1);
+
+
+
+////// specialized implementations of DefaultDeleter::operator() for classic OpenCV types //////
+
+template<> CV_EXPORTS void DefaultDeleter<CvMat>::operator ()(CvMat* obj) const;
+template<> CV_EXPORTS void DefaultDeleter<IplImage>::operator ()(IplImage* obj) const;
+template<> CV_EXPORTS void DefaultDeleter<CvMatND>::operator ()(CvMatND* obj) const;
+template<> CV_EXPORTS void DefaultDeleter<CvSparseMat>::operator ()(CvSparseMat* obj) const;
+template<> CV_EXPORTS void DefaultDeleter<CvMemStorage>::operator ()(CvMemStorage* obj) const;
+
+////////////// convenient wrappers for operating old-style dynamic structures //////////////
+
+template<typename _Tp> class SeqIterator;
+
+typedef Ptr<CvMemStorage> MemStorage;
+
+/*!
+ Template Sequence Class derived from CvSeq
+
+ The class provides more convenient access to sequence elements,
+ STL-style operations and iterators.
+
+ \note The class is targeted for simple data types,
+    i.e. no constructors or destructors
+    are called for the sequence elements.
+*/
+template<typename _Tp> class Seq
+{
+public:
+    typedef SeqIterator<_Tp> iterator;
+    typedef SeqIterator<_Tp> const_iterator;
+
+    //! the default constructor
+    Seq();
+    //! the constructor for wrapping CvSeq structure. The real element type in CvSeq should match _Tp.
+    Seq(const CvSeq* seq);
+    //! creates the empty sequence that resides in the specified storage
+    Seq(MemStorage& storage, int headerSize = sizeof(CvSeq));
+    //! returns read-write reference to the specified element
+    _Tp& operator [](int idx);
+    //! returns read-only reference to the specified element
+    const _Tp& operator[](int idx) const;
+    //! returns iterator pointing to the beginning of the sequence
+    SeqIterator<_Tp> begin() const;
+    //! returns iterator pointing to the element following the last sequence element
+    SeqIterator<_Tp> end() const;
+    //! returns the number of elements in the sequence
+    size_t size() const;
+    //! returns the type of sequence elements (CV_8UC1 ... CV_64FC(CV_CN_MAX) ...)
+    int type() const;
+    //! returns the depth of sequence elements (CV_8U ... CV_64F)
+    int depth() const;
+    //! returns the number of channels in each sequence element
+    int channels() const;
+    //! returns the size of each sequence element
+    size_t elemSize() const;
+    //! returns index of the specified sequence element
+    size_t index(const _Tp& elem) const;
+    //! appends the specified element to the end of the sequence
+    void push_back(const _Tp& elem);
+    //! appends the specified element to the front of the sequence
+    void push_front(const _Tp& elem);
+    //! appends zero or more elements to the end of the sequence
+    void push_back(const _Tp* elems, size_t count);
+    //! appends zero or more elements to the front of the sequence
+    void push_front(const _Tp* elems, size_t count);
+    //! inserts the specified element to the specified position
+    void insert(int idx, const _Tp& elem);
+    //! inserts zero or more elements to the specified position
+    void insert(int idx, const _Tp* elems, size_t count);
+    //! removes element at the specified position
+    void remove(int idx);
+    //! removes the specified subsequence
+    void remove(const Range& r);
+
+    //! returns reference to the first sequence element
+    _Tp& front();
+    //! returns read-only reference to the first sequence element
+    const _Tp& front() const;
+    //! returns reference to the last sequence element
+    _Tp& back();
+    //! returns read-only reference to the last sequence element
+    const _Tp& back() const;
+    //! returns true iff the sequence contains no elements
+    bool empty() const;
+
+    //! removes all the elements from the sequence
+    void clear();
+    //! removes the first element from the sequence
+    void pop_front();
+    //! removes the last element from the sequence
+    void pop_back();
+    //! removes zero or more elements from the beginning of the sequence
+    void pop_front(_Tp* elems, size_t count);
+    //! removes zero or more elements from the end of the sequence
+    void pop_back(_Tp* elems, size_t count);
+
+    //! copies the whole sequence or the sequence slice to the specified vector
+    void copyTo(std::vector<_Tp>& vec, const Range& range=Range::all()) const;
+    //! returns the vector containing all the sequence elements
+    operator std::vector<_Tp>() const;
+
+    CvSeq* seq;
+};
+
+
+/*!
+ STL-style Sequence Iterator inherited from the CvSeqReader structure
+*/
+template<typename _Tp> class SeqIterator : public CvSeqReader
+{
+public:
+    //! the default constructor
+    SeqIterator();
+    //! the constructor setting the iterator to the beginning or to the end of the sequence
+    SeqIterator(const Seq<_Tp>& seq, bool seekEnd=false);
+    //! positions the iterator within the sequence
+    void seek(size_t pos);
+    //! reports the current iterator position
+    size_t tell() const;
+    //! returns reference to the current sequence element
+    _Tp& operator *();
+    //! returns read-only reference to the current sequence element
+    const _Tp& operator *() const;
+    //! moves iterator to the next sequence element
+    SeqIterator& operator ++();
+    //! moves iterator to the next sequence element
+    SeqIterator operator ++(int) const;
+    //! moves iterator to the previous sequence element
+    SeqIterator& operator --();
+    //! moves iterator to the previous sequence element
+    SeqIterator operator --(int) const;
+
+    //! moves iterator forward by the specified offset (possibly negative)
+    SeqIterator& operator +=(int);
+    //! moves iterator backward by the specified offset (possibly negative)
+    SeqIterator& operator -=(int);
+
+    // this is index of the current element module seq->total*2
+    // (to distinguish between 0 and seq->total)
+    int index;
+};
+
+
+
+// bridge C++ => C Seq API
+CV_EXPORTS schar*  seqPush( CvSeq* seq, const void* element=0);
+CV_EXPORTS schar*  seqPushFront( CvSeq* seq, const void* element=0);
+CV_EXPORTS void  seqPop( CvSeq* seq, void* element=0);
+CV_EXPORTS void  seqPopFront( CvSeq* seq, void* element=0);
+CV_EXPORTS void  seqPopMulti( CvSeq* seq, void* elements,
+                              int count, int in_front=0 );
+CV_EXPORTS void  seqRemove( CvSeq* seq, int index );
+CV_EXPORTS void  clearSeq( CvSeq* seq );
+CV_EXPORTS schar*  getSeqElem( const CvSeq* seq, int index );
+CV_EXPORTS void  seqRemoveSlice( CvSeq* seq, CvSlice slice );
+CV_EXPORTS void  seqInsertSlice( CvSeq* seq, int before_index, const CvArr* from_arr );
+
+template<typename _Tp> inline Seq<_Tp>::Seq() : seq(0) {}
+template<typename _Tp> inline Seq<_Tp>::Seq( const CvSeq* _seq ) : seq((CvSeq*)_seq)
+{
+    CV_Assert(!_seq || _seq->elem_size == sizeof(_Tp));
+}
+
+template<typename _Tp> inline Seq<_Tp>::Seq( MemStorage& storage,
+                                             int headerSize )
+{
+    CV_Assert(headerSize >= (int)sizeof(CvSeq));
+    seq = cvCreateSeq(DataType<_Tp>::type, headerSize, sizeof(_Tp), storage);
+}
+
+template<typename _Tp> inline _Tp& Seq<_Tp>::operator [](int idx)
+{ return *(_Tp*)getSeqElem(seq, idx); }
+
+template<typename _Tp> inline const _Tp& Seq<_Tp>::operator [](int idx) const
+{ return *(_Tp*)getSeqElem(seq, idx); }
+
+template<typename _Tp> inline SeqIterator<_Tp> Seq<_Tp>::begin() const
+{ return SeqIterator<_Tp>(*this); }
+
+template<typename _Tp> inline SeqIterator<_Tp> Seq<_Tp>::end() const
+{ return SeqIterator<_Tp>(*this, true); }
+
+template<typename _Tp> inline size_t Seq<_Tp>::size() const
+{ return seq ? seq->total : 0; }
+
+template<typename _Tp> inline int Seq<_Tp>::type() const
+{ return seq ? CV_MAT_TYPE(seq->flags) : 0; }
+
+template<typename _Tp> inline int Seq<_Tp>::depth() const
+{ return seq ? CV_MAT_DEPTH(seq->flags) : 0; }
+
+template<typename _Tp> inline int Seq<_Tp>::channels() const
+{ return seq ? CV_MAT_CN(seq->flags) : 0; }
+
+template<typename _Tp> inline size_t Seq<_Tp>::elemSize() const
+{ return seq ? seq->elem_size : 0; }
+
+template<typename _Tp> inline size_t Seq<_Tp>::index(const _Tp& elem) const
+{ return cvSeqElemIdx(seq, &elem); }
+
+template<typename _Tp> inline void Seq<_Tp>::push_back(const _Tp& elem)
+{ cvSeqPush(seq, &elem); }
+
+template<typename _Tp> inline void Seq<_Tp>::push_front(const _Tp& elem)
+{ cvSeqPushFront(seq, &elem); }
+
+template<typename _Tp> inline void Seq<_Tp>::push_back(const _Tp* elem, size_t count)
+{ cvSeqPushMulti(seq, elem, (int)count, 0); }
+
+template<typename _Tp> inline void Seq<_Tp>::push_front(const _Tp* elem, size_t count)
+{ cvSeqPushMulti(seq, elem, (int)count, 1); }
+
+template<typename _Tp> inline _Tp& Seq<_Tp>::back()
+{ return *(_Tp*)getSeqElem(seq, -1); }
+
+template<typename _Tp> inline const _Tp& Seq<_Tp>::back() const
+{ return *(const _Tp*)getSeqElem(seq, -1); }
+
+template<typename _Tp> inline _Tp& Seq<_Tp>::front()
+{ return *(_Tp*)getSeqElem(seq, 0); }
+
+template<typename _Tp> inline const _Tp& Seq<_Tp>::front() const
+{ return *(const _Tp*)getSeqElem(seq, 0); }
+
+template<typename _Tp> inline bool Seq<_Tp>::empty() const
+{ return !seq || seq->total == 0; }
+
+template<typename _Tp> inline void Seq<_Tp>::clear()
+{ if(seq) clearSeq(seq); }
+
+template<typename _Tp> inline void Seq<_Tp>::pop_back()
+{ seqPop(seq); }
+
+template<typename _Tp> inline void Seq<_Tp>::pop_front()
+{ seqPopFront(seq); }
+
+template<typename _Tp> inline void Seq<_Tp>::pop_back(_Tp* elem, size_t count)
+{ seqPopMulti(seq, elem, (int)count, 0); }
+
+template<typename _Tp> inline void Seq<_Tp>::pop_front(_Tp* elem, size_t count)
+{ seqPopMulti(seq, elem, (int)count, 1); }
+
+template<typename _Tp> inline void Seq<_Tp>::insert(int idx, const _Tp& elem)
+{ seqInsert(seq, idx, &elem); }
+
+template<typename _Tp> inline void Seq<_Tp>::insert(int idx, const _Tp* elems, size_t count)
+{
+    CvMat m = cvMat(1, count, DataType<_Tp>::type, elems);
+    seqInsertSlice(seq, idx, &m);
+}
+
+template<typename _Tp> inline void Seq<_Tp>::remove(int idx)
+{ seqRemove(seq, idx); }
+
+template<typename _Tp> inline void Seq<_Tp>::remove(const Range& r)
+{ seqRemoveSlice(seq, cvSlice(r.start, r.end)); }
+
+template<typename _Tp> inline void Seq<_Tp>::copyTo(std::vector<_Tp>& vec, const Range& range) const
+{
+    size_t len = !seq ? 0 : range == Range::all() ? seq->total : range.end - range.start;
+    vec.resize(len);
+    if( seq && len )
+        cvCvtSeqToArray(seq, &vec[0], range);
+}
+
+template<typename _Tp> inline Seq<_Tp>::operator std::vector<_Tp>() const
+{
+    std::vector<_Tp> vec;
+    copyTo(vec);
+    return vec;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp>::SeqIterator()
+{ memset(this, 0, sizeof(*this)); }
+
+template<typename _Tp> inline SeqIterator<_Tp>::SeqIterator(const Seq<_Tp>& _seq, bool seekEnd)
+{
+    cvStartReadSeq(_seq.seq, this);
+    index = seekEnd ? _seq.seq->total : 0;
+}
+
+template<typename _Tp> inline void SeqIterator<_Tp>::seek(size_t pos)
+{
+    cvSetSeqReaderPos(this, (int)pos, false);
+    index = pos;
+}
+
+template<typename _Tp> inline size_t SeqIterator<_Tp>::tell() const
+{ return index; }
+
+template<typename _Tp> inline _Tp& SeqIterator<_Tp>::operator *()
+{ return *(_Tp*)ptr; }
+
+template<typename _Tp> inline const _Tp& SeqIterator<_Tp>::operator *() const
+{ return *(const _Tp*)ptr; }
+
+template<typename _Tp> inline SeqIterator<_Tp>& SeqIterator<_Tp>::operator ++()
+{
+    CV_NEXT_SEQ_ELEM(sizeof(_Tp), *this);
+    if( ++index >= seq->total*2 )
+        index = 0;
+    return *this;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp> SeqIterator<_Tp>::operator ++(int) const
+{
+    SeqIterator<_Tp> it = *this;
+    ++*this;
+    return it;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp>& SeqIterator<_Tp>::operator --()
+{
+    CV_PREV_SEQ_ELEM(sizeof(_Tp), *this);
+    if( --index < 0 )
+        index = seq->total*2-1;
+    return *this;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp> SeqIterator<_Tp>::operator --(int) const
+{
+    SeqIterator<_Tp> it = *this;
+    --*this;
+    return it;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp>& SeqIterator<_Tp>::operator +=(int delta)
+{
+    cvSetSeqReaderPos(this, delta, 1);
+    index += delta;
+    int n = seq->total*2;
+    if( index < 0 )
+        index += n;
+    if( index >= n )
+        index -= n;
+    return *this;
+}
+
+template<typename _Tp> inline SeqIterator<_Tp>& SeqIterator<_Tp>::operator -=(int delta)
+{
+    return (*this += -delta);
+}
+
+template<typename _Tp> inline ptrdiff_t operator - (const SeqIterator<_Tp>& a,
+                                                    const SeqIterator<_Tp>& b)
+{
+    ptrdiff_t delta = a.index - b.index, n = a.seq->total;
+    if( delta > n || delta < -n )
+        delta += delta < 0 ? n : -n;
+    return delta;
+}
+
+template<typename _Tp> inline bool operator == (const SeqIterator<_Tp>& a,
+                                                const SeqIterator<_Tp>& b)
+{
+    return a.seq == b.seq && a.index == b.index;
+}
+
+template<typename _Tp> inline bool operator != (const SeqIterator<_Tp>& a,
+                                                const SeqIterator<_Tp>& b)
+{
+    return !(a == b);
+}
+
+//! @}
+
+} // cv
+
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/core/cuda.hpp b/3rdparty/include/opencv2/core/cuda.hpp
new file mode 100644
index 0000000..a9c7a39
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda.hpp
@@ -0,0 +1,845 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_CUDA_HPP__
+#define __OPENCV_CORE_CUDA_HPP__
+
+#ifndef __cplusplus
+#  error cuda.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core.hpp"
+#include "opencv2/core/cuda_types.hpp"
+
+/**
+  @defgroup cuda CUDA-accelerated Computer Vision
+  @{
+    @defgroup cudacore Core part
+    @{
+      @defgroup cudacore_init Initalization and Information
+      @defgroup cudacore_struct Data Structures
+    @}
+  @}
+ */
+
+namespace cv { namespace cuda {
+
+//! @addtogroup cudacore_struct
+//! @{
+
+//===================================================================================
+// GpuMat
+//===================================================================================
+
+/** @brief Base storage class for GPU memory with reference counting.
+
+Its interface matches the Mat interface with the following limitations:
+
+-   no arbitrary dimensions support (only 2D)
+-   no functions that return references to their data (because references on GPU are not valid for
+    CPU)
+-   no expression templates technique support
+
+Beware that the latter limitation may lead to overloaded matrix operators that cause memory
+allocations. The GpuMat class is convertible to cuda::PtrStepSz and cuda::PtrStep so it can be
+passed directly to the kernel.
+
+@note In contrast with Mat, in most cases GpuMat::isContinuous() == false . This means that rows are
+aligned to a size depending on the hardware. Single-row GpuMat is always a continuous matrix.
+
+@note You are not recommended to leave static or global GpuMat variables allocated, that is, to rely
+on its destructor. The destruction order of such variables and CUDA context is undefined. GPU memory
+release function returns error if the CUDA context has been destroyed before.
+
+@sa Mat
+ */
+class CV_EXPORTS GpuMat
+{
+public:
+    class CV_EXPORTS Allocator
+    {
+    public:
+        virtual ~Allocator() {}
+
+        // allocator must fill data, step and refcount fields
+        virtual bool allocate(GpuMat* mat, int rows, int cols, size_t elemSize) = 0;
+        virtual void free(GpuMat* mat) = 0;
+    };
+
+    //! default allocator
+    static Allocator* defaultAllocator();
+    static void setDefaultAllocator(Allocator* allocator);
+
+    //! default constructor
+    explicit GpuMat(Allocator* allocator = defaultAllocator());
+
+    //! constructs GpuMat of the specified size and type
+    GpuMat(int rows, int cols, int type, Allocator* allocator = defaultAllocator());
+    GpuMat(Size size, int type, Allocator* allocator = defaultAllocator());
+
+    //! constucts GpuMat and fills it with the specified value _s
+    GpuMat(int rows, int cols, int type, Scalar s, Allocator* allocator = defaultAllocator());
+    GpuMat(Size size, int type, Scalar s, Allocator* allocator = defaultAllocator());
+
+    //! copy constructor
+    GpuMat(const GpuMat& m);
+
+    //! constructor for GpuMat headers pointing to user-allocated data
+    GpuMat(int rows, int cols, int type, void* data, size_t step = Mat::AUTO_STEP);
+    GpuMat(Size size, int type, void* data, size_t step = Mat::AUTO_STEP);
+
+    //! creates a GpuMat header for a part of the bigger matrix
+    GpuMat(const GpuMat& m, Range rowRange, Range colRange);
+    GpuMat(const GpuMat& m, Rect roi);
+
+    //! builds GpuMat from host memory (Blocking call)
+    explicit GpuMat(InputArray arr, Allocator* allocator = defaultAllocator());
+
+    //! destructor - calls release()
+    ~GpuMat();
+
+    //! assignment operators
+    GpuMat& operator =(const GpuMat& m);
+
+    //! allocates new GpuMat data unless the GpuMat already has specified size and type
+    void create(int rows, int cols, int type);
+    void create(Size size, int type);
+
+    //! decreases reference counter, deallocate the data when reference counter reaches 0
+    void release();
+
+    //! swaps with other smart pointer
+    void swap(GpuMat& mat);
+
+    //! pefroms upload data to GpuMat (Blocking call)
+    void upload(InputArray arr);
+
+    //! pefroms upload data to GpuMat (Non-Blocking call)
+    void upload(InputArray arr, Stream& stream);
+
+    //! pefroms download data from device to host memory (Blocking call)
+    void download(OutputArray dst) const;
+
+    //! pefroms download data from device to host memory (Non-Blocking call)
+    void download(OutputArray dst, Stream& stream) const;
+
+    //! returns deep copy of the GpuMat, i.e. the data is copied
+    GpuMat clone() const;
+
+    //! copies the GpuMat content to device memory (Blocking call)
+    void copyTo(OutputArray dst) const;
+
+    //! copies the GpuMat content to device memory (Non-Blocking call)
+    void copyTo(OutputArray dst, Stream& stream) const;
+
+    //! copies those GpuMat elements to "m" that are marked with non-zero mask elements (Blocking call)
+    void copyTo(OutputArray dst, InputArray mask) const;
+
+    //! copies those GpuMat elements to "m" that are marked with non-zero mask elements (Non-Blocking call)
+    void copyTo(OutputArray dst, InputArray mask, Stream& stream) const;
+
+    //! sets some of the GpuMat elements to s (Blocking call)
+    GpuMat& setTo(Scalar s);
+
+    //! sets some of the GpuMat elements to s (Non-Blocking call)
+    GpuMat& setTo(Scalar s, Stream& stream);
+
+    //! sets some of the GpuMat elements to s, according to the mask (Blocking call)
+    GpuMat& setTo(Scalar s, InputArray mask);
+
+    //! sets some of the GpuMat elements to s, according to the mask (Non-Blocking call)
+    GpuMat& setTo(Scalar s, InputArray mask, Stream& stream);
+
+    //! converts GpuMat to another datatype (Blocking call)
+    void convertTo(OutputArray dst, int rtype) const;
+
+    //! converts GpuMat to another datatype (Non-Blocking call)
+    void convertTo(OutputArray dst, int rtype, Stream& stream) const;
+
+    //! converts GpuMat to another datatype with scaling (Blocking call)
+    void convertTo(OutputArray dst, int rtype, double alpha, double beta = 0.0) const;
+
+    //! converts GpuMat to another datatype with scaling (Non-Blocking call)
+    void convertTo(OutputArray dst, int rtype, double alpha, Stream& stream) const;
+
+    //! converts GpuMat to another datatype with scaling (Non-Blocking call)
+    void convertTo(OutputArray dst, int rtype, double alpha, double beta, Stream& stream) const;
+
+    void assignTo(GpuMat& m, int type=-1) const;
+
+    //! returns pointer to y-th row
+    uchar* ptr(int y = 0);
+    const uchar* ptr(int y = 0) const;
+
+    //! template version of the above method
+    template<typename _Tp> _Tp* ptr(int y = 0);
+    template<typename _Tp> const _Tp* ptr(int y = 0) const;
+
+    template <typename _Tp> operator PtrStepSz<_Tp>() const;
+    template <typename _Tp> operator PtrStep<_Tp>() const;
+
+    //! returns a new GpuMat header for the specified row
+    GpuMat row(int y) const;
+
+    //! returns a new GpuMat header for the specified column
+    GpuMat col(int x) const;
+
+    //! ... for the specified row span
+    GpuMat rowRange(int startrow, int endrow) const;
+    GpuMat rowRange(Range r) const;
+
+    //! ... for the specified column span
+    GpuMat colRange(int startcol, int endcol) const;
+    GpuMat colRange(Range r) const;
+
+    //! extracts a rectangular sub-GpuMat (this is a generalized form of row, rowRange etc.)
+    GpuMat operator ()(Range rowRange, Range colRange) const;
+    GpuMat operator ()(Rect roi) const;
+
+    //! creates alternative GpuMat header for the same data, with different
+    //! number of channels and/or different number of rows
+    GpuMat reshape(int cn, int rows = 0) const;
+
+    //! locates GpuMat header within a parent GpuMat
+    void locateROI(Size& wholeSize, Point& ofs) const;
+
+    //! moves/resizes the current GpuMat ROI inside the parent GpuMat
+    GpuMat& adjustROI(int dtop, int dbottom, int dleft, int dright);
+
+    //! returns true iff the GpuMat data is continuous
+    //! (i.e. when there are no gaps between successive rows)
+    bool isContinuous() const;
+
+    //! returns element size in bytes
+    size_t elemSize() const;
+
+    //! returns the size of element channel in bytes
+    size_t elemSize1() const;
+
+    //! returns element type
+    int type() const;
+
+    //! returns element type
+    int depth() const;
+
+    //! returns number of channels
+    int channels() const;
+
+    //! returns step/elemSize1()
+    size_t step1() const;
+
+    //! returns GpuMat size : width == number of columns, height == number of rows
+    Size size() const;
+
+    //! returns true if GpuMat data is NULL
+    bool empty() const;
+
+    /*! includes several bit-fields:
+    - the magic signature
+    - continuity flag
+    - depth
+    - number of channels
+    */
+    int flags;
+
+    //! the number of rows and columns
+    int rows, cols;
+
+    //! a distance between successive rows in bytes; includes the gap if any
+    size_t step;
+
+    //! pointer to the data
+    uchar* data;
+
+    //! pointer to the reference counter;
+    //! when GpuMat points to user-allocated data, the pointer is NULL
+    int* refcount;
+
+    //! helper fields used in locateROI and adjustROI
+    uchar* datastart;
+    const uchar* dataend;
+
+    //! allocator
+    Allocator* allocator;
+};
+
+/** @brief Creates a continuous matrix.
+
+@param rows Row count.
+@param cols Column count.
+@param type Type of the matrix.
+@param arr Destination matrix. This parameter changes only if it has a proper type and area (
+\f$\texttt{rows} \times \texttt{cols}\f$ ).
+
+Matrix is called continuous if its elements are stored continuously, that is, without gaps at the
+end of each row.
+ */
+CV_EXPORTS void createContinuous(int rows, int cols, int type, OutputArray arr);
+
+/** @brief Ensures that the size of a matrix is big enough and the matrix has a proper type.
+
+@param rows Minimum desired number of rows.
+@param cols Minimum desired number of columns.
+@param type Desired matrix type.
+@param arr Destination matrix.
+
+The function does not reallocate memory if the matrix has proper attributes already.
+ */
+CV_EXPORTS void ensureSizeIsEnough(int rows, int cols, int type, OutputArray arr);
+
+//! BufferPool management (must be called before Stream creation)
+CV_EXPORTS void setBufferPoolUsage(bool on);
+CV_EXPORTS void setBufferPoolConfig(int deviceId, size_t stackSize, int stackCount);
+
+//===================================================================================
+// HostMem
+//===================================================================================
+
+/** @brief Class with reference counting wrapping special memory type allocation functions from CUDA.
+
+Its interface is also Mat-like but with additional memory type parameters.
+
+-   **PAGE_LOCKED** sets a page locked memory type used commonly for fast and asynchronous
+    uploading/downloading data from/to GPU.
+-   **SHARED** specifies a zero copy memory allocation that enables mapping the host memory to GPU
+    address space, if supported.
+-   **WRITE_COMBINED** sets the write combined buffer that is not cached by CPU. Such buffers are
+    used to supply GPU with data when GPU only reads it. The advantage is a better CPU cache
+    utilization.
+
+@note Allocation size of such memory types is usually limited. For more details, see *CUDA 2.2
+Pinned Memory APIs* document or *CUDA C Programming Guide*.
+ */
+class CV_EXPORTS HostMem
+{
+public:
+    enum AllocType { PAGE_LOCKED = 1, SHARED = 2, WRITE_COMBINED = 4 };
+
+    static MatAllocator* getAllocator(AllocType alloc_type = PAGE_LOCKED);
+
+    explicit HostMem(AllocType alloc_type = PAGE_LOCKED);
+
+    HostMem(const HostMem& m);
+
+    HostMem(int rows, int cols, int type, AllocType alloc_type = PAGE_LOCKED);
+    HostMem(Size size, int type, AllocType alloc_type = PAGE_LOCKED);
+
+    //! creates from host memory with coping data
+    explicit HostMem(InputArray arr, AllocType alloc_type = PAGE_LOCKED);
+
+    ~HostMem();
+
+    HostMem& operator =(const HostMem& m);
+
+    //! swaps with other smart pointer
+    void swap(HostMem& b);
+
+    //! returns deep copy of the matrix, i.e. the data is copied
+    HostMem clone() const;
+
+    //! allocates new matrix data unless the matrix already has specified size and type.
+    void create(int rows, int cols, int type);
+    void create(Size size, int type);
+
+    //! creates alternative HostMem header for the same data, with different
+    //! number of channels and/or different number of rows
+    HostMem reshape(int cn, int rows = 0) const;
+
+    //! decrements reference counter and released memory if needed.
+    void release();
+
+    //! returns matrix header with disabled reference counting for HostMem data.
+    Mat createMatHeader() const;
+
+    /** @brief Maps CPU memory to GPU address space and creates the cuda::GpuMat header without reference counting
+    for it.
+
+    This can be done only if memory was allocated with the SHARED flag and if it is supported by the
+    hardware. Laptops often share video and CPU memory, so address spaces can be mapped, which
+    eliminates an extra copy.
+     */
+    GpuMat createGpuMatHeader() const;
+
+    // Please see cv::Mat for descriptions
+    bool isContinuous() const;
+    size_t elemSize() const;
+    size_t elemSize1() const;
+    int type() const;
+    int depth() const;
+    int channels() const;
+    size_t step1() const;
+    Size size() const;
+    bool empty() const;
+
+    // Please see cv::Mat for descriptions
+    int flags;
+    int rows, cols;
+    size_t step;
+
+    uchar* data;
+    int* refcount;
+
+    uchar* datastart;
+    const uchar* dataend;
+
+    AllocType alloc_type;
+};
+
+/** @brief Page-locks the memory of matrix and maps it for the device(s).
+
+@param m Input matrix.
+ */
+CV_EXPORTS void registerPageLocked(Mat& m);
+
+/** @brief Unmaps the memory of matrix and makes it pageable again.
+
+@param m Input matrix.
+ */
+CV_EXPORTS void unregisterPageLocked(Mat& m);
+
+//===================================================================================
+// Stream
+//===================================================================================
+
+/** @brief This class encapsulates a queue of asynchronous calls.
+
+@note Currently, you may face problems if an operation is enqueued twice with different data. Some
+functions use the constant GPU memory, and next call may update the memory before the previous one
+has been finished. But calling different operations asynchronously is safe because each operation
+has its own constant buffer. Memory copy/upload/download/set operations to the buffers you hold are
+also safe. :
+ */
+class CV_EXPORTS Stream
+{
+    typedef void (Stream::*bool_type)() const;
+    void this_type_does_not_support_comparisons() const {}
+
+public:
+    typedef void (*StreamCallback)(int status, void* userData);
+
+    //! creates a new asynchronous stream
+    Stream();
+
+    /** @brief Returns true if the current stream queue is finished. Otherwise, it returns false.
+    */
+    bool queryIfComplete() const;
+
+    /** @brief Blocks the current CPU thread until all operations in the stream are complete.
+    */
+    void waitForCompletion();
+
+    /** @brief Makes a compute stream wait on an event.
+    */
+    void waitEvent(const Event& event);
+
+    /** @brief Adds a callback to be called on the host after all currently enqueued items in the stream have
+    completed.
+
+    @note Callbacks must not make any CUDA API calls. Callbacks must not perform any synchronization
+    that may depend on outstanding device work or other callbacks that are not mandated to run earlier.
+    Callbacks without a mandated order (in independent streams) execute in undefined order and may be
+    serialized.
+     */
+    void enqueueHostCallback(StreamCallback callback, void* userData);
+
+    //! return Stream object for default CUDA stream
+    static Stream& Null();
+
+    //! returns true if stream object is not default (!= 0)
+    operator bool_type() const;
+
+    class Impl;
+
+private:
+    Ptr<Impl> impl_;
+    Stream(const Ptr<Impl>& impl);
+
+    friend struct StreamAccessor;
+    friend class BufferPool;
+    friend class DefaultDeviceInitializer;
+};
+
+class CV_EXPORTS Event
+{
+public:
+    enum CreateFlags
+    {
+        DEFAULT        = 0x00,  /**< Default event flag */
+        BLOCKING_SYNC  = 0x01,  /**< Event uses blocking synchronization */
+        DISABLE_TIMING = 0x02,  /**< Event will not record timing data */
+        INTERPROCESS   = 0x04   /**< Event is suitable for interprocess use. DisableTiming must be set */
+    };
+
+    explicit Event(CreateFlags flags = DEFAULT);
+
+    //! records an event
+    void record(Stream& stream = Stream::Null());
+
+    //! queries an event's status
+    bool queryIfComplete() const;
+
+    //! waits for an event to complete
+    void waitForCompletion();
+
+    //! computes the elapsed time between events
+    static float elapsedTime(const Event& start, const Event& end);
+
+    class Impl;
+
+private:
+    Ptr<Impl> impl_;
+
+    friend struct EventAccessor;
+};
+
+//! @} cudacore_struct
+
+//===================================================================================
+// Initialization & Info
+//===================================================================================
+
+//! @addtogroup cudacore_init
+//! @{
+
+/** @brief Returns the number of installed CUDA-enabled devices.
+
+Use this function before any other CUDA functions calls. If OpenCV is compiled without CUDA support,
+this function returns 0.
+ */
+CV_EXPORTS int getCudaEnabledDeviceCount();
+
+/** @brief Sets a device and initializes it for the current thread.
+
+@param device System index of a CUDA device starting with 0.
+
+If the call of this function is omitted, a default device is initialized at the fist CUDA usage.
+ */
+CV_EXPORTS void setDevice(int device);
+
+/** @brief Returns the current device index set by cuda::setDevice or initialized by default.
+ */
+CV_EXPORTS int getDevice();
+
+/** @brief Explicitly destroys and cleans up all resources associated with the current device in the current
+process.
+
+Any subsequent API call to this device will reinitialize the device.
+ */
+CV_EXPORTS void resetDevice();
+
+/** @brief Enumeration providing CUDA computing features.
+ */
+enum FeatureSet
+{
+    FEATURE_SET_COMPUTE_10 = 10,
+    FEATURE_SET_COMPUTE_11 = 11,
+    FEATURE_SET_COMPUTE_12 = 12,
+    FEATURE_SET_COMPUTE_13 = 13,
+    FEATURE_SET_COMPUTE_20 = 20,
+    FEATURE_SET_COMPUTE_21 = 21,
+    FEATURE_SET_COMPUTE_30 = 30,
+    FEATURE_SET_COMPUTE_32 = 32,
+    FEATURE_SET_COMPUTE_35 = 35,
+    FEATURE_SET_COMPUTE_50 = 50,
+
+    GLOBAL_ATOMICS = FEATURE_SET_COMPUTE_11,
+    SHARED_ATOMICS = FEATURE_SET_COMPUTE_12,
+    NATIVE_DOUBLE = FEATURE_SET_COMPUTE_13,
+    WARP_SHUFFLE_FUNCTIONS = FEATURE_SET_COMPUTE_30,
+    DYNAMIC_PARALLELISM = FEATURE_SET_COMPUTE_35
+};
+
+//! checks whether current device supports the given feature
+CV_EXPORTS bool deviceSupports(FeatureSet feature_set);
+
+/** @brief Class providing a set of static methods to check what NVIDIA\* card architecture the CUDA module was
+built for.
+
+According to the CUDA C Programming Guide Version 3.2: "PTX code produced for some specific compute
+capability can always be compiled to binary code of greater or equal compute capability".
+ */
+class CV_EXPORTS TargetArchs
+{
+public:
+    /** @brief The following method checks whether the module was built with the support of the given feature:
+
+    @param feature_set Features to be checked. See :ocvcuda::FeatureSet.
+     */
+    static bool builtWith(FeatureSet feature_set);
+
+    /** @brief There is a set of methods to check whether the module contains intermediate (PTX) or binary CUDA
+    code for the given architecture(s):
+
+    @param major Major compute capability version.
+    @param minor Minor compute capability version.
+     */
+    static bool has(int major, int minor);
+    static bool hasPtx(int major, int minor);
+    static bool hasBin(int major, int minor);
+
+    static bool hasEqualOrLessPtx(int major, int minor);
+    static bool hasEqualOrGreater(int major, int minor);
+    static bool hasEqualOrGreaterPtx(int major, int minor);
+    static bool hasEqualOrGreaterBin(int major, int minor);
+};
+
+/** @brief Class providing functionality for querying the specified GPU properties.
+ */
+class CV_EXPORTS DeviceInfo
+{
+public:
+    //! creates DeviceInfo object for the current GPU
+    DeviceInfo();
+
+    /** @brief The constructors.
+
+    @param device_id System index of the CUDA device starting with 0.
+
+    Constructs the DeviceInfo object for the specified device. If device_id parameter is missed, it
+    constructs an object for the current device.
+     */
+    DeviceInfo(int device_id);
+
+    /** @brief Returns system index of the CUDA device starting with 0.
+    */
+    int deviceID() const;
+
+    //! ASCII string identifying device
+    const char* name() const;
+
+    //! global memory available on device in bytes
+    size_t totalGlobalMem() const;
+
+    //! shared memory available per block in bytes
+    size_t sharedMemPerBlock() const;
+
+    //! 32-bit registers available per block
+    int regsPerBlock() const;
+
+    //! warp size in threads
+    int warpSize() const;
+
+    //! maximum pitch in bytes allowed by memory copies
+    size_t memPitch() const;
+
+    //! maximum number of threads per block
+    int maxThreadsPerBlock() const;
+
+    //! maximum size of each dimension of a block
+    Vec3i maxThreadsDim() const;
+
+    //! maximum size of each dimension of a grid
+    Vec3i maxGridSize() const;
+
+    //! clock frequency in kilohertz
+    int clockRate() const;
+
+    //! constant memory available on device in bytes
+    size_t totalConstMem() const;
+
+    //! major compute capability
+    int majorVersion() const;
+
+    //! minor compute capability
+    int minorVersion() const;
+
+    //! alignment requirement for textures
+    size_t textureAlignment() const;
+
+    //! pitch alignment requirement for texture references bound to pitched memory
+    size_t texturePitchAlignment() const;
+
+    //! number of multiprocessors on device
+    int multiProcessorCount() const;
+
+    //! specified whether there is a run time limit on kernels
+    bool kernelExecTimeoutEnabled() const;
+
+    //! device is integrated as opposed to discrete
+    bool integrated() const;
+
+    //! device can map host memory with cudaHostAlloc/cudaHostGetDevicePointer
+    bool canMapHostMemory() const;
+
+    enum ComputeMode
+    {
+        ComputeModeDefault,         /**< default compute mode (Multiple threads can use cudaSetDevice with this device) */
+        ComputeModeExclusive,       /**< compute-exclusive-thread mode (Only one thread in one process will be able to use cudaSetDevice with this device) */
+        ComputeModeProhibited,      /**< compute-prohibited mode (No threads can use cudaSetDevice with this device) */
+        ComputeModeExclusiveProcess /**< compute-exclusive-process mode (Many threads in one process will be able to use cudaSetDevice with this device) */
+    };
+
+    //! compute mode
+    ComputeMode computeMode() const;
+
+    //! maximum 1D texture size
+    int maxTexture1D() const;
+
+    //! maximum 1D mipmapped texture size
+    int maxTexture1DMipmap() const;
+
+    //! maximum size for 1D textures bound to linear memory
+    int maxTexture1DLinear() const;
+
+    //! maximum 2D texture dimensions
+    Vec2i maxTexture2D() const;
+
+    //! maximum 2D mipmapped texture dimensions
+    Vec2i maxTexture2DMipmap() const;
+
+    //! maximum dimensions (width, height, pitch) for 2D textures bound to pitched memory
+    Vec3i maxTexture2DLinear() const;
+
+    //! maximum 2D texture dimensions if texture gather operations have to be performed
+    Vec2i maxTexture2DGather() const;
+
+    //! maximum 3D texture dimensions
+    Vec3i maxTexture3D() const;
+
+    //! maximum Cubemap texture dimensions
+    int maxTextureCubemap() const;
+
+    //! maximum 1D layered texture dimensions
+    Vec2i maxTexture1DLayered() const;
+
+    //! maximum 2D layered texture dimensions
+    Vec3i maxTexture2DLayered() const;
+
+    //! maximum Cubemap layered texture dimensions
+    Vec2i maxTextureCubemapLayered() const;
+
+    //! maximum 1D surface size
+    int maxSurface1D() const;
+
+    //! maximum 2D surface dimensions
+    Vec2i maxSurface2D() const;
+
+    //! maximum 3D surface dimensions
+    Vec3i maxSurface3D() const;
+
+    //! maximum 1D layered surface dimensions
+    Vec2i maxSurface1DLayered() const;
+
+    //! maximum 2D layered surface dimensions
+    Vec3i maxSurface2DLayered() const;
+
+    //! maximum Cubemap surface dimensions
+    int maxSurfaceCubemap() const;
+
+    //! maximum Cubemap layered surface dimensions
+    Vec2i maxSurfaceCubemapLayered() const;
+
+    //! alignment requirements for surfaces
+    size_t surfaceAlignment() const;
+
+    //! device can possibly execute multiple kernels concurrently
+    bool concurrentKernels() const;
+
+    //! device has ECC support enabled
+    bool ECCEnabled() const;
+
+    //! PCI bus ID of the device
+    int pciBusID() const;
+
+    //! PCI device ID of the device
+    int pciDeviceID() const;
+
+    //! PCI domain ID of the device
+    int pciDomainID() const;
+
+    //! true if device is a Tesla device using TCC driver, false otherwise
+    bool tccDriver() const;
+
+    //! number of asynchronous engines
+    int asyncEngineCount() const;
+
+    //! device shares a unified address space with the host
+    bool unifiedAddressing() const;
+
+    //! peak memory clock frequency in kilohertz
+    int memoryClockRate() const;
+
+    //! global memory bus width in bits
+    int memoryBusWidth() const;
+
+    //! size of L2 cache in bytes
+    int l2CacheSize() const;
+
+    //! maximum resident threads per multiprocessor
+    int maxThreadsPerMultiProcessor() const;
+
+    //! gets free and total device memory
+    void queryMemory(size_t& totalMemory, size_t& freeMemory) const;
+    size_t freeMemory() const;
+    size_t totalMemory() const;
+
+    /** @brief Provides information on CUDA feature support.
+
+    @param feature_set Features to be checked. See cuda::FeatureSet.
+
+    This function returns true if the device has the specified CUDA feature. Otherwise, it returns false
+     */
+    bool supports(FeatureSet feature_set) const;
+
+    /** @brief Checks the CUDA module and device compatibility.
+
+    This function returns true if the CUDA module can be run on the specified device. Otherwise, it
+    returns false .
+     */
+    bool isCompatible() const;
+
+private:
+    int device_id_;
+};
+
+CV_EXPORTS void printCudaDeviceInfo(int device);
+CV_EXPORTS void printShortCudaDeviceInfo(int device);
+
+//! @} cudacore_init
+
+}} // namespace cv { namespace cuda {
+
+
+#include "opencv2/core/cuda.inl.hpp"
+
+#endif /* __OPENCV_CORE_CUDA_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda.inl.hpp b/3rdparty/include/opencv2/core/cuda.inl.hpp
new file mode 100644
index 0000000..1285b1a
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda.inl.hpp
@@ -0,0 +1,621 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_CUDAINL_HPP__
+#define __OPENCV_CORE_CUDAINL_HPP__
+
+#include "opencv2/core/cuda.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda {
+
+//===================================================================================
+// GpuMat
+//===================================================================================
+
+inline
+GpuMat::GpuMat(Allocator* allocator_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{}
+
+inline
+GpuMat::GpuMat(int rows_, int cols_, int type_, Allocator* allocator_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{
+    if (rows_ > 0 && cols_ > 0)
+        create(rows_, cols_, type_);
+}
+
+inline
+GpuMat::GpuMat(Size size_, int type_, Allocator* allocator_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{
+    if (size_.height > 0 && size_.width > 0)
+        create(size_.height, size_.width, type_);
+}
+
+inline
+GpuMat::GpuMat(int rows_, int cols_, int type_, Scalar s_, Allocator* allocator_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{
+    if (rows_ > 0 && cols_ > 0)
+    {
+        create(rows_, cols_, type_);
+        setTo(s_);
+    }
+}
+
+inline
+GpuMat::GpuMat(Size size_, int type_, Scalar s_, Allocator* allocator_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{
+    if (size_.height > 0 && size_.width > 0)
+    {
+        create(size_.height, size_.width, type_);
+        setTo(s_);
+    }
+}
+
+inline
+GpuMat::GpuMat(const GpuMat& m)
+    : flags(m.flags), rows(m.rows), cols(m.cols), step(m.step), data(m.data), refcount(m.refcount), datastart(m.datastart), dataend(m.dataend), allocator(m.allocator)
+{
+    if (refcount)
+        CV_XADD(refcount, 1);
+}
+
+inline
+GpuMat::GpuMat(InputArray arr, Allocator* allocator_) :
+    flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
+{
+    upload(arr);
+}
+
+inline
+GpuMat::~GpuMat()
+{
+    release();
+}
+
+inline
+GpuMat& GpuMat::operator =(const GpuMat& m)
+{
+    if (this != &m)
+    {
+        GpuMat temp(m);
+        swap(temp);
+    }
+
+    return *this;
+}
+
+inline
+void GpuMat::create(Size size_, int type_)
+{
+    create(size_.height, size_.width, type_);
+}
+
+inline
+void GpuMat::swap(GpuMat& b)
+{
+    std::swap(flags, b.flags);
+    std::swap(rows, b.rows);
+    std::swap(cols, b.cols);
+    std::swap(step, b.step);
+    std::swap(data, b.data);
+    std::swap(datastart, b.datastart);
+    std::swap(dataend, b.dataend);
+    std::swap(refcount, b.refcount);
+    std::swap(allocator, b.allocator);
+}
+
+inline
+GpuMat GpuMat::clone() const
+{
+    GpuMat m;
+    copyTo(m);
+    return m;
+}
+
+inline
+void GpuMat::copyTo(OutputArray dst, InputArray mask) const
+{
+    copyTo(dst, mask, Stream::Null());
+}
+
+inline
+GpuMat& GpuMat::setTo(Scalar s)
+{
+    return setTo(s, Stream::Null());
+}
+
+inline
+GpuMat& GpuMat::setTo(Scalar s, InputArray mask)
+{
+    return setTo(s, mask, Stream::Null());
+}
+
+inline
+void GpuMat::convertTo(OutputArray dst, int rtype) const
+{
+    convertTo(dst, rtype, Stream::Null());
+}
+
+inline
+void GpuMat::convertTo(OutputArray dst, int rtype, double alpha, double beta) const
+{
+    convertTo(dst, rtype, alpha, beta, Stream::Null());
+}
+
+inline
+void GpuMat::convertTo(OutputArray dst, int rtype, double alpha, Stream& stream) const
+{
+    convertTo(dst, rtype, alpha, 0.0, stream);
+}
+
+inline
+void GpuMat::assignTo(GpuMat& m, int _type) const
+{
+    if (_type < 0)
+        m = *this;
+    else
+        convertTo(m, _type);
+}
+
+inline
+uchar* GpuMat::ptr(int y)
+{
+    CV_DbgAssert( (unsigned)y < (unsigned)rows );
+    return data + step * y;
+}
+
+inline
+const uchar* GpuMat::ptr(int y) const
+{
+    CV_DbgAssert( (unsigned)y < (unsigned)rows );
+    return data + step * y;
+}
+
+template<typename _Tp> inline
+_Tp* GpuMat::ptr(int y)
+{
+    return (_Tp*)ptr(y);
+}
+
+template<typename _Tp> inline
+const _Tp* GpuMat::ptr(int y) const
+{
+    return (const _Tp*)ptr(y);
+}
+
+template <class T> inline
+GpuMat::operator PtrStepSz<T>() const
+{
+    return PtrStepSz<T>(rows, cols, (T*)data, step);
+}
+
+template <class T> inline
+GpuMat::operator PtrStep<T>() const
+{
+    return PtrStep<T>((T*)data, step);
+}
+
+inline
+GpuMat GpuMat::row(int y) const
+{
+    return GpuMat(*this, Range(y, y+1), Range::all());
+}
+
+inline
+GpuMat GpuMat::col(int x) const
+{
+    return GpuMat(*this, Range::all(), Range(x, x+1));
+}
+
+inline
+GpuMat GpuMat::rowRange(int startrow, int endrow) const
+{
+    return GpuMat(*this, Range(startrow, endrow), Range::all());
+}
+
+inline
+GpuMat GpuMat::rowRange(Range r) const
+{
+    return GpuMat(*this, r, Range::all());
+}
+
+inline
+GpuMat GpuMat::colRange(int startcol, int endcol) const
+{
+    return GpuMat(*this, Range::all(), Range(startcol, endcol));
+}
+
+inline
+GpuMat GpuMat::colRange(Range r) const
+{
+    return GpuMat(*this, Range::all(), r);
+}
+
+inline
+GpuMat GpuMat::operator ()(Range rowRange_, Range colRange_) const
+{
+    return GpuMat(*this, rowRange_, colRange_);
+}
+
+inline
+GpuMat GpuMat::operator ()(Rect roi) const
+{
+    return GpuMat(*this, roi);
+}
+
+inline
+bool GpuMat::isContinuous() const
+{
+    return (flags & Mat::CONTINUOUS_FLAG) != 0;
+}
+
+inline
+size_t GpuMat::elemSize() const
+{
+    return CV_ELEM_SIZE(flags);
+}
+
+inline
+size_t GpuMat::elemSize1() const
+{
+    return CV_ELEM_SIZE1(flags);
+}
+
+inline
+int GpuMat::type() const
+{
+    return CV_MAT_TYPE(flags);
+}
+
+inline
+int GpuMat::depth() const
+{
+    return CV_MAT_DEPTH(flags);
+}
+
+inline
+int GpuMat::channels() const
+{
+    return CV_MAT_CN(flags);
+}
+
+inline
+size_t GpuMat::step1() const
+{
+    return step / elemSize1();
+}
+
+inline
+Size GpuMat::size() const
+{
+    return Size(cols, rows);
+}
+
+inline
+bool GpuMat::empty() const
+{
+    return data == 0;
+}
+
+static inline
+GpuMat createContinuous(int rows, int cols, int type)
+{
+    GpuMat m;
+    createContinuous(rows, cols, type, m);
+    return m;
+}
+
+static inline
+void createContinuous(Size size, int type, OutputArray arr)
+{
+    createContinuous(size.height, size.width, type, arr);
+}
+
+static inline
+GpuMat createContinuous(Size size, int type)
+{
+    GpuMat m;
+    createContinuous(size, type, m);
+    return m;
+}
+
+static inline
+void ensureSizeIsEnough(Size size, int type, OutputArray arr)
+{
+    ensureSizeIsEnough(size.height, size.width, type, arr);
+}
+
+static inline
+void swap(GpuMat& a, GpuMat& b)
+{
+    a.swap(b);
+}
+
+//===================================================================================
+// HostMem
+//===================================================================================
+
+inline
+HostMem::HostMem(AllocType alloc_type_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), alloc_type(alloc_type_)
+{
+}
+
+inline
+HostMem::HostMem(const HostMem& m)
+    : flags(m.flags), rows(m.rows), cols(m.cols), step(m.step), data(m.data), refcount(m.refcount), datastart(m.datastart), dataend(m.dataend), alloc_type(m.alloc_type)
+{
+    if( refcount )
+        CV_XADD(refcount, 1);
+}
+
+inline
+HostMem::HostMem(int rows_, int cols_, int type_, AllocType alloc_type_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), alloc_type(alloc_type_)
+{
+    if (rows_ > 0 && cols_ > 0)
+        create(rows_, cols_, type_);
+}
+
+inline
+HostMem::HostMem(Size size_, int type_, AllocType alloc_type_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), alloc_type(alloc_type_)
+{
+    if (size_.height > 0 && size_.width > 0)
+        create(size_.height, size_.width, type_);
+}
+
+inline
+HostMem::HostMem(InputArray arr, AllocType alloc_type_)
+    : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), alloc_type(alloc_type_)
+{
+    arr.getMat().copyTo(*this);
+}
+
+inline
+HostMem::~HostMem()
+{
+    release();
+}
+
+inline
+HostMem& HostMem::operator =(const HostMem& m)
+{
+    if (this != &m)
+    {
+        HostMem temp(m);
+        swap(temp);
+    }
+
+    return *this;
+}
+
+inline
+void HostMem::swap(HostMem& b)
+{
+    std::swap(flags, b.flags);
+    std::swap(rows, b.rows);
+    std::swap(cols, b.cols);
+    std::swap(step, b.step);
+    std::swap(data, b.data);
+    std::swap(datastart, b.datastart);
+    std::swap(dataend, b.dataend);
+    std::swap(refcount, b.refcount);
+    std::swap(alloc_type, b.alloc_type);
+}
+
+inline
+HostMem HostMem::clone() const
+{
+    HostMem m(size(), type(), alloc_type);
+    createMatHeader().copyTo(m);
+    return m;
+}
+
+inline
+void HostMem::create(Size size_, int type_)
+{
+    create(size_.height, size_.width, type_);
+}
+
+inline
+Mat HostMem::createMatHeader() const
+{
+    return Mat(size(), type(), data, step);
+}
+
+inline
+bool HostMem::isContinuous() const
+{
+    return (flags & Mat::CONTINUOUS_FLAG) != 0;
+}
+
+inline
+size_t HostMem::elemSize() const
+{
+    return CV_ELEM_SIZE(flags);
+}
+
+inline
+size_t HostMem::elemSize1() const
+{
+    return CV_ELEM_SIZE1(flags);
+}
+
+inline
+int HostMem::type() const
+{
+    return CV_MAT_TYPE(flags);
+}
+
+inline
+int HostMem::depth() const
+{
+    return CV_MAT_DEPTH(flags);
+}
+
+inline
+int HostMem::channels() const
+{
+    return CV_MAT_CN(flags);
+}
+
+inline
+size_t HostMem::step1() const
+{
+    return step / elemSize1();
+}
+
+inline
+Size HostMem::size() const
+{
+    return Size(cols, rows);
+}
+
+inline
+bool HostMem::empty() const
+{
+    return data == 0;
+}
+
+static inline
+void swap(HostMem& a, HostMem& b)
+{
+    a.swap(b);
+}
+
+//===================================================================================
+// Stream
+//===================================================================================
+
+inline
+Stream::Stream(const Ptr<Impl>& impl)
+    : impl_(impl)
+{
+}
+
+//===================================================================================
+// Initialization & Info
+//===================================================================================
+
+inline
+bool TargetArchs::has(int major, int minor)
+{
+    return hasPtx(major, minor) || hasBin(major, minor);
+}
+
+inline
+bool TargetArchs::hasEqualOrGreater(int major, int minor)
+{
+    return hasEqualOrGreaterPtx(major, minor) || hasEqualOrGreaterBin(major, minor);
+}
+
+inline
+DeviceInfo::DeviceInfo()
+{
+    device_id_ = getDevice();
+}
+
+inline
+DeviceInfo::DeviceInfo(int device_id)
+{
+    CV_Assert( device_id >= 0 && device_id < getCudaEnabledDeviceCount() );
+    device_id_ = device_id;
+}
+
+inline
+int DeviceInfo::deviceID() const
+{
+    return device_id_;
+}
+
+inline
+size_t DeviceInfo::freeMemory() const
+{
+    size_t _totalMemory, _freeMemory;
+    queryMemory(_totalMemory, _freeMemory);
+    return _freeMemory;
+}
+
+inline
+size_t DeviceInfo::totalMemory() const
+{
+    size_t _totalMemory, _freeMemory;
+    queryMemory(_totalMemory, _freeMemory);
+    return _totalMemory;
+}
+
+inline
+bool DeviceInfo::supports(FeatureSet feature_set) const
+{
+    int version = majorVersion() * 10 + minorVersion();
+    return version >= feature_set;
+}
+
+
+}} // namespace cv { namespace cuda {
+
+//===================================================================================
+// Mat
+//===================================================================================
+
+namespace cv {
+
+inline
+Mat::Mat(const cuda::GpuMat& m)
+    : flags(0), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0), datalimit(0), allocator(0), u(0), size(&rows)
+{
+    m.download(*this);
+}
+
+}
+
+//! @endcond
+
+#endif // __OPENCV_CORE_CUDAINL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/block.hpp b/3rdparty/include/opencv2/core/cuda/block.hpp
new file mode 100644
index 0000000..0c6f063
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/block.hpp
@@ -0,0 +1,211 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_DEVICE_BLOCK_HPP__
+#define __OPENCV_CUDA_DEVICE_BLOCK_HPP__
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    struct Block
+    {
+        static __device__ __forceinline__ unsigned int id()
+        {
+            return blockIdx.x;
+        }
+
+        static __device__ __forceinline__ unsigned int stride()
+        {
+            return blockDim.x * blockDim.y * blockDim.z;
+        }
+
+        static __device__ __forceinline__ void sync()
+        {
+            __syncthreads();
+        }
+
+        static __device__ __forceinline__ int flattenedThreadId()
+        {
+            return threadIdx.z * blockDim.x * blockDim.y + threadIdx.y * blockDim.x + threadIdx.x;
+        }
+
+        template<typename It, typename T>
+        static __device__ __forceinline__ void fill(It beg, It end, const T& value)
+        {
+            int STRIDE = stride();
+            It t = beg + flattenedThreadId();
+
+            for(; t < end; t += STRIDE)
+                *t = value;
+        }
+
+        template<typename OutIt, typename T>
+        static __device__ __forceinline__ void yota(OutIt beg, OutIt end, T value)
+        {
+            int STRIDE = stride();
+            int tid = flattenedThreadId();
+            value += tid;
+
+            for(OutIt t = beg + tid; t < end; t += STRIDE, value += STRIDE)
+                *t = value;
+        }
+
+        template<typename InIt, typename OutIt>
+        static __device__ __forceinline__ void copy(InIt beg, InIt end, OutIt out)
+        {
+            int STRIDE = stride();
+            InIt  t = beg + flattenedThreadId();
+            OutIt o = out + (t - beg);
+
+            for(; t < end; t += STRIDE, o += STRIDE)
+                *o = *t;
+        }
+
+        template<typename InIt, typename OutIt, class UnOp>
+        static __device__ __forceinline__ void transfrom(InIt beg, InIt end, OutIt out, UnOp op)
+        {
+            int STRIDE = stride();
+            InIt  t = beg + flattenedThreadId();
+            OutIt o = out + (t - beg);
+
+            for(; t < end; t += STRIDE, o += STRIDE)
+                *o = op(*t);
+        }
+
+        template<typename InIt1, typename InIt2, typename OutIt, class BinOp>
+        static __device__ __forceinline__ void transfrom(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)
+        {
+            int STRIDE = stride();
+            InIt1 t1 = beg1 + flattenedThreadId();
+            InIt2 t2 = beg2 + flattenedThreadId();
+            OutIt o  = out + (t1 - beg1);
+
+            for(; t1 < end1; t1 += STRIDE, t2 += STRIDE, o += STRIDE)
+                *o = op(*t1, *t2);
+        }
+
+        template<int CTA_SIZE, typename T, class BinOp>
+        static __device__ __forceinline__ void reduce(volatile T* buffer, BinOp op)
+        {
+            int tid = flattenedThreadId();
+            T val =  buffer[tid];
+
+            if (CTA_SIZE >= 1024) { if (tid < 512) buffer[tid] = val = op(val, buffer[tid + 512]); __syncthreads(); }
+            if (CTA_SIZE >=  512) { if (tid < 256) buffer[tid] = val = op(val, buffer[tid + 256]); __syncthreads(); }
+            if (CTA_SIZE >=  256) { if (tid < 128) buffer[tid] = val = op(val, buffer[tid + 128]); __syncthreads(); }
+            if (CTA_SIZE >=  128) { if (tid <  64) buffer[tid] = val = op(val, buffer[tid +  64]); __syncthreads(); }
+
+            if (tid < 32)
+            {
+                if (CTA_SIZE >=   64) { buffer[tid] = val = op(val, buffer[tid +  32]); }
+                if (CTA_SIZE >=   32) { buffer[tid] = val = op(val, buffer[tid +  16]); }
+                if (CTA_SIZE >=   16) { buffer[tid] = val = op(val, buffer[tid +   8]); }
+                if (CTA_SIZE >=    8) { buffer[tid] = val = op(val, buffer[tid +   4]); }
+                if (CTA_SIZE >=    4) { buffer[tid] = val = op(val, buffer[tid +   2]); }
+                if (CTA_SIZE >=    2) { buffer[tid] = val = op(val, buffer[tid +   1]); }
+            }
+        }
+
+        template<int CTA_SIZE, typename T, class BinOp>
+        static __device__ __forceinline__ T reduce(volatile T* buffer, T init, BinOp op)
+        {
+            int tid = flattenedThreadId();
+            T val =  buffer[tid] = init;
+            __syncthreads();
+
+            if (CTA_SIZE >= 1024) { if (tid < 512) buffer[tid] = val = op(val, buffer[tid + 512]); __syncthreads(); }
+            if (CTA_SIZE >=  512) { if (tid < 256) buffer[tid] = val = op(val, buffer[tid + 256]); __syncthreads(); }
+            if (CTA_SIZE >=  256) { if (tid < 128) buffer[tid] = val = op(val, buffer[tid + 128]); __syncthreads(); }
+            if (CTA_SIZE >=  128) { if (tid <  64) buffer[tid] = val = op(val, buffer[tid +  64]); __syncthreads(); }
+
+            if (tid < 32)
+            {
+                if (CTA_SIZE >=   64) { buffer[tid] = val = op(val, buffer[tid +  32]); }
+                if (CTA_SIZE >=   32) { buffer[tid] = val = op(val, buffer[tid +  16]); }
+                if (CTA_SIZE >=   16) { buffer[tid] = val = op(val, buffer[tid +   8]); }
+                if (CTA_SIZE >=    8) { buffer[tid] = val = op(val, buffer[tid +   4]); }
+                if (CTA_SIZE >=    4) { buffer[tid] = val = op(val, buffer[tid +   2]); }
+                if (CTA_SIZE >=    2) { buffer[tid] = val = op(val, buffer[tid +   1]); }
+            }
+            __syncthreads();
+            return buffer[0];
+        }
+
+        template <typename T, class BinOp>
+        static __device__ __forceinline__ void reduce_n(T* data, unsigned int n, BinOp op)
+        {
+            int ftid = flattenedThreadId();
+            int sft = stride();
+
+            if (sft < n)
+            {
+                for (unsigned int i = sft + ftid; i < n; i += sft)
+                    data[ftid] = op(data[ftid], data[i]);
+
+                __syncthreads();
+
+                n = sft;
+            }
+
+            while (n > 1)
+            {
+                unsigned int half = n/2;
+
+                if (ftid < half)
+                    data[ftid] = op(data[ftid], data[n - ftid - 1]);
+
+                __syncthreads();
+
+                n = n - half;
+            }
+        }
+    };
+}}}
+
+//! @endcond
+
+#endif /* __OPENCV_CUDA_DEVICE_BLOCK_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda/border_interpolate.hpp b/3rdparty/include/opencv2/core/cuda/border_interpolate.hpp
new file mode 100644
index 0000000..ba72669
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/border_interpolate.hpp
@@ -0,0 +1,722 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_BORDER_INTERPOLATE_HPP__
+#define __OPENCV_CUDA_BORDER_INTERPOLATE_HPP__
+
+#include "saturate_cast.hpp"
+#include "vec_traits.hpp"
+#include "vec_math.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    //////////////////////////////////////////////////////////////
+    // BrdConstant
+
+    template <typename D> struct BrdRowConstant
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdRowConstant(int width_, const D& val_ = VecTraits<D>::all(0)) : width(width_), val(val_) {}
+
+        template <typename T> __device__ __forceinline__ D at_low(int x, const T* data) const
+        {
+            return x >= 0 ? saturate_cast<D>(data[x]) : val;
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int x, const T* data) const
+        {
+            return x < width ? saturate_cast<D>(data[x]) : val;
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int x, const T* data) const
+        {
+            return (x >= 0 && x < width) ? saturate_cast<D>(data[x]) : val;
+        }
+
+        int width;
+        D val;
+    };
+
+    template <typename D> struct BrdColConstant
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdColConstant(int height_, const D& val_ = VecTraits<D>::all(0)) : height(height_), val(val_) {}
+
+        template <typename T> __device__ __forceinline__ D at_low(int y, const T* data, size_t step) const
+        {
+            return y >= 0 ? saturate_cast<D>(*(const T*)((const char*)data + y * step)) : val;
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int y, const T* data, size_t step) const
+        {
+            return y < height ? saturate_cast<D>(*(const T*)((const char*)data + y * step)) : val;
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, const T* data, size_t step) const
+        {
+            return (y >= 0 && y < height) ? saturate_cast<D>(*(const T*)((const char*)data + y * step)) : val;
+        }
+
+        int height;
+        D val;
+    };
+
+    template <typename D> struct BrdConstant
+    {
+        typedef D result_type;
+
+        __host__ __device__ __forceinline__ BrdConstant(int height_, int width_, const D& val_ = VecTraits<D>::all(0)) : height(height_), width(width_), val(val_)
+        {
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, int x, const T* data, size_t step) const
+        {
+            return (x >= 0 && x < width && y >= 0 && y < height) ? saturate_cast<D>(((const T*)((const uchar*)data + y * step))[x]) : val;
+        }
+
+        template <typename Ptr2D> __device__ __forceinline__ D at(typename Ptr2D::index_type y, typename Ptr2D::index_type x, const Ptr2D& src) const
+        {
+            return (x >= 0 && x < width && y >= 0 && y < height) ? saturate_cast<D>(src(y, x)) : val;
+        }
+
+        int height;
+        int width;
+        D val;
+    };
+
+    //////////////////////////////////////////////////////////////
+    // BrdReplicate
+
+    template <typename D> struct BrdRowReplicate
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdRowReplicate(int width) : last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdRowReplicate(int width, U) : last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return ::max(x, 0);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return ::min(x, last_col);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_low(idx_col_high(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_low(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_high(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col(x)]);
+        }
+
+        int last_col;
+    };
+
+    template <typename D> struct BrdColReplicate
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdColReplicate(int height) : last_row(height - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdColReplicate(int height, U) : last_row(height - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return ::max(y, 0);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return ::min(y, last_row);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_low(idx_row_high(y));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const T*)((const char*)data + idx_row_low(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const T*)((const char*)data + idx_row_high(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const T*)((const char*)data + idx_row(y) * step));
+        }
+
+        int last_row;
+    };
+
+    template <typename D> struct BrdReplicate
+    {
+        typedef D result_type;
+
+        __host__ __device__ __forceinline__ BrdReplicate(int height, int width) : last_row(height - 1), last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdReplicate(int height, int width, U) : last_row(height - 1), last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return ::max(y, 0);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return ::min(y, last_row);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_low(idx_row_high(y));
+        }
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return ::max(x, 0);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return ::min(x, last_col);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_low(idx_col_high(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, int x, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(((const T*)((const char*)data + idx_row(y) * step))[idx_col(x)]);
+        }
+
+        template <typename Ptr2D> __device__ __forceinline__ D at(typename Ptr2D::index_type y, typename Ptr2D::index_type x, const Ptr2D& src) const
+        {
+            return saturate_cast<D>(src(idx_row(y), idx_col(x)));
+        }
+
+        int last_row;
+        int last_col;
+    };
+
+    //////////////////////////////////////////////////////////////
+    // BrdReflect101
+
+    template <typename D> struct BrdRowReflect101
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdRowReflect101(int width) : last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdRowReflect101(int width, U) : last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return ::abs(x) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return ::abs(last_col - ::abs(last_col - x)) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_low(idx_col_high(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_low(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_high(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col(x)]);
+        }
+
+        int last_col;
+    };
+
+    template <typename D> struct BrdColReflect101
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdColReflect101(int height) : last_row(height - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdColReflect101(int height, U) : last_row(height - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return ::abs(y) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return ::abs(last_row - ::abs(last_row - y)) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_low(idx_row_high(y));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_low(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_high(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row(y) * step));
+        }
+
+        int last_row;
+    };
+
+    template <typename D> struct BrdReflect101
+    {
+        typedef D result_type;
+
+        __host__ __device__ __forceinline__ BrdReflect101(int height, int width) : last_row(height - 1), last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdReflect101(int height, int width, U) : last_row(height - 1), last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return ::abs(y) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return ::abs(last_row - ::abs(last_row - y)) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_low(idx_row_high(y));
+        }
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return ::abs(x) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return ::abs(last_col - ::abs(last_col - x)) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_low(idx_col_high(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, int x, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(((const T*)((const char*)data + idx_row(y) * step))[idx_col(x)]);
+        }
+
+        template <typename Ptr2D> __device__ __forceinline__ D at(typename Ptr2D::index_type y, typename Ptr2D::index_type x, const Ptr2D& src) const
+        {
+            return saturate_cast<D>(src(idx_row(y), idx_col(x)));
+        }
+
+        int last_row;
+        int last_col;
+    };
+
+    //////////////////////////////////////////////////////////////
+    // BrdReflect
+
+    template <typename D> struct BrdRowReflect
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdRowReflect(int width) : last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdRowReflect(int width, U) : last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return (::abs(x) - (x < 0)) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return ::abs(last_col - ::abs(last_col - x) + (x > last_col)) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_high(::abs(x) - (x < 0));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_low(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_high(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col(x)]);
+        }
+
+        int last_col;
+    };
+
+    template <typename D> struct BrdColReflect
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdColReflect(int height) : last_row(height - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdColReflect(int height, U) : last_row(height - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return (::abs(y) - (y < 0)) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return ::abs(last_row - ::abs(last_row - y) + (y > last_row)) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_high(::abs(y) - (y < 0));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_low(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_high(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row(y) * step));
+        }
+
+        int last_row;
+    };
+
+    template <typename D> struct BrdReflect
+    {
+        typedef D result_type;
+
+        __host__ __device__ __forceinline__ BrdReflect(int height, int width) : last_row(height - 1), last_col(width - 1) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdReflect(int height, int width, U) : last_row(height - 1), last_col(width - 1) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return (::abs(y) - (y < 0)) % (last_row + 1);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return /*::abs*/(last_row - ::abs(last_row - y) + (y > last_row)) /*% (last_row + 1)*/;
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_low(idx_row_high(y));
+        }
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return (::abs(x) - (x < 0)) % (last_col + 1);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return (last_col - ::abs(last_col - x) + (x > last_col));
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_low(idx_col_high(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, int x, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(((const T*)((const char*)data + idx_row(y) * step))[idx_col(x)]);
+        }
+
+        template <typename Ptr2D> __device__ __forceinline__ D at(typename Ptr2D::index_type y, typename Ptr2D::index_type x, const Ptr2D& src) const
+        {
+            return saturate_cast<D>(src(idx_row(y), idx_col(x)));
+        }
+
+        int last_row;
+        int last_col;
+    };
+
+    //////////////////////////////////////////////////////////////
+    // BrdWrap
+
+    template <typename D> struct BrdRowWrap
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdRowWrap(int width_) : width(width_) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdRowWrap(int width_, U) : width(width_) {}
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return (x >= 0) * x + (x < 0) * (x - ((x - width + 1) / width) * width);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return (x < width) * x + (x >= width) * (x % width);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_high(idx_col_low(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_low(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col_high(x)]);
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int x, const T* data) const
+        {
+            return saturate_cast<D>(data[idx_col(x)]);
+        }
+
+        int width;
+    };
+
+    template <typename D> struct BrdColWrap
+    {
+        typedef D result_type;
+
+        explicit __host__ __device__ __forceinline__ BrdColWrap(int height_) : height(height_) {}
+        template <typename U> __host__ __device__ __forceinline__ BrdColWrap(int height_, U) : height(height_) {}
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return (y >= 0) * y + (y < 0) * (y - ((y - height + 1) / height) * height);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return (y < height) * y + (y >= height) * (y % height);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_high(idx_row_low(y));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_low(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_low(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at_high(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row_high(y) * step));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(*(const D*)((const char*)data + idx_row(y) * step));
+        }
+
+        int height;
+    };
+
+    template <typename D> struct BrdWrap
+    {
+        typedef D result_type;
+
+        __host__ __device__ __forceinline__ BrdWrap(int height_, int width_) :
+            height(height_), width(width_)
+        {
+        }
+        template <typename U>
+        __host__ __device__ __forceinline__ BrdWrap(int height_, int width_, U) :
+            height(height_), width(width_)
+        {
+        }
+
+        __device__ __forceinline__ int idx_row_low(int y) const
+        {
+            return (y >= 0) * y + (y < 0) * (y - ((y - height + 1) / height) * height);
+        }
+
+        __device__ __forceinline__ int idx_row_high(int y) const
+        {
+            return (y < height) * y + (y >= height) * (y % height);
+        }
+
+        __device__ __forceinline__ int idx_row(int y) const
+        {
+            return idx_row_high(idx_row_low(y));
+        }
+
+        __device__ __forceinline__ int idx_col_low(int x) const
+        {
+            return (x >= 0) * x + (x < 0) * (x - ((x - width + 1) / width) * width);
+        }
+
+        __device__ __forceinline__ int idx_col_high(int x) const
+        {
+            return (x < width) * x + (x >= width) * (x % width);
+        }
+
+        __device__ __forceinline__ int idx_col(int x) const
+        {
+            return idx_col_high(idx_col_low(x));
+        }
+
+        template <typename T> __device__ __forceinline__ D at(int y, int x, const T* data, size_t step) const
+        {
+            return saturate_cast<D>(((const T*)((const char*)data + idx_row(y) * step))[idx_col(x)]);
+        }
+
+        template <typename Ptr2D> __device__ __forceinline__ D at(typename Ptr2D::index_type y, typename Ptr2D::index_type x, const Ptr2D& src) const
+        {
+            return saturate_cast<D>(src(idx_row(y), idx_col(x)));
+        }
+
+        int height;
+        int width;
+    };
+
+    //////////////////////////////////////////////////////////////
+    // BorderReader
+
+    template <typename Ptr2D, typename B> struct BorderReader
+    {
+        typedef typename B::result_type elem_type;
+        typedef typename Ptr2D::index_type index_type;
+
+        __host__ __device__ __forceinline__ BorderReader(const Ptr2D& ptr_, const B& b_) : ptr(ptr_), b(b_) {}
+
+        __device__ __forceinline__ elem_type operator ()(index_type y, index_type x) const
+        {
+            return b.at(y, x, ptr);
+        }
+
+        Ptr2D ptr;
+        B b;
+    };
+
+    // under win32 there is some bug with templated types that passed as kernel parameters
+    // with this specialization all works fine
+    template <typename Ptr2D, typename D> struct BorderReader< Ptr2D, BrdConstant<D> >
+    {
+        typedef typename BrdConstant<D>::result_type elem_type;
+        typedef typename Ptr2D::index_type index_type;
+
+        __host__ __device__ __forceinline__ BorderReader(const Ptr2D& src_, const BrdConstant<D>& b) :
+            src(src_), height(b.height), width(b.width), val(b.val)
+        {
+        }
+
+        __device__ __forceinline__ D operator ()(index_type y, index_type x) const
+        {
+            return (x >= 0 && x < width && y >= 0 && y < height) ? saturate_cast<D>(src(y, x)) : val;
+        }
+
+        Ptr2D src;
+        int height;
+        int width;
+        D val;
+    };
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_BORDER_INTERPOLATE_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/color.hpp b/3rdparty/include/opencv2/core/cuda/color.hpp
new file mode 100644
index 0000000..6faf8c9
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/color.hpp
@@ -0,0 +1,309 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_COLOR_HPP__
+#define __OPENCV_CUDA_COLOR_HPP__
+
+#include "detail/color_detail.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    // All OPENCV_CUDA_IMPLEMENT_*_TRAITS(ColorSpace1_to_ColorSpace2, ...) macros implements
+    // template <typename T> class ColorSpace1_to_ColorSpace2_traits
+    // {
+    //     typedef ... functor_type;
+    //     static __host__ __device__ functor_type create_functor();
+    // };
+
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgr_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgr_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgr_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgra_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgra_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(bgra_to_rgba, 4, 4, 2)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(bgr_to_bgr555, 3, 0, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(bgr_to_bgr565, 3, 0, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(rgb_to_bgr555, 3, 2, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(rgb_to_bgr565, 3, 2, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(bgra_to_bgr555, 4, 0, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(bgra_to_bgr565, 4, 0, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(rgba_to_bgr555, 4, 2, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(rgba_to_bgr565, 4, 2, 6)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr555_to_rgb, 3, 2, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr565_to_rgb, 3, 2, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr555_to_bgr, 3, 0, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr565_to_bgr, 3, 0, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr555_to_rgba, 4, 2, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr565_to_rgba, 4, 2, 6)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr555_to_bgra, 4, 0, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(bgr565_to_bgra, 4, 0, 6)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_GRAY2RGB_TRAITS(gray_to_bgr, 3)
+    OPENCV_CUDA_IMPLEMENT_GRAY2RGB_TRAITS(gray_to_bgra, 4)
+
+    #undef OPENCV_CUDA_IMPLEMENT_GRAY2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_GRAY2RGB5x5_TRAITS(gray_to_bgr555, 5)
+    OPENCV_CUDA_IMPLEMENT_GRAY2RGB5x5_TRAITS(gray_to_bgr565, 6)
+
+    #undef OPENCV_CUDA_IMPLEMENT_GRAY2RGB5x5_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB5x52GRAY_TRAITS(bgr555_to_gray, 5)
+    OPENCV_CUDA_IMPLEMENT_RGB5x52GRAY_TRAITS(bgr565_to_gray, 6)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB5x52GRAY_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS(rgb_to_gray, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS(bgr_to_gray, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS(rgba_to_gray, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS(bgra_to_gray, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(rgb_to_yuv, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(rgba_to_yuv, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(rgb_to_yuv4, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(rgba_to_yuv4, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(bgr_to_yuv, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(bgra_to_yuv, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(bgr_to_yuv4, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(bgra_to_yuv4, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv4_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv4_to_rgba, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv_to_bgr, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv4_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(yuv4_to_bgra, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(rgb_to_YCrCb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(rgba_to_YCrCb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(rgb_to_YCrCb4, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(rgba_to_YCrCb4, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(bgr_to_YCrCb, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(bgra_to_YCrCb, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(bgr_to_YCrCb4, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(bgra_to_YCrCb4, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb4_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb4_to_rgba, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb_to_bgr, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb4_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(YCrCb4_to_bgra, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(rgb_to_xyz, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(rgba_to_xyz, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(rgb_to_xyz4, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(rgba_to_xyz4, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(bgr_to_xyz, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(bgra_to_xyz, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(bgr_to_xyz4, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(bgra_to_xyz4, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz4_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz4_to_rgba, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz_to_bgr, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz4_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(xyz4_to_bgra, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(rgb_to_hsv, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(rgba_to_hsv, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(rgb_to_hsv4, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(rgba_to_hsv4, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(bgr_to_hsv, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(bgra_to_hsv, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(bgr_to_hsv4, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(bgra_to_hsv4, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv4_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv4_to_rgba, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv_to_bgr, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv4_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(hsv4_to_bgra, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(rgb_to_hls, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(rgba_to_hls, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(rgb_to_hls4, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(rgba_to_hls4, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(bgr_to_hls, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(bgra_to_hls, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(bgr_to_hls4, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(bgra_to_hls4, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls_to_rgb, 3, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls_to_rgba, 3, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls4_to_rgb, 4, 3, 2)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls4_to_rgba, 4, 4, 2)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls_to_bgr, 3, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls_to_bgra, 3, 4, 0)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls4_to_bgr, 4, 3, 0)
+    OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(hls4_to_bgra, 4, 4, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(rgb_to_lab, 3, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(rgba_to_lab, 4, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(rgb_to_lab4, 3, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(rgba_to_lab4, 4, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(bgr_to_lab, 3, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(bgra_to_lab, 4, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(bgr_to_lab4, 3, 4, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(bgra_to_lab4, 4, 4, true, 0)
+
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lrgb_to_lab, 3, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lrgba_to_lab, 4, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lrgb_to_lab4, 3, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lrgba_to_lab4, 4, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lbgr_to_lab, 3, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lbgra_to_lab, 4, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lbgr_to_lab4, 3, 4, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(lbgra_to_lab4, 4, 4, false, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_rgb, 3, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_rgb, 4, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_rgba, 3, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_rgba, 4, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_bgr, 3, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_bgr, 4, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_bgra, 3, 4, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_bgra, 4, 4, true, 0)
+
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_lrgb, 3, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_lrgb, 4, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_lrgba, 3, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_lrgba, 4, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_lbgr, 3, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_lbgr, 4, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab_to_lbgra, 3, 4, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(lab4_to_lbgra, 4, 4, false, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(rgb_to_luv, 3, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(rgba_to_luv, 4, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(rgb_to_luv4, 3, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(rgba_to_luv4, 4, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(bgr_to_luv, 3, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(bgra_to_luv, 4, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(bgr_to_luv4, 3, 4, true, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(bgra_to_luv4, 4, 4, true, 0)
+
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lrgb_to_luv, 3, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lrgba_to_luv, 4, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lrgb_to_luv4, 3, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lrgba_to_luv4, 4, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lbgr_to_luv, 3, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lbgra_to_luv, 4, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lbgr_to_luv4, 3, 4, false, 0)
+    OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(lbgra_to_luv4, 4, 4, false, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS
+
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_rgb, 3, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_rgb, 4, 3, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_rgba, 3, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_rgba, 4, 4, true, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_bgr, 3, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_bgr, 4, 3, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_bgra, 3, 4, true, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_bgra, 4, 4, true, 0)
+
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_lrgb, 3, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_lrgb, 4, 3, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_lrgba, 3, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_lrgba, 4, 4, false, 2)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_lbgr, 3, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_lbgr, 4, 3, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv_to_lbgra, 3, 4, false, 0)
+    OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(luv4_to_lbgra, 4, 4, false, 0)
+
+    #undef OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_BORDER_INTERPOLATE_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/common.hpp b/3rdparty/include/opencv2/core/cuda/common.hpp
new file mode 100644
index 0000000..b93c3ef
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/common.hpp
@@ -0,0 +1,109 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_COMMON_HPP__
+#define __OPENCV_CUDA_COMMON_HPP__
+
+#include <cuda_runtime.h>
+#include "opencv2/core/cuda_types.hpp"
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/base.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+#ifndef CV_PI_F
+    #ifndef CV_PI
+        #define CV_PI_F 3.14159265f
+    #else
+        #define CV_PI_F ((float)CV_PI)
+    #endif
+#endif
+
+namespace cv { namespace cuda {
+    static inline void checkCudaError(cudaError_t err, const char* file, const int line, const char* func)
+    {
+        if (cudaSuccess != err)
+            cv::error(cv::Error::GpuApiCallError, cudaGetErrorString(err), func, file, line);
+    }
+}}
+
+#ifndef cudaSafeCall
+    #define cudaSafeCall(expr)  cv::cuda::checkCudaError(expr, __FILE__, __LINE__, CV_Func)
+#endif
+
+namespace cv { namespace cuda
+{
+    template <typename T> static inline bool isAligned(const T* ptr, size_t size)
+    {
+        return reinterpret_cast<size_t>(ptr) % size == 0;
+    }
+
+    static inline bool isAligned(size_t step, size_t size)
+    {
+        return step % size == 0;
+    }
+}}
+
+namespace cv { namespace cuda
+{
+    namespace device
+    {
+        __host__ __device__ __forceinline__ int divUp(int total, int grain)
+        {
+            return (total + grain - 1) / grain;
+        }
+
+        template<class T> inline void bindTexture(const textureReference* tex, const PtrStepSz<T>& img)
+        {
+            cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
+            cudaSafeCall( cudaBindTexture2D(0, tex, img.ptr(), &desc, img.cols, img.rows, img.step) );
+        }
+    }
+}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_COMMON_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/datamov_utils.hpp b/3rdparty/include/opencv2/core/cuda/datamov_utils.hpp
new file mode 100644
index 0000000..bb02cf9
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/datamov_utils.hpp
@@ -0,0 +1,113 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_DATAMOV_UTILS_HPP__
+#define __OPENCV_CUDA_DATAMOV_UTILS_HPP__
+
+#include "common.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    #if defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 200
+
+        // for Fermi memory space is detected automatically
+        template <typename T> struct ForceGlob
+        {
+            __device__ __forceinline__ static void Load(const T* ptr, int offset, T& val)  { val = ptr[offset];  }
+        };
+
+    #else // __CUDA_ARCH__ >= 200
+
+        #if defined(_WIN64) || defined(__LP64__)
+            // 64-bit register modifier for inlined asm
+            #define OPENCV_CUDA_ASM_PTR "l"
+        #else
+            // 32-bit register modifier for inlined asm
+            #define OPENCV_CUDA_ASM_PTR "r"
+        #endif
+
+        template<class T> struct ForceGlob;
+
+        #define OPENCV_CUDA_DEFINE_FORCE_GLOB(base_type, ptx_type, reg_mod) \
+            template <> struct ForceGlob<base_type> \
+            { \
+                __device__ __forceinline__ static void Load(const base_type* ptr, int offset, base_type& val) \
+                { \
+                    asm("ld.global."#ptx_type" %0, [%1];" : "="#reg_mod(val) : OPENCV_CUDA_ASM_PTR(ptr + offset)); \
+                } \
+            };
+
+        #define OPENCV_CUDA_DEFINE_FORCE_GLOB_B(base_type, ptx_type) \
+            template <> struct ForceGlob<base_type> \
+            { \
+                __device__ __forceinline__ static void Load(const base_type* ptr, int offset, base_type& val) \
+                { \
+                    asm("ld.global."#ptx_type" %0, [%1];" : "=r"(*reinterpret_cast<uint*>(&val)) : OPENCV_CUDA_ASM_PTR(ptr + offset)); \
+                } \
+            };
+
+            OPENCV_CUDA_DEFINE_FORCE_GLOB_B(uchar,  u8)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB_B(schar,  s8)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB_B(char,   b8)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (ushort, u16, h)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (short,  s16, h)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (uint,   u32, r)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (int,    s32, r)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (float,  f32, f)
+            OPENCV_CUDA_DEFINE_FORCE_GLOB  (double, f64, d)
+
+        #undef OPENCV_CUDA_DEFINE_FORCE_GLOB
+        #undef OPENCV_CUDA_DEFINE_FORCE_GLOB_B
+        #undef OPENCV_CUDA_ASM_PTR
+
+    #endif // __CUDA_ARCH__ >= 200
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_DATAMOV_UTILS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/color_detail.hpp b/3rdparty/include/opencv2/core/cuda/detail/color_detail.hpp
new file mode 100644
index 0000000..1151806
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/color_detail.hpp
@@ -0,0 +1,1980 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_COLOR_DETAIL_HPP__
+#define __OPENCV_CUDA_COLOR_DETAIL_HPP__
+
+#include "../common.hpp"
+#include "../vec_traits.hpp"
+#include "../saturate_cast.hpp"
+#include "../limits.hpp"
+#include "../functional.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    #ifndef CV_DESCALE
+        #define CV_DESCALE(x, n) (((x) + (1 << ((n)-1))) >> (n))
+    #endif
+
+    namespace color_detail
+    {
+        template<typename T> struct ColorChannel
+        {
+            typedef float worktype_f;
+            static __device__ __forceinline__ T max() { return numeric_limits<T>::max(); }
+            static __device__ __forceinline__ T half() { return (T)(max()/2 + 1); }
+        };
+
+        template<> struct ColorChannel<float>
+        {
+            typedef float worktype_f;
+            static __device__ __forceinline__ float max() { return 1.f; }
+            static __device__ __forceinline__ float half() { return 0.5f; }
+        };
+
+        template <typename T> static __device__ __forceinline__ void setAlpha(typename TypeVec<T, 3>::vec_type& vec, T val)
+        {
+        }
+
+        template <typename T> static __device__ __forceinline__ void setAlpha(typename TypeVec<T, 4>::vec_type& vec, T val)
+        {
+            vec.w = val;
+        }
+
+        template <typename T> static __device__ __forceinline__ T getAlpha(const typename TypeVec<T, 3>::vec_type& vec)
+        {
+            return ColorChannel<T>::max();
+        }
+
+        template <typename T> static __device__ __forceinline__ T getAlpha(const typename TypeVec<T, 4>::vec_type& vec)
+        {
+            return vec.w;
+        }
+
+        enum
+        {
+            yuv_shift  = 14,
+            xyz_shift  = 12,
+            R2Y        = 4899,
+            G2Y        = 9617,
+            B2Y        = 1868,
+            BLOCK_SIZE = 256
+        };
+    }
+
+////////////////// Various 3/4-channel to 3/4-channel RGB transformations /////////////////
+
+    namespace color_detail
+    {
+        template <typename T, int scn, int dcn, int bidx> struct RGB2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                dst.x = (&src.x)[bidx];
+                dst.y = src.y;
+                dst.z = (&src.x)[bidx^2];
+                setAlpha(dst, getAlpha<T>(src));
+
+                return dst;
+            }
+
+            __host__ __device__ __forceinline__ RGB2RGB() {}
+            __host__ __device__ __forceinline__ RGB2RGB(const RGB2RGB&) {}
+        };
+
+        template <> struct RGB2RGB<uchar, 4, 4, 2> : unary_function<uint, uint>
+        {
+            __device__ uint operator()(uint src) const
+            {
+                uint dst = 0;
+
+                dst |= (0xffu & (src >> 16));
+                dst |= (0xffu & (src >> 8)) << 8;
+                dst |= (0xffu & (src)) << 16;
+                dst |= (0xffu & (src >> 24)) << 24;
+
+                return dst;
+            }
+
+            __host__ __device__ __forceinline__ RGB2RGB() {}
+            __host__ __device__ __forceinline__ RGB2RGB(const RGB2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2RGB<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+/////////// Transforming 16-bit (565 or 555) RGB to/from 24/32-bit (888[8]) RGB //////////
+
+    namespace color_detail
+    {
+        template <int green_bits, int bidx> struct RGB2RGB5x5Converter;
+        template<int bidx> struct RGB2RGB5x5Converter<6, bidx>
+        {
+            static __device__ __forceinline__ ushort cvt(const uchar3& src)
+            {
+                return (ushort)(((&src.x)[bidx] >> 3) | ((src.y & ~3) << 3) | (((&src.x)[bidx^2] & ~7) << 8));
+            }
+
+            static __device__ __forceinline__ ushort cvt(uint src)
+            {
+                uint b = 0xffu & (src >> (bidx * 8));
+                uint g = 0xffu & (src >> 8);
+                uint r = 0xffu & (src >> ((bidx ^ 2) * 8));
+                return (ushort)((b >> 3) | ((g & ~3) << 3) | ((r & ~7) << 8));
+            }
+        };
+
+        template<int bidx> struct RGB2RGB5x5Converter<5, bidx>
+        {
+            static __device__ __forceinline__ ushort cvt(const uchar3& src)
+            {
+                return (ushort)(((&src.x)[bidx] >> 3) | ((src.y & ~7) << 2) | (((&src.x)[bidx^2] & ~7) << 7));
+            }
+
+            static __device__ __forceinline__ ushort cvt(uint src)
+            {
+                uint b = 0xffu & (src >> (bidx * 8));
+                uint g = 0xffu & (src >> 8);
+                uint r = 0xffu & (src >> ((bidx ^ 2) * 8));
+                uint a = 0xffu & (src >> 24);
+                return (ushort)((b >> 3) | ((g & ~7) << 2) | ((r & ~7) << 7) | (a * 0x8000));
+            }
+        };
+
+        template<int scn, int bidx, int green_bits> struct RGB2RGB5x5;
+
+        template<int bidx, int green_bits> struct RGB2RGB5x5<3, bidx,green_bits> : unary_function<uchar3, ushort>
+        {
+            __device__ __forceinline__ ushort operator()(const uchar3& src) const
+            {
+                return RGB2RGB5x5Converter<green_bits, bidx>::cvt(src);
+            }
+
+            __host__ __device__ __forceinline__ RGB2RGB5x5() {}
+            __host__ __device__ __forceinline__ RGB2RGB5x5(const RGB2RGB5x5&) {}
+        };
+
+        template<int bidx, int green_bits> struct RGB2RGB5x5<4, bidx,green_bits> : unary_function<uint, ushort>
+        {
+            __device__ __forceinline__ ushort operator()(uint src) const
+            {
+                return RGB2RGB5x5Converter<green_bits, bidx>::cvt(src);
+            }
+
+            __host__ __device__ __forceinline__ RGB2RGB5x5() {}
+            __host__ __device__ __forceinline__ RGB2RGB5x5(const RGB2RGB5x5&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2RGB5x5_TRAITS(name, scn, bidx, green_bits) \
+    struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2RGB5x5<scn, bidx, green_bits> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        template <int green_bits, int bidx> struct RGB5x52RGBConverter;
+
+        template <int bidx> struct RGB5x52RGBConverter<5, bidx>
+        {
+            static __device__ __forceinline__ void cvt(uint src, uchar3& dst)
+            {
+                (&dst.x)[bidx] = src << 3;
+                dst.y = (src >> 2) & ~7;
+                (&dst.x)[bidx ^ 2] = (src >> 7) & ~7;
+            }
+
+            static __device__ __forceinline__ void cvt(uint src, uint& dst)
+            {
+                dst = 0;
+
+                dst |= (0xffu & (src << 3)) << (bidx * 8);
+                dst |= (0xffu & ((src >> 2) & ~7)) << 8;
+                dst |= (0xffu & ((src >> 7) & ~7)) << ((bidx ^ 2) * 8);
+                dst |= ((src & 0x8000) * 0xffu) << 24;
+            }
+        };
+
+        template <int bidx> struct RGB5x52RGBConverter<6, bidx>
+        {
+            static __device__ __forceinline__ void cvt(uint src, uchar3& dst)
+            {
+                (&dst.x)[bidx] = src << 3;
+                dst.y = (src >> 3) & ~3;
+                (&dst.x)[bidx ^ 2] = (src >> 8) & ~7;
+            }
+
+            static __device__ __forceinline__ void cvt(uint src, uint& dst)
+            {
+                dst = 0xffu << 24;
+
+                dst |= (0xffu & (src << 3)) << (bidx * 8);
+                dst |= (0xffu &((src >> 3) & ~3)) << 8;
+                dst |= (0xffu & ((src >> 8) & ~7)) << ((bidx ^ 2) * 8);
+            }
+        };
+
+        template <int dcn, int bidx, int green_bits> struct RGB5x52RGB;
+
+        template <int bidx, int green_bits> struct RGB5x52RGB<3, bidx, green_bits> : unary_function<ushort, uchar3>
+        {
+            __device__ __forceinline__ uchar3 operator()(ushort src) const
+            {
+                uchar3 dst;
+                RGB5x52RGBConverter<green_bits, bidx>::cvt(src, dst);
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB5x52RGB() {}
+            __host__ __device__ __forceinline__ RGB5x52RGB(const RGB5x52RGB&) {}
+
+        };
+
+        template <int bidx, int green_bits> struct RGB5x52RGB<4, bidx, green_bits> : unary_function<ushort, uint>
+        {
+            __device__ __forceinline__ uint operator()(ushort src) const
+            {
+                uint dst;
+                RGB5x52RGBConverter<green_bits, bidx>::cvt(src, dst);
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB5x52RGB() {}
+            __host__ __device__ __forceinline__ RGB5x52RGB(const RGB5x52RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB5x52RGB_TRAITS(name, dcn, bidx, green_bits) \
+    struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB5x52RGB<dcn, bidx, green_bits> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////// Grayscale to Color ////////////////////////////////
+
+    namespace color_detail
+    {
+        template <typename T, int dcn> struct Gray2RGB : unary_function<T, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(T src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                dst.z = dst.y = dst.x = src;
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Gray2RGB() {}
+            __host__ __device__ __forceinline__ Gray2RGB(const Gray2RGB&) {}
+        };
+
+        template <> struct Gray2RGB<uchar, 4> : unary_function<uchar, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                uint dst = 0xffu << 24;
+
+                dst |= src;
+                dst |= src << 8;
+                dst |= src << 16;
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Gray2RGB() {}
+            __host__ __device__ __forceinline__ Gray2RGB(const Gray2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_GRAY2RGB_TRAITS(name, dcn) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::Gray2RGB<T, dcn> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        template <int green_bits> struct Gray2RGB5x5Converter;
+        template<> struct Gray2RGB5x5Converter<6>
+        {
+            static __device__ __forceinline__ ushort cvt(uint t)
+            {
+                return (ushort)((t >> 3) | ((t & ~3) << 3) | ((t & ~7) << 8));
+            }
+        };
+
+        template<> struct Gray2RGB5x5Converter<5>
+        {
+            static __device__ __forceinline__ ushort cvt(uint t)
+            {
+                t >>= 3;
+                return (ushort)(t | (t << 5) | (t << 10));
+            }
+        };
+
+        template<int green_bits> struct Gray2RGB5x5 : unary_function<uchar, ushort>
+        {
+            __device__ __forceinline__ ushort operator()(uint src) const
+            {
+                return Gray2RGB5x5Converter<green_bits>::cvt(src);
+            }
+
+            __host__ __device__ __forceinline__ Gray2RGB5x5() {}
+            __host__ __device__ __forceinline__ Gray2RGB5x5(const Gray2RGB5x5&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_GRAY2RGB5x5_TRAITS(name, green_bits) \
+    struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::Gray2RGB5x5<green_bits> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////// Color to Grayscale ////////////////////////////////
+
+    namespace color_detail
+    {
+        template <int green_bits> struct RGB5x52GrayConverter;
+        template <> struct RGB5x52GrayConverter<6>
+        {
+            static __device__ __forceinline__ uchar cvt(uint t)
+            {
+                return (uchar)CV_DESCALE(((t << 3) & 0xf8) * B2Y + ((t >> 3) & 0xfc) * G2Y + ((t >> 8) & 0xf8) * R2Y, yuv_shift);
+            }
+        };
+
+        template <> struct RGB5x52GrayConverter<5>
+        {
+            static __device__ __forceinline__ uchar cvt(uint t)
+            {
+                return (uchar)CV_DESCALE(((t << 3) & 0xf8) * B2Y + ((t >> 2) & 0xf8) * G2Y + ((t >> 7) & 0xf8) * R2Y, yuv_shift);
+            }
+        };
+
+        template<int green_bits> struct RGB5x52Gray : unary_function<ushort, uchar>
+        {
+            __device__ __forceinline__ uchar operator()(uint src) const
+            {
+                return RGB5x52GrayConverter<green_bits>::cvt(src);
+            }
+            __host__ __device__ __forceinline__ RGB5x52Gray() {}
+            __host__ __device__ __forceinline__ RGB5x52Gray(const RGB5x52Gray&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB5x52GRAY_TRAITS(name, green_bits) \
+    struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB5x52Gray<green_bits> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        template <int bidx, typename T> static __device__ __forceinline__ T RGB2GrayConvert(const T* src)
+        {
+            return (T)CV_DESCALE((unsigned)(src[bidx] * B2Y + src[1] * G2Y + src[bidx^2] * R2Y), yuv_shift);
+        }
+
+        template <int bidx> static __device__ __forceinline__ uchar RGB2GrayConvert(uint src)
+        {
+            uint b = 0xffu & (src >> (bidx * 8));
+            uint g = 0xffu & (src >> 8);
+            uint r = 0xffu & (src >> ((bidx ^ 2) * 8));
+            return CV_DESCALE((uint)(b * B2Y + g * G2Y + r * R2Y), yuv_shift);
+        }
+
+        template <int bidx> static __device__ __forceinline__ float RGB2GrayConvert(const float* src)
+        {
+            return src[bidx] * 0.114f + src[1] * 0.587f + src[bidx^2] * 0.299f;
+        }
+
+        template <typename T, int scn, int bidx> struct RGB2Gray : unary_function<typename TypeVec<T, scn>::vec_type, T>
+        {
+            __device__ __forceinline__ T operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                return RGB2GrayConvert<bidx>(&src.x);
+            }
+            __host__ __device__ __forceinline__ RGB2Gray() {}
+            __host__ __device__ __forceinline__ RGB2Gray(const RGB2Gray&) {}
+        };
+
+        template <int bidx> struct RGB2Gray<uchar, 4, bidx> : unary_function<uint, uchar>
+        {
+            __device__ __forceinline__ uchar operator()(uint src) const
+            {
+                return RGB2GrayConvert<bidx>(src);
+            }
+            __host__ __device__ __forceinline__ RGB2Gray() {}
+            __host__ __device__ __forceinline__ RGB2Gray(const RGB2Gray&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2GRAY_TRAITS(name, scn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2Gray<T, scn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////////// RGB <-> YUV //////////////////////////////////////
+
+    namespace color_detail
+    {
+        __constant__ float c_RGB2YUVCoeffs_f[5] = { 0.114f, 0.587f, 0.299f, 0.492f, 0.877f };
+        __constant__ int   c_RGB2YUVCoeffs_i[5] = { B2Y, G2Y, R2Y, 8061, 14369 };
+
+        template <int bidx, typename T, typename D> static __device__ void RGB2YUVConvert(const T* src, D& dst)
+        {
+            const int delta = ColorChannel<T>::half() * (1 << yuv_shift);
+
+            const int Y = CV_DESCALE(src[0] * c_RGB2YUVCoeffs_i[bidx^2] + src[1] * c_RGB2YUVCoeffs_i[1] + src[2] * c_RGB2YUVCoeffs_i[bidx], yuv_shift);
+            const int Cr = CV_DESCALE((src[bidx^2] - Y) * c_RGB2YUVCoeffs_i[3] + delta, yuv_shift);
+            const int Cb = CV_DESCALE((src[bidx] - Y) * c_RGB2YUVCoeffs_i[4] + delta, yuv_shift);
+
+            dst.x = saturate_cast<T>(Y);
+            dst.y = saturate_cast<T>(Cr);
+            dst.z = saturate_cast<T>(Cb);
+        }
+
+        template <int bidx, typename D> static __device__ __forceinline__ void RGB2YUVConvert(const float* src, D& dst)
+        {
+            dst.x = src[0] * c_RGB2YUVCoeffs_f[bidx^2] + src[1] * c_RGB2YUVCoeffs_f[1] + src[2] * c_RGB2YUVCoeffs_f[bidx];
+            dst.y = (src[bidx^2] - dst.x) * c_RGB2YUVCoeffs_f[3] + ColorChannel<float>::half();
+            dst.z = (src[bidx] - dst.x) * c_RGB2YUVCoeffs_f[4] + ColorChannel<float>::half();
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct RGB2YUV
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator ()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+                RGB2YUVConvert<bidx>(&src.x, dst);
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2YUV() {}
+            __host__ __device__ __forceinline__ RGB2YUV(const RGB2YUV&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2YUV_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2YUV<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ float c_YUV2RGBCoeffs_f[5] = { 2.032f, -0.395f, -0.581f, 1.140f };
+        __constant__ int   c_YUV2RGBCoeffs_i[5] = { 33292, -6472, -9519, 18678 };
+
+        template <int bidx, typename T, typename D> static __device__ void YUV2RGBConvert(const T& src, D* dst)
+        {
+            const int b = src.x + CV_DESCALE((src.z - ColorChannel<D>::half()) * c_YUV2RGBCoeffs_i[3], yuv_shift);
+
+            const int g = src.x + CV_DESCALE((src.z - ColorChannel<D>::half()) * c_YUV2RGBCoeffs_i[2]
+                                             + (src.y - ColorChannel<D>::half()) * c_YUV2RGBCoeffs_i[1], yuv_shift);
+
+            const int r = src.x + CV_DESCALE((src.y - ColorChannel<D>::half()) * c_YUV2RGBCoeffs_i[0], yuv_shift);
+
+            dst[bidx] = saturate_cast<D>(b);
+            dst[1] = saturate_cast<D>(g);
+            dst[bidx^2] = saturate_cast<D>(r);
+        }
+
+        template <int bidx> static __device__ uint YUV2RGBConvert(uint src)
+        {
+            const int x = 0xff & (src);
+            const int y = 0xff & (src >> 8);
+            const int z = 0xff & (src >> 16);
+
+            const int b = x + CV_DESCALE((z - ColorChannel<uchar>::half()) * c_YUV2RGBCoeffs_i[3], yuv_shift);
+
+            const int g = x + CV_DESCALE((z - ColorChannel<uchar>::half()) * c_YUV2RGBCoeffs_i[2]
+                                         + (y - ColorChannel<uchar>::half()) * c_YUV2RGBCoeffs_i[1], yuv_shift);
+
+            const int r = x + CV_DESCALE((y - ColorChannel<uchar>::half()) * c_YUV2RGBCoeffs_i[0], yuv_shift);
+
+            uint dst = 0xffu << 24;
+
+            dst |= saturate_cast<uchar>(b) << (bidx * 8);
+            dst |= saturate_cast<uchar>(g) << 8;
+            dst |= saturate_cast<uchar>(r) << ((bidx ^ 2) * 8);
+
+            return dst;
+        }
+
+        template <int bidx, typename T> static __device__ __forceinline__ void YUV2RGBConvert(const T& src, float* dst)
+        {
+            dst[bidx] = src.x + (src.z - ColorChannel<float>::half()) * c_YUV2RGBCoeffs_f[3];
+
+            dst[1] = src.x + (src.z - ColorChannel<float>::half()) * c_YUV2RGBCoeffs_f[2]
+                     + (src.y - ColorChannel<float>::half()) * c_YUV2RGBCoeffs_f[1];
+
+            dst[bidx^2] = src.x + (src.y - ColorChannel<float>::half()) * c_YUV2RGBCoeffs_f[0];
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct YUV2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator ()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                YUV2RGBConvert<bidx>(src, &dst.x);
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ YUV2RGB() {}
+            __host__ __device__ __forceinline__ YUV2RGB(const YUV2RGB&) {}
+        };
+
+        template <int bidx> struct YUV2RGB<uchar, 4, 4, bidx> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator ()(uint src) const
+            {
+                return YUV2RGBConvert<bidx>(src);
+            }
+            __host__ __device__ __forceinline__ YUV2RGB() {}
+            __host__ __device__ __forceinline__ YUV2RGB(const YUV2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_YUV2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::YUV2RGB<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////////// RGB <-> YCrCb //////////////////////////////////////
+
+    namespace color_detail
+    {
+        __constant__ float c_RGB2YCrCbCoeffs_f[5] = {0.299f, 0.587f, 0.114f, 0.713f, 0.564f};
+        __constant__ int   c_RGB2YCrCbCoeffs_i[5] = {R2Y, G2Y, B2Y, 11682, 9241};
+
+        template <int bidx, typename T, typename D> static __device__ void RGB2YCrCbConvert(const T* src, D& dst)
+        {
+            const int delta = ColorChannel<T>::half() * (1 << yuv_shift);
+
+            const int Y = CV_DESCALE(src[0] * c_RGB2YCrCbCoeffs_i[bidx^2] + src[1] * c_RGB2YCrCbCoeffs_i[1] + src[2] * c_RGB2YCrCbCoeffs_i[bidx], yuv_shift);
+            const int Cr = CV_DESCALE((src[bidx^2] - Y) * c_RGB2YCrCbCoeffs_i[3] + delta, yuv_shift);
+            const int Cb = CV_DESCALE((src[bidx] - Y) * c_RGB2YCrCbCoeffs_i[4] + delta, yuv_shift);
+
+            dst.x = saturate_cast<T>(Y);
+            dst.y = saturate_cast<T>(Cr);
+            dst.z = saturate_cast<T>(Cb);
+        }
+
+        template <int bidx> static __device__ uint RGB2YCrCbConvert(uint src)
+        {
+            const int delta = ColorChannel<uchar>::half() * (1 << yuv_shift);
+
+            const int Y = CV_DESCALE((0xffu & src) * c_RGB2YCrCbCoeffs_i[bidx^2] + (0xffu & (src >> 8)) * c_RGB2YCrCbCoeffs_i[1] + (0xffu & (src >> 16)) * c_RGB2YCrCbCoeffs_i[bidx], yuv_shift);
+            const int Cr = CV_DESCALE(((0xffu & (src >> ((bidx ^ 2) * 8))) - Y) * c_RGB2YCrCbCoeffs_i[3] + delta, yuv_shift);
+            const int Cb = CV_DESCALE(((0xffu & (src >> (bidx * 8))) - Y) * c_RGB2YCrCbCoeffs_i[4] + delta, yuv_shift);
+
+            uint dst = 0;
+
+            dst |= saturate_cast<uchar>(Y);
+            dst |= saturate_cast<uchar>(Cr) << 8;
+            dst |= saturate_cast<uchar>(Cb) << 16;
+
+            return dst;
+        }
+
+        template <int bidx, typename D> static __device__ __forceinline__ void RGB2YCrCbConvert(const float* src, D& dst)
+        {
+            dst.x = src[0] * c_RGB2YCrCbCoeffs_f[bidx^2] + src[1] * c_RGB2YCrCbCoeffs_f[1] + src[2] * c_RGB2YCrCbCoeffs_f[bidx];
+            dst.y = (src[bidx^2] - dst.x) * c_RGB2YCrCbCoeffs_f[3] + ColorChannel<float>::half();
+            dst.z = (src[bidx] - dst.x) * c_RGB2YCrCbCoeffs_f[4] + ColorChannel<float>::half();
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct RGB2YCrCb
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator ()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+                RGB2YCrCbConvert<bidx>(&src.x, dst);
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2YCrCb() {}
+            __host__ __device__ __forceinline__ RGB2YCrCb(const RGB2YCrCb&) {}
+        };
+
+        template <int bidx> struct RGB2YCrCb<uchar, 4, 4, bidx> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator ()(uint src) const
+            {
+                return RGB2YCrCbConvert<bidx>(src);
+            }
+
+            __host__ __device__ __forceinline__ RGB2YCrCb() {}
+            __host__ __device__ __forceinline__ RGB2YCrCb(const RGB2YCrCb&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2YCrCb_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2YCrCb<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ float c_YCrCb2RGBCoeffs_f[5] = {1.403f, -0.714f, -0.344f, 1.773f};
+        __constant__ int   c_YCrCb2RGBCoeffs_i[5] = {22987, -11698, -5636, 29049};
+
+        template <int bidx, typename T, typename D> static __device__ void YCrCb2RGBConvert(const T& src, D* dst)
+        {
+            const int b = src.x + CV_DESCALE((src.z - ColorChannel<D>::half()) * c_YCrCb2RGBCoeffs_i[3], yuv_shift);
+            const int g = src.x + CV_DESCALE((src.z - ColorChannel<D>::half()) * c_YCrCb2RGBCoeffs_i[2] + (src.y - ColorChannel<D>::half()) * c_YCrCb2RGBCoeffs_i[1], yuv_shift);
+            const int r = src.x + CV_DESCALE((src.y - ColorChannel<D>::half()) * c_YCrCb2RGBCoeffs_i[0], yuv_shift);
+
+            dst[bidx] = saturate_cast<D>(b);
+            dst[1] = saturate_cast<D>(g);
+            dst[bidx^2] = saturate_cast<D>(r);
+        }
+
+        template <int bidx> static __device__ uint YCrCb2RGBConvert(uint src)
+        {
+            const int x = 0xff & (src);
+            const int y = 0xff & (src >> 8);
+            const int z = 0xff & (src >> 16);
+
+            const int b = x + CV_DESCALE((z - ColorChannel<uchar>::half()) * c_YCrCb2RGBCoeffs_i[3], yuv_shift);
+            const int g = x + CV_DESCALE((z - ColorChannel<uchar>::half()) * c_YCrCb2RGBCoeffs_i[2] + (y - ColorChannel<uchar>::half()) * c_YCrCb2RGBCoeffs_i[1], yuv_shift);
+            const int r = x + CV_DESCALE((y - ColorChannel<uchar>::half()) * c_YCrCb2RGBCoeffs_i[0], yuv_shift);
+
+            uint dst = 0xffu << 24;
+
+            dst |= saturate_cast<uchar>(b) << (bidx * 8);
+            dst |= saturate_cast<uchar>(g) << 8;
+            dst |= saturate_cast<uchar>(r) << ((bidx ^ 2) * 8);
+
+            return dst;
+        }
+
+        template <int bidx, typename T> __device__ __forceinline__ void YCrCb2RGBConvert(const T& src, float* dst)
+        {
+            dst[bidx] = src.x + (src.z - ColorChannel<float>::half()) * c_YCrCb2RGBCoeffs_f[3];
+            dst[1] = src.x + (src.z - ColorChannel<float>::half()) * c_YCrCb2RGBCoeffs_f[2] + (src.y - ColorChannel<float>::half()) * c_YCrCb2RGBCoeffs_f[1];
+            dst[bidx^2] = src.x + (src.y - ColorChannel<float>::half()) * c_YCrCb2RGBCoeffs_f[0];
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct YCrCb2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator ()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                YCrCb2RGBConvert<bidx>(src, &dst.x);
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ YCrCb2RGB() {}
+            __host__ __device__ __forceinline__ YCrCb2RGB(const YCrCb2RGB&) {}
+        };
+
+        template <int bidx> struct YCrCb2RGB<uchar, 4, 4, bidx> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator ()(uint src) const
+            {
+                return YCrCb2RGBConvert<bidx>(src);
+            }
+            __host__ __device__ __forceinline__ YCrCb2RGB() {}
+            __host__ __device__ __forceinline__ YCrCb2RGB(const YCrCb2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_YCrCb2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::YCrCb2RGB<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+////////////////////////////////////// RGB <-> XYZ ///////////////////////////////////////
+
+    namespace color_detail
+    {
+        __constant__ float c_RGB2XYZ_D65f[9] = { 0.412453f, 0.357580f, 0.180423f, 0.212671f, 0.715160f, 0.072169f, 0.019334f, 0.119193f, 0.950227f };
+        __constant__ int   c_RGB2XYZ_D65i[9] = { 1689, 1465, 739, 871, 2929, 296, 79, 488, 3892 };
+
+        template <int bidx, typename T, typename D> static __device__ __forceinline__ void RGB2XYZConvert(const T* src, D& dst)
+        {
+            dst.z = saturate_cast<T>(CV_DESCALE(src[bidx^2] * c_RGB2XYZ_D65i[6] + src[1] * c_RGB2XYZ_D65i[7] + src[bidx] * c_RGB2XYZ_D65i[8], xyz_shift));
+            dst.x = saturate_cast<T>(CV_DESCALE(src[bidx^2] * c_RGB2XYZ_D65i[0] + src[1] * c_RGB2XYZ_D65i[1] + src[bidx] * c_RGB2XYZ_D65i[2], xyz_shift));
+            dst.y = saturate_cast<T>(CV_DESCALE(src[bidx^2] * c_RGB2XYZ_D65i[3] + src[1] * c_RGB2XYZ_D65i[4] + src[bidx] * c_RGB2XYZ_D65i[5], xyz_shift));
+        }
+
+        template <int bidx> static __device__ __forceinline__ uint RGB2XYZConvert(uint src)
+        {
+            const uint b = 0xffu & (src >> (bidx * 8));
+            const uint g = 0xffu & (src >> 8);
+            const uint r = 0xffu & (src >> ((bidx ^ 2) * 8));
+
+            const uint x = saturate_cast<uchar>(CV_DESCALE(r * c_RGB2XYZ_D65i[0] + g * c_RGB2XYZ_D65i[1] + b * c_RGB2XYZ_D65i[2], xyz_shift));
+            const uint y = saturate_cast<uchar>(CV_DESCALE(r * c_RGB2XYZ_D65i[3] + g * c_RGB2XYZ_D65i[4] + b * c_RGB2XYZ_D65i[5], xyz_shift));
+            const uint z = saturate_cast<uchar>(CV_DESCALE(r * c_RGB2XYZ_D65i[6] + g * c_RGB2XYZ_D65i[7] + b * c_RGB2XYZ_D65i[8], xyz_shift));
+
+            uint dst = 0;
+
+            dst |= x;
+            dst |= y << 8;
+            dst |= z << 16;
+
+            return dst;
+        }
+
+        template <int bidx, typename D> static __device__ __forceinline__ void RGB2XYZConvert(const float* src, D& dst)
+        {
+            dst.x = src[bidx^2] * c_RGB2XYZ_D65f[0] + src[1] * c_RGB2XYZ_D65f[1] + src[bidx] * c_RGB2XYZ_D65f[2];
+            dst.y = src[bidx^2] * c_RGB2XYZ_D65f[3] + src[1] * c_RGB2XYZ_D65f[4] + src[bidx] * c_RGB2XYZ_D65f[5];
+            dst.z = src[bidx^2] * c_RGB2XYZ_D65f[6] + src[1] * c_RGB2XYZ_D65f[7] + src[bidx] * c_RGB2XYZ_D65f[8];
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct RGB2XYZ
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                RGB2XYZConvert<bidx>(&src.x, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2XYZ() {}
+            __host__ __device__ __forceinline__ RGB2XYZ(const RGB2XYZ&) {}
+        };
+
+        template <int bidx> struct RGB2XYZ<uchar, 4, 4, bidx> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return RGB2XYZConvert<bidx>(src);
+            }
+            __host__ __device__ __forceinline__ RGB2XYZ() {}
+            __host__ __device__ __forceinline__ RGB2XYZ(const RGB2XYZ&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2XYZ_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2XYZ<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ float c_XYZ2sRGB_D65f[9] = { 3.240479f, -1.53715f, -0.498535f, -0.969256f, 1.875991f, 0.041556f, 0.055648f, -0.204043f, 1.057311f };
+        __constant__ int   c_XYZ2sRGB_D65i[9] = { 13273, -6296, -2042, -3970, 7684, 170, 228, -836, 4331 };
+
+        template <int bidx, typename T, typename D> static __device__ __forceinline__ void XYZ2RGBConvert(const T& src, D* dst)
+        {
+            dst[bidx^2] = saturate_cast<D>(CV_DESCALE(src.x * c_XYZ2sRGB_D65i[0] + src.y * c_XYZ2sRGB_D65i[1] + src.z * c_XYZ2sRGB_D65i[2], xyz_shift));
+            dst[1]      = saturate_cast<D>(CV_DESCALE(src.x * c_XYZ2sRGB_D65i[3] + src.y * c_XYZ2sRGB_D65i[4] + src.z * c_XYZ2sRGB_D65i[5], xyz_shift));
+            dst[bidx]   = saturate_cast<D>(CV_DESCALE(src.x * c_XYZ2sRGB_D65i[6] + src.y * c_XYZ2sRGB_D65i[7] + src.z * c_XYZ2sRGB_D65i[8], xyz_shift));
+        }
+
+        template <int bidx> static __device__ __forceinline__ uint XYZ2RGBConvert(uint src)
+        {
+            const int x = 0xff & src;
+            const int y = 0xff & (src >> 8);
+            const int z = 0xff & (src >> 16);
+
+            const uint r = saturate_cast<uchar>(CV_DESCALE(x * c_XYZ2sRGB_D65i[0] + y * c_XYZ2sRGB_D65i[1] + z * c_XYZ2sRGB_D65i[2], xyz_shift));
+            const uint g = saturate_cast<uchar>(CV_DESCALE(x * c_XYZ2sRGB_D65i[3] + y * c_XYZ2sRGB_D65i[4] + z * c_XYZ2sRGB_D65i[5], xyz_shift));
+            const uint b = saturate_cast<uchar>(CV_DESCALE(x * c_XYZ2sRGB_D65i[6] + y * c_XYZ2sRGB_D65i[7] + z * c_XYZ2sRGB_D65i[8], xyz_shift));
+
+            uint dst = 0xffu << 24;
+
+            dst |= b << (bidx * 8);
+            dst |= g << 8;
+            dst |= r << ((bidx ^ 2) * 8);
+
+            return dst;
+        }
+
+        template <int bidx, typename T> static __device__ __forceinline__ void XYZ2RGBConvert(const T& src, float* dst)
+        {
+            dst[bidx^2] = src.x * c_XYZ2sRGB_D65f[0] + src.y * c_XYZ2sRGB_D65f[1] + src.z * c_XYZ2sRGB_D65f[2];
+            dst[1]      = src.x * c_XYZ2sRGB_D65f[3] + src.y * c_XYZ2sRGB_D65f[4] + src.z * c_XYZ2sRGB_D65f[5];
+            dst[bidx]   = src.x * c_XYZ2sRGB_D65f[6] + src.y * c_XYZ2sRGB_D65f[7] + src.z * c_XYZ2sRGB_D65f[8];
+        }
+
+        template <typename T, int scn, int dcn, int bidx> struct XYZ2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                XYZ2RGBConvert<bidx>(src, &dst.x);
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ XYZ2RGB() {}
+            __host__ __device__ __forceinline__ XYZ2RGB(const XYZ2RGB&) {}
+        };
+
+        template <int bidx> struct XYZ2RGB<uchar, 4, 4, bidx> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return XYZ2RGBConvert<bidx>(src);
+            }
+            __host__ __device__ __forceinline__ XYZ2RGB() {}
+            __host__ __device__ __forceinline__ XYZ2RGB(const XYZ2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_XYZ2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::XYZ2RGB<T, scn, dcn, bidx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+////////////////////////////////////// RGB <-> HSV ///////////////////////////////////////
+
+    namespace color_detail
+    {
+        __constant__ int c_HsvDivTable   [256] = {0, 1044480, 522240, 348160, 261120, 208896, 174080, 149211, 130560, 116053, 104448, 94953, 87040, 80345, 74606, 69632, 65280, 61440, 58027, 54973, 52224, 49737, 47476, 45412, 43520, 41779, 40172, 38684, 37303, 36017, 34816, 33693, 32640, 31651, 30720, 29842, 29013, 28229, 27486, 26782, 26112, 25475, 24869, 24290, 23738, 23211, 22706, 22223, 21760, 21316, 20890, 20480, 20086, 19707, 19342, 18991, 18651, 18324, 18008, 17703, 17408, 17123, 16846, 16579, 16320, 16069, 15825, 15589, 15360, 15137, 14921, 14711, 14507, 14308, 14115, 13926, 13743, 13565, 13391, 13221, 13056, 12895, 12738, 12584, 12434, 12288, 12145, 12006, 11869, 11736, 11605, 11478, 11353, 11231, 11111, 10995, 10880, 10768, 10658, 10550, 10445, 10341, 10240, 10141, 10043, 9947, 9854, 9761, 9671, 9582, 9495, 9410, 9326, 9243, 9162, 9082, 9004, 8927, 8852, 8777, 8704, 8632, 8561, 8492, 8423, 8356, 8290, 8224, 8160, 8097, 8034, 7973, 7913, 7853, 7795, 7737, 7680, 7624, 7569, 7514, 7461, 7408, 7355, 7304, 7253, 7203, 7154, 7105, 7057, 7010, 6963, 6917, 6872, 6827, 6782, 6739, 6695, 6653, 6611, 6569, 6528, 6487, 6447, 6408, 6369, 6330, 6292, 6254, 6217, 6180, 6144, 6108, 6073, 6037, 6003, 5968, 5935, 5901, 5868, 5835, 5803, 5771, 5739, 5708, 5677, 5646, 5615, 5585, 5556, 5526, 5497, 5468, 5440, 5412, 5384, 5356, 5329, 5302, 5275, 5249, 5222, 5196, 5171, 5145, 5120, 5095, 5070, 5046, 5022, 4998, 4974, 4950, 4927, 4904, 4881, 4858, 4836, 4813, 4791, 4769, 4748, 4726, 4705, 4684, 4663, 4642, 4622, 4601, 4581, 4561, 4541, 4522, 4502, 4483, 4464, 4445, 4426, 4407, 4389, 4370, 4352, 4334, 4316, 4298, 4281, 4263, 4246, 4229, 4212, 4195, 4178, 4161, 4145, 4128, 4112, 4096};
+        __constant__ int c_HsvDivTable180[256] = {0, 122880, 61440, 40960, 30720, 24576, 20480, 17554, 15360, 13653, 12288, 11171, 10240, 9452, 8777, 8192, 7680, 7228, 6827, 6467, 6144, 5851, 5585, 5343, 5120, 4915, 4726, 4551, 4389, 4237, 4096, 3964, 3840, 3724, 3614, 3511, 3413, 3321, 3234, 3151, 3072, 2997, 2926, 2858, 2793, 2731, 2671, 2614, 2560, 2508, 2458, 2409, 2363, 2318, 2276, 2234, 2194, 2156, 2119, 2083, 2048, 2014, 1982, 1950, 1920, 1890, 1862, 1834, 1807, 1781, 1755, 1731, 1707, 1683, 1661, 1638, 1617, 1596, 1575, 1555, 1536, 1517, 1499, 1480, 1463, 1446, 1429, 1412, 1396, 1381, 1365, 1350, 1336, 1321, 1307, 1293, 1280, 1267, 1254, 1241, 1229, 1217, 1205, 1193, 1182, 1170, 1159, 1148, 1138, 1127, 1117, 1107, 1097, 1087, 1078, 1069, 1059, 1050, 1041, 1033, 1024, 1016, 1007, 999, 991, 983, 975, 968, 960, 953, 945, 938, 931, 924, 917, 910, 904, 897, 890, 884, 878, 871, 865, 859, 853, 847, 842, 836, 830, 825, 819, 814, 808, 803, 798, 793, 788, 783, 778, 773, 768, 763, 759, 754, 749, 745, 740, 736, 731, 727, 723, 719, 714, 710, 706, 702, 698, 694, 690, 686, 683, 679, 675, 671, 668, 664, 661, 657, 654, 650, 647, 643, 640, 637, 633, 630, 627, 624, 621, 617, 614, 611, 608, 605, 602, 599, 597, 594, 591, 588, 585, 582, 580, 577, 574, 572, 569, 566, 564, 561, 559, 556, 554, 551, 549, 546, 544, 541, 539, 537, 534, 532, 530, 527, 525, 523, 521, 518, 516, 514, 512, 510, 508, 506, 504, 502, 500, 497, 495, 493, 492, 490, 488, 486, 484, 482};
+        __constant__ int c_HsvDivTable256[256] = {0, 174763, 87381, 58254, 43691, 34953, 29127, 24966, 21845, 19418, 17476, 15888, 14564, 13443, 12483, 11651, 10923, 10280, 9709, 9198, 8738, 8322, 7944, 7598, 7282, 6991, 6722, 6473, 6242, 6026, 5825, 5638, 5461, 5296, 5140, 4993, 4855, 4723, 4599, 4481, 4369, 4263, 4161, 4064, 3972, 3884, 3799, 3718, 3641, 3567, 3495, 3427, 3361, 3297, 3236, 3178, 3121, 3066, 3013, 2962, 2913, 2865, 2819, 2774, 2731, 2689, 2648, 2608, 2570, 2533, 2497, 2461, 2427, 2394, 2362, 2330, 2300, 2270, 2241, 2212, 2185, 2158, 2131, 2106, 2081, 2056, 2032, 2009, 1986, 1964, 1942, 1920, 1900, 1879, 1859, 1840, 1820, 1802, 1783, 1765, 1748, 1730, 1713, 1697, 1680, 1664, 1649, 1633, 1618, 1603, 1589, 1574, 1560, 1547, 1533, 1520, 1507, 1494, 1481, 1469, 1456, 1444, 1432, 1421, 1409, 1398, 1387, 1376, 1365, 1355, 1344, 1334, 1324, 1314, 1304, 1295, 1285, 1276, 1266, 1257, 1248, 1239, 1231, 1222, 1214, 1205, 1197, 1189, 1181, 1173, 1165, 1157, 1150, 1142, 1135, 1128, 1120, 1113, 1106, 1099, 1092, 1085, 1079, 1072, 1066, 1059, 1053, 1046, 1040, 1034, 1028, 1022, 1016, 1010, 1004, 999, 993, 987, 982, 976, 971, 966, 960, 955, 950, 945, 940, 935, 930, 925, 920, 915, 910, 906, 901, 896, 892, 887, 883, 878, 874, 869, 865, 861, 857, 853, 848, 844, 840, 836, 832, 828, 824, 820, 817, 813, 809, 805, 802, 798, 794, 791, 787, 784, 780, 777, 773, 770, 767, 763, 760, 757, 753, 750, 747, 744, 741, 737, 734, 731, 728, 725, 722, 719, 716, 713, 710, 708, 705, 702, 699, 696, 694, 691, 688, 685};
+
+        template <int bidx, int hr, typename D> static __device__ void RGB2HSVConvert(const uchar* src, D& dst)
+        {
+            const int hsv_shift = 12;
+            const int* hdiv_table = hr == 180 ? c_HsvDivTable180 : c_HsvDivTable256;
+
+            int b = src[bidx], g = src[1], r = src[bidx^2];
+            int h, s, v = b;
+            int vmin = b, diff;
+            int vr, vg;
+
+            v = ::max(v, g);
+            v = ::max(v, r);
+            vmin = ::min(vmin, g);
+            vmin = ::min(vmin, r);
+
+            diff = v - vmin;
+            vr = (v == r) * -1;
+            vg = (v == g) * -1;
+
+            s = (diff * c_HsvDivTable[v] + (1 << (hsv_shift-1))) >> hsv_shift;
+            h = (vr & (g - b)) + (~vr & ((vg & (b - r + 2 * diff)) + ((~vg) & (r - g + 4 * diff))));
+            h = (h * hdiv_table[diff] + (1 << (hsv_shift-1))) >> hsv_shift;
+            h += (h < 0) * hr;
+
+            dst.x = saturate_cast<uchar>(h);
+            dst.y = (uchar)s;
+            dst.z = (uchar)v;
+        }
+
+        template <int bidx, int hr> static __device__ uint RGB2HSVConvert(uint src)
+        {
+            const int hsv_shift = 12;
+            const int* hdiv_table = hr == 180 ? c_HsvDivTable180 : c_HsvDivTable256;
+
+            const int b = 0xff & (src >> (bidx * 8));
+            const int g = 0xff & (src >> 8);
+            const int r = 0xff & (src >> ((bidx ^ 2) * 8));
+
+            int h, s, v = b;
+            int vmin = b, diff;
+            int vr, vg;
+
+            v = ::max(v, g);
+            v = ::max(v, r);
+            vmin = ::min(vmin, g);
+            vmin = ::min(vmin, r);
+
+            diff = v - vmin;
+            vr = (v == r) * -1;
+            vg = (v == g) * -1;
+
+            s = (diff * c_HsvDivTable[v] + (1 << (hsv_shift-1))) >> hsv_shift;
+            h = (vr & (g - b)) + (~vr & ((vg & (b - r + 2 * diff)) + ((~vg) & (r - g + 4 * diff))));
+            h = (h * hdiv_table[diff] + (1 << (hsv_shift-1))) >> hsv_shift;
+            h += (h < 0) * hr;
+
+            uint dst = 0;
+
+            dst |= saturate_cast<uchar>(h);
+            dst |= (0xffu & s) << 8;
+            dst |= (0xffu & v) << 16;
+
+            return dst;
+        }
+
+        template <int bidx, int hr, typename D> static __device__ void RGB2HSVConvert(const float* src, D& dst)
+        {
+            const float hscale = hr * (1.f / 360.f);
+
+            float b = src[bidx], g = src[1], r = src[bidx^2];
+            float h, s, v;
+
+            float vmin, diff;
+
+            v = vmin = r;
+            v = fmax(v, g);
+            v = fmax(v, b);
+            vmin = fmin(vmin, g);
+            vmin = fmin(vmin, b);
+
+            diff = v - vmin;
+            s = diff / (float)(::fabs(v) + numeric_limits<float>::epsilon());
+            diff = (float)(60. / (diff + numeric_limits<float>::epsilon()));
+
+            h  = (v == r) * (g - b) * diff;
+            h += (v != r && v == g) * ((b - r) * diff + 120.f);
+            h += (v != r && v != g) * ((r - g) * diff + 240.f);
+            h += (h < 0) * 360.f;
+
+            dst.x = h * hscale;
+            dst.y = s;
+            dst.z = v;
+        }
+
+        template <typename T, int scn, int dcn, int bidx, int hr> struct RGB2HSV
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                RGB2HSVConvert<bidx, hr>(&src.x, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2HSV() {}
+            __host__ __device__ __forceinline__ RGB2HSV(const RGB2HSV&) {}
+        };
+
+        template <int bidx, int hr> struct RGB2HSV<uchar, 4, 4, bidx, hr> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return RGB2HSVConvert<bidx, hr>(src);
+            }
+            __host__ __device__ __forceinline__ RGB2HSV() {}
+            __host__ __device__ __forceinline__ RGB2HSV(const RGB2HSV&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2HSV_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HSV<T, scn, dcn, bidx, 180> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <typename T> struct name ## _full_traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HSV<T, scn, dcn, bidx, 256> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HSV<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _full_traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HSV<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ int c_HsvSectorData[6][3] = { {1,3,0}, {1,0,2}, {3,0,1}, {0,2,1}, {0,1,3}, {2,1,0} };
+
+        template <int bidx, int hr, typename T> static __device__ void HSV2RGBConvert(const T& src, float* dst)
+        {
+            const float hscale = 6.f / hr;
+
+            float h = src.x, s = src.y, v = src.z;
+            float b = v, g = v, r = v;
+
+            if (s != 0)
+            {
+                h *= hscale;
+
+                if( h < 0 )
+                    do h += 6; while( h < 0 );
+                else if( h >= 6 )
+                    do h -= 6; while( h >= 6 );
+
+                int sector = __float2int_rd(h);
+                h -= sector;
+
+                if ( (unsigned)sector >= 6u )
+                {
+                    sector = 0;
+                    h = 0.f;
+                }
+
+                float tab[4];
+                tab[0] = v;
+                tab[1] = v * (1.f - s);
+                tab[2] = v * (1.f - s * h);
+                tab[3] = v * (1.f - s * (1.f - h));
+
+                b = tab[c_HsvSectorData[sector][0]];
+                g = tab[c_HsvSectorData[sector][1]];
+                r = tab[c_HsvSectorData[sector][2]];
+            }
+
+            dst[bidx] = b;
+            dst[1] = g;
+            dst[bidx^2] = r;
+        }
+
+        template <int bidx, int HR, typename T> static __device__ void HSV2RGBConvert(const T& src, uchar* dst)
+        {
+            float3 buf;
+
+            buf.x = src.x;
+            buf.y = src.y * (1.f / 255.f);
+            buf.z = src.z * (1.f / 255.f);
+
+            HSV2RGBConvert<bidx, HR>(buf, &buf.x);
+
+            dst[0] = saturate_cast<uchar>(buf.x * 255.f);
+            dst[1] = saturate_cast<uchar>(buf.y * 255.f);
+            dst[2] = saturate_cast<uchar>(buf.z * 255.f);
+        }
+
+        template <int bidx, int hr> static __device__ uint HSV2RGBConvert(uint src)
+        {
+            float3 buf;
+
+            buf.x = src & 0xff;
+            buf.y = ((src >> 8) & 0xff) * (1.f/255.f);
+            buf.z = ((src >> 16) & 0xff) * (1.f/255.f);
+
+            HSV2RGBConvert<bidx, hr>(buf, &buf.x);
+
+            uint dst = 0xffu << 24;
+
+            dst |= saturate_cast<uchar>(buf.x * 255.f);
+            dst |= saturate_cast<uchar>(buf.y * 255.f) << 8;
+            dst |= saturate_cast<uchar>(buf.z * 255.f) << 16;
+
+            return dst;
+        }
+
+        template <typename T, int scn, int dcn, int bidx, int hr> struct HSV2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                HSV2RGBConvert<bidx, hr>(src, &dst.x);
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ HSV2RGB() {}
+            __host__ __device__ __forceinline__ HSV2RGB(const HSV2RGB&) {}
+        };
+
+        template <int bidx, int hr> struct HSV2RGB<uchar, 4, 4, bidx, hr> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return HSV2RGBConvert<bidx, hr>(src);
+            }
+            __host__ __device__ __forceinline__ HSV2RGB() {}
+            __host__ __device__ __forceinline__ HSV2RGB(const HSV2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_HSV2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::HSV2RGB<T, scn, dcn, bidx, 180> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <typename T> struct name ## _full_traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::HSV2RGB<T, scn, dcn, bidx, 255> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::HSV2RGB<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _full_traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::HSV2RGB<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+/////////////////////////////////////// RGB <-> HLS ////////////////////////////////////////
+
+    namespace color_detail
+    {
+        template <int bidx, int hr, typename D> static __device__ void RGB2HLSConvert(const float* src, D& dst)
+        {
+            const float hscale = hr * (1.f / 360.f);
+
+            float b = src[bidx], g = src[1], r = src[bidx^2];
+            float h = 0.f, s = 0.f, l;
+            float vmin, vmax, diff;
+
+            vmax = vmin = r;
+            vmax = fmax(vmax, g);
+            vmax = fmax(vmax, b);
+            vmin = fmin(vmin, g);
+            vmin = fmin(vmin, b);
+
+            diff = vmax - vmin;
+            l = (vmax + vmin) * 0.5f;
+
+            if (diff > numeric_limits<float>::epsilon())
+            {
+                s = (l < 0.5f) * diff / (vmax + vmin);
+                s += (l >= 0.5f) * diff / (2.0f - vmax - vmin);
+
+                diff = 60.f / diff;
+
+                h  = (vmax == r) * (g - b) * diff;
+                h += (vmax != r && vmax == g) * ((b - r) * diff + 120.f);
+                h += (vmax != r && vmax != g) * ((r - g) * diff + 240.f);
+                h += (h < 0.f) * 360.f;
+            }
+
+            dst.x = h * hscale;
+            dst.y = l;
+            dst.z = s;
+        }
+
+        template <int bidx, int hr, typename D> static __device__ void RGB2HLSConvert(const uchar* src, D& dst)
+        {
+            float3 buf;
+
+            buf.x = src[0] * (1.f / 255.f);
+            buf.y = src[1] * (1.f / 255.f);
+            buf.z = src[2] * (1.f / 255.f);
+
+            RGB2HLSConvert<bidx, hr>(&buf.x, buf);
+
+            dst.x = saturate_cast<uchar>(buf.x);
+            dst.y = saturate_cast<uchar>(buf.y*255.f);
+            dst.z = saturate_cast<uchar>(buf.z*255.f);
+        }
+
+        template <int bidx, int hr> static __device__ uint RGB2HLSConvert(uint src)
+        {
+            float3 buf;
+
+            buf.x = (0xff & src) * (1.f / 255.f);
+            buf.y = (0xff & (src >> 8)) * (1.f / 255.f);
+            buf.z = (0xff & (src >> 16)) * (1.f / 255.f);
+
+            RGB2HLSConvert<bidx, hr>(&buf.x, buf);
+
+            uint dst = 0xffu << 24;
+
+            dst |= saturate_cast<uchar>(buf.x);
+            dst |= saturate_cast<uchar>(buf.y * 255.f) << 8;
+            dst |= saturate_cast<uchar>(buf.z * 255.f) << 16;
+
+            return dst;
+        }
+
+        template <typename T, int scn, int dcn, int bidx, int hr> struct RGB2HLS
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                RGB2HLSConvert<bidx, hr>(&src.x, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2HLS() {}
+            __host__ __device__ __forceinline__ RGB2HLS(const RGB2HLS&) {}
+        };
+
+        template <int bidx, int hr> struct RGB2HLS<uchar, 4, 4, bidx, hr> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return RGB2HLSConvert<bidx, hr>(src);
+            }
+            __host__ __device__ __forceinline__ RGB2HLS() {}
+            __host__ __device__ __forceinline__ RGB2HLS(const RGB2HLS&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2HLS_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HLS<T, scn, dcn, bidx, 180> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <typename T> struct name ## _full_traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HLS<T, scn, dcn, bidx, 256> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HLS<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _full_traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2HLS<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ int c_HlsSectorData[6][3] = { {1,3,0}, {1,0,2}, {3,0,1}, {0,2,1}, {0,1,3}, {2,1,0} };
+
+        template <int bidx, int hr, typename T> static __device__ void HLS2RGBConvert(const T& src, float* dst)
+        {
+            const float hscale = 6.0f / hr;
+
+            float h = src.x, l = src.y, s = src.z;
+            float b = l, g = l, r = l;
+
+            if (s != 0)
+            {
+                float p2  = (l <= 0.5f) * l * (1 + s);
+                      p2 += (l > 0.5f) * (l + s - l * s);
+                float p1 = 2 * l - p2;
+
+                h *= hscale;
+
+                if( h < 0 )
+                    do h += 6; while( h < 0 );
+                else if( h >= 6 )
+                    do h -= 6; while( h >= 6 );
+
+                int sector;
+                sector = __float2int_rd(h);
+
+                h -= sector;
+
+                float tab[4];
+                tab[0] = p2;
+                tab[1] = p1;
+                tab[2] = p1 + (p2 - p1) * (1 - h);
+                tab[3] = p1 + (p2 - p1) * h;
+
+                b = tab[c_HlsSectorData[sector][0]];
+                g = tab[c_HlsSectorData[sector][1]];
+                r = tab[c_HlsSectorData[sector][2]];
+            }
+
+            dst[bidx] = b;
+            dst[1] = g;
+            dst[bidx^2] = r;
+        }
+
+        template <int bidx, int hr, typename T> static __device__ void HLS2RGBConvert(const T& src, uchar* dst)
+        {
+            float3 buf;
+
+            buf.x = src.x;
+            buf.y = src.y * (1.f / 255.f);
+            buf.z = src.z * (1.f / 255.f);
+
+            HLS2RGBConvert<bidx, hr>(buf, &buf.x);
+
+            dst[0] = saturate_cast<uchar>(buf.x * 255.f);
+            dst[1] = saturate_cast<uchar>(buf.y * 255.f);
+            dst[2] = saturate_cast<uchar>(buf.z * 255.f);
+        }
+
+        template <int bidx, int hr> static __device__ uint HLS2RGBConvert(uint src)
+        {
+            float3 buf;
+
+            buf.x = 0xff & src;
+            buf.y = (0xff & (src >> 8)) * (1.f / 255.f);
+            buf.z = (0xff & (src >> 16)) * (1.f / 255.f);
+
+            HLS2RGBConvert<bidx, hr>(buf, &buf.x);
+
+            uint dst = 0xffu << 24;
+
+            dst |= saturate_cast<uchar>(buf.x * 255.f);
+            dst |= saturate_cast<uchar>(buf.y * 255.f) << 8;
+            dst |= saturate_cast<uchar>(buf.z * 255.f) << 16;
+
+            return dst;
+        }
+
+        template <typename T, int scn, int dcn, int bidx, int hr> struct HLS2RGB
+            : unary_function<typename TypeVec<T, scn>::vec_type, typename TypeVec<T, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<T, dcn>::vec_type operator()(const typename TypeVec<T, scn>::vec_type& src) const
+            {
+                typename TypeVec<T, dcn>::vec_type dst;
+
+                HLS2RGBConvert<bidx, hr>(src, &dst.x);
+                setAlpha(dst, ColorChannel<T>::max());
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ HLS2RGB() {}
+            __host__ __device__ __forceinline__ HLS2RGB(const HLS2RGB&) {}
+        };
+
+        template <int bidx, int hr> struct HLS2RGB<uchar, 4, 4, bidx, hr> : unary_function<uint, uint>
+        {
+            __device__ __forceinline__ uint operator()(uint src) const
+            {
+                return HLS2RGBConvert<bidx, hr>(src);
+            }
+            __host__ __device__ __forceinline__ HLS2RGB() {}
+            __host__ __device__ __forceinline__ HLS2RGB(const HLS2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_HLS2RGB_TRAITS(name, scn, dcn, bidx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::HLS2RGB<T, scn, dcn, bidx, 180> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <typename T> struct name ## _full_traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::HLS2RGB<T, scn, dcn, bidx, 255> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::HLS2RGB<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    }; \
+    template <> struct name ## _full_traits<float> \
+    { \
+        typedef ::cv::cuda::device::color_detail::HLS2RGB<float, scn, dcn, bidx, 360> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////////// RGB <-> Lab /////////////////////////////////////
+
+    namespace color_detail
+    {
+        enum
+        {
+            LAB_CBRT_TAB_SIZE = 1024,
+            GAMMA_TAB_SIZE = 1024,
+            lab_shift = xyz_shift,
+            gamma_shift = 3,
+            lab_shift2 = (lab_shift + gamma_shift),
+            LAB_CBRT_TAB_SIZE_B = (256 * 3 / 2 * (1 << gamma_shift))
+        };
+
+        __constant__ ushort c_sRGBGammaTab_b[] = {0,1,1,2,2,3,4,4,5,6,6,7,8,8,9,10,11,11,12,13,14,15,16,17,19,20,21,22,24,25,26,28,29,31,33,34,36,38,40,41,43,45,47,49,51,54,56,58,60,63,65,68,70,73,75,78,81,83,86,89,92,95,98,101,105,108,111,115,118,121,125,129,132,136,140,144,147,151,155,160,164,168,172,176,181,185,190,194,199,204,209,213,218,223,228,233,239,244,249,255,260,265,271,277,282,288,294,300,306,312,318,324,331,337,343,350,356,363,370,376,383,390,397,404,411,418,426,433,440,448,455,463,471,478,486,494,502,510,518,527,535,543,552,560,569,578,586,595,604,613,622,631,641,650,659,669,678,688,698,707,717,727,737,747,757,768,778,788,799,809,820,831,842,852,863,875,886,897,908,920,931,943,954,966,978,990,1002,1014,1026,1038,1050,1063,1075,1088,1101,1113,1126,1139,1152,1165,1178,1192,1205,1218,1232,1245,1259,1273,1287,1301,1315,1329,1343,1357,1372,1386,1401,1415,1430,1445,1460,1475,1490,1505,1521,1536,1551,1567,1583,1598,1614,1630,1646,1662,1678,1695,1711,1728,1744,1761,1778,1794,1811,1828,1846,1863,1880,1897,1915,1933,1950,1968,1986,2004,2022,2040};
+
+        __device__ __forceinline__ int LabCbrt_b(int i)
+        {
+            float x = i * (1.f / (255.f * (1 << gamma_shift)));
+            return (1 << lab_shift2) * (x < 0.008856f ? x * 7.787f + 0.13793103448275862f : ::cbrtf(x));
+        }
+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void RGB2LabConvert_b(const T& src, D& dst)
+        {
+            const int Lscale = (116 * 255 + 50) / 100;
+            const int Lshift = -((16 * 255 * (1 << lab_shift2) + 50) / 100);
+
+            int B = blueIdx == 0 ? src.x : src.z;
+            int G = src.y;
+            int R = blueIdx == 0 ? src.z : src.x;
+
+            if (srgb)
+            {
+                B = c_sRGBGammaTab_b[B];
+                G = c_sRGBGammaTab_b[G];
+                R = c_sRGBGammaTab_b[R];
+            }
+            else
+            {
+                B <<= 3;
+                G <<= 3;
+                R <<= 3;
+            }
+
+            int fX = LabCbrt_b(CV_DESCALE(B * 778 + G * 1541 + R * 1777, lab_shift));
+            int fY = LabCbrt_b(CV_DESCALE(B * 296 + G * 2929 + R * 871, lab_shift));
+            int fZ = LabCbrt_b(CV_DESCALE(B * 3575 + G * 448 + R * 73, lab_shift));
+
+            int L = CV_DESCALE(Lscale * fY + Lshift, lab_shift2);
+            int a = CV_DESCALE(500 * (fX - fY) + 128 * (1 << lab_shift2), lab_shift2);
+            int b = CV_DESCALE(200 * (fY - fZ) + 128 * (1 << lab_shift2), lab_shift2);
+
+            dst.x = saturate_cast<uchar>(L);
+            dst.y = saturate_cast<uchar>(a);
+            dst.z = saturate_cast<uchar>(b);
+        }
+
+        __device__ __forceinline__ float splineInterpolate(float x, const float* tab, int n)
+        {
+            int ix = ::min(::max(int(x), 0), n-1);
+            x -= ix;
+            tab += ix * 4;
+            return ((tab[3] * x + tab[2]) * x + tab[1]) * x + tab[0];
+        }
+
+        __constant__ float c_sRGBGammaTab[] = 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+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void RGB2LabConvert_f(const T& src, D& dst)
+        {
+            const float _1_3 = 1.0f / 3.0f;
+            const float _a = 16.0f / 116.0f;
+
+            float B = blueIdx == 0 ? src.x : src.z;
+            float G = src.y;
+            float R = blueIdx == 0 ? src.z : src.x;
+
+            if (srgb)
+            {
+                B = splineInterpolate(B * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+                G = splineInterpolate(G * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+                R = splineInterpolate(R * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+            }
+
+            float X = B * 0.189828f + G * 0.376219f + R * 0.433953f;
+            float Y = B * 0.072169f + G * 0.715160f + R * 0.212671f;
+            float Z = B * 0.872766f + G * 0.109477f + R * 0.017758f;
+
+            float FX = X > 0.008856f ? ::powf(X, _1_3) : (7.787f * X + _a);
+            float FY = Y > 0.008856f ? ::powf(Y, _1_3) : (7.787f * Y + _a);
+            float FZ = Z > 0.008856f ? ::powf(Z, _1_3) : (7.787f * Z + _a);
+
+            float L = Y > 0.008856f ? (116.f * FY - 16.f) : (903.3f * Y);
+            float a = 500.f * (FX - FY);
+            float b = 200.f * (FY - FZ);
+
+            dst.x = L;
+            dst.y = a;
+            dst.z = b;
+        }
+
+        template <typename T, int scn, int dcn, bool srgb, int blueIdx> struct RGB2Lab;
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct RGB2Lab<uchar, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<uchar, scn>::vec_type, typename TypeVec<uchar, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<uchar, dcn>::vec_type operator ()(const typename TypeVec<uchar, scn>::vec_type& src) const
+            {
+                typename TypeVec<uchar, dcn>::vec_type dst;
+
+                RGB2LabConvert_b<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2Lab() {}
+            __host__ __device__ __forceinline__ RGB2Lab(const RGB2Lab&) {}
+        };
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct RGB2Lab<float, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<float, scn>::vec_type, typename TypeVec<float, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<float, dcn>::vec_type operator ()(const typename TypeVec<float, scn>::vec_type& src) const
+            {
+                typename TypeVec<float, dcn>::vec_type dst;
+
+                RGB2LabConvert_f<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2Lab() {}
+            __host__ __device__ __forceinline__ RGB2Lab(const RGB2Lab&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2Lab_TRAITS(name, scn, dcn, srgb, blueIdx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2Lab<T, scn, dcn, srgb, blueIdx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        __constant__ float c_sRGBInvGammaTab[] = 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+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void Lab2RGBConvert_f(const T& src, D& dst)
+        {
+            const float lThresh = 0.008856f * 903.3f;
+            const float fThresh = 7.787f * 0.008856f + 16.0f / 116.0f;
+
+            float Y, fy;
+
+            if (src.x <= lThresh)
+            {
+                Y = src.x / 903.3f;
+                fy = 7.787f * Y + 16.0f / 116.0f;
+            }
+            else
+            {
+                fy = (src.x + 16.0f) / 116.0f;
+                Y = fy * fy * fy;
+            }
+
+            float X = src.y / 500.0f + fy;
+            float Z = fy - src.z / 200.0f;
+
+            if (X <= fThresh)
+                X = (X - 16.0f / 116.0f) / 7.787f;
+            else
+                X = X * X * X;
+
+            if (Z <= fThresh)
+                Z = (Z - 16.0f / 116.0f) / 7.787f;
+            else
+                Z = Z * Z * Z;
+
+            float B = 0.052891f * X - 0.204043f * Y + 1.151152f * Z;
+            float G = -0.921235f * X + 1.875991f * Y + 0.045244f * Z;
+            float R = 3.079933f * X - 1.537150f * Y - 0.542782f * Z;
+
+            if (srgb)
+            {
+                B = splineInterpolate(B * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+                G = splineInterpolate(G * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+                R = splineInterpolate(R * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+            }
+
+            dst.x = blueIdx == 0 ? B : R;
+            dst.y = G;
+            dst.z = blueIdx == 0 ? R : B;
+            setAlpha(dst, ColorChannel<float>::max());
+        }
+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void Lab2RGBConvert_b(const T& src, D& dst)
+        {
+            float3 srcf, dstf;
+
+            srcf.x = src.x * (100.f / 255.f);
+            srcf.y = src.y - 128;
+            srcf.z = src.z - 128;
+
+            Lab2RGBConvert_f<srgb, blueIdx>(srcf, dstf);
+
+            dst.x = saturate_cast<uchar>(dstf.x * 255.f);
+            dst.y = saturate_cast<uchar>(dstf.y * 255.f);
+            dst.z = saturate_cast<uchar>(dstf.z * 255.f);
+            setAlpha(dst, ColorChannel<uchar>::max());
+        }
+
+        template <typename T, int scn, int dcn, bool srgb, int blueIdx> struct Lab2RGB;
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct Lab2RGB<uchar, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<uchar, scn>::vec_type, typename TypeVec<uchar, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<uchar, dcn>::vec_type operator ()(const typename TypeVec<uchar, scn>::vec_type& src) const
+            {
+                typename TypeVec<uchar, dcn>::vec_type dst;
+
+                Lab2RGBConvert_b<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Lab2RGB() {}
+            __host__ __device__ __forceinline__ Lab2RGB(const Lab2RGB&) {}
+        };
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct Lab2RGB<float, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<float, scn>::vec_type, typename TypeVec<float, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<float, dcn>::vec_type operator ()(const typename TypeVec<float, scn>::vec_type& src) const
+            {
+                typename TypeVec<float, dcn>::vec_type dst;
+
+                Lab2RGBConvert_f<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Lab2RGB() {}
+            __host__ __device__ __forceinline__ Lab2RGB(const Lab2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_Lab2RGB_TRAITS(name, scn, dcn, srgb, blueIdx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::Lab2RGB<T, scn, dcn, srgb, blueIdx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+///////////////////////////////////// RGB <-> Luv /////////////////////////////////////
+
+    namespace color_detail
+    {
+        __constant__ float c_LabCbrtTab[] = 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+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void RGB2LuvConvert_f(const T& src, D& dst)
+        {
+            const float _d = 1.f / (0.950456f + 15 + 1.088754f * 3);
+            const float _un = 13 * (4 * 0.950456f * _d);
+            const float _vn = 13 * (9 * _d);
+
+            float B = blueIdx == 0 ? src.x : src.z;
+            float G = src.y;
+            float R = blueIdx == 0 ? src.z : src.x;
+
+            if (srgb)
+            {
+                B = splineInterpolate(B * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+                G = splineInterpolate(G * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+                R = splineInterpolate(R * GAMMA_TAB_SIZE, c_sRGBGammaTab, GAMMA_TAB_SIZE);
+            }
+
+            float X = R * 0.412453f + G * 0.357580f + B * 0.180423f;
+            float Y = R * 0.212671f + G * 0.715160f + B * 0.072169f;
+            float Z = R * 0.019334f + G * 0.119193f + B * 0.950227f;
+
+            float L = splineInterpolate(Y * (LAB_CBRT_TAB_SIZE / 1.5f), c_LabCbrtTab, LAB_CBRT_TAB_SIZE);
+            L = 116.f * L - 16.f;
+
+            const float d = (4 * 13) / ::fmaxf(X + 15 * Y + 3 * Z, numeric_limits<float>::epsilon());
+            float u = L * (X * d - _un);
+            float v = L * ((9 * 0.25f) * Y * d - _vn);
+
+            dst.x = L;
+            dst.y = u;
+            dst.z = v;
+        }
+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void RGB2LuvConvert_b(const T& src, D& dst)
+        {
+            float3 srcf, dstf;
+
+            srcf.x = src.x * (1.f / 255.f);
+            srcf.y = src.y * (1.f / 255.f);
+            srcf.z = src.z * (1.f / 255.f);
+
+            RGB2LuvConvert_f<srgb, blueIdx>(srcf, dstf);
+
+            dst.x = saturate_cast<uchar>(dstf.x * 2.55f);
+            dst.y = saturate_cast<uchar>(dstf.y * 0.72033898305084743f + 96.525423728813564f);
+            dst.z = saturate_cast<uchar>(dstf.z * 0.9732824427480916f + 136.259541984732824f);
+        }
+
+        template <typename T, int scn, int dcn, bool srgb, int blueIdx> struct RGB2Luv;
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct RGB2Luv<uchar, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<uchar, scn>::vec_type, typename TypeVec<uchar, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<uchar, dcn>::vec_type operator ()(const typename TypeVec<uchar, scn>::vec_type& src) const
+            {
+                typename TypeVec<uchar, dcn>::vec_type dst;
+
+                RGB2LuvConvert_b<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2Luv() {}
+            __host__ __device__ __forceinline__ RGB2Luv(const RGB2Luv&) {}
+        };
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct RGB2Luv<float, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<float, scn>::vec_type, typename TypeVec<float, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<float, dcn>::vec_type operator ()(const typename TypeVec<float, scn>::vec_type& src) const
+            {
+                typename TypeVec<float, dcn>::vec_type dst;
+
+                RGB2LuvConvert_f<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ RGB2Luv() {}
+            __host__ __device__ __forceinline__ RGB2Luv(const RGB2Luv&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_RGB2Luv_TRAITS(name, scn, dcn, srgb, blueIdx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::RGB2Luv<T, scn, dcn, srgb, blueIdx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    namespace color_detail
+    {
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void Luv2RGBConvert_f(const T& src, D& dst)
+        {
+            const float _d = 1.f / (0.950456f + 15 + 1.088754f * 3);
+            const float _un = 4 * 0.950456f * _d;
+            const float _vn = 9 * _d;
+
+            float L = src.x;
+            float u = src.y;
+            float v = src.z;
+
+            float Y = (L + 16.f) * (1.f / 116.f);
+            Y = Y * Y * Y;
+
+            float d = (1.f / 13.f) / L;
+            u = u * d + _un;
+            v = v * d + _vn;
+
+            float iv = 1.f / v;
+            float X = 2.25f * u * Y * iv;
+            float Z = (12 - 3 * u - 20 * v) * Y * 0.25f * iv;
+
+            float B = 0.055648f * X - 0.204043f * Y + 1.057311f * Z;
+            float G = -0.969256f * X + 1.875991f * Y + 0.041556f * Z;
+            float R = 3.240479f * X - 1.537150f * Y - 0.498535f * Z;
+
+            if (srgb)
+            {
+                B = splineInterpolate(B * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+                G = splineInterpolate(G * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+                R = splineInterpolate(R * GAMMA_TAB_SIZE, c_sRGBInvGammaTab, GAMMA_TAB_SIZE);
+            }
+
+            dst.x = blueIdx == 0 ? B : R;
+            dst.y = G;
+            dst.z = blueIdx == 0 ? R : B;
+            setAlpha(dst, ColorChannel<float>::max());
+        }
+
+        template <bool srgb, int blueIdx, typename T, typename D>
+        __device__ __forceinline__ void Luv2RGBConvert_b(const T& src, D& dst)
+        {
+            float3 srcf, dstf;
+
+            srcf.x = src.x * (100.f / 255.f);
+            srcf.y = src.y * 1.388235294117647f - 134.f;
+            srcf.z = src.z * 1.027450980392157f - 140.f;
+
+            Luv2RGBConvert_f<srgb, blueIdx>(srcf, dstf);
+
+            dst.x = saturate_cast<uchar>(dstf.x * 255.f);
+            dst.y = saturate_cast<uchar>(dstf.y * 255.f);
+            dst.z = saturate_cast<uchar>(dstf.z * 255.f);
+            setAlpha(dst, ColorChannel<uchar>::max());
+        }
+
+        template <typename T, int scn, int dcn, bool srgb, int blueIdx> struct Luv2RGB;
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct Luv2RGB<uchar, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<uchar, scn>::vec_type, typename TypeVec<uchar, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<uchar, dcn>::vec_type operator ()(const typename TypeVec<uchar, scn>::vec_type& src) const
+            {
+                typename TypeVec<uchar, dcn>::vec_type dst;
+
+                Luv2RGBConvert_b<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Luv2RGB() {}
+            __host__ __device__ __forceinline__ Luv2RGB(const Luv2RGB&) {}
+        };
+        template <int scn, int dcn, bool srgb, int blueIdx>
+        struct Luv2RGB<float, scn, dcn, srgb, blueIdx>
+            : unary_function<typename TypeVec<float, scn>::vec_type, typename TypeVec<float, dcn>::vec_type>
+        {
+            __device__ __forceinline__ typename TypeVec<float, dcn>::vec_type operator ()(const typename TypeVec<float, scn>::vec_type& src) const
+            {
+                typename TypeVec<float, dcn>::vec_type dst;
+
+                Luv2RGBConvert_f<srgb, blueIdx>(src, dst);
+
+                return dst;
+            }
+            __host__ __device__ __forceinline__ Luv2RGB() {}
+            __host__ __device__ __forceinline__ Luv2RGB(const Luv2RGB&) {}
+        };
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_Luv2RGB_TRAITS(name, scn, dcn, srgb, blueIdx) \
+    template <typename T> struct name ## _traits \
+    { \
+        typedef ::cv::cuda::device::color_detail::Luv2RGB<T, scn, dcn, srgb, blueIdx> functor_type; \
+        static __host__ __device__ __forceinline__ functor_type create_functor() \
+        { \
+            return functor_type(); \
+        } \
+    };
+
+    #undef CV_DESCALE
+
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_COLOR_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/reduce.hpp b/3rdparty/include/opencv2/core/cuda/detail/reduce.hpp
new file mode 100644
index 0000000..0c35eab
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/reduce.hpp
@@ -0,0 +1,365 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_REDUCE_DETAIL_HPP__
+#define __OPENCV_CUDA_REDUCE_DETAIL_HPP__
+
+#include <thrust/tuple.h>
+#include "../warp.hpp"
+#include "../warp_shuffle.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    namespace reduce_detail
+    {
+        template <typename T> struct GetType;
+        template <typename T> struct GetType<T*>
+        {
+            typedef T type;
+        };
+        template <typename T> struct GetType<volatile T*>
+        {
+            typedef T type;
+        };
+        template <typename T> struct GetType<T&>
+        {
+            typedef T type;
+        };
+
+        template <unsigned int I, unsigned int N>
+        struct For
+        {
+            template <class PointerTuple, class ValTuple>
+            static __device__ void loadToSmem(const PointerTuple& smem, const ValTuple& val, unsigned int tid)
+            {
+                thrust::get<I>(smem)[tid] = thrust::get<I>(val);
+
+                For<I + 1, N>::loadToSmem(smem, val, tid);
+            }
+            template <class PointerTuple, class ValTuple>
+            static __device__ void loadFromSmem(const PointerTuple& smem, const ValTuple& val, unsigned int tid)
+            {
+                thrust::get<I>(val) = thrust::get<I>(smem)[tid];
+
+                For<I + 1, N>::loadFromSmem(smem, val, tid);
+            }
+
+            template <class PointerTuple, class ValTuple, class OpTuple>
+            static __device__ void merge(const PointerTuple& smem, const ValTuple& val, unsigned int tid, unsigned int delta, const OpTuple& op)
+            {
+                typename GetType<typename thrust::tuple_element<I, PointerTuple>::type>::type reg = thrust::get<I>(smem)[tid + delta];
+                thrust::get<I>(smem)[tid] = thrust::get<I>(val) = thrust::get<I>(op)(thrust::get<I>(val), reg);
+
+                For<I + 1, N>::merge(smem, val, tid, delta, op);
+            }
+            template <class ValTuple, class OpTuple>
+            static __device__ void mergeShfl(const ValTuple& val, unsigned int delta, unsigned int width, const OpTuple& op)
+            {
+                typename GetType<typename thrust::tuple_element<I, ValTuple>::type>::type reg = shfl_down(thrust::get<I>(val), delta, width);
+                thrust::get<I>(val) = thrust::get<I>(op)(thrust::get<I>(val), reg);
+
+                For<I + 1, N>::mergeShfl(val, delta, width, op);
+            }
+        };
+        template <unsigned int N>
+        struct For<N, N>
+        {
+            template <class PointerTuple, class ValTuple>
+            static __device__ void loadToSmem(const PointerTuple&, const ValTuple&, unsigned int)
+            {
+            }
+            template <class PointerTuple, class ValTuple>
+            static __device__ void loadFromSmem(const PointerTuple&, const ValTuple&, unsigned int)
+            {
+            }
+
+            template <class PointerTuple, class ValTuple, class OpTuple>
+            static __device__ void merge(const PointerTuple&, const ValTuple&, unsigned int, unsigned int, const OpTuple&)
+            {
+            }
+            template <class ValTuple, class OpTuple>
+            static __device__ void mergeShfl(const ValTuple&, unsigned int, unsigned int, const OpTuple&)
+            {
+            }
+        };
+
+        template <typename T>
+        __device__ __forceinline__ void loadToSmem(volatile T* smem, T& val, unsigned int tid)
+        {
+            smem[tid] = val;
+        }
+        template <typename T>
+        __device__ __forceinline__ void loadFromSmem(volatile T* smem, T& val, unsigned int tid)
+        {
+            val = smem[tid];
+        }
+        template <typename P0, typename P1, typename P2, typename P3, typename P4, typename P5, typename P6, typename P7, typename P8, typename P9,
+                  typename R0, typename R1, typename R2, typename R3, typename R4, typename R5, typename R6, typename R7, typename R8, typename R9>
+        __device__ __forceinline__ void loadToSmem(const thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9>& smem,
+                                                       const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>& val,
+                                                       unsigned int tid)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9> >::value>::loadToSmem(smem, val, tid);
+        }
+        template <typename P0, typename P1, typename P2, typename P3, typename P4, typename P5, typename P6, typename P7, typename P8, typename P9,
+                  typename R0, typename R1, typename R2, typename R3, typename R4, typename R5, typename R6, typename R7, typename R8, typename R9>
+        __device__ __forceinline__ void loadFromSmem(const thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9>& smem,
+                                                         const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>& val,
+                                                         unsigned int tid)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9> >::value>::loadFromSmem(smem, val, tid);
+        }
+
+        template <typename T, class Op>
+        __device__ __forceinline__ void merge(volatile T* smem, T& val, unsigned int tid, unsigned int delta, const Op& op)
+        {
+            T reg = smem[tid + delta];
+            smem[tid] = val = op(val, reg);
+        }
+        template <typename T, class Op>
+        __device__ __forceinline__ void mergeShfl(T& val, unsigned int delta, unsigned int width, const Op& op)
+        {
+            T reg = shfl_down(val, delta, width);
+            val = op(val, reg);
+        }
+        template <typename P0, typename P1, typename P2, typename P3, typename P4, typename P5, typename P6, typename P7, typename P8, typename P9,
+                  typename R0, typename R1, typename R2, typename R3, typename R4, typename R5, typename R6, typename R7, typename R8, typename R9,
+                  class Op0, class Op1, class Op2, class Op3, class Op4, class Op5, class Op6, class Op7, class Op8, class Op9>
+        __device__ __forceinline__ void merge(const thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9>& smem,
+                                              const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>& val,
+                                              unsigned int tid,
+                                              unsigned int delta,
+                                              const thrust::tuple<Op0, Op1, Op2, Op3, Op4, Op5, Op6, Op7, Op8, Op9>& op)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9> >::value>::merge(smem, val, tid, delta, op);
+        }
+        template <typename R0, typename R1, typename R2, typename R3, typename R4, typename R5, typename R6, typename R7, typename R8, typename R9,
+                  class Op0, class Op1, class Op2, class Op3, class Op4, class Op5, class Op6, class Op7, class Op8, class Op9>
+        __device__ __forceinline__ void mergeShfl(const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>& val,
+                                                  unsigned int delta,
+                                                  unsigned int width,
+                                                  const thrust::tuple<Op0, Op1, Op2, Op3, Op4, Op5, Op6, Op7, Op8, Op9>& op)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9> >::value>::mergeShfl(val, delta, width, op);
+        }
+
+        template <unsigned int N> struct Generic
+        {
+            template <typename Pointer, typename Reference, class Op>
+            static __device__ void reduce(Pointer smem, Reference val, unsigned int tid, Op op)
+            {
+                loadToSmem(smem, val, tid);
+                if (N >= 32)
+                    __syncthreads();
+
+                if (N >= 2048)
+                {
+                    if (tid < 1024)
+                        merge(smem, val, tid, 1024, op);
+
+                    __syncthreads();
+                }
+                if (N >= 1024)
+                {
+                    if (tid < 512)
+                        merge(smem, val, tid, 512, op);
+
+                    __syncthreads();
+                }
+                if (N >= 512)
+                {
+                    if (tid < 256)
+                        merge(smem, val, tid, 256, op);
+
+                    __syncthreads();
+                }
+                if (N >= 256)
+                {
+                    if (tid < 128)
+                        merge(smem, val, tid, 128, op);
+
+                    __syncthreads();
+                }
+                if (N >= 128)
+                {
+                    if (tid < 64)
+                        merge(smem, val, tid, 64, op);
+
+                    __syncthreads();
+                }
+                if (N >= 64)
+                {
+                    if (tid < 32)
+                        merge(smem, val, tid, 32, op);
+                }
+
+                if (tid < 16)
+                {
+                    merge(smem, val, tid, 16, op);
+                    merge(smem, val, tid, 8, op);
+                    merge(smem, val, tid, 4, op);
+                    merge(smem, val, tid, 2, op);
+                    merge(smem, val, tid, 1, op);
+                }
+            }
+        };
+
+        template <unsigned int I, typename Pointer, typename Reference, class Op>
+        struct Unroll
+        {
+            static __device__ void loopShfl(Reference val, Op op, unsigned int N)
+            {
+                mergeShfl(val, I, N, op);
+                Unroll<I / 2, Pointer, Reference, Op>::loopShfl(val, op, N);
+            }
+            static __device__ void loop(Pointer smem, Reference val, unsigned int tid, Op op)
+            {
+                merge(smem, val, tid, I, op);
+                Unroll<I / 2, Pointer, Reference, Op>::loop(smem, val, tid, op);
+            }
+        };
+        template <typename Pointer, typename Reference, class Op>
+        struct Unroll<0, Pointer, Reference, Op>
+        {
+            static __device__ void loopShfl(Reference, Op, unsigned int)
+            {
+            }
+            static __device__ void loop(Pointer, Reference, unsigned int, Op)
+            {
+            }
+        };
+
+        template <unsigned int N> struct WarpOptimized
+        {
+            template <typename Pointer, typename Reference, class Op>
+            static __device__ void reduce(Pointer smem, Reference val, unsigned int tid, Op op)
+            {
+            #if __CUDA_ARCH__ >= 300
+                (void) smem;
+                (void) tid;
+
+                Unroll<N / 2, Pointer, Reference, Op>::loopShfl(val, op, N);
+            #else
+                loadToSmem(smem, val, tid);
+
+                if (tid < N / 2)
+                    Unroll<N / 2, Pointer, Reference, Op>::loop(smem, val, tid, op);
+            #endif
+            }
+        };
+
+        template <unsigned int N> struct GenericOptimized32
+        {
+            enum { M = N / 32 };
+
+            template <typename Pointer, typename Reference, class Op>
+            static __device__ void reduce(Pointer smem, Reference val, unsigned int tid, Op op)
+            {
+                const unsigned int laneId = Warp::laneId();
+
+            #if __CUDA_ARCH__ >= 300
+                Unroll<16, Pointer, Reference, Op>::loopShfl(val, op, warpSize);
+
+                if (laneId == 0)
+                    loadToSmem(smem, val, tid / 32);
+            #else
+                loadToSmem(smem, val, tid);
+
+                if (laneId < 16)
+                    Unroll<16, Pointer, Reference, Op>::loop(smem, val, tid, op);
+
+                __syncthreads();
+
+                if (laneId == 0)
+                    loadToSmem(smem, val, tid / 32);
+            #endif
+
+                __syncthreads();
+
+                loadFromSmem(smem, val, tid);
+
+                if (tid < 32)
+                {
+                #if __CUDA_ARCH__ >= 300
+                    Unroll<M / 2, Pointer, Reference, Op>::loopShfl(val, op, M);
+                #else
+                    Unroll<M / 2, Pointer, Reference, Op>::loop(smem, val, tid, op);
+                #endif
+                }
+            }
+        };
+
+        template <bool val, class T1, class T2> struct StaticIf;
+        template <class T1, class T2> struct StaticIf<true, T1, T2>
+        {
+            typedef T1 type;
+        };
+        template <class T1, class T2> struct StaticIf<false, T1, T2>
+        {
+            typedef T2 type;
+        };
+
+        template <unsigned int N> struct IsPowerOf2
+        {
+            enum { value = ((N != 0) && !(N & (N - 1))) };
+        };
+
+        template <unsigned int N> struct Dispatcher
+        {
+            typedef typename StaticIf<
+                (N <= 32) && IsPowerOf2<N>::value,
+                WarpOptimized<N>,
+                typename StaticIf<
+                    (N <= 1024) && IsPowerOf2<N>::value,
+                    GenericOptimized32<N>,
+                    Generic<N>
+                >::type
+            >::type reductor;
+        };
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_REDUCE_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/reduce_key_val.hpp b/3rdparty/include/opencv2/core/cuda/detail/reduce_key_val.hpp
new file mode 100644
index 0000000..bab85d7
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/reduce_key_val.hpp
@@ -0,0 +1,502 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_PRED_VAL_REDUCE_DETAIL_HPP__
+#define __OPENCV_CUDA_PRED_VAL_REDUCE_DETAIL_HPP__
+
+#include <thrust/tuple.h>
+#include "../warp.hpp"
+#include "../warp_shuffle.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    namespace reduce_key_val_detail
+    {
+        template <typename T> struct GetType;
+        template <typename T> struct GetType<T*>
+        {
+            typedef T type;
+        };
+        template <typename T> struct GetType<volatile T*>
+        {
+            typedef T type;
+        };
+        template <typename T> struct GetType<T&>
+        {
+            typedef T type;
+        };
+
+        template <unsigned int I, unsigned int N>
+        struct For
+        {
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void loadToSmem(const PointerTuple& smem, const ReferenceTuple& data, unsigned int tid)
+            {
+                thrust::get<I>(smem)[tid] = thrust::get<I>(data);
+
+                For<I + 1, N>::loadToSmem(smem, data, tid);
+            }
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void loadFromSmem(const PointerTuple& smem, const ReferenceTuple& data, unsigned int tid)
+            {
+                thrust::get<I>(data) = thrust::get<I>(smem)[tid];
+
+                For<I + 1, N>::loadFromSmem(smem, data, tid);
+            }
+
+            template <class ReferenceTuple>
+            static __device__ void copyShfl(const ReferenceTuple& val, unsigned int delta, int width)
+            {
+                thrust::get<I>(val) = shfl_down(thrust::get<I>(val), delta, width);
+
+                For<I + 1, N>::copyShfl(val, delta, width);
+            }
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void copy(const PointerTuple& svals, const ReferenceTuple& val, unsigned int tid, unsigned int delta)
+            {
+                thrust::get<I>(svals)[tid] = thrust::get<I>(val) = thrust::get<I>(svals)[tid + delta];
+
+                For<I + 1, N>::copy(svals, val, tid, delta);
+            }
+
+            template <class KeyReferenceTuple, class ValReferenceTuple, class CmpTuple>
+            static __device__ void mergeShfl(const KeyReferenceTuple& key, const ValReferenceTuple& val, const CmpTuple& cmp, unsigned int delta, int width)
+            {
+                typename GetType<typename thrust::tuple_element<I, KeyReferenceTuple>::type>::type reg = shfl_down(thrust::get<I>(key), delta, width);
+
+                if (thrust::get<I>(cmp)(reg, thrust::get<I>(key)))
+                {
+                    thrust::get<I>(key) = reg;
+                    thrust::get<I>(val) = shfl_down(thrust::get<I>(val), delta, width);
+                }
+
+                For<I + 1, N>::mergeShfl(key, val, cmp, delta, width);
+            }
+            template <class KeyPointerTuple, class KeyReferenceTuple, class ValPointerTuple, class ValReferenceTuple, class CmpTuple>
+            static __device__ void merge(const KeyPointerTuple& skeys, const KeyReferenceTuple& key,
+                                         const ValPointerTuple& svals, const ValReferenceTuple& val,
+                                         const CmpTuple& cmp,
+                                         unsigned int tid, unsigned int delta)
+            {
+                typename GetType<typename thrust::tuple_element<I, KeyPointerTuple>::type>::type reg = thrust::get<I>(skeys)[tid + delta];
+
+                if (thrust::get<I>(cmp)(reg, thrust::get<I>(key)))
+                {
+                    thrust::get<I>(skeys)[tid] = thrust::get<I>(key) = reg;
+                    thrust::get<I>(svals)[tid] = thrust::get<I>(val) = thrust::get<I>(svals)[tid + delta];
+                }
+
+                For<I + 1, N>::merge(skeys, key, svals, val, cmp, tid, delta);
+            }
+        };
+        template <unsigned int N>
+        struct For<N, N>
+        {
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void loadToSmem(const PointerTuple&, const ReferenceTuple&, unsigned int)
+            {
+            }
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void loadFromSmem(const PointerTuple&, const ReferenceTuple&, unsigned int)
+            {
+            }
+
+            template <class ReferenceTuple>
+            static __device__ void copyShfl(const ReferenceTuple&, unsigned int, int)
+            {
+            }
+            template <class PointerTuple, class ReferenceTuple>
+            static __device__ void copy(const PointerTuple&, const ReferenceTuple&, unsigned int, unsigned int)
+            {
+            }
+
+            template <class KeyReferenceTuple, class ValReferenceTuple, class CmpTuple>
+            static __device__ void mergeShfl(const KeyReferenceTuple&, const ValReferenceTuple&, const CmpTuple&, unsigned int, int)
+            {
+            }
+            template <class KeyPointerTuple, class KeyReferenceTuple, class ValPointerTuple, class ValReferenceTuple, class CmpTuple>
+            static __device__ void merge(const KeyPointerTuple&, const KeyReferenceTuple&,
+                                         const ValPointerTuple&, const ValReferenceTuple&,
+                                         const CmpTuple&,
+                                         unsigned int, unsigned int)
+            {
+            }
+        };
+
+        //////////////////////////////////////////////////////
+        // loadToSmem
+
+        template <typename T>
+        __device__ __forceinline__ void loadToSmem(volatile T* smem, T& data, unsigned int tid)
+        {
+            smem[tid] = data;
+        }
+        template <typename T>
+        __device__ __forceinline__ void loadFromSmem(volatile T* smem, T& data, unsigned int tid)
+        {
+            data = smem[tid];
+        }
+        template <typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9>
+        __device__ __forceinline__ void loadToSmem(const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& smem,
+                                                   const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& data,
+                                                   unsigned int tid)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9> >::value>::loadToSmem(smem, data, tid);
+        }
+        template <typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9>
+        __device__ __forceinline__ void loadFromSmem(const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& smem,
+                                                     const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& data,
+                                                     unsigned int tid)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9> >::value>::loadFromSmem(smem, data, tid);
+        }
+
+        //////////////////////////////////////////////////////
+        // copyVals
+
+        template <typename V>
+        __device__ __forceinline__ void copyValsShfl(V& val, unsigned int delta, int width)
+        {
+            val = shfl_down(val, delta, width);
+        }
+        template <typename V>
+        __device__ __forceinline__ void copyVals(volatile V* svals, V& val, unsigned int tid, unsigned int delta)
+        {
+            svals[tid] = val = svals[tid + delta];
+        }
+        template <typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9>
+        __device__ __forceinline__ void copyValsShfl(const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                     unsigned int delta,
+                                                     int width)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9> >::value>::copyShfl(val, delta, width);
+        }
+        template <typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9>
+        __device__ __forceinline__ void copyVals(const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& svals,
+                                                 const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                 unsigned int tid, unsigned int delta)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9> >::value>::copy(svals, val, tid, delta);
+        }
+
+        //////////////////////////////////////////////////////
+        // merge
+
+        template <typename K, typename V, class Cmp>
+        __device__ __forceinline__ void mergeShfl(K& key, V& val, const Cmp& cmp, unsigned int delta, int width)
+        {
+            K reg = shfl_down(key, delta, width);
+
+            if (cmp(reg, key))
+            {
+                key = reg;
+                copyValsShfl(val, delta, width);
+            }
+        }
+        template <typename K, typename V, class Cmp>
+        __device__ __forceinline__ void merge(volatile K* skeys, K& key, volatile V* svals, V& val, const Cmp& cmp, unsigned int tid, unsigned int delta)
+        {
+            K reg = skeys[tid + delta];
+
+            if (cmp(reg, key))
+            {
+                skeys[tid] = key = reg;
+                copyVals(svals, val, tid, delta);
+            }
+        }
+        template <typename K,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+                  class Cmp>
+        __device__ __forceinline__ void mergeShfl(K& key,
+                                                  const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                  const Cmp& cmp,
+                                                  unsigned int delta, int width)
+        {
+            K reg = shfl_down(key, delta, width);
+
+            if (cmp(reg, key))
+            {
+                key = reg;
+                copyValsShfl(val, delta, width);
+            }
+        }
+        template <typename K,
+                  typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+                  class Cmp>
+        __device__ __forceinline__ void merge(volatile K* skeys, K& key,
+                                              const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& svals,
+                                              const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                              const Cmp& cmp, unsigned int tid, unsigned int delta)
+        {
+            K reg = skeys[tid + delta];
+
+            if (cmp(reg, key))
+            {
+                skeys[tid] = key = reg;
+                copyVals(svals, val, tid, delta);
+            }
+        }
+        template <typename KR0, typename KR1, typename KR2, typename KR3, typename KR4, typename KR5, typename KR6, typename KR7, typename KR8, typename KR9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+                  class Cmp0, class Cmp1, class Cmp2, class Cmp3, class Cmp4, class Cmp5, class Cmp6, class Cmp7, class Cmp8, class Cmp9>
+        __device__ __forceinline__ void mergeShfl(const thrust::tuple<KR0, KR1, KR2, KR3, KR4, KR5, KR6, KR7, KR8, KR9>& key,
+                                                  const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                  const thrust::tuple<Cmp0, Cmp1, Cmp2, Cmp3, Cmp4, Cmp5, Cmp6, Cmp7, Cmp8, Cmp9>& cmp,
+                                                  unsigned int delta, int width)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<KR0, KR1, KR2, KR3, KR4, KR5, KR6, KR7, KR8, KR9> >::value>::mergeShfl(key, val, cmp, delta, width);
+        }
+        template <typename KP0, typename KP1, typename KP2, typename KP3, typename KP4, typename KP5, typename KP6, typename KP7, typename KP8, typename KP9,
+                  typename KR0, typename KR1, typename KR2, typename KR3, typename KR4, typename KR5, typename KR6, typename KR7, typename KR8, typename KR9,
+                  typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+                  typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+                  class Cmp0, class Cmp1, class Cmp2, class Cmp3, class Cmp4, class Cmp5, class Cmp6, class Cmp7, class Cmp8, class Cmp9>
+        __device__ __forceinline__ void merge(const thrust::tuple<KP0, KP1, KP2, KP3, KP4, KP5, KP6, KP7, KP8, KP9>& skeys,
+                                              const thrust::tuple<KR0, KR1, KR2, KR3, KR4, KR5, KR6, KR7, KR8, KR9>& key,
+                                              const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& svals,
+                                              const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                              const thrust::tuple<Cmp0, Cmp1, Cmp2, Cmp3, Cmp4, Cmp5, Cmp6, Cmp7, Cmp8, Cmp9>& cmp,
+                                              unsigned int tid, unsigned int delta)
+        {
+            For<0, thrust::tuple_size<thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9> >::value>::merge(skeys, key, svals, val, cmp, tid, delta);
+        }
+
+        //////////////////////////////////////////////////////
+        // Generic
+
+        template <unsigned int N> struct Generic
+        {
+            template <class KP, class KR, class VP, class VR, class Cmp>
+            static __device__ void reduce(KP skeys, KR key, VP svals, VR val, unsigned int tid, Cmp cmp)
+            {
+                loadToSmem(skeys, key, tid);
+                loadValsToSmem(svals, val, tid);
+                if (N >= 32)
+                    __syncthreads();
+
+                if (N >= 2048)
+                {
+                    if (tid < 1024)
+                        merge(skeys, key, svals, val, cmp, tid, 1024);
+
+                    __syncthreads();
+                }
+                if (N >= 1024)
+                {
+                    if (tid < 512)
+                        merge(skeys, key, svals, val, cmp, tid, 512);
+
+                    __syncthreads();
+                }
+                if (N >= 512)
+                {
+                    if (tid < 256)
+                        merge(skeys, key, svals, val, cmp, tid, 256);
+
+                    __syncthreads();
+                }
+                if (N >= 256)
+                {
+                    if (tid < 128)
+                        merge(skeys, key, svals, val, cmp, tid, 128);
+
+                    __syncthreads();
+                }
+                if (N >= 128)
+                {
+                    if (tid < 64)
+                        merge(skeys, key, svals, val, cmp, tid, 64);
+
+                    __syncthreads();
+                }
+                if (N >= 64)
+                {
+                    if (tid < 32)
+                        merge(skeys, key, svals, val, cmp, tid, 32);
+                }
+
+                if (tid < 16)
+                {
+                    merge(skeys, key, svals, val, cmp, tid, 16);
+                    merge(skeys, key, svals, val, cmp, tid, 8);
+                    merge(skeys, key, svals, val, cmp, tid, 4);
+                    merge(skeys, key, svals, val, cmp, tid, 2);
+                    merge(skeys, key, svals, val, cmp, tid, 1);
+                }
+            }
+        };
+
+        template <unsigned int I, class KP, class KR, class VP, class VR, class Cmp>
+        struct Unroll
+        {
+            static __device__ void loopShfl(KR key, VR val, Cmp cmp, unsigned int N)
+            {
+                mergeShfl(key, val, cmp, I, N);
+                Unroll<I / 2, KP, KR, VP, VR, Cmp>::loopShfl(key, val, cmp, N);
+            }
+            static __device__ void loop(KP skeys, KR key, VP svals, VR val, unsigned int tid, Cmp cmp)
+            {
+                merge(skeys, key, svals, val, cmp, tid, I);
+                Unroll<I / 2, KP, KR, VP, VR, Cmp>::loop(skeys, key, svals, val, tid, cmp);
+            }
+        };
+        template <class KP, class KR, class VP, class VR, class Cmp>
+        struct Unroll<0, KP, KR, VP, VR, Cmp>
+        {
+            static __device__ void loopShfl(KR, VR, Cmp, unsigned int)
+            {
+            }
+            static __device__ void loop(KP, KR, VP, VR, unsigned int, Cmp)
+            {
+            }
+        };
+
+        template <unsigned int N> struct WarpOptimized
+        {
+            template <class KP, class KR, class VP, class VR, class Cmp>
+            static __device__ void reduce(KP skeys, KR key, VP svals, VR val, unsigned int tid, Cmp cmp)
+            {
+            #if 0 // __CUDA_ARCH__ >= 300
+                (void) skeys;
+                (void) svals;
+                (void) tid;
+
+                Unroll<N / 2, KP, KR, VP, VR, Cmp>::loopShfl(key, val, cmp, N);
+            #else
+                loadToSmem(skeys, key, tid);
+                loadToSmem(svals, val, tid);
+
+                if (tid < N / 2)
+                    Unroll<N / 2, KP, KR, VP, VR, Cmp>::loop(skeys, key, svals, val, tid, cmp);
+            #endif
+            }
+        };
+
+        template <unsigned int N> struct GenericOptimized32
+        {
+            enum { M = N / 32 };
+
+            template <class KP, class KR, class VP, class VR, class Cmp>
+            static __device__ void reduce(KP skeys, KR key, VP svals, VR val, unsigned int tid, Cmp cmp)
+            {
+                const unsigned int laneId = Warp::laneId();
+
+            #if 0 // __CUDA_ARCH__ >= 300
+                Unroll<16, KP, KR, VP, VR, Cmp>::loopShfl(key, val, cmp, warpSize);
+
+                if (laneId == 0)
+                {
+                    loadToSmem(skeys, key, tid / 32);
+                    loadToSmem(svals, val, tid / 32);
+                }
+            #else
+                loadToSmem(skeys, key, tid);
+                loadToSmem(svals, val, tid);
+
+                if (laneId < 16)
+                    Unroll<16, KP, KR, VP, VR, Cmp>::loop(skeys, key, svals, val, tid, cmp);
+
+                __syncthreads();
+
+                if (laneId == 0)
+                {
+                    loadToSmem(skeys, key, tid / 32);
+                    loadToSmem(svals, val, tid / 32);
+                }
+            #endif
+
+                __syncthreads();
+
+                loadFromSmem(skeys, key, tid);
+
+                if (tid < 32)
+                {
+                #if 0 // __CUDA_ARCH__ >= 300
+                    loadFromSmem(svals, val, tid);
+
+                    Unroll<M / 2, KP, KR, VP, VR, Cmp>::loopShfl(key, val, cmp, M);
+                #else
+                    Unroll<M / 2, KP, KR, VP, VR, Cmp>::loop(skeys, key, svals, val, tid, cmp);
+                #endif
+                }
+            }
+        };
+
+        template <bool val, class T1, class T2> struct StaticIf;
+        template <class T1, class T2> struct StaticIf<true, T1, T2>
+        {
+            typedef T1 type;
+        };
+        template <class T1, class T2> struct StaticIf<false, T1, T2>
+        {
+            typedef T2 type;
+        };
+
+        template <unsigned int N> struct IsPowerOf2
+        {
+            enum { value = ((N != 0) && !(N & (N - 1))) };
+        };
+
+        template <unsigned int N> struct Dispatcher
+        {
+            typedef typename StaticIf<
+                (N <= 32) && IsPowerOf2<N>::value,
+                WarpOptimized<N>,
+                typename StaticIf<
+                    (N <= 1024) && IsPowerOf2<N>::value,
+                    GenericOptimized32<N>,
+                    Generic<N>
+                >::type
+            >::type reductor;
+        };
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_PRED_VAL_REDUCE_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/transform_detail.hpp b/3rdparty/include/opencv2/core/cuda/detail/transform_detail.hpp
new file mode 100644
index 0000000..96031c8
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/transform_detail.hpp
@@ -0,0 +1,399 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_TRANSFORM_DETAIL_HPP__
+#define __OPENCV_CUDA_TRANSFORM_DETAIL_HPP__
+
+#include "../common.hpp"
+#include "../vec_traits.hpp"
+#include "../functional.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    namespace transform_detail
+    {
+        //! Read Write Traits
+
+        template <typename T, typename D, int shift> struct UnaryReadWriteTraits
+        {
+            typedef typename TypeVec<T, shift>::vec_type read_type;
+            typedef typename TypeVec<D, shift>::vec_type write_type;
+        };
+
+        template <typename T1, typename T2, typename D, int shift> struct BinaryReadWriteTraits
+        {
+            typedef typename TypeVec<T1, shift>::vec_type read_type1;
+            typedef typename TypeVec<T2, shift>::vec_type read_type2;
+            typedef typename TypeVec<D, shift>::vec_type write_type;
+        };
+
+        //! Transform kernels
+
+        template <int shift> struct OpUnroller;
+        template <> struct OpUnroller<1>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T& src, D& dst, const Mask& mask, UnOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src.x);
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T1& src1, const T2& src2, D& dst, const Mask& mask, BinOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src1.x, src2.x);
+            }
+        };
+        template <> struct OpUnroller<2>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T& src, D& dst, const Mask& mask, UnOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src.y);
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T1& src1, const T2& src2, D& dst, const Mask& mask, BinOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src1.x, src2.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src1.y, src2.y);
+            }
+        };
+        template <> struct OpUnroller<3>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T& src, D& dst, const Mask& mask, const UnOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src.y);
+                if (mask(y, x_shifted + 2))
+                    dst.z = op(src.z);
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T1& src1, const T2& src2, D& dst, const Mask& mask, const BinOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src1.x, src2.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src1.y, src2.y);
+                if (mask(y, x_shifted + 2))
+                    dst.z = op(src1.z, src2.z);
+            }
+        };
+        template <> struct OpUnroller<4>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T& src, D& dst, const Mask& mask, const UnOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src.y);
+                if (mask(y, x_shifted + 2))
+                    dst.z = op(src.z);
+                if (mask(y, x_shifted + 3))
+                    dst.w = op(src.w);
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T1& src1, const T2& src2, D& dst, const Mask& mask, const BinOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.x = op(src1.x, src2.x);
+                if (mask(y, x_shifted + 1))
+                    dst.y = op(src1.y, src2.y);
+                if (mask(y, x_shifted + 2))
+                    dst.z = op(src1.z, src2.z);
+                if (mask(y, x_shifted + 3))
+                    dst.w = op(src1.w, src2.w);
+            }
+        };
+        template <> struct OpUnroller<8>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T& src, D& dst, const Mask& mask, const UnOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.a0 = op(src.a0);
+                if (mask(y, x_shifted + 1))
+                    dst.a1 = op(src.a1);
+                if (mask(y, x_shifted + 2))
+                    dst.a2 = op(src.a2);
+                if (mask(y, x_shifted + 3))
+                    dst.a3 = op(src.a3);
+                if (mask(y, x_shifted + 4))
+                    dst.a4 = op(src.a4);
+                if (mask(y, x_shifted + 5))
+                    dst.a5 = op(src.a5);
+                if (mask(y, x_shifted + 6))
+                    dst.a6 = op(src.a6);
+                if (mask(y, x_shifted + 7))
+                    dst.a7 = op(src.a7);
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static __device__ __forceinline__ void unroll(const T1& src1, const T2& src2, D& dst, const Mask& mask, const BinOp& op, int x_shifted, int y)
+            {
+                if (mask(y, x_shifted))
+                    dst.a0 = op(src1.a0, src2.a0);
+                if (mask(y, x_shifted + 1))
+                    dst.a1 = op(src1.a1, src2.a1);
+                if (mask(y, x_shifted + 2))
+                    dst.a2 = op(src1.a2, src2.a2);
+                if (mask(y, x_shifted + 3))
+                    dst.a3 = op(src1.a3, src2.a3);
+                if (mask(y, x_shifted + 4))
+                    dst.a4 = op(src1.a4, src2.a4);
+                if (mask(y, x_shifted + 5))
+                    dst.a5 = op(src1.a5, src2.a5);
+                if (mask(y, x_shifted + 6))
+                    dst.a6 = op(src1.a6, src2.a6);
+                if (mask(y, x_shifted + 7))
+                    dst.a7 = op(src1.a7, src2.a7);
+            }
+        };
+
+        template <typename T, typename D, typename UnOp, typename Mask>
+        static __global__ void transformSmart(const PtrStepSz<T> src_, PtrStep<D> dst_, const Mask mask, const UnOp op)
+        {
+            typedef TransformFunctorTraits<UnOp> ft;
+            typedef typename UnaryReadWriteTraits<T, D, ft::smart_shift>::read_type read_type;
+            typedef typename UnaryReadWriteTraits<T, D, ft::smart_shift>::write_type write_type;
+
+            const int x = threadIdx.x + blockIdx.x * blockDim.x;
+            const int y = threadIdx.y + blockIdx.y * blockDim.y;
+            const int x_shifted = x * ft::smart_shift;
+
+            if (y < src_.rows)
+            {
+                const T* src = src_.ptr(y);
+                D* dst = dst_.ptr(y);
+
+                if (x_shifted + ft::smart_shift - 1 < src_.cols)
+                {
+                    const read_type src_n_el = ((const read_type*)src)[x];
+                    write_type dst_n_el = ((const write_type*)dst)[x];
+
+                    OpUnroller<ft::smart_shift>::unroll(src_n_el, dst_n_el, mask, op, x_shifted, y);
+
+                    ((write_type*)dst)[x] = dst_n_el;
+                }
+                else
+                {
+                    for (int real_x = x_shifted; real_x < src_.cols; ++real_x)
+                    {
+                        if (mask(y, real_x))
+                            dst[real_x] = op(src[real_x]);
+                    }
+                }
+            }
+        }
+
+        template <typename T, typename D, typename UnOp, typename Mask>
+        __global__ static void transformSimple(const PtrStepSz<T> src, PtrStep<D> dst, const Mask mask, const UnOp op)
+        {
+            const int x = blockDim.x * blockIdx.x + threadIdx.x;
+            const int y = blockDim.y * blockIdx.y + threadIdx.y;
+
+            if (x < src.cols && y < src.rows && mask(y, x))
+            {
+                dst.ptr(y)[x] = op(src.ptr(y)[x]);
+            }
+        }
+
+        template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+        static __global__ void transformSmart(const PtrStepSz<T1> src1_, const PtrStep<T2> src2_, PtrStep<D> dst_,
+            const Mask mask, const BinOp op)
+        {
+            typedef TransformFunctorTraits<BinOp> ft;
+            typedef typename BinaryReadWriteTraits<T1, T2, D, ft::smart_shift>::read_type1 read_type1;
+            typedef typename BinaryReadWriteTraits<T1, T2, D, ft::smart_shift>::read_type2 read_type2;
+            typedef typename BinaryReadWriteTraits<T1, T2, D, ft::smart_shift>::write_type write_type;
+
+            const int x = threadIdx.x + blockIdx.x * blockDim.x;
+            const int y = threadIdx.y + blockIdx.y * blockDim.y;
+            const int x_shifted = x * ft::smart_shift;
+
+            if (y < src1_.rows)
+            {
+                const T1* src1 = src1_.ptr(y);
+                const T2* src2 = src2_.ptr(y);
+                D* dst = dst_.ptr(y);
+
+                if (x_shifted + ft::smart_shift - 1 < src1_.cols)
+                {
+                    const read_type1 src1_n_el = ((const read_type1*)src1)[x];
+                    const read_type2 src2_n_el = ((const read_type2*)src2)[x];
+                    write_type dst_n_el = ((const write_type*)dst)[x];
+
+                    OpUnroller<ft::smart_shift>::unroll(src1_n_el, src2_n_el, dst_n_el, mask, op, x_shifted, y);
+
+                    ((write_type*)dst)[x] = dst_n_el;
+                }
+                else
+                {
+                    for (int real_x = x_shifted; real_x < src1_.cols; ++real_x)
+                    {
+                        if (mask(y, real_x))
+                            dst[real_x] = op(src1[real_x], src2[real_x]);
+                    }
+                }
+            }
+        }
+
+        template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+        static __global__ void transformSimple(const PtrStepSz<T1> src1, const PtrStep<T2> src2, PtrStep<D> dst,
+            const Mask mask, const BinOp op)
+        {
+            const int x = blockDim.x * blockIdx.x + threadIdx.x;
+            const int y = blockDim.y * blockIdx.y + threadIdx.y;
+
+            if (x < src1.cols && y < src1.rows && mask(y, x))
+            {
+                const T1 src1_data = src1.ptr(y)[x];
+                const T2 src2_data = src2.ptr(y)[x];
+                dst.ptr(y)[x] = op(src1_data, src2_data);
+            }
+        }
+
+        template <bool UseSmart> struct TransformDispatcher;
+        template<> struct TransformDispatcher<false>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static void call(PtrStepSz<T> src, PtrStepSz<D> dst, UnOp op, Mask mask, cudaStream_t stream)
+            {
+                typedef TransformFunctorTraits<UnOp> ft;
+
+                const dim3 threads(ft::simple_block_dim_x, ft::simple_block_dim_y, 1);
+                const dim3 grid(divUp(src.cols, threads.x), divUp(src.rows, threads.y), 1);
+
+                transformSimple<T, D><<<grid, threads, 0, stream>>>(src, dst, mask, op);
+                cudaSafeCall( cudaGetLastError() );
+
+                if (stream == 0)
+                    cudaSafeCall( cudaDeviceSynchronize() );
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static void call(PtrStepSz<T1> src1, PtrStepSz<T2> src2, PtrStepSz<D> dst, BinOp op, Mask mask, cudaStream_t stream)
+            {
+                typedef TransformFunctorTraits<BinOp> ft;
+
+                const dim3 threads(ft::simple_block_dim_x, ft::simple_block_dim_y, 1);
+                const dim3 grid(divUp(src1.cols, threads.x), divUp(src1.rows, threads.y), 1);
+
+                transformSimple<T1, T2, D><<<grid, threads, 0, stream>>>(src1, src2, dst, mask, op);
+                cudaSafeCall( cudaGetLastError() );
+
+                if (stream == 0)
+                    cudaSafeCall( cudaDeviceSynchronize() );
+            }
+        };
+        template<> struct TransformDispatcher<true>
+        {
+            template <typename T, typename D, typename UnOp, typename Mask>
+            static void call(PtrStepSz<T> src, PtrStepSz<D> dst, UnOp op, Mask mask, cudaStream_t stream)
+            {
+                typedef TransformFunctorTraits<UnOp> ft;
+
+                CV_StaticAssert(ft::smart_shift != 1, "");
+
+                if (!isAligned(src.data, ft::smart_shift * sizeof(T)) || !isAligned(src.step, ft::smart_shift * sizeof(T)) ||
+                    !isAligned(dst.data, ft::smart_shift * sizeof(D)) || !isAligned(dst.step, ft::smart_shift * sizeof(D)))
+                {
+                    TransformDispatcher<false>::call(src, dst, op, mask, stream);
+                    return;
+                }
+
+                const dim3 threads(ft::smart_block_dim_x, ft::smart_block_dim_y, 1);
+                const dim3 grid(divUp(src.cols, threads.x * ft::smart_shift), divUp(src.rows, threads.y), 1);
+
+                transformSmart<T, D><<<grid, threads, 0, stream>>>(src, dst, mask, op);
+                cudaSafeCall( cudaGetLastError() );
+
+                if (stream == 0)
+                    cudaSafeCall( cudaDeviceSynchronize() );
+            }
+
+            template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+            static void call(PtrStepSz<T1> src1, PtrStepSz<T2> src2, PtrStepSz<D> dst, BinOp op, Mask mask, cudaStream_t stream)
+            {
+                typedef TransformFunctorTraits<BinOp> ft;
+
+                CV_StaticAssert(ft::smart_shift != 1, "");
+
+                if (!isAligned(src1.data, ft::smart_shift * sizeof(T1)) || !isAligned(src1.step, ft::smart_shift * sizeof(T1)) ||
+                    !isAligned(src2.data, ft::smart_shift * sizeof(T2)) || !isAligned(src2.step, ft::smart_shift * sizeof(T2)) ||
+                    !isAligned(dst.data, ft::smart_shift * sizeof(D)) || !isAligned(dst.step, ft::smart_shift * sizeof(D)))
+                {
+                    TransformDispatcher<false>::call(src1, src2, dst, op, mask, stream);
+                    return;
+                }
+
+                const dim3 threads(ft::smart_block_dim_x, ft::smart_block_dim_y, 1);
+                const dim3 grid(divUp(src1.cols, threads.x * ft::smart_shift), divUp(src1.rows, threads.y), 1);
+
+                transformSmart<T1, T2, D><<<grid, threads, 0, stream>>>(src1, src2, dst, mask, op);
+                cudaSafeCall( cudaGetLastError() );
+
+                if (stream == 0)
+                    cudaSafeCall( cudaDeviceSynchronize() );
+            }
+        };
+    } // namespace transform_detail
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_TRANSFORM_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/type_traits_detail.hpp b/3rdparty/include/opencv2/core/cuda/detail/type_traits_detail.hpp
new file mode 100644
index 0000000..3463c78
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/type_traits_detail.hpp
@@ -0,0 +1,191 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_TYPE_TRAITS_DETAIL_HPP__
+#define __OPENCV_CUDA_TYPE_TRAITS_DETAIL_HPP__
+
+#include "../common.hpp"
+#include "../vec_traits.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    namespace type_traits_detail
+    {
+        template <bool, typename T1, typename T2> struct Select { typedef T1 type; };
+        template <typename T1, typename T2> struct Select<false, T1, T2> { typedef T2 type; };
+
+        template <typename T> struct IsSignedIntergral { enum {value = 0}; };
+        template <> struct IsSignedIntergral<schar> { enum {value = 1}; };
+        template <> struct IsSignedIntergral<char1> { enum {value = 1}; };
+        template <> struct IsSignedIntergral<short> { enum {value = 1}; };
+        template <> struct IsSignedIntergral<short1> { enum {value = 1}; };
+        template <> struct IsSignedIntergral<int> { enum {value = 1}; };
+        template <> struct IsSignedIntergral<int1> { enum {value = 1}; };
+
+        template <typename T> struct IsUnsignedIntegral { enum {value = 0}; };
+        template <> struct IsUnsignedIntegral<uchar> { enum {value = 1}; };
+        template <> struct IsUnsignedIntegral<uchar1> { enum {value = 1}; };
+        template <> struct IsUnsignedIntegral<ushort> { enum {value = 1}; };
+        template <> struct IsUnsignedIntegral<ushort1> { enum {value = 1}; };
+        template <> struct IsUnsignedIntegral<uint> { enum {value = 1}; };
+        template <> struct IsUnsignedIntegral<uint1> { enum {value = 1}; };
+
+        template <typename T> struct IsIntegral { enum {value = IsSignedIntergral<T>::value || IsUnsignedIntegral<T>::value}; };
+        template <> struct IsIntegral<char> { enum {value = 1}; };
+        template <> struct IsIntegral<bool> { enum {value = 1}; };
+
+        template <typename T> struct IsFloat { enum {value = 0}; };
+        template <> struct IsFloat<float> { enum {value = 1}; };
+        template <> struct IsFloat<double> { enum {value = 1}; };
+
+        template <typename T> struct IsVec { enum {value = 0}; };
+        template <> struct IsVec<uchar1> { enum {value = 1}; };
+        template <> struct IsVec<uchar2> { enum {value = 1}; };
+        template <> struct IsVec<uchar3> { enum {value = 1}; };
+        template <> struct IsVec<uchar4> { enum {value = 1}; };
+        template <> struct IsVec<uchar8> { enum {value = 1}; };
+        template <> struct IsVec<char1> { enum {value = 1}; };
+        template <> struct IsVec<char2> { enum {value = 1}; };
+        template <> struct IsVec<char3> { enum {value = 1}; };
+        template <> struct IsVec<char4> { enum {value = 1}; };
+        template <> struct IsVec<char8> { enum {value = 1}; };
+        template <> struct IsVec<ushort1> { enum {value = 1}; };
+        template <> struct IsVec<ushort2> { enum {value = 1}; };
+        template <> struct IsVec<ushort3> { enum {value = 1}; };
+        template <> struct IsVec<ushort4> { enum {value = 1}; };
+        template <> struct IsVec<ushort8> { enum {value = 1}; };
+        template <> struct IsVec<short1> { enum {value = 1}; };
+        template <> struct IsVec<short2> { enum {value = 1}; };
+        template <> struct IsVec<short3> { enum {value = 1}; };
+        template <> struct IsVec<short4> { enum {value = 1}; };
+        template <> struct IsVec<short8> { enum {value = 1}; };
+        template <> struct IsVec<uint1> { enum {value = 1}; };
+        template <> struct IsVec<uint2> { enum {value = 1}; };
+        template <> struct IsVec<uint3> { enum {value = 1}; };
+        template <> struct IsVec<uint4> { enum {value = 1}; };
+        template <> struct IsVec<uint8> { enum {value = 1}; };
+        template <> struct IsVec<int1> { enum {value = 1}; };
+        template <> struct IsVec<int2> { enum {value = 1}; };
+        template <> struct IsVec<int3> { enum {value = 1}; };
+        template <> struct IsVec<int4> { enum {value = 1}; };
+        template <> struct IsVec<int8> { enum {value = 1}; };
+        template <> struct IsVec<float1> { enum {value = 1}; };
+        template <> struct IsVec<float2> { enum {value = 1}; };
+        template <> struct IsVec<float3> { enum {value = 1}; };
+        template <> struct IsVec<float4> { enum {value = 1}; };
+        template <> struct IsVec<float8> { enum {value = 1}; };
+        template <> struct IsVec<double1> { enum {value = 1}; };
+        template <> struct IsVec<double2> { enum {value = 1}; };
+        template <> struct IsVec<double3> { enum {value = 1}; };
+        template <> struct IsVec<double4> { enum {value = 1}; };
+        template <> struct IsVec<double8> { enum {value = 1}; };
+
+        template <class U> struct AddParameterType { typedef const U& type; };
+        template <class U> struct AddParameterType<U&> { typedef U& type; };
+        template <> struct AddParameterType<void> { typedef void type; };
+
+        template <class U> struct ReferenceTraits
+        {
+            enum { value = false };
+            typedef U type;
+        };
+        template <class U> struct ReferenceTraits<U&>
+        {
+            enum { value = true };
+            typedef U type;
+        };
+
+        template <class U> struct PointerTraits
+        {
+            enum { value = false };
+            typedef void type;
+        };
+        template <class U> struct PointerTraits<U*>
+        {
+            enum { value = true };
+            typedef U type;
+        };
+        template <class U> struct PointerTraits<U*&>
+        {
+            enum { value = true };
+            typedef U type;
+        };
+
+        template <class U> struct UnConst
+        {
+            typedef U type;
+            enum { value = 0 };
+        };
+        template <class U> struct UnConst<const U>
+        {
+            typedef U type;
+            enum { value = 1 };
+        };
+        template <class U> struct UnConst<const U&>
+        {
+            typedef U& type;
+            enum { value = 1 };
+        };
+
+        template <class U> struct UnVolatile
+        {
+            typedef U type;
+            enum { value = 0 };
+        };
+        template <class U> struct UnVolatile<volatile U>
+        {
+            typedef U type;
+            enum { value = 1 };
+        };
+        template <class U> struct UnVolatile<volatile U&>
+        {
+            typedef U& type;
+            enum { value = 1 };
+        };
+    } // namespace type_traits_detail
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_TYPE_TRAITS_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/detail/vec_distance_detail.hpp b/3rdparty/include/opencv2/core/cuda/detail/vec_distance_detail.hpp
new file mode 100644
index 0000000..9ca85a5
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/detail/vec_distance_detail.hpp
@@ -0,0 +1,121 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_VEC_DISTANCE_DETAIL_HPP__
+#define __OPENCV_CUDA_VEC_DISTANCE_DETAIL_HPP__
+
+#include "../datamov_utils.hpp"
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    namespace vec_distance_detail
+    {
+        template <int THREAD_DIM, int N> struct UnrollVecDiffCached
+        {
+            template <typename Dist, typename T1, typename T2>
+            static __device__ void calcCheck(const T1* vecCached, const T2* vecGlob, int len, Dist& dist, int ind)
+            {
+                if (ind < len)
+                {
+                    T1 val1 = *vecCached++;
+
+                    T2 val2;
+                    ForceGlob<T2>::Load(vecGlob, ind, val2);
+
+                    dist.reduceIter(val1, val2);
+
+                    UnrollVecDiffCached<THREAD_DIM, N - 1>::calcCheck(vecCached, vecGlob, len, dist, ind + THREAD_DIM);
+                }
+            }
+
+            template <typename Dist, typename T1, typename T2>
+            static __device__ void calcWithoutCheck(const T1* vecCached, const T2* vecGlob, Dist& dist)
+            {
+                T1 val1 = *vecCached++;
+
+                T2 val2;
+                ForceGlob<T2>::Load(vecGlob, 0, val2);
+                vecGlob += THREAD_DIM;
+
+                dist.reduceIter(val1, val2);
+
+                UnrollVecDiffCached<THREAD_DIM, N - 1>::calcWithoutCheck(vecCached, vecGlob, dist);
+            }
+        };
+        template <int THREAD_DIM> struct UnrollVecDiffCached<THREAD_DIM, 0>
+        {
+            template <typename Dist, typename T1, typename T2>
+            static __device__ __forceinline__ void calcCheck(const T1*, const T2*, int, Dist&, int)
+            {
+            }
+
+            template <typename Dist, typename T1, typename T2>
+            static __device__ __forceinline__ void calcWithoutCheck(const T1*, const T2*, Dist&)
+            {
+            }
+        };
+
+        template <int THREAD_DIM, int MAX_LEN, bool LEN_EQ_MAX_LEN> struct VecDiffCachedCalculator;
+        template <int THREAD_DIM, int MAX_LEN> struct VecDiffCachedCalculator<THREAD_DIM, MAX_LEN, false>
+        {
+            template <typename Dist, typename T1, typename T2>
+            static __device__ __forceinline__ void calc(const T1* vecCached, const T2* vecGlob, int len, Dist& dist, int tid)
+            {
+                UnrollVecDiffCached<THREAD_DIM, MAX_LEN / THREAD_DIM>::calcCheck(vecCached, vecGlob, len, dist, tid);
+            }
+        };
+        template <int THREAD_DIM, int MAX_LEN> struct VecDiffCachedCalculator<THREAD_DIM, MAX_LEN, true>
+        {
+            template <typename Dist, typename T1, typename T2>
+            static __device__ __forceinline__ void calc(const T1* vecCached, const T2* vecGlob, int len, Dist& dist, int tid)
+            {
+                UnrollVecDiffCached<THREAD_DIM, MAX_LEN / THREAD_DIM>::calcWithoutCheck(vecCached, vecGlob + tid, dist);
+            }
+        };
+    } // namespace vec_distance_detail
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_VEC_DISTANCE_DETAIL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/dynamic_smem.hpp b/3rdparty/include/opencv2/core/cuda/dynamic_smem.hpp
new file mode 100644
index 0000000..3488463
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/dynamic_smem.hpp
@@ -0,0 +1,88 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_DYNAMIC_SMEM_HPP__
+#define __OPENCV_CUDA_DYNAMIC_SMEM_HPP__
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template<class T> struct DynamicSharedMem
+    {
+        __device__ __forceinline__ operator T*()
+        {
+            extern __shared__ int __smem[];
+            return (T*)__smem;
+        }
+
+        __device__ __forceinline__ operator const T*() const
+        {
+            extern __shared__ int __smem[];
+            return (T*)__smem;
+        }
+    };
+
+    // specialize for double to avoid unaligned memory access compile errors
+    template<> struct DynamicSharedMem<double>
+    {
+        __device__ __forceinline__ operator double*()
+        {
+            extern __shared__ double __smem_d[];
+            return (double*)__smem_d;
+        }
+
+        __device__ __forceinline__ operator const double*() const
+        {
+            extern __shared__ double __smem_d[];
+            return (double*)__smem_d;
+        }
+    };
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_DYNAMIC_SMEM_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/emulation.hpp b/3rdparty/include/opencv2/core/cuda/emulation.hpp
new file mode 100644
index 0000000..d346865
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/emulation.hpp
@@ -0,0 +1,269 @@
+/*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*/
+
+#ifndef OPENCV_CUDA_EMULATION_HPP_
+#define OPENCV_CUDA_EMULATION_HPP_
+
+#include "common.hpp"
+#include "warp_reduce.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    struct Emulation
+    {
+
+        static __device__ __forceinline__ int syncthreadsOr(int pred)
+        {
+#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ < 200)
+                // just campilation stab
+                return 0;
+#else
+                return __syncthreads_or(pred);
+#endif
+        }
+
+        template<int CTA_SIZE>
+        static __forceinline__ __device__ int Ballot(int predicate)
+        {
+#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ >= 200)
+            return __ballot(predicate);
+#else
+            __shared__ volatile int cta_buffer[CTA_SIZE];
+
+            int tid = threadIdx.x;
+            cta_buffer[tid] = predicate ? (1 << (tid & 31)) : 0;
+            return warp_reduce(cta_buffer);
+#endif
+        }
+
+        struct smem
+        {
+            enum { TAG_MASK = (1U << ( (sizeof(unsigned int) << 3) - 5U)) - 1U };
+
+            template<typename T>
+            static __device__ __forceinline__ T atomicInc(T* address, T val)
+            {
+#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ < 120)
+                T count;
+                unsigned int tag = threadIdx.x << ( (sizeof(unsigned int) << 3) - 5U);
+                do
+                {
+                    count = *address & TAG_MASK;
+                    count = tag | (count + 1);
+                    *address = count;
+                } while (*address != count);
+
+                return (count & TAG_MASK) - 1;
+#else
+                return ::atomicInc(address, val);
+#endif
+            }
+
+            template<typename T>
+            static __device__ __forceinline__ T atomicAdd(T* address, T val)
+            {
+#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ < 120)
+                T count;
+                unsigned int tag = threadIdx.x << ( (sizeof(unsigned int) << 3) - 5U);
+                do
+                {
+                    count = *address & TAG_MASK;
+                    count = tag | (count + val);
+                    *address = count;
+                } while (*address != count);
+
+                return (count & TAG_MASK) - val;
+#else
+                return ::atomicAdd(address, val);
+#endif
+            }
+
+            template<typename T>
+            static __device__ __forceinline__ T atomicMin(T* address, T val)
+            {
+#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ < 120)
+                T count = ::min(*address, val);
+                do
+                {
+                    *address = count;
+                } while (*address > count);
+
+                return count;
+#else
+                return ::atomicMin(address, val);
+#endif
+            }
+        }; // struct cmem
+
+        struct glob
+        {
+            static __device__ __forceinline__ int atomicAdd(int* address, int val)
+            {
+                return ::atomicAdd(address, val);
+            }
+            static __device__ __forceinline__ unsigned int atomicAdd(unsigned int* address, unsigned int val)
+            {
+                return ::atomicAdd(address, val);
+            }
+            static __device__ __forceinline__ float atomicAdd(float* address, float val)
+            {
+            #if __CUDA_ARCH__ >= 200
+                return ::atomicAdd(address, val);
+            #else
+                int* address_as_i = (int*) address;
+                int old = *address_as_i, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_i, assumed,
+                        __float_as_int(val + __int_as_float(assumed)));
+                } while (assumed != old);
+                return __int_as_float(old);
+            #endif
+            }
+            static __device__ __forceinline__ double atomicAdd(double* address, double val)
+            {
+            #if __CUDA_ARCH__ >= 130
+                unsigned long long int* address_as_ull = (unsigned long long int*) address;
+                unsigned long long int old = *address_as_ull, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_ull, assumed,
+                        __double_as_longlong(val + __longlong_as_double(assumed)));
+                } while (assumed != old);
+                return __longlong_as_double(old);
+            #else
+                (void) address;
+                (void) val;
+                return 0.0;
+            #endif
+            }
+
+            static __device__ __forceinline__ int atomicMin(int* address, int val)
+            {
+                return ::atomicMin(address, val);
+            }
+            static __device__ __forceinline__ float atomicMin(float* address, float val)
+            {
+            #if __CUDA_ARCH__ >= 120
+                int* address_as_i = (int*) address;
+                int old = *address_as_i, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_i, assumed,
+                        __float_as_int(::fminf(val, __int_as_float(assumed))));
+                } while (assumed != old);
+                return __int_as_float(old);
+            #else
+                (void) address;
+                (void) val;
+                return 0.0f;
+            #endif
+            }
+            static __device__ __forceinline__ double atomicMin(double* address, double val)
+            {
+            #if __CUDA_ARCH__ >= 130
+                unsigned long long int* address_as_ull = (unsigned long long int*) address;
+                unsigned long long int old = *address_as_ull, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_ull, assumed,
+                        __double_as_longlong(::fmin(val, __longlong_as_double(assumed))));
+                } while (assumed != old);
+                return __longlong_as_double(old);
+            #else
+                (void) address;
+                (void) val;
+                return 0.0;
+            #endif
+            }
+
+            static __device__ __forceinline__ int atomicMax(int* address, int val)
+            {
+                return ::atomicMax(address, val);
+            }
+            static __device__ __forceinline__ float atomicMax(float* address, float val)
+            {
+            #if __CUDA_ARCH__ >= 120
+                int* address_as_i = (int*) address;
+                int old = *address_as_i, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_i, assumed,
+                        __float_as_int(::fmaxf(val, __int_as_float(assumed))));
+                } while (assumed != old);
+                return __int_as_float(old);
+            #else
+                (void) address;
+                (void) val;
+                return 0.0f;
+            #endif
+            }
+            static __device__ __forceinline__ double atomicMax(double* address, double val)
+            {
+            #if __CUDA_ARCH__ >= 130
+                unsigned long long int* address_as_ull = (unsigned long long int*) address;
+                unsigned long long int old = *address_as_ull, assumed;
+                do {
+                    assumed = old;
+                    old = ::atomicCAS(address_as_ull, assumed,
+                        __double_as_longlong(::fmax(val, __longlong_as_double(assumed))));
+                } while (assumed != old);
+                return __longlong_as_double(old);
+            #else
+                (void) address;
+                (void) val;
+                return 0.0;
+            #endif
+            }
+        };
+    }; //struct Emulation
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif /* OPENCV_CUDA_EMULATION_HPP_ */
diff --git a/3rdparty/include/opencv2/core/cuda/filters.hpp b/3rdparty/include/opencv2/core/cuda/filters.hpp
new file mode 100644
index 0000000..9adc00c
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/filters.hpp
@@ -0,0 +1,286 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_FILTERS_HPP__
+#define __OPENCV_CUDA_FILTERS_HPP__
+
+#include "saturate_cast.hpp"
+#include "vec_traits.hpp"
+#include "vec_math.hpp"
+#include "type_traits.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <typename Ptr2D> struct PointFilter
+    {
+        typedef typename Ptr2D::elem_type elem_type;
+        typedef float index_type;
+
+        explicit __host__ __device__ __forceinline__ PointFilter(const Ptr2D& src_, float fx = 0.f, float fy = 0.f)
+        : src(src_)
+        {
+            (void)fx;
+            (void)fy;
+        }
+
+        __device__ __forceinline__ elem_type operator ()(float y, float x) const
+        {
+            return src(__float2int_rz(y), __float2int_rz(x));
+        }
+
+        Ptr2D src;
+    };
+
+    template <typename Ptr2D> struct LinearFilter
+    {
+        typedef typename Ptr2D::elem_type elem_type;
+        typedef float index_type;
+
+        explicit __host__ __device__ __forceinline__ LinearFilter(const Ptr2D& src_, float fx = 0.f, float fy = 0.f)
+        : src(src_)
+        {
+            (void)fx;
+            (void)fy;
+        }
+        __device__ __forceinline__ elem_type operator ()(float y, float x) const
+        {
+            typedef typename TypeVec<float, VecTraits<elem_type>::cn>::vec_type work_type;
+
+            work_type out = VecTraits<work_type>::all(0);
+
+            const int x1 = __float2int_rd(x);
+            const int y1 = __float2int_rd(y);
+            const int x2 = x1 + 1;
+            const int y2 = y1 + 1;
+
+            elem_type src_reg = src(y1, x1);
+            out = out + src_reg * ((x2 - x) * (y2 - y));
+
+            src_reg = src(y1, x2);
+            out = out + src_reg * ((x - x1) * (y2 - y));
+
+            src_reg = src(y2, x1);
+            out = out + src_reg * ((x2 - x) * (y - y1));
+
+            src_reg = src(y2, x2);
+            out = out + src_reg * ((x - x1) * (y - y1));
+
+            return saturate_cast<elem_type>(out);
+        }
+
+        Ptr2D src;
+    };
+
+    template <typename Ptr2D> struct CubicFilter
+    {
+        typedef typename Ptr2D::elem_type elem_type;
+        typedef float index_type;
+        typedef typename TypeVec<float, VecTraits<elem_type>::cn>::vec_type work_type;
+
+        explicit __host__ __device__ __forceinline__ CubicFilter(const Ptr2D& src_, float fx = 0.f, float fy = 0.f)
+        : src(src_)
+        {
+            (void)fx;
+            (void)fy;
+        }
+
+        static __device__ __forceinline__ float bicubicCoeff(float x_)
+        {
+            float x = fabsf(x_);
+            if (x <= 1.0f)
+            {
+                return x * x * (1.5f * x - 2.5f) + 1.0f;
+            }
+            else if (x < 2.0f)
+            {
+                return x * (x * (-0.5f * x + 2.5f) - 4.0f) + 2.0f;
+            }
+            else
+            {
+                return 0.0f;
+            }
+        }
+
+        __device__ elem_type operator ()(float y, float x) const
+        {
+            const float xmin = ::ceilf(x - 2.0f);
+            const float xmax = ::floorf(x + 2.0f);
+
+            const float ymin = ::ceilf(y - 2.0f);
+            const float ymax = ::floorf(y + 2.0f);
+
+            work_type sum = VecTraits<work_type>::all(0);
+            float wsum = 0.0f;
+
+            for (float cy = ymin; cy <= ymax; cy += 1.0f)
+            {
+                for (float cx = xmin; cx <= xmax; cx += 1.0f)
+                {
+                    const float w = bicubicCoeff(x - cx) * bicubicCoeff(y - cy);
+                    sum = sum + w * src(__float2int_rd(cy), __float2int_rd(cx));
+                    wsum += w;
+                }
+            }
+
+            work_type res = (!wsum)? VecTraits<work_type>::all(0) : sum / wsum;
+
+            return saturate_cast<elem_type>(res);
+        }
+
+        Ptr2D src;
+    };
+    // for integer scaling
+    template <typename Ptr2D> struct IntegerAreaFilter
+    {
+        typedef typename Ptr2D::elem_type elem_type;
+        typedef float index_type;
+
+        explicit __host__ __device__ __forceinline__ IntegerAreaFilter(const Ptr2D& src_, float scale_x_, float scale_y_)
+            : src(src_), scale_x(scale_x_), scale_y(scale_y_), scale(1.f / (scale_x * scale_y)) {}
+
+        __device__ __forceinline__ elem_type operator ()(float y, float x) const
+        {
+            float fsx1 = x * scale_x;
+            float fsx2 = fsx1 + scale_x;
+
+            int sx1 = __float2int_ru(fsx1);
+            int sx2 = __float2int_rd(fsx2);
+
+            float fsy1 = y * scale_y;
+            float fsy2 = fsy1 + scale_y;
+
+            int sy1 = __float2int_ru(fsy1);
+            int sy2 = __float2int_rd(fsy2);
+
+            typedef typename TypeVec<float, VecTraits<elem_type>::cn>::vec_type work_type;
+            work_type out = VecTraits<work_type>::all(0.f);
+
+            for(int dy = sy1; dy < sy2; ++dy)
+                for(int dx = sx1; dx < sx2; ++dx)
+                {
+                    out = out + src(dy, dx) * scale;
+                }
+
+            return saturate_cast<elem_type>(out);
+        }
+
+        Ptr2D src;
+        float scale_x, scale_y ,scale;
+    };
+
+    template <typename Ptr2D> struct AreaFilter
+    {
+        typedef typename Ptr2D::elem_type elem_type;
+        typedef float index_type;
+
+        explicit __host__ __device__ __forceinline__ AreaFilter(const Ptr2D& src_, float scale_x_, float scale_y_)
+            : src(src_), scale_x(scale_x_), scale_y(scale_y_){}
+
+        __device__ __forceinline__ elem_type operator ()(float y, float x) const
+        {
+            float fsx1 = x * scale_x;
+            float fsx2 = fsx1 + scale_x;
+
+            int sx1 = __float2int_ru(fsx1);
+            int sx2 = __float2int_rd(fsx2);
+
+            float fsy1 = y * scale_y;
+            float fsy2 = fsy1 + scale_y;
+
+            int sy1 = __float2int_ru(fsy1);
+            int sy2 = __float2int_rd(fsy2);
+
+            float scale = 1.f / (fminf(scale_x, src.width - fsx1) * fminf(scale_y, src.height - fsy1));
+
+            typedef typename TypeVec<float, VecTraits<elem_type>::cn>::vec_type work_type;
+            work_type out = VecTraits<work_type>::all(0.f);
+
+            for (int dy = sy1; dy < sy2; ++dy)
+            {
+                for (int dx = sx1; dx < sx2; ++dx)
+                    out = out + src(dy, dx) * scale;
+
+                if (sx1 > fsx1)
+                    out = out + src(dy, (sx1 -1) ) * ((sx1 - fsx1) * scale);
+
+                if (sx2 < fsx2)
+                    out = out + src(dy, sx2) * ((fsx2 -sx2) * scale);
+            }
+
+            if (sy1 > fsy1)
+                for (int dx = sx1; dx < sx2; ++dx)
+                    out = out + src( (sy1 - 1) , dx) * ((sy1 -fsy1) * scale);
+
+            if (sy2 < fsy2)
+                for (int dx = sx1; dx < sx2; ++dx)
+                    out = out + src(sy2, dx) * ((fsy2 -sy2) * scale);
+
+            if ((sy1 > fsy1) &&  (sx1 > fsx1))
+                out = out + src( (sy1 - 1) , (sx1 - 1)) * ((sy1 -fsy1) * (sx1 -fsx1) * scale);
+
+            if ((sy1 > fsy1) &&  (sx2 < fsx2))
+                out = out + src( (sy1 - 1) , sx2) * ((sy1 -fsy1) * (fsx2 -sx2) * scale);
+
+            if ((sy2 < fsy2) &&  (sx2 < fsx2))
+                out = out + src(sy2, sx2) * ((fsy2 -sy2) * (fsx2 -sx2) * scale);
+
+            if ((sy2 < fsy2) &&  (sx1 > fsx1))
+                out = out + src(sy2, (sx1 - 1)) * ((fsy2 -sy2) * (sx1 -fsx1) * scale);
+
+            return saturate_cast<elem_type>(out);
+        }
+
+        Ptr2D src;
+        float scale_x, scale_y;
+        int width, haight;
+    };
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_FILTERS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/funcattrib.hpp b/3rdparty/include/opencv2/core/cuda/funcattrib.hpp
new file mode 100644
index 0000000..fbb236b
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/funcattrib.hpp
@@ -0,0 +1,79 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_DEVICE_FUNCATTRIB_HPP_
+#define __OPENCV_CUDA_DEVICE_FUNCATTRIB_HPP_
+
+#include <cstdio>
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template<class Func>
+    void printFuncAttrib(Func& func)
+    {
+
+        cudaFuncAttributes attrs;
+        cudaFuncGetAttributes(&attrs, func);
+
+        printf("=== Function stats ===\n");
+        printf("Name: \n");
+        printf("sharedSizeBytes    = %d\n", attrs.sharedSizeBytes);
+        printf("constSizeBytes     = %d\n", attrs.constSizeBytes);
+        printf("localSizeBytes     = %d\n", attrs.localSizeBytes);
+        printf("maxThreadsPerBlock = %d\n", attrs.maxThreadsPerBlock);
+        printf("numRegs            = %d\n", attrs.numRegs);
+        printf("ptxVersion         = %d\n", attrs.ptxVersion);
+        printf("binaryVersion      = %d\n", attrs.binaryVersion);
+        printf("\n");
+        fflush(stdout);
+    }
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif  /* __OPENCV_CUDA_DEVICE_FUNCATTRIB_HPP_ */
diff --git a/3rdparty/include/opencv2/core/cuda/functional.hpp b/3rdparty/include/opencv2/core/cuda/functional.hpp
new file mode 100644
index 0000000..ed3943d
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/functional.hpp
@@ -0,0 +1,797 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_FUNCTIONAL_HPP__
+#define __OPENCV_CUDA_FUNCTIONAL_HPP__
+
+#include <functional>
+#include "saturate_cast.hpp"
+#include "vec_traits.hpp"
+#include "type_traits.hpp"
+#include "device_functions.h"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    // Function Objects
+    template<typename Argument, typename Result> struct unary_function : public std::unary_function<Argument, Result> {};
+    template<typename Argument1, typename Argument2, typename Result> struct binary_function : public std::binary_function<Argument1, Argument2, Result> {};
+
+    // Arithmetic Operations
+    template <typename T> struct plus : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a + b;
+        }
+        __host__ __device__ __forceinline__ plus() {}
+        __host__ __device__ __forceinline__ plus(const plus&) {}
+    };
+
+    template <typename T> struct minus : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a - b;
+        }
+        __host__ __device__ __forceinline__ minus() {}
+        __host__ __device__ __forceinline__ minus(const minus&) {}
+    };
+
+    template <typename T> struct multiplies : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a * b;
+        }
+        __host__ __device__ __forceinline__ multiplies() {}
+        __host__ __device__ __forceinline__ multiplies(const multiplies&) {}
+    };
+
+    template <typename T> struct divides : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a / b;
+        }
+        __host__ __device__ __forceinline__ divides() {}
+        __host__ __device__ __forceinline__ divides(const divides&) {}
+    };
+
+    template <typename T> struct modulus : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a % b;
+        }
+        __host__ __device__ __forceinline__ modulus() {}
+        __host__ __device__ __forceinline__ modulus(const modulus&) {}
+    };
+
+    template <typename T> struct negate : unary_function<T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a) const
+        {
+            return -a;
+        }
+        __host__ __device__ __forceinline__ negate() {}
+        __host__ __device__ __forceinline__ negate(const negate&) {}
+    };
+
+    // Comparison Operations
+    template <typename T> struct equal_to : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a == b;
+        }
+        __host__ __device__ __forceinline__ equal_to() {}
+        __host__ __device__ __forceinline__ equal_to(const equal_to&) {}
+    };
+
+    template <typename T> struct not_equal_to : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a != b;
+        }
+        __host__ __device__ __forceinline__ not_equal_to() {}
+        __host__ __device__ __forceinline__ not_equal_to(const not_equal_to&) {}
+    };
+
+    template <typename T> struct greater : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a > b;
+        }
+        __host__ __device__ __forceinline__ greater() {}
+        __host__ __device__ __forceinline__ greater(const greater&) {}
+    };
+
+    template <typename T> struct less : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a < b;
+        }
+        __host__ __device__ __forceinline__ less() {}
+        __host__ __device__ __forceinline__ less(const less&) {}
+    };
+
+    template <typename T> struct greater_equal : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a >= b;
+        }
+        __host__ __device__ __forceinline__ greater_equal() {}
+        __host__ __device__ __forceinline__ greater_equal(const greater_equal&) {}
+    };
+
+    template <typename T> struct less_equal : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a <= b;
+        }
+        __host__ __device__ __forceinline__ less_equal() {}
+        __host__ __device__ __forceinline__ less_equal(const less_equal&) {}
+    };
+
+    // Logical Operations
+    template <typename T> struct logical_and : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a && b;
+        }
+        __host__ __device__ __forceinline__ logical_and() {}
+        __host__ __device__ __forceinline__ logical_and(const logical_and&) {}
+    };
+
+    template <typename T> struct logical_or : binary_function<T, T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a,
+                                                    typename TypeTraits<T>::ParameterType b) const
+        {
+            return a || b;
+        }
+        __host__ __device__ __forceinline__ logical_or() {}
+        __host__ __device__ __forceinline__ logical_or(const logical_or&) {}
+    };
+
+    template <typename T> struct logical_not : unary_function<T, bool>
+    {
+        __device__ __forceinline__ bool operator ()(typename TypeTraits<T>::ParameterType a) const
+        {
+            return !a;
+        }
+        __host__ __device__ __forceinline__ logical_not() {}
+        __host__ __device__ __forceinline__ logical_not(const logical_not&) {}
+    };
+
+    // Bitwise Operations
+    template <typename T> struct bit_and : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a & b;
+        }
+        __host__ __device__ __forceinline__ bit_and() {}
+        __host__ __device__ __forceinline__ bit_and(const bit_and&) {}
+    };
+
+    template <typename T> struct bit_or : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a | b;
+        }
+        __host__ __device__ __forceinline__ bit_or() {}
+        __host__ __device__ __forceinline__ bit_or(const bit_or&) {}
+    };
+
+    template <typename T> struct bit_xor : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType a,
+                                                 typename TypeTraits<T>::ParameterType b) const
+        {
+            return a ^ b;
+        }
+        __host__ __device__ __forceinline__ bit_xor() {}
+        __host__ __device__ __forceinline__ bit_xor(const bit_xor&) {}
+    };
+
+    template <typename T> struct bit_not : unary_function<T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType v) const
+        {
+            return ~v;
+        }
+        __host__ __device__ __forceinline__ bit_not() {}
+        __host__ __device__ __forceinline__ bit_not(const bit_not&) {}
+    };
+
+    // Generalized Identity Operations
+    template <typename T> struct identity : unary_function<T, T>
+    {
+        __device__ __forceinline__ typename TypeTraits<T>::ParameterType operator()(typename TypeTraits<T>::ParameterType x) const
+        {
+            return x;
+        }
+        __host__ __device__ __forceinline__ identity() {}
+        __host__ __device__ __forceinline__ identity(const identity&) {}
+    };
+
+    template <typename T1, typename T2> struct project1st : binary_function<T1, T2, T1>
+    {
+        __device__ __forceinline__ typename TypeTraits<T1>::ParameterType operator()(typename TypeTraits<T1>::ParameterType lhs, typename TypeTraits<T2>::ParameterType rhs) const
+        {
+            return lhs;
+        }
+        __host__ __device__ __forceinline__ project1st() {}
+        __host__ __device__ __forceinline__ project1st(const project1st&) {}
+    };
+
+    template <typename T1, typename T2> struct project2nd : binary_function<T1, T2, T2>
+    {
+        __device__ __forceinline__ typename TypeTraits<T2>::ParameterType operator()(typename TypeTraits<T1>::ParameterType lhs, typename TypeTraits<T2>::ParameterType rhs) const
+        {
+            return rhs;
+        }
+        __host__ __device__ __forceinline__ project2nd() {}
+        __host__ __device__ __forceinline__ project2nd(const project2nd&) {}
+    };
+
+    // Min/Max Operations
+
+#define OPENCV_CUDA_IMPLEMENT_MINMAX(name, type, op) \
+    template <> struct name<type> : binary_function<type, type, type> \
+    { \
+        __device__ __forceinline__ type operator()(type lhs, type rhs) const {return op(lhs, rhs);} \
+        __host__ __device__ __forceinline__ name() {}\
+        __host__ __device__ __forceinline__ name(const name&) {}\
+    };
+
+    template <typename T> struct maximum : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType lhs, typename TypeTraits<T>::ParameterType rhs) const
+        {
+            return max(lhs, rhs);
+        }
+        __host__ __device__ __forceinline__ maximum() {}
+        __host__ __device__ __forceinline__ maximum(const maximum&) {}
+    };
+
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, uchar, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, schar, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, char, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, ushort, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, short, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, int, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, uint, ::max)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, float, ::fmax)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(maximum, double, ::fmax)
+
+    template <typename T> struct minimum : binary_function<T, T, T>
+    {
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType lhs, typename TypeTraits<T>::ParameterType rhs) const
+        {
+            return min(lhs, rhs);
+        }
+        __host__ __device__ __forceinline__ minimum() {}
+        __host__ __device__ __forceinline__ minimum(const minimum&) {}
+    };
+
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, uchar, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, schar, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, char, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, ushort, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, short, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, int, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, uint, ::min)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, float, ::fmin)
+    OPENCV_CUDA_IMPLEMENT_MINMAX(minimum, double, ::fmin)
+
+#undef OPENCV_CUDA_IMPLEMENT_MINMAX
+
+    // Math functions
+
+    template <typename T> struct abs_func : unary_function<T, T>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType x) const
+        {
+            return abs(x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<unsigned char> : unary_function<unsigned char, unsigned char>
+    {
+        __device__ __forceinline__ unsigned char operator ()(unsigned char x) const
+        {
+            return x;
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<signed char> : unary_function<signed char, signed char>
+    {
+        __device__ __forceinline__ signed char operator ()(signed char x) const
+        {
+            return ::abs((int)x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<char> : unary_function<char, char>
+    {
+        __device__ __forceinline__ char operator ()(char x) const
+        {
+            return ::abs((int)x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<unsigned short> : unary_function<unsigned short, unsigned short>
+    {
+        __device__ __forceinline__ unsigned short operator ()(unsigned short x) const
+        {
+            return x;
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<short> : unary_function<short, short>
+    {
+        __device__ __forceinline__ short operator ()(short x) const
+        {
+            return ::abs((int)x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<unsigned int> : unary_function<unsigned int, unsigned int>
+    {
+        __device__ __forceinline__ unsigned int operator ()(unsigned int x) const
+        {
+            return x;
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<int> : unary_function<int, int>
+    {
+        __device__ __forceinline__ int operator ()(int x) const
+        {
+            return ::abs(x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<float> : unary_function<float, float>
+    {
+        __device__ __forceinline__ float operator ()(float x) const
+        {
+            return ::fabsf(x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+    template <> struct abs_func<double> : unary_function<double, double>
+    {
+        __device__ __forceinline__ double operator ()(double x) const
+        {
+            return ::fabs(x);
+        }
+
+        __host__ __device__ __forceinline__ abs_func() {}
+        __host__ __device__ __forceinline__ abs_func(const abs_func&) {}
+    };
+
+#define OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(name, func) \
+    template <typename T> struct name ## _func : unary_function<T, float> \
+    { \
+        __device__ __forceinline__ float operator ()(typename TypeTraits<T>::ParameterType v) const \
+        { \
+            return func ## f(v); \
+        } \
+        __host__ __device__ __forceinline__ name ## _func() {} \
+        __host__ __device__ __forceinline__ name ## _func(const name ## _func&) {} \
+    }; \
+    template <> struct name ## _func<double> : unary_function<double, double> \
+    { \
+        __device__ __forceinline__ double operator ()(double v) const \
+        { \
+            return func(v); \
+        } \
+        __host__ __device__ __forceinline__ name ## _func() {} \
+        __host__ __device__ __forceinline__ name ## _func(const name ## _func&) {} \
+    };
+
+#define OPENCV_CUDA_IMPLEMENT_BIN_FUNCTOR(name, func) \
+    template <typename T> struct name ## _func : binary_function<T, T, float> \
+    { \
+        __device__ __forceinline__ float operator ()(typename TypeTraits<T>::ParameterType v1, typename TypeTraits<T>::ParameterType v2) const \
+        { \
+            return func ## f(v1, v2); \
+        } \
+        __host__ __device__ __forceinline__ name ## _func() {} \
+        __host__ __device__ __forceinline__ name ## _func(const name ## _func&) {} \
+    }; \
+    template <> struct name ## _func<double> : binary_function<double, double, double> \
+    { \
+        __device__ __forceinline__ double operator ()(double v1, double v2) const \
+        { \
+            return func(v1, v2); \
+        } \
+        __host__ __device__ __forceinline__ name ## _func() {} \
+        __host__ __device__ __forceinline__ name ## _func(const name ## _func&) {} \
+    };
+
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(sqrt, ::sqrt)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(exp, ::exp)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(exp2, ::exp2)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(exp10, ::exp10)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(log, ::log)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(log2, ::log2)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(log10, ::log10)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(sin, ::sin)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(cos, ::cos)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(tan, ::tan)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(asin, ::asin)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(acos, ::acos)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(atan, ::atan)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(sinh, ::sinh)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(cosh, ::cosh)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(tanh, ::tanh)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(asinh, ::asinh)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(acosh, ::acosh)
+    OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR(atanh, ::atanh)
+
+    OPENCV_CUDA_IMPLEMENT_BIN_FUNCTOR(hypot, ::hypot)
+    OPENCV_CUDA_IMPLEMENT_BIN_FUNCTOR(atan2, ::atan2)
+    OPENCV_CUDA_IMPLEMENT_BIN_FUNCTOR(pow, ::pow)
+
+    #undef OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR
+    #undef OPENCV_CUDA_IMPLEMENT_UN_FUNCTOR_NO_DOUBLE
+    #undef OPENCV_CUDA_IMPLEMENT_BIN_FUNCTOR
+
+    template<typename T> struct hypot_sqr_func : binary_function<T, T, float>
+    {
+        __device__ __forceinline__ T operator ()(typename TypeTraits<T>::ParameterType src1, typename TypeTraits<T>::ParameterType src2) const
+        {
+            return src1 * src1 + src2 * src2;
+        }
+        __host__ __device__ __forceinline__ hypot_sqr_func() {}
+        __host__ __device__ __forceinline__ hypot_sqr_func(const hypot_sqr_func&) {}
+    };
+
+    // Saturate Cast Functor
+    template <typename T, typename D> struct saturate_cast_func : unary_function<T, D>
+    {
+        __device__ __forceinline__ D operator ()(typename TypeTraits<T>::ParameterType v) const
+        {
+            return saturate_cast<D>(v);
+        }
+        __host__ __device__ __forceinline__ saturate_cast_func() {}
+        __host__ __device__ __forceinline__ saturate_cast_func(const saturate_cast_func&) {}
+    };
+
+    // Threshold Functors
+    template <typename T> struct thresh_binary_func : unary_function<T, T>
+    {
+        __host__ __device__ __forceinline__ thresh_binary_func(T thresh_, T maxVal_) : thresh(thresh_), maxVal(maxVal_) {}
+
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType src) const
+        {
+            return (src > thresh) * maxVal;
+        }
+
+        __host__ __device__ __forceinline__ thresh_binary_func() {}
+        __host__ __device__ __forceinline__ thresh_binary_func(const thresh_binary_func& other)
+            : thresh(other.thresh), maxVal(other.maxVal) {}
+
+        T thresh;
+        T maxVal;
+    };
+
+    template <typename T> struct thresh_binary_inv_func : unary_function<T, T>
+    {
+        __host__ __device__ __forceinline__ thresh_binary_inv_func(T thresh_, T maxVal_) : thresh(thresh_), maxVal(maxVal_) {}
+
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType src) const
+        {
+            return (src <= thresh) * maxVal;
+        }
+
+        __host__ __device__ __forceinline__ thresh_binary_inv_func() {}
+        __host__ __device__ __forceinline__ thresh_binary_inv_func(const thresh_binary_inv_func& other)
+            : thresh(other.thresh), maxVal(other.maxVal) {}
+
+        T thresh;
+        T maxVal;
+    };
+
+    template <typename T> struct thresh_trunc_func : unary_function<T, T>
+    {
+        explicit __host__ __device__ __forceinline__ thresh_trunc_func(T thresh_, T maxVal_ = 0) : thresh(thresh_) {(void)maxVal_;}
+
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType src) const
+        {
+            return minimum<T>()(src, thresh);
+        }
+
+        __host__ __device__ __forceinline__ thresh_trunc_func() {}
+        __host__ __device__ __forceinline__ thresh_trunc_func(const thresh_trunc_func& other)
+            : thresh(other.thresh) {}
+
+        T thresh;
+    };
+
+    template <typename T> struct thresh_to_zero_func : unary_function<T, T>
+    {
+        explicit __host__ __device__ __forceinline__ thresh_to_zero_func(T thresh_, T maxVal_ = 0) : thresh(thresh_) {(void)maxVal_;}
+
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType src) const
+        {
+            return (src > thresh) * src;
+        }
+
+        __host__ __device__ __forceinline__ thresh_to_zero_func() {}
+       __host__  __device__ __forceinline__ thresh_to_zero_func(const thresh_to_zero_func& other)
+            : thresh(other.thresh) {}
+
+        T thresh;
+    };
+
+    template <typename T> struct thresh_to_zero_inv_func : unary_function<T, T>
+    {
+        explicit __host__ __device__ __forceinline__ thresh_to_zero_inv_func(T thresh_, T maxVal_ = 0) : thresh(thresh_) {(void)maxVal_;}
+
+        __device__ __forceinline__ T operator()(typename TypeTraits<T>::ParameterType src) const
+        {
+            return (src <= thresh) * src;
+        }
+
+        __host__ __device__ __forceinline__ thresh_to_zero_inv_func() {}
+        __host__ __device__ __forceinline__ thresh_to_zero_inv_func(const thresh_to_zero_inv_func& other)
+            : thresh(other.thresh) {}
+
+        T thresh;
+    };
+
+    // Function Object Adaptors
+    template <typename Predicate> struct unary_negate : unary_function<typename Predicate::argument_type, bool>
+    {
+      explicit __host__ __device__ __forceinline__ unary_negate(const Predicate& p) : pred(p) {}
+
+      __device__ __forceinline__ bool operator()(typename TypeTraits<typename Predicate::argument_type>::ParameterType x) const
+      {
+          return !pred(x);
+      }
+
+      __host__ __device__ __forceinline__ unary_negate() {}
+      __host__ __device__ __forceinline__ unary_negate(const unary_negate& other) : pred(other.pred) {}
+
+      Predicate pred;
+    };
+
+    template <typename Predicate> __host__ __device__ __forceinline__ unary_negate<Predicate> not1(const Predicate& pred)
+    {
+        return unary_negate<Predicate>(pred);
+    }
+
+    template <typename Predicate> struct binary_negate : binary_function<typename Predicate::first_argument_type, typename Predicate::second_argument_type, bool>
+    {
+        explicit __host__ __device__ __forceinline__ binary_negate(const Predicate& p) : pred(p) {}
+
+        __device__ __forceinline__ bool operator()(typename TypeTraits<typename Predicate::first_argument_type>::ParameterType x,
+                                                   typename TypeTraits<typename Predicate::second_argument_type>::ParameterType y) const
+        {
+            return !pred(x,y);
+        }
+
+        __host__ __device__ __forceinline__ binary_negate() {}
+        __host__ __device__ __forceinline__ binary_negate(const binary_negate& other) : pred(other.pred) {}
+
+        Predicate pred;
+    };
+
+    template <typename BinaryPredicate> __host__ __device__ __forceinline__ binary_negate<BinaryPredicate> not2(const BinaryPredicate& pred)
+    {
+        return binary_negate<BinaryPredicate>(pred);
+    }
+
+    template <typename Op> struct binder1st : unary_function<typename Op::second_argument_type, typename Op::result_type>
+    {
+        __host__ __device__ __forceinline__ binder1st(const Op& op_, const typename Op::first_argument_type& arg1_) : op(op_), arg1(arg1_) {}
+
+        __device__ __forceinline__ typename Op::result_type operator ()(typename TypeTraits<typename Op::second_argument_type>::ParameterType a) const
+        {
+            return op(arg1, a);
+        }
+
+        __host__ __device__ __forceinline__ binder1st() {}
+        __host__ __device__ __forceinline__ binder1st(const binder1st& other) : op(other.op), arg1(other.arg1) {}
+
+        Op op;
+        typename Op::first_argument_type arg1;
+    };
+
+    template <typename Op, typename T> __host__ __device__ __forceinline__ binder1st<Op> bind1st(const Op& op, const T& x)
+    {
+        return binder1st<Op>(op, typename Op::first_argument_type(x));
+    }
+
+    template <typename Op> struct binder2nd : unary_function<typename Op::first_argument_type, typename Op::result_type>
+    {
+        __host__ __device__ __forceinline__ binder2nd(const Op& op_, const typename Op::second_argument_type& arg2_) : op(op_), arg2(arg2_) {}
+
+        __forceinline__ __device__ typename Op::result_type operator ()(typename TypeTraits<typename Op::first_argument_type>::ParameterType a) const
+        {
+            return op(a, arg2);
+        }
+
+        __host__ __device__ __forceinline__ binder2nd() {}
+        __host__ __device__ __forceinline__ binder2nd(const binder2nd& other) : op(other.op), arg2(other.arg2) {}
+
+        Op op;
+        typename Op::second_argument_type arg2;
+    };
+
+    template <typename Op, typename T> __host__ __device__ __forceinline__ binder2nd<Op> bind2nd(const Op& op, const T& x)
+    {
+        return binder2nd<Op>(op, typename Op::second_argument_type(x));
+    }
+
+    // Functor Traits
+    template <typename F> struct IsUnaryFunction
+    {
+        typedef char Yes;
+        struct No {Yes a[2];};
+
+        template <typename T, typename D> static Yes check(unary_function<T, D>);
+        static No check(...);
+
+        static F makeF();
+
+        enum { value = (sizeof(check(makeF())) == sizeof(Yes)) };
+    };
+
+    template <typename F> struct IsBinaryFunction
+    {
+        typedef char Yes;
+        struct No {Yes a[2];};
+
+        template <typename T1, typename T2, typename D> static Yes check(binary_function<T1, T2, D>);
+        static No check(...);
+
+        static F makeF();
+
+        enum { value = (sizeof(check(makeF())) == sizeof(Yes)) };
+    };
+
+    namespace functional_detail
+    {
+        template <size_t src_elem_size, size_t dst_elem_size> struct UnOpShift { enum { shift = 1 }; };
+        template <size_t src_elem_size> struct UnOpShift<src_elem_size, 1> { enum { shift = 4 }; };
+        template <size_t src_elem_size> struct UnOpShift<src_elem_size, 2> { enum { shift = 2 }; };
+
+        template <typename T, typename D> struct DefaultUnaryShift
+        {
+            enum { shift = UnOpShift<sizeof(T), sizeof(D)>::shift };
+        };
+
+        template <size_t src_elem_size1, size_t src_elem_size2, size_t dst_elem_size> struct BinOpShift { enum { shift = 1 }; };
+        template <size_t src_elem_size1, size_t src_elem_size2> struct BinOpShift<src_elem_size1, src_elem_size2, 1> { enum { shift = 4 }; };
+        template <size_t src_elem_size1, size_t src_elem_size2> struct BinOpShift<src_elem_size1, src_elem_size2, 2> { enum { shift = 2 }; };
+
+        template <typename T1, typename T2, typename D> struct DefaultBinaryShift
+        {
+            enum { shift = BinOpShift<sizeof(T1), sizeof(T2), sizeof(D)>::shift };
+        };
+
+        template <typename Func, bool unary = IsUnaryFunction<Func>::value> struct ShiftDispatcher;
+        template <typename Func> struct ShiftDispatcher<Func, true>
+        {
+            enum { shift = DefaultUnaryShift<typename Func::argument_type, typename Func::result_type>::shift };
+        };
+        template <typename Func> struct ShiftDispatcher<Func, false>
+        {
+            enum { shift = DefaultBinaryShift<typename Func::first_argument_type, typename Func::second_argument_type, typename Func::result_type>::shift };
+        };
+    }
+
+    template <typename Func> struct DefaultTransformShift
+    {
+        enum { shift = functional_detail::ShiftDispatcher<Func>::shift };
+    };
+
+    template <typename Func> struct DefaultTransformFunctorTraits
+    {
+        enum { simple_block_dim_x = 16 };
+        enum { simple_block_dim_y = 16 };
+
+        enum { smart_block_dim_x = 16 };
+        enum { smart_block_dim_y = 16 };
+        enum { smart_shift = DefaultTransformShift<Func>::shift };
+    };
+
+    template <typename Func> struct TransformFunctorTraits : DefaultTransformFunctorTraits<Func> {};
+
+#define OPENCV_CUDA_TRANSFORM_FUNCTOR_TRAITS(type) \
+    template <> struct TransformFunctorTraits< type > : DefaultTransformFunctorTraits< type >
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_FUNCTIONAL_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/limits.hpp b/3rdparty/include/opencv2/core/cuda/limits.hpp
new file mode 100644
index 0000000..b98bdf2
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/limits.hpp
@@ -0,0 +1,128 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_LIMITS_HPP__
+#define __OPENCV_CUDA_LIMITS_HPP__
+
+#include <limits.h>
+#include <float.h>
+#include "common.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+template <class T> struct numeric_limits;
+
+template <> struct numeric_limits<bool>
+{
+    __device__ __forceinline__ static bool min() { return false; }
+    __device__ __forceinline__ static bool max() { return true;  }
+    static const bool is_signed = false;
+};
+
+template <> struct numeric_limits<signed char>
+{
+    __device__ __forceinline__ static signed char min() { return SCHAR_MIN; }
+    __device__ __forceinline__ static signed char max() { return SCHAR_MAX; }
+    static const bool is_signed = true;
+};
+
+template <> struct numeric_limits<unsigned char>
+{
+    __device__ __forceinline__ static unsigned char min() { return 0; }
+    __device__ __forceinline__ static unsigned char max() { return UCHAR_MAX; }
+    static const bool is_signed = false;
+};
+
+template <> struct numeric_limits<short>
+{
+    __device__ __forceinline__ static short min() { return SHRT_MIN; }
+    __device__ __forceinline__ static short max() { return SHRT_MAX; }
+    static const bool is_signed = true;
+};
+
+template <> struct numeric_limits<unsigned short>
+{
+    __device__ __forceinline__ static unsigned short min() { return 0; }
+    __device__ __forceinline__ static unsigned short max() { return USHRT_MAX; }
+    static const bool is_signed = false;
+};
+
+template <> struct numeric_limits<int>
+{
+    __device__ __forceinline__ static int min() { return INT_MIN; }
+    __device__ __forceinline__ static int max() { return INT_MAX; }
+    static const bool is_signed = true;
+};
+
+template <> struct numeric_limits<unsigned int>
+{
+    __device__ __forceinline__ static unsigned int min() { return 0; }
+    __device__ __forceinline__ static unsigned int max() { return UINT_MAX; }
+    static const bool is_signed = false;
+};
+
+template <> struct numeric_limits<float>
+{
+    __device__ __forceinline__ static float min() { return FLT_MIN; }
+    __device__ __forceinline__ static float max() { return FLT_MAX; }
+    __device__ __forceinline__ static float epsilon() { return FLT_EPSILON; }
+    static const bool is_signed = true;
+};
+
+template <> struct numeric_limits<double>
+{
+    __device__ __forceinline__ static double min() { return DBL_MIN; }
+    __device__ __forceinline__ static double max() { return DBL_MAX; }
+    __device__ __forceinline__ static double epsilon() { return DBL_EPSILON; }
+    static const bool is_signed = true;
+};
+}}} // namespace cv { namespace cuda { namespace cudev {
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_LIMITS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/reduce.hpp b/3rdparty/include/opencv2/core/cuda/reduce.hpp
new file mode 100644
index 0000000..3133c9a
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/reduce.hpp
@@ -0,0 +1,205 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_REDUCE_HPP__
+#define __OPENCV_CUDA_REDUCE_HPP__
+
+#include <thrust/tuple.h>
+#include "detail/reduce.hpp"
+#include "detail/reduce_key_val.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <int N, typename T, class Op>
+    __device__ __forceinline__ void reduce(volatile T* smem, T& val, unsigned int tid, const Op& op)
+    {
+        reduce_detail::Dispatcher<N>::reductor::template reduce<volatile T*, T&, const Op&>(smem, val, tid, op);
+    }
+    template <int N,
+              typename P0, typename P1, typename P2, typename P3, typename P4, typename P5, typename P6, typename P7, typename P8, typename P9,
+              typename R0, typename R1, typename R2, typename R3, typename R4, typename R5, typename R6, typename R7, typename R8, typename R9,
+              class Op0, class Op1, class Op2, class Op3, class Op4, class Op5, class Op6, class Op7, class Op8, class Op9>
+    __device__ __forceinline__ void reduce(const thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9>& smem,
+                                           const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>& val,
+                                           unsigned int tid,
+                                           const thrust::tuple<Op0, Op1, Op2, Op3, Op4, Op5, Op6, Op7, Op8, Op9>& op)
+    {
+        reduce_detail::Dispatcher<N>::reductor::template reduce<
+                const thrust::tuple<P0, P1, P2, P3, P4, P5, P6, P7, P8, P9>&,
+                const thrust::tuple<R0, R1, R2, R3, R4, R5, R6, R7, R8, R9>&,
+                const thrust::tuple<Op0, Op1, Op2, Op3, Op4, Op5, Op6, Op7, Op8, Op9>&>(smem, val, tid, op);
+    }
+
+    template <unsigned int N, typename K, typename V, class Cmp>
+    __device__ __forceinline__ void reduceKeyVal(volatile K* skeys, K& key, volatile V* svals, V& val, unsigned int tid, const Cmp& cmp)
+    {
+        reduce_key_val_detail::Dispatcher<N>::reductor::template reduce<volatile K*, K&, volatile V*, V&, const Cmp&>(skeys, key, svals, val, tid, cmp);
+    }
+    template <unsigned int N,
+              typename K,
+              typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+              typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+              class Cmp>
+    __device__ __forceinline__ void reduceKeyVal(volatile K* skeys, K& key,
+                                                 const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& svals,
+                                                 const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                 unsigned int tid, const Cmp& cmp)
+    {
+        reduce_key_val_detail::Dispatcher<N>::reductor::template reduce<volatile K*, K&,
+                const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>&,
+                const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>&,
+                const Cmp&>(skeys, key, svals, val, tid, cmp);
+    }
+    template <unsigned int N,
+              typename KP0, typename KP1, typename KP2, typename KP3, typename KP4, typename KP5, typename KP6, typename KP7, typename KP8, typename KP9,
+              typename KR0, typename KR1, typename KR2, typename KR3, typename KR4, typename KR5, typename KR6, typename KR7, typename KR8, typename KR9,
+              typename VP0, typename VP1, typename VP2, typename VP3, typename VP4, typename VP5, typename VP6, typename VP7, typename VP8, typename VP9,
+              typename VR0, typename VR1, typename VR2, typename VR3, typename VR4, typename VR5, typename VR6, typename VR7, typename VR8, typename VR9,
+              class Cmp0, class Cmp1, class Cmp2, class Cmp3, class Cmp4, class Cmp5, class Cmp6, class Cmp7, class Cmp8, class Cmp9>
+    __device__ __forceinline__ void reduceKeyVal(const thrust::tuple<KP0, KP1, KP2, KP3, KP4, KP5, KP6, KP7, KP8, KP9>& skeys,
+                                                 const thrust::tuple<KR0, KR1, KR2, KR3, KR4, KR5, KR6, KR7, KR8, KR9>& key,
+                                                 const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>& svals,
+                                                 const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>& val,
+                                                 unsigned int tid,
+                                                 const thrust::tuple<Cmp0, Cmp1, Cmp2, Cmp3, Cmp4, Cmp5, Cmp6, Cmp7, Cmp8, Cmp9>& cmp)
+    {
+        reduce_key_val_detail::Dispatcher<N>::reductor::template reduce<
+                const thrust::tuple<KP0, KP1, KP2, KP3, KP4, KP5, KP6, KP7, KP8, KP9>&,
+                const thrust::tuple<KR0, KR1, KR2, KR3, KR4, KR5, KR6, KR7, KR8, KR9>&,
+                const thrust::tuple<VP0, VP1, VP2, VP3, VP4, VP5, VP6, VP7, VP8, VP9>&,
+                const thrust::tuple<VR0, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9>&,
+                const thrust::tuple<Cmp0, Cmp1, Cmp2, Cmp3, Cmp4, Cmp5, Cmp6, Cmp7, Cmp8, Cmp9>&
+                >(skeys, key, svals, val, tid, cmp);
+    }
+
+    // smem_tuple
+
+    template <typename T0>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*>
+    smem_tuple(T0* t0)
+    {
+        return thrust::make_tuple((volatile T0*) t0);
+    }
+
+    template <typename T0, typename T1>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*>
+    smem_tuple(T0* t0, T1* t1)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1);
+    }
+
+    template <typename T0, typename T1, typename T2>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*>
+    smem_tuple(T0* t0, T1* t1, T2* t2)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4, typename T5>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*, volatile T5*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4, T5* t5)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4, (volatile T5*) t5);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*, volatile T5*, volatile T6*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4, T5* t5, T6* t6)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4, (volatile T5*) t5, (volatile T6*) t6);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*, volatile T5*, volatile T6*, volatile T7*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4, T5* t5, T6* t6, T7* t7)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4, (volatile T5*) t5, (volatile T6*) t6, (volatile T7*) t7);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*, volatile T5*, volatile T6*, volatile T7*, volatile T8*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4, T5* t5, T6* t6, T7* t7, T8* t8)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4, (volatile T5*) t5, (volatile T6*) t6, (volatile T7*) t7, (volatile T8*) t8);
+    }
+
+    template <typename T0, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8, typename T9>
+    __device__ __forceinline__
+    thrust::tuple<volatile T0*, volatile T1*, volatile T2*, volatile T3*, volatile T4*, volatile T5*, volatile T6*, volatile T7*, volatile T8*, volatile T9*>
+    smem_tuple(T0* t0, T1* t1, T2* t2, T3* t3, T4* t4, T5* t5, T6* t6, T7* t7, T8* t8, T9* t9)
+    {
+        return thrust::make_tuple((volatile T0*) t0, (volatile T1*) t1, (volatile T2*) t2, (volatile T3*) t3, (volatile T4*) t4, (volatile T5*) t5, (volatile T6*) t6, (volatile T7*) t7, (volatile T8*) t8, (volatile T9*) t9);
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_UTILITY_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/saturate_cast.hpp b/3rdparty/include/opencv2/core/cuda/saturate_cast.hpp
new file mode 100644
index 0000000..e7633c7
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/saturate_cast.hpp
@@ -0,0 +1,292 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_SATURATE_CAST_HPP__
+#define __OPENCV_CUDA_SATURATE_CAST_HPP__
+
+#include "common.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(uchar v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(schar v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(ushort v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(short v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(uint v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(int v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(float v) { return _Tp(v); }
+    template<typename _Tp> __device__ __forceinline__ _Tp saturate_cast(double v) { return _Tp(v); }
+
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(schar v)
+    {
+        uint res = 0;
+        int vi = v;
+        asm("cvt.sat.u8.s8 %0, %1;" : "=r"(res) : "r"(vi));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(short v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u8.s16 %0, %1;" : "=r"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(ushort v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u8.u16 %0, %1;" : "=r"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(int v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u8.s32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(uint v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u8.u32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(float v)
+    {
+        uint res = 0;
+        asm("cvt.rni.sat.u8.f32 %0, %1;" : "=r"(res) : "f"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uchar saturate_cast<uchar>(double v)
+    {
+    #if __CUDA_ARCH__ >= 130
+        uint res = 0;
+        asm("cvt.rni.sat.u8.f64 %0, %1;" : "=r"(res) : "d"(v));
+        return res;
+    #else
+        return saturate_cast<uchar>((float)v);
+    #endif
+    }
+
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(uchar v)
+    {
+        uint res = 0;
+        uint vi = v;
+        asm("cvt.sat.s8.u8 %0, %1;" : "=r"(res) : "r"(vi));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(short v)
+    {
+        uint res = 0;
+        asm("cvt.sat.s8.s16 %0, %1;" : "=r"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(ushort v)
+    {
+        uint res = 0;
+        asm("cvt.sat.s8.u16 %0, %1;" : "=r"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(int v)
+    {
+        uint res = 0;
+        asm("cvt.sat.s8.s32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(uint v)
+    {
+        uint res = 0;
+        asm("cvt.sat.s8.u32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(float v)
+    {
+        uint res = 0;
+        asm("cvt.rni.sat.s8.f32 %0, %1;" : "=r"(res) : "f"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ schar saturate_cast<schar>(double v)
+    {
+    #if __CUDA_ARCH__ >= 130
+        uint res = 0;
+        asm("cvt.rni.sat.s8.f64 %0, %1;" : "=r"(res) : "d"(v));
+        return res;
+    #else
+        return saturate_cast<schar>((float)v);
+    #endif
+    }
+
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(schar v)
+    {
+        ushort res = 0;
+        int vi = v;
+        asm("cvt.sat.u16.s8 %0, %1;" : "=h"(res) : "r"(vi));
+        return res;
+    }
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(short v)
+    {
+        ushort res = 0;
+        asm("cvt.sat.u16.s16 %0, %1;" : "=h"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(int v)
+    {
+        ushort res = 0;
+        asm("cvt.sat.u16.s32 %0, %1;" : "=h"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(uint v)
+    {
+        ushort res = 0;
+        asm("cvt.sat.u16.u32 %0, %1;" : "=h"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(float v)
+    {
+        ushort res = 0;
+        asm("cvt.rni.sat.u16.f32 %0, %1;" : "=h"(res) : "f"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ ushort saturate_cast<ushort>(double v)
+    {
+    #if __CUDA_ARCH__ >= 130
+        ushort res = 0;
+        asm("cvt.rni.sat.u16.f64 %0, %1;" : "=h"(res) : "d"(v));
+        return res;
+    #else
+        return saturate_cast<ushort>((float)v);
+    #endif
+    }
+
+    template<> __device__ __forceinline__ short saturate_cast<short>(ushort v)
+    {
+        short res = 0;
+        asm("cvt.sat.s16.u16 %0, %1;" : "=h"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ short saturate_cast<short>(int v)
+    {
+        short res = 0;
+        asm("cvt.sat.s16.s32 %0, %1;" : "=h"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ short saturate_cast<short>(uint v)
+    {
+        short res = 0;
+        asm("cvt.sat.s16.u32 %0, %1;" : "=h"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ short saturate_cast<short>(float v)
+    {
+        short res = 0;
+        asm("cvt.rni.sat.s16.f32 %0, %1;" : "=h"(res) : "f"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ short saturate_cast<short>(double v)
+    {
+    #if __CUDA_ARCH__ >= 130
+        short res = 0;
+        asm("cvt.rni.sat.s16.f64 %0, %1;" : "=h"(res) : "d"(v));
+        return res;
+    #else
+        return saturate_cast<short>((float)v);
+    #endif
+    }
+
+    template<> __device__ __forceinline__ int saturate_cast<int>(uint v)
+    {
+        int res = 0;
+        asm("cvt.sat.s32.u32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ int saturate_cast<int>(float v)
+    {
+        return __float2int_rn(v);
+    }
+    template<> __device__ __forceinline__ int saturate_cast<int>(double v)
+    {
+    #if defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 130
+        return __double2int_rn(v);
+    #else
+        return saturate_cast<int>((float)v);
+    #endif
+    }
+
+    template<> __device__ __forceinline__ uint saturate_cast<uint>(schar v)
+    {
+        uint res = 0;
+        int vi = v;
+        asm("cvt.sat.u32.s8 %0, %1;" : "=r"(res) : "r"(vi));
+        return res;
+    }
+    template<> __device__ __forceinline__ uint saturate_cast<uint>(short v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u32.s16 %0, %1;" : "=r"(res) : "h"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uint saturate_cast<uint>(int v)
+    {
+        uint res = 0;
+        asm("cvt.sat.u32.s32 %0, %1;" : "=r"(res) : "r"(v));
+        return res;
+    }
+    template<> __device__ __forceinline__ uint saturate_cast<uint>(float v)
+    {
+        return __float2uint_rn(v);
+    }
+    template<> __device__ __forceinline__ uint saturate_cast<uint>(double v)
+    {
+    #if defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 130
+        return __double2uint_rn(v);
+    #else
+        return saturate_cast<uint>((float)v);
+    #endif
+    }
+}}}
+
+//! @endcond
+
+#endif /* __OPENCV_CUDA_SATURATE_CAST_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda/scan.hpp b/3rdparty/include/opencv2/core/cuda/scan.hpp
new file mode 100644
index 0000000..687abb5
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/scan.hpp
@@ -0,0 +1,258 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_SCAN_HPP__
+#define __OPENCV_CUDA_SCAN_HPP__
+
+#include "opencv2/core/cuda/common.hpp"
+#include "opencv2/core/cuda/utility.hpp"
+#include "opencv2/core/cuda/warp.hpp"
+#include "opencv2/core/cuda/warp_shuffle.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    enum ScanKind { EXCLUSIVE = 0,  INCLUSIVE = 1 };
+
+    template <ScanKind Kind, typename T, typename F> struct WarpScan
+    {
+        __device__ __forceinline__ WarpScan() {}
+        __device__ __forceinline__ WarpScan(const WarpScan& other) { (void)other; }
+
+        __device__ __forceinline__ T operator()( volatile T *ptr , const unsigned int idx)
+        {
+            const unsigned int lane = idx & 31;
+            F op;
+
+            if ( lane >=  1) ptr [idx ] = op(ptr [idx -  1], ptr [idx]);
+            if ( lane >=  2) ptr [idx ] = op(ptr [idx -  2], ptr [idx]);
+            if ( lane >=  4) ptr [idx ] = op(ptr [idx -  4], ptr [idx]);
+            if ( lane >=  8) ptr [idx ] = op(ptr [idx -  8], ptr [idx]);
+            if ( lane >= 16) ptr [idx ] = op(ptr [idx - 16], ptr [idx]);
+
+            if( Kind == INCLUSIVE )
+                return ptr [idx];
+            else
+                return (lane > 0) ? ptr [idx - 1] : 0;
+        }
+
+        __device__ __forceinline__ unsigned int index(const unsigned int tid)
+        {
+            return tid;
+        }
+
+        __device__ __forceinline__ void init(volatile T *ptr){}
+
+        static const int warp_offset      = 0;
+
+        typedef WarpScan<INCLUSIVE, T, F>  merge;
+    };
+
+    template <ScanKind Kind , typename T, typename F> struct WarpScanNoComp
+    {
+        __device__ __forceinline__ WarpScanNoComp() {}
+        __device__ __forceinline__ WarpScanNoComp(const WarpScanNoComp& other) { (void)other; }
+
+        __device__ __forceinline__ T operator()( volatile T *ptr , const unsigned int idx)
+        {
+            const unsigned int lane = threadIdx.x & 31;
+            F op;
+
+            ptr [idx ] = op(ptr [idx -  1], ptr [idx]);
+            ptr [idx ] = op(ptr [idx -  2], ptr [idx]);
+            ptr [idx ] = op(ptr [idx -  4], ptr [idx]);
+            ptr [idx ] = op(ptr [idx -  8], ptr [idx]);
+            ptr [idx ] = op(ptr [idx - 16], ptr [idx]);
+
+            if( Kind == INCLUSIVE )
+                return ptr [idx];
+            else
+                return (lane > 0) ? ptr [idx - 1] : 0;
+        }
+
+        __device__ __forceinline__ unsigned int index(const unsigned int tid)
+        {
+            return (tid >> warp_log) * warp_smem_stride + 16 + (tid & warp_mask);
+        }
+
+        __device__ __forceinline__ void init(volatile T *ptr)
+        {
+            ptr[threadIdx.x] = 0;
+        }
+
+        static const int warp_smem_stride = 32 + 16 + 1;
+        static const int warp_offset      = 16;
+        static const int warp_log         = 5;
+        static const int warp_mask        = 31;
+
+        typedef WarpScanNoComp<INCLUSIVE, T, F> merge;
+    };
+
+    template <ScanKind Kind , typename T, typename Sc, typename F> struct BlockScan
+    {
+        __device__ __forceinline__ BlockScan() {}
+        __device__ __forceinline__ BlockScan(const BlockScan& other) { (void)other; }
+
+        __device__ __forceinline__ T operator()(volatile T *ptr)
+        {
+            const unsigned int tid  = threadIdx.x;
+            const unsigned int lane = tid & warp_mask;
+            const unsigned int warp = tid >> warp_log;
+
+            Sc scan;
+            typename Sc::merge merge_scan;
+            const unsigned int idx = scan.index(tid);
+
+            T val = scan(ptr, idx);
+            __syncthreads ();
+
+            if( warp == 0)
+                scan.init(ptr);
+            __syncthreads ();
+
+            if( lane == 31 )
+                ptr [scan.warp_offset + warp ] = (Kind == INCLUSIVE) ? val : ptr [idx];
+            __syncthreads ();
+
+            if( warp == 0 )
+                merge_scan(ptr, idx);
+            __syncthreads();
+
+            if ( warp > 0)
+                val = ptr [scan.warp_offset + warp - 1] + val;
+            __syncthreads ();
+
+            ptr[idx] = val;
+            __syncthreads ();
+
+            return val ;
+        }
+
+        static const int warp_log  = 5;
+        static const int warp_mask = 31;
+    };
+
+    template <typename T>
+    __device__ T warpScanInclusive(T idata, volatile T* s_Data, unsigned int tid)
+    {
+    #if __CUDA_ARCH__ >= 300
+        const unsigned int laneId = cv::cuda::device::Warp::laneId();
+
+        // scan on shuffl functions
+        #pragma unroll
+        for (int i = 1; i <= (OPENCV_CUDA_WARP_SIZE / 2); i *= 2)
+        {
+            const T n = cv::cuda::device::shfl_up(idata, i);
+            if (laneId >= i)
+                  idata += n;
+        }
+
+        return idata;
+    #else
+        unsigned int pos = 2 * tid - (tid & (OPENCV_CUDA_WARP_SIZE - 1));
+        s_Data[pos] = 0;
+        pos += OPENCV_CUDA_WARP_SIZE;
+        s_Data[pos] = idata;
+
+        s_Data[pos] += s_Data[pos - 1];
+        s_Data[pos] += s_Data[pos - 2];
+        s_Data[pos] += s_Data[pos - 4];
+        s_Data[pos] += s_Data[pos - 8];
+        s_Data[pos] += s_Data[pos - 16];
+
+        return s_Data[pos];
+    #endif
+    }
+
+    template <typename T>
+    __device__ __forceinline__ T warpScanExclusive(T idata, volatile T* s_Data, unsigned int tid)
+    {
+        return warpScanInclusive(idata, s_Data, tid) - idata;
+    }
+
+    template <int tiNumScanThreads, typename T>
+    __device__ T blockScanInclusive(T idata, volatile T* s_Data, unsigned int tid)
+    {
+        if (tiNumScanThreads > OPENCV_CUDA_WARP_SIZE)
+        {
+            //Bottom-level inclusive warp scan
+            T warpResult = warpScanInclusive(idata, s_Data, tid);
+
+            //Save top elements of each warp for exclusive warp scan
+            //sync to wait for warp scans to complete (because s_Data is being overwritten)
+            __syncthreads();
+            if ((tid & (OPENCV_CUDA_WARP_SIZE - 1)) == (OPENCV_CUDA_WARP_SIZE - 1))
+            {
+                s_Data[tid >> OPENCV_CUDA_LOG_WARP_SIZE] = warpResult;
+            }
+
+            //wait for warp scans to complete
+            __syncthreads();
+
+            if (tid < (tiNumScanThreads / OPENCV_CUDA_WARP_SIZE) )
+            {
+                //grab top warp elements
+                T val = s_Data[tid];
+                //calculate exclusive scan and write back to shared memory
+                s_Data[tid] = warpScanExclusive(val, s_Data, tid);
+            }
+
+            //return updated warp scans with exclusive scan results
+            __syncthreads();
+
+            return warpResult + s_Data[tid >> OPENCV_CUDA_LOG_WARP_SIZE];
+        }
+        else
+        {
+            return warpScanInclusive(idata, s_Data, tid);
+        }
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_SCAN_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/simd_functions.hpp b/3rdparty/include/opencv2/core/cuda/simd_functions.hpp
new file mode 100644
index 0000000..b9e0041
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/simd_functions.hpp
@@ -0,0 +1,869 @@
+/*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*/
+
+/*
+ * Copyright (c) 2013 NVIDIA Corporation. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *   Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ *
+ *   Redistributions 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.
+ *
+ *   Neither the name of NVIDIA Corporation nor the names of its contributors
+ *   may 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 COPYRIGHT HOLDER 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.
+ */
+
+#ifndef __OPENCV_CUDA_SIMD_FUNCTIONS_HPP__
+#define __OPENCV_CUDA_SIMD_FUNCTIONS_HPP__
+
+#include "common.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    // 2
+
+    static __device__ __forceinline__ unsigned int vadd2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vadd2.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vadd.u32.u32.u32.sat %0.h0, %1.h0, %2.h0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vadd.u32.u32.u32.sat %0.h1, %1.h1, %2.h1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s;
+        s = a ^ b;          // sum bits
+        r = a + b;          // actual sum
+        s = s ^ r;          // determine carry-ins for each bit position
+        s = s & 0x00010000; // carry-in to high word (= carry-out from low word)
+        r = r - s;          // subtract out carry-out from low word
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsub2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vsub2.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vsub.u32.u32.u32.sat %0.h0, %1.h0, %2.h0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vsub.u32.u32.u32.sat %0.h1, %1.h1, %2.h1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s;
+        s = a ^ b;          // sum bits
+        r = a - b;          // actual sum
+        s = s ^ r;          // determine carry-ins for each bit position
+        s = s & 0x00010000; // borrow to high word
+        r = r + s;          // compensate for borrow from low word
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vabsdiff2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vabsdiff2.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vabsdiff.u32.u32.u32.sat %0.h0, %1.h0, %2.h0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vabsdiff.u32.u32.u32.sat %0.h1, %1.h1, %2.h1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s, t, u, v;
+        s = a & 0x0000ffff; // extract low halfword
+        r = b & 0x0000ffff; // extract low halfword
+        u = ::max(r, s);    // maximum of low halfwords
+        v = ::min(r, s);    // minimum of low halfwords
+        s = a & 0xffff0000; // extract high halfword
+        r = b & 0xffff0000; // extract high halfword
+        t = ::max(r, s);    // maximum of high halfwords
+        s = ::min(r, s);    // minimum of high halfwords
+        r = u | t;          // maximum of both halfwords
+        s = v | s;          // minimum of both halfwords
+        r = r - s;          // |a - b| = max(a,b) - min(a,b);
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vavg2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, s;
+
+        // HAKMEM #23: a + b = 2 * (a & b) + (a ^ b) ==>
+        // (a + b) / 2 = (a & b) + ((a ^ b) >> 1)
+        s = a ^ b;
+        r = a & b;
+        s = s & 0xfffefffe; // ensure shift doesn't cross halfword boundaries
+        s = s >> 1;
+        s = r + s;
+
+        return s;
+    }
+
+    static __device__ __forceinline__ unsigned int vavrg2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vavrg2.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // HAKMEM #23: a + b = 2 * (a | b) - (a ^ b) ==>
+        // (a + b + 1) / 2 = (a | b) - ((a ^ b) >> 1)
+        unsigned int s;
+        s = a ^ b;
+        r = a | b;
+        s = s & 0xfffefffe; // ensure shift doesn't cross half-word boundaries
+        s = s >> 1;
+        r = r - s;
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vseteq2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset2.u32.u32.eq %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        unsigned int c;
+        r = a ^ b;          // 0x0000 if a == b
+        c = r | 0x80008000; // set msbs, to catch carry out
+        r = r ^ c;          // extract msbs, msb = 1 if r < 0x8000
+        c = c - 0x00010001; // msb = 0, if r was 0x0000 or 0x8000
+        c = r & ~c;         // msb = 1, if r was 0x0000
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpeq2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vseteq2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        r = a ^ b;          // 0x0000 if a == b
+        c = r | 0x80008000; // set msbs, to catch carry out
+        r = r ^ c;          // extract msbs, msb = 1 if r < 0x8000
+        c = c - 0x00010001; // msb = 0, if r was 0x0000 or 0x8000
+        c = r & ~c;         // msb = 1, if r was 0x0000
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetge2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset2.u32.u32.ge %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavrg2(a, b);   // (a + ~b + 1) / 2 = (a - b) / 2
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpge2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetge2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavrg2(a, b);   // (a + ~b + 1) / 2 = (a - b) / 2
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetgt2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset2.u32.u32.gt %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavg2(a, b);    // (a + ~b) / 2 = (a - b) / 2 [rounded down]
+        c = c & 0x80008000; // msbs = carry-outs
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpgt2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetgt2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavg2(a, b);    // (a + ~b) / 2 = (a - b) / 2 [rounded down]
+        c = c & 0x80008000; // msbs = carry-outs
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetle2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset2.u32.u32.le %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavrg2(a, b);   // (b + ~a + 1) / 2 = (b - a) / 2
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmple2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetle2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavrg2(a, b);   // (b + ~a + 1) / 2 = (b - a) / 2
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetlt2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset2.u32.u32.lt %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavg2(a, b);    // (b + ~a) / 2 = (b - a) / 2 [rounded down]
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmplt2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetlt2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavg2(a, b);    // (b + ~a) / 2 = (b - a) / 2 [rounded down]
+        c = c & 0x80008000; // msb = carry-outs
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetne2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm ("vset2.u32.u32.ne %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        unsigned int c;
+        r = a ^ b;          // 0x0000 if a == b
+        c = r | 0x80008000; // set msbs, to catch carry out
+        c = c - 0x00010001; // msb = 0, if r was 0x0000 or 0x8000
+        c = r | c;          // msb = 1, if r was not 0x0000
+        c = c & 0x80008000; // extract msbs
+        r = c >> 15;        // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpne2(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetne2(a, b);
+        c = r << 16;        // convert bool
+        r = c - r;          //  into mask
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        r = a ^ b;          // 0x0000 if a == b
+        c = r | 0x80008000; // set msbs, to catch carry out
+        c = c - 0x00010001; // msb = 0, if r was 0x0000 or 0x8000
+        c = r | c;          // msb = 1, if r was not 0x0000
+        c = c & 0x80008000; // extract msbs
+        r = c >> 15;        // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vmax2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vmax2.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vmax.u32.u32.u32 %0.h0, %1.h0, %2.h0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmax.u32.u32.u32 %0.h1, %1.h1, %2.h1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s, t, u;
+        r = a & 0x0000ffff; // extract low halfword
+        s = b & 0x0000ffff; // extract low halfword
+        t = ::max(r, s);    // maximum of low halfwords
+        r = a & 0xffff0000; // extract high halfword
+        s = b & 0xffff0000; // extract high halfword
+        u = ::max(r, s);    // maximum of high halfwords
+        r = t | u;          // combine halfword maximums
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vmin2(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vmin2.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vmin.u32.u32.u32 %0.h0, %1.h0, %2.h0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmin.u32.u32.u32 %0.h1, %1.h1, %2.h1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s, t, u;
+        r = a & 0x0000ffff; // extract low halfword
+        s = b & 0x0000ffff; // extract low halfword
+        t = ::min(r, s);    // minimum of low halfwords
+        r = a & 0xffff0000; // extract high halfword
+        s = b & 0xffff0000; // extract high halfword
+        u = ::min(r, s);    // minimum of high halfwords
+        r = t | u;          // combine halfword minimums
+    #endif
+
+        return r;
+    }
+
+    // 4
+
+    static __device__ __forceinline__ unsigned int vadd4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vadd4.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vadd.u32.u32.u32.sat %0.b0, %1.b0, %2.b0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vadd.u32.u32.u32.sat %0.b1, %1.b1, %2.b1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vadd.u32.u32.u32.sat %0.b2, %1.b2, %2.b2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vadd.u32.u32.u32.sat %0.b3, %1.b3, %2.b3, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s, t;
+        s = a ^ b;          // sum bits
+        r = a & 0x7f7f7f7f; // clear msbs
+        t = b & 0x7f7f7f7f; // clear msbs
+        s = s & 0x80808080; // msb sum bits
+        r = r + t;          // add without msbs, record carry-out in msbs
+        r = r ^ s;          // sum of msb sum and carry-in bits, w/o carry-out
+    #endif /* __CUDA_ARCH__ >= 300 */
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsub4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vsub4.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vsub.u32.u32.u32.sat %0.b0, %1.b0, %2.b0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vsub.u32.u32.u32.sat %0.b1, %1.b1, %2.b1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vsub.u32.u32.u32.sat %0.b2, %1.b2, %2.b2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vsub.u32.u32.u32.sat %0.b3, %1.b3, %2.b3, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s, t;
+        s = a ^ ~b;         // inverted sum bits
+        r = a | 0x80808080; // set msbs
+        t = b & 0x7f7f7f7f; // clear msbs
+        s = s & 0x80808080; // inverted msb sum bits
+        r = r - t;          // subtract w/o msbs, record inverted borrows in msb
+        r = r ^ s;          // combine inverted msb sum bits and borrows
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vavg4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, s;
+
+        // HAKMEM #23: a + b = 2 * (a & b) + (a ^ b) ==>
+        // (a + b) / 2 = (a & b) + ((a ^ b) >> 1)
+        s = a ^ b;
+        r = a & b;
+        s = s & 0xfefefefe; // ensure following shift doesn't cross byte boundaries
+        s = s >> 1;
+        s = r + s;
+
+        return s;
+    }
+
+    static __device__ __forceinline__ unsigned int vavrg4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vavrg4.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // HAKMEM #23: a + b = 2 * (a | b) - (a ^ b) ==>
+        // (a + b + 1) / 2 = (a | b) - ((a ^ b) >> 1)
+        unsigned int c;
+        c = a ^ b;
+        r = a | b;
+        c = c & 0xfefefefe; // ensure following shift doesn't cross byte boundaries
+        c = c >> 1;
+        r = r - c;
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vseteq4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.eq %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        unsigned int c;
+        r = a ^ b;          // 0x00 if a == b
+        c = r | 0x80808080; // set msbs, to catch carry out
+        r = r ^ c;          // extract msbs, msb = 1 if r < 0x80
+        c = c - 0x01010101; // msb = 0, if r was 0x00 or 0x80
+        c = r & ~c;         // msb = 1, if r was 0x00
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpeq4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, t;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vseteq4(a, b);
+        t = r << 8;         // convert bool
+        r = t - r;          //  to mask
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        t = a ^ b;          // 0x00 if a == b
+        r = t | 0x80808080; // set msbs, to catch carry out
+        t = t ^ r;          // extract msbs, msb = 1 if t < 0x80
+        r = r - 0x01010101; // msb = 0, if t was 0x00 or 0x80
+        r = t & ~r;         // msb = 1, if t was 0x00
+        t = r >> 7;         // build mask
+        t = r - t;          //  from
+        r = t | r;          //   msbs
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetle4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.le %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavrg4(a, b);   // (b + ~a + 1) / 2 = (b - a) / 2
+        c = c & 0x80808080; // msb = carry-outs
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmple4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetle4(a, b);
+        c = r << 8;         // convert bool
+        r = c - r;          //  to mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavrg4(a, b);   // (b + ~a + 1) / 2 = (b - a) / 2
+        c = c & 0x80808080; // msbs = carry-outs
+        r = c >> 7;         // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetlt4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.lt %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavg4(a, b);    // (b + ~a) / 2 = (b - a) / 2 [rounded down]
+        c = c & 0x80808080; // msb = carry-outs
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmplt4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetlt4(a, b);
+        c = r << 8;         // convert bool
+        r = c - r;          //  to mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(a));
+        c = vavg4(a, b);    // (b + ~a) / 2 = (b - a) / 2 [rounded down]
+        c = c & 0x80808080; // msbs = carry-outs
+        r = c >> 7;         // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetge4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.ge %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavrg4(a, b);   // (a + ~b + 1) / 2 = (a - b) / 2
+        c = c & 0x80808080; // msb = carry-outs
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpge4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, s;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetge4(a, b);
+        s = r << 8;         // convert bool
+        r = s - r;          //  to mask
+    #else
+        asm ("not.b32 %0,%0;" : "+r"(b));
+        r = vavrg4 (a, b);  // (a + ~b + 1) / 2 = (a - b) / 2
+        r = r & 0x80808080; // msb = carry-outs
+        s = r >> 7;         // build mask
+        s = r - s;          //  from
+        r = s | r;          //   msbs
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetgt4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.gt %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int c;
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavg4(a, b);    // (a + ~b) / 2 = (a - b) / 2 [rounded down]
+        c = c & 0x80808080; // msb = carry-outs
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpgt4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetgt4(a, b);
+        c = r << 8;         // convert bool
+        r = c - r;          //  to mask
+    #else
+        asm("not.b32 %0, %0;" : "+r"(b));
+        c = vavg4(a, b);    // (a + ~b) / 2 = (a - b) / 2 [rounded down]
+        c = c & 0x80808080; // msb = carry-outs
+        r = c >> 7;         // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vsetne4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vset4.u32.u32.ne %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        unsigned int c;
+        r = a ^ b;          // 0x00 if a == b
+        c = r | 0x80808080; // set msbs, to catch carry out
+        c = c - 0x01010101; // msb = 0, if r was 0x00 or 0x80
+        c = r | c;          // msb = 1, if r was not 0x00
+        c = c & 0x80808080; // extract msbs
+        r = c >> 7;         // convert to bool
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vcmpne4(unsigned int a, unsigned int b)
+    {
+        unsigned int r, c;
+
+    #if __CUDA_ARCH__ >= 300
+        r = vsetne4(a, b);
+        c = r << 8;         // convert bool
+        r = c - r;          //  to mask
+    #else
+        // inspired by Alan Mycroft's null-byte detection algorithm:
+        // null_byte(x) = ((x - 0x01010101) & (~x & 0x80808080))
+        r = a ^ b;          // 0x00 if a == b
+        c = r | 0x80808080; // set msbs, to catch carry out
+        c = c - 0x01010101; // msb = 0, if r was 0x00 or 0x80
+        c = r | c;          // msb = 1, if r was not 0x00
+        c = c & 0x80808080; // extract msbs
+        r = c >> 7;         // convert
+        r = c - r;          //  msbs to
+        r = c | r;          //   mask
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vabsdiff4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vabsdiff4.u32.u32.u32.sat %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vabsdiff.u32.u32.u32.sat %0.b0, %1.b0, %2.b0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vabsdiff.u32.u32.u32.sat %0.b1, %1.b1, %2.b1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vabsdiff.u32.u32.u32.sat %0.b2, %1.b2, %2.b2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vabsdiff.u32.u32.u32.sat %0.b3, %1.b3, %2.b3, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s;
+        s = vcmpge4(a, b);  // mask = 0xff if a >= b
+        r = a ^ b;          //
+        s = (r &  s) ^ b;   // select a when a >= b, else select b => max(a,b)
+        r = s ^ r;          // select a when b >= a, else select b => min(a,b)
+        r = s - r;          // |a - b| = max(a,b) - min(a,b);
+    #endif
+
+        return r;
+    }
+
+    static __device__ __forceinline__ unsigned int vmax4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vmax4.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vmax.u32.u32.u32 %0.b0, %1.b0, %2.b0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmax.u32.u32.u32 %0.b1, %1.b1, %2.b1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmax.u32.u32.u32 %0.b2, %1.b2, %2.b2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmax.u32.u32.u32 %0.b3, %1.b3, %2.b3, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s;
+        s = vcmpge4(a, b);  // mask = 0xff if a >= b
+        r = a & s;          // select a when b >= a
+        s = b & ~s;         // select b when b < a
+        r = r | s;          // combine byte selections
+    #endif
+
+        return r;           // byte-wise unsigned maximum
+    }
+
+    static __device__ __forceinline__ unsigned int vmin4(unsigned int a, unsigned int b)
+    {
+        unsigned int r = 0;
+
+    #if __CUDA_ARCH__ >= 300
+        asm("vmin4.u32.u32.u32 %0, %1, %2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #elif __CUDA_ARCH__ >= 200
+        asm("vmin.u32.u32.u32 %0.b0, %1.b0, %2.b0, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmin.u32.u32.u32 %0.b1, %1.b1, %2.b1, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmin.u32.u32.u32 %0.b2, %1.b2, %2.b2, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+        asm("vmin.u32.u32.u32 %0.b3, %1.b3, %2.b3, %3;" : "=r"(r) : "r"(a), "r"(b), "r"(r));
+    #else
+        unsigned int s;
+        s = vcmpge4(b, a);  // mask = 0xff if a >= b
+        r = a & s;          // select a when b >= a
+        s = b & ~s;         // select b when b < a
+        r = r | s;          // combine byte selections
+    #endif
+
+        return r;
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_SIMD_FUNCTIONS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/transform.hpp b/3rdparty/include/opencv2/core/cuda/transform.hpp
new file mode 100644
index 0000000..08a313d
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/transform.hpp
@@ -0,0 +1,75 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_TRANSFORM_HPP__
+#define __OPENCV_CUDA_TRANSFORM_HPP__
+
+#include "common.hpp"
+#include "utility.hpp"
+#include "detail/transform_detail.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <typename T, typename D, typename UnOp, typename Mask>
+    static inline void transform(PtrStepSz<T> src, PtrStepSz<D> dst, UnOp op, const Mask& mask, cudaStream_t stream)
+    {
+        typedef TransformFunctorTraits<UnOp> ft;
+        transform_detail::TransformDispatcher<VecTraits<T>::cn == 1 && VecTraits<D>::cn == 1 && ft::smart_shift != 1>::call(src, dst, op, mask, stream);
+    }
+
+    template <typename T1, typename T2, typename D, typename BinOp, typename Mask>
+    static inline void transform(PtrStepSz<T1> src1, PtrStepSz<T2> src2, PtrStepSz<D> dst, BinOp op, const Mask& mask, cudaStream_t stream)
+    {
+        typedef TransformFunctorTraits<BinOp> ft;
+        transform_detail::TransformDispatcher<VecTraits<T1>::cn == 1 && VecTraits<T2>::cn == 1 && VecTraits<D>::cn == 1 && ft::smart_shift != 1>::call(src1, src2, dst, op, mask, stream);
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_TRANSFORM_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/type_traits.hpp b/3rdparty/include/opencv2/core/cuda/type_traits.hpp
new file mode 100644
index 0000000..f2471eb
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/type_traits.hpp
@@ -0,0 +1,90 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_TYPE_TRAITS_HPP__
+#define __OPENCV_CUDA_TYPE_TRAITS_HPP__
+
+#include "detail/type_traits_detail.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <typename T> struct IsSimpleParameter
+    {
+        enum {value = type_traits_detail::IsIntegral<T>::value || type_traits_detail::IsFloat<T>::value ||
+            type_traits_detail::PointerTraits<typename type_traits_detail::ReferenceTraits<T>::type>::value};
+    };
+
+    template <typename T> struct TypeTraits
+    {
+        typedef typename type_traits_detail::UnConst<T>::type                                                NonConstType;
+        typedef typename type_traits_detail::UnVolatile<T>::type                                             NonVolatileType;
+        typedef typename type_traits_detail::UnVolatile<typename type_traits_detail::UnConst<T>::type>::type UnqualifiedType;
+        typedef typename type_traits_detail::PointerTraits<UnqualifiedType>::type                            PointeeType;
+        typedef typename type_traits_detail::ReferenceTraits<T>::type                                        ReferredType;
+
+        enum { isConst          = type_traits_detail::UnConst<T>::value };
+        enum { isVolatile       = type_traits_detail::UnVolatile<T>::value };
+
+        enum { isReference      = type_traits_detail::ReferenceTraits<UnqualifiedType>::value };
+        enum { isPointer        = type_traits_detail::PointerTraits<typename type_traits_detail::ReferenceTraits<UnqualifiedType>::type>::value };
+
+        enum { isUnsignedInt    = type_traits_detail::IsUnsignedIntegral<UnqualifiedType>::value };
+        enum { isSignedInt      = type_traits_detail::IsSignedIntergral<UnqualifiedType>::value };
+        enum { isIntegral       = type_traits_detail::IsIntegral<UnqualifiedType>::value };
+        enum { isFloat          = type_traits_detail::IsFloat<UnqualifiedType>::value };
+        enum { isArith          = isIntegral || isFloat };
+        enum { isVec            = type_traits_detail::IsVec<UnqualifiedType>::value };
+
+        typedef typename type_traits_detail::Select<IsSimpleParameter<UnqualifiedType>::value,
+            T, typename type_traits_detail::AddParameterType<T>::type>::type ParameterType;
+    };
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_TYPE_TRAITS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/utility.hpp b/3rdparty/include/opencv2/core/cuda/utility.hpp
new file mode 100644
index 0000000..ed60471
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/utility.hpp
@@ -0,0 +1,221 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_UTILITY_HPP__
+#define __OPENCV_CUDA_UTILITY_HPP__
+
+#include "saturate_cast.hpp"
+#include "datamov_utils.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    #define OPENCV_CUDA_LOG_WARP_SIZE        (5)
+    #define OPENCV_CUDA_WARP_SIZE            (1 << OPENCV_CUDA_LOG_WARP_SIZE)
+    #define OPENCV_CUDA_LOG_MEM_BANKS        ((__CUDA_ARCH__ >= 200) ? 5 : 4) // 32 banks on fermi, 16 on tesla
+    #define OPENCV_CUDA_MEM_BANKS            (1 << OPENCV_CUDA_LOG_MEM_BANKS)
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // swap
+
+    template <typename T> void __device__ __host__ __forceinline__ swap(T& a, T& b)
+    {
+        const T temp = a;
+        a = b;
+        b = temp;
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // Mask Reader
+
+    struct SingleMask
+    {
+        explicit __host__ __device__ __forceinline__ SingleMask(PtrStepb mask_) : mask(mask_) {}
+        __host__ __device__ __forceinline__ SingleMask(const SingleMask& mask_): mask(mask_.mask){}
+
+        __device__ __forceinline__ bool operator()(int y, int x) const
+        {
+            return mask.ptr(y)[x] != 0;
+        }
+
+        PtrStepb mask;
+    };
+
+    struct SingleMaskChannels
+    {
+        __host__ __device__ __forceinline__ SingleMaskChannels(PtrStepb mask_, int channels_)
+        : mask(mask_), channels(channels_) {}
+        __host__ __device__ __forceinline__ SingleMaskChannels(const SingleMaskChannels& mask_)
+            :mask(mask_.mask), channels(mask_.channels){}
+
+        __device__ __forceinline__ bool operator()(int y, int x) const
+        {
+            return mask.ptr(y)[x / channels] != 0;
+        }
+
+        PtrStepb mask;
+        int channels;
+    };
+
+    struct MaskCollection
+    {
+        explicit __host__ __device__ __forceinline__ MaskCollection(PtrStepb* maskCollection_)
+            : maskCollection(maskCollection_) {}
+
+        __device__ __forceinline__ MaskCollection(const MaskCollection& masks_)
+            : maskCollection(masks_.maskCollection), curMask(masks_.curMask){}
+
+        __device__ __forceinline__ void next()
+        {
+            curMask = *maskCollection++;
+        }
+        __device__ __forceinline__ void setMask(int z)
+        {
+            curMask = maskCollection[z];
+        }
+
+        __device__ __forceinline__ bool operator()(int y, int x) const
+        {
+            uchar val;
+            return curMask.data == 0 || (ForceGlob<uchar>::Load(curMask.ptr(y), x, val), (val != 0));
+        }
+
+        const PtrStepb* maskCollection;
+        PtrStepb curMask;
+    };
+
+    struct WithOutMask
+    {
+        __host__ __device__ __forceinline__ WithOutMask(){}
+        __host__ __device__ __forceinline__ WithOutMask(const WithOutMask&){}
+
+        __device__ __forceinline__ void next() const
+        {
+        }
+        __device__ __forceinline__ void setMask(int) const
+        {
+        }
+
+        __device__ __forceinline__ bool operator()(int, int) const
+        {
+            return true;
+        }
+
+        __device__ __forceinline__ bool operator()(int, int, int) const
+        {
+            return true;
+        }
+
+        static __device__ __forceinline__ bool check(int, int)
+        {
+            return true;
+        }
+
+        static __device__ __forceinline__ bool check(int, int, int)
+        {
+            return true;
+        }
+    };
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // Solve linear system
+
+    // solve 2x2 linear system Ax=b
+    template <typename T> __device__ __forceinline__ bool solve2x2(const T A[2][2], const T b[2], T x[2])
+    {
+        T det = A[0][0] * A[1][1] - A[1][0] * A[0][1];
+
+        if (det != 0)
+        {
+            double invdet = 1.0 / det;
+
+            x[0] = saturate_cast<T>(invdet * (b[0] * A[1][1] - b[1] * A[0][1]));
+
+            x[1] = saturate_cast<T>(invdet * (A[0][0] * b[1] - A[1][0] * b[0]));
+
+            return true;
+        }
+
+        return false;
+    }
+
+    // solve 3x3 linear system Ax=b
+    template <typename T> __device__ __forceinline__ bool solve3x3(const T A[3][3], const T b[3], T x[3])
+    {
+        T det = A[0][0] * (A[1][1] * A[2][2] - A[1][2] * A[2][1])
+              - A[0][1] * (A[1][0] * A[2][2] - A[1][2] * A[2][0])
+              + A[0][2] * (A[1][0] * A[2][1] - A[1][1] * A[2][0]);
+
+        if (det != 0)
+        {
+            double invdet = 1.0 / det;
+
+            x[0] = saturate_cast<T>(invdet *
+                (b[0]    * (A[1][1] * A[2][2] - A[1][2] * A[2][1]) -
+                 A[0][1] * (b[1]    * A[2][2] - A[1][2] * b[2]   ) +
+                 A[0][2] * (b[1]    * A[2][1] - A[1][1] * b[2]   )));
+
+            x[1] = saturate_cast<T>(invdet *
+                (A[0][0] * (b[1]    * A[2][2] - A[1][2] * b[2]   ) -
+                 b[0]    * (A[1][0] * A[2][2] - A[1][2] * A[2][0]) +
+                 A[0][2] * (A[1][0] * b[2]    - b[1]    * A[2][0])));
+
+            x[2] = saturate_cast<T>(invdet *
+                (A[0][0] * (A[1][1] * b[2]    - b[1]    * A[2][1]) -
+                 A[0][1] * (A[1][0] * b[2]    - b[1]    * A[2][0]) +
+                 b[0]    * (A[1][0] * A[2][1] - A[1][1] * A[2][0])));
+
+            return true;
+        }
+
+        return false;
+    }
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_UTILITY_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/vec_distance.hpp b/3rdparty/include/opencv2/core/cuda/vec_distance.hpp
new file mode 100644
index 0000000..013b747
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/vec_distance.hpp
@@ -0,0 +1,232 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_VEC_DISTANCE_HPP__
+#define __OPENCV_CUDA_VEC_DISTANCE_HPP__
+
+#include "reduce.hpp"
+#include "functional.hpp"
+#include "detail/vec_distance_detail.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <typename T> struct L1Dist
+    {
+        typedef int value_type;
+        typedef int result_type;
+
+        __device__ __forceinline__ L1Dist() : mySum(0) {}
+
+        __device__ __forceinline__ void reduceIter(int val1, int val2)
+        {
+            mySum = __sad(val1, val2, mySum);
+        }
+
+        template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(int* smem, int tid)
+        {
+            reduce<THREAD_DIM>(smem, mySum, tid, plus<int>());
+        }
+
+        __device__ __forceinline__ operator int() const
+        {
+            return mySum;
+        }
+
+        int mySum;
+    };
+    template <> struct L1Dist<float>
+    {
+        typedef float value_type;
+        typedef float result_type;
+
+        __device__ __forceinline__ L1Dist() : mySum(0.0f) {}
+
+        __device__ __forceinline__ void reduceIter(float val1, float val2)
+        {
+            mySum += ::fabs(val1 - val2);
+        }
+
+        template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(float* smem, int tid)
+        {
+            reduce<THREAD_DIM>(smem, mySum, tid, plus<float>());
+        }
+
+        __device__ __forceinline__ operator float() const
+        {
+            return mySum;
+        }
+
+        float mySum;
+    };
+
+    struct L2Dist
+    {
+        typedef float value_type;
+        typedef float result_type;
+
+        __device__ __forceinline__ L2Dist() : mySum(0.0f) {}
+
+        __device__ __forceinline__ void reduceIter(float val1, float val2)
+        {
+            float reg = val1 - val2;
+            mySum += reg * reg;
+        }
+
+        template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(float* smem, int tid)
+        {
+            reduce<THREAD_DIM>(smem, mySum, tid, plus<float>());
+        }
+
+        __device__ __forceinline__ operator float() const
+        {
+            return sqrtf(mySum);
+        }
+
+        float mySum;
+    };
+
+    struct HammingDist
+    {
+        typedef int value_type;
+        typedef int result_type;
+
+        __device__ __forceinline__ HammingDist() : mySum(0) {}
+
+        __device__ __forceinline__ void reduceIter(int val1, int val2)
+        {
+            mySum += __popc(val1 ^ val2);
+        }
+
+        template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(int* smem, int tid)
+        {
+            reduce<THREAD_DIM>(smem, mySum, tid, plus<int>());
+        }
+
+        __device__ __forceinline__ operator int() const
+        {
+            return mySum;
+        }
+
+        int mySum;
+    };
+
+    // calc distance between two vectors in global memory
+    template <int THREAD_DIM, typename Dist, typename T1, typename T2>
+    __device__ void calcVecDiffGlobal(const T1* vec1, const T2* vec2, int len, Dist& dist, typename Dist::result_type* smem, int tid)
+    {
+        for (int i = tid; i < len; i += THREAD_DIM)
+        {
+            T1 val1;
+            ForceGlob<T1>::Load(vec1, i, val1);
+
+            T2 val2;
+            ForceGlob<T2>::Load(vec2, i, val2);
+
+            dist.reduceIter(val1, val2);
+        }
+
+        dist.reduceAll<THREAD_DIM>(smem, tid);
+    }
+
+    // calc distance between two vectors, first vector is cached in register or shared memory, second vector is in global memory
+    template <int THREAD_DIM, int MAX_LEN, bool LEN_EQ_MAX_LEN, typename Dist, typename T1, typename T2>
+    __device__ __forceinline__ void calcVecDiffCached(const T1* vecCached, const T2* vecGlob, int len, Dist& dist, typename Dist::result_type* smem, int tid)
+    {
+        vec_distance_detail::VecDiffCachedCalculator<THREAD_DIM, MAX_LEN, LEN_EQ_MAX_LEN>::calc(vecCached, vecGlob, len, dist, tid);
+
+        dist.reduceAll<THREAD_DIM>(smem, tid);
+    }
+
+    // calc distance between two vectors in global memory
+    template <int THREAD_DIM, typename T1> struct VecDiffGlobal
+    {
+        explicit __device__ __forceinline__ VecDiffGlobal(const T1* vec1_, int = 0, void* = 0, int = 0, int = 0)
+        {
+            vec1 = vec1_;
+        }
+
+        template <typename T2, typename Dist>
+        __device__ __forceinline__ void calc(const T2* vec2, int len, Dist& dist, typename Dist::result_type* smem, int tid) const
+        {
+            calcVecDiffGlobal<THREAD_DIM>(vec1, vec2, len, dist, smem, tid);
+        }
+
+        const T1* vec1;
+    };
+
+    // calc distance between two vectors, first vector is cached in register memory, second vector is in global memory
+    template <int THREAD_DIM, int MAX_LEN, bool LEN_EQ_MAX_LEN, typename U> struct VecDiffCachedRegister
+    {
+        template <typename T1> __device__ __forceinline__ VecDiffCachedRegister(const T1* vec1, int len, U* smem, int glob_tid, int tid)
+        {
+            if (glob_tid < len)
+                smem[glob_tid] = vec1[glob_tid];
+            __syncthreads();
+
+            U* vec1ValsPtr = vec1Vals;
+
+            #pragma unroll
+            for (int i = tid; i < MAX_LEN; i += THREAD_DIM)
+                *vec1ValsPtr++ = smem[i];
+
+            __syncthreads();
+        }
+
+        template <typename T2, typename Dist>
+        __device__ __forceinline__ void calc(const T2* vec2, int len, Dist& dist, typename Dist::result_type* smem, int tid) const
+        {
+            calcVecDiffCached<THREAD_DIM, MAX_LEN, LEN_EQ_MAX_LEN>(vec1Vals, vec2, len, dist, smem, tid);
+        }
+
+        U vec1Vals[MAX_LEN / THREAD_DIM];
+    };
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_VEC_DISTANCE_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/vec_math.hpp b/3rdparty/include/opencv2/core/cuda/vec_math.hpp
new file mode 100644
index 0000000..8595fb8
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/vec_math.hpp
@@ -0,0 +1,930 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_VECMATH_HPP__
+#define __OPENCV_CUDA_VECMATH_HPP__
+
+#include "vec_traits.hpp"
+#include "saturate_cast.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+
+// saturate_cast
+
+namespace vec_math_detail
+{
+    template <int cn, typename VecD> struct SatCastHelper;
+    template <typename VecD> struct SatCastHelper<1, VecD>
+    {
+        template <typename VecS> static __device__ __forceinline__ VecD cast(const VecS& v)
+        {
+            typedef typename VecTraits<VecD>::elem_type D;
+            return VecTraits<VecD>::make(saturate_cast<D>(v.x));
+        }
+    };
+    template <typename VecD> struct SatCastHelper<2, VecD>
+    {
+        template <typename VecS> static __device__ __forceinline__ VecD cast(const VecS& v)
+        {
+            typedef typename VecTraits<VecD>::elem_type D;
+            return VecTraits<VecD>::make(saturate_cast<D>(v.x), saturate_cast<D>(v.y));
+        }
+    };
+    template <typename VecD> struct SatCastHelper<3, VecD>
+    {
+        template <typename VecS> static __device__ __forceinline__ VecD cast(const VecS& v)
+        {
+            typedef typename VecTraits<VecD>::elem_type D;
+            return VecTraits<VecD>::make(saturate_cast<D>(v.x), saturate_cast<D>(v.y), saturate_cast<D>(v.z));
+        }
+    };
+    template <typename VecD> struct SatCastHelper<4, VecD>
+    {
+        template <typename VecS> static __device__ __forceinline__ VecD cast(const VecS& v)
+        {
+            typedef typename VecTraits<VecD>::elem_type D;
+            return VecTraits<VecD>::make(saturate_cast<D>(v.x), saturate_cast<D>(v.y), saturate_cast<D>(v.z), saturate_cast<D>(v.w));
+        }
+    };
+
+    template <typename VecD, typename VecS> static __device__ __forceinline__ VecD saturate_cast_helper(const VecS& v)
+    {
+        return SatCastHelper<VecTraits<VecD>::cn, VecD>::cast(v);
+    }
+}
+
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uchar1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const char1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const ushort1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const short1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uint1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const int1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const float1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const double1& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uchar2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const char2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const ushort2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const short2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uint2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const int2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const float2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const double2& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uchar3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const char3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const ushort3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const short3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uint3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const int3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const float3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const double3& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uchar4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const char4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const ushort4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const short4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const uint4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const int4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const float4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+template<typename T> static __device__ __forceinline__ T saturate_cast(const double4& v) {return vec_math_detail::saturate_cast_helper<T>(v);}
+
+// unary operators
+
+#define CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(op, input_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 operator op(const input_type ## 1 & a) \
+    { \
+        return VecTraits<output_type ## 1>::make(op (a.x)); \
+    } \
+    __device__ __forceinline__ output_type ## 2 operator op(const input_type ## 2 & a) \
+    { \
+        return VecTraits<output_type ## 2>::make(op (a.x), op (a.y)); \
+    } \
+    __device__ __forceinline__ output_type ## 3 operator op(const input_type ## 3 & a) \
+    { \
+        return VecTraits<output_type ## 3>::make(op (a.x), op (a.y), op (a.z)); \
+    } \
+    __device__ __forceinline__ output_type ## 4 operator op(const input_type ## 4 & a) \
+    { \
+        return VecTraits<output_type ## 4>::make(op (a.x), op (a.y), op (a.z), op (a.w)); \
+    }
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(-, char, char)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(-, short, short)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(-, int, int)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(-, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(-, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(!, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, char, char)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, short, short)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, int, int)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_OP(~, uint, uint)
+
+#undef CV_CUDEV_IMPLEMENT_VEC_UNARY_OP
+
+// unary functions
+
+#define CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(func_name, func, input_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 func_name(const input_type ## 1 & a) \
+    { \
+        return VecTraits<output_type ## 1>::make(func (a.x)); \
+    } \
+    __device__ __forceinline__ output_type ## 2 func_name(const input_type ## 2 & a) \
+    { \
+        return VecTraits<output_type ## 2>::make(func (a.x), func (a.y)); \
+    } \
+    __device__ __forceinline__ output_type ## 3 func_name(const input_type ## 3 & a) \
+    { \
+        return VecTraits<output_type ## 3>::make(func (a.x), func (a.y), func (a.z)); \
+    } \
+    __device__ __forceinline__ output_type ## 4 func_name(const input_type ## 4 & a) \
+    { \
+        return VecTraits<output_type ## 4>::make(func (a.x), func (a.y), func (a.z), func (a.w)); \
+    }
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, /*::abs*/, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, ::abs, char, char)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, /*::abs*/, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, ::abs, short, short)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, ::abs, int, int)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, /*::abs*/, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, ::fabsf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(abs, ::fabs, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrtf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sqrt, ::sqrt, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::expf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp, ::exp, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2f, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp2, ::exp2, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10f, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(exp10, ::exp10, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::logf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log, ::log, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2f, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log2, ::log2, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10f, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(log10, ::log10, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sinf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sin, ::sin, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cosf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cos, ::cos, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tanf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tan, ::tan, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asinf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asin, ::asin, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acosf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acos, ::acos, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atanf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atan, ::atan, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinhf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(sinh, ::sinh, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::coshf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(cosh, ::cosh, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanhf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(tanh, ::tanh, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinhf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(asinh, ::asinh, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acoshf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(acosh, ::acosh, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanhf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC(atanh, ::atanh, double, double)
+
+#undef CV_CUDEV_IMPLEMENT_VEC_UNARY_FUNC
+
+// binary operators (vec & vec)
+
+#define CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(op, input_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 operator op(const input_type ## 1 & a, const input_type ## 1 & b) \
+    { \
+        return VecTraits<output_type ## 1>::make(a.x op b.x); \
+    } \
+    __device__ __forceinline__ output_type ## 2 operator op(const input_type ## 2 & a, const input_type ## 2 & b) \
+    { \
+        return VecTraits<output_type ## 2>::make(a.x op b.x, a.y op b.y); \
+    } \
+    __device__ __forceinline__ output_type ## 3 operator op(const input_type ## 3 & a, const input_type ## 3 & b) \
+    { \
+        return VecTraits<output_type ## 3>::make(a.x op b.x, a.y op b.y, a.z op b.z); \
+    } \
+    __device__ __forceinline__ output_type ## 4 operator op(const input_type ## 4 & a, const input_type ## 4 & b) \
+    { \
+        return VecTraits<output_type ## 4>::make(a.x op b.x, a.y op b.y, a.z op b.z, a.w op b.w); \
+    }
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, uchar, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, char, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, ushort, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, short, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(+, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, uchar, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, char, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, ushort, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, short, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(-, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, uchar, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, char, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, ushort, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, short, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(*, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, uchar, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, char, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, ushort, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, short, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(/, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(==, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(!=, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(>=, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(<=, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&&, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, char, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, ushort, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, short, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, int, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, uint, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, float, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(||, double, uchar)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, char, char)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, short, short)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(&, uint, uint)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, char, char)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, short, short)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(|, uint, uint)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, char, char)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, short, short)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_OP(^, uint, uint)
+
+#undef CV_CUDEV_IMPLEMENT_VEC_BINARY_OP
+
+// binary operators (vec & scalar)
+
+#define CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(op, input_type, scalar_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 operator op(const input_type ## 1 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 1>::make(a.x op s); \
+    } \
+    __device__ __forceinline__ output_type ## 1 operator op(scalar_type s, const input_type ## 1 & b) \
+    { \
+        return VecTraits<output_type ## 1>::make(s op b.x); \
+    } \
+    __device__ __forceinline__ output_type ## 2 operator op(const input_type ## 2 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 2>::make(a.x op s, a.y op s); \
+    } \
+    __device__ __forceinline__ output_type ## 2 operator op(scalar_type s, const input_type ## 2 & b) \
+    { \
+        return VecTraits<output_type ## 2>::make(s op b.x, s op b.y); \
+    } \
+    __device__ __forceinline__ output_type ## 3 operator op(const input_type ## 3 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 3>::make(a.x op s, a.y op s, a.z op s); \
+    } \
+    __device__ __forceinline__ output_type ## 3 operator op(scalar_type s, const input_type ## 3 & b) \
+    { \
+        return VecTraits<output_type ## 3>::make(s op b.x, s op b.y, s op b.z); \
+    } \
+    __device__ __forceinline__ output_type ## 4 operator op(const input_type ## 4 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 4>::make(a.x op s, a.y op s, a.z op s, a.w op s); \
+    } \
+    __device__ __forceinline__ output_type ## 4 operator op(scalar_type s, const input_type ## 4 & b) \
+    { \
+        return VecTraits<output_type ## 4>::make(s op b.x, s op b.y, s op b.z, s op b.w); \
+    }
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uchar, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, char, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, ushort, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, short, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(+, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uchar, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, char, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, ushort, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, short, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(-, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uchar, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, char, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, ushort, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, short, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(*, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uchar, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, char, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, ushort, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, short, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(/, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(==, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(!=, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(>=, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(<=, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&&, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, char, char, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, ushort, ushort, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, short, short, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, int, int, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, uint, uint, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, float, float, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(||, double, double, uchar)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, char, char, char)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, ushort, ushort, ushort)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, short, short, short)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(&, uint, uint, uint)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, char, char, char)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, ushort, ushort, ushort)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, short, short, short)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(|, uint, uint, uint)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, char, char, char)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, ushort, ushort, ushort)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, short, short, short)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP(^, uint, uint, uint)
+
+#undef CV_CUDEV_IMPLEMENT_SCALAR_BINARY_OP
+
+// binary function (vec & vec)
+
+#define CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(func_name, func, input_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 func_name(const input_type ## 1 & a, const input_type ## 1 & b) \
+    { \
+        return VecTraits<output_type ## 1>::make(func (a.x, b.x)); \
+    } \
+    __device__ __forceinline__ output_type ## 2 func_name(const input_type ## 2 & a, const input_type ## 2 & b) \
+    { \
+        return VecTraits<output_type ## 2>::make(func (a.x, b.x), func (a.y, b.y)); \
+    } \
+    __device__ __forceinline__ output_type ## 3 func_name(const input_type ## 3 & a, const input_type ## 3 & b) \
+    { \
+        return VecTraits<output_type ## 3>::make(func (a.x, b.x), func (a.y, b.y), func (a.z, b.z)); \
+    } \
+    __device__ __forceinline__ output_type ## 4 func_name(const input_type ## 4 & a, const input_type ## 4 & b) \
+    { \
+        return VecTraits<output_type ## 4>::make(func (a.x, b.x), func (a.y, b.y), func (a.z, b.z), func (a.w, b.w)); \
+    }
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, char, char)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, short, short)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::max, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::fmaxf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(max, ::fmax, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, uchar, uchar)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, char, char)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, ushort, ushort)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, short, short)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, uint, uint)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::min, int, int)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::fminf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(min, ::fmin, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, char, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, short, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, int, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypotf, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(hypot, ::hypot, double, double)
+
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, uchar, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, char, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, ushort, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, short, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, uint, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, int, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2f, float, float)
+CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC(atan2, ::atan2, double, double)
+
+#undef CV_CUDEV_IMPLEMENT_VEC_BINARY_FUNC
+
+// binary function (vec & scalar)
+
+#define CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(func_name, func, input_type, scalar_type, output_type) \
+    __device__ __forceinline__ output_type ## 1 func_name(const input_type ## 1 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 1>::make(func ((output_type) a.x, (output_type) s)); \
+    } \
+    __device__ __forceinline__ output_type ## 1 func_name(scalar_type s, const input_type ## 1 & b) \
+    { \
+        return VecTraits<output_type ## 1>::make(func ((output_type) s, (output_type) b.x)); \
+    } \
+    __device__ __forceinline__ output_type ## 2 func_name(const input_type ## 2 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 2>::make(func ((output_type) a.x, (output_type) s), func ((output_type) a.y, (output_type) s)); \
+    } \
+    __device__ __forceinline__ output_type ## 2 func_name(scalar_type s, const input_type ## 2 & b) \
+    { \
+        return VecTraits<output_type ## 2>::make(func ((output_type) s, (output_type) b.x), func ((output_type) s, (output_type) b.y)); \
+    } \
+    __device__ __forceinline__ output_type ## 3 func_name(const input_type ## 3 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 3>::make(func ((output_type) a.x, (output_type) s), func ((output_type) a.y, (output_type) s), func ((output_type) a.z, (output_type) s)); \
+    } \
+    __device__ __forceinline__ output_type ## 3 func_name(scalar_type s, const input_type ## 3 & b) \
+    { \
+        return VecTraits<output_type ## 3>::make(func ((output_type) s, (output_type) b.x), func ((output_type) s, (output_type) b.y), func ((output_type) s, (output_type) b.z)); \
+    } \
+    __device__ __forceinline__ output_type ## 4 func_name(const input_type ## 4 & a, scalar_type s) \
+    { \
+        return VecTraits<output_type ## 4>::make(func ((output_type) a.x, (output_type) s), func ((output_type) a.y, (output_type) s), func ((output_type) a.z, (output_type) s), func ((output_type) a.w, (output_type) s)); \
+    } \
+    __device__ __forceinline__ output_type ## 4 func_name(scalar_type s, const input_type ## 4 & b) \
+    { \
+        return VecTraits<output_type ## 4>::make(func ((output_type) s, (output_type) b.x), func ((output_type) s, (output_type) b.y), func ((output_type) s, (output_type) b.z), func ((output_type) s, (output_type) b.w)); \
+    }
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, char, char, char)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, ushort, ushort, ushort)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, short, short, short)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::max, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmaxf, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(max, ::fmax, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, uchar, uchar, uchar)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, char, char, char)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, ushort, ushort, ushort)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, short, short, short)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, uint, uint, uint)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::min, int, int, int)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fminf, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(min, ::fmin, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypotf, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(hypot, ::hypot, double, double, double)
+
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, uchar, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, uchar, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, char, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, char, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, ushort, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, ushort, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, short, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, short, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, uint, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, uint, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, int, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, int, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2f, float, float, float)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, float, double, double)
+CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC(atan2, ::atan2, double, double, double)
+
+#undef CV_CUDEV_IMPLEMENT_SCALAR_BINARY_FUNC
+
+}}} // namespace cv { namespace cuda { namespace device
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_VECMATH_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/vec_traits.hpp b/3rdparty/include/opencv2/core/cuda/vec_traits.hpp
new file mode 100644
index 0000000..905e37f
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/vec_traits.hpp
@@ -0,0 +1,288 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_VEC_TRAITS_HPP__
+#define __OPENCV_CUDA_VEC_TRAITS_HPP__
+
+#include "common.hpp"
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template<typename T, int N> struct TypeVec;
+
+    struct __align__(8) uchar8
+    {
+        uchar a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ uchar8 make_uchar8(uchar a0, uchar a1, uchar a2, uchar a3, uchar a4, uchar a5, uchar a6, uchar a7)
+    {
+        uchar8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(8) char8
+    {
+        schar a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ char8 make_char8(schar a0, schar a1, schar a2, schar a3, schar a4, schar a5, schar a6, schar a7)
+    {
+        char8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(16) ushort8
+    {
+        ushort a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ ushort8 make_ushort8(ushort a0, ushort a1, ushort a2, ushort a3, ushort a4, ushort a5, ushort a6, ushort a7)
+    {
+        ushort8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(16) short8
+    {
+        short a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ short8 make_short8(short a0, short a1, short a2, short a3, short a4, short a5, short a6, short a7)
+    {
+        short8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(32) uint8
+    {
+        uint a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ uint8 make_uint8(uint a0, uint a1, uint a2, uint a3, uint a4, uint a5, uint a6, uint a7)
+    {
+        uint8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(32) int8
+    {
+        int a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ int8 make_int8(int a0, int a1, int a2, int a3, int a4, int a5, int a6, int a7)
+    {
+        int8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct __align__(32) float8
+    {
+        float a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ float8 make_float8(float a0, float a1, float a2, float a3, float a4, float a5, float a6, float a7)
+    {
+        float8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+    struct double8
+    {
+        double a0, a1, a2, a3, a4, a5, a6, a7;
+    };
+    static __host__ __device__ __forceinline__ double8 make_double8(double a0, double a1, double a2, double a3, double a4, double a5, double a6, double a7)
+    {
+        double8 val = {a0, a1, a2, a3, a4, a5, a6, a7};
+        return val;
+    }
+
+#define OPENCV_CUDA_IMPLEMENT_TYPE_VEC(type) \
+    template<> struct TypeVec<type, 1> { typedef type vec_type; }; \
+    template<> struct TypeVec<type ## 1, 1> { typedef type ## 1 vec_type; }; \
+    template<> struct TypeVec<type, 2> { typedef type ## 2 vec_type; }; \
+    template<> struct TypeVec<type ## 2, 2> { typedef type ## 2 vec_type; }; \
+    template<> struct TypeVec<type, 3> { typedef type ## 3 vec_type; }; \
+    template<> struct TypeVec<type ## 3, 3> { typedef type ## 3 vec_type; }; \
+    template<> struct TypeVec<type, 4> { typedef type ## 4 vec_type; }; \
+    template<> struct TypeVec<type ## 4, 4> { typedef type ## 4 vec_type; }; \
+    template<> struct TypeVec<type, 8> { typedef type ## 8 vec_type; }; \
+    template<> struct TypeVec<type ## 8, 8> { typedef type ## 8 vec_type; };
+
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(uchar)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(char)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(ushort)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(short)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(int)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(uint)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(float)
+    OPENCV_CUDA_IMPLEMENT_TYPE_VEC(double)
+
+    #undef OPENCV_CUDA_IMPLEMENT_TYPE_VEC
+
+    template<> struct TypeVec<schar, 1> { typedef schar vec_type; };
+    template<> struct TypeVec<schar, 2> { typedef char2 vec_type; };
+    template<> struct TypeVec<schar, 3> { typedef char3 vec_type; };
+    template<> struct TypeVec<schar, 4> { typedef char4 vec_type; };
+    template<> struct TypeVec<schar, 8> { typedef char8 vec_type; };
+
+    template<> struct TypeVec<bool, 1> { typedef uchar vec_type; };
+    template<> struct TypeVec<bool, 2> { typedef uchar2 vec_type; };
+    template<> struct TypeVec<bool, 3> { typedef uchar3 vec_type; };
+    template<> struct TypeVec<bool, 4> { typedef uchar4 vec_type; };
+    template<> struct TypeVec<bool, 8> { typedef uchar8 vec_type; };
+
+    template<typename T> struct VecTraits;
+
+#define OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(type) \
+    template<> struct VecTraits<type> \
+    { \
+        typedef type elem_type; \
+        enum {cn=1}; \
+        static __device__ __host__ __forceinline__ type all(type v) {return v;} \
+        static __device__ __host__ __forceinline__ type make(type x) {return x;} \
+        static __device__ __host__ __forceinline__ type make(const type* v) {return *v;} \
+    }; \
+    template<> struct VecTraits<type ## 1> \
+    { \
+        typedef type elem_type; \
+        enum {cn=1}; \
+        static __device__ __host__ __forceinline__ type ## 1 all(type v) {return make_ ## type ## 1(v);} \
+        static __device__ __host__ __forceinline__ type ## 1 make(type x) {return make_ ## type ## 1(x);} \
+        static __device__ __host__ __forceinline__ type ## 1 make(const type* v) {return make_ ## type ## 1(*v);} \
+    }; \
+    template<> struct VecTraits<type ## 2> \
+    { \
+        typedef type elem_type; \
+        enum {cn=2}; \
+        static __device__ __host__ __forceinline__ type ## 2 all(type v) {return make_ ## type ## 2(v, v);} \
+        static __device__ __host__ __forceinline__ type ## 2 make(type x, type y) {return make_ ## type ## 2(x, y);} \
+        static __device__ __host__ __forceinline__ type ## 2 make(const type* v) {return make_ ## type ## 2(v[0], v[1]);} \
+    }; \
+    template<> struct VecTraits<type ## 3> \
+    { \
+        typedef type elem_type; \
+        enum {cn=3}; \
+        static __device__ __host__ __forceinline__ type ## 3 all(type v) {return make_ ## type ## 3(v, v, v);} \
+        static __device__ __host__ __forceinline__ type ## 3 make(type x, type y, type z) {return make_ ## type ## 3(x, y, z);} \
+        static __device__ __host__ __forceinline__ type ## 3 make(const type* v) {return make_ ## type ## 3(v[0], v[1], v[2]);} \
+    }; \
+    template<> struct VecTraits<type ## 4> \
+    { \
+        typedef type elem_type; \
+        enum {cn=4}; \
+        static __device__ __host__ __forceinline__ type ## 4 all(type v) {return make_ ## type ## 4(v, v, v, v);} \
+        static __device__ __host__ __forceinline__ type ## 4 make(type x, type y, type z, type w) {return make_ ## type ## 4(x, y, z, w);} \
+        static __device__ __host__ __forceinline__ type ## 4 make(const type* v) {return make_ ## type ## 4(v[0], v[1], v[2], v[3]);} \
+    }; \
+    template<> struct VecTraits<type ## 8> \
+    { \
+        typedef type elem_type; \
+        enum {cn=8}; \
+        static __device__ __host__ __forceinline__ type ## 8 all(type v) {return make_ ## type ## 8(v, v, v, v, v, v, v, v);} \
+        static __device__ __host__ __forceinline__ type ## 8 make(type a0, type a1, type a2, type a3, type a4, type a5, type a6, type a7) {return make_ ## type ## 8(a0, a1, a2, a3, a4, a5, a6, a7);} \
+        static __device__ __host__ __forceinline__ type ## 8 make(const type* v) {return make_ ## type ## 8(v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);} \
+    };
+
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(uchar)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(ushort)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(short)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(int)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(uint)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(float)
+    OPENCV_CUDA_IMPLEMENT_VEC_TRAITS(double)
+
+    #undef OPENCV_CUDA_IMPLEMENT_VEC_TRAITS
+
+    template<> struct VecTraits<char>
+    {
+        typedef char elem_type;
+        enum {cn=1};
+        static __device__ __host__ __forceinline__ char all(char v) {return v;}
+        static __device__ __host__ __forceinline__ char make(char x) {return x;}
+        static __device__ __host__ __forceinline__ char make(const char* x) {return *x;}
+    };
+    template<> struct VecTraits<schar>
+    {
+        typedef schar elem_type;
+        enum {cn=1};
+        static __device__ __host__ __forceinline__ schar all(schar v) {return v;}
+        static __device__ __host__ __forceinline__ schar make(schar x) {return x;}
+        static __device__ __host__ __forceinline__ schar make(const schar* x) {return *x;}
+    };
+    template<> struct VecTraits<char1>
+    {
+        typedef schar elem_type;
+        enum {cn=1};
+        static __device__ __host__ __forceinline__ char1 all(schar v) {return make_char1(v);}
+        static __device__ __host__ __forceinline__ char1 make(schar x) {return make_char1(x);}
+        static __device__ __host__ __forceinline__ char1 make(const schar* v) {return make_char1(v[0]);}
+    };
+    template<> struct VecTraits<char2>
+    {
+        typedef schar elem_type;
+        enum {cn=2};
+        static __device__ __host__ __forceinline__ char2 all(schar v) {return make_char2(v, v);}
+        static __device__ __host__ __forceinline__ char2 make(schar x, schar y) {return make_char2(x, y);}
+        static __device__ __host__ __forceinline__ char2 make(const schar* v) {return make_char2(v[0], v[1]);}
+    };
+    template<> struct VecTraits<char3>
+    {
+        typedef schar elem_type;
+        enum {cn=3};
+        static __device__ __host__ __forceinline__ char3 all(schar v) {return make_char3(v, v, v);}
+        static __device__ __host__ __forceinline__ char3 make(schar x, schar y, schar z) {return make_char3(x, y, z);}
+        static __device__ __host__ __forceinline__ char3 make(const schar* v) {return make_char3(v[0], v[1], v[2]);}
+    };
+    template<> struct VecTraits<char4>
+    {
+        typedef schar elem_type;
+        enum {cn=4};
+        static __device__ __host__ __forceinline__ char4 all(schar v) {return make_char4(v, v, v, v);}
+        static __device__ __host__ __forceinline__ char4 make(schar x, schar y, schar z, schar w) {return make_char4(x, y, z, w);}
+        static __device__ __host__ __forceinline__ char4 make(const schar* v) {return make_char4(v[0], v[1], v[2], v[3]);}
+    };
+    template<> struct VecTraits<char8>
+    {
+        typedef schar elem_type;
+        enum {cn=8};
+        static __device__ __host__ __forceinline__ char8 all(schar v) {return make_char8(v, v, v, v, v, v, v, v);}
+        static __device__ __host__ __forceinline__ char8 make(schar a0, schar a1, schar a2, schar a3, schar a4, schar a5, schar a6, schar a7) {return make_char8(a0, a1, a2, a3, a4, a5, a6, a7);}
+        static __device__ __host__ __forceinline__ char8 make(const schar* v) {return make_char8(v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);}
+    };
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_VEC_TRAITS_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda/warp.hpp b/3rdparty/include/opencv2/core/cuda/warp.hpp
new file mode 100644
index 0000000..d93afe7
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/warp.hpp
@@ -0,0 +1,139 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_DEVICE_WARP_HPP__
+#define __OPENCV_CUDA_DEVICE_WARP_HPP__
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    struct Warp
+    {
+        enum
+        {
+            LOG_WARP_SIZE = 5,
+            WARP_SIZE     = 1 << LOG_WARP_SIZE,
+            STRIDE        = WARP_SIZE
+        };
+
+        /** \brief Returns the warp lane ID of the calling thread. */
+        static __device__ __forceinline__ unsigned int laneId()
+        {
+            unsigned int ret;
+            asm("mov.u32 %0, %laneid;" : "=r"(ret) );
+            return ret;
+        }
+
+        template<typename It, typename T>
+        static __device__ __forceinline__ void fill(It beg, It end, const T& value)
+        {
+            for(It t = beg + laneId(); t < end; t += STRIDE)
+                *t = value;
+        }
+
+        template<typename InIt, typename OutIt>
+        static __device__ __forceinline__ OutIt copy(InIt beg, InIt end, OutIt out)
+        {
+            for(InIt t = beg + laneId(); t < end; t += STRIDE, out += STRIDE)
+                *out = *t;
+            return out;
+        }
+
+        template<typename InIt, typename OutIt, class UnOp>
+        static __device__ __forceinline__ OutIt transform(InIt beg, InIt end, OutIt out, UnOp op)
+        {
+            for(InIt t = beg + laneId(); t < end; t += STRIDE, out += STRIDE)
+                *out = op(*t);
+            return out;
+        }
+
+        template<typename InIt1, typename InIt2, typename OutIt, class BinOp>
+        static __device__ __forceinline__ OutIt transform(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)
+        {
+            unsigned int lane = laneId();
+
+            InIt1 t1 = beg1 + lane;
+            InIt2 t2 = beg2 + lane;
+            for(; t1 < end1; t1 += STRIDE, t2 += STRIDE, out += STRIDE)
+                *out = op(*t1, *t2);
+            return out;
+        }
+
+        template <class T, class BinOp>
+        static __device__ __forceinline__ T reduce(volatile T *ptr, BinOp op)
+        {
+            const unsigned int lane = laneId();
+
+            if (lane < 16)
+            {
+                T partial = ptr[lane];
+
+                ptr[lane] = partial = op(partial, ptr[lane + 16]);
+                ptr[lane] = partial = op(partial, ptr[lane + 8]);
+                ptr[lane] = partial = op(partial, ptr[lane + 4]);
+                ptr[lane] = partial = op(partial, ptr[lane + 2]);
+                ptr[lane] = partial = op(partial, ptr[lane + 1]);
+            }
+
+            return *ptr;
+        }
+
+        template<typename OutIt, typename T>
+        static __device__ __forceinline__ void yota(OutIt beg, OutIt end, T value)
+        {
+            unsigned int lane = laneId();
+            value += lane;
+
+            for(OutIt t = beg + lane; t < end; t += STRIDE, value += STRIDE)
+                *t = value;
+        }
+    };
+}}} // namespace cv { namespace cuda { namespace cudev
+
+//! @endcond
+
+#endif /* __OPENCV_CUDA_DEVICE_WARP_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda/warp_reduce.hpp b/3rdparty/include/opencv2/core/cuda/warp_reduce.hpp
new file mode 100644
index 0000000..530303d
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/warp_reduce.hpp
@@ -0,0 +1,76 @@
+/*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*/
+
+#ifndef OPENCV_CUDA_WARP_REDUCE_HPP__
+#define OPENCV_CUDA_WARP_REDUCE_HPP__
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <class T>
+    __device__ __forceinline__ T warp_reduce(volatile T *ptr , const unsigned int tid = threadIdx.x)
+    {
+        const unsigned int lane = tid & 31; // index of thread in warp (0..31)
+
+        if (lane < 16)
+        {
+            T partial = ptr[tid];
+
+            ptr[tid] = partial = partial + ptr[tid + 16];
+            ptr[tid] = partial = partial + ptr[tid + 8];
+            ptr[tid] = partial = partial + ptr[tid + 4];
+            ptr[tid] = partial = partial + ptr[tid + 2];
+            ptr[tid] = partial = partial + ptr[tid + 1];
+        }
+
+        return ptr[tid - lane];
+    }
+}}} // namespace cv { namespace cuda { namespace cudev {
+
+//! @endcond
+
+#endif /* OPENCV_CUDA_WARP_REDUCE_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda/warp_shuffle.hpp b/3rdparty/include/opencv2/core/cuda/warp_shuffle.hpp
new file mode 100644
index 0000000..5cf42ec
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda/warp_shuffle.hpp
@@ -0,0 +1,153 @@
+/*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*/
+
+#ifndef __OPENCV_CUDA_WARP_SHUFFLE_HPP__
+#define __OPENCV_CUDA_WARP_SHUFFLE_HPP__
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda { namespace device
+{
+    template <typename T>
+    __device__ __forceinline__ T shfl(T val, int srcLane, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return __shfl(val, srcLane, width);
+    #else
+        return T();
+    #endif
+    }
+    __device__ __forceinline__ unsigned int shfl(unsigned int val, int srcLane, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return (unsigned int) __shfl((int) val, srcLane, width);
+    #else
+        return 0;
+    #endif
+    }
+    __device__ __forceinline__ double shfl(double val, int srcLane, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        int lo = __double2loint(val);
+        int hi = __double2hiint(val);
+
+        lo = __shfl(lo, srcLane, width);
+        hi = __shfl(hi, srcLane, width);
+
+        return __hiloint2double(hi, lo);
+    #else
+        return 0.0;
+    #endif
+    }
+
+    template <typename T>
+    __device__ __forceinline__ T shfl_down(T val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return __shfl_down(val, delta, width);
+    #else
+        return T();
+    #endif
+    }
+    __device__ __forceinline__ unsigned int shfl_down(unsigned int val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return (unsigned int) __shfl_down((int) val, delta, width);
+    #else
+        return 0;
+    #endif
+    }
+    __device__ __forceinline__ double shfl_down(double val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        int lo = __double2loint(val);
+        int hi = __double2hiint(val);
+
+        lo = __shfl_down(lo, delta, width);
+        hi = __shfl_down(hi, delta, width);
+
+        return __hiloint2double(hi, lo);
+    #else
+        return 0.0;
+    #endif
+    }
+
+    template <typename T>
+    __device__ __forceinline__ T shfl_up(T val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return __shfl_up(val, delta, width);
+    #else
+        return T();
+    #endif
+    }
+    __device__ __forceinline__ unsigned int shfl_up(unsigned int val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        return (unsigned int) __shfl_up((int) val, delta, width);
+    #else
+        return 0;
+    #endif
+    }
+    __device__ __forceinline__ double shfl_up(double val, unsigned int delta, int width = warpSize)
+    {
+    #if __CUDA_ARCH__ >= 300
+        int lo = __double2loint(val);
+        int hi = __double2hiint(val);
+
+        lo = __shfl_up(lo, delta, width);
+        hi = __shfl_up(hi, delta, width);
+
+        return __hiloint2double(hi, lo);
+    #else
+        return 0.0;
+    #endif
+    }
+}}}
+
+//! @endcond
+
+#endif // __OPENCV_CUDA_WARP_SHUFFLE_HPP__
diff --git a/3rdparty/include/opencv2/core/cuda_stream_accessor.hpp b/3rdparty/include/opencv2/core/cuda_stream_accessor.hpp
new file mode 100644
index 0000000..dd6589b
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda_stream_accessor.hpp
@@ -0,0 +1,87 @@
+/*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*/
+
+#ifndef __OPENCV_CORE_CUDA_STREAM_ACCESSOR_HPP__
+#define __OPENCV_CORE_CUDA_STREAM_ACCESSOR_HPP__
+
+#ifndef __cplusplus
+#  error cuda_stream_accessor.hpp header must be compiled as C++
+#endif
+
+/** @file cuda_stream_accessor.hpp
+ * This is only header file that depends on CUDA Runtime API. All other headers are independent.
+ */
+
+#include <cuda_runtime.h>
+#include "opencv2/core/cvdef.h"
+
+namespace cv
+{
+    namespace cuda
+    {
+
+//! @addtogroup cudacore_struct
+//! @{
+
+        class Stream;
+        class Event;
+
+        /** @brief Class that enables getting cudaStream_t from cuda::Stream
+         */
+        struct StreamAccessor
+        {
+            CV_EXPORTS static cudaStream_t getStream(const Stream& stream);
+        };
+
+        /** @brief Class that enables getting cudaEvent_t from cuda::Event
+         */
+        struct EventAccessor
+        {
+            CV_EXPORTS static cudaEvent_t getEvent(const Event& event);
+        };
+
+//! @}
+
+    }
+}
+
+#endif /* __OPENCV_CORE_CUDA_STREAM_ACCESSOR_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cuda_types.hpp b/3rdparty/include/opencv2/core/cuda_types.hpp
new file mode 100644
index 0000000..8df816e
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cuda_types.hpp
@@ -0,0 +1,135 @@
+/*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*/
+
+#ifndef __OPENCV_CORE_CUDA_TYPES_HPP__
+#define __OPENCV_CORE_CUDA_TYPES_HPP__
+
+#ifndef __cplusplus
+#  error cuda_types.hpp header must be compiled as C++
+#endif
+
+/** @file
+ * @deprecated Use @ref cudev instead.
+ */
+
+//! @cond IGNORED
+
+#ifdef __CUDACC__
+    #define __CV_CUDA_HOST_DEVICE__ __host__ __device__ __forceinline__
+#else
+    #define __CV_CUDA_HOST_DEVICE__
+#endif
+
+namespace cv
+{
+    namespace cuda
+    {
+
+        // Simple lightweight structures that encapsulates information about an image on device.
+        // It is intended to pass to nvcc-compiled code. GpuMat depends on headers that nvcc can't compile
+
+        template <typename T> struct DevPtr
+        {
+            typedef T elem_type;
+            typedef int index_type;
+
+            enum { elem_size = sizeof(elem_type) };
+
+            T* data;
+
+            __CV_CUDA_HOST_DEVICE__ DevPtr() : data(0) {}
+            __CV_CUDA_HOST_DEVICE__ DevPtr(T* data_) : data(data_) {}
+
+            __CV_CUDA_HOST_DEVICE__ size_t elemSize() const { return elem_size; }
+            __CV_CUDA_HOST_DEVICE__ operator       T*()       { return data; }
+            __CV_CUDA_HOST_DEVICE__ operator const T*() const { return data; }
+        };
+
+        template <typename T> struct PtrSz : public DevPtr<T>
+        {
+            __CV_CUDA_HOST_DEVICE__ PtrSz() : size(0) {}
+            __CV_CUDA_HOST_DEVICE__ PtrSz(T* data_, size_t size_) : DevPtr<T>(data_), size(size_) {}
+
+            size_t size;
+        };
+
+        template <typename T> struct PtrStep : public DevPtr<T>
+        {
+            __CV_CUDA_HOST_DEVICE__ PtrStep() : step(0) {}
+            __CV_CUDA_HOST_DEVICE__ PtrStep(T* data_, size_t step_) : DevPtr<T>(data_), step(step_) {}
+
+            size_t step;
+
+            __CV_CUDA_HOST_DEVICE__       T* ptr(int y = 0)       { return (      T*)( (      char*)DevPtr<T>::data + y * step); }
+            __CV_CUDA_HOST_DEVICE__ const T* ptr(int y = 0) const { return (const T*)( (const char*)DevPtr<T>::data + y * step); }
+
+            __CV_CUDA_HOST_DEVICE__       T& operator ()(int y, int x)       { return ptr(y)[x]; }
+            __CV_CUDA_HOST_DEVICE__ const T& operator ()(int y, int x) const { return ptr(y)[x]; }
+        };
+
+        template <typename T> struct PtrStepSz : public PtrStep<T>
+        {
+            __CV_CUDA_HOST_DEVICE__ PtrStepSz() : cols(0), rows(0) {}
+            __CV_CUDA_HOST_DEVICE__ PtrStepSz(int rows_, int cols_, T* data_, size_t step_)
+                : PtrStep<T>(data_, step_), cols(cols_), rows(rows_) {}
+
+            template <typename U>
+            explicit PtrStepSz(const PtrStepSz<U>& d) : PtrStep<T>((T*)d.data, d.step), cols(d.cols), rows(d.rows){}
+
+            int cols;
+            int rows;
+        };
+
+        typedef PtrStepSz<unsigned char> PtrStepSzb;
+        typedef PtrStepSz<float> PtrStepSzf;
+        typedef PtrStepSz<int> PtrStepSzi;
+
+        typedef PtrStep<unsigned char> PtrStepb;
+        typedef PtrStep<float> PtrStepf;
+        typedef PtrStep<int> PtrStepi;
+
+    }
+}
+
+//! @endcond
+
+#endif /* __OPENCV_CORE_CUDA_TYPES_HPP__ */
diff --git a/3rdparty/include/opencv2/core/cvdef.h b/3rdparty/include/opencv2/core/cvdef.h
new file mode 100644
index 0000000..1d933b5
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cvdef.h
@@ -0,0 +1,231 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_CVDEF_H__
+#define __OPENCV_CORE_CVDEF_H__
+
+#if !defined _CRT_SECURE_NO_DEPRECATE && defined _MSC_VER && _MSC_VER > 1300
+#  define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio warnings */
+#endif
+
+// undef problematic defines sometimes defined by system headers (windows.h in particular)
+#undef small
+#undef min
+#undef max
+#undef abs
+#undef Complex
+
+#include "opencv2/hal/defs.h"
+
+#ifdef __OPENCV_BUILD
+#  define DISABLE_OPENCV_24_COMPATIBILITY
+#endif
+
+#if (defined WIN32 || defined _WIN32 || defined WINCE || defined __CYGWIN__) && defined CVAPI_EXPORTS
+#  define CV_EXPORTS __declspec(dllexport)
+#elif defined __GNUC__ && __GNUC__ >= 4
+#  define CV_EXPORTS __attribute__ ((visibility ("default")))
+#else
+#  define CV_EXPORTS
+#endif
+
+#ifndef CV_EXTERN_C
+#  ifdef __cplusplus
+#    define CV_EXTERN_C extern "C"
+#  else
+#    define CV_EXTERN_C
+#  endif
+#endif
+
+/* special informative macros for wrapper generators */
+#define CV_EXPORTS_W CV_EXPORTS
+#define CV_EXPORTS_W_SIMPLE CV_EXPORTS
+#define CV_EXPORTS_AS(synonym) CV_EXPORTS
+#define CV_EXPORTS_W_MAP CV_EXPORTS
+#define CV_IN_OUT
+#define CV_OUT
+#define CV_PROP
+#define CV_PROP_RW
+#define CV_WRAP
+#define CV_WRAP_AS(synonym)
+
+/****************************************************************************************\
+*                                  Matrix type (Mat)                                     *
+\****************************************************************************************/
+
+#define CV_CN_MAX     512
+#define CV_CN_SHIFT   3
+#define CV_DEPTH_MAX  (1 << CV_CN_SHIFT)
+
+#define CV_8U   0
+#define CV_8S   1
+#define CV_16U  2
+#define CV_16S  3
+#define CV_32S  4
+#define CV_32F  5
+#define CV_64F  6
+#define CV_USRTYPE1 7
+
+#define CV_MAT_DEPTH_MASK       (CV_DEPTH_MAX - 1)
+#define CV_MAT_DEPTH(flags)     ((flags) & CV_MAT_DEPTH_MASK)
+
+#define CV_MAKETYPE(depth,cn) (CV_MAT_DEPTH(depth) + (((cn)-1) << CV_CN_SHIFT))
+#define CV_MAKE_TYPE CV_MAKETYPE
+
+#define CV_8UC1 CV_MAKETYPE(CV_8U,1)
+#define CV_8UC2 CV_MAKETYPE(CV_8U,2)
+#define CV_8UC3 CV_MAKETYPE(CV_8U,3)
+#define CV_8UC4 CV_MAKETYPE(CV_8U,4)
+#define CV_8UC(n) CV_MAKETYPE(CV_8U,(n))
+
+#define CV_8SC1 CV_MAKETYPE(CV_8S,1)
+#define CV_8SC2 CV_MAKETYPE(CV_8S,2)
+#define CV_8SC3 CV_MAKETYPE(CV_8S,3)
+#define CV_8SC4 CV_MAKETYPE(CV_8S,4)
+#define CV_8SC(n) CV_MAKETYPE(CV_8S,(n))
+
+#define CV_16UC1 CV_MAKETYPE(CV_16U,1)
+#define CV_16UC2 CV_MAKETYPE(CV_16U,2)
+#define CV_16UC3 CV_MAKETYPE(CV_16U,3)
+#define CV_16UC4 CV_MAKETYPE(CV_16U,4)
+#define CV_16UC(n) CV_MAKETYPE(CV_16U,(n))
+
+#define CV_16SC1 CV_MAKETYPE(CV_16S,1)
+#define CV_16SC2 CV_MAKETYPE(CV_16S,2)
+#define CV_16SC3 CV_MAKETYPE(CV_16S,3)
+#define CV_16SC4 CV_MAKETYPE(CV_16S,4)
+#define CV_16SC(n) CV_MAKETYPE(CV_16S,(n))
+
+#define CV_32SC1 CV_MAKETYPE(CV_32S,1)
+#define CV_32SC2 CV_MAKETYPE(CV_32S,2)
+#define CV_32SC3 CV_MAKETYPE(CV_32S,3)
+#define CV_32SC4 CV_MAKETYPE(CV_32S,4)
+#define CV_32SC(n) CV_MAKETYPE(CV_32S,(n))
+
+#define CV_32FC1 CV_MAKETYPE(CV_32F,1)
+#define CV_32FC2 CV_MAKETYPE(CV_32F,2)
+#define CV_32FC3 CV_MAKETYPE(CV_32F,3)
+#define CV_32FC4 CV_MAKETYPE(CV_32F,4)
+#define CV_32FC(n) CV_MAKETYPE(CV_32F,(n))
+
+#define CV_64FC1 CV_MAKETYPE(CV_64F,1)
+#define CV_64FC2 CV_MAKETYPE(CV_64F,2)
+#define CV_64FC3 CV_MAKETYPE(CV_64F,3)
+#define CV_64FC4 CV_MAKETYPE(CV_64F,4)
+#define CV_64FC(n) CV_MAKETYPE(CV_64F,(n))
+
+#define CV_MAT_CN_MASK          ((CV_CN_MAX - 1) << CV_CN_SHIFT)
+#define CV_MAT_CN(flags)        ((((flags) & CV_MAT_CN_MASK) >> CV_CN_SHIFT) + 1)
+#define CV_MAT_TYPE_MASK        (CV_DEPTH_MAX*CV_CN_MAX - 1)
+#define CV_MAT_TYPE(flags)      ((flags) & CV_MAT_TYPE_MASK)
+#define CV_MAT_CONT_FLAG_SHIFT  14
+#define CV_MAT_CONT_FLAG        (1 << CV_MAT_CONT_FLAG_SHIFT)
+#define CV_IS_MAT_CONT(flags)   ((flags) & CV_MAT_CONT_FLAG)
+#define CV_IS_CONT_MAT          CV_IS_MAT_CONT
+#define CV_SUBMAT_FLAG_SHIFT    15
+#define CV_SUBMAT_FLAG          (1 << CV_SUBMAT_FLAG_SHIFT)
+#define CV_IS_SUBMAT(flags)     ((flags) & CV_MAT_SUBMAT_FLAG)
+
+/* Size of each channel item,
+   0x124489 = 1000 0100 0100 0010 0010 0001 0001 ~ array of sizeof(arr_type_elem) */
+#define CV_ELEM_SIZE1(type) \
+    ((((sizeof(size_t)<<28)|0x8442211) >> CV_MAT_DEPTH(type)*4) & 15)
+
+/* 0x3a50 = 11 10 10 01 01 00 00 ~ array of log2(sizeof(arr_type_elem)) */
+#define CV_ELEM_SIZE(type) \
+    (CV_MAT_CN(type) << ((((sizeof(size_t)/4+1)*16384|0x3a50) >> CV_MAT_DEPTH(type)*2) & 3))
+
+#ifndef MIN
+#  define MIN(a,b)  ((a) > (b) ? (b) : (a))
+#endif
+
+#ifndef MAX
+#  define MAX(a,b)  ((a) < (b) ? (b) : (a))
+#endif
+
+/****************************************************************************************\
+*          exchange-add operation for atomic operations on reference counters            *
+\****************************************************************************************/
+
+#if defined __INTEL_COMPILER && !(defined WIN32 || defined _WIN32)
+   // atomic increment on the linux version of the Intel(tm) compiler
+#  define CV_XADD(addr, delta) (int)_InterlockedExchangeAdd(const_cast<void*>(reinterpret_cast<volatile void*>(addr)), delta)
+#elif defined __GNUC__
+#  if defined __clang__ && __clang_major__ >= 3 && !defined __ANDROID__ && !defined __EMSCRIPTEN__ && !defined(__CUDACC__)
+#    ifdef __ATOMIC_ACQ_REL
+#      define CV_XADD(addr, delta) __c11_atomic_fetch_add((_Atomic(int)*)(addr), delta, __ATOMIC_ACQ_REL)
+#    else
+#      define CV_XADD(addr, delta) __atomic_fetch_add((_Atomic(int)*)(addr), delta, 4)
+#    endif
+#  else
+#    if defined __ATOMIC_ACQ_REL && !defined __clang__
+       // version for gcc >= 4.7
+#      define CV_XADD(addr, delta) (int)__atomic_fetch_add((unsigned*)(addr), (unsigned)(delta), __ATOMIC_ACQ_REL)
+#    else
+#      define CV_XADD(addr, delta) (int)__sync_fetch_and_add((unsigned*)(addr), (unsigned)(delta))
+#    endif
+#  endif
+#elif defined _MSC_VER && !defined RC_INVOKED
+#  include <intrin.h>
+#  define CV_XADD(addr, delta) (int)_InterlockedExchangeAdd((long volatile*)addr, delta)
+#else
+   CV_INLINE CV_XADD(int* addr, int delta) { int tmp = *addr; *addr += delta; return tmp; }
+#endif
+
+
+/****************************************************************************************\
+*                                  CV_NORETURN attribute                                 *
+\****************************************************************************************/
+
+#ifndef CV_NORETURN
+#  if defined(__GNUC__)
+#    define CV_NORETURN __attribute__((__noreturn__))
+#  elif defined(_MSC_VER) && (_MSC_VER >= 1300)
+#    define CV_NORETURN __declspec(noreturn)
+#  else
+#    define CV_NORETURN /* nothing by default */
+#  endif
+#endif
+
+#endif // __OPENCV_CORE_CVDEF_H__
diff --git a/3rdparty/include/opencv2/core/cvstd.hpp b/3rdparty/include/opencv2/core/cvstd.hpp
new file mode 100644
index 0000000..a229f53
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cvstd.hpp
@@ -0,0 +1,1059 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_CVSTD_HPP__
+#define __OPENCV_CORE_CVSTD_HPP__
+
+#ifndef __cplusplus
+#  error cvstd.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core/cvdef.h"
+
+#include <cstddef>
+#include <cstring>
+#include <cctype>
+
+#ifndef OPENCV_NOSTL
+#  include <string>
+#endif
+
+// import useful primitives from stl
+#ifndef OPENCV_NOSTL_TRANSITIONAL
+#  include <algorithm>
+#  include <utility>
+#  include <cstdlib> //for abs(int)
+#  include <cmath>
+
+namespace cv
+{
+    using std::min;
+    using std::max;
+    using std::abs;
+    using std::swap;
+    using std::sqrt;
+    using std::exp;
+    using std::pow;
+    using std::log;
+}
+
+namespace std
+{
+    static inline uchar abs(uchar a) { return a; }
+    static inline ushort abs(ushort a) { return a; }
+    static inline unsigned abs(unsigned a) { return a; }
+    static inline uint64 abs(uint64 a) { return a; }
+}
+
+#else
+namespace cv
+{
+    template<typename T> static inline T min(T a, T b) { return a < b ? a : b; }
+    template<typename T> static inline T max(T a, T b) { return a > b ? a : b; }
+    template<typename T> static inline T abs(T a) { return a < 0 ? -a : a; }
+    template<typename T> static inline void swap(T& a, T& b) { T tmp = a; a = b; b = tmp; }
+
+    template<> inline uchar abs(uchar a) { return a; }
+    template<> inline ushort abs(ushort a) { return a; }
+    template<> inline unsigned abs(unsigned a) { return a; }
+    template<> inline uint64 abs(uint64 a) { return a; }
+}
+#endif
+
+namespace cv {
+
+//! @addtogroup core_utils
+//! @{
+
+//////////////////////////// memory management functions ////////////////////////////
+
+/** @brief Allocates an aligned memory buffer.
+
+The function allocates the buffer of the specified size and returns it. When the buffer size is 16
+bytes or more, the returned buffer is aligned to 16 bytes.
+@param bufSize Allocated buffer size.
+ */
+CV_EXPORTS void* fastMalloc(size_t bufSize);
+
+/** @brief Deallocates a memory buffer.
+
+The function deallocates the buffer allocated with fastMalloc . If NULL pointer is passed, the
+function does nothing. C version of the function clears the pointer *pptr* to avoid problems with
+double memory deallocation.
+@param ptr Pointer to the allocated buffer.
+ */
+CV_EXPORTS void fastFree(void* ptr);
+
+/*!
+  The STL-compilant memory Allocator based on cv::fastMalloc() and cv::fastFree()
+*/
+template<typename _Tp> class Allocator
+{
+public:
+    typedef _Tp value_type;
+    typedef value_type* pointer;
+    typedef const value_type* const_pointer;
+    typedef value_type& reference;
+    typedef const value_type& const_reference;
+    typedef size_t size_type;
+    typedef ptrdiff_t difference_type;
+    template<typename U> class rebind { typedef Allocator<U> other; };
+
+    explicit Allocator() {}
+    ~Allocator() {}
+    explicit Allocator(Allocator const&) {}
+    template<typename U>
+    explicit Allocator(Allocator<U> const&) {}
+
+    // address
+    pointer address(reference r) { return &r; }
+    const_pointer address(const_reference r) { return &r; }
+
+    pointer allocate(size_type count, const void* =0) { return reinterpret_cast<pointer>(fastMalloc(count * sizeof (_Tp))); }
+    void deallocate(pointer p, size_type) { fastFree(p); }
+
+    void construct(pointer p, const _Tp& v) { new(static_cast<void*>(p)) _Tp(v); }
+    void destroy(pointer p) { p->~_Tp(); }
+
+    size_type max_size() const { return cv::max(static_cast<_Tp>(-1)/sizeof(_Tp), 1); }
+};
+
+//! @} core_utils
+
+//! @cond IGNORED
+
+namespace detail
+{
+
+// Metafunction to avoid taking a reference to void.
+template<typename T>
+struct RefOrVoid { typedef T& type; };
+
+template<>
+struct RefOrVoid<void>{ typedef void type; };
+
+template<>
+struct RefOrVoid<const void>{ typedef const void type; };
+
+template<>
+struct RefOrVoid<volatile void>{ typedef volatile void type; };
+
+template<>
+struct RefOrVoid<const volatile void>{ typedef const volatile void type; };
+
+// This class would be private to Ptr, if it didn't have to be a non-template.
+struct PtrOwner;
+
+}
+
+template<typename Y>
+struct DefaultDeleter
+{
+    void operator () (Y* p) const;
+};
+
+//! @endcond
+
+//! @addtogroup core_basic
+//! @{
+
+/** @brief Template class for smart pointers with shared ownership
+
+A Ptr\<T\> pretends to be a pointer to an object of type T. Unlike an ordinary pointer, however, the
+object will be automatically cleaned up once all Ptr instances pointing to it are destroyed.
+
+Ptr is similar to boost::shared_ptr that is part of the Boost library
+(<http://www.boost.org/doc/libs/release/libs/smart_ptr/shared_ptr.htm>) and std::shared_ptr from
+the [C++11](http://en.wikipedia.org/wiki/C++11) standard.
+
+This class provides the following advantages:
+-   Default constructor, copy constructor, and assignment operator for an arbitrary C++ class or C
+    structure. For some objects, like files, windows, mutexes, sockets, and others, a copy
+    constructor or an assignment operator are difficult to define. For some other objects, like
+    complex classifiers in OpenCV, copy constructors are absent and not easy to implement. Finally,
+    some of complex OpenCV and your own data structures may be written in C. However, copy
+    constructors and default constructors can simplify programming a lot. Besides, they are often
+    required (for example, by STL containers). By using a Ptr to such an object instead of the
+    object itself, you automatically get all of the necessary constructors and the assignment
+    operator.
+-   *O(1)* complexity of the above-mentioned operations. While some structures, like std::vector,
+    provide a copy constructor and an assignment operator, the operations may take a considerable
+    amount of time if the data structures are large. But if the structures are put into a Ptr, the
+    overhead is small and independent of the data size.
+-   Automatic and customizable cleanup, even for C structures. See the example below with FILE\*.
+-   Heterogeneous collections of objects. The standard STL and most other C++ and OpenCV containers
+    can store only objects of the same type and the same size. The classical solution to store
+    objects of different types in the same container is to store pointers to the base class (Base\*)
+    instead but then you lose the automatic memory management. Again, by using Ptr\<Base\> instead
+    of raw pointers, you can solve the problem.
+
+A Ptr is said to *own* a pointer - that is, for each Ptr there is a pointer that will be deleted
+once all Ptr instances that own it are destroyed. The owned pointer may be null, in which case
+nothing is deleted. Each Ptr also *stores* a pointer. The stored pointer is the pointer the Ptr
+pretends to be; that is, the one you get when you use Ptr::get or the conversion to T\*. It's
+usually the same as the owned pointer, but if you use casts or the general shared-ownership
+constructor, the two may diverge: the Ptr will still own the original pointer, but will itself point
+to something else.
+
+The owned pointer is treated as a black box. The only thing Ptr needs to know about it is how to
+delete it. This knowledge is encapsulated in the *deleter* - an auxiliary object that is associated
+with the owned pointer and shared between all Ptr instances that own it. The default deleter is an
+instance of DefaultDeleter, which uses the standard C++ delete operator; as such it will work with
+any pointer allocated with the standard new operator.
+
+However, if the pointer must be deleted in a different way, you must specify a custom deleter upon
+Ptr construction. A deleter is simply a callable object that accepts the pointer as its sole
+argument. For example, if you want to wrap FILE, you may do so as follows:
+@code
+    Ptr<FILE> f(fopen("myfile.txt", "w"), fclose);
+    if(!f) throw ...;
+    fprintf(f, ....);
+    ...
+    // the file will be closed automatically by f's destructor.
+@endcode
+Alternatively, if you want all pointers of a particular type to be deleted the same way, you can
+specialize DefaultDeleter<T>::operator() for that type, like this:
+@code
+    namespace cv {
+    template<> void DefaultDeleter<FILE>::operator ()(FILE * obj) const
+    {
+        fclose(obj);
+    }
+    }
+@endcode
+For convenience, the following types from the OpenCV C API already have such a specialization that
+calls the appropriate release function:
+-   CvCapture
+-   CvFileStorage
+-   CvHaarClassifierCascade
+-   CvMat
+-   CvMatND
+-   CvMemStorage
+-   CvSparseMat
+-   CvVideoWriter
+-   IplImage
+@note The shared ownership mechanism is implemented with reference counting. As such, cyclic
+ownership (e.g. when object a contains a Ptr to object b, which contains a Ptr to object a) will
+lead to all involved objects never being cleaned up. Avoid such situations.
+@note It is safe to concurrently read (but not write) a Ptr instance from multiple threads and
+therefore it is normally safe to use it in multi-threaded applications. The same is true for Mat and
+other C++ OpenCV classes that use internal reference counts.
+*/
+template<typename T>
+struct Ptr
+{
+    /** Generic programming support. */
+    typedef T element_type;
+
+    /** The default constructor creates a null Ptr - one that owns and stores a null pointer.
+    */
+    Ptr();
+
+    /**
+    If p is null, these are equivalent to the default constructor.
+    Otherwise, these constructors assume ownership of p - that is, the created Ptr owns and stores p
+    and assumes it is the sole owner of it. Don't use them if p is already owned by another Ptr, or
+    else p will get deleted twice.
+    With the first constructor, DefaultDeleter\<Y\>() becomes the associated deleter (so p will
+    eventually be deleted with the standard delete operator). Y must be a complete type at the point
+    of invocation.
+    With the second constructor, d becomes the associated deleter.
+    Y\* must be convertible to T\*.
+    @param p Pointer to own.
+    @note It is often easier to use makePtr instead.
+     */
+    template<typename Y>
+#ifdef DISABLE_OPENCV_24_COMPATIBILITY
+    explicit
+#endif
+    Ptr(Y* p);
+
+    /** @overload
+    @param d Deleter to use for the owned pointer.
+    @param p Pointer to own.
+    */
+    template<typename Y, typename D>
+    Ptr(Y* p, D d);
+
+    /**
+    These constructors create a Ptr that shares ownership with another Ptr - that is, own the same
+    pointer as o.
+    With the first two, the same pointer is stored, as well; for the second, Y\* must be convertible
+    to T\*.
+    With the third, p is stored, and Y may be any type. This constructor allows to have completely
+    unrelated owned and stored pointers, and should be used with care to avoid confusion. A relatively
+    benign use is to create a non-owning Ptr, like this:
+    @code
+        ptr = Ptr<T>(Ptr<T>(), dont_delete_me); // owns nothing; will not delete the pointer.
+    @endcode
+    @param o Ptr to share ownership with.
+    */
+    Ptr(const Ptr& o);
+
+    /** @overload
+    @param o Ptr to share ownership with.
+    */
+    template<typename Y>
+    Ptr(const Ptr<Y>& o);
+
+    /** @overload
+    @param o Ptr to share ownership with.
+    @param p Pointer to store.
+    */
+    template<typename Y>
+    Ptr(const Ptr<Y>& o, T* p);
+
+    /** The destructor is equivalent to calling Ptr::release. */
+    ~Ptr();
+
+    /**
+    Assignment replaces the current Ptr instance with one that owns and stores same pointers as o and
+    then destroys the old instance.
+    @param o Ptr to share ownership with.
+     */
+    Ptr& operator = (const Ptr& o);
+
+    /** @overload */
+    template<typename Y>
+    Ptr& operator = (const Ptr<Y>& o);
+
+    /** If no other Ptr instance owns the owned pointer, deletes it with the associated deleter. Then sets
+    both the owned and the stored pointers to NULL.
+    */
+    void release();
+
+    /**
+    `ptr.reset(...)` is equivalent to `ptr = Ptr<T>(...)`.
+    @param p Pointer to own.
+    */
+    template<typename Y>
+    void reset(Y* p);
+
+    /** @overload
+    @param d Deleter to use for the owned pointer.
+    @param p Pointer to own.
+    */
+    template<typename Y, typename D>
+    void reset(Y* p, D d);
+
+    /**
+    Swaps the owned and stored pointers (and deleters, if any) of this and o.
+    @param o Ptr to swap with.
+    */
+    void swap(Ptr& o);
+
+    /** Returns the stored pointer. */
+    T* get() const;
+
+    /** Ordinary pointer emulation. */
+    typename detail::RefOrVoid<T>::type operator * () const;
+
+    /** Ordinary pointer emulation. */
+    T* operator -> () const;
+
+    /** Equivalent to get(). */
+    operator T* () const;
+
+    /** ptr.empty() is equivalent to `!ptr.get()`. */
+    bool empty() const;
+
+    /** Returns a Ptr that owns the same pointer as this, and stores the same
+       pointer as this, except converted via static_cast to Y*.
+    */
+    template<typename Y>
+    Ptr<Y> staticCast() const;
+
+    /** Ditto for const_cast. */
+    template<typename Y>
+    Ptr<Y> constCast() const;
+
+    /** Ditto for dynamic_cast. */
+    template<typename Y>
+    Ptr<Y> dynamicCast() const;
+
+private:
+    detail::PtrOwner* owner;
+    T* stored;
+
+    template<typename Y>
+    friend struct Ptr; // have to do this for the cross-type copy constructor
+};
+
+/** Equivalent to ptr1.swap(ptr2). Provided to help write generic algorithms. */
+template<typename T>
+void swap(Ptr<T>& ptr1, Ptr<T>& ptr2);
+
+/** Return whether ptr1.get() and ptr2.get() are equal and not equal, respectively. */
+template<typename T>
+bool operator == (const Ptr<T>& ptr1, const Ptr<T>& ptr2);
+template<typename T>
+bool operator != (const Ptr<T>& ptr1, const Ptr<T>& ptr2);
+
+/** `makePtr<T>(...)` is equivalent to `Ptr<T>(new T(...))`. It is shorter than the latter, and it's
+marginally safer than using a constructor or Ptr::reset, since it ensures that the owned pointer
+is new and thus not owned by any other Ptr instance.
+Unfortunately, perfect forwarding is impossible to implement in C++03, and so makePtr is limited
+to constructors of T that have up to 10 arguments, none of which are non-const references.
+ */
+template<typename T>
+Ptr<T> makePtr();
+/** @overload */
+template<typename T, typename A1>
+Ptr<T> makePtr(const A1& a1);
+/** @overload */
+template<typename T, typename A1, typename A2>
+Ptr<T> makePtr(const A1& a1, const A2& a2);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9);
+/** @overload */
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9, typename A10>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9, const A10& a10);
+
+//////////////////////////////// string class ////////////////////////////////
+
+class CV_EXPORTS FileNode; //for string constructor from FileNode
+
+class CV_EXPORTS String
+{
+public:
+    typedef char value_type;
+    typedef char& reference;
+    typedef const char& const_reference;
+    typedef char* pointer;
+    typedef const char* const_pointer;
+    typedef ptrdiff_t difference_type;
+    typedef size_t size_type;
+    typedef char* iterator;
+    typedef const char* const_iterator;
+
+    static const size_t npos = size_t(-1);
+
+    explicit String();
+    String(const String& str);
+    String(const String& str, size_t pos, size_t len = npos);
+    String(const char* s);
+    String(const char* s, size_t n);
+    String(size_t n, char c);
+    String(const char* first, const char* last);
+    template<typename Iterator> String(Iterator first, Iterator last);
+    explicit String(const FileNode& fn);
+    ~String();
+
+    String& operator=(const String& str);
+    String& operator=(const char* s);
+    String& operator=(char c);
+
+    String& operator+=(const String& str);
+    String& operator+=(const char* s);
+    String& operator+=(char c);
+
+    size_t size() const;
+    size_t length() const;
+
+    char operator[](size_t idx) const;
+    char operator[](int idx) const;
+
+    const char* begin() const;
+    const char* end() const;
+
+    const char* c_str() const;
+
+    bool empty() const;
+    void clear();
+
+    int compare(const char* s) const;
+    int compare(const String& str) const;
+
+    void swap(String& str);
+    String substr(size_t pos = 0, size_t len = npos) const;
+
+    size_t find(const char* s, size_t pos, size_t n) const;
+    size_t find(char c, size_t pos = 0) const;
+    size_t find(const String& str, size_t pos = 0) const;
+    size_t find(const char* s, size_t pos = 0) const;
+
+    size_t rfind(const char* s, size_t pos, size_t n) const;
+    size_t rfind(char c, size_t pos = npos) const;
+    size_t rfind(const String& str, size_t pos = npos) const;
+    size_t rfind(const char* s, size_t pos = npos) const;
+
+    size_t find_first_of(const char* s, size_t pos, size_t n) const;
+    size_t find_first_of(char c, size_t pos = 0) const;
+    size_t find_first_of(const String& str, size_t pos = 0) const;
+    size_t find_first_of(const char* s, size_t pos = 0) const;
+
+    size_t find_last_of(const char* s, size_t pos, size_t n) const;
+    size_t find_last_of(char c, size_t pos = npos) const;
+    size_t find_last_of(const String& str, size_t pos = npos) const;
+    size_t find_last_of(const char* s, size_t pos = npos) const;
+
+    friend String operator+ (const String& lhs, const String& rhs);
+    friend String operator+ (const String& lhs, const char*   rhs);
+    friend String operator+ (const char*   lhs, const String& rhs);
+    friend String operator+ (const String& lhs, char          rhs);
+    friend String operator+ (char          lhs, const String& rhs);
+
+    String toLowerCase() const;
+
+#ifndef OPENCV_NOSTL
+    String(const std::string& str);
+    String(const std::string& str, size_t pos, size_t len = npos);
+    String& operator=(const std::string& str);
+    String& operator+=(const std::string& str);
+    operator std::string() const;
+
+    friend String operator+ (const String& lhs, const std::string& rhs);
+    friend String operator+ (const std::string& lhs, const String& rhs);
+#endif
+
+private:
+    char*  cstr_;
+    size_t len_;
+
+    char* allocate(size_t len); // len without trailing 0
+    void deallocate();
+};
+
+//! @} core_basic
+
+////////////////////////// cv::String implementation /////////////////////////
+
+//! @cond IGNORED
+
+inline
+String::String()
+    : cstr_(0), len_(0)
+{}
+
+inline
+String::String(const String& str)
+    : cstr_(str.cstr_), len_(str.len_)
+{
+    if (cstr_)
+        CV_XADD(((int*)cstr_)-1, 1);
+}
+
+inline
+String::String(const String& str, size_t pos, size_t len)
+    : cstr_(0), len_(0)
+{
+    pos = min(pos, str.len_);
+    len = min(str.len_ - pos, len);
+    if (!len) return;
+    if (len == str.len_)
+    {
+        CV_XADD(((int*)str.cstr_)-1, 1);
+        cstr_ = str.cstr_;
+        len_ = str.len_;
+        return;
+    }
+    memcpy(allocate(len), str.cstr_ + pos, len);
+}
+
+inline
+String::String(const char* s)
+    : cstr_(0), len_(0)
+{
+    if (!s) return;
+    size_t len = strlen(s);
+    memcpy(allocate(len), s, len);
+}
+
+inline
+String::String(const char* s, size_t n)
+    : cstr_(0), len_(0)
+{
+    if (!n) return;
+    memcpy(allocate(n), s, n);
+}
+
+inline
+String::String(size_t n, char c)
+    : cstr_(0), len_(0)
+{
+    memset(allocate(n), c, n);
+}
+
+inline
+String::String(const char* first, const char* last)
+    : cstr_(0), len_(0)
+{
+    size_t len = (size_t)(last - first);
+    memcpy(allocate(len), first, len);
+}
+
+template<typename Iterator> inline
+String::String(Iterator first, Iterator last)
+    : cstr_(0), len_(0)
+{
+    size_t len = (size_t)(last - first);
+    char* str = allocate(len);
+    while (first != last)
+    {
+        *str++ = *first;
+        ++first;
+    }
+}
+
+inline
+String::~String()
+{
+    deallocate();
+}
+
+inline
+String& String::operator=(const String& str)
+{
+    if (&str == this) return *this;
+
+    deallocate();
+    if (str.cstr_) CV_XADD(((int*)str.cstr_)-1, 1);
+    cstr_ = str.cstr_;
+    len_ = str.len_;
+    return *this;
+}
+
+inline
+String& String::operator=(const char* s)
+{
+    deallocate();
+    if (!s) return *this;
+    size_t len = strlen(s);
+    memcpy(allocate(len), s, len);
+    return *this;
+}
+
+inline
+String& String::operator=(char c)
+{
+    deallocate();
+    allocate(1)[0] = c;
+    return *this;
+}
+
+inline
+String& String::operator+=(const String& str)
+{
+    *this = *this + str;
+    return *this;
+}
+
+inline
+String& String::operator+=(const char* s)
+{
+    *this = *this + s;
+    return *this;
+}
+
+inline
+String& String::operator+=(char c)
+{
+    *this = *this + c;
+    return *this;
+}
+
+inline
+size_t String::size() const
+{
+    return len_;
+}
+
+inline
+size_t String::length() const
+{
+    return len_;
+}
+
+inline
+char String::operator[](size_t idx) const
+{
+    return cstr_[idx];
+}
+
+inline
+char String::operator[](int idx) const
+{
+    return cstr_[idx];
+}
+
+inline
+const char* String::begin() const
+{
+    return cstr_;
+}
+
+inline
+const char* String::end() const
+{
+    return len_ ? cstr_ + 1 : 0;
+}
+
+inline
+bool String::empty() const
+{
+    return len_ == 0;
+}
+
+inline
+const char* String::c_str() const
+{
+    return cstr_ ? cstr_ : "";
+}
+
+inline
+void String::swap(String& str)
+{
+    cv::swap(cstr_, str.cstr_);
+    cv::swap(len_, str.len_);
+}
+
+inline
+void String::clear()
+{
+    deallocate();
+}
+
+inline
+int String::compare(const char* s) const
+{
+    if (cstr_ == s) return 0;
+    return strcmp(c_str(), s);
+}
+
+inline
+int String::compare(const String& str) const
+{
+    if (cstr_ == str.cstr_) return 0;
+    return strcmp(c_str(), str.c_str());
+}
+
+inline
+String String::substr(size_t pos, size_t len) const
+{
+    return String(*this, pos, len);
+}
+
+inline
+size_t String::find(const char* s, size_t pos, size_t n) const
+{
+    if (n == 0 || pos + n > len_) return npos;
+    const char* lmax = cstr_ + len_ - n;
+    for (const char* i = cstr_ + pos; i <= lmax; ++i)
+    {
+        size_t j = 0;
+        while (j < n && s[j] == i[j]) ++j;
+        if (j == n) return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::find(char c, size_t pos) const
+{
+    return find(&c, pos, 1);
+}
+
+inline
+size_t String::find(const String& str, size_t pos) const
+{
+    return find(str.c_str(), pos, str.len_);
+}
+
+inline
+size_t String::find(const char* s, size_t pos) const
+{
+    if (pos >= len_ || !s[0]) return npos;
+    const char* lmax = cstr_ + len_;
+    for (const char* i = cstr_ + pos; i < lmax; ++i)
+    {
+        size_t j = 0;
+        while (s[j] && s[j] == i[j])
+        {   if(i + j >= lmax) return npos;
+            ++j;
+        }
+        if (!s[j]) return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::rfind(const char* s, size_t pos, size_t n) const
+{
+    if (n > len_) return npos;
+    if (pos > len_ - n) pos = len_ - n;
+    for (const char* i = cstr_ + pos; i >= cstr_; --i)
+    {
+        size_t j = 0;
+        while (j < n && s[j] == i[j]) ++j;
+        if (j == n) return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::rfind(char c, size_t pos) const
+{
+    return rfind(&c, pos, 1);
+}
+
+inline
+size_t String::rfind(const String& str, size_t pos) const
+{
+    return rfind(str.c_str(), pos, str.len_);
+}
+
+inline
+size_t String::rfind(const char* s, size_t pos) const
+{
+    return rfind(s, pos, strlen(s));
+}
+
+inline
+size_t String::find_first_of(const char* s, size_t pos, size_t n) const
+{
+    if (n == 0 || pos + n > len_) return npos;
+    const char* lmax = cstr_ + len_;
+    for (const char* i = cstr_ + pos; i < lmax; ++i)
+    {
+        for (size_t j = 0; j < n; ++j)
+            if (s[j] == *i)
+                return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::find_first_of(char c, size_t pos) const
+{
+    return find_first_of(&c, pos, 1);
+}
+
+inline
+size_t String::find_first_of(const String& str, size_t pos) const
+{
+    return find_first_of(str.c_str(), pos, str.len_);
+}
+
+inline
+size_t String::find_first_of(const char* s, size_t pos) const
+{
+    if (pos >= len_ || !s[0]) return npos;
+    const char* lmax = cstr_ + len_;
+    for (const char* i = cstr_ + pos; i < lmax; ++i)
+    {
+        for (size_t j = 0; s[j]; ++j)
+            if (s[j] == *i)
+                return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::find_last_of(const char* s, size_t pos, size_t n) const
+{
+    if (pos >= len_) pos = len_ - 1;
+    for (const char* i = cstr_ + pos; i >= cstr_; --i)
+    {
+        for (size_t j = 0; j < n; ++j)
+            if (s[j] == *i)
+                return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+size_t String::find_last_of(char c, size_t pos) const
+{
+    return find_last_of(&c, pos, 1);
+}
+
+inline
+size_t String::find_last_of(const String& str, size_t pos) const
+{
+    return find_last_of(str.c_str(), pos, str.len_);
+}
+
+inline
+size_t String::find_last_of(const char* s, size_t pos) const
+{
+    if (pos >= len_) pos = len_ - 1;
+    for (const char* i = cstr_ + pos; i >= cstr_; --i)
+    {
+        for (size_t j = 0; s[j]; ++j)
+            if (s[j] == *i)
+                return (size_t)(i - cstr_);
+    }
+    return npos;
+}
+
+inline
+String String::toLowerCase() const
+{
+    String res(cstr_, len_);
+
+    for (size_t i = 0; i < len_; ++i)
+        res.cstr_[i] = (char) ::tolower(cstr_[i]);
+
+    return res;
+}
+
+//! @endcond
+
+// ************************* cv::String non-member functions *************************
+
+//! @relates cv::String
+//! @{
+
+inline
+String operator + (const String& lhs, const String& rhs)
+{
+    String s;
+    s.allocate(lhs.len_ + rhs.len_);
+    memcpy(s.cstr_, lhs.cstr_, lhs.len_);
+    memcpy(s.cstr_ + lhs.len_, rhs.cstr_, rhs.len_);
+    return s;
+}
+
+inline
+String operator + (const String& lhs, const char* rhs)
+{
+    String s;
+    size_t rhslen = strlen(rhs);
+    s.allocate(lhs.len_ + rhslen);
+    memcpy(s.cstr_, lhs.cstr_, lhs.len_);
+    memcpy(s.cstr_ + lhs.len_, rhs, rhslen);
+    return s;
+}
+
+inline
+String operator + (const char* lhs, const String& rhs)
+{
+    String s;
+    size_t lhslen = strlen(lhs);
+    s.allocate(lhslen + rhs.len_);
+    memcpy(s.cstr_, lhs, lhslen);
+    memcpy(s.cstr_ + lhslen, rhs.cstr_, rhs.len_);
+    return s;
+}
+
+inline
+String operator + (const String& lhs, char rhs)
+{
+    String s;
+    s.allocate(lhs.len_ + 1);
+    memcpy(s.cstr_, lhs.cstr_, lhs.len_);
+    s.cstr_[lhs.len_] = rhs;
+    return s;
+}
+
+inline
+String operator + (char lhs, const String& rhs)
+{
+    String s;
+    s.allocate(rhs.len_ + 1);
+    s.cstr_[0] = lhs;
+    memcpy(s.cstr_ + 1, rhs.cstr_, rhs.len_);
+    return s;
+}
+
+static inline bool operator== (const String& lhs, const String& rhs) { return 0 == lhs.compare(rhs); }
+static inline bool operator== (const char*   lhs, const String& rhs) { return 0 == rhs.compare(lhs); }
+static inline bool operator== (const String& lhs, const char*   rhs) { return 0 == lhs.compare(rhs); }
+static inline bool operator!= (const String& lhs, const String& rhs) { return 0 != lhs.compare(rhs); }
+static inline bool operator!= (const char*   lhs, const String& rhs) { return 0 != rhs.compare(lhs); }
+static inline bool operator!= (const String& lhs, const char*   rhs) { return 0 != lhs.compare(rhs); }
+static inline bool operator<  (const String& lhs, const String& rhs) { return lhs.compare(rhs) <  0; }
+static inline bool operator<  (const char*   lhs, const String& rhs) { return rhs.compare(lhs) >  0; }
+static inline bool operator<  (const String& lhs, const char*   rhs) { return lhs.compare(rhs) <  0; }
+static inline bool operator<= (const String& lhs, const String& rhs) { return lhs.compare(rhs) <= 0; }
+static inline bool operator<= (const char*   lhs, const String& rhs) { return rhs.compare(lhs) >= 0; }
+static inline bool operator<= (const String& lhs, const char*   rhs) { return lhs.compare(rhs) <= 0; }
+static inline bool operator>  (const String& lhs, const String& rhs) { return lhs.compare(rhs) >  0; }
+static inline bool operator>  (const char*   lhs, const String& rhs) { return rhs.compare(lhs) <  0; }
+static inline bool operator>  (const String& lhs, const char*   rhs) { return lhs.compare(rhs) >  0; }
+static inline bool operator>= (const String& lhs, const String& rhs) { return lhs.compare(rhs) >= 0; }
+static inline bool operator>= (const char*   lhs, const String& rhs) { return rhs.compare(lhs) <= 0; }
+static inline bool operator>= (const String& lhs, const char*   rhs) { return lhs.compare(rhs) >= 0; }
+
+//! @} relates cv::String
+
+} // cv
+
+#ifndef OPENCV_NOSTL_TRANSITIONAL
+namespace std
+{
+    static inline void swap(cv::String& a, cv::String& b) { a.swap(b); }
+}
+#else
+namespace cv
+{
+    template<> inline
+    void swap<cv::String>(cv::String& a, cv::String& b)
+    {
+        a.swap(b);
+    }
+}
+#endif
+
+#include "opencv2/core/ptr.inl.hpp"
+
+#endif //__OPENCV_CORE_CVSTD_HPP__
diff --git a/3rdparty/include/opencv2/core/cvstd.inl.hpp b/3rdparty/include/opencv2/core/cvstd.inl.hpp
new file mode 100644
index 0000000..03bac37
--- /dev/null
+++ b/3rdparty/include/opencv2/core/cvstd.inl.hpp
@@ -0,0 +1,267 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_CVSTDINL_HPP__
+#define __OPENCV_CORE_CVSTDINL_HPP__
+
+#ifndef OPENCV_NOSTL
+#  include <complex>
+#  include <ostream>
+#endif
+
+//! @cond IGNORED
+
+namespace cv
+{
+#ifndef OPENCV_NOSTL
+
+template<typename _Tp> class DataType< std::complex<_Tp> >
+{
+public:
+    typedef std::complex<_Tp>  value_type;
+    typedef value_type         work_type;
+    typedef _Tp                channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 2,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels) };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+inline
+String::String(const std::string& str)
+    : cstr_(0), len_(0)
+{
+    if (!str.empty())
+    {
+        size_t len = str.size();
+        memcpy(allocate(len), str.c_str(), len);
+    }
+}
+
+inline
+String::String(const std::string& str, size_t pos, size_t len)
+    : cstr_(0), len_(0)
+{
+    size_t strlen = str.size();
+    pos = max(pos, strlen);
+    len = min(strlen - pos, len);
+    if (!len) return;
+    memcpy(allocate(len), str.c_str() + pos, len);
+}
+
+inline
+String& String::operator = (const std::string& str)
+{
+    deallocate();
+    if (!str.empty())
+    {
+        size_t len = str.size();
+        memcpy(allocate(len), str.c_str(), len);
+    }
+    return *this;
+}
+
+inline
+String& String::operator += (const std::string& str)
+{
+    *this = *this + str;
+    return *this;
+}
+
+inline
+String::operator std::string() const
+{
+    return std::string(cstr_, len_);
+}
+
+inline
+String operator + (const String& lhs, const std::string& rhs)
+{
+    String s;
+    size_t rhslen = rhs.size();
+    s.allocate(lhs.len_ + rhslen);
+    memcpy(s.cstr_, lhs.cstr_, lhs.len_);
+    memcpy(s.cstr_ + lhs.len_, rhs.c_str(), rhslen);
+    return s;
+}
+
+inline
+String operator + (const std::string& lhs, const String& rhs)
+{
+    String s;
+    size_t lhslen = lhs.size();
+    s.allocate(lhslen + rhs.len_);
+    memcpy(s.cstr_, lhs.c_str(), lhslen);
+    memcpy(s.cstr_ + lhslen, rhs.cstr_, rhs.len_);
+    return s;
+}
+
+inline
+FileNode::operator std::string() const
+{
+    String value;
+    read(*this, value, value);
+    return value;
+}
+
+template<> inline
+void operator >> (const FileNode& n, std::string& value)
+{
+    String val;
+    read(n, val, val);
+    value = val;
+}
+
+template<> inline
+FileStorage& operator << (FileStorage& fs, const std::string& value)
+{
+    return fs << cv::String(value);
+}
+
+static inline
+std::ostream& operator << (std::ostream& os, const String& str)
+{
+    return os << str.c_str();
+}
+
+static inline
+std::ostream& operator << (std::ostream& out, Ptr<Formatted> fmtd)
+{
+    fmtd->reset();
+    for(const char* str = fmtd->next(); str; str = fmtd->next())
+        out << str;
+    return out;
+}
+
+static inline
+std::ostream& operator << (std::ostream& out, const Mat& mtx)
+{
+    return out << Formatter::get()->format(mtx);
+}
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const std::vector<Point_<_Tp> >& vec)
+{
+    return out << Formatter::get()->format(Mat(vec));
+}
+
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const std::vector<Point3_<_Tp> >& vec)
+{
+    return out << Formatter::get()->format(Mat(vec));
+}
+
+
+template<typename _Tp, int m, int n> static inline
+std::ostream& operator << (std::ostream& out, const Matx<_Tp, m, n>& matx)
+{
+    return out << Formatter::get()->format(Mat(matx));
+}
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const Point_<_Tp>& p)
+{
+    out << "[" << p.x << ", " << p.y << "]";
+    return out;
+}
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const Point3_<_Tp>& p)
+{
+    out << "[" << p.x << ", " << p.y << ", " << p.z << "]";
+    return out;
+}
+
+template<typename _Tp, int n> static inline
+std::ostream& operator << (std::ostream& out, const Vec<_Tp, n>& vec)
+{
+    out << "[";
+#ifdef _MSC_VER
+#pragma warning( push )
+#pragma warning( disable: 4127 )
+#endif
+    if(Vec<_Tp, n>::depth < CV_32F)
+#ifdef _MSC_VER
+#pragma warning( pop )
+#endif
+    {
+        for (int i = 0; i < n - 1; ++i) {
+            out << (int)vec[i] << ", ";
+        }
+        out << (int)vec[n-1] << "]";
+    }
+    else
+    {
+        for (int i = 0; i < n - 1; ++i) {
+            out << vec[i] << ", ";
+        }
+        out << vec[n-1] << "]";
+    }
+
+    return out;
+}
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const Size_<_Tp>& size)
+{
+    return out << "[" << size.width << " x " << size.height << "]";
+}
+
+template<typename _Tp> static inline
+std::ostream& operator << (std::ostream& out, const Rect_<_Tp>& rect)
+{
+    return out << "[" << rect.width << " x " << rect.height << " from (" << rect.x << ", " << rect.y << ")]";
+}
+
+
+#endif // OPENCV_NOSTL
+} // cv
+
+//! @endcond
+
+#endif // __OPENCV_CORE_CVSTDINL_HPP__
diff --git a/3rdparty/include/opencv2/core/directx.hpp b/3rdparty/include/opencv2/core/directx.hpp
new file mode 100644
index 0000000..837548e
--- /dev/null
+++ b/3rdparty/include/opencv2/core/directx.hpp
@@ -0,0 +1,105 @@
+/*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) 2010-2013, Advanced Micro Devices, 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 copyright holders or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_DIRECTX_HPP__
+#define __OPENCV_CORE_DIRECTX_HPP__
+
+#include "mat.hpp"
+#include "ocl.hpp"
+
+#if !defined(__d3d11_h__)
+struct ID3D11Device;
+struct ID3D11Texture2D;
+#endif
+
+#if !defined(__d3d10_h__)
+struct ID3D10Device;
+struct ID3D10Texture2D;
+#endif
+
+#if !defined(_D3D9_H_)
+struct IDirect3DDevice9;
+struct IDirect3DDevice9Ex;
+struct IDirect3DSurface9;
+#endif
+
+
+namespace cv { namespace directx {
+
+namespace ocl {
+using namespace cv::ocl;
+
+//! @addtogroup core_directx
+//! @{
+
+// TODO static functions in the Context class
+CV_EXPORTS Context& initializeContextFromD3D11Device(ID3D11Device* pD3D11Device);
+CV_EXPORTS Context& initializeContextFromD3D10Device(ID3D10Device* pD3D10Device);
+CV_EXPORTS Context& initializeContextFromDirect3DDevice9Ex(IDirect3DDevice9Ex* pDirect3DDevice9Ex);
+CV_EXPORTS Context& initializeContextFromDirect3DDevice9(IDirect3DDevice9* pDirect3DDevice9);
+
+//! @}
+
+} // namespace cv::directx::ocl
+
+//! @addtogroup core_directx
+//! @{
+
+CV_EXPORTS void convertToD3D11Texture2D(InputArray src, ID3D11Texture2D* pD3D11Texture2D);
+CV_EXPORTS void convertFromD3D11Texture2D(ID3D11Texture2D* pD3D11Texture2D, OutputArray dst);
+
+CV_EXPORTS void convertToD3D10Texture2D(InputArray src, ID3D10Texture2D* pD3D10Texture2D);
+CV_EXPORTS void convertFromD3D10Texture2D(ID3D10Texture2D* pD3D10Texture2D, OutputArray dst);
+
+CV_EXPORTS void convertToDirect3DSurface9(InputArray src, IDirect3DSurface9* pDirect3DSurface9, void* surfaceSharedHandle = NULL);
+CV_EXPORTS void convertFromDirect3DSurface9(IDirect3DSurface9* pDirect3DSurface9, OutputArray dst, void* surfaceSharedHandle = NULL);
+
+// Get OpenCV type from DirectX type, return -1 if there is no equivalent
+CV_EXPORTS int getTypeFromDXGI_FORMAT(const int iDXGI_FORMAT); // enum DXGI_FORMAT for D3D10/D3D11
+
+// Get OpenCV type from DirectX type, return -1 if there is no equivalent
+CV_EXPORTS int getTypeFromD3DFORMAT(const int iD3DFORMAT); // enum D3DTYPE for D3D9
+
+//! @}
+
+} } // namespace cv::directx
+
+#endif // __OPENCV_CORE_DIRECTX_HPP__
diff --git a/3rdparty/include/opencv2/core/eigen.hpp b/3rdparty/include/opencv2/core/eigen.hpp
new file mode 100644
index 0000000..44df04c
--- /dev/null
+++ b/3rdparty/include/opencv2/core/eigen.hpp
@@ -0,0 +1,280 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+#ifndef __OPENCV_CORE_EIGEN_HPP__
+#define __OPENCV_CORE_EIGEN_HPP__
+
+#include "opencv2/core.hpp"
+
+#if defined _MSC_VER && _MSC_VER >= 1200
+#pragma warning( disable: 4714 ) //__forceinline is not inlined
+#pragma warning( disable: 4127 ) //conditional expression is constant
+#pragma warning( disable: 4244 ) //conversion from '__int64' to 'int', possible loss of data
+#endif
+
+namespace cv
+{
+
+//! @addtogroup core_eigen
+//! @{
+
+template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> static inline
+void eigen2cv( const Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& src, Mat& dst )
+{
+    if( !(src.Flags & Eigen::RowMajorBit) )
+    {
+        Mat _src(src.cols(), src.rows(), DataType<_Tp>::type,
+              (void*)src.data(), src.stride()*sizeof(_Tp));
+        transpose(_src, dst);
+    }
+    else
+    {
+        Mat _src(src.rows(), src.cols(), DataType<_Tp>::type,
+                 (void*)src.data(), src.stride()*sizeof(_Tp));
+        _src.copyTo(dst);
+    }
+}
+
+// Matx case
+template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> static inline
+void eigen2cv( const Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& src,
+               Matx<_Tp, _rows, _cols>& dst )
+{
+    if( !(src.Flags & Eigen::RowMajorBit) )
+    {
+        dst = Matx<_Tp, _cols, _rows>(static_cast<const _Tp*>(src.data())).t();
+    }
+    else
+    {
+        dst = Matx<_Tp, _rows, _cols>(static_cast<const _Tp*>(src.data()));
+    }
+}
+
+template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> static inline
+void cv2eigen( const Mat& src,
+               Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst )
+{
+    CV_DbgAssert(src.rows == _rows && src.cols == _cols);
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        if( src.type() == _dst.type() )
+            transpose(src, _dst);
+        else if( src.cols == src.rows )
+        {
+            src.convertTo(_dst, _dst.type());
+            transpose(_dst, _dst);
+        }
+        else
+            Mat(src.t()).convertTo(_dst, _dst.type());
+    }
+    else
+    {
+        const Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        src.convertTo(_dst, _dst.type());
+    }
+}
+
+// Matx case
+template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> static inline
+void cv2eigen( const Matx<_Tp, _rows, _cols>& src,
+               Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst )
+{
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(_cols, _rows, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        transpose(src, _dst);
+    }
+    else
+    {
+        const Mat _dst(_rows, _cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        Mat(src).copyTo(_dst);
+    }
+}
+
+template<typename _Tp>  static inline
+void cv2eigen( const Mat& src,
+               Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst )
+{
+    dst.resize(src.rows, src.cols);
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
+             dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        if( src.type() == _dst.type() )
+            transpose(src, _dst);
+        else if( src.cols == src.rows )
+        {
+            src.convertTo(_dst, _dst.type());
+            transpose(_dst, _dst);
+        }
+        else
+            Mat(src.t()).convertTo(_dst, _dst.type());
+    }
+    else
+    {
+        const Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        src.convertTo(_dst, _dst.type());
+    }
+}
+
+// Matx case
+template<typename _Tp, int _rows, int _cols> static inline
+void cv2eigen( const Matx<_Tp, _rows, _cols>& src,
+               Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst )
+{
+    dst.resize(_rows, _cols);
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(_cols, _rows, DataType<_Tp>::type,
+             dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        transpose(src, _dst);
+    }
+    else
+    {
+        const Mat _dst(_rows, _cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        Mat(src).copyTo(_dst);
+    }
+}
+
+template<typename _Tp> static inline
+void cv2eigen( const Mat& src,
+               Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst )
+{
+    CV_Assert(src.cols == 1);
+    dst.resize(src.rows);
+
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        if( src.type() == _dst.type() )
+            transpose(src, _dst);
+        else
+            Mat(src.t()).convertTo(_dst, _dst.type());
+    }
+    else
+    {
+        const Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        src.convertTo(_dst, _dst.type());
+    }
+}
+
+// Matx case
+template<typename _Tp, int _rows> static inline
+void cv2eigen( const Matx<_Tp, _rows, 1>& src,
+               Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst )
+{
+    dst.resize(_rows);
+
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(1, _rows, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        transpose(src, _dst);
+    }
+    else
+    {
+        const Mat _dst(_rows, 1, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        src.copyTo(_dst);
+    }
+}
+
+
+template<typename _Tp> static inline
+void cv2eigen( const Mat& src,
+               Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst )
+{
+    CV_Assert(src.rows == 1);
+    dst.resize(src.cols);
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        if( src.type() == _dst.type() )
+            transpose(src, _dst);
+        else
+            Mat(src.t()).convertTo(_dst, _dst.type());
+    }
+    else
+    {
+        const Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        src.convertTo(_dst, _dst.type());
+    }
+}
+
+//Matx
+template<typename _Tp, int _cols> static inline
+void cv2eigen( const Matx<_Tp, 1, _cols>& src,
+               Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst )
+{
+    dst.resize(_cols);
+    if( !(dst.Flags & Eigen::RowMajorBit) )
+    {
+        const Mat _dst(_cols, 1, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        transpose(src, _dst);
+    }
+    else
+    {
+        const Mat _dst(1, _cols, DataType<_Tp>::type,
+                 dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
+        Mat(src).copyTo(_dst);
+    }
+}
+
+//! @}
+
+} // cv
+
+#endif
diff --git a/3rdparty/include/opencv2/core/ippasync.hpp b/3rdparty/include/opencv2/core/ippasync.hpp
new file mode 100644
index 0000000..4de8611
--- /dev/null
+++ b/3rdparty/include/opencv2/core/ippasync.hpp
@@ -0,0 +1,195 @@
+/*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) 2000-2015, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_IPPASYNC_HPP__
+#define __OPENCV_CORE_IPPASYNC_HPP__
+
+#ifdef HAVE_IPP_A
+
+#include "opencv2/core.hpp"
+#include <ipp_async_op.h>
+#include <ipp_async_accel.h>
+
+namespace cv
+{
+
+namespace hpp
+{
+
+/** @addtogroup core_ipp
+This section describes conversion between OpenCV and [Intel&reg; IPP Asynchronous
+C/C++](http://software.intel.com/en-us/intel-ipp-preview) library. [Getting Started
+Guide](http://registrationcenter.intel.com/irc_nas/3727/ipp_async_get_started.htm) help you to
+install the library, configure header and library build paths.
+ */
+//! @{
+
+    //! convert OpenCV data type to hppDataType
+    inline int toHppType(const int cvType)
+    {
+        int depth = CV_MAT_DEPTH(cvType);
+        int hppType = depth == CV_8U ? HPP_DATA_TYPE_8U :
+                     depth == CV_16U ? HPP_DATA_TYPE_16U :
+                     depth == CV_16S ? HPP_DATA_TYPE_16S :
+                     depth == CV_32S ? HPP_DATA_TYPE_32S :
+                     depth == CV_32F ? HPP_DATA_TYPE_32F :
+                     depth == CV_64F ? HPP_DATA_TYPE_64F : -1;
+        CV_Assert( hppType >= 0 );
+        return hppType;
+    }
+
+    //! convert hppDataType to OpenCV data type
+    inline int toCvType(const int hppType)
+    {
+        int cvType = hppType == HPP_DATA_TYPE_8U ? CV_8U :
+                    hppType == HPP_DATA_TYPE_16U ? CV_16U :
+                    hppType == HPP_DATA_TYPE_16S ? CV_16S :
+                    hppType == HPP_DATA_TYPE_32S ? CV_32S :
+                    hppType == HPP_DATA_TYPE_32F ? CV_32F :
+                    hppType == HPP_DATA_TYPE_64F ? CV_64F : -1;
+        CV_Assert( cvType >= 0 );
+        return cvType;
+    }
+
+    /** @brief Convert hppiMatrix to Mat.
+
+    This function allocates and initializes new matrix (if needed) that has the same size and type as
+    input matrix. Supports CV_8U, CV_16U, CV_16S, CV_32S, CV_32F, CV_64F.
+    @param src input hppiMatrix.
+    @param dst output matrix.
+    @param accel accelerator instance (see hpp::getHpp for the list of acceleration framework types).
+    @param cn number of channels.
+     */
+    inline void copyHppToMat(hppiMatrix* src, Mat& dst, hppAccel accel, int cn)
+    {
+        hppDataType type;
+        hpp32u width, height;
+        hppStatus sts;
+
+        if (src == NULL)
+            return dst.release();
+
+        sts = hppiInquireMatrix(src, &type, &width, &height);
+
+        CV_Assert( sts == HPP_STATUS_NO_ERROR);
+
+        int matType = CV_MAKETYPE(toCvType(type), cn);
+
+        CV_Assert(width%cn == 0);
+
+        width /= cn;
+
+        dst.create((int)height, (int)width, (int)matType);
+
+        size_t newSize = (size_t)(height*(hpp32u)(dst.step));
+
+        sts = hppiGetMatrixData(accel,src,(hpp32u)(dst.step),dst.data,&newSize);
+
+        CV_Assert( sts == HPP_STATUS_NO_ERROR);
+    }
+
+    /** @brief Create Mat from hppiMatrix.
+
+    This function allocates and initializes the Mat that has the same size and type as input matrix.
+    Supports CV_8U, CV_16U, CV_16S, CV_32S, CV_32F, CV_64F.
+    @param src input hppiMatrix.
+    @param accel accelerator instance (see hpp::getHpp for the list of acceleration framework types).
+    @param cn number of channels.
+    @sa howToUseIPPAconversion, hpp::copyHppToMat, hpp::getHpp.
+     */
+    inline Mat getMat(hppiMatrix* src, hppAccel accel, int cn)
+    {
+        Mat dst;
+        copyHppToMat(src, dst, accel, cn);
+        return dst;
+    }
+
+    /** @brief Create hppiMatrix from Mat.
+
+    This function allocates and initializes the hppiMatrix that has the same size and type as input
+    matrix, returns the hppiMatrix*.
+
+    If you want to use zero-copy for GPU you should to have 4KB aligned matrix data. See details
+    [hppiCreateSharedMatrix](http://software.intel.com/ru-ru/node/501697).
+
+    Supports CV_8U, CV_16U, CV_16S, CV_32S, CV_32F, CV_64F.
+
+    @note The hppiMatrix pointer to the image buffer in system memory refers to the src.data. Control
+    the lifetime of the matrix and don't change its data, if there is no special need.
+    @param src input matrix.
+    @param accel accelerator instance. Supports type:
+    -   **HPP_ACCEL_TYPE_CPU** - accelerated by optimized CPU instructions.
+    -   **HPP_ACCEL_TYPE_GPU** - accelerated by GPU programmable units or fixed-function
+        accelerators.
+    -   **HPP_ACCEL_TYPE_ANY** - any acceleration or no acceleration available.
+    @sa howToUseIPPAconversion, hpp::getMat
+     */
+    inline hppiMatrix* getHpp(const Mat& src, hppAccel accel)
+    {
+        int htype = toHppType(src.type());
+        int cn = src.channels();
+
+        CV_Assert(src.data);
+        hppAccelType accelType = hppQueryAccelType(accel);
+
+        if (accelType!=HPP_ACCEL_TYPE_CPU)
+        {
+            hpp32u pitch, size;
+            hppQueryMatrixAllocParams(accel, src.cols*cn, src.rows, htype, &pitch, &size);
+            if (pitch!=0 && size!=0)
+                if ((int)(src.data)%4096==0 && pitch==(hpp32u)(src.step))
+                {
+                    return hppiCreateSharedMatrix(htype, src.cols*cn, src.rows, src.data, pitch, size);
+                }
+        }
+
+        return hppiCreateMatrix(htype, src.cols*cn, src.rows, src.data, (hpp32s)(src.step));;
+    }
+
+//! @}
+}}
+
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/core/mat.hpp b/3rdparty/include/opencv2/core/mat.hpp
new file mode 100644
index 0000000..45f3cef
--- /dev/null
+++ b/3rdparty/include/opencv2/core/mat.hpp
@@ -0,0 +1,3398 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_MAT_HPP__
+#define __OPENCV_CORE_MAT_HPP__
+
+#ifndef __cplusplus
+#  error mat.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core/matx.hpp"
+#include "opencv2/core/types.hpp"
+
+#include "opencv2/core/bufferpool.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_basic
+//! @{
+
+enum { ACCESS_READ=1<<24, ACCESS_WRITE=1<<25,
+    ACCESS_RW=3<<24, ACCESS_MASK=ACCESS_RW, ACCESS_FAST=1<<26 };
+
+class CV_EXPORTS _OutputArray;
+
+//////////////////////// Input/Output Array Arguments /////////////////////////////////
+
+/** @brief This is the proxy class for passing read-only input arrays into OpenCV functions.
+
+It is defined as:
+@code
+    typedef const _InputArray& InputArray;
+@endcode
+where _InputArray is a class that can be constructed from `Mat`, `Mat_<T>`, `Matx<T, m, n>`,
+`std::vector<T>`, `std::vector<std::vector<T> >` or `std::vector<Mat>`. It can also be constructed
+from a matrix expression.
+
+Since this is mostly implementation-level class, and its interface may change in future versions, we
+do not describe it in details. There are a few key things, though, that should be kept in mind:
+
+-   When you see in the reference manual or in OpenCV source code a function that takes
+    InputArray, it means that you can actually pass `Mat`, `Matx`, `vector<T>` etc. (see above the
+    complete list).
+-   Optional input arguments: If some of the input arrays may be empty, pass cv::noArray() (or
+    simply cv::Mat() as you probably did before).
+-   The class is designed solely for passing parameters. That is, normally you *should not*
+    declare class members, local and global variables of this type.
+-   If you want to design your own function or a class method that can operate of arrays of
+    multiple types, you can use InputArray (or OutputArray) for the respective parameters. Inside
+    a function you should use _InputArray::getMat() method to construct a matrix header for the
+    array (without copying data). _InputArray::kind() can be used to distinguish Mat from
+    `vector<>` etc., but normally it is not needed.
+
+Here is how you can use a function that takes InputArray :
+@code
+    std::vector<Point2f> vec;
+    // points or a circle
+    for( int i = 0; i < 30; i++ )
+        vec.push_back(Point2f((float)(100 + 30*cos(i*CV_PI*2/5)),
+                              (float)(100 - 30*sin(i*CV_PI*2/5))));
+    cv::transform(vec, vec, cv::Matx23f(0.707, -0.707, 10, 0.707, 0.707, 20));
+@endcode
+That is, we form an STL vector containing points, and apply in-place affine transformation to the
+vector using the 2x3 matrix created inline as `Matx<float, 2, 3>` instance.
+
+Here is how such a function can be implemented (for simplicity, we implement a very specific case of
+it, according to the assertion statement inside) :
+@code
+    void myAffineTransform(InputArray _src, OutputArray _dst, InputArray _m)
+    {
+        // get Mat headers for input arrays. This is O(1) operation,
+        // unless _src and/or _m are matrix expressions.
+        Mat src = _src.getMat(), m = _m.getMat();
+        CV_Assert( src.type() == CV_32FC2 && m.type() == CV_32F && m.size() == Size(3, 2) );
+
+        // [re]create the output array so that it has the proper size and type.
+        // In case of Mat it calls Mat::create, in case of STL vector it calls vector::resize.
+        _dst.create(src.size(), src.type());
+        Mat dst = _dst.getMat();
+
+        for( int i = 0; i < src.rows; i++ )
+            for( int j = 0; j < src.cols; j++ )
+            {
+                Point2f pt = src.at<Point2f>(i, j);
+                dst.at<Point2f>(i, j) = Point2f(m.at<float>(0, 0)*pt.x +
+                                                m.at<float>(0, 1)*pt.y +
+                                                m.at<float>(0, 2),
+                                                m.at<float>(1, 0)*pt.x +
+                                                m.at<float>(1, 1)*pt.y +
+                                                m.at<float>(1, 2));
+            }
+    }
+@endcode
+There is another related type, InputArrayOfArrays, which is currently defined as a synonym for
+InputArray:
+@code
+    typedef InputArray InputArrayOfArrays;
+@endcode
+It denotes function arguments that are either vectors of vectors or vectors of matrices. A separate
+synonym is needed to generate Python/Java etc. wrappers properly. At the function implementation
+level their use is similar, but _InputArray::getMat(idx) should be used to get header for the
+idx-th component of the outer vector and _InputArray::size().area() should be used to find the
+number of components (vectors/matrices) of the outer vector.
+ */
+class CV_EXPORTS _InputArray
+{
+public:
+    enum {
+        KIND_SHIFT = 16,
+        FIXED_TYPE = 0x8000 << KIND_SHIFT,
+        FIXED_SIZE = 0x4000 << KIND_SHIFT,
+        KIND_MASK = 31 << KIND_SHIFT,
+
+        NONE              = 0 << KIND_SHIFT,
+        MAT               = 1 << KIND_SHIFT,
+        MATX              = 2 << KIND_SHIFT,
+        STD_VECTOR        = 3 << KIND_SHIFT,
+        STD_VECTOR_VECTOR = 4 << KIND_SHIFT,
+        STD_VECTOR_MAT    = 5 << KIND_SHIFT,
+        EXPR              = 6 << KIND_SHIFT,
+        OPENGL_BUFFER     = 7 << KIND_SHIFT,
+        CUDA_HOST_MEM     = 8 << KIND_SHIFT,
+        CUDA_GPU_MAT      = 9 << KIND_SHIFT,
+        UMAT              =10 << KIND_SHIFT,
+        STD_VECTOR_UMAT   =11 << KIND_SHIFT,
+        STD_BOOL_VECTOR   =12 << KIND_SHIFT
+    };
+
+    _InputArray();
+    _InputArray(int _flags, void* _obj);
+    _InputArray(const Mat& m);
+    _InputArray(const MatExpr& expr);
+    _InputArray(const std::vector<Mat>& vec);
+    template<typename _Tp> _InputArray(const Mat_<_Tp>& m);
+    template<typename _Tp> _InputArray(const std::vector<_Tp>& vec);
+    _InputArray(const std::vector<bool>& vec);
+    template<typename _Tp> _InputArray(const std::vector<std::vector<_Tp> >& vec);
+    template<typename _Tp> _InputArray(const std::vector<Mat_<_Tp> >& vec);
+    template<typename _Tp> _InputArray(const _Tp* vec, int n);
+    template<typename _Tp, int m, int n> _InputArray(const Matx<_Tp, m, n>& matx);
+    _InputArray(const double& val);
+    _InputArray(const cuda::GpuMat& d_mat);
+    _InputArray(const ogl::Buffer& buf);
+    _InputArray(const cuda::HostMem& cuda_mem);
+    template<typename _Tp> _InputArray(const cudev::GpuMat_<_Tp>& m);
+    _InputArray(const UMat& um);
+    _InputArray(const std::vector<UMat>& umv);
+
+    Mat getMat(int idx=-1) const;
+    Mat getMat_(int idx=-1) const;
+    UMat getUMat(int idx=-1) const;
+    void getMatVector(std::vector<Mat>& mv) const;
+    void getUMatVector(std::vector<UMat>& umv) const;
+    cuda::GpuMat getGpuMat() const;
+    ogl::Buffer getOGlBuffer() const;
+
+    int getFlags() const;
+    void* getObj() const;
+    Size getSz() const;
+
+    int kind() const;
+    int dims(int i=-1) const;
+    int cols(int i=-1) const;
+    int rows(int i=-1) const;
+    Size size(int i=-1) const;
+    int sizend(int* sz, int i=-1) const;
+    bool sameSize(const _InputArray& arr) const;
+    size_t total(int i=-1) const;
+    int type(int i=-1) const;
+    int depth(int i=-1) const;
+    int channels(int i=-1) const;
+    bool isContinuous(int i=-1) const;
+    bool isSubmatrix(int i=-1) const;
+    bool empty() const;
+    void copyTo(const _OutputArray& arr) const;
+    void copyTo(const _OutputArray& arr, const _InputArray & mask) const;
+    size_t offset(int i=-1) const;
+    size_t step(int i=-1) const;
+    bool isMat() const;
+    bool isUMat() const;
+    bool isMatVector() const;
+    bool isUMatVector() const;
+    bool isMatx() const;
+
+    ~_InputArray();
+
+protected:
+    int flags;
+    void* obj;
+    Size sz;
+
+    void init(int _flags, const void* _obj);
+    void init(int _flags, const void* _obj, Size _sz);
+};
+
+
+/** @brief This type is very similar to InputArray except that it is used for input/output and output function
+parameters.
+
+Just like with InputArray, OpenCV users should not care about OutputArray, they just pass `Mat`,
+`vector<T>` etc. to the functions. The same limitation as for `InputArray`: *Do not explicitly
+create OutputArray instances* applies here too.
+
+If you want to make your function polymorphic (i.e. accept different arrays as output parameters),
+it is also not very difficult. Take the sample above as the reference. Note that
+_OutputArray::create() needs to be called before _OutputArray::getMat(). This way you guarantee
+that the output array is properly allocated.
+
+Optional output parameters. If you do not need certain output array to be computed and returned to
+you, pass cv::noArray(), just like you would in the case of optional input array. At the
+implementation level, use _OutputArray::needed() to check if certain output array needs to be
+computed or not.
+
+There are several synonyms for OutputArray that are used to assist automatic Python/Java/... wrapper
+generators:
+@code
+    typedef OutputArray OutputArrayOfArrays;
+    typedef OutputArray InputOutputArray;
+    typedef OutputArray InputOutputArrayOfArrays;
+@endcode
+ */
+class CV_EXPORTS _OutputArray : public _InputArray
+{
+public:
+    enum
+    {
+        DEPTH_MASK_8U = 1 << CV_8U,
+        DEPTH_MASK_8S = 1 << CV_8S,
+        DEPTH_MASK_16U = 1 << CV_16U,
+        DEPTH_MASK_16S = 1 << CV_16S,
+        DEPTH_MASK_32S = 1 << CV_32S,
+        DEPTH_MASK_32F = 1 << CV_32F,
+        DEPTH_MASK_64F = 1 << CV_64F,
+        DEPTH_MASK_ALL = (DEPTH_MASK_64F<<1)-1,
+        DEPTH_MASK_ALL_BUT_8S = DEPTH_MASK_ALL & ~DEPTH_MASK_8S,
+        DEPTH_MASK_FLT = DEPTH_MASK_32F + DEPTH_MASK_64F
+    };
+
+    _OutputArray();
+    _OutputArray(int _flags, void* _obj);
+    _OutputArray(Mat& m);
+    _OutputArray(std::vector<Mat>& vec);
+    _OutputArray(cuda::GpuMat& d_mat);
+    _OutputArray(ogl::Buffer& buf);
+    _OutputArray(cuda::HostMem& cuda_mem);
+    template<typename _Tp> _OutputArray(cudev::GpuMat_<_Tp>& m);
+    template<typename _Tp> _OutputArray(std::vector<_Tp>& vec);
+    _OutputArray(std::vector<bool>& vec);
+    template<typename _Tp> _OutputArray(std::vector<std::vector<_Tp> >& vec);
+    template<typename _Tp> _OutputArray(std::vector<Mat_<_Tp> >& vec);
+    template<typename _Tp> _OutputArray(Mat_<_Tp>& m);
+    template<typename _Tp> _OutputArray(_Tp* vec, int n);
+    template<typename _Tp, int m, int n> _OutputArray(Matx<_Tp, m, n>& matx);
+    _OutputArray(UMat& m);
+    _OutputArray(std::vector<UMat>& vec);
+
+    _OutputArray(const Mat& m);
+    _OutputArray(const std::vector<Mat>& vec);
+    _OutputArray(const cuda::GpuMat& d_mat);
+    _OutputArray(const ogl::Buffer& buf);
+    _OutputArray(const cuda::HostMem& cuda_mem);
+    template<typename _Tp> _OutputArray(const cudev::GpuMat_<_Tp>& m);
+    template<typename _Tp> _OutputArray(const std::vector<_Tp>& vec);
+    template<typename _Tp> _OutputArray(const std::vector<std::vector<_Tp> >& vec);
+    template<typename _Tp> _OutputArray(const std::vector<Mat_<_Tp> >& vec);
+    template<typename _Tp> _OutputArray(const Mat_<_Tp>& m);
+    template<typename _Tp> _OutputArray(const _Tp* vec, int n);
+    template<typename _Tp, int m, int n> _OutputArray(const Matx<_Tp, m, n>& matx);
+    _OutputArray(const UMat& m);
+    _OutputArray(const std::vector<UMat>& vec);
+
+    bool fixedSize() const;
+    bool fixedType() const;
+    bool needed() const;
+    Mat& getMatRef(int i=-1) const;
+    UMat& getUMatRef(int i=-1) const;
+    cuda::GpuMat& getGpuMatRef() const;
+    ogl::Buffer& getOGlBufferRef() const;
+    cuda::HostMem& getHostMemRef() const;
+    void create(Size sz, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;
+    void create(int rows, int cols, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;
+    void create(int dims, const int* size, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;
+    void createSameSize(const _InputArray& arr, int mtype) const;
+    void release() const;
+    void clear() const;
+    void setTo(const _InputArray& value, const _InputArray & mask = _InputArray()) const;
+
+    void assign(const UMat& u) const;
+    void assign(const Mat& m) const;
+};
+
+
+class CV_EXPORTS _InputOutputArray : public _OutputArray
+{
+public:
+    _InputOutputArray();
+    _InputOutputArray(int _flags, void* _obj);
+    _InputOutputArray(Mat& m);
+    _InputOutputArray(std::vector<Mat>& vec);
+    _InputOutputArray(cuda::GpuMat& d_mat);
+    _InputOutputArray(ogl::Buffer& buf);
+    _InputOutputArray(cuda::HostMem& cuda_mem);
+    template<typename _Tp> _InputOutputArray(cudev::GpuMat_<_Tp>& m);
+    template<typename _Tp> _InputOutputArray(std::vector<_Tp>& vec);
+    _InputOutputArray(std::vector<bool>& vec);
+    template<typename _Tp> _InputOutputArray(std::vector<std::vector<_Tp> >& vec);
+    template<typename _Tp> _InputOutputArray(std::vector<Mat_<_Tp> >& vec);
+    template<typename _Tp> _InputOutputArray(Mat_<_Tp>& m);
+    template<typename _Tp> _InputOutputArray(_Tp* vec, int n);
+    template<typename _Tp, int m, int n> _InputOutputArray(Matx<_Tp, m, n>& matx);
+    _InputOutputArray(UMat& m);
+    _InputOutputArray(std::vector<UMat>& vec);
+
+    _InputOutputArray(const Mat& m);
+    _InputOutputArray(const std::vector<Mat>& vec);
+    _InputOutputArray(const cuda::GpuMat& d_mat);
+    _InputOutputArray(const ogl::Buffer& buf);
+    _InputOutputArray(const cuda::HostMem& cuda_mem);
+    template<typename _Tp> _InputOutputArray(const cudev::GpuMat_<_Tp>& m);
+    template<typename _Tp> _InputOutputArray(const std::vector<_Tp>& vec);
+    template<typename _Tp> _InputOutputArray(const std::vector<std::vector<_Tp> >& vec);
+    template<typename _Tp> _InputOutputArray(const std::vector<Mat_<_Tp> >& vec);
+    template<typename _Tp> _InputOutputArray(const Mat_<_Tp>& m);
+    template<typename _Tp> _InputOutputArray(const _Tp* vec, int n);
+    template<typename _Tp, int m, int n> _InputOutputArray(const Matx<_Tp, m, n>& matx);
+    _InputOutputArray(const UMat& m);
+    _InputOutputArray(const std::vector<UMat>& vec);
+};
+
+typedef const _InputArray& InputArray;
+typedef InputArray InputArrayOfArrays;
+typedef const _OutputArray& OutputArray;
+typedef OutputArray OutputArrayOfArrays;
+typedef const _InputOutputArray& InputOutputArray;
+typedef InputOutputArray InputOutputArrayOfArrays;
+
+CV_EXPORTS InputOutputArray noArray();
+
+/////////////////////////////////// MatAllocator //////////////////////////////////////
+
+//! Usage flags for allocator
+enum UMatUsageFlags
+{
+    USAGE_DEFAULT = 0,
+
+    // buffer allocation policy is platform and usage specific
+    USAGE_ALLOCATE_HOST_MEMORY = 1 << 0,
+    USAGE_ALLOCATE_DEVICE_MEMORY = 1 << 1,
+    USAGE_ALLOCATE_SHARED_MEMORY = 1 << 2, // It is not equal to: USAGE_ALLOCATE_HOST_MEMORY | USAGE_ALLOCATE_DEVICE_MEMORY
+
+    __UMAT_USAGE_FLAGS_32BIT = 0x7fffffff // Binary compatibility hint
+};
+
+struct CV_EXPORTS UMatData;
+
+/** @brief  Custom array allocator
+*/
+class CV_EXPORTS MatAllocator
+{
+public:
+    MatAllocator() {}
+    virtual ~MatAllocator() {}
+
+    // let's comment it off for now to detect and fix all the uses of allocator
+    //virtual void allocate(int dims, const int* sizes, int type, int*& refcount,
+    //                      uchar*& datastart, uchar*& data, size_t* step) = 0;
+    //virtual void deallocate(int* refcount, uchar* datastart, uchar* data) = 0;
+    virtual UMatData* allocate(int dims, const int* sizes, int type,
+                               void* data, size_t* step, int flags, UMatUsageFlags usageFlags) const = 0;
+    virtual bool allocate(UMatData* data, int accessflags, UMatUsageFlags usageFlags) const = 0;
+    virtual void deallocate(UMatData* data) const = 0;
+    virtual void map(UMatData* data, int accessflags) const;
+    virtual void unmap(UMatData* data) const;
+    virtual void download(UMatData* data, void* dst, int dims, const size_t sz[],
+                          const size_t srcofs[], const size_t srcstep[],
+                          const size_t dststep[]) const;
+    virtual void upload(UMatData* data, const void* src, int dims, const size_t sz[],
+                        const size_t dstofs[], const size_t dststep[],
+                        const size_t srcstep[]) const;
+    virtual void copy(UMatData* srcdata, UMatData* dstdata, int dims, const size_t sz[],
+                      const size_t srcofs[], const size_t srcstep[],
+                      const size_t dstofs[], const size_t dststep[], bool sync) const;
+
+    // default implementation returns DummyBufferPoolController
+    virtual BufferPoolController* getBufferPoolController(const char* id = NULL) const;
+};
+
+
+//////////////////////////////// MatCommaInitializer //////////////////////////////////
+
+/** @brief  Comma-separated Matrix Initializer
+
+ The class instances are usually not created explicitly.
+ Instead, they are created on "matrix << firstValue" operator.
+
+ The sample below initializes 2x2 rotation matrix:
+
+ \code
+ double angle = 30, a = cos(angle*CV_PI/180), b = sin(angle*CV_PI/180);
+ Mat R = (Mat_<double>(2,2) << a, -b, b, a);
+ \endcode
+*/
+template<typename _Tp> class MatCommaInitializer_
+{
+public:
+    //! the constructor, created by "matrix << firstValue" operator, where matrix is cv::Mat
+    MatCommaInitializer_(Mat_<_Tp>* _m);
+    //! the operator that takes the next value and put it to the matrix
+    template<typename T2> MatCommaInitializer_<_Tp>& operator , (T2 v);
+    //! another form of conversion operator
+    operator Mat_<_Tp>() const;
+protected:
+    MatIterator_<_Tp> it;
+};
+
+
+/////////////////////////////////////// Mat ///////////////////////////////////////////
+
+// note that umatdata might be allocated together
+// with the matrix data, not as a separate object.
+// therefore, it does not have constructor or destructor;
+// it should be explicitly initialized using init().
+struct CV_EXPORTS UMatData
+{
+    enum { COPY_ON_MAP=1, HOST_COPY_OBSOLETE=2,
+        DEVICE_COPY_OBSOLETE=4, TEMP_UMAT=8, TEMP_COPIED_UMAT=24,
+        USER_ALLOCATED=32, DEVICE_MEM_MAPPED=64};
+    UMatData(const MatAllocator* allocator);
+    ~UMatData();
+
+    // provide atomic access to the structure
+    void lock();
+    void unlock();
+
+    bool hostCopyObsolete() const;
+    bool deviceCopyObsolete() const;
+    bool deviceMemMapped() const;
+    bool copyOnMap() const;
+    bool tempUMat() const;
+    bool tempCopiedUMat() const;
+    void markHostCopyObsolete(bool flag);
+    void markDeviceCopyObsolete(bool flag);
+    void markDeviceMemMapped(bool flag);
+
+    const MatAllocator* prevAllocator;
+    const MatAllocator* currAllocator;
+    int urefcount;
+    int refcount;
+    uchar* data;
+    uchar* origdata;
+    size_t size;
+
+    int flags;
+    void* handle;
+    void* userdata;
+    int allocatorFlags_;
+};
+
+
+struct CV_EXPORTS UMatDataAutoLock
+{
+    explicit UMatDataAutoLock(UMatData* u);
+    ~UMatDataAutoLock();
+    UMatData* u;
+};
+
+
+struct CV_EXPORTS MatSize
+{
+    explicit MatSize(int* _p);
+    Size operator()() const;
+    const int& operator[](int i) const;
+    int& operator[](int i);
+    operator const int*() const;
+    bool operator == (const MatSize& sz) const;
+    bool operator != (const MatSize& sz) const;
+
+    int* p;
+};
+
+struct CV_EXPORTS MatStep
+{
+    MatStep();
+    explicit MatStep(size_t s);
+    const size_t& operator[](int i) const;
+    size_t& operator[](int i);
+    operator size_t() const;
+    MatStep& operator = (size_t s);
+
+    size_t* p;
+    size_t buf[2];
+protected:
+    MatStep& operator = (const MatStep&);
+};
+
+/** @example cout_mat.cpp
+An example demonstrating the serial out capabilities of cv::Mat
+*/
+
+ /** @brief n-dimensional dense array class
+
+The class Mat represents an n-dimensional dense numerical single-channel or multi-channel array. It
+can be used to store real or complex-valued vectors and matrices, grayscale or color images, voxel
+volumes, vector fields, point clouds, tensors, histograms (though, very high-dimensional histograms
+may be better stored in a SparseMat ). The data layout of the array `M` is defined by the array
+`M.step[]`, so that the address of element \f$(i_0,...,i_{M.dims-1})\f$, where \f$0\leq i_k<M.size[k]\f$, is
+computed as:
+\f[addr(M_{i_0,...,i_{M.dims-1}}) = M.data + M.step[0]*i_0 + M.step[1]*i_1 + ... + M.step[M.dims-1]*i_{M.dims-1}\f]
+In case of a 2-dimensional array, the above formula is reduced to:
+\f[addr(M_{i,j}) = M.data + M.step[0]*i + M.step[1]*j\f]
+Note that `M.step[i] >= M.step[i+1]` (in fact, `M.step[i] >= M.step[i+1]*M.size[i+1]` ). This means
+that 2-dimensional matrices are stored row-by-row, 3-dimensional matrices are stored plane-by-plane,
+and so on. M.step[M.dims-1] is minimal and always equal to the element size M.elemSize() .
+
+So, the data layout in Mat is fully compatible with CvMat, IplImage, and CvMatND types from OpenCV
+1.x. It is also compatible with the majority of dense array types from the standard toolkits and
+SDKs, such as Numpy (ndarray), Win32 (independent device bitmaps), and others, that is, with any
+array that uses *steps* (or *strides*) to compute the position of a pixel. Due to this
+compatibility, it is possible to make a Mat header for user-allocated data and process it in-place
+using OpenCV functions.
+
+There are many different ways to create a Mat object. The most popular options are listed below:
+
+- Use the create(nrows, ncols, type) method or the similar Mat(nrows, ncols, type[, fillValue])
+constructor. A new array of the specified size and type is allocated. type has the same meaning as
+in the cvCreateMat method. For example, CV_8UC1 means a 8-bit single-channel array, CV_32FC2
+means a 2-channel (complex) floating-point array, and so on.
+@code
+    // make a 7x7 complex matrix filled with 1+3j.
+    Mat M(7,7,CV_32FC2,Scalar(1,3));
+    // and now turn M to a 100x60 15-channel 8-bit matrix.
+    // The old content will be deallocated
+    M.create(100,60,CV_8UC(15));
+@endcode
+As noted in the introduction to this chapter, create() allocates only a new array when the shape
+or type of the current array are different from the specified ones.
+
+- Create a multi-dimensional array:
+@code
+    // create a 100x100x100 8-bit array
+    int sz[] = {100, 100, 100};
+    Mat bigCube(3, sz, CV_8U, Scalar::all(0));
+@endcode
+It passes the number of dimensions =1 to the Mat constructor but the created array will be
+2-dimensional with the number of columns set to 1. So, Mat::dims is always \>= 2 (can also be 0
+when the array is empty).
+
+- Use a copy constructor or assignment operator where there can be an array or expression on the
+right side (see below). As noted in the introduction, the array assignment is an O(1) operation
+because it only copies the header and increases the reference counter. The Mat::clone() method can
+be used to get a full (deep) copy of the array when you need it.
+
+- Construct a header for a part of another array. It can be a single row, single column, several
+rows, several columns, rectangular region in the array (called a *minor* in algebra) or a
+diagonal. Such operations are also O(1) because the new header references the same data. You can
+actually modify a part of the array using this feature, for example:
+@code
+    // add the 5-th row, multiplied by 3 to the 3rd row
+    M.row(3) = M.row(3) + M.row(5)*3;
+    // now copy the 7-th column to the 1-st column
+    // M.col(1) = M.col(7); // this will not work
+    Mat M1 = M.col(1);
+    M.col(7).copyTo(M1);
+    // create a new 320x240 image
+    Mat img(Size(320,240),CV_8UC3);
+    // select a ROI
+    Mat roi(img, Rect(10,10,100,100));
+    // fill the ROI with (0,255,0) (which is green in RGB space);
+    // the original 320x240 image will be modified
+    roi = Scalar(0,255,0);
+@endcode
+Due to the additional datastart and dataend members, it is possible to compute a relative
+sub-array position in the main *container* array using locateROI():
+@code
+    Mat A = Mat::eye(10, 10, CV_32S);
+    // extracts A columns, 1 (inclusive) to 3 (exclusive).
+    Mat B = A(Range::all(), Range(1, 3));
+    // extracts B rows, 5 (inclusive) to 9 (exclusive).
+    // that is, C \~ A(Range(5, 9), Range(1, 3))
+    Mat C = B(Range(5, 9), Range::all());
+    Size size; Point ofs;
+    C.locateROI(size, ofs);
+    // size will be (width=10,height=10) and the ofs will be (x=1, y=5)
+@endcode
+As in case of whole matrices, if you need a deep copy, use the `clone()` method of the extracted
+sub-matrices.
+
+- Make a header for user-allocated data. It can be useful to do the following:
+    -# Process "foreign" data using OpenCV (for example, when you implement a DirectShow\* filter or
+    a processing module for gstreamer, and so on). For example:
+    @code
+        void process_video_frame(const unsigned char* pixels,
+                                 int width, int height, int step)
+        {
+            Mat img(height, width, CV_8UC3, pixels, step);
+            GaussianBlur(img, img, Size(7,7), 1.5, 1.5);
+        }
+    @endcode
+    -# Quickly initialize small matrices and/or get a super-fast element access.
+    @code
+        double m[3][3] = {{a, b, c}, {d, e, f}, {g, h, i}};
+        Mat M = Mat(3, 3, CV_64F, m).inv();
+    @endcode
+    .
+    Partial yet very common cases of this *user-allocated data* case are conversions from CvMat and
+    IplImage to Mat. For this purpose, there is function cv::cvarrToMat taking pointers to CvMat or
+    IplImage and the optional flag indicating whether to copy the data or not.
+    @snippet samples/cpp/image.cpp iplimage
+
+- Use MATLAB-style array initializers, zeros(), ones(), eye(), for example:
+@code
+    // create a double-precision identity martix and add it to M.
+    M += Mat::eye(M.rows, M.cols, CV_64F);
+@endcode
+
+- Use a comma-separated initializer:
+@code
+    // create a 3x3 double-precision identity matrix
+    Mat M = (Mat_<double>(3,3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);
+@endcode
+With this approach, you first call a constructor of the Mat class with the proper parameters, and
+then you just put `<< operator` followed by comma-separated values that can be constants,
+variables, expressions, and so on. Also, note the extra parentheses required to avoid compilation
+errors.
+
+Once the array is created, it is automatically managed via a reference-counting mechanism. If the
+array header is built on top of user-allocated data, you should handle the data by yourself. The
+array data is deallocated when no one points to it. If you want to release the data pointed by a
+array header before the array destructor is called, use Mat::release().
+
+The next important thing to learn about the array class is element access. This manual already
+described how to compute an address of each array element. Normally, you are not required to use the
+formula directly in the code. If you know the array element type (which can be retrieved using the
+method Mat::type() ), you can access the element \f$M_{ij}\f$ of a 2-dimensional array as:
+@code
+    M.at<double>(i,j) += 1.f;
+@endcode
+assuming that `M` is a double-precision floating-point array. There are several variants of the method
+at for a different number of dimensions.
+
+If you need to process a whole row of a 2D array, the most efficient way is to get the pointer to
+the row first, and then just use the plain C operator [] :
+@code
+    // compute sum of positive matrix elements
+    // (assuming that M isa double-precision matrix)
+    double sum=0;
+    for(int i = 0; i < M.rows; i++)
+    {
+        const double* Mi = M.ptr<double>(i);
+        for(int j = 0; j < M.cols; j++)
+            sum += std::max(Mi[j], 0.);
+    }
+@endcode
+Some operations, like the one above, do not actually depend on the array shape. They just process
+elements of an array one by one (or elements from multiple arrays that have the same coordinates,
+for example, array addition). Such operations are called *element-wise*. It makes sense to check
+whether all the input/output arrays are continuous, namely, have no gaps at the end of each row. If
+yes, process them as a long single row:
+@code
+    // compute the sum of positive matrix elements, optimized variant
+    double sum=0;
+    int cols = M.cols, rows = M.rows;
+    if(M.isContinuous())
+    {
+        cols *= rows;
+        rows = 1;
+    }
+    for(int i = 0; i < rows; i++)
+    {
+        const double* Mi = M.ptr<double>(i);
+        for(int j = 0; j < cols; j++)
+            sum += std::max(Mi[j], 0.);
+    }
+@endcode
+In case of the continuous matrix, the outer loop body is executed just once. So, the overhead is
+smaller, which is especially noticeable in case of small matrices.
+
+Finally, there are STL-style iterators that are smart enough to skip gaps between successive rows:
+@code
+    // compute sum of positive matrix elements, iterator-based variant
+    double sum=0;
+    MatConstIterator_<double> it = M.begin<double>(), it_end = M.end<double>();
+    for(; it != it_end; ++it)
+        sum += std::max(*it, 0.);
+@endcode
+The matrix iterators are random-access iterators, so they can be passed to any STL algorithm,
+including std::sort().
+*/
+class CV_EXPORTS Mat
+{
+public:
+    /**
+    These are various constructors that form a matrix. As noted in the AutomaticAllocation, often
+    the default constructor is enough, and the proper matrix will be allocated by an OpenCV function.
+    The constructed matrix can further be assigned to another matrix or matrix expression or can be
+    allocated with Mat::create . In the former case, the old content is de-referenced.
+     */
+    Mat();
+
+    /** @overload
+    @param rows Number of rows in a 2D array.
+    @param cols Number of columns in a 2D array.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    */
+    Mat(int rows, int cols, int type);
+
+    /** @overload
+    @param size 2D array size: Size(cols, rows) . In the Size() constructor, the number of rows and the
+    number of columns go in the reverse order.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+      */
+    Mat(Size size, int type);
+
+    /** @overload
+    @param rows Number of rows in a 2D array.
+    @param cols Number of columns in a 2D array.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param s An optional value to initialize each matrix element with. To set all the matrix elements to
+    the particular value after the construction, use the assignment operator
+    Mat::operator=(const Scalar& value) .
+    */
+    Mat(int rows, int cols, int type, const Scalar& s);
+
+    /** @overload
+    @param size 2D array size: Size(cols, rows) . In the Size() constructor, the number of rows and the
+    number of columns go in the reverse order.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param s An optional value to initialize each matrix element with. To set all the matrix elements to
+    the particular value after the construction, use the assignment operator
+    Mat::operator=(const Scalar& value) .
+      */
+    Mat(Size size, int type, const Scalar& s);
+
+    /** @overload
+    @param ndims Array dimensionality.
+    @param sizes Array of integers specifying an n-dimensional array shape.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    */
+    Mat(int ndims, const int* sizes, int type);
+
+    /** @overload
+    @param ndims Array dimensionality.
+    @param sizes Array of integers specifying an n-dimensional array shape.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param s An optional value to initialize each matrix element with. To set all the matrix elements to
+    the particular value after the construction, use the assignment operator
+    Mat::operator=(const Scalar& value) .
+    */
+    Mat(int ndims, const int* sizes, int type, const Scalar& s);
+
+    /** @overload
+    @param m Array that (as a whole or partly) is assigned to the constructed matrix. No data is copied
+    by these constructors. Instead, the header pointing to m data or its sub-array is constructed and
+    associated with it. The reference counter, if any, is incremented. So, when you modify the matrix
+    formed using such a constructor, you also modify the corresponding elements of m . If you want to
+    have an independent copy of the sub-array, use Mat::clone() .
+    */
+    Mat(const Mat& m);
+
+    /** @overload
+    @param rows Number of rows in a 2D array.
+    @param cols Number of columns in a 2D array.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param data Pointer to the user data. Matrix constructors that take data and step parameters do not
+    allocate matrix data. Instead, they just initialize the matrix header that points to the specified
+    data, which means that no data is copied. This operation is very efficient and can be used to
+    process external data using OpenCV functions. The external data is not automatically deallocated, so
+    you should take care of it.
+    @param step Number of bytes each matrix row occupies. The value should include the padding bytes at
+    the end of each row, if any. If the parameter is missing (set to AUTO_STEP ), no padding is assumed
+    and the actual step is calculated as cols*elemSize(). See Mat::elemSize.
+    */
+    Mat(int rows, int cols, int type, void* data, size_t step=AUTO_STEP);
+
+    /** @overload
+    @param size 2D array size: Size(cols, rows) . In the Size() constructor, the number of rows and the
+    number of columns go in the reverse order.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param data Pointer to the user data. Matrix constructors that take data and step parameters do not
+    allocate matrix data. Instead, they just initialize the matrix header that points to the specified
+    data, which means that no data is copied. This operation is very efficient and can be used to
+    process external data using OpenCV functions. The external data is not automatically deallocated, so
+    you should take care of it.
+    @param step Number of bytes each matrix row occupies. The value should include the padding bytes at
+    the end of each row, if any. If the parameter is missing (set to AUTO_STEP ), no padding is assumed
+    and the actual step is calculated as cols*elemSize(). See Mat::elemSize.
+    */
+    Mat(Size size, int type, void* data, size_t step=AUTO_STEP);
+
+    /** @overload
+    @param ndims Array dimensionality.
+    @param sizes Array of integers specifying an n-dimensional array shape.
+    @param type Array type. Use CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices, or
+    CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.
+    @param data Pointer to the user data. Matrix constructors that take data and step parameters do not
+    allocate matrix data. Instead, they just initialize the matrix header that points to the specified
+    data, which means that no data is copied. This operation is very efficient and can be used to
+    process external data using OpenCV functions. The external data is not automatically deallocated, so
+    you should take care of it.
+    @param steps Array of ndims-1 steps in case of a multi-dimensional array (the last step is always
+    set to the element size). If not specified, the matrix is assumed to be continuous.
+    */
+    Mat(int ndims, const int* sizes, int type, void* data, const size_t* steps=0);
+
+    /** @overload
+    @param m Array that (as a whole or partly) is assigned to the constructed matrix. No data is copied
+    by these constructors. Instead, the header pointing to m data or its sub-array is constructed and
+    associated with it. The reference counter, if any, is incremented. So, when you modify the matrix
+    formed using such a constructor, you also modify the corresponding elements of m . If you want to
+    have an independent copy of the sub-array, use Mat::clone() .
+    @param rowRange Range of the m rows to take. As usual, the range start is inclusive and the range
+    end is exclusive. Use Range::all() to take all the rows.
+    @param colRange Range of the m columns to take. Use Range::all() to take all the columns.
+    */
+    Mat(const Mat& m, const Range& rowRange, const Range& colRange=Range::all());
+
+    /** @overload
+    @param m Array that (as a whole or partly) is assigned to the constructed matrix. No data is copied
+    by these constructors. Instead, the header pointing to m data or its sub-array is constructed and
+    associated with it. The reference counter, if any, is incremented. So, when you modify the matrix
+    formed using such a constructor, you also modify the corresponding elements of m . If you want to
+    have an independent copy of the sub-array, use Mat::clone() .
+    @param roi Region of interest.
+    */
+    Mat(const Mat& m, const Rect& roi);
+
+    /** @overload
+    @param m Array that (as a whole or partly) is assigned to the constructed matrix. No data is copied
+    by these constructors. Instead, the header pointing to m data or its sub-array is constructed and
+    associated with it. The reference counter, if any, is incremented. So, when you modify the matrix
+    formed using such a constructor, you also modify the corresponding elements of m . If you want to
+    have an independent copy of the sub-array, use Mat::clone() .
+    @param ranges Array of selected ranges of m along each dimensionality.
+    */
+    Mat(const Mat& m, const Range* ranges);
+
+    /** @overload
+    @param vec STL vector whose elements form the matrix. The matrix has a single column and the number
+    of rows equal to the number of vector elements. Type of the matrix matches the type of vector
+    elements. The constructor can handle arbitrary types, for which there is a properly declared
+    DataType . This means that the vector elements must be primitive numbers or uni-type numerical
+    tuples of numbers. Mixed-type structures are not supported. The corresponding constructor is
+    explicit. Since STL vectors are not automatically converted to Mat instances, you should write
+    Mat(vec) explicitly. Unless you copy the data into the matrix ( copyData=true ), no new elements
+    will be added to the vector because it can potentially yield vector data reallocation, and, thus,
+    the matrix data pointer will be invalid.
+    @param copyData Flag to specify whether the underlying data of the STL vector should be copied
+    to (true) or shared with (false) the newly constructed matrix. When the data is copied, the
+    allocated buffer is managed using Mat reference counting mechanism. While the data is shared,
+    the reference counter is NULL, and you should not deallocate the data until the matrix is not
+    destructed.
+    */
+    template<typename _Tp> explicit Mat(const std::vector<_Tp>& vec, bool copyData=false);
+
+    /** @overload
+    */
+    template<typename _Tp, int n> explicit Mat(const Vec<_Tp, n>& vec, bool copyData=true);
+
+    /** @overload
+    */
+    template<typename _Tp, int m, int n> explicit Mat(const Matx<_Tp, m, n>& mtx, bool copyData=true);
+
+    /** @overload
+    */
+    template<typename _Tp> explicit Mat(const Point_<_Tp>& pt, bool copyData=true);
+
+    /** @overload
+    */
+    template<typename _Tp> explicit Mat(const Point3_<_Tp>& pt, bool copyData=true);
+
+    /** @overload
+    */
+    template<typename _Tp> explicit Mat(const MatCommaInitializer_<_Tp>& commaInitializer);
+
+    //! download data from GpuMat
+    explicit Mat(const cuda::GpuMat& m);
+
+    //! destructor - calls release()
+    ~Mat();
+
+    /** @brief assignment operators
+
+    These are available assignment operators. Since they all are very different, make sure to read the
+    operator parameters description.
+    @param m Assigned, right-hand-side matrix. Matrix assignment is an O(1) operation. This means that
+    no data is copied but the data is shared and the reference counter, if any, is incremented. Before
+    assigning new data, the old data is de-referenced via Mat::release .
+     */
+    Mat& operator = (const Mat& m);
+
+    /** @overload
+    @param expr Assigned matrix expression object. As opposite to the first form of the assignment
+    operation, the second form can reuse already allocated matrix if it has the right size and type to
+    fit the matrix expression result. It is automatically handled by the real function that the matrix
+    expressions is expanded to. For example, C=A+B is expanded to add(A, B, C), and add takes care of
+    automatic C reallocation.
+    */
+    Mat& operator = (const MatExpr& expr);
+
+    //! retrieve UMat from Mat
+    UMat getUMat(int accessFlags, UMatUsageFlags usageFlags = USAGE_DEFAULT) const;
+
+    /** @brief Creates a matrix header for the specified matrix row.
+
+    The method makes a new header for the specified matrix row and returns it. This is an O(1)
+    operation, regardless of the matrix size. The underlying data of the new matrix is shared with the
+    original matrix. Here is the example of one of the classical basic matrix processing operations,
+    axpy, used by LU and many other algorithms:
+    @code
+        inline void matrix_axpy(Mat& A, int i, int j, double alpha)
+        {
+            A.row(i) += A.row(j)*alpha;
+        }
+    @endcode
+    @note In the current implementation, the following code does not work as expected:
+    @code
+        Mat A;
+        ...
+        A.row(i) = A.row(j); // will not work
+    @endcode
+    This happens because A.row(i) forms a temporary header that is further assigned to another header.
+    Remember that each of these operations is O(1), that is, no data is copied. Thus, the above
+    assignment is not true if you may have expected the j-th row to be copied to the i-th row. To
+    achieve that, you should either turn this simple assignment into an expression or use the
+    Mat::copyTo method:
+    @code
+        Mat A;
+        ...
+        // works, but looks a bit obscure.
+        A.row(i) = A.row(j) + 0;
+        // this is a bit longer, but the recommended method.
+        A.row(j).copyTo(A.row(i));
+    @endcode
+    @param y A 0-based row index.
+     */
+    Mat row(int y) const;
+
+    /** @brief Creates a matrix header for the specified matrix column.
+
+    The method makes a new header for the specified matrix column and returns it. This is an O(1)
+    operation, regardless of the matrix size. The underlying data of the new matrix is shared with the
+    original matrix. See also the Mat::row description.
+    @param x A 0-based column index.
+     */
+    Mat col(int x) const;
+
+    /** @brief Creates a matrix header for the specified row span.
+
+    The method makes a new header for the specified row span of the matrix. Similarly to Mat::row and
+    Mat::col , this is an O(1) operation.
+    @param startrow An inclusive 0-based start index of the row span.
+    @param endrow An exclusive 0-based ending index of the row span.
+     */
+    Mat rowRange(int startrow, int endrow) const;
+
+    /** @overload
+    @param r Range structure containing both the start and the end indices.
+    */
+    Mat rowRange(const Range& r) const;
+
+    /** @brief Creates a matrix header for the specified column span.
+
+    The method makes a new header for the specified column span of the matrix. Similarly to Mat::row and
+    Mat::col , this is an O(1) operation.
+    @param startcol An inclusive 0-based start index of the column span.
+    @param endcol An exclusive 0-based ending index of the column span.
+     */
+    Mat colRange(int startcol, int endcol) const;
+
+    /** @overload
+    @param r Range structure containing both the start and the end indices.
+    */
+    Mat colRange(const Range& r) const;
+
+    /** @brief Extracts a diagonal from a matrix
+
+    The method makes a new header for the specified matrix diagonal. The new matrix is represented as a
+    single-column matrix. Similarly to Mat::row and Mat::col, this is an O(1) operation.
+    @param d index of the diagonal, with the following values:
+    - `d=0` is the main diagonal.
+    - `d>0` is a diagonal from the lower half. For example, d=1 means the diagonal is set
+      immediately below the main one.
+    - `d<0` is a diagonal from the upper half. For example, d=-1 means the diagonal is set
+      immediately above the main one.
+     */
+    Mat diag(int d=0) const;
+
+    /** @brief creates a diagonal matrix
+
+    The method makes a new header for the specified matrix diagonal. The new matrix is represented as a
+    single-column matrix. Similarly to Mat::row and Mat::col, this is an O(1) operation.
+    @param d Single-column matrix that forms a diagonal matrix
+     */
+    static Mat diag(const Mat& d);
+
+    /** @brief Creates a full copy of the array and the underlying data.
+
+    The method creates a full copy of the array. The original step[] is not taken into account. So, the
+    array copy is a continuous array occupying total()*elemSize() bytes.
+     */
+    Mat clone() const;
+
+    /** @brief Copies the matrix to another one.
+
+    The method copies the matrix data to another matrix. Before copying the data, the method invokes :
+    @code
+        m.create(this->size(), this->type());
+    @endcode
+    so that the destination matrix is reallocated if needed. While m.copyTo(m); works flawlessly, the
+    function does not handle the case of a partial overlap between the source and the destination
+    matrices.
+
+    When the operation mask is specified, if the Mat::create call shown above reallocates the matrix,
+    the newly allocated matrix is initialized with all zeros before copying the data.
+    @param m Destination matrix. If it does not have a proper size or type before the operation, it is
+    reallocated.
+     */
+    void copyTo( OutputArray m ) const;
+
+    /** @overload
+    @param m Destination matrix. If it does not have a proper size or type before the operation, it is
+    reallocated.
+    @param mask Operation mask. Its non-zero elements indicate which matrix elements need to be copied.
+    */
+    void copyTo( OutputArray m, InputArray mask ) const;
+
+    /** @brief Converts an array to another data type with optional scaling.
+
+    The method converts source pixel values to the target data type. saturate_cast\<\> is applied at
+    the end to avoid possible overflows:
+
+    \f[m(x,y) = saturate \_ cast<rType>( \alpha (*this)(x,y) +  \beta )\f]
+    @param m output matrix; if it does not have a proper size or type before the operation, it is
+    reallocated.
+    @param rtype desired output matrix type or, rather, the depth since the number of channels are the
+    same as the input has; if rtype is negative, the output matrix will have the same type as the input.
+    @param alpha optional scale factor.
+    @param beta optional delta added to the scaled values.
+     */
+    void convertTo( OutputArray m, int rtype, double alpha=1, double beta=0 ) const;
+
+    /** @brief Provides a functional form of convertTo.
+
+    This is an internally used method called by the @ref MatrixExpressions engine.
+    @param m Destination array.
+    @param type Desired destination array depth (or -1 if it should be the same as the source type).
+     */
+    void assignTo( Mat& m, int type=-1 ) const;
+
+    /** @brief Sets all or some of the array elements to the specified value.
+    @param s Assigned scalar converted to the actual array type.
+    */
+    Mat& operator = (const Scalar& s);
+
+    /** @brief Sets all or some of the array elements to the specified value.
+
+    This is an advanced variant of the Mat::operator=(const Scalar& s) operator.
+    @param value Assigned scalar converted to the actual array type.
+    @param mask Operation mask of the same size as \*this.
+     */
+    Mat& setTo(InputArray value, InputArray mask=noArray());
+
+    /** @brief Changes the shape and/or the number of channels of a 2D matrix without copying the data.
+
+    The method makes a new matrix header for \*this elements. The new matrix may have a different size
+    and/or different number of channels. Any combination is possible if:
+    -   No extra elements are included into the new matrix and no elements are excluded. Consequently,
+        the product rows\*cols\*channels() must stay the same after the transformation.
+    -   No data is copied. That is, this is an O(1) operation. Consequently, if you change the number of
+        rows, or the operation changes the indices of elements row in some other way, the matrix must be
+        continuous. See Mat::isContinuous .
+
+    For example, if there is a set of 3D points stored as an STL vector, and you want to represent the
+    points as a 3xN matrix, do the following:
+    @code
+        std::vector<Point3f> vec;
+        ...
+        Mat pointMat = Mat(vec). // convert vector to Mat, O(1) operation
+                          reshape(1). // make Nx3 1-channel matrix out of Nx1 3-channel.
+                                      // Also, an O(1) operation
+                             t(); // finally, transpose the Nx3 matrix.
+                                  // This involves copying all the elements
+    @endcode
+    @param cn New number of channels. If the parameter is 0, the number of channels remains the same.
+    @param rows New number of rows. If the parameter is 0, the number of rows remains the same.
+     */
+    Mat reshape(int cn, int rows=0) const;
+
+    /** @overload */
+    Mat reshape(int cn, int newndims, const int* newsz) const;
+
+    /** @brief Transposes a matrix.
+
+    The method performs matrix transposition by means of matrix expressions. It does not perform the
+    actual transposition but returns a temporary matrix transposition object that can be further used as
+    a part of more complex matrix expressions or can be assigned to a matrix:
+    @code
+        Mat A1 = A + Mat::eye(A.size(), A.type())*lambda;
+        Mat C = A1.t()*A1; // compute (A + lambda*I)^t * (A + lamda*I)
+    @endcode
+     */
+    MatExpr t() const;
+
+    /** @brief Inverses a matrix.
+
+    The method performs a matrix inversion by means of matrix expressions. This means that a temporary
+    matrix inversion object is returned by the method and can be used further as a part of more complex
+    matrix expressions or can be assigned to a matrix.
+    @param method Matrix inversion method. One of cv::DecompTypes
+     */
+    MatExpr inv(int method=DECOMP_LU) const;
+
+    /** @brief Performs an element-wise multiplication or division of the two matrices.
+
+    The method returns a temporary object encoding per-element array multiplication, with optional
+    scale. Note that this is not a matrix multiplication that corresponds to a simpler "\*" operator.
+
+    Example:
+    @code
+        Mat C = A.mul(5/B); // equivalent to divide(A, B, C, 5)
+    @endcode
+    @param m Another array of the same type and the same size as \*this, or a matrix expression.
+    @param scale Optional scale factor.
+     */
+    MatExpr mul(InputArray m, double scale=1) const;
+
+    /** @brief Computes a cross-product of two 3-element vectors.
+
+    The method computes a cross-product of two 3-element vectors. The vectors must be 3-element
+    floating-point vectors of the same shape and size. The result is another 3-element vector of the
+    same shape and type as operands.
+    @param m Another cross-product operand.
+     */
+    Mat cross(InputArray m) const;
+
+    /** @brief Computes a dot-product of two vectors.
+
+    The method computes a dot-product of two matrices. If the matrices are not single-column or
+    single-row vectors, the top-to-bottom left-to-right scan ordering is used to treat them as 1D
+    vectors. The vectors must have the same size and type. If the matrices have more than one channel,
+    the dot products from all the channels are summed together.
+    @param m another dot-product operand.
+     */
+    double dot(InputArray m) const;
+
+    /** @brief Returns a zero array of the specified size and type.
+
+    The method returns a Matlab-style zero array initializer. It can be used to quickly form a constant
+    array as a function parameter, part of a matrix expression, or as a matrix initializer. :
+    @code
+        Mat A;
+        A = Mat::zeros(3, 3, CV_32F);
+    @endcode
+    In the example above, a new matrix is allocated only if A is not a 3x3 floating-point matrix.
+    Otherwise, the existing matrix A is filled with zeros.
+    @param rows Number of rows.
+    @param cols Number of columns.
+    @param type Created matrix type.
+     */
+    static MatExpr zeros(int rows, int cols, int type);
+
+    /** @overload
+    @param size Alternative to the matrix size specification Size(cols, rows) .
+    @param type Created matrix type.
+    */
+    static MatExpr zeros(Size size, int type);
+
+    /** @overload
+    @param ndims Array dimensionality.
+    @param sz Array of integers specifying the array shape.
+    @param type Created matrix type.
+    */
+    static MatExpr zeros(int ndims, const int* sz, int type);
+
+    /** @brief Returns an array of all 1's of the specified size and type.
+
+    The method returns a Matlab-style 1's array initializer, similarly to Mat::zeros. Note that using
+    this method you can initialize an array with an arbitrary value, using the following Matlab idiom:
+    @code
+        Mat A = Mat::ones(100, 100, CV_8U)*3; // make 100x100 matrix filled with 3.
+    @endcode
+    The above operation does not form a 100x100 matrix of 1's and then multiply it by 3. Instead, it
+    just remembers the scale factor (3 in this case) and use it when actually invoking the matrix
+    initializer.
+    @param rows Number of rows.
+    @param cols Number of columns.
+    @param type Created matrix type.
+     */
+    static MatExpr ones(int rows, int cols, int type);
+
+    /** @overload
+    @param size Alternative to the matrix size specification Size(cols, rows) .
+    @param type Created matrix type.
+    */
+    static MatExpr ones(Size size, int type);
+
+    /** @overload
+    @param ndims Array dimensionality.
+    @param sz Array of integers specifying the array shape.
+    @param type Created matrix type.
+    */
+    static MatExpr ones(int ndims, const int* sz, int type);
+
+    /** @brief Returns an identity matrix of the specified size and type.
+
+    The method returns a Matlab-style identity matrix initializer, similarly to Mat::zeros. Similarly to
+    Mat::ones, you can use a scale operation to create a scaled identity matrix efficiently:
+    @code
+        // make a 4x4 diagonal matrix with 0.1's on the diagonal.
+        Mat A = Mat::eye(4, 4, CV_32F)*0.1;
+    @endcode
+    @param rows Number of rows.
+    @param cols Number of columns.
+    @param type Created matrix type.
+     */
+    static MatExpr eye(int rows, int cols, int type);
+
+    /** @overload
+    @param size Alternative matrix size specification as Size(cols, rows) .
+    @param type Created matrix type.
+    */
+    static MatExpr eye(Size size, int type);
+
+    /** @brief Allocates new array data if needed.
+
+    This is one of the key Mat methods. Most new-style OpenCV functions and methods that produce arrays
+    call this method for each output array. The method uses the following algorithm:
+
+    -# If the current array shape and the type match the new ones, return immediately. Otherwise,
+       de-reference the previous data by calling Mat::release.
+    -# Initialize the new header.
+    -# Allocate the new data of total()\*elemSize() bytes.
+    -# Allocate the new, associated with the data, reference counter and set it to 1.
+
+    Such a scheme makes the memory management robust and efficient at the same time and helps avoid
+    extra typing for you. This means that usually there is no need to explicitly allocate output arrays.
+    That is, instead of writing:
+    @code
+        Mat color;
+        ...
+        Mat gray(color.rows, color.cols, color.depth());
+        cvtColor(color, gray, COLOR_BGR2GRAY);
+    @endcode
+    you can simply write:
+    @code
+        Mat color;
+        ...
+        Mat gray;
+        cvtColor(color, gray, COLOR_BGR2GRAY);
+    @endcode
+    because cvtColor, as well as the most of OpenCV functions, calls Mat::create() for the output array
+    internally.
+    @param rows New number of rows.
+    @param cols New number of columns.
+    @param type New matrix type.
+     */
+    void create(int rows, int cols, int type);
+
+    /** @overload
+    @param size Alternative new matrix size specification: Size(cols, rows)
+    @param type New matrix type.
+    */
+    void create(Size size, int type);
+
+    /** @overload
+    @param ndims New array dimensionality.
+    @param sizes Array of integers specifying a new array shape.
+    @param type New matrix type.
+    */
+    void create(int ndims, const int* sizes, int type);
+
+    /** @brief Increments the reference counter.
+
+    The method increments the reference counter associated with the matrix data. If the matrix header
+    points to an external data set (see Mat::Mat ), the reference counter is NULL, and the method has no
+    effect in this case. Normally, to avoid memory leaks, the method should not be called explicitly. It
+    is called implicitly by the matrix assignment operator. The reference counter increment is an atomic
+    operation on the platforms that support it. Thus, it is safe to operate on the same matrices
+    asynchronously in different threads.
+     */
+    void addref();
+
+    /** @brief Decrements the reference counter and deallocates the matrix if needed.
+
+    The method decrements the reference counter associated with the matrix data. When the reference
+    counter reaches 0, the matrix data is deallocated and the data and the reference counter pointers
+    are set to NULL's. If the matrix header points to an external data set (see Mat::Mat ), the
+    reference counter is NULL, and the method has no effect in this case.
+
+    This method can be called manually to force the matrix data deallocation. But since this method is
+    automatically called in the destructor, or by any other method that changes the data pointer, it is
+    usually not needed. The reference counter decrement and check for 0 is an atomic operation on the
+    platforms that support it. Thus, it is safe to operate on the same matrices asynchronously in
+    different threads.
+     */
+    void release();
+
+    //! deallocates the matrix data
+    void deallocate();
+    //! internal use function; properly re-allocates _size, _step arrays
+    void copySize(const Mat& m);
+
+    /** @brief Reserves space for the certain number of rows.
+
+    The method reserves space for sz rows. If the matrix already has enough space to store sz rows,
+    nothing happens. If the matrix is reallocated, the first Mat::rows rows are preserved. The method
+    emulates the corresponding method of the STL vector class.
+    @param sz Number of rows.
+     */
+    void reserve(size_t sz);
+
+    /** @brief Changes the number of matrix rows.
+
+    The methods change the number of matrix rows. If the matrix is reallocated, the first
+    min(Mat::rows, sz) rows are preserved. The methods emulate the corresponding methods of the STL
+    vector class.
+    @param sz New number of rows.
+     */
+    void resize(size_t sz);
+
+    /** @overload
+    @param sz New number of rows.
+    @param s Value assigned to the newly added elements.
+     */
+    void resize(size_t sz, const Scalar& s);
+
+    //! internal function
+    void push_back_(const void* elem);
+
+    /** @brief Adds elements to the bottom of the matrix.
+
+    The methods add one or more elements to the bottom of the matrix. They emulate the corresponding
+    method of the STL vector class. When elem is Mat , its type and the number of columns must be the
+    same as in the container matrix.
+    @param elem Added element(s).
+     */
+    template<typename _Tp> void push_back(const _Tp& elem);
+
+    /** @overload
+    @param elem Added element(s).
+    */
+    template<typename _Tp> void push_back(const Mat_<_Tp>& elem);
+
+    /** @overload
+    @param m Added line(s).
+    */
+    void push_back(const Mat& m);
+
+    /** @brief Removes elements from the bottom of the matrix.
+
+    The method removes one or more rows from the bottom of the matrix.
+    @param nelems Number of removed rows. If it is greater than the total number of rows, an exception
+    is thrown.
+     */
+    void pop_back(size_t nelems=1);
+
+    /** @brief Locates the matrix header within a parent matrix.
+
+    After you extracted a submatrix from a matrix using Mat::row, Mat::col, Mat::rowRange,
+    Mat::colRange, and others, the resultant submatrix points just to the part of the original big
+    matrix. However, each submatrix contains information (represented by datastart and dataend
+    fields) that helps reconstruct the original matrix size and the position of the extracted
+    submatrix within the original matrix. The method locateROI does exactly that.
+    @param wholeSize Output parameter that contains the size of the whole matrix containing *this*
+    as a part.
+    @param ofs Output parameter that contains an offset of *this* inside the whole matrix.
+     */
+    void locateROI( Size& wholeSize, Point& ofs ) const;
+
+    /** @brief Adjusts a submatrix size and position within the parent matrix.
+
+    The method is complimentary to Mat::locateROI . The typical use of these functions is to determine
+    the submatrix position within the parent matrix and then shift the position somehow. Typically, it
+    can be required for filtering operations when pixels outside of the ROI should be taken into
+    account. When all the method parameters are positive, the ROI needs to grow in all directions by the
+    specified amount, for example:
+    @code
+        A.adjustROI(2, 2, 2, 2);
+    @endcode
+    In this example, the matrix size is increased by 4 elements in each direction. The matrix is shifted
+    by 2 elements to the left and 2 elements up, which brings in all the necessary pixels for the
+    filtering with the 5x5 kernel.
+
+    adjustROI forces the adjusted ROI to be inside of the parent matrix that is boundaries of the
+    adjusted ROI are constrained by boundaries of the parent matrix. For example, if the submatrix A is
+    located in the first row of a parent matrix and you called A.adjustROI(2, 2, 2, 2) then A will not
+    be increased in the upward direction.
+
+    The function is used internally by the OpenCV filtering functions, like filter2D , morphological
+    operations, and so on.
+    @param dtop Shift of the top submatrix boundary upwards.
+    @param dbottom Shift of the bottom submatrix boundary downwards.
+    @param dleft Shift of the left submatrix boundary to the left.
+    @param dright Shift of the right submatrix boundary to the right.
+    @sa copyMakeBorder
+     */
+    Mat& adjustROI( int dtop, int dbottom, int dleft, int dright );
+
+    /** @brief Extracts a rectangular submatrix.
+
+    The operators make a new header for the specified sub-array of \*this . They are the most
+    generalized forms of Mat::row, Mat::col, Mat::rowRange, and Mat::colRange . For example,
+    `A(Range(0, 10), Range::all())` is equivalent to `A.rowRange(0, 10)`. Similarly to all of the above,
+    the operators are O(1) operations, that is, no matrix data is copied.
+    @param rowRange Start and end row of the extracted submatrix. The upper boundary is not included. To
+    select all the rows, use Range::all().
+    @param colRange Start and end column of the extracted submatrix. The upper boundary is not included.
+    To select all the columns, use Range::all().
+     */
+    Mat operator()( Range rowRange, Range colRange ) const;
+
+    /** @overload
+    @param roi Extracted submatrix specified as a rectangle.
+    */
+    Mat operator()( const Rect& roi ) const;
+
+    /** @overload
+    @param ranges Array of selected ranges along each array dimension.
+    */
+    Mat operator()( const Range* ranges ) const;
+
+    // //! converts header to CvMat; no data is copied
+    // operator CvMat() const;
+    // //! converts header to CvMatND; no data is copied
+    // operator CvMatND() const;
+    // //! converts header to IplImage; no data is copied
+    // operator IplImage() const;
+
+    template<typename _Tp> operator std::vector<_Tp>() const;
+    template<typename _Tp, int n> operator Vec<_Tp, n>() const;
+    template<typename _Tp, int m, int n> operator Matx<_Tp, m, n>() const;
+
+    /** @brief Reports whether the matrix is continuous or not.
+
+    The method returns true if the matrix elements are stored continuously without gaps at the end of
+    each row. Otherwise, it returns false. Obviously, 1x1 or 1xN matrices are always continuous.
+    Matrices created with Mat::create are always continuous. But if you extract a part of the matrix
+    using Mat::col, Mat::diag, and so on, or constructed a matrix header for externally allocated data,
+    such matrices may no longer have this property.
+
+    The continuity flag is stored as a bit in the Mat::flags field and is computed automatically when
+    you construct a matrix header. Thus, the continuity check is a very fast operation, though
+    theoretically it could be done as follows:
+    @code
+        // alternative implementation of Mat::isContinuous()
+        bool myCheckMatContinuity(const Mat& m)
+        {
+            //return (m.flags & Mat::CONTINUOUS_FLAG) != 0;
+            return m.rows == 1 || m.step == m.cols*m.elemSize();
+        }
+    @endcode
+    The method is used in quite a few of OpenCV functions. The point is that element-wise operations
+    (such as arithmetic and logical operations, math functions, alpha blending, color space
+    transformations, and others) do not depend on the image geometry. Thus, if all the input and output
+    arrays are continuous, the functions can process them as very long single-row vectors. The example
+    below illustrates how an alpha-blending function can be implemented:
+    @code
+        template<typename T>
+        void alphaBlendRGBA(const Mat& src1, const Mat& src2, Mat& dst)
+        {
+            const float alpha_scale = (float)std::numeric_limits<T>::max(),
+                        inv_scale = 1.f/alpha_scale;
+
+            CV_Assert( src1.type() == src2.type() &&
+                       src1.type() == CV_MAKETYPE(DataType<T>::depth, 4) &&
+                       src1.size() == src2.size());
+            Size size = src1.size();
+            dst.create(size, src1.type());
+
+            // here is the idiom: check the arrays for continuity and,
+            // if this is the case,
+            // treat the arrays as 1D vectors
+            if( src1.isContinuous() && src2.isContinuous() && dst.isContinuous() )
+            {
+                size.width *= size.height;
+                size.height = 1;
+            }
+            size.width *= 4;
+
+            for( int i = 0; i < size.height; i++ )
+            {
+                // when the arrays are continuous,
+                // the outer loop is executed only once
+                const T* ptr1 = src1.ptr<T>(i);
+                const T* ptr2 = src2.ptr<T>(i);
+                T* dptr = dst.ptr<T>(i);
+
+                for( int j = 0; j < size.width; j += 4 )
+                {
+                    float alpha = ptr1[j+3]*inv_scale, beta = ptr2[j+3]*inv_scale;
+                    dptr[j] = saturate_cast<T>(ptr1[j]*alpha + ptr2[j]*beta);
+                    dptr[j+1] = saturate_cast<T>(ptr1[j+1]*alpha + ptr2[j+1]*beta);
+                    dptr[j+2] = saturate_cast<T>(ptr1[j+2]*alpha + ptr2[j+2]*beta);
+                    dptr[j+3] = saturate_cast<T>((1 - (1-alpha)*(1-beta))*alpha_scale);
+                }
+            }
+        }
+    @endcode
+    This approach, while being very simple, can boost the performance of a simple element-operation by
+    10-20 percents, especially if the image is rather small and the operation is quite simple.
+
+    Another OpenCV idiom in this function, a call of Mat::create for the destination array, that
+    allocates the destination array unless it already has the proper size and type. And while the newly
+    allocated arrays are always continuous, you still need to check the destination array because
+    Mat::create does not always allocate a new matrix.
+     */
+    bool isContinuous() const;
+
+    //! returns true if the matrix is a submatrix of another matrix
+    bool isSubmatrix() const;
+
+    /** @brief Returns the matrix element size in bytes.
+
+    The method returns the matrix element size in bytes. For example, if the matrix type is CV_16SC3 ,
+    the method returns 3\*sizeof(short) or 6.
+     */
+    size_t elemSize() const;
+
+    /** @brief Returns the size of each matrix element channel in bytes.
+
+    The method returns the matrix element channel size in bytes, that is, it ignores the number of
+    channels. For example, if the matrix type is CV_16SC3 , the method returns sizeof(short) or 2.
+     */
+    size_t elemSize1() const;
+
+    /** @brief Returns the type of a matrix element.
+
+    The method returns a matrix element type. This is an identifier compatible with the CvMat type
+    system, like CV_16SC3 or 16-bit signed 3-channel array, and so on.
+     */
+    int type() const;
+
+    /** @brief Returns the depth of a matrix element.
+
+    The method returns the identifier of the matrix element depth (the type of each individual channel).
+    For example, for a 16-bit signed element array, the method returns CV_16S . A complete list of
+    matrix types contains the following values:
+    -   CV_8U - 8-bit unsigned integers ( 0..255 )
+    -   CV_8S - 8-bit signed integers ( -128..127 )
+    -   CV_16U - 16-bit unsigned integers ( 0..65535 )
+    -   CV_16S - 16-bit signed integers ( -32768..32767 )
+    -   CV_32S - 32-bit signed integers ( -2147483648..2147483647 )
+    -   CV_32F - 32-bit floating-point numbers ( -FLT_MAX..FLT_MAX, INF, NAN )
+    -   CV_64F - 64-bit floating-point numbers ( -DBL_MAX..DBL_MAX, INF, NAN )
+     */
+    int depth() const;
+
+    /** @brief Returns the number of matrix channels.
+
+    The method returns the number of matrix channels.
+     */
+    int channels() const;
+
+    /** @brief Returns a normalized step.
+
+    The method returns a matrix step divided by Mat::elemSize1() . It can be useful to quickly access an
+    arbitrary matrix element.
+     */
+    size_t step1(int i=0) const;
+
+    /** @brief Returns true if the array has no elements.
+
+    The method returns true if Mat::total() is 0 or if Mat::data is NULL. Because of pop_back() and
+    resize() methods `M.total() == 0` does not imply that `M.data == NULL`.
+     */
+    bool empty() const;
+
+    /** @brief Returns the total number of array elements.
+
+    The method returns the number of array elements (a number of pixels if the array represents an
+    image).
+     */
+    size_t total() const;
+
+    //! returns N if the matrix is 1-channel (N x ptdim) or ptdim-channel (1 x N) or (N x 1); negative number otherwise
+    int checkVector(int elemChannels, int depth=-1, bool requireContinuous=true) const;
+
+    /** @brief Returns a pointer to the specified matrix row.
+
+    The methods return `uchar*` or typed pointer to the specified matrix row. See the sample in
+    Mat::isContinuous to know how to use these methods.
+    @param i0 A 0-based row index.
+     */
+    uchar* ptr(int i0=0);
+    /** @overload */
+    const uchar* ptr(int i0=0) const;
+
+    /** @overload */
+    uchar* ptr(int i0, int i1);
+    /** @overload */
+    const uchar* ptr(int i0, int i1) const;
+
+    /** @overload */
+    uchar* ptr(int i0, int i1, int i2);
+    /** @overload */
+    const uchar* ptr(int i0, int i1, int i2) const;
+
+    /** @overload */
+    uchar* ptr(const int* idx);
+    /** @overload */
+    const uchar* ptr(const int* idx) const;
+    /** @overload */
+    template<int n> uchar* ptr(const Vec<int, n>& idx);
+    /** @overload */
+    template<int n> const uchar* ptr(const Vec<int, n>& idx) const;
+
+    /** @overload */
+    template<typename _Tp> _Tp* ptr(int i0=0);
+    /** @overload */
+    template<typename _Tp> const _Tp* ptr(int i0=0) const;
+    /** @overload */
+    template<typename _Tp> _Tp* ptr(int i0, int i1);
+    /** @overload */
+    template<typename _Tp> const _Tp* ptr(int i0, int i1) const;
+    /** @overload */
+    template<typename _Tp> _Tp* ptr(int i0, int i1, int i2);
+    /** @overload */
+    template<typename _Tp> const _Tp* ptr(int i0, int i1, int i2) const;
+    /** @overload */
+    template<typename _Tp> _Tp* ptr(const int* idx);
+    /** @overload */
+    template<typename _Tp> const _Tp* ptr(const int* idx) const;
+    /** @overload */
+    template<typename _Tp, int n> _Tp* ptr(const Vec<int, n>& idx);
+    /** @overload */
+    template<typename _Tp, int n> const _Tp* ptr(const Vec<int, n>& idx) const;
+
+    /** @brief Returns a reference to the specified array element.
+
+    The template methods return a reference to the specified array element. For the sake of higher
+    performance, the index range checks are only performed in the Debug configuration.
+
+    Note that the variants with a single index (i) can be used to access elements of single-row or
+    single-column 2-dimensional arrays. That is, if, for example, A is a 1 x N floating-point matrix and
+    B is an M x 1 integer matrix, you can simply write `A.at<float>(k+4)` and `B.at<int>(2*i+1)`
+    instead of `A.at<float>(0,k+4)` and `B.at<int>(2*i+1,0)`, respectively.
+
+    The example below initializes a Hilbert matrix:
+    @code
+        Mat H(100, 100, CV_64F);
+        for(int i = 0; i < H.rows; i++)
+            for(int j = 0; j < H.cols; j++)
+                H.at<double>(i,j)=1./(i+j+1);
+    @endcode
+    @param i0 Index along the dimension 0
+     */
+    template<typename _Tp> _Tp& at(int i0=0);
+    /** @overload
+    @param i0 Index along the dimension 0
+    */
+    template<typename _Tp> const _Tp& at(int i0=0) const;
+    /** @overload
+    @param i0 Index along the dimension 0
+    @param i1 Index along the dimension 1
+    */
+    template<typename _Tp> _Tp& at(int i0, int i1);
+    /** @overload
+    @param i0 Index along the dimension 0
+    @param i1 Index along the dimension 1
+    */
+    template<typename _Tp> const _Tp& at(int i0, int i1) const;
+
+    /** @overload
+    @param i0 Index along the dimension 0
+    @param i1 Index along the dimension 1
+    @param i2 Index along the dimension 2
+    */
+    template<typename _Tp> _Tp& at(int i0, int i1, int i2);
+    /** @overload
+    @param i0 Index along the dimension 0
+    @param i1 Index along the dimension 1
+    @param i2 Index along the dimension 2
+    */
+    template<typename _Tp> const _Tp& at(int i0, int i1, int i2) const;
+
+    /** @overload
+    @param idx Array of Mat::dims indices.
+    */
+    template<typename _Tp> _Tp& at(const int* idx);
+    /** @overload
+    @param idx Array of Mat::dims indices.
+    */
+    template<typename _Tp> const _Tp& at(const int* idx) const;
+
+    /** @overload */
+    template<typename _Tp, int n> _Tp& at(const Vec<int, n>& idx);
+    /** @overload */
+    template<typename _Tp, int n> const _Tp& at(const Vec<int, n>& idx) const;
+
+    /** @overload
+    special versions for 2D arrays (especially convenient for referencing image pixels)
+    @param pt Element position specified as Point(j,i) .
+    */
+    template<typename _Tp> _Tp& at(Point pt);
+    /** @overload
+    special versions for 2D arrays (especially convenient for referencing image pixels)
+    @param pt Element position specified as Point(j,i) .
+    */
+    template<typename _Tp> const _Tp& at(Point pt) const;
+
+    /** @brief Returns the matrix iterator and sets it to the first matrix element.
+
+    The methods return the matrix read-only or read-write iterators. The use of matrix iterators is very
+    similar to the use of bi-directional STL iterators. In the example below, the alpha blending
+    function is rewritten using the matrix iterators:
+    @code
+        template<typename T>
+        void alphaBlendRGBA(const Mat& src1, const Mat& src2, Mat& dst)
+        {
+            typedef Vec<T, 4> VT;
+
+            const float alpha_scale = (float)std::numeric_limits<T>::max(),
+                        inv_scale = 1.f/alpha_scale;
+
+            CV_Assert( src1.type() == src2.type() &&
+                       src1.type() == DataType<VT>::type &&
+                       src1.size() == src2.size());
+            Size size = src1.size();
+            dst.create(size, src1.type());
+
+            MatConstIterator_<VT> it1 = src1.begin<VT>(), it1_end = src1.end<VT>();
+            MatConstIterator_<VT> it2 = src2.begin<VT>();
+            MatIterator_<VT> dst_it = dst.begin<VT>();
+
+            for( ; it1 != it1_end; ++it1, ++it2, ++dst_it )
+            {
+                VT pix1 = *it1, pix2 = *it2;
+                float alpha = pix1[3]*inv_scale, beta = pix2[3]*inv_scale;
+                *dst_it = VT(saturate_cast<T>(pix1[0]*alpha + pix2[0]*beta),
+                             saturate_cast<T>(pix1[1]*alpha + pix2[1]*beta),
+                             saturate_cast<T>(pix1[2]*alpha + pix2[2]*beta),
+                             saturate_cast<T>((1 - (1-alpha)*(1-beta))*alpha_scale));
+            }
+        }
+    @endcode
+     */
+    template<typename _Tp> MatIterator_<_Tp> begin();
+    template<typename _Tp> MatConstIterator_<_Tp> begin() const;
+
+    /** @brief Returns the matrix iterator and sets it to the after-last matrix element.
+
+    The methods return the matrix read-only or read-write iterators, set to the point following the last
+    matrix element.
+     */
+    template<typename _Tp> MatIterator_<_Tp> end();
+    template<typename _Tp> MatConstIterator_<_Tp> end() const;
+
+    /** @brief Invoke with arguments functor, and runs the functor over all matrix element.
+
+    The methos runs operation in parallel. Operation is passed by arguments. Operation have to be a
+    function pointer, a function object or a lambda(C++11).
+
+    All of below operation is equal. Put 0xFF to first channel of all matrix elements:
+    @code
+        Mat image(1920, 1080, CV_8UC3);
+        typedef cv::Point3_<uint8_t> Pixel;
+
+        // first. raw pointer access.
+        for (int r = 0; r < image.rows; ++r) {
+            Pixel* ptr = image.ptr<Pixel>(0, r);
+            const Pixel* ptr_end = ptr + image.cols;
+            for (; ptr != ptr_end; ++ptr) {
+                ptr->x = 255;
+            }
+        }
+
+        // Using MatIterator. (Simple but there are a Iterator's overhead)
+        for (Pixel &p : cv::Mat_<Pixel>(image)) {
+            p.x = 255;
+        }
+
+        // Parallel execution with function object.
+        struct Operator {
+            void operator ()(Pixel &pixel, const int * position) {
+                pixel.x = 255;
+            }
+        };
+        image.forEach<Pixel>(Operator());
+
+        // Parallel execution using C++11 lambda.
+        image.forEach<Pixel>([](Pixel &p, const int * position) -> void {
+            p.x = 255;
+        });
+    @endcode
+    position parameter is index of current pixel:
+    @code
+        // Creating 3D matrix (255 x 255 x 255) typed uint8_t,
+        //  and initialize all elements by the value which equals elements position.
+        //  i.e. pixels (x,y,z) = (1,2,3) is (b,g,r) = (1,2,3).
+
+        int sizes[] = { 255, 255, 255 };
+        typedef cv::Point3_<uint8_t> Pixel;
+
+        Mat_<Pixel> image = Mat::zeros(3, sizes, CV_8UC3);
+
+        image.forEachWithPosition([&](Pixel& pixel, const int position[]) -> void{
+            pixel.x = position[0];
+            pixel.y = position[1];
+            pixel.z = position[2];
+        });
+    @endcode
+     */
+    template<typename _Tp, typename Functor> void forEach(const Functor& operation);
+    /** @overload */
+    template<typename _Tp, typename Functor> void forEach(const Functor& operation) const;
+
+    enum { MAGIC_VAL  = 0x42FF0000, AUTO_STEP = 0, CONTINUOUS_FLAG = CV_MAT_CONT_FLAG, SUBMATRIX_FLAG = CV_SUBMAT_FLAG };
+    enum { MAGIC_MASK = 0xFFFF0000, TYPE_MASK = 0x00000FFF, DEPTH_MASK = 7 };
+
+    /*! includes several bit-fields:
+         - the magic signature
+         - continuity flag
+         - depth
+         - number of channels
+     */
+    int flags;
+    //! the matrix dimensionality, >= 2
+    int dims;
+    //! the number of rows and columns or (-1, -1) when the matrix has more than 2 dimensions
+    int rows, cols;
+    //! pointer to the data
+    uchar* data;
+
+    //! helper fields used in locateROI and adjustROI
+    const uchar* datastart;
+    const uchar* dataend;
+    const uchar* datalimit;
+
+    //! custom allocator
+    MatAllocator* allocator;
+    //! and the standard allocator
+    static MatAllocator* getStdAllocator();
+
+    //! interaction with UMat
+    UMatData* u;
+
+    MatSize size;
+    MatStep step;
+
+protected:
+    template<typename _Tp, typename Functor> void forEach_impl(const Functor& operation);
+};
+
+
+///////////////////////////////// Mat_<_Tp> ////////////////////////////////////
+
+/** @brief Template matrix class derived from Mat
+
+@code
+    template<typename _Tp> class Mat_ : public Mat
+    {
+    public:
+        // ... some specific methods
+        //         and
+        // no new extra fields
+    };
+@endcode
+The class `Mat_<_Tp>` is a *thin* template wrapper on top of the Mat class. It does not have any
+extra data fields. Nor this class nor Mat has any virtual methods. Thus, references or pointers to
+these two classes can be freely but carefully converted one to another. For example:
+@code
+    // create a 100x100 8-bit matrix
+    Mat M(100,100,CV_8U);
+    // this will be compiled fine. no any data conversion will be done.
+    Mat_<float>& M1 = (Mat_<float>&)M;
+    // the program is likely to crash at the statement below
+    M1(99,99) = 1.f;
+@endcode
+While Mat is sufficient in most cases, Mat_ can be more convenient if you use a lot of element
+access operations and if you know matrix type at the compilation time. Note that
+`Mat::at(int y,int x)` and `Mat_::operator()(int y,int x)` do absolutely the same
+and run at the same speed, but the latter is certainly shorter:
+@code
+    Mat_<double> M(20,20);
+    for(int i = 0; i < M.rows; i++)
+        for(int j = 0; j < M.cols; j++)
+            M(i,j) = 1./(i+j+1);
+    Mat E, V;
+    eigen(M,E,V);
+    cout << E.at<double>(0,0)/E.at<double>(M.rows-1,0);
+@endcode
+To use Mat_ for multi-channel images/matrices, pass Vec as a Mat_ parameter:
+@code
+    // allocate a 320x240 color image and fill it with green (in RGB space)
+    Mat_<Vec3b> img(240, 320, Vec3b(0,255,0));
+    // now draw a diagonal white line
+    for(int i = 0; i < 100; i++)
+        img(i,i)=Vec3b(255,255,255);
+    // and now scramble the 2nd (red) channel of each pixel
+    for(int i = 0; i < img.rows; i++)
+        for(int j = 0; j < img.cols; j++)
+            img(i,j)[2] ^= (uchar)(i ^ j);
+@endcode
+ */
+template<typename _Tp> class Mat_ : public Mat
+{
+public:
+    typedef _Tp value_type;
+    typedef typename DataType<_Tp>::channel_type channel_type;
+    typedef MatIterator_<_Tp> iterator;
+    typedef MatConstIterator_<_Tp> const_iterator;
+
+    //! default constructor
+    Mat_();
+    //! equivalent to Mat(_rows, _cols, DataType<_Tp>::type)
+    Mat_(int _rows, int _cols);
+    //! constructor that sets each matrix element to specified value
+    Mat_(int _rows, int _cols, const _Tp& value);
+    //! equivalent to Mat(_size, DataType<_Tp>::type)
+    explicit Mat_(Size _size);
+    //! constructor that sets each matrix element to specified value
+    Mat_(Size _size, const _Tp& value);
+    //! n-dim array constructor
+    Mat_(int _ndims, const int* _sizes);
+    //! n-dim array constructor that sets each matrix element to specified value
+    Mat_(int _ndims, const int* _sizes, const _Tp& value);
+    //! copy/conversion contructor. If m is of different type, it's converted
+    Mat_(const Mat& m);
+    //! copy constructor
+    Mat_(const Mat_& m);
+    //! constructs a matrix on top of user-allocated data. step is in bytes(!!!), regardless of the type
+    Mat_(int _rows, int _cols, _Tp* _data, size_t _step=AUTO_STEP);
+    //! constructs n-dim matrix on top of user-allocated data. steps are in bytes(!!!), regardless of the type
+    Mat_(int _ndims, const int* _sizes, _Tp* _data, const size_t* _steps=0);
+    //! selects a submatrix
+    Mat_(const Mat_& m, const Range& rowRange, const Range& colRange=Range::all());
+    //! selects a submatrix
+    Mat_(const Mat_& m, const Rect& roi);
+    //! selects a submatrix, n-dim version
+    Mat_(const Mat_& m, const Range* ranges);
+    //! from a matrix expression
+    explicit Mat_(const MatExpr& e);
+    //! makes a matrix out of Vec, std::vector, Point_ or Point3_. The matrix will have a single column
+    explicit Mat_(const std::vector<_Tp>& vec, bool copyData=false);
+    template<int n> explicit Mat_(const Vec<typename DataType<_Tp>::channel_type, n>& vec, bool copyData=true);
+    template<int m, int n> explicit Mat_(const Matx<typename DataType<_Tp>::channel_type, m, n>& mtx, bool copyData=true);
+    explicit Mat_(const Point_<typename DataType<_Tp>::channel_type>& pt, bool copyData=true);
+    explicit Mat_(const Point3_<typename DataType<_Tp>::channel_type>& pt, bool copyData=true);
+    explicit Mat_(const MatCommaInitializer_<_Tp>& commaInitializer);
+
+    Mat_& operator = (const Mat& m);
+    Mat_& operator = (const Mat_& m);
+    //! set all the elements to s.
+    Mat_& operator = (const _Tp& s);
+    //! assign a matrix expression
+    Mat_& operator = (const MatExpr& e);
+
+    //! iterators; they are smart enough to skip gaps in the end of rows
+    iterator begin();
+    iterator end();
+    const_iterator begin() const;
+    const_iterator end() const;
+
+    //! template methods for for operation over all matrix elements.
+    // the operations take care of skipping gaps in the end of rows (if any)
+    template<typename Functor> void forEach(const Functor& operation);
+    template<typename Functor> void forEach(const Functor& operation) const;
+
+    //! equivalent to Mat::create(_rows, _cols, DataType<_Tp>::type)
+    void create(int _rows, int _cols);
+    //! equivalent to Mat::create(_size, DataType<_Tp>::type)
+    void create(Size _size);
+    //! equivalent to Mat::create(_ndims, _sizes, DatType<_Tp>::type)
+    void create(int _ndims, const int* _sizes);
+    //! cross-product
+    Mat_ cross(const Mat_& m) const;
+    //! data type conversion
+    template<typename T2> operator Mat_<T2>() const;
+    //! overridden forms of Mat::row() etc.
+    Mat_ row(int y) const;
+    Mat_ col(int x) const;
+    Mat_ diag(int d=0) const;
+    Mat_ clone() const;
+
+    //! overridden forms of Mat::elemSize() etc.
+    size_t elemSize() const;
+    size_t elemSize1() const;
+    int type() const;
+    int depth() const;
+    int channels() const;
+    size_t step1(int i=0) const;
+    //! returns step()/sizeof(_Tp)
+    size_t stepT(int i=0) const;
+
+    //! overridden forms of Mat::zeros() etc. Data type is omitted, of course
+    static MatExpr zeros(int rows, int cols);
+    static MatExpr zeros(Size size);
+    static MatExpr zeros(int _ndims, const int* _sizes);
+    static MatExpr ones(int rows, int cols);
+    static MatExpr ones(Size size);
+    static MatExpr ones(int _ndims, const int* _sizes);
+    static MatExpr eye(int rows, int cols);
+    static MatExpr eye(Size size);
+
+    //! some more overriden methods
+    Mat_& adjustROI( int dtop, int dbottom, int dleft, int dright );
+    Mat_ operator()( const Range& rowRange, const Range& colRange ) const;
+    Mat_ operator()( const Rect& roi ) const;
+    Mat_ operator()( const Range* ranges ) const;
+
+    //! more convenient forms of row and element access operators
+    _Tp* operator [](int y);
+    const _Tp* operator [](int y) const;
+
+    //! returns reference to the specified element
+    _Tp& operator ()(const int* idx);
+    //! returns read-only reference to the specified element
+    const _Tp& operator ()(const int* idx) const;
+
+    //! returns reference to the specified element
+    template<int n> _Tp& operator ()(const Vec<int, n>& idx);
+    //! returns read-only reference to the specified element
+    template<int n> const _Tp& operator ()(const Vec<int, n>& idx) const;
+
+    //! returns reference to the specified element (1D case)
+    _Tp& operator ()(int idx0);
+    //! returns read-only reference to the specified element (1D case)
+    const _Tp& operator ()(int idx0) const;
+    //! returns reference to the specified element (2D case)
+    _Tp& operator ()(int idx0, int idx1);
+    //! returns read-only reference to the specified element (2D case)
+    const _Tp& operator ()(int idx0, int idx1) const;
+    //! returns reference to the specified element (3D case)
+    _Tp& operator ()(int idx0, int idx1, int idx2);
+    //! returns read-only reference to the specified element (3D case)
+    const _Tp& operator ()(int idx0, int idx1, int idx2) const;
+
+    _Tp& operator ()(Point pt);
+    const _Tp& operator ()(Point pt) const;
+
+    //! conversion to vector.
+    operator std::vector<_Tp>() const;
+    //! conversion to Vec
+    template<int n> operator Vec<typename DataType<_Tp>::channel_type, n>() const;
+    //! conversion to Matx
+    template<int m, int n> operator Matx<typename DataType<_Tp>::channel_type, m, n>() const;
+};
+
+typedef Mat_<uchar> Mat1b;
+typedef Mat_<Vec2b> Mat2b;
+typedef Mat_<Vec3b> Mat3b;
+typedef Mat_<Vec4b> Mat4b;
+
+typedef Mat_<short> Mat1s;
+typedef Mat_<Vec2s> Mat2s;
+typedef Mat_<Vec3s> Mat3s;
+typedef Mat_<Vec4s> Mat4s;
+
+typedef Mat_<ushort> Mat1w;
+typedef Mat_<Vec2w> Mat2w;
+typedef Mat_<Vec3w> Mat3w;
+typedef Mat_<Vec4w> Mat4w;
+
+typedef Mat_<int>   Mat1i;
+typedef Mat_<Vec2i> Mat2i;
+typedef Mat_<Vec3i> Mat3i;
+typedef Mat_<Vec4i> Mat4i;
+
+typedef Mat_<float> Mat1f;
+typedef Mat_<Vec2f> Mat2f;
+typedef Mat_<Vec3f> Mat3f;
+typedef Mat_<Vec4f> Mat4f;
+
+typedef Mat_<double> Mat1d;
+typedef Mat_<Vec2d> Mat2d;
+typedef Mat_<Vec3d> Mat3d;
+typedef Mat_<Vec4d> Mat4d;
+
+/** @todo document */
+class CV_EXPORTS UMat
+{
+public:
+    //! default constructor
+    UMat(UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    //! constructs 2D matrix of the specified size and type
+    // (_type is CV_8UC1, CV_64FC3, CV_32SC(12) etc.)
+    UMat(int rows, int cols, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    UMat(Size size, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    //! constucts 2D matrix and fills it with the specified value _s.
+    UMat(int rows, int cols, int type, const Scalar& s, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    UMat(Size size, int type, const Scalar& s, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+
+    //! constructs n-dimensional matrix
+    UMat(int ndims, const int* sizes, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    UMat(int ndims, const int* sizes, int type, const Scalar& s, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+
+    //! copy constructor
+    UMat(const UMat& m);
+
+    //! creates a matrix header for a part of the bigger matrix
+    UMat(const UMat& m, const Range& rowRange, const Range& colRange=Range::all());
+    UMat(const UMat& m, const Rect& roi);
+    UMat(const UMat& m, const Range* ranges);
+    //! builds matrix from std::vector with or without copying the data
+    template<typename _Tp> explicit UMat(const std::vector<_Tp>& vec, bool copyData=false);
+    //! builds matrix from cv::Vec; the data is copied by default
+    template<typename _Tp, int n> explicit UMat(const Vec<_Tp, n>& vec, bool copyData=true);
+    //! builds matrix from cv::Matx; the data is copied by default
+    template<typename _Tp, int m, int n> explicit UMat(const Matx<_Tp, m, n>& mtx, bool copyData=true);
+    //! builds matrix from a 2D point
+    template<typename _Tp> explicit UMat(const Point_<_Tp>& pt, bool copyData=true);
+    //! builds matrix from a 3D point
+    template<typename _Tp> explicit UMat(const Point3_<_Tp>& pt, bool copyData=true);
+    //! builds matrix from comma initializer
+    template<typename _Tp> explicit UMat(const MatCommaInitializer_<_Tp>& commaInitializer);
+
+    //! destructor - calls release()
+    ~UMat();
+    //! assignment operators
+    UMat& operator = (const UMat& m);
+
+    Mat getMat(int flags) const;
+
+    //! returns a new matrix header for the specified row
+    UMat row(int y) const;
+    //! returns a new matrix header for the specified column
+    UMat col(int x) const;
+    //! ... for the specified row span
+    UMat rowRange(int startrow, int endrow) const;
+    UMat rowRange(const Range& r) const;
+    //! ... for the specified column span
+    UMat colRange(int startcol, int endcol) const;
+    UMat colRange(const Range& r) const;
+    //! ... for the specified diagonal
+    // (d=0 - the main diagonal,
+    //  >0 - a diagonal from the lower half,
+    //  <0 - a diagonal from the upper half)
+    UMat diag(int d=0) const;
+    //! constructs a square diagonal matrix which main diagonal is vector "d"
+    static UMat diag(const UMat& d);
+
+    //! returns deep copy of the matrix, i.e. the data is copied
+    UMat clone() const;
+    //! copies the matrix content to "m".
+    // It calls m.create(this->size(), this->type()).
+    void copyTo( OutputArray m ) const;
+    //! copies those matrix elements to "m" that are marked with non-zero mask elements.
+    void copyTo( OutputArray m, InputArray mask ) const;
+    //! converts matrix to another datatype with optional scalng. See cvConvertScale.
+    void convertTo( OutputArray m, int rtype, double alpha=1, double beta=0 ) const;
+
+    void assignTo( UMat& m, int type=-1 ) const;
+
+    //! sets every matrix element to s
+    UMat& operator = (const Scalar& s);
+    //! sets some of the matrix elements to s, according to the mask
+    UMat& setTo(InputArray value, InputArray mask=noArray());
+    //! creates alternative matrix header for the same data, with different
+    // number of channels and/or different number of rows. see cvReshape.
+    UMat reshape(int cn, int rows=0) const;
+    UMat reshape(int cn, int newndims, const int* newsz) const;
+
+    //! matrix transposition by means of matrix expressions
+    UMat t() const;
+    //! matrix inversion by means of matrix expressions
+    UMat inv(int method=DECOMP_LU) const;
+    //! per-element matrix multiplication by means of matrix expressions
+    UMat mul(InputArray m, double scale=1) const;
+
+    //! computes dot-product
+    double dot(InputArray m) const;
+
+    //! Matlab-style matrix initialization
+    static UMat zeros(int rows, int cols, int type);
+    static UMat zeros(Size size, int type);
+    static UMat zeros(int ndims, const int* sz, int type);
+    static UMat ones(int rows, int cols, int type);
+    static UMat ones(Size size, int type);
+    static UMat ones(int ndims, const int* sz, int type);
+    static UMat eye(int rows, int cols, int type);
+    static UMat eye(Size size, int type);
+
+    //! allocates new matrix data unless the matrix already has specified size and type.
+    // previous data is unreferenced if needed.
+    void create(int rows, int cols, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    void create(Size size, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+    void create(int ndims, const int* sizes, int type, UMatUsageFlags usageFlags = USAGE_DEFAULT);
+
+    //! increases the reference counter; use with care to avoid memleaks
+    void addref();
+    //! decreases reference counter;
+    // deallocates the data when reference counter reaches 0.
+    void release();
+
+    //! deallocates the matrix data
+    void deallocate();
+    //! internal use function; properly re-allocates _size, _step arrays
+    void copySize(const UMat& m);
+
+    //! locates matrix header within a parent matrix. See below
+    void locateROI( Size& wholeSize, Point& ofs ) const;
+    //! moves/resizes the current matrix ROI inside the parent matrix.
+    UMat& adjustROI( int dtop, int dbottom, int dleft, int dright );
+    //! extracts a rectangular sub-matrix
+    // (this is a generalized form of row, rowRange etc.)
+    UMat operator()( Range rowRange, Range colRange ) const;
+    UMat operator()( const Rect& roi ) const;
+    UMat operator()( const Range* ranges ) const;
+
+    //! returns true iff the matrix data is continuous
+    // (i.e. when there are no gaps between successive rows).
+    // similar to CV_IS_MAT_CONT(cvmat->type)
+    bool isContinuous() const;
+
+    //! returns true if the matrix is a submatrix of another matrix
+    bool isSubmatrix() const;
+
+    //! returns element size in bytes,
+    // similar to CV_ELEM_SIZE(cvmat->type)
+    size_t elemSize() const;
+    //! returns the size of element channel in bytes.
+    size_t elemSize1() const;
+    //! returns element type, similar to CV_MAT_TYPE(cvmat->type)
+    int type() const;
+    //! returns element type, similar to CV_MAT_DEPTH(cvmat->type)
+    int depth() const;
+    //! returns element type, similar to CV_MAT_CN(cvmat->type)
+    int channels() const;
+    //! returns step/elemSize1()
+    size_t step1(int i=0) const;
+    //! returns true if matrix data is NULL
+    bool empty() const;
+    //! returns the total number of matrix elements
+    size_t total() const;
+
+    //! returns N if the matrix is 1-channel (N x ptdim) or ptdim-channel (1 x N) or (N x 1); negative number otherwise
+    int checkVector(int elemChannels, int depth=-1, bool requireContinuous=true) const;
+
+    void* handle(int accessFlags) const;
+    void ndoffset(size_t* ofs) const;
+
+    enum { MAGIC_VAL  = 0x42FF0000, AUTO_STEP = 0, CONTINUOUS_FLAG = CV_MAT_CONT_FLAG, SUBMATRIX_FLAG = CV_SUBMAT_FLAG };
+    enum { MAGIC_MASK = 0xFFFF0000, TYPE_MASK = 0x00000FFF, DEPTH_MASK = 7 };
+
+    /*! includes several bit-fields:
+         - the magic signature
+         - continuity flag
+         - depth
+         - number of channels
+     */
+    int flags;
+    //! the matrix dimensionality, >= 2
+    int dims;
+    //! the number of rows and columns or (-1, -1) when the matrix has more than 2 dimensions
+    int rows, cols;
+
+    //! custom allocator
+    MatAllocator* allocator;
+    UMatUsageFlags usageFlags; // usage flags for allocator
+    //! and the standard allocator
+    static MatAllocator* getStdAllocator();
+
+    // black-box container of UMat data
+    UMatData* u;
+
+    // offset of the submatrix (or 0)
+    size_t offset;
+
+    MatSize size;
+    MatStep step;
+
+protected:
+};
+
+
+/////////////////////////// multi-dimensional sparse matrix //////////////////////////
+
+/** @brief The class SparseMat represents multi-dimensional sparse numerical arrays.
+
+Such a sparse array can store elements of any type that Mat can store. *Sparse* means that only
+non-zero elements are stored (though, as a result of operations on a sparse matrix, some of its
+stored elements can actually become 0. It is up to you to detect such elements and delete them
+using SparseMat::erase ). The non-zero elements are stored in a hash table that grows when it is
+filled so that the search time is O(1) in average (regardless of whether element is there or not).
+Elements can be accessed using the following methods:
+-   Query operations (SparseMat::ptr and the higher-level SparseMat::ref, SparseMat::value and
+    SparseMat::find), for example:
+    @code
+        const int dims = 5;
+        int size[] = {10, 10, 10, 10, 10};
+        SparseMat sparse_mat(dims, size, CV_32F);
+        for(int i = 0; i < 1000; i++)
+        {
+            int idx[dims];
+            for(int k = 0; k < dims; k++)
+                idx[k] = rand()
+            sparse_mat.ref<float>(idx) += 1.f;
+        }
+    @endcode
+-   Sparse matrix iterators. They are similar to MatIterator but different from NAryMatIterator.
+    That is, the iteration loop is familiar to STL users:
+    @code
+        // prints elements of a sparse floating-point matrix
+        // and the sum of elements.
+        SparseMatConstIterator_<float>
+            it = sparse_mat.begin<float>(),
+            it_end = sparse_mat.end<float>();
+        double s = 0;
+        int dims = sparse_mat.dims();
+        for(; it != it_end; ++it)
+        {
+            // print element indices and the element value
+            const SparseMat::Node* n = it.node();
+            printf("(");
+            for(int i = 0; i < dims; i++)
+                printf("%d%s", n->idx[i], i < dims-1 ? ", " : ")");
+            printf(": %g\n", it.value<float>());
+            s += *it;
+        }
+        printf("Element sum is %g\n", s);
+    @endcode
+    If you run this loop, you will notice that elements are not enumerated in a logical order
+    (lexicographical, and so on). They come in the same order as they are stored in the hash table
+    (semi-randomly). You may collect pointers to the nodes and sort them to get the proper ordering.
+    Note, however, that pointers to the nodes may become invalid when you add more elements to the
+    matrix. This may happen due to possible buffer reallocation.
+-   Combination of the above 2 methods when you need to process 2 or more sparse matrices
+    simultaneously. For example, this is how you can compute unnormalized cross-correlation of the 2
+    floating-point sparse matrices:
+    @code
+        double cross_corr(const SparseMat& a, const SparseMat& b)
+        {
+            const SparseMat *_a = &a, *_b = &b;
+            // if b contains less elements than a,
+            // it is faster to iterate through b
+            if(_a->nzcount() > _b->nzcount())
+                std::swap(_a, _b);
+            SparseMatConstIterator_<float> it = _a->begin<float>(),
+                                           it_end = _a->end<float>();
+            double ccorr = 0;
+            for(; it != it_end; ++it)
+            {
+                // take the next element from the first matrix
+                float avalue = *it;
+                const Node* anode = it.node();
+                // and try to find an element with the same index in the second matrix.
+                // since the hash value depends only on the element index,
+                // reuse the hash value stored in the node
+                float bvalue = _b->value<float>(anode->idx,&anode->hashval);
+                ccorr += avalue*bvalue;
+            }
+            return ccorr;
+        }
+    @endcode
+ */
+class CV_EXPORTS SparseMat
+{
+public:
+    typedef SparseMatIterator iterator;
+    typedef SparseMatConstIterator const_iterator;
+
+    enum { MAGIC_VAL=0x42FD0000, MAX_DIM=32, HASH_SCALE=0x5bd1e995, HASH_BIT=0x80000000 };
+
+    //! the sparse matrix header
+    struct CV_EXPORTS Hdr
+    {
+        Hdr(int _dims, const int* _sizes, int _type);
+        void clear();
+        int refcount;
+        int dims;
+        int valueOffset;
+        size_t nodeSize;
+        size_t nodeCount;
+        size_t freeList;
+        std::vector<uchar> pool;
+        std::vector<size_t> hashtab;
+        int size[MAX_DIM];
+    };
+
+    //! sparse matrix node - element of a hash table
+    struct CV_EXPORTS Node
+    {
+        //! hash value
+        size_t hashval;
+        //! index of the next node in the same hash table entry
+        size_t next;
+        //! index of the matrix element
+        int idx[MAX_DIM];
+    };
+
+    /** @brief Various SparseMat constructors.
+     */
+    SparseMat();
+
+    /** @overload
+    @param dims Array dimensionality.
+    @param _sizes Sparce matrix size on all dementions.
+    @param _type Sparse matrix data type.
+    */
+    SparseMat(int dims, const int* _sizes, int _type);
+
+    /** @overload
+    @param m Source matrix for copy constructor. If m is dense matrix (ocvMat) then it will be converted
+    to sparse representation.
+    */
+    SparseMat(const SparseMat& m);
+
+    /** @overload
+    @param m Source matrix for copy constructor. If m is dense matrix (ocvMat) then it will be converted
+    to sparse representation.
+    */
+    explicit SparseMat(const Mat& m);
+
+    //! the destructor
+    ~SparseMat();
+
+    //! assignment operator. This is O(1) operation, i.e. no data is copied
+    SparseMat& operator = (const SparseMat& m);
+    //! equivalent to the corresponding constructor
+    SparseMat& operator = (const Mat& m);
+
+    //! creates full copy of the matrix
+    SparseMat clone() const;
+
+    //! copies all the data to the destination matrix. All the previous content of m is erased
+    void copyTo( SparseMat& m ) const;
+    //! converts sparse matrix to dense matrix.
+    void copyTo( Mat& m ) const;
+    //! multiplies all the matrix elements by the specified scale factor alpha and converts the results to the specified data type
+    void convertTo( SparseMat& m, int rtype, double alpha=1 ) const;
+    //! converts sparse matrix to dense n-dim matrix with optional type conversion and scaling.
+    /*!
+        @param [out] m - output matrix; if it does not have a proper size or type before the operation,
+            it is reallocated
+        @param [in] rtype – desired output matrix type or, rather, the depth since the number of channels
+            are the same as the input has; if rtype is negative, the output matrix will have the
+            same type as the input.
+        @param [in] alpha – optional scale factor
+        @param [in] beta – optional delta added to the scaled values
+    */
+    void convertTo( Mat& m, int rtype, double alpha=1, double beta=0 ) const;
+
+    // not used now
+    void assignTo( SparseMat& m, int type=-1 ) const;
+
+    //! reallocates sparse matrix.
+    /*!
+        If the matrix already had the proper size and type,
+        it is simply cleared with clear(), otherwise,
+        the old matrix is released (using release()) and the new one is allocated.
+    */
+    void create(int dims, const int* _sizes, int _type);
+    //! sets all the sparse matrix elements to 0, which means clearing the hash table.
+    void clear();
+    //! manually increments the reference counter to the header.
+    void addref();
+    // decrements the header reference counter. When the counter reaches 0, the header and all the underlying data are deallocated.
+    void release();
+
+    //! converts sparse matrix to the old-style representation; all the elements are copied.
+    //operator CvSparseMat*() const;
+    //! returns the size of each element in bytes (not including the overhead - the space occupied by SparseMat::Node elements)
+    size_t elemSize() const;
+    //! returns elemSize()/channels()
+    size_t elemSize1() const;
+
+    //! returns type of sparse matrix elements
+    int type() const;
+    //! returns the depth of sparse matrix elements
+    int depth() const;
+    //! returns the number of channels
+    int channels() const;
+
+    //! returns the array of sizes, or NULL if the matrix is not allocated
+    const int* size() const;
+    //! returns the size of i-th matrix dimension (or 0)
+    int size(int i) const;
+    //! returns the matrix dimensionality
+    int dims() const;
+    //! returns the number of non-zero elements (=the number of hash table nodes)
+    size_t nzcount() const;
+
+    //! computes the element hash value (1D case)
+    size_t hash(int i0) const;
+    //! computes the element hash value (2D case)
+    size_t hash(int i0, int i1) const;
+    //! computes the element hash value (3D case)
+    size_t hash(int i0, int i1, int i2) const;
+    //! computes the element hash value (nD case)
+    size_t hash(const int* idx) const;
+
+    //!@{
+    /*!
+     specialized variants for 1D, 2D, 3D cases and the generic_type one for n-D case.
+     return pointer to the matrix element.
+      - if the element is there (it's non-zero), the pointer to it is returned
+      - if it's not there and createMissing=false, NULL pointer is returned
+      - if it's not there and createMissing=true, then the new element
+        is created and initialized with 0. Pointer to it is returned
+      - if the optional hashval pointer is not NULL, the element hash value is
+        not computed, but *hashval is taken instead.
+    */
+    //! returns pointer to the specified element (1D case)
+    uchar* ptr(int i0, bool createMissing, size_t* hashval=0);
+    //! returns pointer to the specified element (2D case)
+    uchar* ptr(int i0, int i1, bool createMissing, size_t* hashval=0);
+    //! returns pointer to the specified element (3D case)
+    uchar* ptr(int i0, int i1, int i2, bool createMissing, size_t* hashval=0);
+    //! returns pointer to the specified element (nD case)
+    uchar* ptr(const int* idx, bool createMissing, size_t* hashval=0);
+    //!@}
+
+    //!@{
+    /*!
+     return read-write reference to the specified sparse matrix element.
+
+     `ref<_Tp>(i0,...[,hashval])` is equivalent to `*(_Tp*)ptr(i0,...,true[,hashval])`.
+     The methods always return a valid reference.
+     If the element did not exist, it is created and initialiazed with 0.
+    */
+    //! returns reference to the specified element (1D case)
+    template<typename _Tp> _Tp& ref(int i0, size_t* hashval=0);
+    //! returns reference to the specified element (2D case)
+    template<typename _Tp> _Tp& ref(int i0, int i1, size_t* hashval=0);
+    //! returns reference to the specified element (3D case)
+    template<typename _Tp> _Tp& ref(int i0, int i1, int i2, size_t* hashval=0);
+    //! returns reference to the specified element (nD case)
+    template<typename _Tp> _Tp& ref(const int* idx, size_t* hashval=0);
+    //!@}
+
+    //!@{
+    /*!
+     return value of the specified sparse matrix element.
+
+     `value<_Tp>(i0,...[,hashval])` is equivalent to
+     @code
+     { const _Tp* p = find<_Tp>(i0,...[,hashval]); return p ? *p : _Tp(); }
+     @endcode
+
+     That is, if the element did not exist, the methods return 0.
+     */
+    //! returns value of the specified element (1D case)
+    template<typename _Tp> _Tp value(int i0, size_t* hashval=0) const;
+    //! returns value of the specified element (2D case)
+    template<typename _Tp> _Tp value(int i0, int i1, size_t* hashval=0) const;
+    //! returns value of the specified element (3D case)
+    template<typename _Tp> _Tp value(int i0, int i1, int i2, size_t* hashval=0) const;
+    //! returns value of the specified element (nD case)
+    template<typename _Tp> _Tp value(const int* idx, size_t* hashval=0) const;
+    //!@}
+
+    //!@{
+    /*!
+     Return pointer to the specified sparse matrix element if it exists
+
+     `find<_Tp>(i0,...[,hashval])` is equivalent to `(_const Tp*)ptr(i0,...false[,hashval])`.
+
+     If the specified element does not exist, the methods return NULL.
+    */
+    //! returns pointer to the specified element (1D case)
+    template<typename _Tp> const _Tp* find(int i0, size_t* hashval=0) const;
+    //! returns pointer to the specified element (2D case)
+    template<typename _Tp> const _Tp* find(int i0, int i1, size_t* hashval=0) const;
+    //! returns pointer to the specified element (3D case)
+    template<typename _Tp> const _Tp* find(int i0, int i1, int i2, size_t* hashval=0) const;
+    //! returns pointer to the specified element (nD case)
+    template<typename _Tp> const _Tp* find(const int* idx, size_t* hashval=0) const;
+    //!@}
+
+    //! erases the specified element (2D case)
+    void erase(int i0, int i1, size_t* hashval=0);
+    //! erases the specified element (3D case)
+    void erase(int i0, int i1, int i2, size_t* hashval=0);
+    //! erases the specified element (nD case)
+    void erase(const int* idx, size_t* hashval=0);
+
+    //!@{
+    /*!
+       return the sparse matrix iterator pointing to the first sparse matrix element
+    */
+    //! returns the sparse matrix iterator at the matrix beginning
+    SparseMatIterator begin();
+    //! returns the sparse matrix iterator at the matrix beginning
+    template<typename _Tp> SparseMatIterator_<_Tp> begin();
+    //! returns the read-only sparse matrix iterator at the matrix beginning
+    SparseMatConstIterator begin() const;
+    //! returns the read-only sparse matrix iterator at the matrix beginning
+    template<typename _Tp> SparseMatConstIterator_<_Tp> begin() const;
+    //!@}
+    /*!
+       return the sparse matrix iterator pointing to the element following the last sparse matrix element
+    */
+    //! returns the sparse matrix iterator at the matrix end
+    SparseMatIterator end();
+    //! returns the read-only sparse matrix iterator at the matrix end
+    SparseMatConstIterator end() const;
+    //! returns the typed sparse matrix iterator at the matrix end
+    template<typename _Tp> SparseMatIterator_<_Tp> end();
+    //! returns the typed read-only sparse matrix iterator at the matrix end
+    template<typename _Tp> SparseMatConstIterator_<_Tp> end() const;
+
+    //! returns the value stored in the sparse martix node
+    template<typename _Tp> _Tp& value(Node* n);
+    //! returns the value stored in the sparse martix node
+    template<typename _Tp> const _Tp& value(const Node* n) const;
+
+    ////////////// some internal-use methods ///////////////
+    Node* node(size_t nidx);
+    const Node* node(size_t nidx) const;
+
+    uchar* newNode(const int* idx, size_t hashval);
+    void removeNode(size_t hidx, size_t nidx, size_t previdx);
+    void resizeHashTab(size_t newsize);
+
+    int flags;
+    Hdr* hdr;
+};
+
+
+
+///////////////////////////////// SparseMat_<_Tp> ////////////////////////////////////
+
+/** @brief Template sparse n-dimensional array class derived from SparseMat
+
+SparseMat_ is a thin wrapper on top of SparseMat created in the same way as Mat_ . It simplifies
+notation of some operations:
+@code
+    int sz[] = {10, 20, 30};
+    SparseMat_<double> M(3, sz);
+    ...
+    M.ref(1, 2, 3) = M(4, 5, 6) + M(7, 8, 9);
+@endcode
+ */
+template<typename _Tp> class SparseMat_ : public SparseMat
+{
+public:
+    typedef SparseMatIterator_<_Tp> iterator;
+    typedef SparseMatConstIterator_<_Tp> const_iterator;
+
+    //! the default constructor
+    SparseMat_();
+    //! the full constructor equivelent to SparseMat(dims, _sizes, DataType<_Tp>::type)
+    SparseMat_(int dims, const int* _sizes);
+    //! the copy constructor. If DataType<_Tp>.type != m.type(), the m elements are converted
+    SparseMat_(const SparseMat& m);
+    //! the copy constructor. This is O(1) operation - no data is copied
+    SparseMat_(const SparseMat_& m);
+    //! converts dense matrix to the sparse form
+    SparseMat_(const Mat& m);
+    //! converts the old-style sparse matrix to the C++ class. All the elements are copied
+    //SparseMat_(const CvSparseMat* m);
+    //! the assignment operator. If DataType<_Tp>.type != m.type(), the m elements are converted
+    SparseMat_& operator = (const SparseMat& m);
+    //! the assignment operator. This is O(1) operation - no data is copied
+    SparseMat_& operator = (const SparseMat_& m);
+    //! converts dense matrix to the sparse form
+    SparseMat_& operator = (const Mat& m);
+
+    //! makes full copy of the matrix. All the elements are duplicated
+    SparseMat_ clone() const;
+    //! equivalent to cv::SparseMat::create(dims, _sizes, DataType<_Tp>::type)
+    void create(int dims, const int* _sizes);
+    //! converts sparse matrix to the old-style CvSparseMat. All the elements are copied
+    //operator CvSparseMat*() const;
+
+    //! returns type of the matrix elements
+    int type() const;
+    //! returns depth of the matrix elements
+    int depth() const;
+    //! returns the number of channels in each matrix element
+    int channels() const;
+
+    //! equivalent to SparseMat::ref<_Tp>(i0, hashval)
+    _Tp& ref(int i0, size_t* hashval=0);
+    //! equivalent to SparseMat::ref<_Tp>(i0, i1, hashval)
+    _Tp& ref(int i0, int i1, size_t* hashval=0);
+    //! equivalent to SparseMat::ref<_Tp>(i0, i1, i2, hashval)
+    _Tp& ref(int i0, int i1, int i2, size_t* hashval=0);
+    //! equivalent to SparseMat::ref<_Tp>(idx, hashval)
+    _Tp& ref(const int* idx, size_t* hashval=0);
+
+    //! equivalent to SparseMat::value<_Tp>(i0, hashval)
+    _Tp operator()(int i0, size_t* hashval=0) const;
+    //! equivalent to SparseMat::value<_Tp>(i0, i1, hashval)
+    _Tp operator()(int i0, int i1, size_t* hashval=0) const;
+    //! equivalent to SparseMat::value<_Tp>(i0, i1, i2, hashval)
+    _Tp operator()(int i0, int i1, int i2, size_t* hashval=0) const;
+    //! equivalent to SparseMat::value<_Tp>(idx, hashval)
+    _Tp operator()(const int* idx, size_t* hashval=0) const;
+
+    //! returns sparse matrix iterator pointing to the first sparse matrix element
+    SparseMatIterator_<_Tp> begin();
+    //! returns read-only sparse matrix iterator pointing to the first sparse matrix element
+    SparseMatConstIterator_<_Tp> begin() const;
+    //! returns sparse matrix iterator pointing to the element following the last sparse matrix element
+    SparseMatIterator_<_Tp> end();
+    //! returns read-only sparse matrix iterator pointing to the element following the last sparse matrix element
+    SparseMatConstIterator_<_Tp> end() const;
+};
+
+
+
+////////////////////////////////// MatConstIterator //////////////////////////////////
+
+class CV_EXPORTS MatConstIterator
+{
+public:
+    typedef uchar* value_type;
+    typedef ptrdiff_t difference_type;
+    typedef const uchar** pointer;
+    typedef uchar* reference;
+
+#ifndef OPENCV_NOSTL
+    typedef std::random_access_iterator_tag iterator_category;
+#endif
+
+    //! default constructor
+    MatConstIterator();
+    //! constructor that sets the iterator to the beginning of the matrix
+    MatConstIterator(const Mat* _m);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator(const Mat* _m, int _row, int _col=0);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator(const Mat* _m, Point _pt);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator(const Mat* _m, const int* _idx);
+    //! copy constructor
+    MatConstIterator(const MatConstIterator& it);
+
+    //! copy operator
+    MatConstIterator& operator = (const MatConstIterator& it);
+    //! returns the current matrix element
+    const uchar* operator *() const;
+    //! returns the i-th matrix element, relative to the current
+    const uchar* operator [](ptrdiff_t i) const;
+
+    //! shifts the iterator forward by the specified number of elements
+    MatConstIterator& operator += (ptrdiff_t ofs);
+    //! shifts the iterator backward by the specified number of elements
+    MatConstIterator& operator -= (ptrdiff_t ofs);
+    //! decrements the iterator
+    MatConstIterator& operator --();
+    //! decrements the iterator
+    MatConstIterator operator --(int);
+    //! increments the iterator
+    MatConstIterator& operator ++();
+    //! increments the iterator
+    MatConstIterator operator ++(int);
+    //! returns the current iterator position
+    Point pos() const;
+    //! returns the current iterator position
+    void pos(int* _idx) const;
+
+    ptrdiff_t lpos() const;
+    void seek(ptrdiff_t ofs, bool relative = false);
+    void seek(const int* _idx, bool relative = false);
+
+    const Mat* m;
+    size_t elemSize;
+    const uchar* ptr;
+    const uchar* sliceStart;
+    const uchar* sliceEnd;
+};
+
+
+
+////////////////////////////////// MatConstIterator_ /////////////////////////////////
+
+/** @brief Matrix read-only iterator
+ */
+template<typename _Tp>
+class MatConstIterator_ : public MatConstIterator
+{
+public:
+    typedef _Tp value_type;
+    typedef ptrdiff_t difference_type;
+    typedef const _Tp* pointer;
+    typedef const _Tp& reference;
+
+#ifndef OPENCV_NOSTL
+    typedef std::random_access_iterator_tag iterator_category;
+#endif
+
+    //! default constructor
+    MatConstIterator_();
+    //! constructor that sets the iterator to the beginning of the matrix
+    MatConstIterator_(const Mat_<_Tp>* _m);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator_(const Mat_<_Tp>* _m, int _row, int _col=0);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator_(const Mat_<_Tp>* _m, Point _pt);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatConstIterator_(const Mat_<_Tp>* _m, const int* _idx);
+    //! copy constructor
+    MatConstIterator_(const MatConstIterator_& it);
+
+    //! copy operator
+    MatConstIterator_& operator = (const MatConstIterator_& it);
+    //! returns the current matrix element
+    _Tp operator *() const;
+    //! returns the i-th matrix element, relative to the current
+    _Tp operator [](ptrdiff_t i) const;
+
+    //! shifts the iterator forward by the specified number of elements
+    MatConstIterator_& operator += (ptrdiff_t ofs);
+    //! shifts the iterator backward by the specified number of elements
+    MatConstIterator_& operator -= (ptrdiff_t ofs);
+    //! decrements the iterator
+    MatConstIterator_& operator --();
+    //! decrements the iterator
+    MatConstIterator_ operator --(int);
+    //! increments the iterator
+    MatConstIterator_& operator ++();
+    //! increments the iterator
+    MatConstIterator_ operator ++(int);
+    //! returns the current iterator position
+    Point pos() const;
+};
+
+
+
+//////////////////////////////////// MatIterator_ ////////////////////////////////////
+
+/** @brief Matrix read-write iterator
+*/
+template<typename _Tp>
+class MatIterator_ : public MatConstIterator_<_Tp>
+{
+public:
+    typedef _Tp* pointer;
+    typedef _Tp& reference;
+
+#ifndef OPENCV_NOSTL
+    typedef std::random_access_iterator_tag iterator_category;
+#endif
+
+    //! the default constructor
+    MatIterator_();
+    //! constructor that sets the iterator to the beginning of the matrix
+    MatIterator_(Mat_<_Tp>* _m);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatIterator_(Mat_<_Tp>* _m, int _row, int _col=0);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatIterator_(Mat_<_Tp>* _m, Point _pt);
+    //! constructor that sets the iterator to the specified element of the matrix
+    MatIterator_(Mat_<_Tp>* _m, const int* _idx);
+    //! copy constructor
+    MatIterator_(const MatIterator_& it);
+    //! copy operator
+    MatIterator_& operator = (const MatIterator_<_Tp>& it );
+
+    //! returns the current matrix element
+    _Tp& operator *() const;
+    //! returns the i-th matrix element, relative to the current
+    _Tp& operator [](ptrdiff_t i) const;
+
+    //! shifts the iterator forward by the specified number of elements
+    MatIterator_& operator += (ptrdiff_t ofs);
+    //! shifts the iterator backward by the specified number of elements
+    MatIterator_& operator -= (ptrdiff_t ofs);
+    //! decrements the iterator
+    MatIterator_& operator --();
+    //! decrements the iterator
+    MatIterator_ operator --(int);
+    //! increments the iterator
+    MatIterator_& operator ++();
+    //! increments the iterator
+    MatIterator_ operator ++(int);
+};
+
+
+
+/////////////////////////////// SparseMatConstIterator ///////////////////////////////
+
+/**  @brief Read-Only Sparse Matrix Iterator.
+
+ Here is how to use the iterator to compute the sum of floating-point sparse matrix elements:
+
+ \code
+ SparseMatConstIterator it = m.begin(), it_end = m.end();
+ double s = 0;
+ CV_Assert( m.type() == CV_32F );
+ for( ; it != it_end; ++it )
+    s += it.value<float>();
+ \endcode
+*/
+class CV_EXPORTS SparseMatConstIterator
+{
+public:
+    //! the default constructor
+    SparseMatConstIterator();
+    //! the full constructor setting the iterator to the first sparse matrix element
+    SparseMatConstIterator(const SparseMat* _m);
+    //! the copy constructor
+    SparseMatConstIterator(const SparseMatConstIterator& it);
+
+    //! the assignment operator
+    SparseMatConstIterator& operator = (const SparseMatConstIterator& it);
+
+    //! template method returning the current matrix element
+    template<typename _Tp> const _Tp& value() const;
+    //! returns the current node of the sparse matrix. it.node->idx is the current element index
+    const SparseMat::Node* node() const;
+
+    //! moves iterator to the previous element
+    SparseMatConstIterator& operator --();
+    //! moves iterator to the previous element
+    SparseMatConstIterator operator --(int);
+    //! moves iterator to the next element
+    SparseMatConstIterator& operator ++();
+    //! moves iterator to the next element
+    SparseMatConstIterator operator ++(int);
+
+    //! moves iterator to the element after the last element
+    void seekEnd();
+
+    const SparseMat* m;
+    size_t hashidx;
+    uchar* ptr;
+};
+
+
+
+////////////////////////////////// SparseMatIterator /////////////////////////////////
+
+/** @brief  Read-write Sparse Matrix Iterator
+
+ The class is similar to cv::SparseMatConstIterator,
+ but can be used for in-place modification of the matrix elements.
+*/
+class CV_EXPORTS SparseMatIterator : public SparseMatConstIterator
+{
+public:
+    //! the default constructor
+    SparseMatIterator();
+    //! the full constructor setting the iterator to the first sparse matrix element
+    SparseMatIterator(SparseMat* _m);
+    //! the full constructor setting the iterator to the specified sparse matrix element
+    SparseMatIterator(SparseMat* _m, const int* idx);
+    //! the copy constructor
+    SparseMatIterator(const SparseMatIterator& it);
+
+    //! the assignment operator
+    SparseMatIterator& operator = (const SparseMatIterator& it);
+    //! returns read-write reference to the current sparse matrix element
+    template<typename _Tp> _Tp& value() const;
+    //! returns pointer to the current sparse matrix node. it.node->idx is the index of the current element (do not modify it!)
+    SparseMat::Node* node() const;
+
+    //! moves iterator to the next element
+    SparseMatIterator& operator ++();
+    //! moves iterator to the next element
+    SparseMatIterator operator ++(int);
+};
+
+
+
+/////////////////////////////// SparseMatConstIterator_ //////////////////////////////
+
+/** @brief  Template Read-Only Sparse Matrix Iterator Class.
+
+ This is the derived from SparseMatConstIterator class that
+ introduces more convenient operator *() for accessing the current element.
+*/
+template<typename _Tp> class SparseMatConstIterator_ : public SparseMatConstIterator
+{
+public:
+
+#ifndef OPENCV_NOSTL
+    typedef std::forward_iterator_tag iterator_category;
+#endif
+
+    //! the default constructor
+    SparseMatConstIterator_();
+    //! the full constructor setting the iterator to the first sparse matrix element
+    SparseMatConstIterator_(const SparseMat_<_Tp>* _m);
+    SparseMatConstIterator_(const SparseMat* _m);
+    //! the copy constructor
+    SparseMatConstIterator_(const SparseMatConstIterator_& it);
+
+    //! the assignment operator
+    SparseMatConstIterator_& operator = (const SparseMatConstIterator_& it);
+    //! the element access operator
+    const _Tp& operator *() const;
+
+    //! moves iterator to the next element
+    SparseMatConstIterator_& operator ++();
+    //! moves iterator to the next element
+    SparseMatConstIterator_ operator ++(int);
+};
+
+
+
+///////////////////////////////// SparseMatIterator_ /////////////////////////////////
+
+/** @brief  Template Read-Write Sparse Matrix Iterator Class.
+
+ This is the derived from cv::SparseMatConstIterator_ class that
+ introduces more convenient operator *() for accessing the current element.
+*/
+template<typename _Tp> class SparseMatIterator_ : public SparseMatConstIterator_<_Tp>
+{
+public:
+
+#ifndef OPENCV_NOSTL
+    typedef std::forward_iterator_tag iterator_category;
+#endif
+
+    //! the default constructor
+    SparseMatIterator_();
+    //! the full constructor setting the iterator to the first sparse matrix element
+    SparseMatIterator_(SparseMat_<_Tp>* _m);
+    SparseMatIterator_(SparseMat* _m);
+    //! the copy constructor
+    SparseMatIterator_(const SparseMatIterator_& it);
+
+    //! the assignment operator
+    SparseMatIterator_& operator = (const SparseMatIterator_& it);
+    //! returns the reference to the current element
+    _Tp& operator *() const;
+
+    //! moves the iterator to the next element
+    SparseMatIterator_& operator ++();
+    //! moves the iterator to the next element
+    SparseMatIterator_ operator ++(int);
+};
+
+
+
+/////////////////////////////////// NAryMatIterator //////////////////////////////////
+
+/** @brief n-ary multi-dimensional array iterator.
+
+Use the class to implement unary, binary, and, generally, n-ary element-wise operations on
+multi-dimensional arrays. Some of the arguments of an n-ary function may be continuous arrays, some
+may be not. It is possible to use conventional MatIterator 's for each array but incrementing all of
+the iterators after each small operations may be a big overhead. In this case consider using
+NAryMatIterator to iterate through several matrices simultaneously as long as they have the same
+geometry (dimensionality and all the dimension sizes are the same). On each iteration `it.planes[0]`,
+`it.planes[1]`,... will be the slices of the corresponding matrices.
+
+The example below illustrates how you can compute a normalized and threshold 3D color histogram:
+@code
+    void computeNormalizedColorHist(const Mat& image, Mat& hist, int N, double minProb)
+    {
+        const int histSize[] = {N, N, N};
+
+        // make sure that the histogram has a proper size and type
+        hist.create(3, histSize, CV_32F);
+
+        // and clear it
+        hist = Scalar(0);
+
+        // the loop below assumes that the image
+        // is a 8-bit 3-channel. check it.
+        CV_Assert(image.type() == CV_8UC3);
+        MatConstIterator_<Vec3b> it = image.begin<Vec3b>(),
+                                 it_end = image.end<Vec3b>();
+        for( ; it != it_end; ++it )
+        {
+            const Vec3b& pix = *it;
+            hist.at<float>(pix[0]*N/256, pix[1]*N/256, pix[2]*N/256) += 1.f;
+        }
+
+        minProb *= image.rows*image.cols;
+        Mat plane;
+        NAryMatIterator it(&hist, &plane, 1);
+        double s = 0;
+        // iterate through the matrix. on each iteration
+        // it.planes[*] (of type Mat) will be set to the current plane.
+        for(int p = 0; p < it.nplanes; p++, ++it)
+        {
+            threshold(it.planes[0], it.planes[0], minProb, 0, THRESH_TOZERO);
+            s += sum(it.planes[0])[0];
+        }
+
+        s = 1./s;
+        it = NAryMatIterator(&hist, &plane, 1);
+        for(int p = 0; p < it.nplanes; p++, ++it)
+            it.planes[0] *= s;
+    }
+@endcode
+ */
+class CV_EXPORTS NAryMatIterator
+{
+public:
+    //! the default constructor
+    NAryMatIterator();
+    //! the full constructor taking arbitrary number of n-dim matrices
+    NAryMatIterator(const Mat** arrays, uchar** ptrs, int narrays=-1);
+    //! the full constructor taking arbitrary number of n-dim matrices
+    NAryMatIterator(const Mat** arrays, Mat* planes, int narrays=-1);
+    //! the separate iterator initialization method
+    void init(const Mat** arrays, Mat* planes, uchar** ptrs, int narrays=-1);
+
+    //! proceeds to the next plane of every iterated matrix
+    NAryMatIterator& operator ++();
+    //! proceeds to the next plane of every iterated matrix (postfix increment operator)
+    NAryMatIterator operator ++(int);
+
+    //! the iterated arrays
+    const Mat** arrays;
+    //! the current planes
+    Mat* planes;
+    //! data pointers
+    uchar** ptrs;
+    //! the number of arrays
+    int narrays;
+    //! the number of hyper-planes that the iterator steps through
+    size_t nplanes;
+    //! the size of each segment (in elements)
+    size_t size;
+protected:
+    int iterdepth;
+    size_t idx;
+};
+
+
+
+///////////////////////////////// Matrix Expressions /////////////////////////////////
+
+class CV_EXPORTS MatOp
+{
+public:
+    MatOp();
+    virtual ~MatOp();
+
+    virtual bool elementWise(const MatExpr& expr) const;
+    virtual void assign(const MatExpr& expr, Mat& m, int type=-1) const = 0;
+    virtual void roi(const MatExpr& expr, const Range& rowRange,
+                     const Range& colRange, MatExpr& res) const;
+    virtual void diag(const MatExpr& expr, int d, MatExpr& res) const;
+    virtual void augAssignAdd(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignSubtract(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignMultiply(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignDivide(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignAnd(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignOr(const MatExpr& expr, Mat& m) const;
+    virtual void augAssignXor(const MatExpr& expr, Mat& m) const;
+
+    virtual void add(const MatExpr& expr1, const MatExpr& expr2, MatExpr& res) const;
+    virtual void add(const MatExpr& expr1, const Scalar& s, MatExpr& res) const;
+
+    virtual void subtract(const MatExpr& expr1, const MatExpr& expr2, MatExpr& res) const;
+    virtual void subtract(const Scalar& s, const MatExpr& expr, MatExpr& res) const;
+
+    virtual void multiply(const MatExpr& expr1, const MatExpr& expr2, MatExpr& res, double scale=1) const;
+    virtual void multiply(const MatExpr& expr1, double s, MatExpr& res) const;
+
+    virtual void divide(const MatExpr& expr1, const MatExpr& expr2, MatExpr& res, double scale=1) const;
+    virtual void divide(double s, const MatExpr& expr, MatExpr& res) const;
+
+    virtual void abs(const MatExpr& expr, MatExpr& res) const;
+
+    virtual void transpose(const MatExpr& expr, MatExpr& res) const;
+    virtual void matmul(const MatExpr& expr1, const MatExpr& expr2, MatExpr& res) const;
+    virtual void invert(const MatExpr& expr, int method, MatExpr& res) const;
+
+    virtual Size size(const MatExpr& expr) const;
+    virtual int type(const MatExpr& expr) const;
+};
+
+/** @brief Matrix expression representation
+@anchor MatrixExpressions
+This is a list of implemented matrix operations that can be combined in arbitrary complex
+expressions (here A, B stand for matrices ( Mat ), s for a scalar ( Scalar ), alpha for a
+real-valued scalar ( double )):
+-   Addition, subtraction, negation: `A+B`, `A-B`, `A+s`, `A-s`, `s+A`, `s-A`, `-A`
+-   Scaling: `A*alpha`
+-   Per-element multiplication and division: `A.mul(B)`, `A/B`, `alpha/A`
+-   Matrix multiplication: `A*B`
+-   Transposition: `A.t()` (means A<sup>T</sup>)
+-   Matrix inversion and pseudo-inversion, solving linear systems and least-squares problems:
+    `A.inv([method]) (~ A<sup>-1</sup>)`,   `A.inv([method])*B (~ X: AX=B)`
+-   Comparison: `A cmpop B`, `A cmpop alpha`, `alpha cmpop A`, where *cmpop* is one of
+  `>`, `>=`, `==`, `!=`, `<=`, `<`. The result of comparison is an 8-bit single channel mask whose
+    elements are set to 255 (if the particular element or pair of elements satisfy the condition) or
+    0.
+-   Bitwise logical operations: `A logicop B`, `A logicop s`, `s logicop A`, `~A`, where *logicop* is one of
+  `&`, `|`, `^`.
+-   Element-wise minimum and maximum: `min(A, B)`, `min(A, alpha)`, `max(A, B)`, `max(A, alpha)`
+-   Element-wise absolute value: `abs(A)`
+-   Cross-product, dot-product: `A.cross(B)`, `A.dot(B)`
+-   Any function of matrix or matrices and scalars that returns a matrix or a scalar, such as norm,
+    mean, sum, countNonZero, trace, determinant, repeat, and others.
+-   Matrix initializers ( Mat::eye(), Mat::zeros(), Mat::ones() ), matrix comma-separated
+    initializers, matrix constructors and operators that extract sub-matrices (see Mat description).
+-   Mat_<destination_type>() constructors to cast the result to the proper type.
+@note Comma-separated initializers and probably some other operations may require additional
+explicit Mat() or Mat_<T>() constructor calls to resolve a possible ambiguity.
+
+Here are examples of matrix expressions:
+@code
+    // compute pseudo-inverse of A, equivalent to A.inv(DECOMP_SVD)
+    SVD svd(A);
+    Mat pinvA = svd.vt.t()*Mat::diag(1./svd.w)*svd.u.t();
+
+    // compute the new vector of parameters in the Levenberg-Marquardt algorithm
+    x -= (A.t()*A + lambda*Mat::eye(A.cols,A.cols,A.type())).inv(DECOMP_CHOLESKY)*(A.t()*err);
+
+    // sharpen image using "unsharp mask" algorithm
+    Mat blurred; double sigma = 1, threshold = 5, amount = 1;
+    GaussianBlur(img, blurred, Size(), sigma, sigma);
+    Mat lowConstrastMask = abs(img - blurred) < threshold;
+    Mat sharpened = img*(1+amount) + blurred*(-amount);
+    img.copyTo(sharpened, lowContrastMask);
+@endcode
+*/
+class CV_EXPORTS MatExpr
+{
+public:
+    MatExpr();
+    explicit MatExpr(const Mat& m);
+
+    MatExpr(const MatOp* _op, int _flags, const Mat& _a = Mat(), const Mat& _b = Mat(),
+            const Mat& _c = Mat(), double _alpha = 1, double _beta = 1, const Scalar& _s = Scalar());
+
+    operator Mat() const;
+    template<typename _Tp> operator Mat_<_Tp>() const;
+
+    Size size() const;
+    int type() const;
+
+    MatExpr row(int y) const;
+    MatExpr col(int x) const;
+    MatExpr diag(int d = 0) const;
+    MatExpr operator()( const Range& rowRange, const Range& colRange ) const;
+    MatExpr operator()( const Rect& roi ) const;
+
+    MatExpr t() const;
+    MatExpr inv(int method = DECOMP_LU) const;
+    MatExpr mul(const MatExpr& e, double scale=1) const;
+    MatExpr mul(const Mat& m, double scale=1) const;
+
+    Mat cross(const Mat& m) const;
+    double dot(const Mat& m) const;
+
+    const MatOp* op;
+    int flags;
+
+    Mat a, b, c;
+    double alpha, beta;
+    Scalar s;
+};
+
+//! @} core_basic
+
+//! @relates cv::MatExpr
+//! @{
+CV_EXPORTS MatExpr operator + (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator + (const Mat& a, const Scalar& s);
+CV_EXPORTS MatExpr operator + (const Scalar& s, const Mat& a);
+CV_EXPORTS MatExpr operator + (const MatExpr& e, const Mat& m);
+CV_EXPORTS MatExpr operator + (const Mat& m, const MatExpr& e);
+CV_EXPORTS MatExpr operator + (const MatExpr& e, const Scalar& s);
+CV_EXPORTS MatExpr operator + (const Scalar& s, const MatExpr& e);
+CV_EXPORTS MatExpr operator + (const MatExpr& e1, const MatExpr& e2);
+
+CV_EXPORTS MatExpr operator - (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator - (const Mat& a, const Scalar& s);
+CV_EXPORTS MatExpr operator - (const Scalar& s, const Mat& a);
+CV_EXPORTS MatExpr operator - (const MatExpr& e, const Mat& m);
+CV_EXPORTS MatExpr operator - (const Mat& m, const MatExpr& e);
+CV_EXPORTS MatExpr operator - (const MatExpr& e, const Scalar& s);
+CV_EXPORTS MatExpr operator - (const Scalar& s, const MatExpr& e);
+CV_EXPORTS MatExpr operator - (const MatExpr& e1, const MatExpr& e2);
+
+CV_EXPORTS MatExpr operator - (const Mat& m);
+CV_EXPORTS MatExpr operator - (const MatExpr& e);
+
+CV_EXPORTS MatExpr operator * (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator * (const Mat& a, double s);
+CV_EXPORTS MatExpr operator * (double s, const Mat& a);
+CV_EXPORTS MatExpr operator * (const MatExpr& e, const Mat& m);
+CV_EXPORTS MatExpr operator * (const Mat& m, const MatExpr& e);
+CV_EXPORTS MatExpr operator * (const MatExpr& e, double s);
+CV_EXPORTS MatExpr operator * (double s, const MatExpr& e);
+CV_EXPORTS MatExpr operator * (const MatExpr& e1, const MatExpr& e2);
+
+CV_EXPORTS MatExpr operator / (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator / (const Mat& a, double s);
+CV_EXPORTS MatExpr operator / (double s, const Mat& a);
+CV_EXPORTS MatExpr operator / (const MatExpr& e, const Mat& m);
+CV_EXPORTS MatExpr operator / (const Mat& m, const MatExpr& e);
+CV_EXPORTS MatExpr operator / (const MatExpr& e, double s);
+CV_EXPORTS MatExpr operator / (double s, const MatExpr& e);
+CV_EXPORTS MatExpr operator / (const MatExpr& e1, const MatExpr& e2);
+
+CV_EXPORTS MatExpr operator < (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator < (const Mat& a, double s);
+CV_EXPORTS MatExpr operator < (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator <= (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator <= (const Mat& a, double s);
+CV_EXPORTS MatExpr operator <= (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator == (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator == (const Mat& a, double s);
+CV_EXPORTS MatExpr operator == (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator != (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator != (const Mat& a, double s);
+CV_EXPORTS MatExpr operator != (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator >= (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator >= (const Mat& a, double s);
+CV_EXPORTS MatExpr operator >= (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator > (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator > (const Mat& a, double s);
+CV_EXPORTS MatExpr operator > (double s, const Mat& a);
+
+CV_EXPORTS MatExpr operator & (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator & (const Mat& a, const Scalar& s);
+CV_EXPORTS MatExpr operator & (const Scalar& s, const Mat& a);
+
+CV_EXPORTS MatExpr operator | (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator | (const Mat& a, const Scalar& s);
+CV_EXPORTS MatExpr operator | (const Scalar& s, const Mat& a);
+
+CV_EXPORTS MatExpr operator ^ (const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr operator ^ (const Mat& a, const Scalar& s);
+CV_EXPORTS MatExpr operator ^ (const Scalar& s, const Mat& a);
+
+CV_EXPORTS MatExpr operator ~(const Mat& m);
+
+CV_EXPORTS MatExpr min(const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr min(const Mat& a, double s);
+CV_EXPORTS MatExpr min(double s, const Mat& a);
+
+CV_EXPORTS MatExpr max(const Mat& a, const Mat& b);
+CV_EXPORTS MatExpr max(const Mat& a, double s);
+CV_EXPORTS MatExpr max(double s, const Mat& a);
+
+/** @brief Calculates an absolute value of each matrix element.
+
+abs is a meta-function that is expanded to one of absdiff or convertScaleAbs forms:
+- C = abs(A-B) is equivalent to `absdiff(A, B, C)`
+- C = abs(A) is equivalent to `absdiff(A, Scalar::all(0), C)`
+- C = `Mat_<Vec<uchar,n> >(abs(A*alpha + beta))` is equivalent to `convertScaleAbs(A, C, alpha,
+beta)`
+
+The output matrix has the same size and the same type as the input one except for the last case,
+where C is depth=CV_8U .
+@param m matrix.
+@sa @ref MatrixExpressions, absdiff, convertScaleAbs
+ */
+CV_EXPORTS MatExpr abs(const Mat& m);
+/** @overload
+@param e matrix expression.
+*/
+CV_EXPORTS MatExpr abs(const MatExpr& e);
+//! @} relates cv::MatExpr
+
+} // cv
+
+#include "opencv2/core/mat.inl.hpp"
+
+#endif // __OPENCV_CORE_MAT_HPP__
diff --git a/3rdparty/include/opencv2/core/mat.inl.hpp b/3rdparty/include/opencv2/core/mat.inl.hpp
new file mode 100644
index 0000000..3779b83
--- /dev/null
+++ b/3rdparty/include/opencv2/core/mat.inl.hpp
@@ -0,0 +1,3436 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_MATRIX_OPERATIONS_HPP__
+#define __OPENCV_CORE_MATRIX_OPERATIONS_HPP__
+
+#ifndef __cplusplus
+#  error mat.inl.hpp header must be compiled as C++
+#endif
+
+namespace cv
+{
+
+//! @cond IGNORED
+
+//////////////////////// Input/Output Arrays ////////////////////////
+
+inline void _InputArray::init(int _flags, const void* _obj)
+{ flags = _flags; obj = (void*)_obj; }
+
+inline void _InputArray::init(int _flags, const void* _obj, Size _sz)
+{ flags = _flags; obj = (void*)_obj; sz = _sz; }
+
+inline void* _InputArray::getObj() const { return obj; }
+inline int _InputArray::getFlags() const { return flags; }
+inline Size _InputArray::getSz() const { return sz; }
+
+inline _InputArray::_InputArray() { init(NONE, 0); }
+inline _InputArray::_InputArray(int _flags, void* _obj) { init(_flags, _obj); }
+inline _InputArray::_InputArray(const Mat& m) { init(MAT+ACCESS_READ, &m); }
+inline _InputArray::_InputArray(const std::vector<Mat>& vec) { init(STD_VECTOR_MAT+ACCESS_READ, &vec); }
+inline _InputArray::_InputArray(const UMat& m) { init(UMAT+ACCESS_READ, &m); }
+inline _InputArray::_InputArray(const std::vector<UMat>& vec) { init(STD_VECTOR_UMAT+ACCESS_READ, &vec); }
+
+template<typename _Tp> inline
+_InputArray::_InputArray(const std::vector<_Tp>& vec)
+{ init(FIXED_TYPE + STD_VECTOR + DataType<_Tp>::type + ACCESS_READ, &vec); }
+
+inline
+_InputArray::_InputArray(const std::vector<bool>& vec)
+{ init(FIXED_TYPE + STD_BOOL_VECTOR + DataType<bool>::type + ACCESS_READ, &vec); }
+
+template<typename _Tp> inline
+_InputArray::_InputArray(const std::vector<std::vector<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_VECTOR + DataType<_Tp>::type + ACCESS_READ, &vec); }
+
+template<typename _Tp> inline
+_InputArray::_InputArray(const std::vector<Mat_<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_MAT + DataType<_Tp>::type + ACCESS_READ, &vec); }
+
+template<typename _Tp, int m, int n> inline
+_InputArray::_InputArray(const Matx<_Tp, m, n>& mtx)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_READ, &mtx, Size(n, m)); }
+
+template<typename _Tp> inline
+_InputArray::_InputArray(const _Tp* vec, int n)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_READ, vec, Size(n, 1)); }
+
+template<typename _Tp> inline
+_InputArray::_InputArray(const Mat_<_Tp>& m)
+{ init(FIXED_TYPE + MAT + DataType<_Tp>::type + ACCESS_READ, &m); }
+
+inline _InputArray::_InputArray(const double& val)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + CV_64F + ACCESS_READ, &val, Size(1,1)); }
+
+inline _InputArray::_InputArray(const MatExpr& expr)
+{ init(FIXED_TYPE + FIXED_SIZE + EXPR + ACCESS_READ, &expr); }
+
+inline _InputArray::_InputArray(const cuda::GpuMat& d_mat)
+{ init(CUDA_GPU_MAT + ACCESS_READ, &d_mat); }
+
+inline _InputArray::_InputArray(const ogl::Buffer& buf)
+{ init(OPENGL_BUFFER + ACCESS_READ, &buf); }
+
+inline _InputArray::_InputArray(const cuda::HostMem& cuda_mem)
+{ init(CUDA_HOST_MEM + ACCESS_READ, &cuda_mem); }
+
+inline _InputArray::~_InputArray() {}
+
+inline Mat _InputArray::getMat(int i) const
+{
+    if( kind() == MAT && i < 0 )
+        return *(const Mat*)obj;
+    return getMat_(i);
+}
+
+inline bool _InputArray::isMat() const { return kind() == _InputArray::MAT; }
+inline bool _InputArray::isUMat() const  { return kind() == _InputArray::UMAT; }
+inline bool _InputArray::isMatVector() const { return kind() == _InputArray::STD_VECTOR_MAT; }
+inline bool _InputArray::isUMatVector() const  { return kind() == _InputArray::STD_VECTOR_UMAT; }
+inline bool _InputArray::isMatx() const { return kind() == _InputArray::MATX; }
+
+////////////////////////////////////////////////////////////////////////////////////////
+
+inline _OutputArray::_OutputArray() { init(ACCESS_WRITE, 0); }
+inline _OutputArray::_OutputArray(int _flags, void* _obj) { init(_flags|ACCESS_WRITE, _obj); }
+inline _OutputArray::_OutputArray(Mat& m) { init(MAT+ACCESS_WRITE, &m); }
+inline _OutputArray::_OutputArray(std::vector<Mat>& vec) { init(STD_VECTOR_MAT+ACCESS_WRITE, &vec); }
+inline _OutputArray::_OutputArray(UMat& m) { init(UMAT+ACCESS_WRITE, &m); }
+inline _OutputArray::_OutputArray(std::vector<UMat>& vec) { init(STD_VECTOR_UMAT+ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(std::vector<_Tp>& vec)
+{ init(FIXED_TYPE + STD_VECTOR + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+inline
+_OutputArray::_OutputArray(std::vector<bool>&)
+{ CV_Error(Error::StsUnsupportedFormat, "std::vector<bool> cannot be an output array\n"); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(std::vector<std::vector<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_VECTOR + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(std::vector<Mat_<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_MAT + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(Mat_<_Tp>& m)
+{ init(FIXED_TYPE + MAT + DataType<_Tp>::type + ACCESS_WRITE, &m); }
+
+template<typename _Tp, int m, int n> inline
+_OutputArray::_OutputArray(Matx<_Tp, m, n>& mtx)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_WRITE, &mtx, Size(n, m)); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(_Tp* vec, int n)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_WRITE, vec, Size(n, 1)); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(const std::vector<_Tp>& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(const std::vector<std::vector<_Tp> >& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR_VECTOR + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(const std::vector<Mat_<_Tp> >& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR_MAT + DataType<_Tp>::type + ACCESS_WRITE, &vec); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(const Mat_<_Tp>& m)
+{ init(FIXED_TYPE + FIXED_SIZE + MAT + DataType<_Tp>::type + ACCESS_WRITE, &m); }
+
+template<typename _Tp, int m, int n> inline
+_OutputArray::_OutputArray(const Matx<_Tp, m, n>& mtx)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_WRITE, &mtx, Size(n, m)); }
+
+template<typename _Tp> inline
+_OutputArray::_OutputArray(const _Tp* vec, int n)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_WRITE, vec, Size(n, 1)); }
+
+inline _OutputArray::_OutputArray(cuda::GpuMat& d_mat)
+{ init(CUDA_GPU_MAT + ACCESS_WRITE, &d_mat); }
+
+inline _OutputArray::_OutputArray(ogl::Buffer& buf)
+{ init(OPENGL_BUFFER + ACCESS_WRITE, &buf); }
+
+inline _OutputArray::_OutputArray(cuda::HostMem& cuda_mem)
+{ init(CUDA_HOST_MEM + ACCESS_WRITE, &cuda_mem); }
+
+inline _OutputArray::_OutputArray(const Mat& m)
+{ init(FIXED_TYPE + FIXED_SIZE + MAT + ACCESS_WRITE, &m); }
+
+inline _OutputArray::_OutputArray(const std::vector<Mat>& vec)
+{ init(FIXED_SIZE + STD_VECTOR_MAT + ACCESS_WRITE, &vec); }
+
+inline _OutputArray::_OutputArray(const UMat& m)
+{ init(FIXED_TYPE + FIXED_SIZE + UMAT + ACCESS_WRITE, &m); }
+
+inline _OutputArray::_OutputArray(const std::vector<UMat>& vec)
+{ init(FIXED_SIZE + STD_VECTOR_UMAT + ACCESS_WRITE, &vec); }
+
+inline _OutputArray::_OutputArray(const cuda::GpuMat& d_mat)
+{ init(FIXED_TYPE + FIXED_SIZE + CUDA_GPU_MAT + ACCESS_WRITE, &d_mat); }
+
+inline _OutputArray::_OutputArray(const ogl::Buffer& buf)
+{ init(FIXED_TYPE + FIXED_SIZE + OPENGL_BUFFER + ACCESS_WRITE, &buf); }
+
+inline _OutputArray::_OutputArray(const cuda::HostMem& cuda_mem)
+{ init(FIXED_TYPE + FIXED_SIZE + CUDA_HOST_MEM + ACCESS_WRITE, &cuda_mem); }
+
+///////////////////////////////////////////////////////////////////////////////////////////
+
+inline _InputOutputArray::_InputOutputArray() { init(ACCESS_RW, 0); }
+inline _InputOutputArray::_InputOutputArray(int _flags, void* _obj) { init(_flags|ACCESS_RW, _obj); }
+inline _InputOutputArray::_InputOutputArray(Mat& m) { init(MAT+ACCESS_RW, &m); }
+inline _InputOutputArray::_InputOutputArray(std::vector<Mat>& vec) { init(STD_VECTOR_MAT+ACCESS_RW, &vec); }
+inline _InputOutputArray::_InputOutputArray(UMat& m) { init(UMAT+ACCESS_RW, &m); }
+inline _InputOutputArray::_InputOutputArray(std::vector<UMat>& vec) { init(STD_VECTOR_UMAT+ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(std::vector<_Tp>& vec)
+{ init(FIXED_TYPE + STD_VECTOR + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+inline _InputOutputArray::_InputOutputArray(std::vector<bool>&)
+{ CV_Error(Error::StsUnsupportedFormat, "std::vector<bool> cannot be an input/output array\n"); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(std::vector<std::vector<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_VECTOR + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(std::vector<Mat_<_Tp> >& vec)
+{ init(FIXED_TYPE + STD_VECTOR_MAT + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(Mat_<_Tp>& m)
+{ init(FIXED_TYPE + MAT + DataType<_Tp>::type + ACCESS_RW, &m); }
+
+template<typename _Tp, int m, int n> inline
+_InputOutputArray::_InputOutputArray(Matx<_Tp, m, n>& mtx)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_RW, &mtx, Size(n, m)); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(_Tp* vec, int n)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_RW, vec, Size(n, 1)); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(const std::vector<_Tp>& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(const std::vector<std::vector<_Tp> >& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR_VECTOR + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(const std::vector<Mat_<_Tp> >& vec)
+{ init(FIXED_TYPE + FIXED_SIZE + STD_VECTOR_MAT + DataType<_Tp>::type + ACCESS_RW, &vec); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(const Mat_<_Tp>& m)
+{ init(FIXED_TYPE + FIXED_SIZE + MAT + DataType<_Tp>::type + ACCESS_RW, &m); }
+
+template<typename _Tp, int m, int n> inline
+_InputOutputArray::_InputOutputArray(const Matx<_Tp, m, n>& mtx)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_RW, &mtx, Size(n, m)); }
+
+template<typename _Tp> inline
+_InputOutputArray::_InputOutputArray(const _Tp* vec, int n)
+{ init(FIXED_TYPE + FIXED_SIZE + MATX + DataType<_Tp>::type + ACCESS_RW, vec, Size(n, 1)); }
+
+inline _InputOutputArray::_InputOutputArray(cuda::GpuMat& d_mat)
+{ init(CUDA_GPU_MAT + ACCESS_RW, &d_mat); }
+
+inline _InputOutputArray::_InputOutputArray(ogl::Buffer& buf)
+{ init(OPENGL_BUFFER + ACCESS_RW, &buf); }
+
+inline _InputOutputArray::_InputOutputArray(cuda::HostMem& cuda_mem)
+{ init(CUDA_HOST_MEM + ACCESS_RW, &cuda_mem); }
+
+inline _InputOutputArray::_InputOutputArray(const Mat& m)
+{ init(FIXED_TYPE + FIXED_SIZE + MAT + ACCESS_RW, &m); }
+
+inline _InputOutputArray::_InputOutputArray(const std::vector<Mat>& vec)
+{ init(FIXED_SIZE + STD_VECTOR_MAT + ACCESS_RW, &vec); }
+
+inline _InputOutputArray::_InputOutputArray(const UMat& m)
+{ init(FIXED_TYPE + FIXED_SIZE + UMAT + ACCESS_RW, &m); }
+
+inline _InputOutputArray::_InputOutputArray(const std::vector<UMat>& vec)
+{ init(FIXED_SIZE + STD_VECTOR_UMAT + ACCESS_RW, &vec); }
+
+inline _InputOutputArray::_InputOutputArray(const cuda::GpuMat& d_mat)
+{ init(FIXED_TYPE + FIXED_SIZE + CUDA_GPU_MAT + ACCESS_RW, &d_mat); }
+
+inline _InputOutputArray::_InputOutputArray(const ogl::Buffer& buf)
+{ init(FIXED_TYPE + FIXED_SIZE + OPENGL_BUFFER + ACCESS_RW, &buf); }
+
+inline _InputOutputArray::_InputOutputArray(const cuda::HostMem& cuda_mem)
+{ init(FIXED_TYPE + FIXED_SIZE + CUDA_HOST_MEM + ACCESS_RW, &cuda_mem); }
+
+//////////////////////////////////////////// Mat //////////////////////////////////////////
+
+inline
+Mat::Mat()
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{}
+
+inline
+Mat::Mat(int _rows, int _cols, int _type)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create(_rows, _cols, _type);
+}
+
+inline
+Mat::Mat(int _rows, int _cols, int _type, const Scalar& _s)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create(_rows, _cols, _type);
+    *this = _s;
+}
+
+inline
+Mat::Mat(Size _sz, int _type)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create( _sz.height, _sz.width, _type );
+}
+
+inline
+Mat::Mat(Size _sz, int _type, const Scalar& _s)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create(_sz.height, _sz.width, _type);
+    *this = _s;
+}
+
+inline
+Mat::Mat(int _dims, const int* _sz, int _type)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create(_dims, _sz, _type);
+}
+
+inline
+Mat::Mat(int _dims, const int* _sz, int _type, const Scalar& _s)
+    : flags(MAGIC_VAL), dims(0), rows(0), cols(0), data(0), datastart(0), dataend(0),
+      datalimit(0), allocator(0), u(0), size(&rows)
+{
+    create(_dims, _sz, _type);
+    *this = _s;
+}
+
+inline
+Mat::Mat(const Mat& m)
+    : flags(m.flags), dims(m.dims), rows(m.rows), cols(m.cols), data(m.data),
+      datastart(m.datastart), dataend(m.dataend), datalimit(m.datalimit), allocator(m.allocator),
+      u(m.u), size(&rows)
+{
+    if( u )
+        CV_XADD(&u->refcount, 1);
+    if( m.dims <= 2 )
+    {
+        step[0] = m.step[0]; step[1] = m.step[1];
+    }
+    else
+    {
+        dims = 0;
+        copySize(m);
+    }
+}
+
+inline
+Mat::Mat(int _rows, int _cols, int _type, void* _data, size_t _step)
+    : flags(MAGIC_VAL + (_type & TYPE_MASK)), dims(2), rows(_rows), cols(_cols),
+      data((uchar*)_data), datastart((uchar*)_data), dataend(0), datalimit(0),
+      allocator(0), u(0), size(&rows)
+{
+    size_t esz = CV_ELEM_SIZE(_type), esz1 = CV_ELEM_SIZE1(_type);
+    size_t minstep = cols * esz;
+    if( _step == AUTO_STEP )
+    {
+        _step = minstep;
+        flags |= CONTINUOUS_FLAG;
+    }
+    else
+    {
+        if( rows == 1 ) _step = minstep;
+        CV_DbgAssert( _step >= minstep );
+
+        if (_step % esz1 != 0)
+        {
+            CV_Error(Error::BadStep, "Step must be a multiple of esz1");
+        }
+
+        flags |= _step == minstep ? CONTINUOUS_FLAG : 0;
+    }
+    step[0] = _step;
+    step[1] = esz;
+    datalimit = datastart + _step * rows;
+    dataend = datalimit - _step + minstep;
+}
+
+inline
+Mat::Mat(Size _sz, int _type, void* _data, size_t _step)
+    : flags(MAGIC_VAL + (_type & TYPE_MASK)), dims(2), rows(_sz.height), cols(_sz.width),
+      data((uchar*)_data), datastart((uchar*)_data), dataend(0), datalimit(0),
+      allocator(0), u(0), size(&rows)
+{
+    size_t esz = CV_ELEM_SIZE(_type), esz1 = CV_ELEM_SIZE1(_type);
+    size_t minstep = cols*esz;
+    if( _step == AUTO_STEP )
+    {
+        _step = minstep;
+        flags |= CONTINUOUS_FLAG;
+    }
+    else
+    {
+        if( rows == 1 ) _step = minstep;
+        CV_DbgAssert( _step >= minstep );
+
+        if (_step % esz1 != 0)
+        {
+            CV_Error(Error::BadStep, "Step must be a multiple of esz1");
+        }
+
+        flags |= _step == minstep ? CONTINUOUS_FLAG : 0;
+    }
+    step[0] = _step;
+    step[1] = esz;
+    datalimit = datastart + _step*rows;
+    dataend = datalimit - _step + minstep;
+}
+
+template<typename _Tp> inline
+Mat::Mat(const std::vector<_Tp>& vec, bool copyData)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows((int)vec.size()),
+      cols(1), data(0), datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    if(vec.empty())
+        return;
+    if( !copyData )
+    {
+        step[0] = step[1] = sizeof(_Tp);
+        datastart = data = (uchar*)&vec[0];
+        datalimit = dataend = datastart + rows * step[0];
+    }
+    else
+        Mat((int)vec.size(), 1, DataType<_Tp>::type, (uchar*)&vec[0]).copyTo(*this);
+}
+
+template<typename _Tp, int n> inline
+Mat::Mat(const Vec<_Tp, n>& vec, bool copyData)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows(n), cols(1), data(0),
+      datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    if( !copyData )
+    {
+        step[0] = step[1] = sizeof(_Tp);
+        datastart = data = (uchar*)vec.val;
+        datalimit = dataend = datastart + rows * step[0];
+    }
+    else
+        Mat(n, 1, DataType<_Tp>::type, (void*)vec.val).copyTo(*this);
+}
+
+
+template<typename _Tp, int m, int n> inline
+Mat::Mat(const Matx<_Tp,m,n>& M, bool copyData)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows(m), cols(n), data(0),
+      datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    if( !copyData )
+    {
+        step[0] = cols * sizeof(_Tp);
+        step[1] = sizeof(_Tp);
+        datastart = data = (uchar*)M.val;
+        datalimit = dataend = datastart + rows * step[0];
+    }
+    else
+        Mat(m, n, DataType<_Tp>::type, (uchar*)M.val).copyTo(*this);
+}
+
+template<typename _Tp> inline
+Mat::Mat(const Point_<_Tp>& pt, bool copyData)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows(2), cols(1), data(0),
+      datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    if( !copyData )
+    {
+        step[0] = step[1] = sizeof(_Tp);
+        datastart = data = (uchar*)&pt.x;
+        datalimit = dataend = datastart + rows * step[0];
+    }
+    else
+    {
+        create(2, 1, DataType<_Tp>::type);
+        ((_Tp*)data)[0] = pt.x;
+        ((_Tp*)data)[1] = pt.y;
+    }
+}
+
+template<typename _Tp> inline
+Mat::Mat(const Point3_<_Tp>& pt, bool copyData)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows(3), cols(1), data(0),
+      datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    if( !copyData )
+    {
+        step[0] = step[1] = sizeof(_Tp);
+        datastart = data = (uchar*)&pt.x;
+        datalimit = dataend = datastart + rows * step[0];
+    }
+    else
+    {
+        create(3, 1, DataType<_Tp>::type);
+        ((_Tp*)data)[0] = pt.x;
+        ((_Tp*)data)[1] = pt.y;
+        ((_Tp*)data)[2] = pt.z;
+    }
+}
+
+template<typename _Tp> inline
+Mat::Mat(const MatCommaInitializer_<_Tp>& commaInitializer)
+    : flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(0), rows(0), cols(0), data(0),
+      datastart(0), dataend(0), allocator(0), u(0), size(&rows)
+{
+    *this = commaInitializer.operator Mat_<_Tp>();
+}
+
+inline
+Mat::~Mat()
+{
+    release();
+    if( step.p != step.buf )
+        fastFree(step.p);
+}
+
+inline
+Mat& Mat::operator = (const Mat& m)
+{
+    if( this != &m )
+    {
+        if( m.u )
+            CV_XADD(&m.u->refcount, 1);
+        release();
+        flags = m.flags;
+        if( dims <= 2 && m.dims <= 2 )
+        {
+            dims = m.dims;
+            rows = m.rows;
+            cols = m.cols;
+            step[0] = m.step[0];
+            step[1] = m.step[1];
+        }
+        else
+            copySize(m);
+        data = m.data;
+        datastart = m.datastart;
+        dataend = m.dataend;
+        datalimit = m.datalimit;
+        allocator = m.allocator;
+        u = m.u;
+    }
+    return *this;
+}
+
+inline
+Mat Mat::row(int y) const
+{
+    return Mat(*this, Range(y, y + 1), Range::all());
+}
+
+inline
+Mat Mat::col(int x) const
+{
+    return Mat(*this, Range::all(), Range(x, x + 1));
+}
+
+inline
+Mat Mat::rowRange(int startrow, int endrow) const
+{
+    return Mat(*this, Range(startrow, endrow), Range::all());
+}
+
+inline
+Mat Mat::rowRange(const Range& r) const
+{
+    return Mat(*this, r, Range::all());
+}
+
+inline
+Mat Mat::colRange(int startcol, int endcol) const
+{
+    return Mat(*this, Range::all(), Range(startcol, endcol));
+}
+
+inline
+Mat Mat::colRange(const Range& r) const
+{
+    return Mat(*this, Range::all(), r);
+}
+
+inline
+Mat Mat::clone() const
+{
+    Mat m;
+    copyTo(m);
+    return m;
+}
+
+inline
+void Mat::assignTo( Mat& m, int _type ) const
+{
+    if( _type < 0 )
+        m = *this;
+    else
+        convertTo(m, _type);
+}
+
+inline
+void Mat::create(int _rows, int _cols, int _type)
+{
+    _type &= TYPE_MASK;
+    if( dims <= 2 && rows == _rows && cols == _cols && type() == _type && data )
+        return;
+    int sz[] = {_rows, _cols};
+    create(2, sz, _type);
+}
+
+inline
+void Mat::create(Size _sz, int _type)
+{
+    create(_sz.height, _sz.width, _type);
+}
+
+inline
+void Mat::addref()
+{
+    if( u )
+        CV_XADD(&u->refcount, 1);
+}
+
+inline void Mat::release()
+{
+    if( u && CV_XADD(&u->refcount, -1) == 1 )
+        deallocate();
+    u = NULL;
+    datastart = dataend = datalimit = data = 0;
+    for(int i = 0; i < dims; i++)
+        size.p[i] = 0;
+}
+
+inline
+Mat Mat::operator()( Range _rowRange, Range _colRange ) const
+{
+    return Mat(*this, _rowRange, _colRange);
+}
+
+inline
+Mat Mat::operator()( const Rect& roi ) const
+{
+    return Mat(*this, roi);
+}
+
+inline
+Mat Mat::operator()(const Range* ranges) const
+{
+    return Mat(*this, ranges);
+}
+
+inline
+bool Mat::isContinuous() const
+{
+    return (flags & CONTINUOUS_FLAG) != 0;
+}
+
+inline
+bool Mat::isSubmatrix() const
+{
+    return (flags & SUBMATRIX_FLAG) != 0;
+}
+
+inline
+size_t Mat::elemSize() const
+{
+    return dims > 0 ? step.p[dims - 1] : 0;
+}
+
+inline
+size_t Mat::elemSize1() const
+{
+    return CV_ELEM_SIZE1(flags);
+}
+
+inline
+int Mat::type() const
+{
+    return CV_MAT_TYPE(flags);
+}
+
+inline
+int Mat::depth() const
+{
+    return CV_MAT_DEPTH(flags);
+}
+
+inline
+int Mat::channels() const
+{
+    return CV_MAT_CN(flags);
+}
+
+inline
+size_t Mat::step1(int i) const
+{
+    return step.p[i] / elemSize1();
+}
+
+inline
+bool Mat::empty() const
+{
+    return data == 0 || total() == 0;
+}
+
+inline
+size_t Mat::total() const
+{
+    if( dims <= 2 )
+        return (size_t)rows * cols;
+    size_t p = 1;
+    for( int i = 0; i < dims; i++ )
+        p *= size[i];
+    return p;
+}
+
+inline
+uchar* Mat::ptr(int y)
+{
+    CV_DbgAssert( y == 0 || (data && dims >= 1 && (unsigned)y < (unsigned)size.p[0]) );
+    return data + step.p[0] * y;
+}
+
+inline
+const uchar* Mat::ptr(int y) const
+{
+    CV_DbgAssert( y == 0 || (data && dims >= 1 && (unsigned)y < (unsigned)size.p[0]) );
+    return data + step.p[0] * y;
+}
+
+template<typename _Tp> inline
+_Tp* Mat::ptr(int y)
+{
+    CV_DbgAssert( y == 0 || (data && dims >= 1 && (unsigned)y < (unsigned)size.p[0]) );
+    return (_Tp*)(data + step.p[0] * y);
+}
+
+template<typename _Tp> inline
+const _Tp* Mat::ptr(int y) const
+{
+    CV_DbgAssert( y == 0 || (data && dims >= 1 && data && (unsigned)y < (unsigned)size.p[0]) );
+    return (const _Tp*)(data + step.p[0] * y);
+}
+
+inline
+uchar* Mat::ptr(int i0, int i1)
+{
+    CV_DbgAssert( dims >= 2 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] );
+    return data + i0 * step.p[0] + i1 * step.p[1];
+}
+
+inline
+const uchar* Mat::ptr(int i0, int i1) const
+{
+    CV_DbgAssert( dims >= 2 && data &&
+                 (unsigned)i0 < (unsigned)size.p[0] &&
+                 (unsigned)i1 < (unsigned)size.p[1] );
+    return data + i0 * step.p[0] + i1 * step.p[1];
+}
+
+template<typename _Tp> inline
+_Tp* Mat::ptr(int i0, int i1)
+{
+    CV_DbgAssert( dims >= 2 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] );
+    return (_Tp*)(data + i0 * step.p[0] + i1 * step.p[1]);
+}
+
+template<typename _Tp> inline
+const _Tp* Mat::ptr(int i0, int i1) const
+{
+    CV_DbgAssert( dims >= 2 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] );
+    return (const _Tp*)(data + i0 * step.p[0] + i1 * step.p[1]);
+}
+
+inline
+uchar* Mat::ptr(int i0, int i1, int i2)
+{
+    CV_DbgAssert( dims >= 3 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  (unsigned)i2 < (unsigned)size.p[2] );
+    return data + i0 * step.p[0] + i1 * step.p[1] + i2 * step.p[2];
+}
+
+inline
+const uchar* Mat::ptr(int i0, int i1, int i2) const
+{
+    CV_DbgAssert( dims >= 3 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  (unsigned)i2 < (unsigned)size.p[2] );
+    return data + i0 * step.p[0] + i1 * step.p[1] + i2 * step.p[2];
+}
+
+template<typename _Tp> inline
+_Tp* Mat::ptr(int i0, int i1, int i2)
+{
+    CV_DbgAssert( dims >= 3 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  (unsigned)i2 < (unsigned)size.p[2] );
+    return (_Tp*)(data + i0 * step.p[0] + i1 * step.p[1] + i2 * step.p[2]);
+}
+
+template<typename _Tp> inline
+const _Tp* Mat::ptr(int i0, int i1, int i2) const
+{
+    CV_DbgAssert( dims >= 3 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  (unsigned)i2 < (unsigned)size.p[2] );
+    return (const _Tp*)(data + i0 * step.p[0] + i1 * step.p[1] + i2 * step.p[2]);
+}
+
+inline
+uchar* Mat::ptr(const int* idx)
+{
+    int i, d = dims;
+    uchar* p = data;
+    CV_DbgAssert( d >= 1 && p );
+    for( i = 0; i < d; i++ )
+    {
+        CV_DbgAssert( (unsigned)idx[i] < (unsigned)size.p[i] );
+        p += idx[i] * step.p[i];
+    }
+    return p;
+}
+
+inline
+const uchar* Mat::ptr(const int* idx) const
+{
+    int i, d = dims;
+    uchar* p = data;
+    CV_DbgAssert( d >= 1 && p );
+    for( i = 0; i < d; i++ )
+    {
+        CV_DbgAssert( (unsigned)idx[i] < (unsigned)size.p[i] );
+        p += idx[i] * step.p[i];
+    }
+    return p;
+}
+
+template<typename _Tp> inline
+_Tp& Mat::at(int i0, int i1)
+{
+    CV_DbgAssert( dims <= 2 && data && (unsigned)i0 < (unsigned)size.p[0] &&
+        (unsigned)(i1 * DataType<_Tp>::channels) < (unsigned)(size.p[1] * channels()) &&
+        CV_ELEM_SIZE1(DataType<_Tp>::depth) == elemSize1());
+    return ((_Tp*)(data + step.p[0] * i0))[i1];
+}
+
+template<typename _Tp> inline
+const _Tp& Mat::at(int i0, int i1) const
+{
+    CV_DbgAssert( dims <= 2 && data && (unsigned)i0 < (unsigned)size.p[0] &&
+        (unsigned)(i1 * DataType<_Tp>::channels) < (unsigned)(size.p[1] * channels()) &&
+        CV_ELEM_SIZE1(DataType<_Tp>::depth) == elemSize1());
+    return ((const _Tp*)(data + step.p[0] * i0))[i1];
+}
+
+template<typename _Tp> inline
+_Tp& Mat::at(Point pt)
+{
+    CV_DbgAssert( dims <= 2 && data && (unsigned)pt.y < (unsigned)size.p[0] &&
+        (unsigned)(pt.x * DataType<_Tp>::channels) < (unsigned)(size.p[1] * channels()) &&
+        CV_ELEM_SIZE1(DataType<_Tp>::depth) == elemSize1());
+    return ((_Tp*)(data + step.p[0] * pt.y))[pt.x];
+}
+
+template<typename _Tp> inline
+const _Tp& Mat::at(Point pt) const
+{
+    CV_DbgAssert( dims <= 2 && data && (unsigned)pt.y < (unsigned)size.p[0] &&
+        (unsigned)(pt.x * DataType<_Tp>::channels) < (unsigned)(size.p[1] * channels()) &&
+        CV_ELEM_SIZE1(DataType<_Tp>::depth) == elemSize1());
+    return ((const _Tp*)(data + step.p[0] * pt.y))[pt.x];
+}
+
+template<typename _Tp> inline
+_Tp& Mat::at(int i0)
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                 (unsigned)i0 < (unsigned)(size.p[0] * size.p[1]) &&
+                 elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    if( isContinuous() || size.p[0] == 1 )
+        return ((_Tp*)data)[i0];
+    if( size.p[1] == 1 )
+        return *(_Tp*)(data + step.p[0] * i0);
+    int i = i0 / cols, j = i0 - i * cols;
+    return ((_Tp*)(data + step.p[0] * i))[j];
+}
+
+template<typename _Tp> inline
+const _Tp& Mat::at(int i0) const
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                 (unsigned)i0 < (unsigned)(size.p[0] * size.p[1]) &&
+                 elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    if( isContinuous() || size.p[0] == 1 )
+        return ((const _Tp*)data)[i0];
+    if( size.p[1] == 1 )
+        return *(const _Tp*)(data + step.p[0] * i0);
+    int i = i0 / cols, j = i0 - i * cols;
+    return ((const _Tp*)(data + step.p[0] * i))[j];
+}
+
+template<typename _Tp> inline
+_Tp& Mat::at(int i0, int i1, int i2)
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(_Tp*)ptr(i0, i1, i2);
+}
+
+template<typename _Tp> inline
+const _Tp& Mat::at(int i0, int i1, int i2) const
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(const _Tp*)ptr(i0, i1, i2);
+}
+
+template<typename _Tp> inline
+_Tp& Mat::at(const int* idx)
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(_Tp*)ptr(idx);
+}
+
+template<typename _Tp> inline
+const _Tp& Mat::at(const int* idx) const
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(const _Tp*)ptr(idx);
+}
+
+template<typename _Tp, int n> inline
+_Tp& Mat::at(const Vec<int, n>& idx)
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(_Tp*)ptr(idx.val);
+}
+
+template<typename _Tp, int n> inline
+const _Tp& Mat::at(const Vec<int, n>& idx) const
+{
+    CV_DbgAssert( elemSize() == CV_ELEM_SIZE(DataType<_Tp>::type) );
+    return *(const _Tp*)ptr(idx.val);
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> Mat::begin() const
+{
+    CV_DbgAssert( elemSize() == sizeof(_Tp) );
+    return MatConstIterator_<_Tp>((const Mat_<_Tp>*)this);
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> Mat::end() const
+{
+    CV_DbgAssert( elemSize() == sizeof(_Tp) );
+    MatConstIterator_<_Tp> it((const Mat_<_Tp>*)this);
+    it += total();
+    return it;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> Mat::begin()
+{
+    CV_DbgAssert( elemSize() == sizeof(_Tp) );
+    return MatIterator_<_Tp>((Mat_<_Tp>*)this);
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> Mat::end()
+{
+    CV_DbgAssert( elemSize() == sizeof(_Tp) );
+    MatIterator_<_Tp> it((Mat_<_Tp>*)this);
+    it += total();
+    return it;
+}
+
+template<typename _Tp, typename Functor> inline
+void Mat::forEach(const Functor& operation) {
+    this->forEach_impl<_Tp>(operation);
+}
+
+template<typename _Tp, typename Functor> inline
+void Mat::forEach(const Functor& operation) const {
+    // call as not const
+    (const_cast<Mat*>(this))->forEach<const _Tp>(operation);
+}
+
+template<typename _Tp> inline
+Mat::operator std::vector<_Tp>() const
+{
+    std::vector<_Tp> v;
+    copyTo(v);
+    return v;
+}
+
+template<typename _Tp, int n> inline
+Mat::operator Vec<_Tp, n>() const
+{
+    CV_Assert( data && dims <= 2 && (rows == 1 || cols == 1) &&
+               rows + cols - 1 == n && channels() == 1 );
+
+    if( isContinuous() && type() == DataType<_Tp>::type )
+        return Vec<_Tp, n>((_Tp*)data);
+    Vec<_Tp, n> v;
+    Mat tmp(rows, cols, DataType<_Tp>::type, v.val);
+    convertTo(tmp, tmp.type());
+    return v;
+}
+
+template<typename _Tp, int m, int n> inline
+Mat::operator Matx<_Tp, m, n>() const
+{
+    CV_Assert( data && dims <= 2 && rows == m && cols == n && channels() == 1 );
+
+    if( isContinuous() && type() == DataType<_Tp>::type )
+        return Matx<_Tp, m, n>((_Tp*)data);
+    Matx<_Tp, m, n> mtx;
+    Mat tmp(rows, cols, DataType<_Tp>::type, mtx.val);
+    convertTo(tmp, tmp.type());
+    return mtx;
+}
+
+template<typename _Tp> inline
+void Mat::push_back(const _Tp& elem)
+{
+    if( !data )
+    {
+        *this = Mat(1, 1, DataType<_Tp>::type, (void*)&elem).clone();
+        return;
+    }
+    CV_Assert(DataType<_Tp>::type == type() && cols == 1
+              /* && dims == 2 (cols == 1 implies dims == 2) */);
+    const uchar* tmp = dataend + step[0];
+    if( !isSubmatrix() && isContinuous() && tmp <= datalimit )
+    {
+        *(_Tp*)(data + (size.p[0]++) * step.p[0]) = elem;
+        dataend = tmp;
+    }
+    else
+        push_back_(&elem);
+}
+
+template<typename _Tp> inline
+void Mat::push_back(const Mat_<_Tp>& m)
+{
+    push_back((const Mat&)m);
+}
+
+///////////////////////////// MatSize ////////////////////////////
+
+inline
+MatSize::MatSize(int* _p)
+    : p(_p) {}
+
+inline
+Size MatSize::operator()() const
+{
+    CV_DbgAssert(p[-1] <= 2);
+    return Size(p[1], p[0]);
+}
+
+inline
+const int& MatSize::operator[](int i) const
+{
+    return p[i];
+}
+
+inline
+int& MatSize::operator[](int i)
+{
+    return p[i];
+}
+
+inline
+MatSize::operator const int*() const
+{
+    return p;
+}
+
+inline
+bool MatSize::operator == (const MatSize& sz) const
+{
+    int d = p[-1];
+    int dsz = sz.p[-1];
+    if( d != dsz )
+        return false;
+    if( d == 2 )
+        return p[0] == sz.p[0] && p[1] == sz.p[1];
+
+    for( int i = 0; i < d; i++ )
+        if( p[i] != sz.p[i] )
+            return false;
+    return true;
+}
+
+inline
+bool MatSize::operator != (const MatSize& sz) const
+{
+    return !(*this == sz);
+}
+
+
+
+///////////////////////////// MatStep ////////////////////////////
+
+inline
+MatStep::MatStep()
+{
+    p = buf; p[0] = p[1] = 0;
+}
+
+inline
+MatStep::MatStep(size_t s)
+{
+    p = buf; p[0] = s; p[1] = 0;
+}
+
+inline
+const size_t& MatStep::operator[](int i) const
+{
+    return p[i];
+}
+
+inline
+size_t& MatStep::operator[](int i)
+{
+    return p[i];
+}
+
+inline MatStep::operator size_t() const
+{
+    CV_DbgAssert( p == buf );
+    return buf[0];
+}
+
+inline MatStep& MatStep::operator = (size_t s)
+{
+    CV_DbgAssert( p == buf );
+    buf[0] = s;
+    return *this;
+}
+
+
+
+////////////////////////////// Mat_<_Tp> ////////////////////////////
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_()
+    : Mat()
+{
+    flags = (flags & ~CV_MAT_TYPE_MASK) | DataType<_Tp>::type;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(int _rows, int _cols)
+    : Mat(_rows, _cols, DataType<_Tp>::type)
+{
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(int _rows, int _cols, const _Tp& value)
+    : Mat(_rows, _cols, DataType<_Tp>::type)
+{
+    *this = value;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(Size _sz)
+    : Mat(_sz.height, _sz.width, DataType<_Tp>::type)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(Size _sz, const _Tp& value)
+    : Mat(_sz.height, _sz.width, DataType<_Tp>::type)
+{
+    *this = value;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(int _dims, const int* _sz)
+    : Mat(_dims, _sz, DataType<_Tp>::type)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(int _dims, const int* _sz, const _Tp& _s)
+    : Mat(_dims, _sz, DataType<_Tp>::type, Scalar(_s))
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Mat_<_Tp>& m, const Range* ranges)
+    : Mat(m, ranges)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Mat& m)
+    : Mat()
+{
+    flags = (flags & ~CV_MAT_TYPE_MASK) | DataType<_Tp>::type;
+    *this = m;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Mat_& m)
+    : Mat(m)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(int _rows, int _cols, _Tp* _data, size_t steps)
+    : Mat(_rows, _cols, DataType<_Tp>::type, _data, steps)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Mat_& m, const Range& _rowRange, const Range& _colRange)
+    : Mat(m, _rowRange, _colRange)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Mat_& m, const Rect& roi)
+    : Mat(m, roi)
+{}
+
+template<typename _Tp> template<int n> inline
+Mat_<_Tp>::Mat_(const Vec<typename DataType<_Tp>::channel_type, n>& vec, bool copyData)
+    : Mat(n / DataType<_Tp>::channels, 1, DataType<_Tp>::type, (void*)&vec)
+{
+    CV_Assert(n%DataType<_Tp>::channels == 0);
+    if( copyData )
+        *this = clone();
+}
+
+template<typename _Tp> template<int m, int n> inline
+Mat_<_Tp>::Mat_(const Matx<typename DataType<_Tp>::channel_type, m, n>& M, bool copyData)
+    : Mat(m, n / DataType<_Tp>::channels, DataType<_Tp>::type, (void*)&M)
+{
+    CV_Assert(n % DataType<_Tp>::channels == 0);
+    if( copyData )
+        *this = clone();
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Point_<typename DataType<_Tp>::channel_type>& pt, bool copyData)
+    : Mat(2 / DataType<_Tp>::channels, 1, DataType<_Tp>::type, (void*)&pt)
+{
+    CV_Assert(2 % DataType<_Tp>::channels == 0);
+    if( copyData )
+        *this = clone();
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const Point3_<typename DataType<_Tp>::channel_type>& pt, bool copyData)
+    : Mat(3 / DataType<_Tp>::channels, 1, DataType<_Tp>::type, (void*)&pt)
+{
+    CV_Assert(3 % DataType<_Tp>::channels == 0);
+    if( copyData )
+        *this = clone();
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const MatCommaInitializer_<_Tp>& commaInitializer)
+    : Mat(commaInitializer)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const std::vector<_Tp>& vec, bool copyData)
+    : Mat(vec, copyData)
+{}
+
+template<typename _Tp> inline
+Mat_<_Tp>& Mat_<_Tp>::operator = (const Mat& m)
+{
+    if( DataType<_Tp>::type == m.type() )
+    {
+        Mat::operator = (m);
+        return *this;
+    }
+    if( DataType<_Tp>::depth == m.depth() )
+    {
+        return (*this = m.reshape(DataType<_Tp>::channels, m.dims, 0));
+    }
+    CV_DbgAssert(DataType<_Tp>::channels == m.channels());
+    m.convertTo(*this, type());
+    return *this;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>& Mat_<_Tp>::operator = (const Mat_& m)
+{
+    Mat::operator=(m);
+    return *this;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>& Mat_<_Tp>::operator = (const _Tp& s)
+{
+    typedef typename DataType<_Tp>::vec_type VT;
+    Mat::operator=(Scalar((const VT&)s));
+    return *this;
+}
+
+template<typename _Tp> inline
+void Mat_<_Tp>::create(int _rows, int _cols)
+{
+    Mat::create(_rows, _cols, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+void Mat_<_Tp>::create(Size _sz)
+{
+    Mat::create(_sz, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+void Mat_<_Tp>::create(int _dims, const int* _sz)
+{
+    Mat::create(_dims, _sz, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::cross(const Mat_& m) const
+{
+    return Mat_<_Tp>(Mat::cross(m));
+}
+
+template<typename _Tp> template<typename T2> inline
+Mat_<_Tp>::operator Mat_<T2>() const
+{
+    return Mat_<T2>(*this);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::row(int y) const
+{
+    return Mat_(*this, Range(y, y+1), Range::all());
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::col(int x) const
+{
+    return Mat_(*this, Range::all(), Range(x, x+1));
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::diag(int d) const
+{
+    return Mat_(Mat::diag(d));
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::clone() const
+{
+    return Mat_(Mat::clone());
+}
+
+template<typename _Tp> inline
+size_t Mat_<_Tp>::elemSize() const
+{
+    CV_DbgAssert( Mat::elemSize() == sizeof(_Tp) );
+    return sizeof(_Tp);
+}
+
+template<typename _Tp> inline
+size_t Mat_<_Tp>::elemSize1() const
+{
+    CV_DbgAssert( Mat::elemSize1() == sizeof(_Tp) / DataType<_Tp>::channels );
+    return sizeof(_Tp) / DataType<_Tp>::channels;
+}
+
+template<typename _Tp> inline
+int Mat_<_Tp>::type() const
+{
+    CV_DbgAssert( Mat::type() == DataType<_Tp>::type );
+    return DataType<_Tp>::type;
+}
+
+template<typename _Tp> inline
+int Mat_<_Tp>::depth() const
+{
+    CV_DbgAssert( Mat::depth() == DataType<_Tp>::depth );
+    return DataType<_Tp>::depth;
+}
+
+template<typename _Tp> inline
+int Mat_<_Tp>::channels() const
+{
+    CV_DbgAssert( Mat::channels() == DataType<_Tp>::channels );
+    return DataType<_Tp>::channels;
+}
+
+template<typename _Tp> inline
+size_t Mat_<_Tp>::stepT(int i) const
+{
+    return step.p[i] / elemSize();
+}
+
+template<typename _Tp> inline
+size_t Mat_<_Tp>::step1(int i) const
+{
+    return step.p[i] / elemSize1();
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>& Mat_<_Tp>::adjustROI( int dtop, int dbottom, int dleft, int dright )
+{
+    return (Mat_<_Tp>&)(Mat::adjustROI(dtop, dbottom, dleft, dright));
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::operator()( const Range& _rowRange, const Range& _colRange ) const
+{
+    return Mat_<_Tp>(*this, _rowRange, _colRange);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::operator()( const Rect& roi ) const
+{
+    return Mat_<_Tp>(*this, roi);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp> Mat_<_Tp>::operator()( const Range* ranges ) const
+{
+    return Mat_<_Tp>(*this, ranges);
+}
+
+template<typename _Tp> inline
+_Tp* Mat_<_Tp>::operator [](int y)
+{
+    CV_DbgAssert( 0 <= y && y < rows );
+    return (_Tp*)(data + y*step.p[0]);
+}
+
+template<typename _Tp> inline
+const _Tp* Mat_<_Tp>::operator [](int y) const
+{
+    CV_DbgAssert( 0 <= y && y < rows );
+    return (const _Tp*)(data + y*step.p[0]);
+}
+
+template<typename _Tp> inline
+_Tp& Mat_<_Tp>::operator ()(int i0, int i1)
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  type() == DataType<_Tp>::type );
+    return ((_Tp*)(data + step.p[0] * i0))[i1];
+}
+
+template<typename _Tp> inline
+const _Tp& Mat_<_Tp>::operator ()(int i0, int i1) const
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                  (unsigned)i0 < (unsigned)size.p[0] &&
+                  (unsigned)i1 < (unsigned)size.p[1] &&
+                  type() == DataType<_Tp>::type );
+    return ((const _Tp*)(data + step.p[0] * i0))[i1];
+}
+
+template<typename _Tp> inline
+_Tp& Mat_<_Tp>::operator ()(Point pt)
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                  (unsigned)pt.y < (unsigned)size.p[0] &&
+                  (unsigned)pt.x < (unsigned)size.p[1] &&
+                  type() == DataType<_Tp>::type );
+    return ((_Tp*)(data + step.p[0] * pt.y))[pt.x];
+}
+
+template<typename _Tp> inline
+const _Tp& Mat_<_Tp>::operator ()(Point pt) const
+{
+    CV_DbgAssert( dims <= 2 && data &&
+                  (unsigned)pt.y < (unsigned)size.p[0] &&
+                  (unsigned)pt.x < (unsigned)size.p[1] &&
+                 type() == DataType<_Tp>::type );
+    return ((const _Tp*)(data + step.p[0] * pt.y))[pt.x];
+}
+
+template<typename _Tp> inline
+_Tp& Mat_<_Tp>::operator ()(const int* idx)
+{
+    return Mat::at<_Tp>(idx);
+}
+
+template<typename _Tp> inline
+const _Tp& Mat_<_Tp>::operator ()(const int* idx) const
+{
+    return Mat::at<_Tp>(idx);
+}
+
+template<typename _Tp> template<int n> inline
+_Tp& Mat_<_Tp>::operator ()(const Vec<int, n>& idx)
+{
+    return Mat::at<_Tp>(idx);
+}
+
+template<typename _Tp> template<int n> inline
+const _Tp& Mat_<_Tp>::operator ()(const Vec<int, n>& idx) const
+{
+    return Mat::at<_Tp>(idx);
+}
+
+template<typename _Tp> inline
+_Tp& Mat_<_Tp>::operator ()(int i0)
+{
+    return this->at<_Tp>(i0);
+}
+
+template<typename _Tp> inline
+const _Tp& Mat_<_Tp>::operator ()(int i0) const
+{
+    return this->at<_Tp>(i0);
+}
+
+template<typename _Tp> inline
+_Tp& Mat_<_Tp>::operator ()(int i0, int i1, int i2)
+{
+    return this->at<_Tp>(i0, i1, i2);
+}
+
+template<typename _Tp> inline
+const _Tp& Mat_<_Tp>::operator ()(int i0, int i1, int i2) const
+{
+    return this->at<_Tp>(i0, i1, i2);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::operator std::vector<_Tp>() const
+{
+    std::vector<_Tp> v;
+    copyTo(v);
+    return v;
+}
+
+template<typename _Tp> template<int n> inline
+Mat_<_Tp>::operator Vec<typename DataType<_Tp>::channel_type, n>() const
+{
+    CV_Assert(n % DataType<_Tp>::channels == 0);
+    return this->Mat::operator Vec<typename DataType<_Tp>::channel_type, n>();
+}
+
+template<typename _Tp> template<int m, int n> inline
+Mat_<_Tp>::operator Matx<typename DataType<_Tp>::channel_type, m, n>() const
+{
+    CV_Assert(n % DataType<_Tp>::channels == 0);
+
+    Matx<typename DataType<_Tp>::channel_type, m, n> res = this->Mat::operator Matx<typename DataType<_Tp>::channel_type, m, n>();
+    return res;
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> Mat_<_Tp>::begin() const
+{
+    return Mat::begin<_Tp>();
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> Mat_<_Tp>::end() const
+{
+    return Mat::end<_Tp>();
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> Mat_<_Tp>::begin()
+{
+    return Mat::begin<_Tp>();
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> Mat_<_Tp>::end()
+{
+    return Mat::end<_Tp>();
+}
+
+template<typename _Tp> template<typename Functor> inline
+void Mat_<_Tp>::forEach(const Functor& operation) {
+    Mat::forEach<_Tp, Functor>(operation);
+}
+
+template<typename _Tp> template<typename Functor> inline
+void Mat_<_Tp>::forEach(const Functor& operation) const {
+    Mat::forEach<_Tp, Functor>(operation);
+}
+
+///////////////////////////// SparseMat /////////////////////////////
+
+inline
+SparseMat::SparseMat()
+    : flags(MAGIC_VAL), hdr(0)
+{}
+
+inline
+SparseMat::SparseMat(int _dims, const int* _sizes, int _type)
+    : flags(MAGIC_VAL), hdr(0)
+{
+    create(_dims, _sizes, _type);
+}
+
+inline
+SparseMat::SparseMat(const SparseMat& m)
+    : flags(m.flags), hdr(m.hdr)
+{
+    addref();
+}
+
+inline
+SparseMat::~SparseMat()
+{
+    release();
+}
+
+inline
+SparseMat& SparseMat::operator = (const SparseMat& m)
+{
+    if( this != &m )
+    {
+        if( m.hdr )
+            CV_XADD(&m.hdr->refcount, 1);
+        release();
+        flags = m.flags;
+        hdr = m.hdr;
+    }
+    return *this;
+}
+
+inline
+SparseMat& SparseMat::operator = (const Mat& m)
+{
+    return (*this = SparseMat(m));
+}
+
+inline
+SparseMat SparseMat::clone() const
+{
+    SparseMat temp;
+    this->copyTo(temp);
+    return temp;
+}
+
+inline
+void SparseMat::assignTo( SparseMat& m, int _type ) const
+{
+    if( _type < 0 )
+        m = *this;
+    else
+        convertTo(m, _type);
+}
+
+inline
+void SparseMat::addref()
+{
+    if( hdr )
+        CV_XADD(&hdr->refcount, 1);
+}
+
+inline
+void SparseMat::release()
+{
+    if( hdr && CV_XADD(&hdr->refcount, -1) == 1 )
+        delete hdr;
+    hdr = 0;
+}
+
+inline
+size_t SparseMat::elemSize() const
+{
+    return CV_ELEM_SIZE(flags);
+}
+
+inline
+size_t SparseMat::elemSize1() const
+{
+    return CV_ELEM_SIZE1(flags);
+}
+
+inline
+int SparseMat::type() const
+{
+    return CV_MAT_TYPE(flags);
+}
+
+inline
+int SparseMat::depth() const
+{
+    return CV_MAT_DEPTH(flags);
+}
+
+inline
+int SparseMat::channels() const
+{
+    return CV_MAT_CN(flags);
+}
+
+inline
+const int* SparseMat::size() const
+{
+    return hdr ? hdr->size : 0;
+}
+
+inline
+int SparseMat::size(int i) const
+{
+    if( hdr )
+    {
+        CV_DbgAssert((unsigned)i < (unsigned)hdr->dims);
+        return hdr->size[i];
+    }
+    return 0;
+}
+
+inline
+int SparseMat::dims() const
+{
+    return hdr ? hdr->dims : 0;
+}
+
+inline
+size_t SparseMat::nzcount() const
+{
+    return hdr ? hdr->nodeCount : 0;
+}
+
+inline
+size_t SparseMat::hash(int i0) const
+{
+    return (size_t)i0;
+}
+
+inline
+size_t SparseMat::hash(int i0, int i1) const
+{
+    return (size_t)(unsigned)i0 * HASH_SCALE + (unsigned)i1;
+}
+
+inline
+size_t SparseMat::hash(int i0, int i1, int i2) const
+{
+    return ((size_t)(unsigned)i0 * HASH_SCALE + (unsigned)i1) * HASH_SCALE + (unsigned)i2;
+}
+
+inline
+size_t SparseMat::hash(const int* idx) const
+{
+    size_t h = (unsigned)idx[0];
+    if( !hdr )
+        return 0;
+    int d = hdr->dims;
+    for(int i = 1; i < d; i++ )
+        h = h * HASH_SCALE + (unsigned)idx[i];
+    return h;
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat::ref(int i0, size_t* hashval)
+{
+    return *(_Tp*)((SparseMat*)this)->ptr(i0, true, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat::ref(int i0, int i1, size_t* hashval)
+{
+    return *(_Tp*)((SparseMat*)this)->ptr(i0, i1, true, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat::ref(int i0, int i1, int i2, size_t* hashval)
+{
+    return *(_Tp*)((SparseMat*)this)->ptr(i0, i1, i2, true, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat::ref(const int* idx, size_t* hashval)
+{
+    return *(_Tp*)((SparseMat*)this)->ptr(idx, true, hashval);
+}
+
+template<typename _Tp> inline
+_Tp SparseMat::value(int i0, size_t* hashval) const
+{
+    const _Tp* p = (const _Tp*)((SparseMat*)this)->ptr(i0, false, hashval);
+    return p ? *p : _Tp();
+}
+
+template<typename _Tp> inline
+_Tp SparseMat::value(int i0, int i1, size_t* hashval) const
+{
+    const _Tp* p = (const _Tp*)((SparseMat*)this)->ptr(i0, i1, false, hashval);
+    return p ? *p : _Tp();
+}
+
+template<typename _Tp> inline
+_Tp SparseMat::value(int i0, int i1, int i2, size_t* hashval) const
+{
+    const _Tp* p = (const _Tp*)((SparseMat*)this)->ptr(i0, i1, i2, false, hashval);
+    return p ? *p : _Tp();
+}
+
+template<typename _Tp> inline
+_Tp SparseMat::value(const int* idx, size_t* hashval) const
+{
+    const _Tp* p = (const _Tp*)((SparseMat*)this)->ptr(idx, false, hashval);
+    return p ? *p : _Tp();
+}
+
+template<typename _Tp> inline
+const _Tp* SparseMat::find(int i0, size_t* hashval) const
+{
+    return (const _Tp*)((SparseMat*)this)->ptr(i0, false, hashval);
+}
+
+template<typename _Tp> inline
+const _Tp* SparseMat::find(int i0, int i1, size_t* hashval) const
+{
+    return (const _Tp*)((SparseMat*)this)->ptr(i0, i1, false, hashval);
+}
+
+template<typename _Tp> inline
+const _Tp* SparseMat::find(int i0, int i1, int i2, size_t* hashval) const
+{
+    return (const _Tp*)((SparseMat*)this)->ptr(i0, i1, i2, false, hashval);
+}
+
+template<typename _Tp> inline
+const _Tp* SparseMat::find(const int* idx, size_t* hashval) const
+{
+    return (const _Tp*)((SparseMat*)this)->ptr(idx, false, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat::value(Node* n)
+{
+    return *(_Tp*)((uchar*)n + hdr->valueOffset);
+}
+
+template<typename _Tp> inline
+const _Tp& SparseMat::value(const Node* n) const
+{
+    return *(const _Tp*)((const uchar*)n + hdr->valueOffset);
+}
+
+inline
+SparseMat::Node* SparseMat::node(size_t nidx)
+{
+    return (Node*)(void*)&hdr->pool[nidx];
+}
+
+inline
+const SparseMat::Node* SparseMat::node(size_t nidx) const
+{
+    return (const Node*)(const void*)&hdr->pool[nidx];
+}
+
+inline
+SparseMatIterator SparseMat::begin()
+{
+    return SparseMatIterator(this);
+}
+
+inline
+SparseMatConstIterator SparseMat::begin() const
+{
+    return SparseMatConstIterator(this);
+}
+
+inline
+SparseMatIterator SparseMat::end()
+{
+    SparseMatIterator it(this);
+    it.seekEnd();
+    return it;
+}
+
+inline
+SparseMatConstIterator SparseMat::end() const
+{
+    SparseMatConstIterator it(this);
+    it.seekEnd();
+    return it;
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp> SparseMat::begin()
+{
+    return SparseMatIterator_<_Tp>(this);
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp> SparseMat::begin() const
+{
+    return SparseMatConstIterator_<_Tp>(this);
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp> SparseMat::end()
+{
+    SparseMatIterator_<_Tp> it(this);
+    it.seekEnd();
+    return it;
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp> SparseMat::end() const
+{
+    SparseMatConstIterator_<_Tp> it(this);
+    it.seekEnd();
+    return it;
+}
+
+
+
+///////////////////////////// SparseMat_ ////////////////////////////
+
+template<typename _Tp> inline
+SparseMat_<_Tp>::SparseMat_()
+{
+    flags = MAGIC_VAL | DataType<_Tp>::type;
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>::SparseMat_(int _dims, const int* _sizes)
+    : SparseMat(_dims, _sizes, DataType<_Tp>::type)
+{}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>::SparseMat_(const SparseMat& m)
+{
+    if( m.type() == DataType<_Tp>::type )
+        *this = (const SparseMat_<_Tp>&)m;
+    else
+        m.convertTo(*this, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>::SparseMat_(const SparseMat_<_Tp>& m)
+{
+    this->flags = m.flags;
+    this->hdr = m.hdr;
+    if( this->hdr )
+        CV_XADD(&this->hdr->refcount, 1);
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>::SparseMat_(const Mat& m)
+{
+    SparseMat sm(m);
+    *this = sm;
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>& SparseMat_<_Tp>::operator = (const SparseMat_<_Tp>& m)
+{
+    if( this != &m )
+    {
+        if( m.hdr ) CV_XADD(&m.hdr->refcount, 1);
+        release();
+        flags = m.flags;
+        hdr = m.hdr;
+    }
+    return *this;
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>& SparseMat_<_Tp>::operator = (const SparseMat& m)
+{
+    if( m.type() == DataType<_Tp>::type )
+        return (*this = (const SparseMat_<_Tp>&)m);
+    m.convertTo(*this, DataType<_Tp>::type);
+    return *this;
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp>& SparseMat_<_Tp>::operator = (const Mat& m)
+{
+    return (*this = SparseMat(m));
+}
+
+template<typename _Tp> inline
+SparseMat_<_Tp> SparseMat_<_Tp>::clone() const
+{
+    SparseMat_<_Tp> m;
+    this->copyTo(m);
+    return m;
+}
+
+template<typename _Tp> inline
+void SparseMat_<_Tp>::create(int _dims, const int* _sizes)
+{
+    SparseMat::create(_dims, _sizes, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+int SparseMat_<_Tp>::type() const
+{
+    return DataType<_Tp>::type;
+}
+
+template<typename _Tp> inline
+int SparseMat_<_Tp>::depth() const
+{
+    return DataType<_Tp>::depth;
+}
+
+template<typename _Tp> inline
+int SparseMat_<_Tp>::channels() const
+{
+    return DataType<_Tp>::channels;
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat_<_Tp>::ref(int i0, size_t* hashval)
+{
+    return SparseMat::ref<_Tp>(i0, hashval);
+}
+
+template<typename _Tp> inline
+_Tp SparseMat_<_Tp>::operator()(int i0, size_t* hashval) const
+{
+    return SparseMat::value<_Tp>(i0, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat_<_Tp>::ref(int i0, int i1, size_t* hashval)
+{
+    return SparseMat::ref<_Tp>(i0, i1, hashval);
+}
+
+template<typename _Tp> inline
+_Tp SparseMat_<_Tp>::operator()(int i0, int i1, size_t* hashval) const
+{
+    return SparseMat::value<_Tp>(i0, i1, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat_<_Tp>::ref(int i0, int i1, int i2, size_t* hashval)
+{
+    return SparseMat::ref<_Tp>(i0, i1, i2, hashval);
+}
+
+template<typename _Tp> inline
+_Tp SparseMat_<_Tp>::operator()(int i0, int i1, int i2, size_t* hashval) const
+{
+    return SparseMat::value<_Tp>(i0, i1, i2, hashval);
+}
+
+template<typename _Tp> inline
+_Tp& SparseMat_<_Tp>::ref(const int* idx, size_t* hashval)
+{
+    return SparseMat::ref<_Tp>(idx, hashval);
+}
+
+template<typename _Tp> inline
+_Tp SparseMat_<_Tp>::operator()(const int* idx, size_t* hashval) const
+{
+    return SparseMat::value<_Tp>(idx, hashval);
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp> SparseMat_<_Tp>::begin()
+{
+    return SparseMatIterator_<_Tp>(this);
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp> SparseMat_<_Tp>::begin() const
+{
+    return SparseMatConstIterator_<_Tp>(this);
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp> SparseMat_<_Tp>::end()
+{
+    SparseMatIterator_<_Tp> it(this);
+    it.seekEnd();
+    return it;
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp> SparseMat_<_Tp>::end() const
+{
+    SparseMatConstIterator_<_Tp> it(this);
+    it.seekEnd();
+    return it;
+}
+
+
+
+////////////////////////// MatConstIterator /////////////////////////
+
+inline
+MatConstIterator::MatConstIterator()
+    : m(0), elemSize(0), ptr(0), sliceStart(0), sliceEnd(0)
+{}
+
+inline
+MatConstIterator::MatConstIterator(const Mat* _m)
+    : m(_m), elemSize(_m->elemSize()), ptr(0), sliceStart(0), sliceEnd(0)
+{
+    if( m && m->isContinuous() )
+    {
+        sliceStart = m->ptr();
+        sliceEnd = sliceStart + m->total()*elemSize;
+    }
+    seek((const int*)0);
+}
+
+inline
+MatConstIterator::MatConstIterator(const Mat* _m, int _row, int _col)
+    : m(_m), elemSize(_m->elemSize()), ptr(0), sliceStart(0), sliceEnd(0)
+{
+    CV_Assert(m && m->dims <= 2);
+    if( m->isContinuous() )
+    {
+        sliceStart = m->ptr();
+        sliceEnd = sliceStart + m->total()*elemSize;
+    }
+    int idx[] = {_row, _col};
+    seek(idx);
+}
+
+inline
+MatConstIterator::MatConstIterator(const Mat* _m, Point _pt)
+    : m(_m), elemSize(_m->elemSize()), ptr(0), sliceStart(0), sliceEnd(0)
+{
+    CV_Assert(m && m->dims <= 2);
+    if( m->isContinuous() )
+    {
+        sliceStart = m->ptr();
+        sliceEnd = sliceStart + m->total()*elemSize;
+    }
+    int idx[] = {_pt.y, _pt.x};
+    seek(idx);
+}
+
+inline
+MatConstIterator::MatConstIterator(const MatConstIterator& it)
+    : m(it.m), elemSize(it.elemSize), ptr(it.ptr), sliceStart(it.sliceStart), sliceEnd(it.sliceEnd)
+{}
+
+inline
+MatConstIterator& MatConstIterator::operator = (const MatConstIterator& it )
+{
+    m = it.m; elemSize = it.elemSize; ptr = it.ptr;
+    sliceStart = it.sliceStart; sliceEnd = it.sliceEnd;
+    return *this;
+}
+
+inline
+const uchar* MatConstIterator::operator *() const
+{
+    return ptr;
+}
+
+inline MatConstIterator& MatConstIterator::operator += (ptrdiff_t ofs)
+{
+    if( !m || ofs == 0 )
+        return *this;
+    ptrdiff_t ofsb = ofs*elemSize;
+    ptr += ofsb;
+    if( ptr < sliceStart || sliceEnd <= ptr )
+    {
+        ptr -= ofsb;
+        seek(ofs, true);
+    }
+    return *this;
+}
+
+inline
+MatConstIterator& MatConstIterator::operator -= (ptrdiff_t ofs)
+{
+    return (*this += -ofs);
+}
+
+inline
+MatConstIterator& MatConstIterator::operator --()
+{
+    if( m && (ptr -= elemSize) < sliceStart )
+    {
+        ptr += elemSize;
+        seek(-1, true);
+    }
+    return *this;
+}
+
+inline
+MatConstIterator MatConstIterator::operator --(int)
+{
+    MatConstIterator b = *this;
+    *this += -1;
+    return b;
+}
+
+inline
+MatConstIterator& MatConstIterator::operator ++()
+{
+    if( m && (ptr += elemSize) >= sliceEnd )
+    {
+        ptr -= elemSize;
+        seek(1, true);
+    }
+    return *this;
+}
+
+inline MatConstIterator MatConstIterator::operator ++(int)
+{
+    MatConstIterator b = *this;
+    *this += 1;
+    return b;
+}
+
+
+static inline
+bool operator == (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return a.m == b.m && a.ptr == b.ptr;
+}
+
+static inline
+bool operator != (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return !(a == b);
+}
+
+static inline
+bool operator < (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return a.ptr < b.ptr;
+}
+
+static inline
+bool operator > (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return a.ptr > b.ptr;
+}
+
+static inline
+bool operator <= (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return a.ptr <= b.ptr;
+}
+
+static inline
+bool operator >= (const MatConstIterator& a, const MatConstIterator& b)
+{
+    return a.ptr >= b.ptr;
+}
+
+static inline
+ptrdiff_t operator - (const MatConstIterator& b, const MatConstIterator& a)
+{
+    if( a.m != b.m )
+        return ((size_t)(-1) >> 1);
+    if( a.sliceEnd == b.sliceEnd )
+        return (b.ptr - a.ptr)/b.elemSize;
+
+    return b.lpos() - a.lpos();
+}
+
+static inline
+MatConstIterator operator + (const MatConstIterator& a, ptrdiff_t ofs)
+{
+    MatConstIterator b = a;
+    return b += ofs;
+}
+
+static inline
+MatConstIterator operator + (ptrdiff_t ofs, const MatConstIterator& a)
+{
+    MatConstIterator b = a;
+    return b += ofs;
+}
+
+static inline
+MatConstIterator operator - (const MatConstIterator& a, ptrdiff_t ofs)
+{
+    MatConstIterator b = a;
+    return b += -ofs;
+}
+
+
+inline
+const uchar* MatConstIterator::operator [](ptrdiff_t i) const
+{
+    return *(*this + i);
+}
+
+
+
+///////////////////////// MatConstIterator_ /////////////////////////
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>::MatConstIterator_()
+{}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>::MatConstIterator_(const Mat_<_Tp>* _m)
+    : MatConstIterator(_m)
+{}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>::MatConstIterator_(const Mat_<_Tp>* _m, int _row, int _col)
+    : MatConstIterator(_m, _row, _col)
+{}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>::MatConstIterator_(const Mat_<_Tp>* _m, Point _pt)
+    : MatConstIterator(_m, _pt)
+{}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>::MatConstIterator_(const MatConstIterator_& it)
+    : MatConstIterator(it)
+{}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>& MatConstIterator_<_Tp>::operator = (const MatConstIterator_& it )
+{
+    MatConstIterator::operator = (it);
+    return *this;
+}
+
+template<typename _Tp> inline
+_Tp MatConstIterator_<_Tp>::operator *() const
+{
+    return *(_Tp*)(this->ptr);
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>& MatConstIterator_<_Tp>::operator += (ptrdiff_t ofs)
+{
+    MatConstIterator::operator += (ofs);
+    return *this;
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>& MatConstIterator_<_Tp>::operator -= (ptrdiff_t ofs)
+{
+    return (*this += -ofs);
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>& MatConstIterator_<_Tp>::operator --()
+{
+    MatConstIterator::operator --();
+    return *this;
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> MatConstIterator_<_Tp>::operator --(int)
+{
+    MatConstIterator_ b = *this;
+    MatConstIterator::operator --();
+    return b;
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp>& MatConstIterator_<_Tp>::operator ++()
+{
+    MatConstIterator::operator ++();
+    return *this;
+}
+
+template<typename _Tp> inline
+MatConstIterator_<_Tp> MatConstIterator_<_Tp>::operator ++(int)
+{
+    MatConstIterator_ b = *this;
+    MatConstIterator::operator ++();
+    return b;
+}
+
+
+template<typename _Tp> inline
+Point MatConstIterator_<_Tp>::pos() const
+{
+    if( !m )
+        return Point();
+    CV_DbgAssert( m->dims <= 2 );
+    if( m->isContinuous() )
+    {
+        ptrdiff_t ofs = (const _Tp*)ptr - (const _Tp*)m->data;
+        int y = (int)(ofs / m->cols);
+        int x = (int)(ofs - (ptrdiff_t)y * m->cols);
+        return Point(x, y);
+    }
+    else
+    {
+        ptrdiff_t ofs = (uchar*)ptr - m->data;
+        int y = (int)(ofs / m->step);
+        int x = (int)((ofs - y * m->step)/sizeof(_Tp));
+        return Point(x, y);
+    }
+}
+
+
+template<typename _Tp> static inline
+bool operator == (const MatConstIterator_<_Tp>& a, const MatConstIterator_<_Tp>& b)
+{
+    return a.m == b.m && a.ptr == b.ptr;
+}
+
+template<typename _Tp> static inline
+bool operator != (const MatConstIterator_<_Tp>& a, const MatConstIterator_<_Tp>& b)
+{
+    return a.m != b.m || a.ptr != b.ptr;
+}
+
+template<typename _Tp> static inline
+MatConstIterator_<_Tp> operator + (const MatConstIterator_<_Tp>& a, ptrdiff_t ofs)
+{
+    MatConstIterator t = (const MatConstIterator&)a + ofs;
+    return (MatConstIterator_<_Tp>&)t;
+}
+
+template<typename _Tp> static inline
+MatConstIterator_<_Tp> operator + (ptrdiff_t ofs, const MatConstIterator_<_Tp>& a)
+{
+    MatConstIterator t = (const MatConstIterator&)a + ofs;
+    return (MatConstIterator_<_Tp>&)t;
+}
+
+template<typename _Tp> static inline
+MatConstIterator_<_Tp> operator - (const MatConstIterator_<_Tp>& a, ptrdiff_t ofs)
+{
+    MatConstIterator t = (const MatConstIterator&)a - ofs;
+    return (MatConstIterator_<_Tp>&)t;
+}
+
+template<typename _Tp> inline
+_Tp MatConstIterator_<_Tp>::operator [](ptrdiff_t i) const
+{
+    return *(_Tp*)MatConstIterator::operator [](i);
+}
+
+
+
+//////////////////////////// MatIterator_ ///////////////////////////
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_()
+    : MatConstIterator_<_Tp>()
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_(Mat_<_Tp>* _m)
+    : MatConstIterator_<_Tp>(_m)
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_(Mat_<_Tp>* _m, int _row, int _col)
+    : MatConstIterator_<_Tp>(_m, _row, _col)
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_(Mat_<_Tp>* _m, Point _pt)
+    : MatConstIterator_<_Tp>(_m, _pt)
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_(Mat_<_Tp>* _m, const int* _idx)
+    : MatConstIterator_<_Tp>(_m, _idx)
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>::MatIterator_(const MatIterator_& it)
+    : MatConstIterator_<_Tp>(it)
+{}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>& MatIterator_<_Tp>::operator = (const MatIterator_<_Tp>& it )
+{
+    MatConstIterator::operator = (it);
+    return *this;
+}
+
+template<typename _Tp> inline
+_Tp& MatIterator_<_Tp>::operator *() const
+{
+    return *(_Tp*)(this->ptr);
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>& MatIterator_<_Tp>::operator += (ptrdiff_t ofs)
+{
+    MatConstIterator::operator += (ofs);
+    return *this;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>& MatIterator_<_Tp>::operator -= (ptrdiff_t ofs)
+{
+    MatConstIterator::operator += (-ofs);
+    return *this;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>& MatIterator_<_Tp>::operator --()
+{
+    MatConstIterator::operator --();
+    return *this;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> MatIterator_<_Tp>::operator --(int)
+{
+    MatIterator_ b = *this;
+    MatConstIterator::operator --();
+    return b;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp>& MatIterator_<_Tp>::operator ++()
+{
+    MatConstIterator::operator ++();
+    return *this;
+}
+
+template<typename _Tp> inline
+MatIterator_<_Tp> MatIterator_<_Tp>::operator ++(int)
+{
+    MatIterator_ b = *this;
+    MatConstIterator::operator ++();
+    return b;
+}
+
+template<typename _Tp> inline
+_Tp& MatIterator_<_Tp>::operator [](ptrdiff_t i) const
+{
+    return *(*this + i);
+}
+
+
+template<typename _Tp> static inline
+bool operator == (const MatIterator_<_Tp>& a, const MatIterator_<_Tp>& b)
+{
+    return a.m == b.m && a.ptr == b.ptr;
+}
+
+template<typename _Tp> static inline
+bool operator != (const MatIterator_<_Tp>& a, const MatIterator_<_Tp>& b)
+{
+    return a.m != b.m || a.ptr != b.ptr;
+}
+
+template<typename _Tp> static inline
+MatIterator_<_Tp> operator + (const MatIterator_<_Tp>& a, ptrdiff_t ofs)
+{
+    MatConstIterator t = (const MatConstIterator&)a + ofs;
+    return (MatIterator_<_Tp>&)t;
+}
+
+template<typename _Tp> static inline
+MatIterator_<_Tp> operator + (ptrdiff_t ofs, const MatIterator_<_Tp>& a)
+{
+    MatConstIterator t = (const MatConstIterator&)a + ofs;
+    return (MatIterator_<_Tp>&)t;
+}
+
+template<typename _Tp> static inline
+MatIterator_<_Tp> operator - (const MatIterator_<_Tp>& a, ptrdiff_t ofs)
+{
+    MatConstIterator t = (const MatConstIterator&)a - ofs;
+    return (MatIterator_<_Tp>&)t;
+}
+
+
+
+/////////////////////// SparseMatConstIterator //////////////////////
+
+inline
+SparseMatConstIterator::SparseMatConstIterator()
+    : m(0), hashidx(0), ptr(0)
+{}
+
+inline
+SparseMatConstIterator::SparseMatConstIterator(const SparseMatConstIterator& it)
+    : m(it.m), hashidx(it.hashidx), ptr(it.ptr)
+{}
+
+inline SparseMatConstIterator& SparseMatConstIterator::operator = (const SparseMatConstIterator& it)
+{
+    if( this != &it )
+    {
+        m = it.m;
+        hashidx = it.hashidx;
+        ptr = it.ptr;
+    }
+    return *this;
+}
+
+template<typename _Tp> inline
+const _Tp& SparseMatConstIterator::value() const
+{
+    return *(const _Tp*)ptr;
+}
+
+inline
+const SparseMat::Node* SparseMatConstIterator::node() const
+{
+    return (ptr && m && m->hdr) ? (const SparseMat::Node*)(const void*)(ptr - m->hdr->valueOffset) : 0;
+}
+
+inline
+SparseMatConstIterator SparseMatConstIterator::operator ++(int)
+{
+    SparseMatConstIterator it = *this;
+    ++*this;
+    return it;
+}
+
+inline
+void SparseMatConstIterator::seekEnd()
+{
+    if( m && m->hdr )
+    {
+        hashidx = m->hdr->hashtab.size();
+        ptr = 0;
+    }
+}
+
+
+static inline
+bool operator == (const SparseMatConstIterator& it1, const SparseMatConstIterator& it2)
+{
+    return it1.m == it2.m && it1.ptr == it2.ptr;
+}
+
+static inline
+bool operator != (const SparseMatConstIterator& it1, const SparseMatConstIterator& it2)
+{
+    return !(it1 == it2);
+}
+
+
+
+///////////////////////// SparseMatIterator /////////////////////////
+
+inline
+SparseMatIterator::SparseMatIterator()
+{}
+
+inline
+SparseMatIterator::SparseMatIterator(SparseMat* _m)
+    : SparseMatConstIterator(_m)
+{}
+
+inline
+SparseMatIterator::SparseMatIterator(const SparseMatIterator& it)
+    : SparseMatConstIterator(it)
+{}
+
+inline
+SparseMatIterator& SparseMatIterator::operator = (const SparseMatIterator& it)
+{
+    (SparseMatConstIterator&)*this = it;
+    return *this;
+}
+
+template<typename _Tp> inline
+_Tp& SparseMatIterator::value() const
+{
+    return *(_Tp*)ptr;
+}
+
+inline
+SparseMat::Node* SparseMatIterator::node() const
+{
+    return (SparseMat::Node*)SparseMatConstIterator::node();
+}
+
+inline
+SparseMatIterator& SparseMatIterator::operator ++()
+{
+    SparseMatConstIterator::operator ++();
+    return *this;
+}
+
+inline
+SparseMatIterator SparseMatIterator::operator ++(int)
+{
+    SparseMatIterator it = *this;
+    ++*this;
+    return it;
+}
+
+
+
+////////////////////// SparseMatConstIterator_ //////////////////////
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>::SparseMatConstIterator_()
+{}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>::SparseMatConstIterator_(const SparseMat_<_Tp>* _m)
+    : SparseMatConstIterator(_m)
+{}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>::SparseMatConstIterator_(const SparseMat* _m)
+    : SparseMatConstIterator(_m)
+{
+    CV_Assert( _m->type() == DataType<_Tp>::type );
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>::SparseMatConstIterator_(const SparseMatConstIterator_<_Tp>& it)
+    : SparseMatConstIterator(it)
+{}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>& SparseMatConstIterator_<_Tp>::operator = (const SparseMatConstIterator_<_Tp>& it)
+{
+    return reinterpret_cast<SparseMatConstIterator_<_Tp>&>
+         (*reinterpret_cast<SparseMatConstIterator*>(this) =
+           reinterpret_cast<const SparseMatConstIterator&>(it));
+}
+
+template<typename _Tp> inline
+const _Tp& SparseMatConstIterator_<_Tp>::operator *() const
+{
+    return *(const _Tp*)this->ptr;
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp>& SparseMatConstIterator_<_Tp>::operator ++()
+{
+    SparseMatConstIterator::operator ++();
+    return *this;
+}
+
+template<typename _Tp> inline
+SparseMatConstIterator_<_Tp> SparseMatConstIterator_<_Tp>::operator ++(int)
+{
+    SparseMatConstIterator_<_Tp> it = *this;
+    SparseMatConstIterator::operator ++();
+    return it;
+}
+
+
+
+///////////////////////// SparseMatIterator_ ////////////////////////
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>::SparseMatIterator_()
+{}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>::SparseMatIterator_(SparseMat_<_Tp>* _m)
+    : SparseMatConstIterator_<_Tp>(_m)
+{}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>::SparseMatIterator_(SparseMat* _m)
+    : SparseMatConstIterator_<_Tp>(_m)
+{}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>::SparseMatIterator_(const SparseMatIterator_<_Tp>& it)
+    : SparseMatConstIterator_<_Tp>(it)
+{}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>& SparseMatIterator_<_Tp>::operator = (const SparseMatIterator_<_Tp>& it)
+{
+    return reinterpret_cast<SparseMatIterator_<_Tp>&>
+         (*reinterpret_cast<SparseMatConstIterator*>(this) =
+           reinterpret_cast<const SparseMatConstIterator&>(it));
+}
+
+template<typename _Tp> inline
+_Tp& SparseMatIterator_<_Tp>::operator *() const
+{
+    return *(_Tp*)this->ptr;
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp>& SparseMatIterator_<_Tp>::operator ++()
+{
+    SparseMatConstIterator::operator ++();
+    return *this;
+}
+
+template<typename _Tp> inline
+SparseMatIterator_<_Tp> SparseMatIterator_<_Tp>::operator ++(int)
+{
+    SparseMatIterator_<_Tp> it = *this;
+    SparseMatConstIterator::operator ++();
+    return it;
+}
+
+
+
+//////////////////////// MatCommaInitializer_ ///////////////////////
+
+template<typename _Tp> inline
+MatCommaInitializer_<_Tp>::MatCommaInitializer_(Mat_<_Tp>* _m)
+    : it(_m)
+{}
+
+template<typename _Tp> template<typename T2> inline
+MatCommaInitializer_<_Tp>& MatCommaInitializer_<_Tp>::operator , (T2 v)
+{
+    CV_DbgAssert( this->it < ((const Mat_<_Tp>*)this->it.m)->end() );
+    *this->it = _Tp(v);
+    ++this->it;
+    return *this;
+}
+
+template<typename _Tp> inline
+MatCommaInitializer_<_Tp>::operator Mat_<_Tp>() const
+{
+    CV_DbgAssert( this->it == ((const Mat_<_Tp>*)this->it.m)->end() );
+    return Mat_<_Tp>(*this->it.m);
+}
+
+
+template<typename _Tp, typename T2> static inline
+MatCommaInitializer_<_Tp> operator << (const Mat_<_Tp>& m, T2 val)
+{
+    MatCommaInitializer_<_Tp> commaInitializer((Mat_<_Tp>*)&m);
+    return (commaInitializer, val);
+}
+
+
+
+///////////////////////// Matrix Expressions ////////////////////////
+
+inline
+Mat& Mat::operator = (const MatExpr& e)
+{
+    e.op->assign(e, *this);
+    return *this;
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>::Mat_(const MatExpr& e)
+{
+    e.op->assign(e, *this, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+Mat_<_Tp>& Mat_<_Tp>::operator = (const MatExpr& e)
+{
+    e.op->assign(e, *this, DataType<_Tp>::type);
+    return *this;
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::zeros(int rows, int cols)
+{
+    return Mat::zeros(rows, cols, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::zeros(Size sz)
+{
+    return Mat::zeros(sz, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::ones(int rows, int cols)
+{
+    return Mat::ones(rows, cols, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::ones(Size sz)
+{
+    return Mat::ones(sz, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::eye(int rows, int cols)
+{
+    return Mat::eye(rows, cols, DataType<_Tp>::type);
+}
+
+template<typename _Tp> inline
+MatExpr Mat_<_Tp>::eye(Size sz)
+{
+    return Mat::eye(sz, DataType<_Tp>::type);
+}
+
+inline
+MatExpr::MatExpr()
+    : op(0), flags(0), a(Mat()), b(Mat()), c(Mat()), alpha(0), beta(0), s()
+{}
+
+inline
+MatExpr::MatExpr(const MatOp* _op, int _flags, const Mat& _a, const Mat& _b,
+                 const Mat& _c, double _alpha, double _beta, const Scalar& _s)
+    : op(_op), flags(_flags), a(_a), b(_b), c(_c), alpha(_alpha), beta(_beta), s(_s)
+{}
+
+inline
+MatExpr::operator Mat() const
+{
+    Mat m;
+    op->assign(*this, m);
+    return m;
+}
+
+template<typename _Tp> inline
+MatExpr::operator Mat_<_Tp>() const
+{
+    Mat_<_Tp> m;
+    op->assign(*this, m, DataType<_Tp>::type);
+    return m;
+}
+
+
+template<typename _Tp> static inline
+MatExpr min(const Mat_<_Tp>& a, const Mat_<_Tp>& b)
+{
+    return cv::min((const Mat&)a, (const Mat&)b);
+}
+
+template<typename _Tp> static inline
+MatExpr min(const Mat_<_Tp>& a, double s)
+{
+    return cv::min((const Mat&)a, s);
+}
+
+template<typename _Tp> static inline
+MatExpr min(double s, const Mat_<_Tp>& a)
+{
+    return cv::min((const Mat&)a, s);
+}
+
+template<typename _Tp> static inline
+MatExpr max(const Mat_<_Tp>& a, const Mat_<_Tp>& b)
+{
+    return cv::max((const Mat&)a, (const Mat&)b);
+}
+
+template<typename _Tp> static inline
+MatExpr max(const Mat_<_Tp>& a, double s)
+{
+    return cv::max((const Mat&)a, s);
+}
+
+template<typename _Tp> static inline
+MatExpr max(double s, const Mat_<_Tp>& a)
+{
+    return cv::max((const Mat&)a, s);
+}
+
+template<typename _Tp> static inline
+MatExpr abs(const Mat_<_Tp>& m)
+{
+    return cv::abs((const Mat&)m);
+}
+
+
+static inline
+Mat& operator += (Mat& a, const MatExpr& b)
+{
+    b.op->augAssignAdd(b, a);
+    return a;
+}
+
+static inline
+const Mat& operator += (const Mat& a, const MatExpr& b)
+{
+    b.op->augAssignAdd(b, (Mat&)a);
+    return a;
+}
+
+template<typename _Tp> static inline
+Mat_<_Tp>& operator += (Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignAdd(b, a);
+    return a;
+}
+
+template<typename _Tp> static inline
+const Mat_<_Tp>& operator += (const Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignAdd(b, (Mat&)a);
+    return a;
+}
+
+static inline
+Mat& operator -= (Mat& a, const MatExpr& b)
+{
+    b.op->augAssignSubtract(b, a);
+    return a;
+}
+
+static inline
+const Mat& operator -= (const Mat& a, const MatExpr& b)
+{
+    b.op->augAssignSubtract(b, (Mat&)a);
+    return a;
+}
+
+template<typename _Tp> static inline
+Mat_<_Tp>& operator -= (Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignSubtract(b, a);
+    return a;
+}
+
+template<typename _Tp> static inline
+const Mat_<_Tp>& operator -= (const Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignSubtract(b, (Mat&)a);
+    return a;
+}
+
+static inline
+Mat& operator *= (Mat& a, const MatExpr& b)
+{
+    b.op->augAssignMultiply(b, a);
+    return a;
+}
+
+static inline
+const Mat& operator *= (const Mat& a, const MatExpr& b)
+{
+    b.op->augAssignMultiply(b, (Mat&)a);
+    return a;
+}
+
+template<typename _Tp> static inline
+Mat_<_Tp>& operator *= (Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignMultiply(b, a);
+    return a;
+}
+
+template<typename _Tp> static inline
+const Mat_<_Tp>& operator *= (const Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignMultiply(b, (Mat&)a);
+    return a;
+}
+
+static inline
+Mat& operator /= (Mat& a, const MatExpr& b)
+{
+    b.op->augAssignDivide(b, a);
+    return a;
+}
+
+static inline
+const Mat& operator /= (const Mat& a, const MatExpr& b)
+{
+    b.op->augAssignDivide(b, (Mat&)a);
+    return a;
+}
+
+template<typename _Tp> static inline
+Mat_<_Tp>& operator /= (Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignDivide(b, a);
+    return a;
+}
+
+template<typename _Tp> static inline
+const Mat_<_Tp>& operator /= (const Mat_<_Tp>& a, const MatExpr& b)
+{
+    b.op->augAssignDivide(b, (Mat&)a);
+    return a;
+}
+
+
+//////////////////////////////// UMat ////////////////////////////////
+
+inline
+UMat::UMat(UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{}
+
+inline
+UMat::UMat(int _rows, int _cols, int _type, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create(_rows, _cols, _type);
+}
+
+inline
+UMat::UMat(int _rows, int _cols, int _type, const Scalar& _s, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create(_rows, _cols, _type);
+    *this = _s;
+}
+
+inline
+UMat::UMat(Size _sz, int _type, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create( _sz.height, _sz.width, _type );
+}
+
+inline
+UMat::UMat(Size _sz, int _type, const Scalar& _s, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create(_sz.height, _sz.width, _type);
+    *this = _s;
+}
+
+inline
+UMat::UMat(int _dims, const int* _sz, int _type, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create(_dims, _sz, _type);
+}
+
+inline
+UMat::UMat(int _dims, const int* _sz, int _type, const Scalar& _s, UMatUsageFlags _usageFlags)
+: flags(MAGIC_VAL), dims(0), rows(0), cols(0), allocator(0), usageFlags(_usageFlags), u(0), offset(0), size(&rows)
+{
+    create(_dims, _sz, _type);
+    *this = _s;
+}
+
+inline
+UMat::UMat(const UMat& m)
+: flags(m.flags), dims(m.dims), rows(m.rows), cols(m.cols), allocator(m.allocator),
+  usageFlags(m.usageFlags), u(m.u), offset(m.offset), size(&rows)
+{
+    addref();
+    if( m.dims <= 2 )
+    {
+        step[0] = m.step[0]; step[1] = m.step[1];
+    }
+    else
+    {
+        dims = 0;
+        copySize(m);
+    }
+}
+
+
+template<typename _Tp> inline
+UMat::UMat(const std::vector<_Tp>& vec, bool copyData)
+: flags(MAGIC_VAL | DataType<_Tp>::type | CV_MAT_CONT_FLAG), dims(2), rows((int)vec.size()),
+cols(1), allocator(0), usageFlags(USAGE_DEFAULT), u(0), offset(0), size(&rows)
+{
+    if(vec.empty())
+        return;
+    if( !copyData )
+    {
+        // !!!TODO!!!
+        CV_Error(Error::StsNotImplemented, "");
+    }
+    else
+        Mat((int)vec.size(), 1, DataType<_Tp>::type, (uchar*)&vec[0]).copyTo(*this);
+}
+
+
+inline
+UMat& UMat::operator = (const UMat& m)
+{
+    if( this != &m )
+    {
+        const_cast<UMat&>(m).addref();
+        release();
+        flags = m.flags;
+        if( dims <= 2 && m.dims <= 2 )
+        {
+            dims = m.dims;
+            rows = m.rows;
+            cols = m.cols;
+            step[0] = m.step[0];
+            step[1] = m.step[1];
+        }
+        else
+            copySize(m);
+        allocator = m.allocator;
+        if (usageFlags == USAGE_DEFAULT)
+            usageFlags = m.usageFlags;
+        u = m.u;
+        offset = m.offset;
+    }
+    return *this;
+}
+
+inline
+UMat UMat::row(int y) const
+{
+    return UMat(*this, Range(y, y + 1), Range::all());
+}
+
+inline
+UMat UMat::col(int x) const
+{
+    return UMat(*this, Range::all(), Range(x, x + 1));
+}
+
+inline
+UMat UMat::rowRange(int startrow, int endrow) const
+{
+    return UMat(*this, Range(startrow, endrow), Range::all());
+}
+
+inline
+UMat UMat::rowRange(const Range& r) const
+{
+    return UMat(*this, r, Range::all());
+}
+
+inline
+UMat UMat::colRange(int startcol, int endcol) const
+{
+    return UMat(*this, Range::all(), Range(startcol, endcol));
+}
+
+inline
+UMat UMat::colRange(const Range& r) const
+{
+    return UMat(*this, Range::all(), r);
+}
+
+inline
+UMat UMat::clone() const
+{
+    UMat m;
+    copyTo(m);
+    return m;
+}
+
+inline
+void UMat::assignTo( UMat& m, int _type ) const
+{
+    if( _type < 0 )
+        m = *this;
+    else
+        convertTo(m, _type);
+}
+
+inline
+void UMat::create(int _rows, int _cols, int _type, UMatUsageFlags _usageFlags)
+{
+    _type &= TYPE_MASK;
+    if( dims <= 2 && rows == _rows && cols == _cols && type() == _type && u )
+        return;
+    int sz[] = {_rows, _cols};
+    create(2, sz, _type, _usageFlags);
+}
+
+inline
+void UMat::create(Size _sz, int _type, UMatUsageFlags _usageFlags)
+{
+    create(_sz.height, _sz.width, _type, _usageFlags);
+}
+
+inline
+void UMat::addref()
+{
+    if( u )
+        CV_XADD(&(u->urefcount), 1);
+}
+
+inline void UMat::release()
+{
+    if( u && CV_XADD(&(u->urefcount), -1) == 1 )
+        deallocate();
+    for(int i = 0; i < dims; i++)
+        size.p[i] = 0;
+    u = 0;
+}
+
+inline
+UMat UMat::operator()( Range _rowRange, Range _colRange ) const
+{
+    return UMat(*this, _rowRange, _colRange);
+}
+
+inline
+UMat UMat::operator()( const Rect& roi ) const
+{
+    return UMat(*this, roi);
+}
+
+inline
+UMat UMat::operator()(const Range* ranges) const
+{
+    return UMat(*this, ranges);
+}
+
+inline
+bool UMat::isContinuous() const
+{
+    return (flags & CONTINUOUS_FLAG) != 0;
+}
+
+inline
+bool UMat::isSubmatrix() const
+{
+    return (flags & SUBMATRIX_FLAG) != 0;
+}
+
+inline
+size_t UMat::elemSize() const
+{
+    return dims > 0 ? step.p[dims - 1] : 0;
+}
+
+inline
+size_t UMat::elemSize1() const
+{
+    return CV_ELEM_SIZE1(flags);
+}
+
+inline
+int UMat::type() const
+{
+    return CV_MAT_TYPE(flags);
+}
+
+inline
+int UMat::depth() const
+{
+    return CV_MAT_DEPTH(flags);
+}
+
+inline
+int UMat::channels() const
+{
+    return CV_MAT_CN(flags);
+}
+
+inline
+size_t UMat::step1(int i) const
+{
+    return step.p[i] / elemSize1();
+}
+
+inline
+bool UMat::empty() const
+{
+    return u == 0 || total() == 0;
+}
+
+inline
+size_t UMat::total() const
+{
+    if( dims <= 2 )
+        return (size_t)rows * cols;
+    size_t p = 1;
+    for( int i = 0; i < dims; i++ )
+        p *= size[i];
+    return p;
+}
+
+inline bool UMatData::hostCopyObsolete() const { return (flags & HOST_COPY_OBSOLETE) != 0; }
+inline bool UMatData::deviceCopyObsolete() const { return (flags & DEVICE_COPY_OBSOLETE) != 0; }
+inline bool UMatData::deviceMemMapped() const { return (flags & DEVICE_MEM_MAPPED) != 0; }
+inline bool UMatData::copyOnMap() const { return (flags & COPY_ON_MAP) != 0; }
+inline bool UMatData::tempUMat() const { return (flags & TEMP_UMAT) != 0; }
+inline bool UMatData::tempCopiedUMat() const { return (flags & TEMP_COPIED_UMAT) == TEMP_COPIED_UMAT; }
+
+inline void UMatData::markDeviceMemMapped(bool flag)
+{
+  if(flag)
+    flags |= DEVICE_MEM_MAPPED;
+  else
+    flags &= ~DEVICE_MEM_MAPPED;
+}
+
+inline void UMatData::markHostCopyObsolete(bool flag)
+{
+    if(flag)
+        flags |= HOST_COPY_OBSOLETE;
+    else
+        flags &= ~HOST_COPY_OBSOLETE;
+}
+inline void UMatData::markDeviceCopyObsolete(bool flag)
+{
+    if(flag)
+        flags |= DEVICE_COPY_OBSOLETE;
+    else
+        flags &= ~DEVICE_COPY_OBSOLETE;
+}
+
+inline UMatDataAutoLock::UMatDataAutoLock(UMatData* _u) : u(_u) { u->lock(); }
+inline UMatDataAutoLock::~UMatDataAutoLock() { u->unlock(); }
+
+//! @endcond
+
+} //cv
+
+#endif
diff --git a/3rdparty/include/opencv2/core/matx.hpp b/3rdparty/include/opencv2/core/matx.hpp
new file mode 100644
index 0000000..2a17744
--- /dev/null
+++ b/3rdparty/include/opencv2/core/matx.hpp
@@ -0,0 +1,1376 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_MATX_HPP__
+#define __OPENCV_CORE_MATX_HPP__
+
+#ifndef __cplusplus
+#  error matx.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/base.hpp"
+#include "opencv2/core/traits.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_basic
+//! @{
+
+////////////////////////////// Small Matrix ///////////////////////////
+
+//! @cond IGNORED
+struct CV_EXPORTS Matx_AddOp {};
+struct CV_EXPORTS Matx_SubOp {};
+struct CV_EXPORTS Matx_ScaleOp {};
+struct CV_EXPORTS Matx_MulOp {};
+struct CV_EXPORTS Matx_DivOp {};
+struct CV_EXPORTS Matx_MatMulOp {};
+struct CV_EXPORTS Matx_TOp {};
+//! @endcond
+
+/** @brief Template class for small matrices whose type and size are known at compilation time
+
+If you need a more flexible type, use Mat . The elements of the matrix M are accessible using the
+M(i,j) notation. Most of the common matrix operations (see also @ref MatrixExpressions ) are
+available. To do an operation on Matx that is not implemented, you can easily convert the matrix to
+Mat and backwards:
+@code
+    Matx33f m(1, 2, 3,
+              4, 5, 6,
+              7, 8, 9);
+    cout << sum(Mat(m*m.t())) << endl;
+ @endcode
+ */
+template<typename _Tp, int m, int n> class Matx
+{
+public:
+    enum { depth    = DataType<_Tp>::depth,
+           rows     = m,
+           cols     = n,
+           channels = rows*cols,
+           type     = CV_MAKETYPE(depth, channels),
+           shortdim = (m < n ? m : n)
+         };
+
+    typedef _Tp                           value_type;
+    typedef Matx<_Tp, m, n>               mat_type;
+    typedef Matx<_Tp, shortdim, 1> diag_type;
+
+    //! default constructor
+    Matx();
+
+    Matx(_Tp v0); //!< 1x1 matrix
+    Matx(_Tp v0, _Tp v1); //!< 1x2 or 2x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2); //!< 1x3 or 3x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3); //!< 1x4, 2x2 or 4x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4); //!< 1x5 or 5x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5); //!< 1x6, 2x3, 3x2 or 6x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6); //!< 1x7 or 7x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7); //!< 1x8, 2x4, 4x2 or 8x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8); //!< 1x9, 3x3 or 9x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9); //!< 1x10, 2x5 or 5x2 or 10x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3,
+         _Tp v4, _Tp v5, _Tp v6, _Tp v7,
+         _Tp v8, _Tp v9, _Tp v10, _Tp v11); //!< 1x12, 2x6, 3x4, 4x3, 6x2 or 12x1 matrix
+    Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3,
+         _Tp v4, _Tp v5, _Tp v6, _Tp v7,
+         _Tp v8, _Tp v9, _Tp v10, _Tp v11,
+         _Tp v12, _Tp v13, _Tp v14, _Tp v15); //!< 1x16, 4x4 or 16x1 matrix
+    explicit Matx(const _Tp* vals); //!< initialize from a plain array
+
+    static Matx all(_Tp alpha);
+    static Matx zeros();
+    static Matx ones();
+    static Matx eye();
+    static Matx diag(const diag_type& d);
+    static Matx randu(_Tp a, _Tp b);
+    static Matx randn(_Tp a, _Tp b);
+
+    //! dot product computed with the default precision
+    _Tp dot(const Matx<_Tp, m, n>& v) const;
+
+    //! dot product computed in double-precision arithmetics
+    double ddot(const Matx<_Tp, m, n>& v) const;
+
+    //! conversion to another data type
+    template<typename T2> operator Matx<T2, m, n>() const;
+
+    //! change the matrix shape
+    template<int m1, int n1> Matx<_Tp, m1, n1> reshape() const;
+
+    //! extract part of the matrix
+    template<int m1, int n1> Matx<_Tp, m1, n1> get_minor(int i, int j) const;
+
+    //! extract the matrix row
+    Matx<_Tp, 1, n> row(int i) const;
+
+    //! extract the matrix column
+    Matx<_Tp, m, 1> col(int i) const;
+
+    //! extract the matrix diagonal
+    diag_type diag() const;
+
+    //! transpose the matrix
+    Matx<_Tp, n, m> t() const;
+
+    //! invert the matrix
+    Matx<_Tp, n, m> inv(int method=DECOMP_LU, bool *p_is_ok = NULL) const;
+
+    //! solve linear system
+    template<int l> Matx<_Tp, n, l> solve(const Matx<_Tp, m, l>& rhs, int flags=DECOMP_LU) const;
+    Vec<_Tp, n> solve(const Vec<_Tp, m>& rhs, int method) const;
+
+    //! multiply two matrices element-wise
+    Matx<_Tp, m, n> mul(const Matx<_Tp, m, n>& a) const;
+
+    //! divide two matrices element-wise
+    Matx<_Tp, m, n> div(const Matx<_Tp, m, n>& a) const;
+
+    //! element access
+    const _Tp& operator ()(int i, int j) const;
+    _Tp& operator ()(int i, int j);
+
+    //! 1D element access
+    const _Tp& operator ()(int i) const;
+    _Tp& operator ()(int i);
+
+    Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_AddOp);
+    Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_SubOp);
+    template<typename _T2> Matx(const Matx<_Tp, m, n>& a, _T2 alpha, Matx_ScaleOp);
+    Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_MulOp);
+    Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_DivOp);
+    template<int l> Matx(const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b, Matx_MatMulOp);
+    Matx(const Matx<_Tp, n, m>& a, Matx_TOp);
+
+    _Tp val[m*n]; //< matrix elements
+};
+
+typedef Matx<float, 1, 2> Matx12f;
+typedef Matx<double, 1, 2> Matx12d;
+typedef Matx<float, 1, 3> Matx13f;
+typedef Matx<double, 1, 3> Matx13d;
+typedef Matx<float, 1, 4> Matx14f;
+typedef Matx<double, 1, 4> Matx14d;
+typedef Matx<float, 1, 6> Matx16f;
+typedef Matx<double, 1, 6> Matx16d;
+
+typedef Matx<float, 2, 1> Matx21f;
+typedef Matx<double, 2, 1> Matx21d;
+typedef Matx<float, 3, 1> Matx31f;
+typedef Matx<double, 3, 1> Matx31d;
+typedef Matx<float, 4, 1> Matx41f;
+typedef Matx<double, 4, 1> Matx41d;
+typedef Matx<float, 6, 1> Matx61f;
+typedef Matx<double, 6, 1> Matx61d;
+
+typedef Matx<float, 2, 2> Matx22f;
+typedef Matx<double, 2, 2> Matx22d;
+typedef Matx<float, 2, 3> Matx23f;
+typedef Matx<double, 2, 3> Matx23d;
+typedef Matx<float, 3, 2> Matx32f;
+typedef Matx<double, 3, 2> Matx32d;
+
+typedef Matx<float, 3, 3> Matx33f;
+typedef Matx<double, 3, 3> Matx33d;
+
+typedef Matx<float, 3, 4> Matx34f;
+typedef Matx<double, 3, 4> Matx34d;
+typedef Matx<float, 4, 3> Matx43f;
+typedef Matx<double, 4, 3> Matx43d;
+
+typedef Matx<float, 4, 4> Matx44f;
+typedef Matx<double, 4, 4> Matx44d;
+typedef Matx<float, 6, 6> Matx66f;
+typedef Matx<double, 6, 6> Matx66d;
+
+/*!
+  traits
+*/
+template<typename _Tp, int m, int n> class DataType< Matx<_Tp, m, n> >
+{
+public:
+    typedef Matx<_Tp, m, n>                               value_type;
+    typedef Matx<typename DataType<_Tp>::work_type, m, n> work_type;
+    typedef _Tp                                           channel_type;
+    typedef value_type                                    vec_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = m * n,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+/** @brief  Comma-separated Matrix Initializer
+*/
+template<typename _Tp, int m, int n> class MatxCommaInitializer
+{
+public:
+    MatxCommaInitializer(Matx<_Tp, m, n>* _mtx);
+    template<typename T2> MatxCommaInitializer<_Tp, m, n>& operator , (T2 val);
+    Matx<_Tp, m, n> operator *() const;
+
+    Matx<_Tp, m, n>* dst;
+    int idx;
+};
+
+/*
+ Utility methods
+*/
+template<typename _Tp, int m> static double determinant(const Matx<_Tp, m, m>& a);
+template<typename _Tp, int m, int n> static double trace(const Matx<_Tp, m, n>& a);
+template<typename _Tp, int m, int n> static double norm(const Matx<_Tp, m, n>& M);
+template<typename _Tp, int m, int n> static double norm(const Matx<_Tp, m, n>& M, int normType);
+
+
+
+/////////////////////// Vec (used as element of multi-channel images /////////////////////
+
+/** @brief Template class for short numerical vectors, a partial case of Matx
+
+This template class represents short numerical vectors (of 1, 2, 3, 4 ... elements) on which you
+can perform basic arithmetical operations, access individual elements using [] operator etc. The
+vectors are allocated on stack, as opposite to std::valarray, std::vector, cv::Mat etc., which
+elements are dynamically allocated in the heap.
+
+The template takes 2 parameters:
+@tparam _Tp element type
+@tparam cn the number of elements
+
+In addition to the universal notation like Vec<float, 3>, you can use shorter aliases
+for the most popular specialized variants of Vec, e.g. Vec3f ~ Vec<float, 3>.
+
+It is possible to convert Vec\<T,2\> to/from Point_, Vec\<T,3\> to/from Point3_ , and Vec\<T,4\>
+to CvScalar or Scalar_. Use operator[] to access the elements of Vec.
+
+All the expected vector operations are also implemented:
+-   v1 = v2 + v3
+-   v1 = v2 - v3
+-   v1 = v2 \* scale
+-   v1 = scale \* v2
+-   v1 = -v2
+-   v1 += v2 and other augmenting operations
+-   v1 == v2, v1 != v2
+-   norm(v1) (euclidean norm)
+The Vec class is commonly used to describe pixel types of multi-channel arrays. See Mat for details.
+*/
+template<typename _Tp, int cn> class Vec : public Matx<_Tp, cn, 1>
+{
+public:
+    typedef _Tp value_type;
+    enum { depth    = Matx<_Tp, cn, 1>::depth,
+           channels = cn,
+           type     = CV_MAKETYPE(depth, channels)
+         };
+
+    //! default constructor
+    Vec();
+
+    Vec(_Tp v0); //!< 1-element vector constructor
+    Vec(_Tp v0, _Tp v1); //!< 2-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2); //!< 3-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3); //!< 4-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4); //!< 5-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5); //!< 6-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6); //!< 7-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7); //!< 8-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8); //!< 9-element vector constructor
+    Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9); //!< 10-element vector constructor
+    explicit Vec(const _Tp* values);
+
+    Vec(const Vec<_Tp, cn>& v);
+
+    static Vec all(_Tp alpha);
+
+    //! per-element multiplication
+    Vec mul(const Vec<_Tp, cn>& v) const;
+
+    //! conjugation (makes sense for complex numbers and quaternions)
+    Vec conj() const;
+
+    /*!
+      cross product of the two 3D vectors.
+
+      For other dimensionalities the exception is raised
+    */
+    Vec cross(const Vec& v) const;
+    //! conversion to another data type
+    template<typename T2> operator Vec<T2, cn>() const;
+
+    /*! element access */
+    const _Tp& operator [](int i) const;
+    _Tp& operator[](int i);
+    const _Tp& operator ()(int i) const;
+    _Tp& operator ()(int i);
+
+    Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_AddOp);
+    Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_SubOp);
+    template<typename _T2> Vec(const Matx<_Tp, cn, 1>& a, _T2 alpha, Matx_ScaleOp);
+};
+
+/** @name Shorter aliases for the most popular specializations of Vec<T,n>
+  @{
+*/
+typedef Vec<uchar, 2> Vec2b;
+typedef Vec<uchar, 3> Vec3b;
+typedef Vec<uchar, 4> Vec4b;
+
+typedef Vec<short, 2> Vec2s;
+typedef Vec<short, 3> Vec3s;
+typedef Vec<short, 4> Vec4s;
+
+typedef Vec<ushort, 2> Vec2w;
+typedef Vec<ushort, 3> Vec3w;
+typedef Vec<ushort, 4> Vec4w;
+
+typedef Vec<int, 2> Vec2i;
+typedef Vec<int, 3> Vec3i;
+typedef Vec<int, 4> Vec4i;
+typedef Vec<int, 6> Vec6i;
+typedef Vec<int, 8> Vec8i;
+
+typedef Vec<float, 2> Vec2f;
+typedef Vec<float, 3> Vec3f;
+typedef Vec<float, 4> Vec4f;
+typedef Vec<float, 6> Vec6f;
+
+typedef Vec<double, 2> Vec2d;
+typedef Vec<double, 3> Vec3d;
+typedef Vec<double, 4> Vec4d;
+typedef Vec<double, 6> Vec6d;
+/** @} */
+
+/*!
+  traits
+*/
+template<typename _Tp, int cn> class DataType< Vec<_Tp, cn> >
+{
+public:
+    typedef Vec<_Tp, cn>                               value_type;
+    typedef Vec<typename DataType<_Tp>::work_type, cn> work_type;
+    typedef _Tp                                        channel_type;
+    typedef value_type                                 vec_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = cn,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+/** @brief  Comma-separated Vec Initializer
+*/
+template<typename _Tp, int m> class VecCommaInitializer : public MatxCommaInitializer<_Tp, m, 1>
+{
+public:
+    VecCommaInitializer(Vec<_Tp, m>* _vec);
+    template<typename T2> VecCommaInitializer<_Tp, m>& operator , (T2 val);
+    Vec<_Tp, m> operator *() const;
+};
+
+template<typename _Tp, int cn> static Vec<_Tp, cn> normalize(const Vec<_Tp, cn>& v);
+
+//! @} core_basic
+
+//! @cond IGNORED
+
+///////////////////////////////////// helper classes /////////////////////////////////////
+namespace internal
+{
+
+template<typename _Tp, int m> struct Matx_DetOp
+{
+    double operator ()(const Matx<_Tp, m, m>& a) const
+    {
+        Matx<_Tp, m, m> temp = a;
+        double p = LU(temp.val, m*sizeof(_Tp), m, 0, 0, 0);
+        if( p == 0 )
+            return p;
+        for( int i = 0; i < m; i++ )
+            p *= temp(i, i);
+        return 1./p;
+    }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 1>
+{
+    double operator ()(const Matx<_Tp, 1, 1>& a) const
+    {
+        return a(0,0);
+    }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 2>
+{
+    double operator ()(const Matx<_Tp, 2, 2>& a) const
+    {
+        return a(0,0)*a(1,1) - a(0,1)*a(1,0);
+    }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 3>
+{
+    double operator ()(const Matx<_Tp, 3, 3>& a) const
+    {
+        return a(0,0)*(a(1,1)*a(2,2) - a(2,1)*a(1,2)) -
+            a(0,1)*(a(1,0)*a(2,2) - a(2,0)*a(1,2)) +
+            a(0,2)*(a(1,0)*a(2,1) - a(2,0)*a(1,1));
+    }
+};
+
+template<typename _Tp> Vec<_Tp, 2> inline conjugate(const Vec<_Tp, 2>& v)
+{
+    return Vec<_Tp, 2>(v[0], -v[1]);
+}
+
+template<typename _Tp> Vec<_Tp, 4> inline conjugate(const Vec<_Tp, 4>& v)
+{
+    return Vec<_Tp, 4>(v[0], -v[1], -v[2], -v[3]);
+}
+
+} // internal
+
+
+
+////////////////////////////////// Matx Implementation ///////////////////////////////////
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx()
+{
+    for(int i = 0; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0)
+{
+    val[0] = v0;
+    for(int i = 1; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1)
+{
+    CV_StaticAssert(channels >= 2, "Matx should have at least 2 elaments.");
+    val[0] = v0; val[1] = v1;
+    for(int i = 2; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2)
+{
+    CV_StaticAssert(channels >= 3, "Matx should have at least 3 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2;
+    for(int i = 3; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3)
+{
+    CV_StaticAssert(channels >= 4, "Matx should have at least 4 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    for(int i = 4; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4)
+{
+    CV_StaticAssert(channels >= 5, "Matx should have at least 5 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3; val[4] = v4;
+    for(int i = 5; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5)
+{
+    CV_StaticAssert(channels >= 6, "Matx should have at least 6 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5;
+    for(int i = 6; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6)
+{
+    CV_StaticAssert(channels >= 7, "Matx should have at least 7 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6;
+    for(int i = 7; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7)
+{
+    CV_StaticAssert(channels >= 8, "Matx should have at least 8 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+    for(int i = 8; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8)
+{
+    CV_StaticAssert(channels >= 9, "Matx should have at least 9 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+    val[8] = v8;
+    for(int i = 9; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9)
+{
+    CV_StaticAssert(channels >= 10, "Matx should have at least 10 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+    val[8] = v8; val[9] = v9;
+    for(int i = 10; i < channels; i++) val[i] = _Tp(0);
+}
+
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11)
+{
+    CV_StaticAssert(channels == 12, "Matx should have at least 12 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+    val[8] = v8; val[9] = v9; val[10] = v10; val[11] = v11;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11, _Tp v12, _Tp v13, _Tp v14, _Tp v15)
+{
+    CV_StaticAssert(channels == 16, "Matx should have at least 16 elaments.");
+    val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+    val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+    val[8] = v8; val[9] = v9; val[10] = v10; val[11] = v11;
+    val[12] = v12; val[13] = v13; val[14] = v14; val[15] = v15;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(const _Tp* values)
+{
+    for( int i = 0; i < channels; i++ ) val[i] = values[i];
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::all(_Tp alpha)
+{
+    Matx<_Tp, m, n> M;
+    for( int i = 0; i < m*n; i++ ) M.val[i] = alpha;
+    return M;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::zeros()
+{
+    return all(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::ones()
+{
+    return all(1);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::eye()
+{
+    Matx<_Tp,m,n> M;
+    for(int i = 0; i < shortdim; i++)
+        M(i,i) = 1;
+    return M;
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp Matx<_Tp, m, n>::dot(const Matx<_Tp, m, n>& M) const
+{
+    _Tp s = 0;
+    for( int i = 0; i < channels; i++ ) s += val[i]*M.val[i];
+    return s;
+}
+
+template<typename _Tp, int m, int n> inline
+double Matx<_Tp, m, n>::ddot(const Matx<_Tp, m, n>& M) const
+{
+    double s = 0;
+    for( int i = 0; i < channels; i++ ) s += (double)val[i]*M.val[i];
+    return s;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::diag(const typename Matx<_Tp,m,n>::diag_type& d)
+{
+    Matx<_Tp,m,n> M;
+    for(int i = 0; i < shortdim; i++)
+        M(i,i) = d(i, 0);
+    return M;
+}
+
+template<typename _Tp, int m, int n> template<typename T2>
+inline Matx<_Tp, m, n>::operator Matx<T2, m, n>() const
+{
+    Matx<T2, m, n> M;
+    for( int i = 0; i < m*n; i++ ) M.val[i] = saturate_cast<T2>(val[i]);
+    return M;
+}
+
+template<typename _Tp, int m, int n> template<int m1, int n1> inline
+Matx<_Tp, m1, n1> Matx<_Tp, m, n>::reshape() const
+{
+    CV_StaticAssert(m1*n1 == m*n, "Input and destnarion matrices must have the same number of elements");
+    return (const Matx<_Tp, m1, n1>&)*this;
+}
+
+template<typename _Tp, int m, int n>
+template<int m1, int n1> inline
+Matx<_Tp, m1, n1> Matx<_Tp, m, n>::get_minor(int i, int j) const
+{
+    CV_DbgAssert(0 <= i && i+m1 <= m && 0 <= j && j+n1 <= n);
+    Matx<_Tp, m1, n1> s;
+    for( int di = 0; di < m1; di++ )
+        for( int dj = 0; dj < n1; dj++ )
+            s(di, dj) = (*this)(i+di, j+dj);
+    return s;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, 1, n> Matx<_Tp, m, n>::row(int i) const
+{
+    CV_DbgAssert((unsigned)i < (unsigned)m);
+    return Matx<_Tp, 1, n>(&val[i*n]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, 1> Matx<_Tp, m, n>::col(int j) const
+{
+    CV_DbgAssert((unsigned)j < (unsigned)n);
+    Matx<_Tp, m, 1> v;
+    for( int i = 0; i < m; i++ )
+        v.val[i] = val[i*n + j];
+    return v;
+}
+
+template<typename _Tp, int m, int n> inline
+typename Matx<_Tp, m, n>::diag_type Matx<_Tp, m, n>::diag() const
+{
+    diag_type d;
+    for( int i = 0; i < shortdim; i++ )
+        d.val[i] = val[i*n + i];
+    return d;
+}
+
+template<typename _Tp, int m, int n> inline
+const _Tp& Matx<_Tp, m, n>::operator()(int i, int j) const
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)m && (unsigned)j < (unsigned)n );
+    return this->val[i*n + j];
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp& Matx<_Tp, m, n>::operator ()(int i, int j)
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)m && (unsigned)j < (unsigned)n );
+    return val[i*n + j];
+}
+
+template<typename _Tp, int m, int n> inline
+const _Tp& Matx<_Tp, m, n>::operator ()(int i) const
+{
+    CV_StaticAssert(m == 1 || n == 1, "Single index indexation requires matrix to be a column or a row");
+    CV_DbgAssert( (unsigned)i < (unsigned)(m+n-1) );
+    return val[i];
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp& Matx<_Tp, m, n>::operator ()(int i)
+{
+    CV_StaticAssert(m == 1 || n == 1, "Single index indexation requires matrix to be a column or a row");
+    CV_DbgAssert( (unsigned)i < (unsigned)(m+n-1) );
+    return val[i];
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_AddOp)
+{
+    for( int i = 0; i < channels; i++ )
+        val[i] = saturate_cast<_Tp>(a.val[i] + b.val[i]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_SubOp)
+{
+    for( int i = 0; i < channels; i++ )
+        val[i] = saturate_cast<_Tp>(a.val[i] - b.val[i]);
+}
+
+template<typename _Tp, int m, int n> template<typename _T2> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, _T2 alpha, Matx_ScaleOp)
+{
+    for( int i = 0; i < channels; i++ )
+        val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_MulOp)
+{
+    for( int i = 0; i < channels; i++ )
+        val[i] = saturate_cast<_Tp>(a.val[i] * b.val[i]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_DivOp)
+{
+    for( int i = 0; i < channels; i++ )
+        val[i] = saturate_cast<_Tp>(a.val[i] / b.val[i]);
+}
+
+template<typename _Tp, int m, int n> template<int l> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b, Matx_MatMulOp)
+{
+    for( int i = 0; i < m; i++ )
+        for( int j = 0; j < n; j++ )
+        {
+            _Tp s = 0;
+            for( int k = 0; k < l; k++ )
+                s += a(i, k) * b(k, j);
+            val[i*n + j] = s;
+        }
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, n, m>& a, Matx_TOp)
+{
+    for( int i = 0; i < m; i++ )
+        for( int j = 0; j < n; j++ )
+            val[i*n + j] = a(j, i);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::mul(const Matx<_Tp, m, n>& a) const
+{
+    return Matx<_Tp, m, n>(*this, a, Matx_MulOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::div(const Matx<_Tp, m, n>& a) const
+{
+    return Matx<_Tp, m, n>(*this, a, Matx_DivOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, n, m> Matx<_Tp, m, n>::t() const
+{
+    return Matx<_Tp, n, m>(*this, Matx_TOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Vec<_Tp, n> Matx<_Tp, m, n>::solve(const Vec<_Tp, m>& rhs, int method) const
+{
+    Matx<_Tp, n, 1> x = solve((const Matx<_Tp, m, 1>&)(rhs), method);
+    return (Vec<_Tp, n>&)(x);
+}
+
+template<typename _Tp, int m> static inline
+double determinant(const Matx<_Tp, m, m>& a)
+{
+    return cv::internal::Matx_DetOp<_Tp, m>()(a);
+}
+
+template<typename _Tp, int m, int n> static inline
+double trace(const Matx<_Tp, m, n>& a)
+{
+    _Tp s = 0;
+    for( int i = 0; i < std::min(m, n); i++ )
+        s += a(i,i);
+    return s;
+}
+
+template<typename _Tp, int m, int n> static inline
+double norm(const Matx<_Tp, m, n>& M)
+{
+    return std::sqrt(normL2Sqr<_Tp, double>(M.val, m*n));
+}
+
+template<typename _Tp, int m, int n> static inline
+double norm(const Matx<_Tp, m, n>& M, int normType)
+{
+    return normType == NORM_INF ? (double)normInf<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n) :
+        normType == NORM_L1 ? (double)normL1<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n) :
+        std::sqrt((double)normL2Sqr<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n));
+}
+
+
+
+//////////////////////////////// matx comma initializer //////////////////////////////////
+
+template<typename _Tp, typename _T2, int m, int n> static inline
+MatxCommaInitializer<_Tp, m, n> operator << (const Matx<_Tp, m, n>& mtx, _T2 val)
+{
+    MatxCommaInitializer<_Tp, m, n> commaInitializer((Matx<_Tp, m, n>*)&mtx);
+    return (commaInitializer, val);
+}
+
+template<typename _Tp, int m, int n> inline
+MatxCommaInitializer<_Tp, m, n>::MatxCommaInitializer(Matx<_Tp, m, n>* _mtx)
+    : dst(_mtx), idx(0)
+{}
+
+template<typename _Tp, int m, int n> template<typename _T2> inline
+MatxCommaInitializer<_Tp, m, n>& MatxCommaInitializer<_Tp, m, n>::operator , (_T2 value)
+{
+    CV_DbgAssert( idx < m*n );
+    dst->val[idx++] = saturate_cast<_Tp>(value);
+    return *this;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> MatxCommaInitializer<_Tp, m, n>::operator *() const
+{
+    CV_DbgAssert( idx == n*m );
+    return *dst;
+}
+
+
+
+/////////////////////////////////// Vec Implementation ///////////////////////////////////
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec() {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0)
+    : Matx<_Tp, cn, 1>(v0) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1)
+    : Matx<_Tp, cn, 1>(v0, v1) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2)
+    : Matx<_Tp, cn, 1>(v0, v1, v2) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7, v8) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9)
+    : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const _Tp* values)
+    : Matx<_Tp, cn, 1>(values) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Vec<_Tp, cn>& m)
+    : Matx<_Tp, cn, 1>(m.val) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_AddOp op)
+    : Matx<_Tp, cn, 1>(a, b, op) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_SubOp op)
+    : Matx<_Tp, cn, 1>(a, b, op) {}
+
+template<typename _Tp, int cn> template<typename _T2> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, _T2 alpha, Matx_ScaleOp op)
+    : Matx<_Tp, cn, 1>(a, alpha, op) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::all(_Tp alpha)
+{
+    Vec v;
+    for( int i = 0; i < cn; i++ ) v.val[i] = alpha;
+    return v;
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::mul(const Vec<_Tp, cn>& v) const
+{
+    Vec<_Tp, cn> w;
+    for( int i = 0; i < cn; i++ ) w.val[i] = saturate_cast<_Tp>(this->val[i]*v.val[i]);
+    return w;
+}
+
+template<> inline
+Vec<float, 2> Vec<float, 2>::conj() const
+{
+    return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<double, 2> Vec<double, 2>::conj() const
+{
+    return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<float, 4> Vec<float, 4>::conj() const
+{
+    return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<double, 4> Vec<double, 4>::conj() const
+{
+    return cv::internal::conjugate(*this);
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::cross(const Vec<_Tp, cn>&) const
+{
+    CV_StaticAssert(cn == 3, "for arbitrary-size vector there is no cross-product defined");
+    return Vec<_Tp, cn>();
+}
+
+template<> inline
+Vec<float, 3> Vec<float, 3>::cross(const Vec<float, 3>& v) const
+{
+    return Vec<float,3>(val[1]*v.val[2] - val[2]*v.val[1],
+                     val[2]*v.val[0] - val[0]*v.val[2],
+                     val[0]*v.val[1] - val[1]*v.val[0]);
+}
+
+template<> inline
+Vec<double, 3> Vec<double, 3>::cross(const Vec<double, 3>& v) const
+{
+    return Vec<double,3>(val[1]*v.val[2] - val[2]*v.val[1],
+                     val[2]*v.val[0] - val[0]*v.val[2],
+                     val[0]*v.val[1] - val[1]*v.val[0]);
+}
+
+template<typename _Tp, int cn> template<typename T2> inline
+Vec<_Tp, cn>::operator Vec<T2, cn>() const
+{
+    Vec<T2, cn> v;
+    for( int i = 0; i < cn; i++ ) v.val[i] = saturate_cast<T2>(this->val[i]);
+    return v;
+}
+
+template<typename _Tp, int cn> inline
+const _Tp& Vec<_Tp, cn>::operator [](int i) const
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)cn );
+    return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+_Tp& Vec<_Tp, cn>::operator [](int i)
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)cn );
+    return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+const _Tp& Vec<_Tp, cn>::operator ()(int i) const
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)cn );
+    return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+_Tp& Vec<_Tp, cn>::operator ()(int i)
+{
+    CV_DbgAssert( (unsigned)i < (unsigned)cn );
+    return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> normalize(const Vec<_Tp, cn>& v)
+{
+    double nv = norm(v);
+    return v * (nv ? 1./nv : 0.);
+}
+
+
+
+//////////////////////////////// matx comma initializer //////////////////////////////////
+
+
+template<typename _Tp, typename _T2, int cn> static inline
+VecCommaInitializer<_Tp, cn> operator << (const Vec<_Tp, cn>& vec, _T2 val)
+{
+    VecCommaInitializer<_Tp, cn> commaInitializer((Vec<_Tp, cn>*)&vec);
+    return (commaInitializer, val);
+}
+
+template<typename _Tp, int cn> inline
+VecCommaInitializer<_Tp, cn>::VecCommaInitializer(Vec<_Tp, cn>* _vec)
+    : MatxCommaInitializer<_Tp, cn, 1>(_vec)
+{}
+
+template<typename _Tp, int cn> template<typename _T2> inline
+VecCommaInitializer<_Tp, cn>& VecCommaInitializer<_Tp, cn>::operator , (_T2 value)
+{
+    CV_DbgAssert( this->idx < cn );
+    this->dst->val[this->idx++] = saturate_cast<_Tp>(value);
+    return *this;
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> VecCommaInitializer<_Tp, cn>::operator *() const
+{
+    CV_DbgAssert( this->idx == cn );
+    return *this->dst;
+}
+
+//! @endcond
+
+///////////////////////////// Matx out-of-class operators ////////////////////////////////
+
+//! @relates cv::Matx
+//! @{
+
+template<typename _Tp1, typename _Tp2, int m, int n> static inline
+Matx<_Tp1, m, n>& operator += (Matx<_Tp1, m, n>& a, const Matx<_Tp2, m, n>& b)
+{
+    for( int i = 0; i < m*n; i++ )
+        a.val[i] = saturate_cast<_Tp1>(a.val[i] + b.val[i]);
+    return a;
+}
+
+template<typename _Tp1, typename _Tp2, int m, int n> static inline
+Matx<_Tp1, m, n>& operator -= (Matx<_Tp1, m, n>& a, const Matx<_Tp2, m, n>& b)
+{
+    for( int i = 0; i < m*n; i++ )
+        a.val[i] = saturate_cast<_Tp1>(a.val[i] - b.val[i]);
+    return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator + (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+    return Matx<_Tp, m, n>(a, b, Matx_AddOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator - (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+    return Matx<_Tp, m, n>(a, b, Matx_SubOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, int alpha)
+{
+    for( int i = 0; i < m*n; i++ )
+        a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+    return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, float alpha)
+{
+    for( int i = 0; i < m*n; i++ )
+        a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+    return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, double alpha)
+{
+    for( int i = 0; i < m*n; i++ )
+        a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+    return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, int alpha)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, float alpha)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, double alpha)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (int alpha, const Matx<_Tp, m, n>& a)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (float alpha, const Matx<_Tp, m, n>& a)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (double alpha, const Matx<_Tp, m, n>& a)
+{
+    return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator - (const Matx<_Tp, m, n>& a)
+{
+    return Matx<_Tp, m, n>(a, -1, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n, int l> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b)
+{
+    return Matx<_Tp, m, n>(a, b, Matx_MatMulOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Vec<_Tp, m> operator * (const Matx<_Tp, m, n>& a, const Vec<_Tp, n>& b)
+{
+    Matx<_Tp, m, 1> c(a, b, Matx_MatMulOp());
+    return (const Vec<_Tp, m>&)(c);
+}
+
+template<typename _Tp, int m, int n> static inline
+bool operator == (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+    for( int i = 0; i < m*n; i++ )
+        if( a.val[i] != b.val[i] ) return false;
+    return true;
+}
+
+template<typename _Tp, int m, int n> static inline
+bool operator != (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+    return !(a == b);
+}
+
+//! @}
+
+////////////////////////////// Vec out-of-class operators ////////////////////////////////
+
+//! @relates cv::Vec
+//! @{
+
+template<typename _Tp1, typename _Tp2, int cn> static inline
+Vec<_Tp1, cn>& operator += (Vec<_Tp1, cn>& a, const Vec<_Tp2, cn>& b)
+{
+    for( int i = 0; i < cn; i++ )
+        a.val[i] = saturate_cast<_Tp1>(a.val[i] + b.val[i]);
+    return a;
+}
+
+template<typename _Tp1, typename _Tp2, int cn> static inline
+Vec<_Tp1, cn>& operator -= (Vec<_Tp1, cn>& a, const Vec<_Tp2, cn>& b)
+{
+    for( int i = 0; i < cn; i++ )
+        a.val[i] = saturate_cast<_Tp1>(a.val[i] - b.val[i]);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator + (const Vec<_Tp, cn>& a, const Vec<_Tp, cn>& b)
+{
+    return Vec<_Tp, cn>(a, b, Matx_AddOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator - (const Vec<_Tp, cn>& a, const Vec<_Tp, cn>& b)
+{
+    return Vec<_Tp, cn>(a, b, Matx_SubOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, int alpha)
+{
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*alpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, float alpha)
+{
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*alpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, double alpha)
+{
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*alpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, int alpha)
+{
+    double ialpha = 1./alpha;
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, float alpha)
+{
+    float ialpha = 1.f/alpha;
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, double alpha)
+{
+    double ialpha = 1./alpha;
+    for( int i = 0; i < cn; i++ )
+        a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+    return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, int alpha)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (int alpha, const Vec<_Tp, cn>& a)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, float alpha)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (float alpha, const Vec<_Tp, cn>& a)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, double alpha)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (double alpha, const Vec<_Tp, cn>& a)
+{
+    return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, int alpha)
+{
+    return Vec<_Tp, cn>(a, 1./alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, float alpha)
+{
+    return Vec<_Tp, cn>(a, 1.f/alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, double alpha)
+{
+    return Vec<_Tp, cn>(a, 1./alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator - (const Vec<_Tp, cn>& a)
+{
+    Vec<_Tp,cn> t;
+    for( int i = 0; i < cn; i++ ) t.val[i] = saturate_cast<_Tp>(-a.val[i]);
+    return t;
+}
+
+template<typename _Tp> inline Vec<_Tp, 4> operator * (const Vec<_Tp, 4>& v1, const Vec<_Tp, 4>& v2)
+{
+    return Vec<_Tp, 4>(saturate_cast<_Tp>(v1[0]*v2[0] - v1[1]*v2[1] - v1[2]*v2[2] - v1[3]*v2[3]),
+                       saturate_cast<_Tp>(v1[0]*v2[1] + v1[1]*v2[0] + v1[2]*v2[3] - v1[3]*v2[2]),
+                       saturate_cast<_Tp>(v1[0]*v2[2] - v1[1]*v2[3] + v1[2]*v2[0] + v1[3]*v2[1]),
+                       saturate_cast<_Tp>(v1[0]*v2[3] + v1[1]*v2[2] - v1[2]*v2[1] + v1[3]*v2[0]));
+}
+
+template<typename _Tp> inline Vec<_Tp, 4>& operator *= (Vec<_Tp, 4>& v1, const Vec<_Tp, 4>& v2)
+{
+    v1 = v1 * v2;
+    return v1;
+}
+
+//! @}
+
+} // cv
+
+#endif // __OPENCV_CORE_MATX_HPP__
diff --git a/3rdparty/include/opencv2/core/ocl.hpp b/3rdparty/include/opencv2/core/ocl.hpp
new file mode 100644
index 0000000..173722f
--- /dev/null
+++ b/3rdparty/include/opencv2/core/ocl.hpp
@@ -0,0 +1,691 @@
+/*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) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the OpenCV Foundation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OPENCL_HPP__
+#define __OPENCV_OPENCL_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv { namespace ocl {
+
+//! @addtogroup core_opencl
+//! @{
+
+CV_EXPORTS_W bool haveOpenCL();
+CV_EXPORTS_W bool useOpenCL();
+CV_EXPORTS_W bool haveAmdBlas();
+CV_EXPORTS_W bool haveAmdFft();
+CV_EXPORTS_W void setUseOpenCL(bool flag);
+CV_EXPORTS_W void finish();
+
+CV_EXPORTS bool haveSVM();
+
+class CV_EXPORTS Context;
+class CV_EXPORTS Device;
+class CV_EXPORTS Kernel;
+class CV_EXPORTS Program;
+class CV_EXPORTS ProgramSource;
+class CV_EXPORTS Queue;
+class CV_EXPORTS PlatformInfo;
+class CV_EXPORTS Image2D;
+
+class CV_EXPORTS Device
+{
+public:
+    Device();
+    explicit Device(void* d);
+    Device(const Device& d);
+    Device& operator = (const Device& d);
+    ~Device();
+
+    void set(void* d);
+
+    enum
+    {
+        TYPE_DEFAULT     = (1 << 0),
+        TYPE_CPU         = (1 << 1),
+        TYPE_GPU         = (1 << 2),
+        TYPE_ACCELERATOR = (1 << 3),
+        TYPE_DGPU        = TYPE_GPU + (1 << 16),
+        TYPE_IGPU        = TYPE_GPU + (1 << 17),
+        TYPE_ALL         = 0xFFFFFFFF
+    };
+
+    String name() const;
+    String extensions() const;
+    String version() const;
+    String vendorName() const;
+    String OpenCL_C_Version() const;
+    String OpenCLVersion() const;
+    int deviceVersionMajor() const;
+    int deviceVersionMinor() const;
+    String driverVersion() const;
+    void* ptr() const;
+
+    int type() const;
+
+    int addressBits() const;
+    bool available() const;
+    bool compilerAvailable() const;
+    bool linkerAvailable() const;
+
+    enum
+    {
+        FP_DENORM=(1 << 0),
+        FP_INF_NAN=(1 << 1),
+        FP_ROUND_TO_NEAREST=(1 << 2),
+        FP_ROUND_TO_ZERO=(1 << 3),
+        FP_ROUND_TO_INF=(1 << 4),
+        FP_FMA=(1 << 5),
+        FP_SOFT_FLOAT=(1 << 6),
+        FP_CORRECTLY_ROUNDED_DIVIDE_SQRT=(1 << 7)
+    };
+    int doubleFPConfig() const;
+    int singleFPConfig() const;
+    int halfFPConfig() const;
+
+    bool endianLittle() const;
+    bool errorCorrectionSupport() const;
+
+    enum
+    {
+        EXEC_KERNEL=(1 << 0),
+        EXEC_NATIVE_KERNEL=(1 << 1)
+    };
+    int executionCapabilities() const;
+
+    size_t globalMemCacheSize() const;
+
+    enum
+    {
+        NO_CACHE=0,
+        READ_ONLY_CACHE=1,
+        READ_WRITE_CACHE=2
+    };
+    int globalMemCacheType() const;
+    int globalMemCacheLineSize() const;
+    size_t globalMemSize() const;
+
+    size_t localMemSize() const;
+    enum
+    {
+        NO_LOCAL_MEM=0,
+        LOCAL_IS_LOCAL=1,
+        LOCAL_IS_GLOBAL=2
+    };
+    int localMemType() const;
+    bool hostUnifiedMemory() const;
+
+    bool imageSupport() const;
+
+    bool imageFromBufferSupport() const;
+    uint imagePitchAlignment() const;
+    uint imageBaseAddressAlignment() const;
+
+    size_t image2DMaxWidth() const;
+    size_t image2DMaxHeight() const;
+
+    size_t image3DMaxWidth() const;
+    size_t image3DMaxHeight() const;
+    size_t image3DMaxDepth() const;
+
+    size_t imageMaxBufferSize() const;
+    size_t imageMaxArraySize() const;
+
+    enum
+    {
+        UNKNOWN_VENDOR=0,
+        VENDOR_AMD=1,
+        VENDOR_INTEL=2,
+        VENDOR_NVIDIA=3
+    };
+    int vendorID() const;
+    // FIXIT
+    // dev.isAMD() doesn't work for OpenCL CPU devices from AMD OpenCL platform.
+    // This method should use platform name instead of vendor name.
+    // After fix restore code in arithm.cpp: ocl_compare()
+    inline bool isAMD() const { return vendorID() == VENDOR_AMD; }
+    inline bool isIntel() const { return vendorID() == VENDOR_INTEL; }
+    inline bool isNVidia() const { return vendorID() == VENDOR_NVIDIA; }
+
+    int maxClockFrequency() const;
+    int maxComputeUnits() const;
+    int maxConstantArgs() const;
+    size_t maxConstantBufferSize() const;
+
+    size_t maxMemAllocSize() const;
+    size_t maxParameterSize() const;
+
+    int maxReadImageArgs() const;
+    int maxWriteImageArgs() const;
+    int maxSamplers() const;
+
+    size_t maxWorkGroupSize() const;
+    int maxWorkItemDims() const;
+    void maxWorkItemSizes(size_t*) const;
+
+    int memBaseAddrAlign() const;
+
+    int nativeVectorWidthChar() const;
+    int nativeVectorWidthShort() const;
+    int nativeVectorWidthInt() const;
+    int nativeVectorWidthLong() const;
+    int nativeVectorWidthFloat() const;
+    int nativeVectorWidthDouble() const;
+    int nativeVectorWidthHalf() const;
+
+    int preferredVectorWidthChar() const;
+    int preferredVectorWidthShort() const;
+    int preferredVectorWidthInt() const;
+    int preferredVectorWidthLong() const;
+    int preferredVectorWidthFloat() const;
+    int preferredVectorWidthDouble() const;
+    int preferredVectorWidthHalf() const;
+
+    size_t printfBufferSize() const;
+    size_t profilingTimerResolution() const;
+
+    static const Device& getDefault();
+
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+
+class CV_EXPORTS Context
+{
+public:
+    Context();
+    explicit Context(int dtype);
+    ~Context();
+    Context(const Context& c);
+    Context& operator = (const Context& c);
+
+    bool create();
+    bool create(int dtype);
+    size_t ndevices() const;
+    const Device& device(size_t idx) const;
+    Program getProg(const ProgramSource& prog,
+                    const String& buildopt, String& errmsg);
+
+    static Context& getDefault(bool initialize = true);
+    void* ptr() const;
+
+    friend void initializeContextFromHandle(Context& ctx, void* platform, void* context, void* device);
+
+    bool useSVM() const;
+    void setUseSVM(bool enabled);
+
+    struct Impl;
+    Impl* p;
+};
+
+class CV_EXPORTS Platform
+{
+public:
+    Platform();
+    ~Platform();
+    Platform(const Platform& p);
+    Platform& operator = (const Platform& p);
+
+    void* ptr() const;
+    static Platform& getDefault();
+
+    friend void initializeContextFromHandle(Context& ctx, void* platform, void* context, void* device);
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+// TODO Move to internal header
+void initializeContextFromHandle(Context& ctx, void* platform, void* context, void* device);
+
+class CV_EXPORTS Queue
+{
+public:
+    Queue();
+    explicit Queue(const Context& c, const Device& d=Device());
+    ~Queue();
+    Queue(const Queue& q);
+    Queue& operator = (const Queue& q);
+
+    bool create(const Context& c=Context(), const Device& d=Device());
+    void finish();
+    void* ptr() const;
+    static Queue& getDefault();
+
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+
+class CV_EXPORTS KernelArg
+{
+public:
+    enum { LOCAL=1, READ_ONLY=2, WRITE_ONLY=4, READ_WRITE=6, CONSTANT=8, PTR_ONLY = 16, NO_SIZE=256 };
+    KernelArg(int _flags, UMat* _m, int wscale=1, int iwscale=1, const void* _obj=0, size_t _sz=0);
+    KernelArg();
+
+    static KernelArg Local() { return KernelArg(LOCAL, 0); }
+    static KernelArg PtrWriteOnly(const UMat& m)
+    { return KernelArg(PTR_ONLY+WRITE_ONLY, (UMat*)&m); }
+    static KernelArg PtrReadOnly(const UMat& m)
+    { return KernelArg(PTR_ONLY+READ_ONLY, (UMat*)&m); }
+    static KernelArg PtrReadWrite(const UMat& m)
+    { return KernelArg(PTR_ONLY+READ_WRITE, (UMat*)&m); }
+    static KernelArg ReadWrite(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(READ_WRITE, (UMat*)&m, wscale, iwscale); }
+    static KernelArg ReadWriteNoSize(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(READ_WRITE+NO_SIZE, (UMat*)&m, wscale, iwscale); }
+    static KernelArg ReadOnly(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(READ_ONLY, (UMat*)&m, wscale, iwscale); }
+    static KernelArg WriteOnly(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(WRITE_ONLY, (UMat*)&m, wscale, iwscale); }
+    static KernelArg ReadOnlyNoSize(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(READ_ONLY+NO_SIZE, (UMat*)&m, wscale, iwscale); }
+    static KernelArg WriteOnlyNoSize(const UMat& m, int wscale=1, int iwscale=1)
+    { return KernelArg(WRITE_ONLY+NO_SIZE, (UMat*)&m, wscale, iwscale); }
+    static KernelArg Constant(const Mat& m);
+    template<typename _Tp> static KernelArg Constant(const _Tp* arr, size_t n)
+    { return KernelArg(CONSTANT, 0, 1, 1, (void*)arr, n); }
+
+    int flags;
+    UMat* m;
+    const void* obj;
+    size_t sz;
+    int wscale, iwscale;
+};
+
+
+class CV_EXPORTS Kernel
+{
+public:
+    Kernel();
+    Kernel(const char* kname, const Program& prog);
+    Kernel(const char* kname, const ProgramSource& prog,
+           const String& buildopts = String(), String* errmsg=0);
+    ~Kernel();
+    Kernel(const Kernel& k);
+    Kernel& operator = (const Kernel& k);
+
+    bool empty() const;
+    bool create(const char* kname, const Program& prog);
+    bool create(const char* kname, const ProgramSource& prog,
+                const String& buildopts, String* errmsg=0);
+
+    int set(int i, const void* value, size_t sz);
+    int set(int i, const Image2D& image2D);
+    int set(int i, const UMat& m);
+    int set(int i, const KernelArg& arg);
+    template<typename _Tp> int set(int i, const _Tp& value)
+    { return set(i, &value, sizeof(value)); }
+
+    template<typename _Tp0>
+    Kernel& args(const _Tp0& a0)
+    {
+        set(0, a0); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1)
+    {
+        int i = set(0, a0); set(i, a1); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2)
+    {
+        int i = set(0, a0); i = set(i, a1); set(i, a2); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3, typename _Tp4>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2,
+                 const _Tp3& a3, const _Tp4& a4)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2);
+        i = set(i, a3); set(i, a4); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2,
+             typename _Tp3, typename _Tp4, typename _Tp5>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2,
+                 const _Tp3& a3, const _Tp4& a4, const _Tp5& a5)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2);
+        i = set(i, a3); i = set(i, a4); set(i, a5); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3);
+        i = set(i, a4); i = set(i, a5); set(i, a6); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3);
+        i = set(i, a4); i = set(i, a5); i = set(i, a6); set(i, a7); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3, typename _Tp4,
+             typename _Tp5, typename _Tp6, typename _Tp7, typename _Tp8>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4);
+        i = set(i, a5); i = set(i, a6); i = set(i, a7); set(i, a8); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3, typename _Tp4,
+             typename _Tp5, typename _Tp6, typename _Tp7, typename _Tp8, typename _Tp9>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); set(i, a9); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); set(i, a10); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10, typename _Tp11>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10, const _Tp11& a11)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); i = set(i, a10); set(i, a11); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10, typename _Tp11, typename _Tp12>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10, const _Tp11& a11,
+                 const _Tp12& a12)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); i = set(i, a10); i = set(i, a11);
+        set(i, a12); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10, typename _Tp11, typename _Tp12,
+             typename _Tp13>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10, const _Tp11& a11,
+                 const _Tp12& a12, const _Tp13& a13)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); i = set(i, a10); i = set(i, a11);
+        i = set(i, a12); set(i, a13); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10, typename _Tp11, typename _Tp12,
+             typename _Tp13, typename _Tp14>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10, const _Tp11& a11,
+                 const _Tp12& a12, const _Tp13& a13, const _Tp14& a14)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); i = set(i, a10); i = set(i, a11);
+        i = set(i, a12); i = set(i, a13); set(i, a14); return *this;
+    }
+
+    template<typename _Tp0, typename _Tp1, typename _Tp2, typename _Tp3,
+             typename _Tp4, typename _Tp5, typename _Tp6, typename _Tp7,
+             typename _Tp8, typename _Tp9, typename _Tp10, typename _Tp11, typename _Tp12,
+             typename _Tp13, typename _Tp14, typename _Tp15>
+    Kernel& args(const _Tp0& a0, const _Tp1& a1, const _Tp2& a2, const _Tp3& a3,
+                 const _Tp4& a4, const _Tp5& a5, const _Tp6& a6, const _Tp7& a7,
+                 const _Tp8& a8, const _Tp9& a9, const _Tp10& a10, const _Tp11& a11,
+                 const _Tp12& a12, const _Tp13& a13, const _Tp14& a14, const _Tp15& a15)
+    {
+        int i = set(0, a0); i = set(i, a1); i = set(i, a2); i = set(i, a3); i = set(i, a4); i = set(i, a5);
+        i = set(i, a6); i = set(i, a7); i = set(i, a8); i = set(i, a9); i = set(i, a10); i = set(i, a11);
+        i = set(i, a12); i = set(i, a13); i = set(i, a14); set(i, a15); return *this;
+    }
+
+    bool run(int dims, size_t globalsize[],
+             size_t localsize[], bool sync, const Queue& q=Queue());
+    bool runTask(bool sync, const Queue& q=Queue());
+
+    size_t workGroupSize() const;
+    size_t preferedWorkGroupSizeMultiple() const;
+    bool compileWorkGroupSize(size_t wsz[]) const;
+    size_t localMemSize() const;
+
+    void* ptr() const;
+    struct Impl;
+
+protected:
+    Impl* p;
+};
+
+class CV_EXPORTS Program
+{
+public:
+    Program();
+    Program(const ProgramSource& src,
+            const String& buildflags, String& errmsg);
+    explicit Program(const String& buf);
+    Program(const Program& prog);
+
+    Program& operator = (const Program& prog);
+    ~Program();
+
+    bool create(const ProgramSource& src,
+                const String& buildflags, String& errmsg);
+    bool read(const String& buf, const String& buildflags);
+    bool write(String& buf) const;
+
+    const ProgramSource& source() const;
+    void* ptr() const;
+
+    String getPrefix() const;
+    static String getPrefix(const String& buildflags);
+
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+
+class CV_EXPORTS ProgramSource
+{
+public:
+    typedef uint64 hash_t;
+
+    ProgramSource();
+    explicit ProgramSource(const String& prog);
+    explicit ProgramSource(const char* prog);
+    ~ProgramSource();
+    ProgramSource(const ProgramSource& prog);
+    ProgramSource& operator = (const ProgramSource& prog);
+
+    const String& source() const;
+    hash_t hash() const;
+
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+class CV_EXPORTS PlatformInfo
+{
+public:
+    PlatformInfo();
+    explicit PlatformInfo(void* id);
+    ~PlatformInfo();
+
+    PlatformInfo(const PlatformInfo& i);
+    PlatformInfo& operator =(const PlatformInfo& i);
+
+    String name() const;
+    String vendor() const;
+    String version() const;
+    int deviceNumber() const;
+    void getDevice(Device& device, int d) const;
+
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+CV_EXPORTS const char* convertTypeStr(int sdepth, int ddepth, int cn, char* buf);
+CV_EXPORTS const char* typeToStr(int t);
+CV_EXPORTS const char* memopTypeToStr(int t);
+CV_EXPORTS const char* vecopTypeToStr(int t);
+CV_EXPORTS String kernelToStr(InputArray _kernel, int ddepth = -1, const char * name = NULL);
+CV_EXPORTS void getPlatfomsInfo(std::vector<PlatformInfo>& platform_info);
+
+
+enum OclVectorStrategy
+{
+    // all matrices have its own vector width
+    OCL_VECTOR_OWN = 0,
+    // all matrices have maximal vector width among all matrices
+    // (useful for cases when matrices have different data types)
+    OCL_VECTOR_MAX = 1,
+
+    // default strategy
+    OCL_VECTOR_DEFAULT = OCL_VECTOR_OWN
+};
+
+CV_EXPORTS int predictOptimalVectorWidth(InputArray src1, InputArray src2 = noArray(), InputArray src3 = noArray(),
+                                         InputArray src4 = noArray(), InputArray src5 = noArray(), InputArray src6 = noArray(),
+                                         InputArray src7 = noArray(), InputArray src8 = noArray(), InputArray src9 = noArray(),
+                                         OclVectorStrategy strat = OCL_VECTOR_DEFAULT);
+
+CV_EXPORTS int checkOptimalVectorWidth(const int *vectorWidths,
+                                       InputArray src1, InputArray src2 = noArray(), InputArray src3 = noArray(),
+                                       InputArray src4 = noArray(), InputArray src5 = noArray(), InputArray src6 = noArray(),
+                                       InputArray src7 = noArray(), InputArray src8 = noArray(), InputArray src9 = noArray(),
+                                       OclVectorStrategy strat = OCL_VECTOR_DEFAULT);
+
+// with OCL_VECTOR_MAX strategy
+CV_EXPORTS int predictOptimalVectorWidthMax(InputArray src1, InputArray src2 = noArray(), InputArray src3 = noArray(),
+                                            InputArray src4 = noArray(), InputArray src5 = noArray(), InputArray src6 = noArray(),
+                                            InputArray src7 = noArray(), InputArray src8 = noArray(), InputArray src9 = noArray());
+
+CV_EXPORTS void buildOptionsAddMatrixDescription(String& buildOptions, const String& name, InputArray _m);
+
+class CV_EXPORTS Image2D
+{
+public:
+    Image2D();
+
+    // src:     The UMat from which to get image properties and data
+    // norm:    Flag to enable the use of normalized channel data types
+    // alias:   Flag indicating that the image should alias the src UMat.
+    //          If true, changes to the image or src will be reflected in
+    //          both objects.
+    explicit Image2D(const UMat &src, bool norm = false, bool alias = false);
+    Image2D(const Image2D & i);
+    ~Image2D();
+
+    Image2D & operator = (const Image2D & i);
+
+    // Indicates if creating an aliased image should succeed.  Depends on the
+    // underlying platform and the dimensions of the UMat.
+    static bool canCreateAlias(const UMat &u);
+
+    // Indicates if the image format is supported.
+    static bool isFormatSupported(int depth, int cn, bool norm);
+
+    void* ptr() const;
+protected:
+    struct Impl;
+    Impl* p;
+};
+
+
+CV_EXPORTS MatAllocator* getOpenCLAllocator();
+
+
+#ifdef __OPENCV_BUILD
+namespace internal {
+
+CV_EXPORTS bool isPerformanceCheckBypassed();
+#define OCL_PERFORMANCE_CHECK(condition) (cv::ocl::internal::isPerformanceCheckBypassed() || (condition))
+
+CV_EXPORTS bool isCLBuffer(UMat& u);
+
+} // namespace internal
+#endif
+
+//! @}
+
+}}
+
+#endif
diff --git a/3rdparty/include/opencv2/core/ocl_genbase.hpp b/3rdparty/include/opencv2/core/ocl_genbase.hpp
new file mode 100644
index 0000000..d53bc1a
--- /dev/null
+++ b/3rdparty/include/opencv2/core/ocl_genbase.hpp
@@ -0,0 +1,64 @@
+/*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) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the OpenCV Foundation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OPENCL_GENBASE_HPP__
+#define __OPENCV_OPENCL_GENBASE_HPP__
+
+namespace cv
+{
+namespace ocl
+{
+
+//! @cond IGNORED
+
+struct ProgramEntry
+{
+    const char* name;
+    const char* programStr;
+    const char* programHash;
+};
+
+//! @endcond
+
+}
+}
+
+#endif
diff --git a/3rdparty/include/opencv2/core/opengl.hpp b/3rdparty/include/opencv2/core/opengl.hpp
new file mode 100644
index 0000000..15c635c
--- /dev/null
+++ b/3rdparty/include/opencv2/core/opengl.hpp
@@ -0,0 +1,684 @@
+/*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*/
+
+#ifndef __OPENCV_CORE_OPENGL_HPP__
+#define __OPENCV_CORE_OPENGL_HPP__
+
+#ifndef __cplusplus
+#  error opengl.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core.hpp"
+
+namespace cv { namespace ogl {
+
+/** @addtogroup core_opengl
+This section describes OpenGL interoperability.
+
+To enable OpenGL support, configure OpenCV using CMake with WITH_OPENGL=ON . Currently OpenGL is
+supported only with WIN32, GTK and Qt backends on Windows and Linux (MacOS and Android are not
+supported). For GTK backend gtkglext-1.0 library is required.
+
+To use OpenGL functionality you should first create OpenGL context (window or frame buffer). You can
+do this with namedWindow function or with other OpenGL toolkit (GLUT, for example).
+*/
+//! @{
+
+/////////////////// OpenGL Objects ///////////////////
+
+/** @brief Smart pointer for OpenGL buffer object with reference counting.
+
+Buffer Objects are OpenGL objects that store an array of unformatted memory allocated by the OpenGL
+context. These can be used to store vertex data, pixel data retrieved from images or the
+framebuffer, and a variety of other things.
+
+ogl::Buffer has interface similar with Mat interface and represents 2D array memory.
+
+ogl::Buffer supports memory transfers between host and device and also can be mapped to CUDA memory.
+ */
+class CV_EXPORTS Buffer
+{
+public:
+    /** @brief The target defines how you intend to use the buffer object.
+    */
+    enum Target
+    {
+        ARRAY_BUFFER         = 0x8892, //!< The buffer will be used as a source for vertex data
+        ELEMENT_ARRAY_BUFFER = 0x8893, //!< The buffer will be used for indices (in glDrawElements, for example)
+        PIXEL_PACK_BUFFER    = 0x88EB, //!< The buffer will be used for reading from OpenGL textures
+        PIXEL_UNPACK_BUFFER  = 0x88EC  //!< The buffer will be used for writing to OpenGL textures
+    };
+
+    enum Access
+    {
+        READ_ONLY  = 0x88B8,
+        WRITE_ONLY = 0x88B9,
+        READ_WRITE = 0x88BA
+    };
+
+    /** @brief The constructors.
+
+    Creates empty ogl::Buffer object, creates ogl::Buffer object from existed buffer ( abufId
+    parameter), allocates memory for ogl::Buffer object or copies from host/device memory.
+     */
+    Buffer();
+
+    /** @overload
+    @param arows Number of rows in a 2D array.
+    @param acols Number of columns in a 2D array.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param abufId Buffer object name.
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Buffer(int arows, int acols, int atype, unsigned int abufId, bool autoRelease = false);
+
+    /** @overload
+    @param asize 2D array size.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param abufId Buffer object name.
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Buffer(Size asize, int atype, unsigned int abufId, bool autoRelease = false);
+
+    /** @overload
+    @param arows Number of rows in a 2D array.
+    @param acols Number of columns in a 2D array.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Buffer(int arows, int acols, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @overload
+    @param asize 2D array size.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Buffer(Size asize, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @overload
+    @param arr Input array (host or device memory, it can be Mat , cuda::GpuMat or std::vector ).
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    explicit Buffer(InputArray arr, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @brief Allocates memory for ogl::Buffer object.
+
+    @param arows Number of rows in a 2D array.
+    @param acols Number of columns in a 2D array.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+     */
+    void create(int arows, int acols, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @overload
+    @param asize 2D array size.
+    @param atype Array type ( CV_8UC1, ..., CV_64FC4 ). See Mat for details.
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    void create(Size asize, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @brief Decrements the reference counter and destroys the buffer object if needed.
+
+    The function will call setAutoRelease(true) .
+     */
+    void release();
+
+    /** @brief Sets auto release mode.
+
+    The lifetime of the OpenGL object is tied to the lifetime of the context. If OpenGL context was
+    bound to a window it could be released at any time (user can close a window). If object's destructor
+    is called after destruction of the context it will cause an error. Thus ogl::Buffer doesn't destroy
+    OpenGL object in destructor by default (all OpenGL resources will be released with OpenGL context).
+    This function can force ogl::Buffer destructor to destroy OpenGL object.
+    @param flag Auto release mode (if true, release will be called in object's destructor).
+     */
+    void setAutoRelease(bool flag);
+
+    /** @brief Copies from host/device memory to OpenGL buffer.
+    @param arr Input array (host or device memory, it can be Mat , cuda::GpuMat or std::vector ).
+    @param target Buffer usage. See cv::ogl::Buffer::Target .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+     */
+    void copyFrom(InputArray arr, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @overload */
+    void copyFrom(InputArray arr, cuda::Stream& stream, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    /** @brief Copies from OpenGL buffer to host/device memory or another OpenGL buffer object.
+
+    @param arr Destination array (host or device memory, can be Mat , cuda::GpuMat , std::vector or
+    ogl::Buffer ).
+     */
+    void copyTo(OutputArray arr) const;
+
+    /** @overload */
+    void copyTo(OutputArray arr, cuda::Stream& stream) const;
+
+    /** @brief Creates a full copy of the buffer object and the underlying data.
+
+    @param target Buffer usage for destination buffer.
+    @param autoRelease Auto release mode for destination buffer.
+     */
+    Buffer clone(Target target = ARRAY_BUFFER, bool autoRelease = false) const;
+
+    /** @brief Binds OpenGL buffer to the specified buffer binding point.
+
+    @param target Binding point. See cv::ogl::Buffer::Target .
+     */
+    void bind(Target target) const;
+
+    /** @brief Unbind any buffers from the specified binding point.
+
+    @param target Binding point. See cv::ogl::Buffer::Target .
+     */
+    static void unbind(Target target);
+
+    /** @brief Maps OpenGL buffer to host memory.
+
+    mapHost maps to the client's address space the entire data store of the buffer object. The data can
+    then be directly read and/or written relative to the returned pointer, depending on the specified
+    access policy.
+
+    A mapped data store must be unmapped with ogl::Buffer::unmapHost before its buffer object is used.
+
+    This operation can lead to memory transfers between host and device.
+
+    Only one buffer object can be mapped at a time.
+    @param access Access policy, indicating whether it will be possible to read from, write to, or both
+    read from and write to the buffer object's mapped data store. The symbolic constant must be
+    ogl::Buffer::READ_ONLY , ogl::Buffer::WRITE_ONLY or ogl::Buffer::READ_WRITE .
+     */
+    Mat mapHost(Access access);
+
+    /** @brief Unmaps OpenGL buffer.
+    */
+    void unmapHost();
+
+    //! map to device memory (blocking)
+    cuda::GpuMat mapDevice();
+    void unmapDevice();
+
+    /** @brief Maps OpenGL buffer to CUDA device memory.
+
+    This operatation doesn't copy data. Several buffer objects can be mapped to CUDA memory at a time.
+
+    A mapped data store must be unmapped with ogl::Buffer::unmapDevice before its buffer object is used.
+     */
+    cuda::GpuMat mapDevice(cuda::Stream& stream);
+
+    /** @brief Unmaps OpenGL buffer.
+    */
+    void unmapDevice(cuda::Stream& stream);
+
+    int rows() const;
+    int cols() const;
+    Size size() const;
+    bool empty() const;
+
+    int type() const;
+    int depth() const;
+    int channels() const;
+    int elemSize() const;
+    int elemSize1() const;
+
+    //! get OpenGL opject id
+    unsigned int bufId() const;
+
+    class Impl;
+
+private:
+    Ptr<Impl> impl_;
+    int rows_;
+    int cols_;
+    int type_;
+};
+
+/** @brief Smart pointer for OpenGL 2D texture memory with reference counting.
+ */
+class CV_EXPORTS Texture2D
+{
+public:
+    /** @brief An Image Format describes the way that the images in Textures store their data.
+    */
+    enum Format
+    {
+        NONE            = 0,
+        DEPTH_COMPONENT = 0x1902, //!< Depth
+        RGB             = 0x1907, //!< Red, Green, Blue
+        RGBA            = 0x1908  //!< Red, Green, Blue, Alpha
+    };
+
+    /** @brief The constructors.
+
+    Creates empty ogl::Texture2D object, allocates memory for ogl::Texture2D object or copies from
+    host/device memory.
+     */
+    Texture2D();
+
+    /** @overload */
+    Texture2D(int arows, int acols, Format aformat, unsigned int atexId, bool autoRelease = false);
+
+    /** @overload */
+    Texture2D(Size asize, Format aformat, unsigned int atexId, bool autoRelease = false);
+
+    /** @overload
+    @param arows Number of rows.
+    @param acols Number of columns.
+    @param aformat Image format. See cv::ogl::Texture2D::Format .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Texture2D(int arows, int acols, Format aformat, bool autoRelease = false);
+
+    /** @overload
+    @param asize 2D array size.
+    @param aformat Image format. See cv::ogl::Texture2D::Format .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    Texture2D(Size asize, Format aformat, bool autoRelease = false);
+
+    /** @overload
+    @param arr Input array (host or device memory, it can be Mat , cuda::GpuMat or ogl::Buffer ).
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    explicit Texture2D(InputArray arr, bool autoRelease = false);
+
+    /** @brief Allocates memory for ogl::Texture2D object.
+
+    @param arows Number of rows.
+    @param acols Number of columns.
+    @param aformat Image format. See cv::ogl::Texture2D::Format .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+     */
+    void create(int arows, int acols, Format aformat, bool autoRelease = false);
+    /** @overload
+    @param asize 2D array size.
+    @param aformat Image format. See cv::ogl::Texture2D::Format .
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+    */
+    void create(Size asize, Format aformat, bool autoRelease = false);
+
+    /** @brief Decrements the reference counter and destroys the texture object if needed.
+
+    The function will call setAutoRelease(true) .
+     */
+    void release();
+
+    /** @brief Sets auto release mode.
+
+    @param flag Auto release mode (if true, release will be called in object's destructor).
+
+    The lifetime of the OpenGL object is tied to the lifetime of the context. If OpenGL context was
+    bound to a window it could be released at any time (user can close a window). If object's destructor
+    is called after destruction of the context it will cause an error. Thus ogl::Texture2D doesn't
+    destroy OpenGL object in destructor by default (all OpenGL resources will be released with OpenGL
+    context). This function can force ogl::Texture2D destructor to destroy OpenGL object.
+     */
+    void setAutoRelease(bool flag);
+
+    /** @brief Copies from host/device memory to OpenGL texture.
+
+    @param arr Input array (host or device memory, it can be Mat , cuda::GpuMat or ogl::Buffer ).
+    @param autoRelease Auto release mode (if true, release will be called in object's destructor).
+     */
+    void copyFrom(InputArray arr, bool autoRelease = false);
+
+    /** @brief Copies from OpenGL texture to host/device memory or another OpenGL texture object.
+
+    @param arr Destination array (host or device memory, can be Mat , cuda::GpuMat , ogl::Buffer or
+    ogl::Texture2D ).
+    @param ddepth Destination depth.
+    @param autoRelease Auto release mode for destination buffer (if arr is OpenGL buffer or texture).
+     */
+    void copyTo(OutputArray arr, int ddepth = CV_32F, bool autoRelease = false) const;
+
+    /** @brief Binds texture to current active texture unit for GL_TEXTURE_2D target.
+    */
+    void bind() const;
+
+    int rows() const;
+    int cols() const;
+    Size size() const;
+    bool empty() const;
+
+    Format format() const;
+
+    //! get OpenGL opject id
+    unsigned int texId() const;
+
+    class Impl;
+
+private:
+    Ptr<Impl> impl_;
+    int rows_;
+    int cols_;
+    Format format_;
+};
+
+/** @brief Wrapper for OpenGL Client-Side Vertex arrays.
+
+ogl::Arrays stores vertex data in ogl::Buffer objects.
+ */
+class CV_EXPORTS Arrays
+{
+public:
+    /** @brief Default constructor
+     */
+    Arrays();
+
+    /** @brief Sets an array of vertex coordinates.
+    @param vertex array with vertex coordinates, can be both host and device memory.
+    */
+    void setVertexArray(InputArray vertex);
+
+    /** @brief Resets vertex coordinates.
+    */
+    void resetVertexArray();
+
+    /** @brief Sets an array of vertex colors.
+    @param color array with vertex colors, can be both host and device memory.
+     */
+    void setColorArray(InputArray color);
+
+    /** @brief Resets vertex colors.
+    */
+    void resetColorArray();
+
+    /** @brief Sets an array of vertex normals.
+    @param normal array with vertex normals, can be both host and device memory.
+     */
+    void setNormalArray(InputArray normal);
+
+    /** @brief Resets vertex normals.
+    */
+    void resetNormalArray();
+
+    /** @brief Sets an array of vertex texture coordinates.
+    @param texCoord array with vertex texture coordinates, can be both host and device memory.
+     */
+    void setTexCoordArray(InputArray texCoord);
+
+    /** @brief Resets vertex texture coordinates.
+    */
+    void resetTexCoordArray();
+
+    /** @brief Releases all inner buffers.
+    */
+    void release();
+
+    /** @brief Sets auto release mode all inner buffers.
+    @param flag Auto release mode.
+     */
+    void setAutoRelease(bool flag);
+
+    /** @brief Binds all vertex arrays.
+    */
+    void bind() const;
+
+    /** @brief Returns the vertex count.
+    */
+    int size() const;
+    bool empty() const;
+
+private:
+    int size_;
+    Buffer vertex_;
+    Buffer color_;
+    Buffer normal_;
+    Buffer texCoord_;
+};
+
+/////////////////// Render Functions ///////////////////
+
+//! render mode
+enum RenderModes {
+    POINTS         = 0x0000,
+    LINES          = 0x0001,
+    LINE_LOOP      = 0x0002,
+    LINE_STRIP     = 0x0003,
+    TRIANGLES      = 0x0004,
+    TRIANGLE_STRIP = 0x0005,
+    TRIANGLE_FAN   = 0x0006,
+    QUADS          = 0x0007,
+    QUAD_STRIP     = 0x0008,
+    POLYGON        = 0x0009
+};
+
+/** @brief Render OpenGL texture or primitives.
+@param tex Texture to draw.
+@param wndRect Region of window, where to draw a texture (normalized coordinates).
+@param texRect Region of texture to draw (normalized coordinates).
+ */
+CV_EXPORTS void render(const Texture2D& tex,
+    Rect_<double> wndRect = Rect_<double>(0.0, 0.0, 1.0, 1.0),
+    Rect_<double> texRect = Rect_<double>(0.0, 0.0, 1.0, 1.0));
+
+/** @overload
+@param arr Array of privitives vertices.
+@param mode Render mode. One of cv::ogl::RenderModes
+@param color Color for all vertices. Will be used if arr doesn't contain color array.
+*/
+CV_EXPORTS void render(const Arrays& arr, int mode = POINTS, Scalar color = Scalar::all(255));
+
+/** @overload
+@param arr Array of privitives vertices.
+@param indices Array of vertices indices (host or device memory).
+@param mode Render mode. One of cv::ogl::RenderModes
+@param color Color for all vertices. Will be used if arr doesn't contain color array.
+*/
+CV_EXPORTS void render(const Arrays& arr, InputArray indices, int mode = POINTS, Scalar color = Scalar::all(255));
+
+//! @} core_opengl
+
+}} // namespace cv::ogl
+
+namespace cv { namespace cuda {
+
+//! @addtogroup cuda
+//! @{
+
+/** @brief Sets a CUDA device and initializes it for the current thread with OpenGL interoperability.
+
+This function should be explicitly called after OpenGL context creation and before any CUDA calls.
+@param device System index of a CUDA device starting with 0.
+@ingroup core_opengl
+ */
+CV_EXPORTS void setGlDevice(int device = 0);
+
+//! @}
+
+}}
+
+//! @cond IGNORED
+
+////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////
+
+inline
+cv::ogl::Buffer::Buffer(int arows, int acols, int atype, Target target, bool autoRelease) : rows_(0), cols_(0), type_(0)
+{
+    create(arows, acols, atype, target, autoRelease);
+}
+
+inline
+cv::ogl::Buffer::Buffer(Size asize, int atype, Target target, bool autoRelease) : rows_(0), cols_(0), type_(0)
+{
+    create(asize, atype, target, autoRelease);
+}
+
+inline
+void cv::ogl::Buffer::create(Size asize, int atype, Target target, bool autoRelease)
+{
+    create(asize.height, asize.width, atype, target, autoRelease);
+}
+
+inline
+int cv::ogl::Buffer::rows() const
+{
+    return rows_;
+}
+
+inline
+int cv::ogl::Buffer::cols() const
+{
+    return cols_;
+}
+
+inline
+cv::Size cv::ogl::Buffer::size() const
+{
+    return Size(cols_, rows_);
+}
+
+inline
+bool cv::ogl::Buffer::empty() const
+{
+    return rows_ == 0 || cols_ == 0;
+}
+
+inline
+int cv::ogl::Buffer::type() const
+{
+    return type_;
+}
+
+inline
+int cv::ogl::Buffer::depth() const
+{
+    return CV_MAT_DEPTH(type_);
+}
+
+inline
+int cv::ogl::Buffer::channels() const
+{
+    return CV_MAT_CN(type_);
+}
+
+inline
+int cv::ogl::Buffer::elemSize() const
+{
+    return CV_ELEM_SIZE(type_);
+}
+
+inline
+int cv::ogl::Buffer::elemSize1() const
+{
+    return CV_ELEM_SIZE1(type_);
+}
+
+///////
+
+inline
+cv::ogl::Texture2D::Texture2D(int arows, int acols, Format aformat, bool autoRelease) : rows_(0), cols_(0), format_(NONE)
+{
+    create(arows, acols, aformat, autoRelease);
+}
+
+inline
+cv::ogl::Texture2D::Texture2D(Size asize, Format aformat, bool autoRelease) : rows_(0), cols_(0), format_(NONE)
+{
+    create(asize, aformat, autoRelease);
+}
+
+inline
+void cv::ogl::Texture2D::create(Size asize, Format aformat, bool autoRelease)
+{
+    create(asize.height, asize.width, aformat, autoRelease);
+}
+
+inline
+int cv::ogl::Texture2D::rows() const
+{
+    return rows_;
+}
+
+inline
+int cv::ogl::Texture2D::cols() const
+{
+    return cols_;
+}
+
+inline
+cv::Size cv::ogl::Texture2D::size() const
+{
+    return Size(cols_, rows_);
+}
+
+inline
+bool cv::ogl::Texture2D::empty() const
+{
+    return rows_ == 0 || cols_ == 0;
+}
+
+inline
+cv::ogl::Texture2D::Format cv::ogl::Texture2D::format() const
+{
+    return format_;
+}
+
+///////
+
+inline
+cv::ogl::Arrays::Arrays() : size_(0)
+{
+}
+
+inline
+int cv::ogl::Arrays::size() const
+{
+    return size_;
+}
+
+inline
+bool cv::ogl::Arrays::empty() const
+{
+    return size_ == 0;
+}
+
+//! @endcond
+
+#endif /* __OPENCV_CORE_OPENGL_HPP__ */
diff --git a/3rdparty/include/opencv2/core/operations.hpp b/3rdparty/include/opencv2/core/operations.hpp
new file mode 100644
index 0000000..bced1a7
--- /dev/null
+++ b/3rdparty/include/opencv2/core/operations.hpp
@@ -0,0 +1,530 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_OPERATIONS_HPP__
+#define __OPENCV_CORE_OPERATIONS_HPP__
+
+#ifndef __cplusplus
+#  error operations.hpp header must be compiled as C++
+#endif
+
+#include <cstdio>
+
+//! @cond IGNORED
+
+namespace cv
+{
+
+////////////////////////////// Matx methods depending on core API /////////////////////////////
+
+namespace internal
+{
+
+template<typename _Tp, int m> struct Matx_FastInvOp
+{
+    bool operator()(const Matx<_Tp, m, m>& a, Matx<_Tp, m, m>& b, int method) const
+    {
+        Matx<_Tp, m, m> temp = a;
+
+        // assume that b is all 0's on input => make it a unity matrix
+        for( int i = 0; i < m; i++ )
+            b(i, i) = (_Tp)1;
+
+        if( method == DECOMP_CHOLESKY )
+            return Cholesky(temp.val, m*sizeof(_Tp), m, b.val, m*sizeof(_Tp), m);
+
+        return LU(temp.val, m*sizeof(_Tp), m, b.val, m*sizeof(_Tp), m) != 0;
+    }
+};
+
+template<typename _Tp> struct Matx_FastInvOp<_Tp, 2>
+{
+    bool operator()(const Matx<_Tp, 2, 2>& a, Matx<_Tp, 2, 2>& b, int) const
+    {
+        _Tp d = determinant(a);
+        if( d == 0 )
+            return false;
+        d = 1/d;
+        b(1,1) = a(0,0)*d;
+        b(0,0) = a(1,1)*d;
+        b(0,1) = -a(0,1)*d;
+        b(1,0) = -a(1,0)*d;
+        return true;
+    }
+};
+
+template<typename _Tp> struct Matx_FastInvOp<_Tp, 3>
+{
+    bool operator()(const Matx<_Tp, 3, 3>& a, Matx<_Tp, 3, 3>& b, int) const
+    {
+        _Tp d = (_Tp)determinant(a);
+        if( d == 0 )
+            return false;
+        d = 1/d;
+        b(0,0) = (a(1,1) * a(2,2) - a(1,2) * a(2,1)) * d;
+        b(0,1) = (a(0,2) * a(2,1) - a(0,1) * a(2,2)) * d;
+        b(0,2) = (a(0,1) * a(1,2) - a(0,2) * a(1,1)) * d;
+
+        b(1,0) = (a(1,2) * a(2,0) - a(1,0) * a(2,2)) * d;
+        b(1,1) = (a(0,0) * a(2,2) - a(0,2) * a(2,0)) * d;
+        b(1,2) = (a(0,2) * a(1,0) - a(0,0) * a(1,2)) * d;
+
+        b(2,0) = (a(1,0) * a(2,1) - a(1,1) * a(2,0)) * d;
+        b(2,1) = (a(0,1) * a(2,0) - a(0,0) * a(2,1)) * d;
+        b(2,2) = (a(0,0) * a(1,1) - a(0,1) * a(1,0)) * d;
+        return true;
+    }
+};
+
+
+template<typename _Tp, int m, int n> struct Matx_FastSolveOp
+{
+    bool operator()(const Matx<_Tp, m, m>& a, const Matx<_Tp, m, n>& b,
+                    Matx<_Tp, m, n>& x, int method) const
+    {
+        Matx<_Tp, m, m> temp = a;
+        x = b;
+        if( method == DECOMP_CHOLESKY )
+            return Cholesky(temp.val, m*sizeof(_Tp), m, x.val, n*sizeof(_Tp), n);
+
+        return LU(temp.val, m*sizeof(_Tp), m, x.val, n*sizeof(_Tp), n) != 0;
+    }
+};
+
+template<typename _Tp> struct Matx_FastSolveOp<_Tp, 2, 1>
+{
+    bool operator()(const Matx<_Tp, 2, 2>& a, const Matx<_Tp, 2, 1>& b,
+                    Matx<_Tp, 2, 1>& x, int) const
+    {
+        _Tp d = determinant(a);
+        if( d == 0 )
+            return false;
+        d = 1/d;
+        x(0) = (b(0)*a(1,1) - b(1)*a(0,1))*d;
+        x(1) = (b(1)*a(0,0) - b(0)*a(1,0))*d;
+        return true;
+    }
+};
+
+template<typename _Tp> struct Matx_FastSolveOp<_Tp, 3, 1>
+{
+    bool operator()(const Matx<_Tp, 3, 3>& a, const Matx<_Tp, 3, 1>& b,
+                    Matx<_Tp, 3, 1>& x, int) const
+    {
+        _Tp d = (_Tp)determinant(a);
+        if( d == 0 )
+            return false;
+        d = 1/d;
+        x(0) = d*(b(0)*(a(1,1)*a(2,2) - a(1,2)*a(2,1)) -
+                a(0,1)*(b(1)*a(2,2) - a(1,2)*b(2)) +
+                a(0,2)*(b(1)*a(2,1) - a(1,1)*b(2)));
+
+        x(1) = d*(a(0,0)*(b(1)*a(2,2) - a(1,2)*b(2)) -
+                b(0)*(a(1,0)*a(2,2) - a(1,2)*a(2,0)) +
+                a(0,2)*(a(1,0)*b(2) - b(1)*a(2,0)));
+
+        x(2) = d*(a(0,0)*(a(1,1)*b(2) - b(1)*a(2,1)) -
+                a(0,1)*(a(1,0)*b(2) - b(1)*a(2,0)) +
+                b(0)*(a(1,0)*a(2,1) - a(1,1)*a(2,0)));
+        return true;
+    }
+};
+
+} // internal
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::randu(_Tp a, _Tp b)
+{
+    Matx<_Tp,m,n> M;
+    cv::randu(M, Scalar(a), Scalar(b));
+    return M;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::randn(_Tp a, _Tp b)
+{
+    Matx<_Tp,m,n> M;
+    cv::randn(M, Scalar(a), Scalar(b));
+    return M;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, n, m> Matx<_Tp, m, n>::inv(int method, bool *p_is_ok /*= NULL*/) const
+{
+    Matx<_Tp, n, m> b;
+    bool ok;
+    if( method == DECOMP_LU || method == DECOMP_CHOLESKY )
+        ok = cv::internal::Matx_FastInvOp<_Tp, m>()(*this, b, method);
+    else
+    {
+        Mat A(*this, false), B(b, false);
+        ok = (invert(A, B, method) != 0);
+    }
+    if( NULL != p_is_ok ) { *p_is_ok = ok; }
+    return ok ? b : Matx<_Tp, n, m>::zeros();
+}
+
+template<typename _Tp, int m, int n> template<int l> inline
+Matx<_Tp, n, l> Matx<_Tp, m, n>::solve(const Matx<_Tp, m, l>& rhs, int method) const
+{
+    Matx<_Tp, n, l> x;
+    bool ok;
+    if( method == DECOMP_LU || method == DECOMP_CHOLESKY )
+        ok = cv::internal::Matx_FastSolveOp<_Tp, m, l>()(*this, rhs, x, method);
+    else
+    {
+        Mat A(*this, false), B(rhs, false), X(x, false);
+        ok = cv::solve(A, B, X, method);
+    }
+
+    return ok ? x : Matx<_Tp, n, l>::zeros();
+}
+
+
+
+////////////////////////// Augmenting algebraic & logical operations //////////////////////////
+
+#define CV_MAT_AUG_OPERATOR1(op, cvop, A, B) \
+    static inline A& operator op (A& a, const B& b) { cvop; return a; }
+
+#define CV_MAT_AUG_OPERATOR(op, cvop, A, B)   \
+    CV_MAT_AUG_OPERATOR1(op, cvop, A, B)      \
+    CV_MAT_AUG_OPERATOR1(op, cvop, const A, B)
+
+#define CV_MAT_AUG_OPERATOR_T(op, cvop, A, B)                   \
+    template<typename _Tp> CV_MAT_AUG_OPERATOR1(op, cvop, A, B) \
+    template<typename _Tp> CV_MAT_AUG_OPERATOR1(op, cvop, const A, B)
+
+CV_MAT_AUG_OPERATOR  (+=, cv::add(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR  (+=, cv::add(a,b,a), Mat, Scalar)
+CV_MAT_AUG_OPERATOR_T(+=, cv::add(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(+=, cv::add(a,b,a), Mat_<_Tp>, Scalar)
+CV_MAT_AUG_OPERATOR_T(+=, cv::add(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+
+CV_MAT_AUG_OPERATOR  (-=, cv::subtract(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR  (-=, cv::subtract(a,b,a), Mat, Scalar)
+CV_MAT_AUG_OPERATOR_T(-=, cv::subtract(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(-=, cv::subtract(a,b,a), Mat_<_Tp>, Scalar)
+CV_MAT_AUG_OPERATOR_T(-=, cv::subtract(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+
+CV_MAT_AUG_OPERATOR  (*=, cv::gemm(a, b, 1, Mat(), 0, a, 0), Mat, Mat)
+CV_MAT_AUG_OPERATOR_T(*=, cv::gemm(a, b, 1, Mat(), 0, a, 0), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(*=, cv::gemm(a, b, 1, Mat(), 0, a, 0), Mat_<_Tp>, Mat_<_Tp>)
+CV_MAT_AUG_OPERATOR  (*=, a.convertTo(a, -1, b), Mat, double)
+CV_MAT_AUG_OPERATOR_T(*=, a.convertTo(a, -1, b), Mat_<_Tp>, double)
+
+CV_MAT_AUG_OPERATOR  (/=, cv::divide(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR_T(/=, cv::divide(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(/=, cv::divide(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+CV_MAT_AUG_OPERATOR  (/=, a.convertTo((Mat&)a, -1, 1./b), Mat, double)
+CV_MAT_AUG_OPERATOR_T(/=, a.convertTo((Mat&)a, -1, 1./b), Mat_<_Tp>, double)
+
+CV_MAT_AUG_OPERATOR  (&=, cv::bitwise_and(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR  (&=, cv::bitwise_and(a,b,a), Mat, Scalar)
+CV_MAT_AUG_OPERATOR_T(&=, cv::bitwise_and(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(&=, cv::bitwise_and(a,b,a), Mat_<_Tp>, Scalar)
+CV_MAT_AUG_OPERATOR_T(&=, cv::bitwise_and(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+
+CV_MAT_AUG_OPERATOR  (|=, cv::bitwise_or(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR  (|=, cv::bitwise_or(a,b,a), Mat, Scalar)
+CV_MAT_AUG_OPERATOR_T(|=, cv::bitwise_or(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(|=, cv::bitwise_or(a,b,a), Mat_<_Tp>, Scalar)
+CV_MAT_AUG_OPERATOR_T(|=, cv::bitwise_or(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+
+CV_MAT_AUG_OPERATOR  (^=, cv::bitwise_xor(a,b,a), Mat, Mat)
+CV_MAT_AUG_OPERATOR  (^=, cv::bitwise_xor(a,b,a), Mat, Scalar)
+CV_MAT_AUG_OPERATOR_T(^=, cv::bitwise_xor(a,b,a), Mat_<_Tp>, Mat)
+CV_MAT_AUG_OPERATOR_T(^=, cv::bitwise_xor(a,b,a), Mat_<_Tp>, Scalar)
+CV_MAT_AUG_OPERATOR_T(^=, cv::bitwise_xor(a,b,a), Mat_<_Tp>, Mat_<_Tp>)
+
+#undef CV_MAT_AUG_OPERATOR_T
+#undef CV_MAT_AUG_OPERATOR
+#undef CV_MAT_AUG_OPERATOR1
+
+
+
+///////////////////////////////////////////// SVD /////////////////////////////////////////////
+
+inline SVD::SVD() {}
+inline SVD::SVD( InputArray m, int flags ) { operator ()(m, flags); }
+inline void SVD::solveZ( InputArray m, OutputArray _dst )
+{
+    Mat mtx = m.getMat();
+    SVD svd(mtx, (mtx.rows >= mtx.cols ? 0 : SVD::FULL_UV));
+    _dst.create(svd.vt.cols, 1, svd.vt.type());
+    Mat dst = _dst.getMat();
+    svd.vt.row(svd.vt.rows-1).reshape(1,svd.vt.cols).copyTo(dst);
+}
+
+template<typename _Tp, int m, int n, int nm> inline void
+    SVD::compute( const Matx<_Tp, m, n>& a, Matx<_Tp, nm, 1>& w, Matx<_Tp, m, nm>& u, Matx<_Tp, n, nm>& vt )
+{
+    CV_StaticAssert( nm == MIN(m, n), "Invalid size of output vector.");
+    Mat _a(a, false), _u(u, false), _w(w, false), _vt(vt, false);
+    SVD::compute(_a, _w, _u, _vt);
+    CV_Assert(_w.data == (uchar*)&w.val[0] && _u.data == (uchar*)&u.val[0] && _vt.data == (uchar*)&vt.val[0]);
+}
+
+template<typename _Tp, int m, int n, int nm> inline void
+SVD::compute( const Matx<_Tp, m, n>& a, Matx<_Tp, nm, 1>& w )
+{
+    CV_StaticAssert( nm == MIN(m, n), "Invalid size of output vector.");
+    Mat _a(a, false), _w(w, false);
+    SVD::compute(_a, _w);
+    CV_Assert(_w.data == (uchar*)&w.val[0]);
+}
+
+template<typename _Tp, int m, int n, int nm, int nb> inline void
+SVD::backSubst( const Matx<_Tp, nm, 1>& w, const Matx<_Tp, m, nm>& u,
+                const Matx<_Tp, n, nm>& vt, const Matx<_Tp, m, nb>& rhs,
+                Matx<_Tp, n, nb>& dst )
+{
+    CV_StaticAssert( nm == MIN(m, n), "Invalid size of output vector.");
+    Mat _u(u, false), _w(w, false), _vt(vt, false), _rhs(rhs, false), _dst(dst, false);
+    SVD::backSubst(_w, _u, _vt, _rhs, _dst);
+    CV_Assert(_dst.data == (uchar*)&dst.val[0]);
+}
+
+
+
+/////////////////////////////////// Multiply-with-Carry RNG ///////////////////////////////////
+
+inline RNG::RNG()              { state = 0xffffffff; }
+inline RNG::RNG(uint64 _state) { state = _state ? _state : 0xffffffff; }
+
+inline RNG::operator uchar()    { return (uchar)next(); }
+inline RNG::operator schar()    { return (schar)next(); }
+inline RNG::operator ushort()   { return (ushort)next(); }
+inline RNG::operator short()    { return (short)next(); }
+inline RNG::operator int()      { return (int)next(); }
+inline RNG::operator unsigned() { return next(); }
+inline RNG::operator float()    { return next()*2.3283064365386962890625e-10f; }
+inline RNG::operator double()   { unsigned t = next(); return (((uint64)t << 32) | next()) * 5.4210108624275221700372640043497e-20; }
+
+inline unsigned RNG::operator ()(unsigned N) { return (unsigned)uniform(0,N); }
+inline unsigned RNG::operator ()()           { return next(); }
+
+inline int    RNG::uniform(int a, int b)       { return a == b ? a : (int)(next() % (b - a) + a); }
+inline float  RNG::uniform(float a, float b)   { return ((float)*this)*(b - a) + a; }
+inline double RNG::uniform(double a, double b) { return ((double)*this)*(b - a) + a; }
+
+inline unsigned RNG::next()
+{
+    state = (uint64)(unsigned)state* /*CV_RNG_COEFF*/ 4164903690U + (unsigned)(state >> 32);
+    return (unsigned)state;
+}
+
+//! returns the next unifomly-distributed random number of the specified type
+template<typename _Tp> static inline _Tp randu()
+{
+  return (_Tp)theRNG();
+}
+
+///////////////////////////////// Formatted string generation /////////////////////////////////
+
+CV_EXPORTS String format( const char* fmt, ... );
+
+///////////////////////////////// Formatted output of cv::Mat /////////////////////////////////
+
+static inline
+Ptr<Formatted> format(InputArray mtx, int fmt)
+{
+    return Formatter::get(fmt)->format(mtx.getMat());
+}
+
+static inline
+int print(Ptr<Formatted> fmtd, FILE* stream = stdout)
+{
+    int written = 0;
+    fmtd->reset();
+    for(const char* str = fmtd->next(); str; str = fmtd->next())
+        written += fputs(str, stream);
+
+    return written;
+}
+
+static inline
+int print(const Mat& mtx, FILE* stream = stdout)
+{
+    return print(Formatter::get()->format(mtx), stream);
+}
+
+static inline
+int print(const UMat& mtx, FILE* stream = stdout)
+{
+    return print(Formatter::get()->format(mtx.getMat(ACCESS_READ)), stream);
+}
+
+template<typename _Tp> static inline
+int print(const std::vector<Point_<_Tp> >& vec, FILE* stream = stdout)
+{
+    return print(Formatter::get()->format(Mat(vec)), stream);
+}
+
+template<typename _Tp> static inline
+int print(const std::vector<Point3_<_Tp> >& vec, FILE* stream = stdout)
+{
+    return print(Formatter::get()->format(Mat(vec)), stream);
+}
+
+template<typename _Tp, int m, int n> static inline
+int print(const Matx<_Tp, m, n>& matx, FILE* stream = stdout)
+{
+    return print(Formatter::get()->format(cv::Mat(matx)), stream);
+}
+
+//! @endcond
+
+/****************************************************************************************\
+*                                  Auxiliary algorithms                                  *
+\****************************************************************************************/
+
+/** @brief Splits an element set into equivalency classes.
+
+The generic function partition implements an \f$O(N^2)\f$ algorithm for splitting a set of \f$N\f$ elements
+into one or more equivalency classes, as described in
+<http://en.wikipedia.org/wiki/Disjoint-set_data_structure> . The function returns the number of
+equivalency classes.
+@param _vec Set of elements stored as a vector.
+@param labels Output vector of labels. It contains as many elements as vec. Each label labels[i] is
+a 0-based cluster index of `vec[i]`.
+@param predicate Equivalence predicate (pointer to a boolean function of two arguments or an
+instance of the class that has the method bool operator()(const _Tp& a, const _Tp& b) ). The
+predicate returns true when the elements are certainly in the same class, and returns false if they
+may or may not be in the same class.
+@ingroup core_cluster
+*/
+template<typename _Tp, class _EqPredicate> int
+partition( const std::vector<_Tp>& _vec, std::vector<int>& labels,
+          _EqPredicate predicate=_EqPredicate())
+{
+    int i, j, N = (int)_vec.size();
+    const _Tp* vec = &_vec[0];
+
+    const int PARENT=0;
+    const int RANK=1;
+
+    std::vector<int> _nodes(N*2);
+    int (*nodes)[2] = (int(*)[2])&_nodes[0];
+
+    // The first O(N) pass: create N single-vertex trees
+    for(i = 0; i < N; i++)
+    {
+        nodes[i][PARENT]=-1;
+        nodes[i][RANK] = 0;
+    }
+
+    // The main O(N^2) pass: merge connected components
+    for( i = 0; i < N; i++ )
+    {
+        int root = i;
+
+        // find root
+        while( nodes[root][PARENT] >= 0 )
+            root = nodes[root][PARENT];
+
+        for( j = 0; j < N; j++ )
+        {
+            if( i == j || !predicate(vec[i], vec[j]))
+                continue;
+            int root2 = j;
+
+            while( nodes[root2][PARENT] >= 0 )
+                root2 = nodes[root2][PARENT];
+
+            if( root2 != root )
+            {
+                // unite both trees
+                int rank = nodes[root][RANK], rank2 = nodes[root2][RANK];
+                if( rank > rank2 )
+                    nodes[root2][PARENT] = root;
+                else
+                {
+                    nodes[root][PARENT] = root2;
+                    nodes[root2][RANK] += rank == rank2;
+                    root = root2;
+                }
+                CV_Assert( nodes[root][PARENT] < 0 );
+
+                int k = j, parent;
+
+                // compress the path from node2 to root
+                while( (parent = nodes[k][PARENT]) >= 0 )
+                {
+                    nodes[k][PARENT] = root;
+                    k = parent;
+                }
+
+                // compress the path from node to root
+                k = i;
+                while( (parent = nodes[k][PARENT]) >= 0 )
+                {
+                    nodes[k][PARENT] = root;
+                    k = parent;
+                }
+            }
+        }
+    }
+
+    // Final O(N) pass: enumerate classes
+    labels.resize(N);
+    int nclasses = 0;
+
+    for( i = 0; i < N; i++ )
+    {
+        int root = i;
+        while( nodes[root][PARENT] >= 0 )
+            root = nodes[root][PARENT];
+        // re-use the rank as the class label
+        if( nodes[root][RANK] >= 0 )
+            nodes[root][RANK] = ~nclasses++;
+        labels[i] = ~nodes[root][RANK];
+    }
+
+    return nclasses;
+}
+
+} // cv
+
+#endif
diff --git a/3rdparty/include/opencv2/core/optim.hpp b/3rdparty/include/opencv2/core/optim.hpp
new file mode 100644
index 0000000..23e2155
--- /dev/null
+++ b/3rdparty/include/opencv2/core/optim.hpp
@@ -0,0 +1,302 @@
+/*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) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the OpenCV Foundation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OPTIM_HPP__
+#define __OPENCV_OPTIM_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+
+/** @addtogroup core_optim
+The algorithms in this section minimize or maximize function value within specified constraints or
+without any constraints.
+@{
+*/
+
+/** @brief Basic interface for all solvers
+ */
+class CV_EXPORTS MinProblemSolver : public Algorithm
+{
+public:
+    /** @brief Represents function being optimized
+     */
+    class CV_EXPORTS Function
+    {
+    public:
+        virtual ~Function() {}
+        virtual int getDims() const = 0;
+        virtual double getGradientEps() const;
+        virtual double calc(const double* x) const = 0;
+        virtual void getGradient(const double* x,double* grad);
+    };
+
+    /** @brief Getter for the optimized function.
+
+    The optimized function is represented by Function interface, which requires derivatives to
+    implement the sole method calc(double*) to evaluate the function.
+
+    @return Smart-pointer to an object that implements Function interface - it represents the
+    function that is being optimized. It can be empty, if no function was given so far.
+     */
+    virtual Ptr<Function> getFunction() const = 0;
+
+    /** @brief Setter for the optimized function.
+
+    *It should be called at least once before the call to* minimize(), as default value is not usable.
+
+    @param f The new function to optimize.
+     */
+    virtual void setFunction(const Ptr<Function>& f) = 0;
+
+    /** @brief Getter for the previously set terminal criteria for this algorithm.
+
+    @return Deep copy of the terminal criteria used at the moment.
+     */
+    virtual TermCriteria getTermCriteria() const = 0;
+
+    /** @brief Set terminal criteria for solver.
+
+    This method *is not necessary* to be called before the first call to minimize(), as the default
+    value is sensible.
+
+    Algorithm stops when the number of function evaluations done exceeds termcrit.maxCount, when
+    the function values at the vertices of simplex are within termcrit.epsilon range or simplex
+    becomes so small that it can enclosed in a box with termcrit.epsilon sides, whatever comes
+    first.
+    @param termcrit Terminal criteria to be used, represented as cv::TermCriteria structure.
+     */
+    virtual void setTermCriteria(const TermCriteria& termcrit) = 0;
+
+    /** @brief actually runs the algorithm and performs the minimization.
+
+    The sole input parameter determines the centroid of the starting simplex (roughly, it tells
+    where to start), all the others (terminal criteria, initial step, function to be minimized) are
+    supposed to be set via the setters before the call to this method or the default values (not
+    always sensible) will be used.
+
+    @param x The initial point, that will become a centroid of an initial simplex. After the algorithm
+    will terminate, it will be setted to the point where the algorithm stops, the point of possible
+    minimum.
+    @return The value of a function at the point found.
+     */
+    virtual double minimize(InputOutputArray x) = 0;
+};
+
+/** @brief This class is used to perform the non-linear non-constrained minimization of a function,
+
+defined on an `n`-dimensional Euclidean space, using the **Nelder-Mead method**, also known as
+**downhill simplex method**. The basic idea about the method can be obtained from
+<http://en.wikipedia.org/wiki/Nelder-Mead_method>.
+
+It should be noted, that this method, although deterministic, is rather a heuristic and therefore
+may converge to a local minima, not necessary a global one. It is iterative optimization technique,
+which at each step uses an information about the values of a function evaluated only at `n+1`
+points, arranged as a *simplex* in `n`-dimensional space (hence the second name of the method). At
+each step new point is chosen to evaluate function at, obtained value is compared with previous
+ones and based on this information simplex changes it's shape , slowly moving to the local minimum.
+Thus this method is using *only* function values to make decision, on contrary to, say, Nonlinear
+Conjugate Gradient method (which is also implemented in optim).
+
+Algorithm stops when the number of function evaluations done exceeds termcrit.maxCount, when the
+function values at the vertices of simplex are within termcrit.epsilon range or simplex becomes so
+small that it can enclosed in a box with termcrit.epsilon sides, whatever comes first, for some
+defined by user positive integer termcrit.maxCount and positive non-integer termcrit.epsilon.
+
+@note DownhillSolver is a derivative of the abstract interface
+cv::MinProblemSolver, which in turn is derived from the Algorithm interface and is used to
+encapsulate the functionality, common to all non-linear optimization algorithms in the optim
+module.
+
+@note term criteria should meet following condition:
+@code
+    termcrit.type == (TermCriteria::MAX_ITER + TermCriteria::EPS) && termcrit.epsilon > 0 && termcrit.maxCount > 0
+@endcode
+ */
+class CV_EXPORTS DownhillSolver : public MinProblemSolver
+{
+public:
+    /** @brief Returns the initial step that will be used in downhill simplex algorithm.
+
+    @param step Initial step that will be used in algorithm. Note, that although corresponding setter
+    accepts column-vectors as well as row-vectors, this method will return a row-vector.
+    @see DownhillSolver::setInitStep
+     */
+    virtual void getInitStep(OutputArray step) const=0;
+
+    /** @brief Sets the initial step that will be used in downhill simplex algorithm.
+
+    Step, together with initial point (givin in DownhillSolver::minimize) are two `n`-dimensional
+    vectors that are used to determine the shape of initial simplex. Roughly said, initial point
+    determines the position of a simplex (it will become simplex's centroid), while step determines the
+    spread (size in each dimension) of a simplex. To be more precise, if \f$s,x_0\in\mathbb{R}^n\f$ are
+    the initial step and initial point respectively, the vertices of a simplex will be:
+    \f$v_0:=x_0-\frac{1}{2} s\f$ and \f$v_i:=x_0+s_i\f$ for \f$i=1,2,\dots,n\f$ where \f$s_i\f$ denotes
+    projections of the initial step of *n*-th coordinate (the result of projection is treated to be
+    vector given by \f$s_i:=e_i\cdot\left<e_i\cdot s\right>\f$, where \f$e_i\f$ form canonical basis)
+
+    @param step Initial step that will be used in algorithm. Roughly said, it determines the spread
+    (size in each dimension) of an initial simplex.
+     */
+    virtual void setInitStep(InputArray step)=0;
+
+    /** @brief This function returns the reference to the ready-to-use DownhillSolver object.
+
+    All the parameters are optional, so this procedure can be called even without parameters at
+    all. In this case, the default values will be used. As default value for terminal criteria are
+    the only sensible ones, MinProblemSolver::setFunction() and DownhillSolver::setInitStep()
+    should be called upon the obtained object, if the respective parameters were not given to
+    create(). Otherwise, the two ways (give parameters to createDownhillSolver() or miss them out
+    and call the MinProblemSolver::setFunction() and DownhillSolver::setInitStep()) are absolutely
+    equivalent (and will drop the same errors in the same way, should invalid input be detected).
+    @param f Pointer to the function that will be minimized, similarly to the one you submit via
+    MinProblemSolver::setFunction.
+    @param initStep Initial step, that will be used to construct the initial simplex, similarly to the one
+    you submit via MinProblemSolver::setInitStep.
+    @param termcrit Terminal criteria to the algorithm, similarly to the one you submit via
+    MinProblemSolver::setTermCriteria.
+     */
+    static Ptr<DownhillSolver> create(const Ptr<MinProblemSolver::Function>& f=Ptr<MinProblemSolver::Function>(),
+                                      InputArray initStep=Mat_<double>(1,1,0.0),
+                                      TermCriteria termcrit=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS,5000,0.000001));
+};
+
+/** @brief This class is used to perform the non-linear non-constrained minimization of a function
+with known gradient,
+
+defined on an *n*-dimensional Euclidean space, using the **Nonlinear Conjugate Gradient method**.
+The implementation was done based on the beautifully clear explanatory article [An Introduction to
+the Conjugate Gradient Method Without the Agonizing
+Pain](http://www.cs.cmu.edu/~quake-papers/painless-conjugate-gradient.pdf) by Jonathan Richard
+Shewchuk. The method can be seen as an adaptation of a standard Conjugate Gradient method (see, for
+example <http://en.wikipedia.org/wiki/Conjugate_gradient_method>) for numerically solving the
+systems of linear equations.
+
+It should be noted, that this method, although deterministic, is rather a heuristic method and
+therefore may converge to a local minima, not necessary a global one. What is even more disastrous,
+most of its behaviour is ruled by gradient, therefore it essentially cannot distinguish between
+local minima and maxima. Therefore, if it starts sufficiently near to the local maximum, it may
+converge to it. Another obvious restriction is that it should be possible to compute the gradient of
+a function at any point, thus it is preferable to have analytic expression for gradient and
+computational burden should be born by the user.
+
+The latter responsibility is accompilished via the getGradient method of a
+MinProblemSolver::Function interface (which represents function being optimized). This method takes
+point a point in *n*-dimensional space (first argument represents the array of coordinates of that
+point) and comput its gradient (it should be stored in the second argument as an array).
+
+@note class ConjGradSolver thus does not add any new methods to the basic MinProblemSolver interface.
+
+@note term criteria should meet following condition:
+@code
+    termcrit.type == (TermCriteria::MAX_ITER + TermCriteria::EPS) && termcrit.epsilon > 0 && termcrit.maxCount > 0
+    // or
+    termcrit.type == TermCriteria::MAX_ITER) && termcrit.maxCount > 0
+@endcode
+ */
+class CV_EXPORTS ConjGradSolver : public MinProblemSolver
+{
+public:
+    /** @brief This function returns the reference to the ready-to-use ConjGradSolver object.
+
+    All the parameters are optional, so this procedure can be called even without parameters at
+    all. In this case, the default values will be used. As default value for terminal criteria are
+    the only sensible ones, MinProblemSolver::setFunction() should be called upon the obtained
+    object, if the function was not given to create(). Otherwise, the two ways (submit it to
+    create() or miss it out and call the MinProblemSolver::setFunction()) are absolutely equivalent
+    (and will drop the same errors in the same way, should invalid input be detected).
+    @param f Pointer to the function that will be minimized, similarly to the one you submit via
+    MinProblemSolver::setFunction.
+    @param termcrit Terminal criteria to the algorithm, similarly to the one you submit via
+    MinProblemSolver::setTermCriteria.
+    */
+    static Ptr<ConjGradSolver> create(const Ptr<MinProblemSolver::Function>& f=Ptr<ConjGradSolver::Function>(),
+                                      TermCriteria termcrit=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS,5000,0.000001));
+};
+
+//! return codes for cv::solveLP() function
+enum SolveLPResult
+{
+    SOLVELP_UNBOUNDED    = -2, //!< problem is unbounded (target function can achieve arbitrary high values)
+    SOLVELP_UNFEASIBLE    = -1, //!< problem is unfeasible (there are no points that satisfy all the constraints imposed)
+    SOLVELP_SINGLE    = 0, //!< there is only one maximum for target function
+    SOLVELP_MULTI    = 1 //!< there are multiple maxima for target function - the arbitrary one is returned
+};
+
+/** @brief Solve given (non-integer) linear programming problem using the Simplex Algorithm (Simplex Method).
+
+What we mean here by "linear programming problem" (or LP problem, for short) can be formulated as:
+
+\f[\mbox{Maximize } c\cdot x\\
+ \mbox{Subject to:}\\
+ Ax\leq b\\
+ x\geq 0\f]
+
+Where \f$c\f$ is fixed `1`-by-`n` row-vector, \f$A\f$ is fixed `m`-by-`n` matrix, \f$b\f$ is fixed `m`-by-`1`
+column vector and \f$x\f$ is an arbitrary `n`-by-`1` column vector, which satisfies the constraints.
+
+Simplex algorithm is one of many algorithms that are designed to handle this sort of problems
+efficiently. Although it is not optimal in theoretical sense (there exist algorithms that can solve
+any problem written as above in polynomial time, while simplex method degenerates to exponential
+time for some special cases), it is well-studied, easy to implement and is shown to work well for
+real-life purposes.
+
+The particular implementation is taken almost verbatim from **Introduction to Algorithms, third
+edition** by T. H. Cormen, C. E. Leiserson, R. L. Rivest and Clifford Stein. In particular, the
+Bland's rule <http://en.wikipedia.org/wiki/Bland%27s_rule> is used to prevent cycling.
+
+@param Func This row-vector corresponds to \f$c\f$ in the LP problem formulation (see above). It should
+contain 32- or 64-bit floating point numbers. As a convenience, column-vector may be also submitted,
+in the latter case it is understood to correspond to \f$c^T\f$.
+@param Constr `m`-by-`n+1` matrix, whose rightmost column corresponds to \f$b\f$ in formulation above
+and the remaining to \f$A\f$. It should containt 32- or 64-bit floating point numbers.
+@param z The solution will be returned here as a column-vector - it corresponds to \f$c\f$ in the
+formulation above. It will contain 64-bit floating point numbers.
+@return One of cv::SolveLPResult
+ */
+CV_EXPORTS_W int solveLP(const Mat& Func, const Mat& Constr, Mat& z);
+
+//! @}
+
+}// cv
+
+#endif
diff --git a/3rdparty/include/opencv2/core/persistence.hpp b/3rdparty/include/opencv2/core/persistence.hpp
new file mode 100644
index 0000000..17686dd
--- /dev/null
+++ b/3rdparty/include/opencv2/core/persistence.hpp
@@ -0,0 +1,1195 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_PERSISTENCE_HPP__
+#define __OPENCV_CORE_PERSISTENCE_HPP__
+
+#ifndef __cplusplus
+#  error persistence.hpp header must be compiled as C++
+#endif
+
+//! @addtogroup core_c
+//! @{
+
+/** @brief "black box" representation of the file storage associated with a file on disk.
+
+Several functions that are described below take CvFileStorage\* as inputs and allow the user to
+save or to load hierarchical collections that consist of scalar values, standard CXCore objects
+(such as matrices, sequences, graphs), and user-defined objects.
+
+OpenCV can read and write data in XML (<http://www.w3c.org/XML>) or YAML (<http://www.yaml.org>)
+formats. Below is an example of 3x3 floating-point identity matrix A, stored in XML and YAML files
+using CXCore functions:
+XML:
+@code{.xml}
+    <?xml version="1.0">
+    <opencv_storage>
+    <A type_id="opencv-matrix">
+      <rows>3</rows>
+      <cols>3</cols>
+      <dt>f</dt>
+      <data>1. 0. 0. 0. 1. 0. 0. 0. 1.</data>
+    </A>
+    </opencv_storage>
+@endcode
+YAML:
+@code{.yaml}
+    %YAML:1.0
+    A: !!opencv-matrix
+      rows: 3
+      cols: 3
+      dt: f
+      data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1.]
+@endcode
+As it can be seen from the examples, XML uses nested tags to represent hierarchy, while YAML uses
+indentation for that purpose (similar to the Python programming language).
+
+The same functions can read and write data in both formats; the particular format is determined by
+the extension of the opened file, ".xml" for XML files and ".yml" or ".yaml" for YAML.
+ */
+typedef struct CvFileStorage CvFileStorage;
+typedef struct CvFileNode CvFileNode;
+
+//! @} core_c
+
+#include "opencv2/core/types.hpp"
+#include "opencv2/core/mat.hpp"
+
+namespace cv {
+
+/** @addtogroup core_xml
+
+XML/YAML file storages.     {#xml_storage}
+=======================
+Writing to a file storage.
+--------------------------
+You can store and then restore various OpenCV data structures to/from XML (<http://www.w3c.org/XML>)
+or YAML (<http://www.yaml.org>) formats. Also, it is possible store and load arbitrarily complex
+data structures, which include OpenCV data structures, as well as primitive data types (integer and
+floating-point numbers and text strings) as their elements.
+
+Use the following procedure to write something to XML or YAML:
+-# Create new FileStorage and open it for writing. It can be done with a single call to
+FileStorage::FileStorage constructor that takes a filename, or you can use the default constructor
+and then call FileStorage::open. Format of the file (XML or YAML) is determined from the filename
+extension (".xml" and ".yml"/".yaml", respectively)
+-# Write all the data you want using the streaming operator `<<`, just like in the case of STL
+streams.
+-# Close the file using FileStorage::release. FileStorage destructor also closes the file.
+
+Here is an example:
+@code
+    #include "opencv2/opencv.hpp"
+    #include <time.h>
+
+    using namespace cv;
+
+    int main(int, char** argv)
+    {
+        FileStorage fs("test.yml", FileStorage::WRITE);
+
+        fs << "frameCount" << 5;
+        time_t rawtime; time(&rawtime);
+        fs << "calibrationDate" << asctime(localtime(&rawtime));
+        Mat cameraMatrix = (Mat_<double>(3,3) << 1000, 0, 320, 0, 1000, 240, 0, 0, 1);
+        Mat distCoeffs = (Mat_<double>(5,1) << 0.1, 0.01, -0.001, 0, 0);
+        fs << "cameraMatrix" << cameraMatrix << "distCoeffs" << distCoeffs;
+        fs << "features" << "[";
+        for( int i = 0; i < 3; i++ )
+        {
+            int x = rand() % 640;
+            int y = rand() % 480;
+            uchar lbp = rand() % 256;
+
+            fs << "{:" << "x" << x << "y" << y << "lbp" << "[:";
+            for( int j = 0; j < 8; j++ )
+                fs << ((lbp >> j) & 1);
+            fs << "]" << "}";
+        }
+        fs << "]";
+        fs.release();
+        return 0;
+    }
+@endcode
+The sample above stores to XML and integer, text string (calibration date), 2 matrices, and a custom
+structure "feature", which includes feature coordinates and LBP (local binary pattern) value. Here
+is output of the sample:
+@code{.yaml}
+%YAML:1.0
+frameCount: 5
+calibrationDate: "Fri Jun 17 14:09:29 2011\n"
+cameraMatrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1000., 0., 320., 0., 1000., 240., 0., 0., 1. ]
+distCoeffs: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ 1.0000000000000001e-01, 1.0000000000000000e-02,
+       -1.0000000000000000e-03, 0., 0. ]
+features:
+   - { x:167, y:49, lbp:[ 1, 0, 0, 1, 1, 0, 1, 1 ] }
+   - { x:298, y:130, lbp:[ 0, 0, 0, 1, 0, 0, 1, 1 ] }
+   - { x:344, y:158, lbp:[ 1, 1, 0, 0, 0, 0, 1, 0 ] }
+@endcode
+
+As an exercise, you can replace ".yml" with ".xml" in the sample above and see, how the
+corresponding XML file will look like.
+
+Several things can be noted by looking at the sample code and the output:
+
+-   The produced YAML (and XML) consists of heterogeneous collections that can be nested. There are 2
+    types of collections: named collections (mappings) and unnamed collections (sequences). In mappings
+    each element has a name and is accessed by name. This is similar to structures and std::map in
+    C/C++ and dictionaries in Python. In sequences elements do not have names, they are accessed by
+    indices. This is similar to arrays and std::vector in C/C++ and lists, tuples in Python.
+    "Heterogeneous" means that elements of each single collection can have different types.
+
+    Top-level collection in YAML/XML is a mapping. Each matrix is stored as a mapping, and the matrix
+    elements are stored as a sequence. Then, there is a sequence of features, where each feature is
+    represented a mapping, and lbp value in a nested sequence.
+
+-   When you write to a mapping (a structure), you write element name followed by its value. When you
+    write to a sequence, you simply write the elements one by one. OpenCV data structures (such as
+    cv::Mat) are written in absolutely the same way as simple C data structures - using `<<`
+    operator.
+
+-   To write a mapping, you first write the special string `{` to the storage, then write the
+    elements as pairs (`fs << <element_name> << <element_value>`) and then write the closing
+    `}`.
+
+-   To write a sequence, you first write the special string `[`, then write the elements, then
+    write the closing `]`.
+
+-   In YAML (but not XML), mappings and sequences can be written in a compact Python-like inline
+    form. In the sample above matrix elements, as well as each feature, including its lbp value, is
+    stored in such inline form. To store a mapping/sequence in a compact form, put `:` after the
+    opening character, e.g. use `{:` instead of `{` and `[:` instead of `[`. When the
+    data is written to XML, those extra `:` are ignored.
+
+Reading data from a file storage.
+---------------------------------
+To read the previously written XML or YAML file, do the following:
+-#  Open the file storage using FileStorage::FileStorage constructor or FileStorage::open method.
+    In the current implementation the whole file is parsed and the whole representation of file
+    storage is built in memory as a hierarchy of file nodes (see FileNode)
+
+-#  Read the data you are interested in. Use FileStorage::operator [], FileNode::operator []
+    and/or FileNodeIterator.
+
+-#  Close the storage using FileStorage::release.
+
+Here is how to read the file created by the code sample above:
+@code
+    FileStorage fs2("test.yml", FileStorage::READ);
+
+    // first method: use (type) operator on FileNode.
+    int frameCount = (int)fs2["frameCount"];
+
+    String date;
+    // second method: use FileNode::operator >>
+    fs2["calibrationDate"] >> date;
+
+    Mat cameraMatrix2, distCoeffs2;
+    fs2["cameraMatrix"] >> cameraMatrix2;
+    fs2["distCoeffs"] >> distCoeffs2;
+
+    cout << "frameCount: " << frameCount << endl
+         << "calibration date: " << date << endl
+         << "camera matrix: " << cameraMatrix2 << endl
+         << "distortion coeffs: " << distCoeffs2 << endl;
+
+    FileNode features = fs2["features"];
+    FileNodeIterator it = features.begin(), it_end = features.end();
+    int idx = 0;
+    std::vector<uchar> lbpval;
+
+    // iterate through a sequence using FileNodeIterator
+    for( ; it != it_end; ++it, idx++ )
+    {
+        cout << "feature #" << idx << ": ";
+        cout << "x=" << (int)(*it)["x"] << ", y=" << (int)(*it)["y"] << ", lbp: (";
+        // you can also easily read numerical arrays using FileNode >> std::vector operator.
+        (*it)["lbp"] >> lbpval;
+        for( int i = 0; i < (int)lbpval.size(); i++ )
+            cout << " " << (int)lbpval[i];
+        cout << ")" << endl;
+    }
+    fs2.release();
+@endcode
+
+Format specification    {#format_spec}
+--------------------
+`([count]{u|c|w|s|i|f|d})`... where the characters correspond to fundamental C++ types:
+-   `u` 8-bit unsigned number
+-   `c` 8-bit signed number
+-   `w` 16-bit unsigned number
+-   `s` 16-bit signed number
+-   `i` 32-bit signed number
+-   `f` single precision floating-point number
+-   `d` double precision floating-point number
+-   `r` pointer, 32 lower bits of which are written as a signed integer. The type can be used to
+    store structures with links between the elements.
+
+`count` is the optional counter of values of a given type. For example, `2if` means that each array
+element is a structure of 2 integers, followed by a single-precision floating-point number. The
+equivalent notations of the above specification are `iif`, `2i1f` and so forth. Other examples: `u`
+means that the array consists of bytes, and `2d` means the array consists of pairs of doubles.
+
+@see @ref filestorage.cpp
+*/
+
+//! @{
+
+/** @example filestorage.cpp
+A complete example using the FileStorage interface
+*/
+
+////////////////////////// XML & YAML I/O //////////////////////////
+
+class CV_EXPORTS FileNode;
+class CV_EXPORTS FileNodeIterator;
+
+/** @brief XML/YAML file storage class that encapsulates all the information necessary for writing or reading
+data to/from a file.
+ */
+class CV_EXPORTS_W FileStorage
+{
+public:
+    //! file storage mode
+    enum Mode
+    {
+        READ        = 0, //!< value, open the file for reading
+        WRITE       = 1, //!< value, open the file for writing
+        APPEND      = 2, //!< value, open the file for appending
+        MEMORY      = 4, //!< flag, read data from source or write data to the internal buffer (which is
+                         //!< returned by FileStorage::release)
+        FORMAT_MASK = (7<<3), //!< mask for format flags
+        FORMAT_AUTO = 0,      //!< flag, auto format
+        FORMAT_XML  = (1<<3), //!< flag, XML format
+        FORMAT_YAML = (2<<3)  //!< flag, YAML format
+    };
+    enum
+    {
+        UNDEFINED      = 0,
+        VALUE_EXPECTED = 1,
+        NAME_EXPECTED  = 2,
+        INSIDE_MAP     = 4
+    };
+
+    /** @brief The constructors.
+
+    The full constructor opens the file. Alternatively you can use the default constructor and then
+    call FileStorage::open.
+     */
+    CV_WRAP FileStorage();
+
+    /** @overload
+    @param source Name of the file to open or the text string to read the data from. Extension of the
+    file (.xml or .yml/.yaml) determines its format (XML or YAML respectively). Also you can append .gz
+    to work with compressed files, for example myHugeMatrix.xml.gz. If both FileStorage::WRITE and
+    FileStorage::MEMORY flags are specified, source is used just to specify the output file format (e.g.
+    mydata.xml, .yml etc.).
+    @param flags Mode of operation. See  FileStorage::Mode
+    @param encoding Encoding of the file. Note that UTF-16 XML encoding is not supported currently and
+    you should use 8-bit encoding instead of it.
+    */
+    CV_WRAP FileStorage(const String& source, int flags, const String& encoding=String());
+
+    /** @overload */
+    FileStorage(CvFileStorage* fs, bool owning=true);
+
+    //! the destructor. calls release()
+    virtual ~FileStorage();
+
+    /** @brief Opens a file.
+
+    See description of parameters in FileStorage::FileStorage. The method calls FileStorage::release
+    before opening the file.
+    @param filename Name of the file to open or the text string to read the data from.
+       Extension of the file (.xml or .yml/.yaml) determines its format (XML or YAML respectively).
+        Also you can append .gz to work with compressed files, for example myHugeMatrix.xml.gz. If both
+        FileStorage::WRITE and FileStorage::MEMORY flags are specified, source is used just to specify
+        the output file format (e.g. mydata.xml, .yml etc.).
+    @param flags Mode of operation. One of FileStorage::Mode
+    @param encoding Encoding of the file. Note that UTF-16 XML encoding is not supported currently and
+    you should use 8-bit encoding instead of it.
+     */
+    CV_WRAP virtual bool open(const String& filename, int flags, const String& encoding=String());
+
+    /** @brief Checks whether the file is opened.
+
+    @returns true if the object is associated with the current file and false otherwise. It is a
+    good practice to call this method after you tried to open a file.
+     */
+    CV_WRAP virtual bool isOpened() const;
+
+    /** @brief Closes the file and releases all the memory buffers.
+
+    Call this method after all I/O operations with the storage are finished.
+     */
+    CV_WRAP virtual void release();
+
+    /** @brief Closes the file and releases all the memory buffers.
+
+    Call this method after all I/O operations with the storage are finished. If the storage was
+    opened for writing data and FileStorage::WRITE was specified
+     */
+    CV_WRAP virtual String releaseAndGetString();
+
+    /** @brief Returns the first element of the top-level mapping.
+    @returns The first element of the top-level mapping.
+     */
+    CV_WRAP FileNode getFirstTopLevelNode() const;
+
+    /** @brief Returns the top-level mapping
+    @param streamidx Zero-based index of the stream. In most cases there is only one stream in the file.
+    However, YAML supports multiple streams and so there can be several.
+    @returns The top-level mapping.
+     */
+    CV_WRAP FileNode root(int streamidx=0) const;
+
+    /** @brief Returns the specified element of the top-level mapping.
+    @param nodename Name of the file node.
+    @returns Node with the given name.
+     */
+    FileNode operator[](const String& nodename) const;
+
+    /** @overload */
+    CV_WRAP FileNode operator[](const char* nodename) const;
+
+    /** @brief Returns the obsolete C FileStorage structure.
+    @returns Pointer to the underlying C FileStorage structure
+     */
+    CvFileStorage* operator *() { return fs.get(); }
+
+    /** @overload */
+    const CvFileStorage* operator *() const { return fs.get(); }
+
+    /** @brief Writes multiple numbers.
+
+    Writes one or more numbers of the specified format to the currently written structure. Usually it is
+    more convenient to use operator `<<` instead of this method.
+    @param fmt Specification of each array element, see @ref format_spec "format specification"
+    @param vec Pointer to the written array.
+    @param len Number of the uchar elements to write.
+     */
+    void writeRaw( const String& fmt, const uchar* vec, size_t len );
+
+    /** @brief Writes the registered C structure (CvMat, CvMatND, CvSeq).
+    @param name Name of the written object.
+    @param obj Pointer to the object.
+    @see ocvWrite for details.
+     */
+    void writeObj( const String& name, const void* obj );
+
+    /** @brief Returns the normalized object name for the specified name of a file.
+    @param filename Name of a file
+    @returns The normalized object name.
+     */
+    static String getDefaultObjectName(const String& filename);
+
+    Ptr<CvFileStorage> fs; //!< the underlying C FileStorage structure
+    String elname; //!< the currently written element
+    std::vector<char> structs; //!< the stack of written structures
+    int state; //!< the writer state
+};
+
+template<> CV_EXPORTS void DefaultDeleter<CvFileStorage>::operator ()(CvFileStorage* obj) const;
+
+/** @brief File Storage Node class.
+
+The node is used to store each and every element of the file storage opened for reading. When
+XML/YAML file is read, it is first parsed and stored in the memory as a hierarchical collection of
+nodes. Each node can be a “leaf� that is contain a single number or a string, or be a collection of
+other nodes. There can be named collections (mappings) where each element has a name and it is
+accessed by a name, and ordered collections (sequences) where elements do not have names but rather
+accessed by index. Type of the file node can be determined using FileNode::type method.
+
+Note that file nodes are only used for navigating file storages opened for reading. When a file
+storage is opened for writing, no data is stored in memory after it is written.
+ */
+class CV_EXPORTS_W_SIMPLE FileNode
+{
+public:
+    //! type of the file storage node
+    enum Type
+    {
+        NONE      = 0, //!< empty node
+        INT       = 1, //!< an integer
+        REAL      = 2, //!< floating-point number
+        FLOAT     = REAL, //!< synonym or REAL
+        STR       = 3, //!< text string in UTF-8 encoding
+        STRING    = STR, //!< synonym for STR
+        REF       = 4, //!< integer of size size_t. Typically used for storing complex dynamic structures where some elements reference the others
+        SEQ       = 5, //!< sequence
+        MAP       = 6, //!< mapping
+        TYPE_MASK = 7,
+        FLOW      = 8,  //!< compact representation of a sequence or mapping. Used only by YAML writer
+        USER      = 16, //!< a registered object (e.g. a matrix)
+        EMPTY     = 32, //!< empty structure (sequence or mapping)
+        NAMED     = 64  //!< the node has a name (i.e. it is element of a mapping)
+    };
+    /** @brief The constructors.
+
+    These constructors are used to create a default file node, construct it from obsolete structures or
+    from the another file node.
+     */
+    CV_WRAP FileNode();
+
+    /** @overload
+    @param fs Pointer to the obsolete file storage structure.
+    @param node File node to be used as initialization for the created file node.
+    */
+    FileNode(const CvFileStorage* fs, const CvFileNode* node);
+
+    /** @overload
+    @param node File node to be used as initialization for the created file node.
+    */
+    FileNode(const FileNode& node);
+
+    /** @brief Returns element of a mapping node or a sequence node.
+    @param nodename Name of an element in the mapping node.
+    @returns Returns the element with the given identifier.
+     */
+    FileNode operator[](const String& nodename) const;
+
+    /** @overload
+    @param nodename Name of an element in the mapping node.
+    */
+    CV_WRAP FileNode operator[](const char* nodename) const;
+
+    /** @overload
+    @param i Index of an element in the sequence node.
+    */
+    CV_WRAP FileNode operator[](int i) const;
+
+    /** @brief Returns type of the node.
+    @returns Type of the node. See FileNode::Type
+     */
+    CV_WRAP int type() const;
+
+    //! returns true if the node is empty
+    CV_WRAP bool empty() const;
+    //! returns true if the node is a "none" object
+    CV_WRAP bool isNone() const;
+    //! returns true if the node is a sequence
+    CV_WRAP bool isSeq() const;
+    //! returns true if the node is a mapping
+    CV_WRAP bool isMap() const;
+    //! returns true if the node is an integer
+    CV_WRAP bool isInt() const;
+    //! returns true if the node is a floating-point number
+    CV_WRAP bool isReal() const;
+    //! returns true if the node is a text string
+    CV_WRAP bool isString() const;
+    //! returns true if the node has a name
+    CV_WRAP bool isNamed() const;
+    //! returns the node name or an empty string if the node is nameless
+    CV_WRAP String name() const;
+    //! returns the number of elements in the node, if it is a sequence or mapping, or 1 otherwise.
+    CV_WRAP size_t size() const;
+    //! returns the node content as an integer. If the node stores floating-point number, it is rounded.
+    operator int() const;
+    //! returns the node content as float
+    operator float() const;
+    //! returns the node content as double
+    operator double() const;
+    //! returns the node content as text string
+    operator String() const;
+#ifndef OPENCV_NOSTL
+    operator std::string() const;
+#endif
+
+    //! returns pointer to the underlying file node
+    CvFileNode* operator *();
+    //! returns pointer to the underlying file node
+    const CvFileNode* operator* () const;
+
+    //! returns iterator pointing to the first node element
+    FileNodeIterator begin() const;
+    //! returns iterator pointing to the element following the last node element
+    FileNodeIterator end() const;
+
+    /** @brief Reads node elements to the buffer with the specified format.
+
+    Usually it is more convenient to use operator `>>` instead of this method.
+    @param fmt Specification of each array element. See @ref format_spec "format specification"
+    @param vec Pointer to the destination array.
+    @param len Number of elements to read. If it is greater than number of remaining elements then all
+    of them will be read.
+     */
+    void readRaw( const String& fmt, uchar* vec, size_t len ) const;
+
+    //! reads the registered object and returns pointer to it
+    void* readObj() const;
+
+    // do not use wrapper pointer classes for better efficiency
+    const CvFileStorage* fs;
+    const CvFileNode* node;
+};
+
+
+/** @brief used to iterate through sequences and mappings.
+
+A standard STL notation, with node.begin(), node.end() denoting the beginning and the end of a
+sequence, stored in node. See the data reading sample in the beginning of the section.
+ */
+class CV_EXPORTS FileNodeIterator
+{
+public:
+    /** @brief The constructors.
+
+    These constructors are used to create a default iterator, set it to specific element in a file node
+    or construct it from another iterator.
+     */
+    FileNodeIterator();
+
+    /** @overload
+    @param fs File storage for the iterator.
+    @param node File node for the iterator.
+    @param ofs Index of the element in the node. The created iterator will point to this element.
+    */
+    FileNodeIterator(const CvFileStorage* fs, const CvFileNode* node, size_t ofs=0);
+
+    /** @overload
+    @param it Iterator to be used as initialization for the created iterator.
+    */
+    FileNodeIterator(const FileNodeIterator& it);
+
+    //! returns the currently observed element
+    FileNode operator *() const;
+    //! accesses the currently observed element methods
+    FileNode operator ->() const;
+
+    //! moves iterator to the next node
+    FileNodeIterator& operator ++ ();
+    //! moves iterator to the next node
+    FileNodeIterator operator ++ (int);
+    //! moves iterator to the previous node
+    FileNodeIterator& operator -- ();
+    //! moves iterator to the previous node
+    FileNodeIterator operator -- (int);
+    //! moves iterator forward by the specified offset (possibly negative)
+    FileNodeIterator& operator += (int ofs);
+    //! moves iterator backward by the specified offset (possibly negative)
+    FileNodeIterator& operator -= (int ofs);
+
+    /** @brief Reads node elements to the buffer with the specified format.
+
+    Usually it is more convenient to use operator `>>` instead of this method.
+    @param fmt Specification of each array element. See @ref format_spec "format specification"
+    @param vec Pointer to the destination array.
+    @param maxCount Number of elements to read. If it is greater than number of remaining elements then
+    all of them will be read.
+     */
+    FileNodeIterator& readRaw( const String& fmt, uchar* vec,
+                               size_t maxCount=(size_t)INT_MAX );
+
+    struct SeqReader
+    {
+      int          header_size;
+      void*        seq;        /* sequence, beign read; CvSeq      */
+      void*        block;      /* current block;        CvSeqBlock */
+      schar*       ptr;        /* pointer to element be read next */
+      schar*       block_min;  /* pointer to the beginning of block */
+      schar*       block_max;  /* pointer to the end of block */
+      int          delta_index;/* = seq->first->start_index   */
+      schar*       prev_elem;  /* pointer to previous element */
+    };
+
+    const CvFileStorage* fs;
+    const CvFileNode* container;
+    SeqReader reader;
+    size_t remaining;
+};
+
+//! @} core_xml
+
+/////////////////// XML & YAML I/O implementation //////////////////
+
+//! @relates cv::FileStorage
+//! @{
+
+CV_EXPORTS void write( FileStorage& fs, const String& name, int value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, float value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, double value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, const String& value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, const Mat& value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, const SparseMat& value );
+CV_EXPORTS void write( FileStorage& fs, const String& name, const std::vector<KeyPoint>& value);
+CV_EXPORTS void write( FileStorage& fs, const String& name, const std::vector<DMatch>& value);
+
+CV_EXPORTS void writeScalar( FileStorage& fs, int value );
+CV_EXPORTS void writeScalar( FileStorage& fs, float value );
+CV_EXPORTS void writeScalar( FileStorage& fs, double value );
+CV_EXPORTS void writeScalar( FileStorage& fs, const String& value );
+
+//! @}
+
+//! @relates cv::FileNode
+//! @{
+
+CV_EXPORTS void read(const FileNode& node, int& value, int default_value);
+CV_EXPORTS void read(const FileNode& node, float& value, float default_value);
+CV_EXPORTS void read(const FileNode& node, double& value, double default_value);
+CV_EXPORTS void read(const FileNode& node, String& value, const String& default_value);
+CV_EXPORTS void read(const FileNode& node, Mat& mat, const Mat& default_mat = Mat() );
+CV_EXPORTS void read(const FileNode& node, SparseMat& mat, const SparseMat& default_mat = SparseMat() );
+CV_EXPORTS void read(const FileNode& node, std::vector<KeyPoint>& keypoints);
+CV_EXPORTS void read(const FileNode& node, std::vector<DMatch>& matches);
+
+template<typename _Tp> static inline void read(const FileNode& node, Point_<_Tp>& value, const Point_<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 2 ? default_value : Point_<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]));
+}
+
+template<typename _Tp> static inline void read(const FileNode& node, Point3_<_Tp>& value, const Point3_<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 3 ? default_value : Point3_<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]),
+                                                            saturate_cast<_Tp>(temp[2]));
+}
+
+template<typename _Tp> static inline void read(const FileNode& node, Size_<_Tp>& value, const Size_<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 2 ? default_value : Size_<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]));
+}
+
+template<typename _Tp> static inline void read(const FileNode& node, Complex<_Tp>& value, const Complex<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 2 ? default_value : Complex<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]));
+}
+
+template<typename _Tp> static inline void read(const FileNode& node, Rect_<_Tp>& value, const Rect_<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 4 ? default_value : Rect_<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]),
+                                                          saturate_cast<_Tp>(temp[2]), saturate_cast<_Tp>(temp[3]));
+}
+
+template<typename _Tp, int cn> static inline void read(const FileNode& node, Vec<_Tp, cn>& value, const Vec<_Tp, cn>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != cn ? default_value : Vec<_Tp, cn>(&temp[0]);
+}
+
+template<typename _Tp> static inline void read(const FileNode& node, Scalar_<_Tp>& value, const Scalar_<_Tp>& default_value)
+{
+    std::vector<_Tp> temp; FileNodeIterator it = node.begin(); it >> temp;
+    value = temp.size() != 4 ? default_value : Scalar_<_Tp>(saturate_cast<_Tp>(temp[0]), saturate_cast<_Tp>(temp[1]),
+                                                            saturate_cast<_Tp>(temp[2]), saturate_cast<_Tp>(temp[3]));
+}
+
+static inline void read(const FileNode& node, Range& value, const Range& default_value)
+{
+    Point2i temp(value.start, value.end); const Point2i default_temp = Point2i(default_value.start, default_value.end);
+    read(node, temp, default_temp);
+    value.start = temp.x; value.end = temp.y;
+}
+
+//! @}
+
+/** @brief Writes string to a file storage.
+@relates cv::FileStorage
+ */
+CV_EXPORTS FileStorage& operator << (FileStorage& fs, const String& str);
+
+//! @cond IGNORED
+
+namespace internal
+{
+    class CV_EXPORTS WriteStructContext
+    {
+    public:
+        WriteStructContext(FileStorage& _fs, const String& name, int flags, const String& typeName = String());
+        ~WriteStructContext();
+    private:
+        FileStorage* fs;
+    };
+
+    template<typename _Tp, int numflag> class VecWriterProxy
+    {
+    public:
+        VecWriterProxy( FileStorage* _fs ) : fs(_fs) {}
+        void operator()(const std::vector<_Tp>& vec) const
+        {
+            size_t count = vec.size();
+            for (size_t i = 0; i < count; i++)
+                write(*fs, vec[i]);
+        }
+    private:
+        FileStorage* fs;
+    };
+
+    template<typename _Tp> class VecWriterProxy<_Tp, 1>
+    {
+    public:
+        VecWriterProxy( FileStorage* _fs ) : fs(_fs) {}
+        void operator()(const std::vector<_Tp>& vec) const
+        {
+            int _fmt = DataType<_Tp>::fmt;
+            char fmt[] = { (char)((_fmt >> 8) + '1'), (char)_fmt, '\0' };
+            fs->writeRaw(fmt, !vec.empty() ? (uchar*)&vec[0] : 0, vec.size() * sizeof(_Tp));
+        }
+    private:
+        FileStorage* fs;
+    };
+
+    template<typename _Tp, int numflag> class VecReaderProxy
+    {
+    public:
+        VecReaderProxy( FileNodeIterator* _it ) : it(_it) {}
+        void operator()(std::vector<_Tp>& vec, size_t count) const
+        {
+            count = std::min(count, it->remaining);
+            vec.resize(count);
+            for (size_t i = 0; i < count; i++, ++(*it))
+                read(**it, vec[i], _Tp());
+        }
+    private:
+        FileNodeIterator* it;
+    };
+
+    template<typename _Tp> class VecReaderProxy<_Tp, 1>
+    {
+    public:
+        VecReaderProxy( FileNodeIterator* _it ) : it(_it) {}
+        void operator()(std::vector<_Tp>& vec, size_t count) const
+        {
+            size_t remaining = it->remaining;
+            size_t cn = DataType<_Tp>::channels;
+            int _fmt = DataType<_Tp>::fmt;
+            char fmt[] = { (char)((_fmt >> 8)+'1'), (char)_fmt, '\0' };
+            size_t remaining1 = remaining / cn;
+            count = count < remaining1 ? count : remaining1;
+            vec.resize(count);
+            it->readRaw(fmt, !vec.empty() ? (uchar*)&vec[0] : 0, count*sizeof(_Tp));
+        }
+    private:
+        FileNodeIterator* it;
+    };
+
+} // internal
+
+//! @endcond
+
+//! @relates cv::FileStorage
+//! @{
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const _Tp& value)
+{
+    write(fs, String(), value);
+}
+
+template<> inline
+void write( FileStorage& fs, const int& value )
+{
+    writeScalar(fs, value);
+}
+
+template<> inline
+void write( FileStorage& fs, const float& value )
+{
+    writeScalar(fs, value);
+}
+
+template<> inline
+void write( FileStorage& fs, const double& value )
+{
+    writeScalar(fs, value);
+}
+
+template<> inline
+void write( FileStorage& fs, const String& value )
+{
+    writeScalar(fs, value);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Point_<_Tp>& pt )
+{
+    write(fs, pt.x);
+    write(fs, pt.y);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Point3_<_Tp>& pt )
+{
+    write(fs, pt.x);
+    write(fs, pt.y);
+    write(fs, pt.z);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Size_<_Tp>& sz )
+{
+    write(fs, sz.width);
+    write(fs, sz.height);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Complex<_Tp>& c )
+{
+    write(fs, c.re);
+    write(fs, c.im);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Rect_<_Tp>& r )
+{
+    write(fs, r.x);
+    write(fs, r.y);
+    write(fs, r.width);
+    write(fs, r.height);
+}
+
+template<typename _Tp, int cn> static inline
+void write(FileStorage& fs, const Vec<_Tp, cn>& v )
+{
+    for(int i = 0; i < cn; i++)
+        write(fs, v.val[i]);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const Scalar_<_Tp>& s )
+{
+    write(fs, s.val[0]);
+    write(fs, s.val[1]);
+    write(fs, s.val[2]);
+    write(fs, s.val[3]);
+}
+
+static inline
+void write(FileStorage& fs, const Range& r )
+{
+    write(fs, r.start);
+    write(fs, r.end);
+}
+
+template<typename _Tp> static inline
+void write( FileStorage& fs, const std::vector<_Tp>& vec )
+{
+    cv::internal::VecWriterProxy<_Tp, DataType<_Tp>::fmt != 0> w(&fs);
+    w(vec);
+}
+
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Point_<_Tp>& pt )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, pt);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Point3_<_Tp>& pt )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, pt);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Size_<_Tp>& sz )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, sz);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Complex<_Tp>& c )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, c);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Rect_<_Tp>& r )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, r);
+}
+
+template<typename _Tp, int cn> static inline
+void write(FileStorage& fs, const String& name, const Vec<_Tp, cn>& v )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, v);
+}
+
+template<typename _Tp> static inline
+void write(FileStorage& fs, const String& name, const Scalar_<_Tp>& s )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, s);
+}
+
+static inline
+void write(FileStorage& fs, const String& name, const Range& r )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+FileNode::FLOW);
+    write(fs, r);
+}
+
+template<typename _Tp> static inline
+void write( FileStorage& fs, const String& name, const std::vector<_Tp>& vec )
+{
+    cv::internal::WriteStructContext ws(fs, name, FileNode::SEQ+(DataType<_Tp>::fmt != 0 ? FileNode::FLOW : 0));
+    write(fs, vec);
+}
+
+//! @} FileStorage
+
+//! @relates cv::FileNode
+//! @{
+
+static inline
+void read(const FileNode& node, bool& value, bool default_value)
+{
+    int temp;
+    read(node, temp, (int)default_value);
+    value = temp != 0;
+}
+
+static inline
+void read(const FileNode& node, uchar& value, uchar default_value)
+{
+    int temp;
+    read(node, temp, (int)default_value);
+    value = saturate_cast<uchar>(temp);
+}
+
+static inline
+void read(const FileNode& node, schar& value, schar default_value)
+{
+    int temp;
+    read(node, temp, (int)default_value);
+    value = saturate_cast<schar>(temp);
+}
+
+static inline
+void read(const FileNode& node, ushort& value, ushort default_value)
+{
+    int temp;
+    read(node, temp, (int)default_value);
+    value = saturate_cast<ushort>(temp);
+}
+
+static inline
+void read(const FileNode& node, short& value, short default_value)
+{
+    int temp;
+    read(node, temp, (int)default_value);
+    value = saturate_cast<short>(temp);
+}
+
+template<typename _Tp> static inline
+void read( FileNodeIterator& it, std::vector<_Tp>& vec, size_t maxCount = (size_t)INT_MAX )
+{
+    cv::internal::VecReaderProxy<_Tp, DataType<_Tp>::fmt != 0> r(&it);
+    r(vec, maxCount);
+}
+
+template<typename _Tp> static inline
+void read( const FileNode& node, std::vector<_Tp>& vec, const std::vector<_Tp>& default_value = std::vector<_Tp>() )
+{
+    if(!node.node)
+        vec = default_value;
+    else
+    {
+        FileNodeIterator it = node.begin();
+        read( it, vec );
+    }
+}
+
+//! @} FileNode
+
+//! @relates cv::FileStorage
+//! @{
+
+/** @brief Writes data to a file storage.
+ */
+template<typename _Tp> static inline
+FileStorage& operator << (FileStorage& fs, const _Tp& value)
+{
+    if( !fs.isOpened() )
+        return fs;
+    if( fs.state == FileStorage::NAME_EXPECTED + FileStorage::INSIDE_MAP )
+        CV_Error( Error::StsError, "No element name has been given" );
+    write( fs, fs.elname, value );
+    if( fs.state & FileStorage::INSIDE_MAP )
+        fs.state = FileStorage::NAME_EXPECTED + FileStorage::INSIDE_MAP;
+    return fs;
+}
+
+/** @brief Writes data to a file storage.
+ */
+static inline
+FileStorage& operator << (FileStorage& fs, const char* str)
+{
+    return (fs << String(str));
+}
+
+/** @brief Writes data to a file storage.
+ */
+static inline
+FileStorage& operator << (FileStorage& fs, char* value)
+{
+    return (fs << String(value));
+}
+
+//! @} FileStorage
+
+//! @relates cv::FileNodeIterator
+//! @{
+
+/** @brief Reads data from a file storage.
+ */
+template<typename _Tp> static inline
+FileNodeIterator& operator >> (FileNodeIterator& it, _Tp& value)
+{
+    read( *it, value, _Tp());
+    return ++it;
+}
+
+/** @brief Reads data from a file storage.
+ */
+template<typename _Tp> static inline
+FileNodeIterator& operator >> (FileNodeIterator& it, std::vector<_Tp>& vec)
+{
+    cv::internal::VecReaderProxy<_Tp, DataType<_Tp>::fmt != 0> r(&it);
+    r(vec, (size_t)INT_MAX);
+    return it;
+}
+
+//! @} FileNodeIterator
+
+//! @relates cv::FileNode
+//! @{
+
+/** @brief Reads data from a file storage.
+ */
+template<typename _Tp> static inline
+void operator >> (const FileNode& n, _Tp& value)
+{
+    read( n, value, _Tp());
+}
+
+/** @brief Reads data from a file storage.
+ */
+template<typename _Tp> static inline
+void operator >> (const FileNode& n, std::vector<_Tp>& vec)
+{
+    FileNodeIterator it = n.begin();
+    it >> vec;
+}
+
+//! @} FileNode
+
+//! @relates cv::FileNodeIterator
+//! @{
+
+static inline
+bool operator == (const FileNodeIterator& it1, const FileNodeIterator& it2)
+{
+    return it1.fs == it2.fs && it1.container == it2.container &&
+        it1.reader.ptr == it2.reader.ptr && it1.remaining == it2.remaining;
+}
+
+static inline
+bool operator != (const FileNodeIterator& it1, const FileNodeIterator& it2)
+{
+    return !(it1 == it2);
+}
+
+static inline
+ptrdiff_t operator - (const FileNodeIterator& it1, const FileNodeIterator& it2)
+{
+    return it2.remaining - it1.remaining;
+}
+
+static inline
+bool operator < (const FileNodeIterator& it1, const FileNodeIterator& it2)
+{
+    return it1.remaining > it2.remaining;
+}
+
+//! @} FileNodeIterator
+
+//! @cond IGNORED
+
+inline FileNode FileStorage::getFirstTopLevelNode() const { FileNode r = root(); FileNodeIterator it = r.begin(); return it != r.end() ? *it : FileNode(); }
+inline FileNode::FileNode() : fs(0), node(0) {}
+inline FileNode::FileNode(const CvFileStorage* _fs, const CvFileNode* _node) : fs(_fs), node(_node) {}
+inline FileNode::FileNode(const FileNode& _node) : fs(_node.fs), node(_node.node) {}
+inline bool FileNode::empty() const    { return node   == 0;    }
+inline bool FileNode::isNone() const   { return type() == NONE; }
+inline bool FileNode::isSeq() const    { return type() == SEQ;  }
+inline bool FileNode::isMap() const    { return type() == MAP;  }
+inline bool FileNode::isInt() const    { return type() == INT;  }
+inline bool FileNode::isReal() const   { return type() == REAL; }
+inline bool FileNode::isString() const { return type() == STR;  }
+inline CvFileNode* FileNode::operator *() { return (CvFileNode*)node; }
+inline const CvFileNode* FileNode::operator* () const { return node; }
+inline FileNode::operator int() const    { int value;    read(*this, value, 0);     return value; }
+inline FileNode::operator float() const  { float value;  read(*this, value, 0.f);   return value; }
+inline FileNode::operator double() const { double value; read(*this, value, 0.);    return value; }
+inline FileNode::operator String() const { String value; read(*this, value, value); return value; }
+inline FileNodeIterator FileNode::begin() const { return FileNodeIterator(fs, node); }
+inline FileNodeIterator FileNode::end() const   { return FileNodeIterator(fs, node, size()); }
+inline void FileNode::readRaw( const String& fmt, uchar* vec, size_t len ) const { begin().readRaw( fmt, vec, len ); }
+inline FileNode FileNodeIterator::operator *() const  { return FileNode(fs, (const CvFileNode*)(const void*)reader.ptr); }
+inline FileNode FileNodeIterator::operator ->() const { return FileNode(fs, (const CvFileNode*)(const void*)reader.ptr); }
+inline String::String(const FileNode& fn): cstr_(0), len_(0) { read(fn, *this, *this); }
+
+//! @endcond
+
+} // cv
+
+#endif // __OPENCV_CORE_PERSISTENCE_HPP__
diff --git a/3rdparty/include/opencv2/core/private.cuda.hpp b/3rdparty/include/opencv2/core/private.cuda.hpp
new file mode 100644
index 0000000..d676ce8
--- /dev/null
+++ b/3rdparty/include/opencv2/core/private.cuda.hpp
@@ -0,0 +1,172 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_PRIVATE_CUDA_HPP__
+#define __OPENCV_CORE_PRIVATE_CUDA_HPP__
+
+#ifndef __OPENCV_BUILD
+#  error this is a private header which should not be used from outside of the OpenCV library
+#endif
+
+#include "cvconfig.h"
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/base.hpp"
+
+#include "opencv2/core/cuda.hpp"
+
+#ifdef HAVE_CUDA
+#  include <cuda.h>
+#  include <cuda_runtime.h>
+#  include <npp.h>
+#  include "opencv2/core/cuda_stream_accessor.hpp"
+#  include "opencv2/core/cuda/common.hpp"
+
+#  define NPP_VERSION (NPP_VERSION_MAJOR * 1000 + NPP_VERSION_MINOR * 100 + NPP_VERSION_BUILD)
+
+#  define CUDART_MINIMUM_REQUIRED_VERSION 4020
+
+#  if (CUDART_VERSION < CUDART_MINIMUM_REQUIRED_VERSION)
+#    error "Insufficient Cuda Runtime library version, please update it."
+#  endif
+
+#  if defined(CUDA_ARCH_BIN_OR_PTX_10)
+#    error "OpenCV CUDA module doesn't support NVIDIA compute capability 1.0"
+#  endif
+#endif
+
+//! @cond IGNORED
+
+namespace cv { namespace cuda {
+    CV_EXPORTS cv::String getNppErrorMessage(int code);
+    CV_EXPORTS cv::String getCudaDriverApiErrorMessage(int code);
+
+    CV_EXPORTS GpuMat getInputMat(InputArray _src, Stream& stream);
+
+    CV_EXPORTS GpuMat getOutputMat(OutputArray _dst, int rows, int cols, int type, Stream& stream);
+    static inline GpuMat getOutputMat(OutputArray _dst, Size size, int type, Stream& stream)
+    {
+        return getOutputMat(_dst, size.height, size.width, type, stream);
+    }
+
+    CV_EXPORTS void syncOutput(const GpuMat& dst, OutputArray _dst, Stream& stream);
+}}
+
+#ifndef HAVE_CUDA
+
+static inline void throw_no_cuda() { CV_Error(cv::Error::GpuNotSupported, "The library is compiled without CUDA support"); }
+
+#else // HAVE_CUDA
+
+static inline void throw_no_cuda() { CV_Error(cv::Error::StsNotImplemented, "The called functionality is disabled for current build or platform"); }
+
+namespace cv { namespace cuda
+{
+    class CV_EXPORTS BufferPool
+    {
+    public:
+        explicit BufferPool(Stream& stream);
+
+        GpuMat getBuffer(int rows, int cols, int type);
+        GpuMat getBuffer(Size size, int type) { return getBuffer(size.height, size.width, type); }
+
+        GpuMat::Allocator* getAllocator() const { return allocator_; }
+
+    private:
+        GpuMat::Allocator* allocator_;
+    };
+
+    static inline void checkNppError(int code, const char* file, const int line, const char* func)
+    {
+        if (code < 0)
+            cv::error(cv::Error::GpuApiCallError, getNppErrorMessage(code), func, file, line);
+    }
+
+    static inline void checkCudaDriverApiError(int code, const char* file, const int line, const char* func)
+    {
+        if (code != CUDA_SUCCESS)
+            cv::error(cv::Error::GpuApiCallError, getCudaDriverApiErrorMessage(code), func, file, line);
+    }
+
+    template<int n> struct NPPTypeTraits;
+    template<> struct NPPTypeTraits<CV_8U>  { typedef Npp8u npp_type; };
+    template<> struct NPPTypeTraits<CV_8S>  { typedef Npp8s npp_type; };
+    template<> struct NPPTypeTraits<CV_16U> { typedef Npp16u npp_type; };
+    template<> struct NPPTypeTraits<CV_16S> { typedef Npp16s npp_type; };
+    template<> struct NPPTypeTraits<CV_32S> { typedef Npp32s npp_type; };
+    template<> struct NPPTypeTraits<CV_32F> { typedef Npp32f npp_type; };
+    template<> struct NPPTypeTraits<CV_64F> { typedef Npp64f npp_type; };
+
+    class NppStreamHandler
+    {
+    public:
+        inline explicit NppStreamHandler(Stream& newStream)
+        {
+            oldStream = nppGetStream();
+            nppSetStream(StreamAccessor::getStream(newStream));
+        }
+
+        inline explicit NppStreamHandler(cudaStream_t newStream)
+        {
+            oldStream = nppGetStream();
+            nppSetStream(newStream);
+        }
+
+        inline ~NppStreamHandler()
+        {
+            nppSetStream(oldStream);
+        }
+
+    private:
+        cudaStream_t oldStream;
+    };
+}}
+
+#define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV_Func)
+#define cuSafeCall(expr)  cv::cuda::checkCudaDriverApiError(expr, __FILE__, __LINE__, CV_Func)
+
+#endif // HAVE_CUDA
+
+//! @endcond
+
+#endif // __OPENCV_CORE_CUDA_PRIVATE_HPP__
diff --git a/3rdparty/include/opencv2/core/private.hpp b/3rdparty/include/opencv2/core/private.hpp
new file mode 100644
index 0000000..4f9f487
--- /dev/null
+++ b/3rdparty/include/opencv2/core/private.hpp
@@ -0,0 +1,296 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_PRIVATE_HPP__
+#define __OPENCV_CORE_PRIVATE_HPP__
+
+#ifndef __OPENCV_BUILD
+#  error this is a private header which should not be used from outside of the OpenCV library
+#endif
+
+#include "opencv2/core.hpp"
+#include "cvconfig.h"
+
+#ifdef HAVE_EIGEN
+#  if defined __GNUC__ && defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wshadow"
+#  endif
+#  include <Eigen/Core>
+#  include "opencv2/core/eigen.hpp"
+#endif
+
+#ifdef HAVE_TBB
+#  include "tbb/tbb_stddef.h"
+#  if TBB_VERSION_MAJOR*100 + TBB_VERSION_MINOR >= 202
+#    include "tbb/tbb.h"
+#    include "tbb/task.h"
+#    undef min
+#    undef max
+#  else
+#    undef HAVE_TBB
+#  endif
+#endif
+
+//! @cond IGNORED
+
+namespace cv
+{
+#ifdef HAVE_TBB
+
+    typedef tbb::blocked_range<int> BlockedRange;
+
+    template<typename Body> static inline
+    void parallel_for( const BlockedRange& range, const Body& body )
+    {
+        tbb::parallel_for(range, body);
+    }
+
+    typedef tbb::split Split;
+
+    template<typename Body> static inline
+    void parallel_reduce( const BlockedRange& range, Body& body )
+    {
+        tbb::parallel_reduce(range, body);
+    }
+
+    typedef tbb::concurrent_vector<Rect> ConcurrentRectVector;
+#else
+    class BlockedRange
+    {
+    public:
+        BlockedRange() : _begin(0), _end(0), _grainsize(0) {}
+        BlockedRange(int b, int e, int g=1) : _begin(b), _end(e), _grainsize(g) {}
+        int begin() const { return _begin; }
+        int end() const { return _end; }
+        int grainsize() const { return _grainsize; }
+
+    protected:
+        int _begin, _end, _grainsize;
+    };
+
+    template<typename Body> static inline
+    void parallel_for( const BlockedRange& range, const Body& body )
+    {
+        body(range);
+    }
+    typedef std::vector<Rect> ConcurrentRectVector;
+
+    class Split {};
+
+    template<typename Body> static inline
+    void parallel_reduce( const BlockedRange& range, Body& body )
+    {
+        body(range);
+    }
+#endif
+
+    // Returns a static string if there is a parallel framework,
+    // NULL otherwise.
+    CV_EXPORTS const char* currentParallelFramework();
+} //namespace cv
+
+/****************************************************************************************\
+*                                  Common declarations                                   *
+\****************************************************************************************/
+
+/* the alignment of all the allocated buffers */
+#define  CV_MALLOC_ALIGN    16
+
+/* IEEE754 constants and macros */
+#define  CV_TOGGLE_FLT(x) ((x)^((int)(x) < 0 ? 0x7fffffff : 0))
+#define  CV_TOGGLE_DBL(x) ((x)^((int64)(x) < 0 ? CV_BIG_INT(0x7fffffffffffffff) : 0))
+
+static inline void* cvAlignPtr( const void* ptr, int align = 32 )
+{
+    CV_DbgAssert ( (align & (align-1)) == 0 );
+    return (void*)( ((size_t)ptr + align - 1) & ~(size_t)(align-1) );
+}
+
+static inline int cvAlign( int size, int align )
+{
+    CV_DbgAssert( (align & (align-1)) == 0 && size < INT_MAX );
+    return (size + align - 1) & -align;
+}
+
+#ifdef IPL_DEPTH_8U
+static inline cv::Size cvGetMatSize( const CvMat* mat )
+{
+    return cv::Size(mat->cols, mat->rows);
+}
+#endif
+
+namespace cv
+{
+CV_EXPORTS void scalarToRawData(const cv::Scalar& s, void* buf, int type, int unroll_to = 0);
+}
+
+// property implementation macros
+
+#define CV_IMPL_PROPERTY_RO(type, name, member) \
+    inline type get##name() const { return member; }
+
+#define CV_HELP_IMPL_PROPERTY(r_type, w_type, name, member) \
+    CV_IMPL_PROPERTY_RO(r_type, name, member) \
+    inline void set##name(w_type val) { member = val; }
+
+#define CV_HELP_WRAP_PROPERTY(r_type, w_type, name, internal_name, internal_obj) \
+    r_type get##name() const { return internal_obj.get##internal_name(); } \
+    void set##name(w_type val) { internal_obj.set##internal_name(val); }
+
+#define CV_IMPL_PROPERTY(type, name, member) CV_HELP_IMPL_PROPERTY(type, type, name, member)
+#define CV_IMPL_PROPERTY_S(type, name, member) CV_HELP_IMPL_PROPERTY(type, const type &, name, member)
+
+#define CV_WRAP_PROPERTY(type, name, internal_name, internal_obj)  CV_HELP_WRAP_PROPERTY(type, type, name, internal_name, internal_obj)
+#define CV_WRAP_PROPERTY_S(type, name, internal_name, internal_obj) CV_HELP_WRAP_PROPERTY(type, const type &, name, internal_name, internal_obj)
+
+#define CV_WRAP_SAME_PROPERTY(type, name, internal_obj) CV_WRAP_PROPERTY(type, name, name, internal_obj)
+#define CV_WRAP_SAME_PROPERTY_S(type, name, internal_obj) CV_WRAP_PROPERTY_S(type, name, name, internal_obj)
+
+/****************************************************************************************\
+*                     Structures and macros for integration with IPP                     *
+\****************************************************************************************/
+
+#ifdef HAVE_IPP
+#  include "ipp.h"
+
+#  define IPP_VERSION_X100 (IPP_VERSION_MAJOR * 100 + IPP_VERSION_MINOR)
+
+#define IPP_ALIGN 32 // required for AVX optimization
+
+#define setIppErrorStatus() cv::ipp::setIppStatus(-1, CV_Func, __FILE__, __LINE__)
+
+static inline IppiSize ippiSize(int width, int height)
+{
+    IppiSize size = { width, height };
+    return size;
+}
+
+static inline IppiSize ippiSize(const cv::Size & _size)
+{
+    IppiSize size = { _size.width, _size.height };
+    return size;
+}
+
+static inline IppiBorderType ippiGetBorderType(int borderTypeNI)
+{
+    return borderTypeNI == cv::BORDER_CONSTANT ? ippBorderConst :
+        borderTypeNI == cv::BORDER_WRAP ? ippBorderWrap :
+        borderTypeNI == cv::BORDER_REPLICATE ? ippBorderRepl :
+        borderTypeNI == cv::BORDER_REFLECT_101 ? ippBorderMirror :
+        borderTypeNI == cv::BORDER_REFLECT ? ippBorderMirrorR : (IppiBorderType)-1;
+}
+
+static inline IppDataType ippiGetDataType(int depth)
+{
+    return depth == CV_8U ? ipp8u :
+        depth == CV_8S ? ipp8s :
+        depth == CV_16U ? ipp16u :
+        depth == CV_16S ? ipp16s :
+        depth == CV_32S ? ipp32s :
+        depth == CV_32F ? ipp32f :
+        depth == CV_64F ? ipp64f : (IppDataType)-1;
+}
+
+#else
+#  define IPP_VERSION_X100 0
+#endif
+
+#define CV_IPP_CHECK_COND (cv::ipp::useIPP())
+#define CV_IPP_CHECK() if(CV_IPP_CHECK_COND)
+
+#ifndef IPPI_CALL
+#  define IPPI_CALL(func) CV_Assert((func) >= 0)
+#endif
+
+/* IPP-compatible return codes */
+typedef enum CvStatus
+{
+    CV_BADMEMBLOCK_ERR          = -113,
+    CV_INPLACE_NOT_SUPPORTED_ERR= -112,
+    CV_UNMATCHED_ROI_ERR        = -111,
+    CV_NOTFOUND_ERR             = -110,
+    CV_BADCONVERGENCE_ERR       = -109,
+
+    CV_BADDEPTH_ERR             = -107,
+    CV_BADROI_ERR               = -106,
+    CV_BADHEADER_ERR            = -105,
+    CV_UNMATCHED_FORMATS_ERR    = -104,
+    CV_UNSUPPORTED_COI_ERR      = -103,
+    CV_UNSUPPORTED_CHANNELS_ERR = -102,
+    CV_UNSUPPORTED_DEPTH_ERR    = -101,
+    CV_UNSUPPORTED_FORMAT_ERR   = -100,
+
+    CV_BADARG_ERR               = -49,  //ipp comp
+    CV_NOTDEFINED_ERR           = -48,  //ipp comp
+
+    CV_BADCHANNELS_ERR          = -47,  //ipp comp
+    CV_BADRANGE_ERR             = -44,  //ipp comp
+    CV_BADSTEP_ERR              = -29,  //ipp comp
+
+    CV_BADFLAG_ERR              =  -12,
+    CV_DIV_BY_ZERO_ERR          =  -11, //ipp comp
+    CV_BADCOEF_ERR              =  -10,
+
+    CV_BADFACTOR_ERR            =  -7,
+    CV_BADPOINT_ERR             =  -6,
+    CV_BADSCALE_ERR             =  -4,
+    CV_OUTOFMEM_ERR             =  -3,
+    CV_NULLPTR_ERR              =  -2,
+    CV_BADSIZE_ERR              =  -1,
+    CV_NO_ERR                   =   0,
+    CV_OK                       =   CV_NO_ERR
+}
+CvStatus;
+
+#ifdef HAVE_TEGRA_OPTIMIZATION
+namespace tegra {
+
+CV_EXPORTS bool useTegra();
+CV_EXPORTS void setUseTegra(bool flag);
+
+}
+#endif
+
+//! @endcond
+
+#endif // __OPENCV_CORE_PRIVATE_HPP__
diff --git a/3rdparty/include/opencv2/core/ptr.inl.hpp b/3rdparty/include/opencv2/core/ptr.inl.hpp
new file mode 100644
index 0000000..65c09d1
--- /dev/null
+++ b/3rdparty/include/opencv2/core/ptr.inl.hpp
@@ -0,0 +1,342 @@
+/*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) 2013, NVIDIA Corporation, 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 copyright holders or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_PTR_INL_HPP__
+#define __OPENCV_CORE_PTR_INL_HPP__
+
+#include <algorithm>
+
+//! @cond IGNORED
+
+namespace cv {
+
+template<typename Y>
+void DefaultDeleter<Y>::operator () (Y* p) const
+{
+    delete p;
+}
+
+namespace detail
+{
+
+struct PtrOwner
+{
+    PtrOwner() : refCount(1)
+    {}
+
+    void incRef()
+    {
+        CV_XADD(&refCount, 1);
+    }
+
+    void decRef()
+    {
+        if (CV_XADD(&refCount, -1) == 1) deleteSelf();
+    }
+
+protected:
+    /* This doesn't really need to be virtual, since PtrOwner is never deleted
+       directly, but it doesn't hurt and it helps avoid warnings. */
+    virtual ~PtrOwner()
+    {}
+
+    virtual void deleteSelf() = 0;
+
+private:
+    unsigned int refCount;
+
+    // noncopyable
+    PtrOwner(const PtrOwner&);
+    PtrOwner& operator = (const PtrOwner&);
+};
+
+template<typename Y, typename D>
+struct PtrOwnerImpl : PtrOwner
+{
+    PtrOwnerImpl(Y* p, D d) : owned(p), deleter(d)
+    {}
+
+    void deleteSelf()
+    {
+        deleter(owned);
+        delete this;
+    }
+
+private:
+    Y* owned;
+    D deleter;
+};
+
+
+}
+
+template<typename T>
+Ptr<T>::Ptr() : owner(NULL), stored(NULL)
+{}
+
+template<typename T>
+template<typename Y>
+Ptr<T>::Ptr(Y* p)
+  : owner(p
+      ? new detail::PtrOwnerImpl<Y, DefaultDeleter<Y> >(p, DefaultDeleter<Y>())
+      : NULL),
+    stored(p)
+{}
+
+template<typename T>
+template<typename Y, typename D>
+Ptr<T>::Ptr(Y* p, D d)
+  : owner(p
+      ? new detail::PtrOwnerImpl<Y, D>(p, d)
+      : NULL),
+    stored(p)
+{}
+
+template<typename T>
+Ptr<T>::Ptr(const Ptr& o) : owner(o.owner), stored(o.stored)
+{
+    if (owner) owner->incRef();
+}
+
+template<typename T>
+template<typename Y>
+Ptr<T>::Ptr(const Ptr<Y>& o) : owner(o.owner), stored(o.stored)
+{
+    if (owner) owner->incRef();
+}
+
+template<typename T>
+template<typename Y>
+Ptr<T>::Ptr(const Ptr<Y>& o, T* p) : owner(o.owner), stored(p)
+{
+    if (owner) owner->incRef();
+}
+
+template<typename T>
+Ptr<T>::~Ptr()
+{
+    release();
+}
+
+template<typename T>
+Ptr<T>& Ptr<T>::operator = (const Ptr<T>& o)
+{
+    Ptr(o).swap(*this);
+    return *this;
+}
+
+template<typename T>
+template<typename Y>
+Ptr<T>& Ptr<T>::operator = (const Ptr<Y>& o)
+{
+    Ptr(o).swap(*this);
+    return *this;
+}
+
+template<typename T>
+void Ptr<T>::release()
+{
+    if (owner) owner->decRef();
+    owner = NULL;
+    stored = NULL;
+}
+
+template<typename T>
+template<typename Y>
+void Ptr<T>::reset(Y* p)
+{
+    Ptr(p).swap(*this);
+}
+
+template<typename T>
+template<typename Y, typename D>
+void Ptr<T>::reset(Y* p, D d)
+{
+    Ptr(p, d).swap(*this);
+}
+
+template<typename T>
+void Ptr<T>::swap(Ptr<T>& o)
+{
+    std::swap(owner, o.owner);
+    std::swap(stored, o.stored);
+}
+
+template<typename T>
+T* Ptr<T>::get() const
+{
+    return stored;
+}
+
+template<typename T>
+typename detail::RefOrVoid<T>::type Ptr<T>::operator * () const
+{
+    return *stored;
+}
+
+template<typename T>
+T* Ptr<T>::operator -> () const
+{
+    return stored;
+}
+
+template<typename T>
+Ptr<T>::operator T* () const
+{
+    return stored;
+}
+
+
+template<typename T>
+bool Ptr<T>::empty() const
+{
+    return !stored;
+}
+
+template<typename T>
+template<typename Y>
+Ptr<Y> Ptr<T>::staticCast() const
+{
+    return Ptr<Y>(*this, static_cast<Y*>(stored));
+}
+
+template<typename T>
+template<typename Y>
+Ptr<Y> Ptr<T>::constCast() const
+{
+    return Ptr<Y>(*this, const_cast<Y*>(stored));
+}
+
+template<typename T>
+template<typename Y>
+Ptr<Y> Ptr<T>::dynamicCast() const
+{
+    return Ptr<Y>(*this, dynamic_cast<Y*>(stored));
+}
+
+template<typename T>
+void swap(Ptr<T>& ptr1, Ptr<T>& ptr2){
+    ptr1.swap(ptr2);
+}
+
+template<typename T>
+bool operator == (const Ptr<T>& ptr1, const Ptr<T>& ptr2)
+{
+    return ptr1.get() == ptr2.get();
+}
+
+template<typename T>
+bool operator != (const Ptr<T>& ptr1, const Ptr<T>& ptr2)
+{
+    return ptr1.get() != ptr2.get();
+}
+
+template<typename T>
+Ptr<T> makePtr()
+{
+    return Ptr<T>(new T());
+}
+
+template<typename T, typename A1>
+Ptr<T> makePtr(const A1& a1)
+{
+    return Ptr<T>(new T(a1));
+}
+
+template<typename T, typename A1, typename A2>
+Ptr<T> makePtr(const A1& a1, const A2& a2)
+{
+    return Ptr<T>(new T(a1, a2));
+}
+
+template<typename T, typename A1, typename A2, typename A3>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3)
+{
+    return Ptr<T>(new T(a1, a2, a3));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8, a9));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9, typename A10>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9, const A10& a10)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10));
+}
+
+} // namespace cv
+
+//! @endcond
+
+#endif // __OPENCV_CORE_PTR_INL_HPP__
diff --git a/3rdparty/include/opencv2/core/sse_utils.hpp b/3rdparty/include/opencv2/core/sse_utils.hpp
new file mode 100644
index 0000000..e0283eb
--- /dev/null
+++ b/3rdparty/include/opencv2/core/sse_utils.hpp
@@ -0,0 +1,645 @@
+/*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) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_SSE_UTILS_HPP__
+#define __OPENCV_CORE_SSE_UTILS_HPP__
+
+#ifndef __cplusplus
+#  error sse_utils.hpp header must be compiled as C++
+#endif
+
+#if CV_SSE2
+
+inline void _mm_deinterleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi8(v_r0, v_g0);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi8(v_r0, v_g0);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi8(v_r1, v_g1);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi8(v_r1, v_g1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi8(layer1_chunk0, layer1_chunk2);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi8(layer1_chunk0, layer1_chunk2);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi8(layer1_chunk1, layer1_chunk3);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi8(layer1_chunk1, layer1_chunk3);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi8(layer2_chunk0, layer2_chunk2);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi8(layer2_chunk0, layer2_chunk2);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi8(layer2_chunk1, layer2_chunk3);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi8(layer2_chunk1, layer2_chunk3);
+
+    __m128i layer4_chunk0 = _mm_unpacklo_epi8(layer3_chunk0, layer3_chunk2);
+    __m128i layer4_chunk1 = _mm_unpackhi_epi8(layer3_chunk0, layer3_chunk2);
+    __m128i layer4_chunk2 = _mm_unpacklo_epi8(layer3_chunk1, layer3_chunk3);
+    __m128i layer4_chunk3 = _mm_unpackhi_epi8(layer3_chunk1, layer3_chunk3);
+
+    v_r0 = _mm_unpacklo_epi8(layer4_chunk0, layer4_chunk2);
+    v_r1 = _mm_unpackhi_epi8(layer4_chunk0, layer4_chunk2);
+    v_g0 = _mm_unpacklo_epi8(layer4_chunk1, layer4_chunk3);
+    v_g1 = _mm_unpackhi_epi8(layer4_chunk1, layer4_chunk3);
+}
+
+inline void _mm_deinterleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0,
+                                  __m128i & v_g1, __m128i & v_b0, __m128i & v_b1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi8(v_r0, v_g1);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi8(v_r0, v_g1);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi8(v_r1, v_b0);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi8(v_r1, v_b0);
+    __m128i layer1_chunk4 = _mm_unpacklo_epi8(v_g0, v_b1);
+    __m128i layer1_chunk5 = _mm_unpackhi_epi8(v_g0, v_b1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi8(layer1_chunk0, layer1_chunk3);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi8(layer1_chunk0, layer1_chunk3);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi8(layer1_chunk1, layer1_chunk4);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi8(layer1_chunk1, layer1_chunk4);
+    __m128i layer2_chunk4 = _mm_unpacklo_epi8(layer1_chunk2, layer1_chunk5);
+    __m128i layer2_chunk5 = _mm_unpackhi_epi8(layer1_chunk2, layer1_chunk5);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi8(layer2_chunk0, layer2_chunk3);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi8(layer2_chunk0, layer2_chunk3);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi8(layer2_chunk1, layer2_chunk4);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi8(layer2_chunk1, layer2_chunk4);
+    __m128i layer3_chunk4 = _mm_unpacklo_epi8(layer2_chunk2, layer2_chunk5);
+    __m128i layer3_chunk5 = _mm_unpackhi_epi8(layer2_chunk2, layer2_chunk5);
+
+    __m128i layer4_chunk0 = _mm_unpacklo_epi8(layer3_chunk0, layer3_chunk3);
+    __m128i layer4_chunk1 = _mm_unpackhi_epi8(layer3_chunk0, layer3_chunk3);
+    __m128i layer4_chunk2 = _mm_unpacklo_epi8(layer3_chunk1, layer3_chunk4);
+    __m128i layer4_chunk3 = _mm_unpackhi_epi8(layer3_chunk1, layer3_chunk4);
+    __m128i layer4_chunk4 = _mm_unpacklo_epi8(layer3_chunk2, layer3_chunk5);
+    __m128i layer4_chunk5 = _mm_unpackhi_epi8(layer3_chunk2, layer3_chunk5);
+
+    v_r0 = _mm_unpacklo_epi8(layer4_chunk0, layer4_chunk3);
+    v_r1 = _mm_unpackhi_epi8(layer4_chunk0, layer4_chunk3);
+    v_g0 = _mm_unpacklo_epi8(layer4_chunk1, layer4_chunk4);
+    v_g1 = _mm_unpackhi_epi8(layer4_chunk1, layer4_chunk4);
+    v_b0 = _mm_unpacklo_epi8(layer4_chunk2, layer4_chunk5);
+    v_b1 = _mm_unpackhi_epi8(layer4_chunk2, layer4_chunk5);
+}
+
+inline void _mm_deinterleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1,
+                                  __m128i & v_b0, __m128i & v_b1, __m128i & v_a0, __m128i & v_a1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi8(v_r0, v_b0);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi8(v_r0, v_b0);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi8(v_r1, v_b1);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi8(v_r1, v_b1);
+    __m128i layer1_chunk4 = _mm_unpacklo_epi8(v_g0, v_a0);
+    __m128i layer1_chunk5 = _mm_unpackhi_epi8(v_g0, v_a0);
+    __m128i layer1_chunk6 = _mm_unpacklo_epi8(v_g1, v_a1);
+    __m128i layer1_chunk7 = _mm_unpackhi_epi8(v_g1, v_a1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi8(layer1_chunk0, layer1_chunk4);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi8(layer1_chunk0, layer1_chunk4);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi8(layer1_chunk1, layer1_chunk5);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi8(layer1_chunk1, layer1_chunk5);
+    __m128i layer2_chunk4 = _mm_unpacklo_epi8(layer1_chunk2, layer1_chunk6);
+    __m128i layer2_chunk5 = _mm_unpackhi_epi8(layer1_chunk2, layer1_chunk6);
+    __m128i layer2_chunk6 = _mm_unpacklo_epi8(layer1_chunk3, layer1_chunk7);
+    __m128i layer2_chunk7 = _mm_unpackhi_epi8(layer1_chunk3, layer1_chunk7);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi8(layer2_chunk0, layer2_chunk4);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi8(layer2_chunk0, layer2_chunk4);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi8(layer2_chunk1, layer2_chunk5);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi8(layer2_chunk1, layer2_chunk5);
+    __m128i layer3_chunk4 = _mm_unpacklo_epi8(layer2_chunk2, layer2_chunk6);
+    __m128i layer3_chunk5 = _mm_unpackhi_epi8(layer2_chunk2, layer2_chunk6);
+    __m128i layer3_chunk6 = _mm_unpacklo_epi8(layer2_chunk3, layer2_chunk7);
+    __m128i layer3_chunk7 = _mm_unpackhi_epi8(layer2_chunk3, layer2_chunk7);
+
+    __m128i layer4_chunk0 = _mm_unpacklo_epi8(layer3_chunk0, layer3_chunk4);
+    __m128i layer4_chunk1 = _mm_unpackhi_epi8(layer3_chunk0, layer3_chunk4);
+    __m128i layer4_chunk2 = _mm_unpacklo_epi8(layer3_chunk1, layer3_chunk5);
+    __m128i layer4_chunk3 = _mm_unpackhi_epi8(layer3_chunk1, layer3_chunk5);
+    __m128i layer4_chunk4 = _mm_unpacklo_epi8(layer3_chunk2, layer3_chunk6);
+    __m128i layer4_chunk5 = _mm_unpackhi_epi8(layer3_chunk2, layer3_chunk6);
+    __m128i layer4_chunk6 = _mm_unpacklo_epi8(layer3_chunk3, layer3_chunk7);
+    __m128i layer4_chunk7 = _mm_unpackhi_epi8(layer3_chunk3, layer3_chunk7);
+
+    v_r0 = _mm_unpacklo_epi8(layer4_chunk0, layer4_chunk4);
+    v_r1 = _mm_unpackhi_epi8(layer4_chunk0, layer4_chunk4);
+    v_g0 = _mm_unpacklo_epi8(layer4_chunk1, layer4_chunk5);
+    v_g1 = _mm_unpackhi_epi8(layer4_chunk1, layer4_chunk5);
+    v_b0 = _mm_unpacklo_epi8(layer4_chunk2, layer4_chunk6);
+    v_b1 = _mm_unpackhi_epi8(layer4_chunk2, layer4_chunk6);
+    v_a0 = _mm_unpacklo_epi8(layer4_chunk3, layer4_chunk7);
+    v_a1 = _mm_unpackhi_epi8(layer4_chunk3, layer4_chunk7);
+}
+
+inline void _mm_interleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1)
+{
+    __m128i v_mask = _mm_set1_epi16(0x00ff);
+
+    __m128i layer4_chunk0 = _mm_packus_epi16(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer4_chunk2 = _mm_packus_epi16(_mm_srli_epi16(v_r0, 8), _mm_srli_epi16(v_r1, 8));
+    __m128i layer4_chunk1 = _mm_packus_epi16(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer4_chunk3 = _mm_packus_epi16(_mm_srli_epi16(v_g0, 8), _mm_srli_epi16(v_g1, 8));
+
+    __m128i layer3_chunk0 = _mm_packus_epi16(_mm_and_si128(layer4_chunk0, v_mask), _mm_and_si128(layer4_chunk1, v_mask));
+    __m128i layer3_chunk2 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk0, 8), _mm_srli_epi16(layer4_chunk1, 8));
+    __m128i layer3_chunk1 = _mm_packus_epi16(_mm_and_si128(layer4_chunk2, v_mask), _mm_and_si128(layer4_chunk3, v_mask));
+    __m128i layer3_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk2, 8), _mm_srli_epi16(layer4_chunk3, 8));
+
+    __m128i layer2_chunk0 = _mm_packus_epi16(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk2 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk0, 8), _mm_srli_epi16(layer3_chunk1, 8));
+    __m128i layer2_chunk1 = _mm_packus_epi16(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk2, 8), _mm_srli_epi16(layer3_chunk3, 8));
+
+    __m128i layer1_chunk0 = _mm_packus_epi16(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk2 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk0, 8), _mm_srli_epi16(layer2_chunk1, 8));
+    __m128i layer1_chunk1 = _mm_packus_epi16(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk2, 8), _mm_srli_epi16(layer2_chunk3, 8));
+
+    v_r0 = _mm_packus_epi16(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_g0 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk0, 8), _mm_srli_epi16(layer1_chunk1, 8));
+    v_r1 = _mm_packus_epi16(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_g1 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk2, 8), _mm_srli_epi16(layer1_chunk3, 8));
+}
+
+inline void _mm_interleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0,
+                                __m128i & v_g1, __m128i & v_b0, __m128i & v_b1)
+{
+    __m128i v_mask = _mm_set1_epi16(0x00ff);
+
+    __m128i layer4_chunk0 = _mm_packus_epi16(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer4_chunk3 = _mm_packus_epi16(_mm_srli_epi16(v_r0, 8), _mm_srli_epi16(v_r1, 8));
+    __m128i layer4_chunk1 = _mm_packus_epi16(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer4_chunk4 = _mm_packus_epi16(_mm_srli_epi16(v_g0, 8), _mm_srli_epi16(v_g1, 8));
+    __m128i layer4_chunk2 = _mm_packus_epi16(_mm_and_si128(v_b0, v_mask), _mm_and_si128(v_b1, v_mask));
+    __m128i layer4_chunk5 = _mm_packus_epi16(_mm_srli_epi16(v_b0, 8), _mm_srli_epi16(v_b1, 8));
+
+    __m128i layer3_chunk0 = _mm_packus_epi16(_mm_and_si128(layer4_chunk0, v_mask), _mm_and_si128(layer4_chunk1, v_mask));
+    __m128i layer3_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk0, 8), _mm_srli_epi16(layer4_chunk1, 8));
+    __m128i layer3_chunk1 = _mm_packus_epi16(_mm_and_si128(layer4_chunk2, v_mask), _mm_and_si128(layer4_chunk3, v_mask));
+    __m128i layer3_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk2, 8), _mm_srli_epi16(layer4_chunk3, 8));
+    __m128i layer3_chunk2 = _mm_packus_epi16(_mm_and_si128(layer4_chunk4, v_mask), _mm_and_si128(layer4_chunk5, v_mask));
+    __m128i layer3_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk4, 8), _mm_srli_epi16(layer4_chunk5, 8));
+
+    __m128i layer2_chunk0 = _mm_packus_epi16(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk0, 8), _mm_srli_epi16(layer3_chunk1, 8));
+    __m128i layer2_chunk1 = _mm_packus_epi16(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk2, 8), _mm_srli_epi16(layer3_chunk3, 8));
+    __m128i layer2_chunk2 = _mm_packus_epi16(_mm_and_si128(layer3_chunk4, v_mask), _mm_and_si128(layer3_chunk5, v_mask));
+    __m128i layer2_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk4, 8), _mm_srli_epi16(layer3_chunk5, 8));
+
+    __m128i layer1_chunk0 = _mm_packus_epi16(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk3 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk0, 8), _mm_srli_epi16(layer2_chunk1, 8));
+    __m128i layer1_chunk1 = _mm_packus_epi16(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk2, 8), _mm_srli_epi16(layer2_chunk3, 8));
+    __m128i layer1_chunk2 = _mm_packus_epi16(_mm_and_si128(layer2_chunk4, v_mask), _mm_and_si128(layer2_chunk5, v_mask));
+    __m128i layer1_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk4, 8), _mm_srli_epi16(layer2_chunk5, 8));
+
+    v_r0 = _mm_packus_epi16(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_g1 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk0, 8), _mm_srli_epi16(layer1_chunk1, 8));
+    v_r1 = _mm_packus_epi16(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_b0 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk2, 8), _mm_srli_epi16(layer1_chunk3, 8));
+    v_g0 = _mm_packus_epi16(_mm_and_si128(layer1_chunk4, v_mask), _mm_and_si128(layer1_chunk5, v_mask));
+    v_b1 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk4, 8), _mm_srli_epi16(layer1_chunk5, 8));
+}
+
+inline void _mm_interleave_epi8(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1,
+                                __m128i & v_b0, __m128i & v_b1, __m128i & v_a0, __m128i & v_a1)
+{
+    __m128i v_mask = _mm_set1_epi16(0x00ff);
+
+    __m128i layer4_chunk0 = _mm_packus_epi16(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer4_chunk4 = _mm_packus_epi16(_mm_srli_epi16(v_r0, 8), _mm_srli_epi16(v_r1, 8));
+    __m128i layer4_chunk1 = _mm_packus_epi16(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer4_chunk5 = _mm_packus_epi16(_mm_srli_epi16(v_g0, 8), _mm_srli_epi16(v_g1, 8));
+    __m128i layer4_chunk2 = _mm_packus_epi16(_mm_and_si128(v_b0, v_mask), _mm_and_si128(v_b1, v_mask));
+    __m128i layer4_chunk6 = _mm_packus_epi16(_mm_srli_epi16(v_b0, 8), _mm_srli_epi16(v_b1, 8));
+    __m128i layer4_chunk3 = _mm_packus_epi16(_mm_and_si128(v_a0, v_mask), _mm_and_si128(v_a1, v_mask));
+    __m128i layer4_chunk7 = _mm_packus_epi16(_mm_srli_epi16(v_a0, 8), _mm_srli_epi16(v_a1, 8));
+
+    __m128i layer3_chunk0 = _mm_packus_epi16(_mm_and_si128(layer4_chunk0, v_mask), _mm_and_si128(layer4_chunk1, v_mask));
+    __m128i layer3_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk0, 8), _mm_srli_epi16(layer4_chunk1, 8));
+    __m128i layer3_chunk1 = _mm_packus_epi16(_mm_and_si128(layer4_chunk2, v_mask), _mm_and_si128(layer4_chunk3, v_mask));
+    __m128i layer3_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk2, 8), _mm_srli_epi16(layer4_chunk3, 8));
+    __m128i layer3_chunk2 = _mm_packus_epi16(_mm_and_si128(layer4_chunk4, v_mask), _mm_and_si128(layer4_chunk5, v_mask));
+    __m128i layer3_chunk6 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk4, 8), _mm_srli_epi16(layer4_chunk5, 8));
+    __m128i layer3_chunk3 = _mm_packus_epi16(_mm_and_si128(layer4_chunk6, v_mask), _mm_and_si128(layer4_chunk7, v_mask));
+    __m128i layer3_chunk7 = _mm_packus_epi16(_mm_srli_epi16(layer4_chunk6, 8), _mm_srli_epi16(layer4_chunk7, 8));
+
+    __m128i layer2_chunk0 = _mm_packus_epi16(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk0, 8), _mm_srli_epi16(layer3_chunk1, 8));
+    __m128i layer2_chunk1 = _mm_packus_epi16(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk2, 8), _mm_srli_epi16(layer3_chunk3, 8));
+    __m128i layer2_chunk2 = _mm_packus_epi16(_mm_and_si128(layer3_chunk4, v_mask), _mm_and_si128(layer3_chunk5, v_mask));
+    __m128i layer2_chunk6 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk4, 8), _mm_srli_epi16(layer3_chunk5, 8));
+    __m128i layer2_chunk3 = _mm_packus_epi16(_mm_and_si128(layer3_chunk6, v_mask), _mm_and_si128(layer3_chunk7, v_mask));
+    __m128i layer2_chunk7 = _mm_packus_epi16(_mm_srli_epi16(layer3_chunk6, 8), _mm_srli_epi16(layer3_chunk7, 8));
+
+    __m128i layer1_chunk0 = _mm_packus_epi16(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk4 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk0, 8), _mm_srli_epi16(layer2_chunk1, 8));
+    __m128i layer1_chunk1 = _mm_packus_epi16(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk5 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk2, 8), _mm_srli_epi16(layer2_chunk3, 8));
+    __m128i layer1_chunk2 = _mm_packus_epi16(_mm_and_si128(layer2_chunk4, v_mask), _mm_and_si128(layer2_chunk5, v_mask));
+    __m128i layer1_chunk6 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk4, 8), _mm_srli_epi16(layer2_chunk5, 8));
+    __m128i layer1_chunk3 = _mm_packus_epi16(_mm_and_si128(layer2_chunk6, v_mask), _mm_and_si128(layer2_chunk7, v_mask));
+    __m128i layer1_chunk7 = _mm_packus_epi16(_mm_srli_epi16(layer2_chunk6, 8), _mm_srli_epi16(layer2_chunk7, 8));
+
+    v_r0 = _mm_packus_epi16(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_b0 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk0, 8), _mm_srli_epi16(layer1_chunk1, 8));
+    v_r1 = _mm_packus_epi16(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_b1 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk2, 8), _mm_srli_epi16(layer1_chunk3, 8));
+    v_g0 = _mm_packus_epi16(_mm_and_si128(layer1_chunk4, v_mask), _mm_and_si128(layer1_chunk5, v_mask));
+    v_a0 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk4, 8), _mm_srli_epi16(layer1_chunk5, 8));
+    v_g1 = _mm_packus_epi16(_mm_and_si128(layer1_chunk6, v_mask), _mm_and_si128(layer1_chunk7, v_mask));
+    v_a1 = _mm_packus_epi16(_mm_srli_epi16(layer1_chunk6, 8), _mm_srli_epi16(layer1_chunk7, 8));
+}
+
+inline void _mm_deinterleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi16(v_r0, v_g0);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi16(v_r0, v_g0);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi16(v_r1, v_g1);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi16(v_r1, v_g1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi16(layer1_chunk0, layer1_chunk2);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi16(layer1_chunk0, layer1_chunk2);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi16(layer1_chunk1, layer1_chunk3);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi16(layer1_chunk1, layer1_chunk3);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi16(layer2_chunk0, layer2_chunk2);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi16(layer2_chunk0, layer2_chunk2);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi16(layer2_chunk1, layer2_chunk3);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi16(layer2_chunk1, layer2_chunk3);
+
+    v_r0 = _mm_unpacklo_epi16(layer3_chunk0, layer3_chunk2);
+    v_r1 = _mm_unpackhi_epi16(layer3_chunk0, layer3_chunk2);
+    v_g0 = _mm_unpacklo_epi16(layer3_chunk1, layer3_chunk3);
+    v_g1 = _mm_unpackhi_epi16(layer3_chunk1, layer3_chunk3);
+}
+
+inline void _mm_deinterleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0,
+                                   __m128i & v_g1, __m128i & v_b0, __m128i & v_b1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi16(v_r0, v_g1);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi16(v_r0, v_g1);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi16(v_r1, v_b0);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi16(v_r1, v_b0);
+    __m128i layer1_chunk4 = _mm_unpacklo_epi16(v_g0, v_b1);
+    __m128i layer1_chunk5 = _mm_unpackhi_epi16(v_g0, v_b1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi16(layer1_chunk0, layer1_chunk3);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi16(layer1_chunk0, layer1_chunk3);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi16(layer1_chunk1, layer1_chunk4);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi16(layer1_chunk1, layer1_chunk4);
+    __m128i layer2_chunk4 = _mm_unpacklo_epi16(layer1_chunk2, layer1_chunk5);
+    __m128i layer2_chunk5 = _mm_unpackhi_epi16(layer1_chunk2, layer1_chunk5);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi16(layer2_chunk0, layer2_chunk3);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi16(layer2_chunk0, layer2_chunk3);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi16(layer2_chunk1, layer2_chunk4);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi16(layer2_chunk1, layer2_chunk4);
+    __m128i layer3_chunk4 = _mm_unpacklo_epi16(layer2_chunk2, layer2_chunk5);
+    __m128i layer3_chunk5 = _mm_unpackhi_epi16(layer2_chunk2, layer2_chunk5);
+
+    v_r0 = _mm_unpacklo_epi16(layer3_chunk0, layer3_chunk3);
+    v_r1 = _mm_unpackhi_epi16(layer3_chunk0, layer3_chunk3);
+    v_g0 = _mm_unpacklo_epi16(layer3_chunk1, layer3_chunk4);
+    v_g1 = _mm_unpackhi_epi16(layer3_chunk1, layer3_chunk4);
+    v_b0 = _mm_unpacklo_epi16(layer3_chunk2, layer3_chunk5);
+    v_b1 = _mm_unpackhi_epi16(layer3_chunk2, layer3_chunk5);
+}
+
+inline void _mm_deinterleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1,
+                                   __m128i & v_b0, __m128i & v_b1, __m128i & v_a0, __m128i & v_a1)
+{
+    __m128i layer1_chunk0 = _mm_unpacklo_epi16(v_r0, v_b0);
+    __m128i layer1_chunk1 = _mm_unpackhi_epi16(v_r0, v_b0);
+    __m128i layer1_chunk2 = _mm_unpacklo_epi16(v_r1, v_b1);
+    __m128i layer1_chunk3 = _mm_unpackhi_epi16(v_r1, v_b1);
+    __m128i layer1_chunk4 = _mm_unpacklo_epi16(v_g0, v_a0);
+    __m128i layer1_chunk5 = _mm_unpackhi_epi16(v_g0, v_a0);
+    __m128i layer1_chunk6 = _mm_unpacklo_epi16(v_g1, v_a1);
+    __m128i layer1_chunk7 = _mm_unpackhi_epi16(v_g1, v_a1);
+
+    __m128i layer2_chunk0 = _mm_unpacklo_epi16(layer1_chunk0, layer1_chunk4);
+    __m128i layer2_chunk1 = _mm_unpackhi_epi16(layer1_chunk0, layer1_chunk4);
+    __m128i layer2_chunk2 = _mm_unpacklo_epi16(layer1_chunk1, layer1_chunk5);
+    __m128i layer2_chunk3 = _mm_unpackhi_epi16(layer1_chunk1, layer1_chunk5);
+    __m128i layer2_chunk4 = _mm_unpacklo_epi16(layer1_chunk2, layer1_chunk6);
+    __m128i layer2_chunk5 = _mm_unpackhi_epi16(layer1_chunk2, layer1_chunk6);
+    __m128i layer2_chunk6 = _mm_unpacklo_epi16(layer1_chunk3, layer1_chunk7);
+    __m128i layer2_chunk7 = _mm_unpackhi_epi16(layer1_chunk3, layer1_chunk7);
+
+    __m128i layer3_chunk0 = _mm_unpacklo_epi16(layer2_chunk0, layer2_chunk4);
+    __m128i layer3_chunk1 = _mm_unpackhi_epi16(layer2_chunk0, layer2_chunk4);
+    __m128i layer3_chunk2 = _mm_unpacklo_epi16(layer2_chunk1, layer2_chunk5);
+    __m128i layer3_chunk3 = _mm_unpackhi_epi16(layer2_chunk1, layer2_chunk5);
+    __m128i layer3_chunk4 = _mm_unpacklo_epi16(layer2_chunk2, layer2_chunk6);
+    __m128i layer3_chunk5 = _mm_unpackhi_epi16(layer2_chunk2, layer2_chunk6);
+    __m128i layer3_chunk6 = _mm_unpacklo_epi16(layer2_chunk3, layer2_chunk7);
+    __m128i layer3_chunk7 = _mm_unpackhi_epi16(layer2_chunk3, layer2_chunk7);
+
+    v_r0 = _mm_unpacklo_epi16(layer3_chunk0, layer3_chunk4);
+    v_r1 = _mm_unpackhi_epi16(layer3_chunk0, layer3_chunk4);
+    v_g0 = _mm_unpacklo_epi16(layer3_chunk1, layer3_chunk5);
+    v_g1 = _mm_unpackhi_epi16(layer3_chunk1, layer3_chunk5);
+    v_b0 = _mm_unpacklo_epi16(layer3_chunk2, layer3_chunk6);
+    v_b1 = _mm_unpackhi_epi16(layer3_chunk2, layer3_chunk6);
+    v_a0 = _mm_unpacklo_epi16(layer3_chunk3, layer3_chunk7);
+    v_a1 = _mm_unpackhi_epi16(layer3_chunk3, layer3_chunk7);
+}
+
+#if CV_SSE4_1
+
+inline void _mm_interleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1)
+{
+    __m128i v_mask = _mm_set1_epi32(0x0000ffff);
+
+    __m128i layer3_chunk0 = _mm_packus_epi32(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer3_chunk2 = _mm_packus_epi32(_mm_srli_epi32(v_r0, 16), _mm_srli_epi32(v_r1, 16));
+    __m128i layer3_chunk1 = _mm_packus_epi32(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer3_chunk3 = _mm_packus_epi32(_mm_srli_epi32(v_g0, 16), _mm_srli_epi32(v_g1, 16));
+
+    __m128i layer2_chunk0 = _mm_packus_epi32(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk2 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk0, 16), _mm_srli_epi32(layer3_chunk1, 16));
+    __m128i layer2_chunk1 = _mm_packus_epi32(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk3 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk2, 16), _mm_srli_epi32(layer3_chunk3, 16));
+
+    __m128i layer1_chunk0 = _mm_packus_epi32(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk2 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk0, 16), _mm_srli_epi32(layer2_chunk1, 16));
+    __m128i layer1_chunk1 = _mm_packus_epi32(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk3 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk2, 16), _mm_srli_epi32(layer2_chunk3, 16));
+
+    v_r0 = _mm_packus_epi32(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_g0 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk0, 16), _mm_srli_epi32(layer1_chunk1, 16));
+    v_r1 = _mm_packus_epi32(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_g1 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk2, 16), _mm_srli_epi32(layer1_chunk3, 16));
+}
+
+inline void _mm_interleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0,
+                                 __m128i & v_g1, __m128i & v_b0, __m128i & v_b1)
+{
+    __m128i v_mask = _mm_set1_epi32(0x0000ffff);
+
+    __m128i layer3_chunk0 = _mm_packus_epi32(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer3_chunk3 = _mm_packus_epi32(_mm_srli_epi32(v_r0, 16), _mm_srli_epi32(v_r1, 16));
+    __m128i layer3_chunk1 = _mm_packus_epi32(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer3_chunk4 = _mm_packus_epi32(_mm_srli_epi32(v_g0, 16), _mm_srli_epi32(v_g1, 16));
+    __m128i layer3_chunk2 = _mm_packus_epi32(_mm_and_si128(v_b0, v_mask), _mm_and_si128(v_b1, v_mask));
+    __m128i layer3_chunk5 = _mm_packus_epi32(_mm_srli_epi32(v_b0, 16), _mm_srli_epi32(v_b1, 16));
+
+    __m128i layer2_chunk0 = _mm_packus_epi32(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk3 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk0, 16), _mm_srli_epi32(layer3_chunk1, 16));
+    __m128i layer2_chunk1 = _mm_packus_epi32(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk4 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk2, 16), _mm_srli_epi32(layer3_chunk3, 16));
+    __m128i layer2_chunk2 = _mm_packus_epi32(_mm_and_si128(layer3_chunk4, v_mask), _mm_and_si128(layer3_chunk5, v_mask));
+    __m128i layer2_chunk5 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk4, 16), _mm_srli_epi32(layer3_chunk5, 16));
+
+    __m128i layer1_chunk0 = _mm_packus_epi32(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk3 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk0, 16), _mm_srli_epi32(layer2_chunk1, 16));
+    __m128i layer1_chunk1 = _mm_packus_epi32(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk4 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk2, 16), _mm_srli_epi32(layer2_chunk3, 16));
+    __m128i layer1_chunk2 = _mm_packus_epi32(_mm_and_si128(layer2_chunk4, v_mask), _mm_and_si128(layer2_chunk5, v_mask));
+    __m128i layer1_chunk5 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk4, 16), _mm_srli_epi32(layer2_chunk5, 16));
+
+    v_r0 = _mm_packus_epi32(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_g1 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk0, 16), _mm_srli_epi32(layer1_chunk1, 16));
+    v_r1 = _mm_packus_epi32(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_b0 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk2, 16), _mm_srli_epi32(layer1_chunk3, 16));
+    v_g0 = _mm_packus_epi32(_mm_and_si128(layer1_chunk4, v_mask), _mm_and_si128(layer1_chunk5, v_mask));
+    v_b1 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk4, 16), _mm_srli_epi32(layer1_chunk5, 16));
+}
+
+inline void _mm_interleave_epi16(__m128i & v_r0, __m128i & v_r1, __m128i & v_g0, __m128i & v_g1,
+                                 __m128i & v_b0, __m128i & v_b1, __m128i & v_a0, __m128i & v_a1)
+{
+    __m128i v_mask = _mm_set1_epi32(0x0000ffff);
+
+    __m128i layer3_chunk0 = _mm_packus_epi32(_mm_and_si128(v_r0, v_mask), _mm_and_si128(v_r1, v_mask));
+    __m128i layer3_chunk4 = _mm_packus_epi32(_mm_srli_epi32(v_r0, 16), _mm_srli_epi32(v_r1, 16));
+    __m128i layer3_chunk1 = _mm_packus_epi32(_mm_and_si128(v_g0, v_mask), _mm_and_si128(v_g1, v_mask));
+    __m128i layer3_chunk5 = _mm_packus_epi32(_mm_srli_epi32(v_g0, 16), _mm_srli_epi32(v_g1, 16));
+    __m128i layer3_chunk2 = _mm_packus_epi32(_mm_and_si128(v_b0, v_mask), _mm_and_si128(v_b1, v_mask));
+    __m128i layer3_chunk6 = _mm_packus_epi32(_mm_srli_epi32(v_b0, 16), _mm_srli_epi32(v_b1, 16));
+    __m128i layer3_chunk3 = _mm_packus_epi32(_mm_and_si128(v_a0, v_mask), _mm_and_si128(v_a1, v_mask));
+    __m128i layer3_chunk7 = _mm_packus_epi32(_mm_srli_epi32(v_a0, 16), _mm_srli_epi32(v_a1, 16));
+
+    __m128i layer2_chunk0 = _mm_packus_epi32(_mm_and_si128(layer3_chunk0, v_mask), _mm_and_si128(layer3_chunk1, v_mask));
+    __m128i layer2_chunk4 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk0, 16), _mm_srli_epi32(layer3_chunk1, 16));
+    __m128i layer2_chunk1 = _mm_packus_epi32(_mm_and_si128(layer3_chunk2, v_mask), _mm_and_si128(layer3_chunk3, v_mask));
+    __m128i layer2_chunk5 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk2, 16), _mm_srli_epi32(layer3_chunk3, 16));
+    __m128i layer2_chunk2 = _mm_packus_epi32(_mm_and_si128(layer3_chunk4, v_mask), _mm_and_si128(layer3_chunk5, v_mask));
+    __m128i layer2_chunk6 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk4, 16), _mm_srli_epi32(layer3_chunk5, 16));
+    __m128i layer2_chunk3 = _mm_packus_epi32(_mm_and_si128(layer3_chunk6, v_mask), _mm_and_si128(layer3_chunk7, v_mask));
+    __m128i layer2_chunk7 = _mm_packus_epi32(_mm_srli_epi32(layer3_chunk6, 16), _mm_srli_epi32(layer3_chunk7, 16));
+
+    __m128i layer1_chunk0 = _mm_packus_epi32(_mm_and_si128(layer2_chunk0, v_mask), _mm_and_si128(layer2_chunk1, v_mask));
+    __m128i layer1_chunk4 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk0, 16), _mm_srli_epi32(layer2_chunk1, 16));
+    __m128i layer1_chunk1 = _mm_packus_epi32(_mm_and_si128(layer2_chunk2, v_mask), _mm_and_si128(layer2_chunk3, v_mask));
+    __m128i layer1_chunk5 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk2, 16), _mm_srli_epi32(layer2_chunk3, 16));
+    __m128i layer1_chunk2 = _mm_packus_epi32(_mm_and_si128(layer2_chunk4, v_mask), _mm_and_si128(layer2_chunk5, v_mask));
+    __m128i layer1_chunk6 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk4, 16), _mm_srli_epi32(layer2_chunk5, 16));
+    __m128i layer1_chunk3 = _mm_packus_epi32(_mm_and_si128(layer2_chunk6, v_mask), _mm_and_si128(layer2_chunk7, v_mask));
+    __m128i layer1_chunk7 = _mm_packus_epi32(_mm_srli_epi32(layer2_chunk6, 16), _mm_srli_epi32(layer2_chunk7, 16));
+
+    v_r0 = _mm_packus_epi32(_mm_and_si128(layer1_chunk0, v_mask), _mm_and_si128(layer1_chunk1, v_mask));
+    v_b0 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk0, 16), _mm_srli_epi32(layer1_chunk1, 16));
+    v_r1 = _mm_packus_epi32(_mm_and_si128(layer1_chunk2, v_mask), _mm_and_si128(layer1_chunk3, v_mask));
+    v_b1 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk2, 16), _mm_srli_epi32(layer1_chunk3, 16));
+    v_g0 = _mm_packus_epi32(_mm_and_si128(layer1_chunk4, v_mask), _mm_and_si128(layer1_chunk5, v_mask));
+    v_a0 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk4, 16), _mm_srli_epi32(layer1_chunk5, 16));
+    v_g1 = _mm_packus_epi32(_mm_and_si128(layer1_chunk6, v_mask), _mm_and_si128(layer1_chunk7, v_mask));
+    v_a1 = _mm_packus_epi32(_mm_srli_epi32(layer1_chunk6, 16), _mm_srli_epi32(layer1_chunk7, 16));
+}
+
+#endif // CV_SSE4_1
+
+inline void _mm_deinterleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0, __m128 & v_g1)
+{
+    __m128 layer1_chunk0 = _mm_unpacklo_ps(v_r0, v_g0);
+    __m128 layer1_chunk1 = _mm_unpackhi_ps(v_r0, v_g0);
+    __m128 layer1_chunk2 = _mm_unpacklo_ps(v_r1, v_g1);
+    __m128 layer1_chunk3 = _mm_unpackhi_ps(v_r1, v_g1);
+
+    __m128 layer2_chunk0 = _mm_unpacklo_ps(layer1_chunk0, layer1_chunk2);
+    __m128 layer2_chunk1 = _mm_unpackhi_ps(layer1_chunk0, layer1_chunk2);
+    __m128 layer2_chunk2 = _mm_unpacklo_ps(layer1_chunk1, layer1_chunk3);
+    __m128 layer2_chunk3 = _mm_unpackhi_ps(layer1_chunk1, layer1_chunk3);
+
+    v_r0 = _mm_unpacklo_ps(layer2_chunk0, layer2_chunk2);
+    v_r1 = _mm_unpackhi_ps(layer2_chunk0, layer2_chunk2);
+    v_g0 = _mm_unpacklo_ps(layer2_chunk1, layer2_chunk3);
+    v_g1 = _mm_unpackhi_ps(layer2_chunk1, layer2_chunk3);
+}
+
+inline void _mm_deinterleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0,
+                                __m128 & v_g1, __m128 & v_b0, __m128 & v_b1)
+{
+    __m128 layer1_chunk0 = _mm_unpacklo_ps(v_r0, v_g1);
+    __m128 layer1_chunk1 = _mm_unpackhi_ps(v_r0, v_g1);
+    __m128 layer1_chunk2 = _mm_unpacklo_ps(v_r1, v_b0);
+    __m128 layer1_chunk3 = _mm_unpackhi_ps(v_r1, v_b0);
+    __m128 layer1_chunk4 = _mm_unpacklo_ps(v_g0, v_b1);
+    __m128 layer1_chunk5 = _mm_unpackhi_ps(v_g0, v_b1);
+
+    __m128 layer2_chunk0 = _mm_unpacklo_ps(layer1_chunk0, layer1_chunk3);
+    __m128 layer2_chunk1 = _mm_unpackhi_ps(layer1_chunk0, layer1_chunk3);
+    __m128 layer2_chunk2 = _mm_unpacklo_ps(layer1_chunk1, layer1_chunk4);
+    __m128 layer2_chunk3 = _mm_unpackhi_ps(layer1_chunk1, layer1_chunk4);
+    __m128 layer2_chunk4 = _mm_unpacklo_ps(layer1_chunk2, layer1_chunk5);
+    __m128 layer2_chunk5 = _mm_unpackhi_ps(layer1_chunk2, layer1_chunk5);
+
+    v_r0 = _mm_unpacklo_ps(layer2_chunk0, layer2_chunk3);
+    v_r1 = _mm_unpackhi_ps(layer2_chunk0, layer2_chunk3);
+    v_g0 = _mm_unpacklo_ps(layer2_chunk1, layer2_chunk4);
+    v_g1 = _mm_unpackhi_ps(layer2_chunk1, layer2_chunk4);
+    v_b0 = _mm_unpacklo_ps(layer2_chunk2, layer2_chunk5);
+    v_b1 = _mm_unpackhi_ps(layer2_chunk2, layer2_chunk5);
+}
+
+inline void _mm_deinterleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0, __m128 & v_g1,
+                                __m128 & v_b0, __m128 & v_b1, __m128 & v_a0, __m128 & v_a1)
+{
+    __m128 layer1_chunk0 = _mm_unpacklo_ps(v_r0, v_b0);
+    __m128 layer1_chunk1 = _mm_unpackhi_ps(v_r0, v_b0);
+    __m128 layer1_chunk2 = _mm_unpacklo_ps(v_r1, v_b1);
+    __m128 layer1_chunk3 = _mm_unpackhi_ps(v_r1, v_b1);
+    __m128 layer1_chunk4 = _mm_unpacklo_ps(v_g0, v_a0);
+    __m128 layer1_chunk5 = _mm_unpackhi_ps(v_g0, v_a0);
+    __m128 layer1_chunk6 = _mm_unpacklo_ps(v_g1, v_a1);
+    __m128 layer1_chunk7 = _mm_unpackhi_ps(v_g1, v_a1);
+
+    __m128 layer2_chunk0 = _mm_unpacklo_ps(layer1_chunk0, layer1_chunk4);
+    __m128 layer2_chunk1 = _mm_unpackhi_ps(layer1_chunk0, layer1_chunk4);
+    __m128 layer2_chunk2 = _mm_unpacklo_ps(layer1_chunk1, layer1_chunk5);
+    __m128 layer2_chunk3 = _mm_unpackhi_ps(layer1_chunk1, layer1_chunk5);
+    __m128 layer2_chunk4 = _mm_unpacklo_ps(layer1_chunk2, layer1_chunk6);
+    __m128 layer2_chunk5 = _mm_unpackhi_ps(layer1_chunk2, layer1_chunk6);
+    __m128 layer2_chunk6 = _mm_unpacklo_ps(layer1_chunk3, layer1_chunk7);
+    __m128 layer2_chunk7 = _mm_unpackhi_ps(layer1_chunk3, layer1_chunk7);
+
+    v_r0 = _mm_unpacklo_ps(layer2_chunk0, layer2_chunk4);
+    v_r1 = _mm_unpackhi_ps(layer2_chunk0, layer2_chunk4);
+    v_g0 = _mm_unpacklo_ps(layer2_chunk1, layer2_chunk5);
+    v_g1 = _mm_unpackhi_ps(layer2_chunk1, layer2_chunk5);
+    v_b0 = _mm_unpacklo_ps(layer2_chunk2, layer2_chunk6);
+    v_b1 = _mm_unpackhi_ps(layer2_chunk2, layer2_chunk6);
+    v_a0 = _mm_unpacklo_ps(layer2_chunk3, layer2_chunk7);
+    v_a1 = _mm_unpackhi_ps(layer2_chunk3, layer2_chunk7);
+}
+
+inline void _mm_interleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0, __m128 & v_g1)
+{
+    const int mask_lo = _MM_SHUFFLE(2, 0, 2, 0), mask_hi = _MM_SHUFFLE(3, 1, 3, 1);
+
+    __m128 layer2_chunk0 = _mm_shuffle_ps(v_r0, v_r1, mask_lo);
+    __m128 layer2_chunk2 = _mm_shuffle_ps(v_r0, v_r1, mask_hi);
+    __m128 layer2_chunk1 = _mm_shuffle_ps(v_g0, v_g1, mask_lo);
+    __m128 layer2_chunk3 = _mm_shuffle_ps(v_g0, v_g1, mask_hi);
+
+    __m128 layer1_chunk0 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_lo);
+    __m128 layer1_chunk2 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_hi);
+    __m128 layer1_chunk1 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_lo);
+    __m128 layer1_chunk3 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_hi);
+
+    v_r0 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_lo);
+    v_g0 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_hi);
+    v_r1 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_lo);
+    v_g1 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_hi);
+}
+
+inline void _mm_interleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0,
+                              __m128 & v_g1, __m128 & v_b0, __m128 & v_b1)
+{
+    const int mask_lo = _MM_SHUFFLE(2, 0, 2, 0), mask_hi = _MM_SHUFFLE(3, 1, 3, 1);
+
+    __m128 layer2_chunk0 = _mm_shuffle_ps(v_r0, v_r1, mask_lo);
+    __m128 layer2_chunk3 = _mm_shuffle_ps(v_r0, v_r1, mask_hi);
+    __m128 layer2_chunk1 = _mm_shuffle_ps(v_g0, v_g1, mask_lo);
+    __m128 layer2_chunk4 = _mm_shuffle_ps(v_g0, v_g1, mask_hi);
+    __m128 layer2_chunk2 = _mm_shuffle_ps(v_b0, v_b1, mask_lo);
+    __m128 layer2_chunk5 = _mm_shuffle_ps(v_b0, v_b1, mask_hi);
+
+    __m128 layer1_chunk0 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_lo);
+    __m128 layer1_chunk3 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_hi);
+    __m128 layer1_chunk1 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_lo);
+    __m128 layer1_chunk4 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_hi);
+    __m128 layer1_chunk2 = _mm_shuffle_ps(layer2_chunk4, layer2_chunk5, mask_lo);
+    __m128 layer1_chunk5 = _mm_shuffle_ps(layer2_chunk4, layer2_chunk5, mask_hi);
+
+    v_r0 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_lo);
+    v_g1 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_hi);
+    v_r1 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_lo);
+    v_b0 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_hi);
+    v_g0 = _mm_shuffle_ps(layer1_chunk4, layer1_chunk5, mask_lo);
+    v_b1 = _mm_shuffle_ps(layer1_chunk4, layer1_chunk5, mask_hi);
+}
+
+inline void _mm_interleave_ps(__m128 & v_r0, __m128 & v_r1, __m128 & v_g0, __m128 & v_g1,
+                              __m128 & v_b0, __m128 & v_b1, __m128 & v_a0, __m128 & v_a1)
+{
+    const int mask_lo = _MM_SHUFFLE(2, 0, 2, 0), mask_hi = _MM_SHUFFLE(3, 1, 3, 1);
+
+    __m128 layer2_chunk0 = _mm_shuffle_ps(v_r0, v_r1, mask_lo);
+    __m128 layer2_chunk4 = _mm_shuffle_ps(v_r0, v_r1, mask_hi);
+    __m128 layer2_chunk1 = _mm_shuffle_ps(v_g0, v_g1, mask_lo);
+    __m128 layer2_chunk5 = _mm_shuffle_ps(v_g0, v_g1, mask_hi);
+    __m128 layer2_chunk2 = _mm_shuffle_ps(v_b0, v_b1, mask_lo);
+    __m128 layer2_chunk6 = _mm_shuffle_ps(v_b0, v_b1, mask_hi);
+    __m128 layer2_chunk3 = _mm_shuffle_ps(v_a0, v_a1, mask_lo);
+    __m128 layer2_chunk7 = _mm_shuffle_ps(v_a0, v_a1, mask_hi);
+
+    __m128 layer1_chunk0 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_lo);
+    __m128 layer1_chunk4 = _mm_shuffle_ps(layer2_chunk0, layer2_chunk1, mask_hi);
+    __m128 layer1_chunk1 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_lo);
+    __m128 layer1_chunk5 = _mm_shuffle_ps(layer2_chunk2, layer2_chunk3, mask_hi);
+    __m128 layer1_chunk2 = _mm_shuffle_ps(layer2_chunk4, layer2_chunk5, mask_lo);
+    __m128 layer1_chunk6 = _mm_shuffle_ps(layer2_chunk4, layer2_chunk5, mask_hi);
+    __m128 layer1_chunk3 = _mm_shuffle_ps(layer2_chunk6, layer2_chunk7, mask_lo);
+    __m128 layer1_chunk7 = _mm_shuffle_ps(layer2_chunk6, layer2_chunk7, mask_hi);
+
+    v_r0 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_lo);
+    v_b0 = _mm_shuffle_ps(layer1_chunk0, layer1_chunk1, mask_hi);
+    v_r1 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_lo);
+    v_b1 = _mm_shuffle_ps(layer1_chunk2, layer1_chunk3, mask_hi);
+    v_g0 = _mm_shuffle_ps(layer1_chunk4, layer1_chunk5, mask_lo);
+    v_a0 = _mm_shuffle_ps(layer1_chunk4, layer1_chunk5, mask_hi);
+    v_g1 = _mm_shuffle_ps(layer1_chunk6, layer1_chunk7, mask_lo);
+    v_a1 = _mm_shuffle_ps(layer1_chunk6, layer1_chunk7, mask_hi);
+}
+
+#endif // CV_SSE2
+
+#endif //__OPENCV_CORE_SSE_UTILS_HPP__
diff --git a/3rdparty/include/opencv2/core/traits.hpp b/3rdparty/include/opencv2/core/traits.hpp
new file mode 100644
index 0000000..49bc844
--- /dev/null
+++ b/3rdparty/include/opencv2/core/traits.hpp
@@ -0,0 +1,326 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_TRAITS_HPP__
+#define __OPENCV_CORE_TRAITS_HPP__
+
+#include "opencv2/core/cvdef.h"
+
+namespace cv
+{
+
+//! @addtogroup core_basic
+//! @{
+
+/** @brief Template "trait" class for OpenCV primitive data types.
+
+A primitive OpenCV data type is one of unsigned char, bool, signed char, unsigned short, signed
+short, int, float, double, or a tuple of values of one of these types, where all the values in the
+tuple have the same type. Any primitive type from the list can be defined by an identifier in the
+form CV_\<bit-depth\>{U|S|F}C(\<number_of_channels\>), for example: uchar \~ CV_8UC1, 3-element
+floating-point tuple \~ CV_32FC3, and so on. A universal OpenCV structure that is able to store a
+single instance of such a primitive data type is Vec. Multiple instances of such a type can be
+stored in a std::vector, Mat, Mat_, SparseMat, SparseMat_, or any other container that is able to
+store Vec instances.
+
+The DataType class is basically used to provide a description of such primitive data types without
+adding any fields or methods to the corresponding classes (and it is actually impossible to add
+anything to primitive C/C++ data types). This technique is known in C++ as class traits. It is not
+DataType itself that is used but its specialized versions, such as:
+@code
+    template<> class DataType<uchar>
+    {
+        typedef uchar value_type;
+        typedef int work_type;
+        typedef uchar channel_type;
+        enum { channel_type = CV_8U, channels = 1, fmt='u', type = CV_8U };
+    };
+    ...
+    template<typename _Tp> DataType<std::complex<_Tp> >
+    {
+        typedef std::complex<_Tp> value_type;
+        typedef std::complex<_Tp> work_type;
+        typedef _Tp channel_type;
+        // DataDepth is another helper trait class
+        enum { depth = DataDepth<_Tp>::value, channels=2,
+            fmt=(channels-1)*256+DataDepth<_Tp>::fmt,
+            type=CV_MAKETYPE(depth, channels) };
+    };
+    ...
+@endcode
+The main purpose of this class is to convert compilation-time type information to an
+OpenCV-compatible data type identifier, for example:
+@code
+    // allocates a 30x40 floating-point matrix
+    Mat A(30, 40, DataType<float>::type);
+
+    Mat B = Mat_<std::complex<double> >(3, 3);
+    // the statement below will print 6, 2 , that is depth == CV_64F, channels == 2
+    cout << B.depth() << ", " << B.channels() << endl;
+@endcode
+So, such traits are used to tell OpenCV which data type you are working with, even if such a type is
+not native to OpenCV. For example, the matrix B initialization above is compiled because OpenCV
+defines the proper specialized template class DataType\<complex\<_Tp\> \> . This mechanism is also
+useful (and used in OpenCV this way) for generic algorithms implementations.
+*/
+template<typename _Tp> class DataType
+{
+public:
+    typedef _Tp         value_type;
+    typedef value_type  work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 1,
+           depth        = -1,
+           channels     = 1,
+           fmt          = 0,
+           type = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<bool>
+{
+public:
+    typedef bool        value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_8U,
+           channels     = 1,
+           fmt          = (int)'u',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<uchar>
+{
+public:
+    typedef uchar       value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_8U,
+           channels     = 1,
+           fmt          = (int)'u',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<schar>
+{
+public:
+    typedef schar       value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_8S,
+           channels     = 1,
+           fmt          = (int)'c',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<char>
+{
+public:
+    typedef schar       value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_8S,
+           channels     = 1,
+           fmt          = (int)'c',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<ushort>
+{
+public:
+    typedef ushort      value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_16U,
+           channels     = 1,
+           fmt          = (int)'w',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<short>
+{
+public:
+    typedef short       value_type;
+    typedef int         work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_16S,
+           channels     = 1,
+           fmt          = (int)'s',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<int>
+{
+public:
+    typedef int         value_type;
+    typedef value_type  work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_32S,
+           channels     = 1,
+           fmt          = (int)'i',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<float>
+{
+public:
+    typedef float       value_type;
+    typedef value_type  work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_32F,
+           channels     = 1,
+           fmt          = (int)'f',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+template<> class DataType<double>
+{
+public:
+    typedef double      value_type;
+    typedef value_type  work_type;
+    typedef value_type  channel_type;
+    typedef value_type  vec_type;
+    enum { generic_type = 0,
+           depth        = CV_64F,
+           channels     = 1,
+           fmt          = (int)'d',
+           type         = CV_MAKETYPE(depth, channels)
+         };
+};
+
+
+/** @brief A helper class for cv::DataType
+
+The class is specialized for each fundamental numerical data type supported by OpenCV. It provides
+DataDepth<T>::value constant.
+*/
+template<typename _Tp> class DataDepth
+{
+public:
+    enum
+    {
+        value = DataType<_Tp>::depth,
+        fmt   = DataType<_Tp>::fmt
+    };
+};
+
+
+
+template<int _depth> class TypeDepth
+{
+    enum { depth = CV_USRTYPE1 };
+    typedef void value_type;
+};
+
+template<> class TypeDepth<CV_8U>
+{
+    enum { depth = CV_8U };
+    typedef uchar value_type;
+};
+
+template<> class TypeDepth<CV_8S>
+{
+    enum { depth = CV_8S };
+    typedef schar value_type;
+};
+
+template<> class TypeDepth<CV_16U>
+{
+    enum { depth = CV_16U };
+    typedef ushort value_type;
+};
+
+template<> class TypeDepth<CV_16S>
+{
+    enum { depth = CV_16S };
+    typedef short value_type;
+};
+
+template<> class TypeDepth<CV_32S>
+{
+    enum { depth = CV_32S };
+    typedef int value_type;
+};
+
+template<> class TypeDepth<CV_32F>
+{
+    enum { depth = CV_32F };
+    typedef float value_type;
+};
+
+template<> class TypeDepth<CV_64F>
+{
+    enum { depth = CV_64F };
+    typedef double value_type;
+};
+
+//! @}
+
+} // cv
+
+#endif // __OPENCV_CORE_TRAITS_HPP__
diff --git a/3rdparty/include/opencv2/core/types.hpp b/3rdparty/include/opencv2/core/types.hpp
new file mode 100644
index 0000000..e166556
--- /dev/null
+++ b/3rdparty/include/opencv2/core/types.hpp
@@ -0,0 +1,2228 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_TYPES_HPP__
+#define __OPENCV_CORE_TYPES_HPP__
+
+#ifndef __cplusplus
+#  error types.hpp header must be compiled as C++
+#endif
+
+#include <climits>
+#include <cfloat>
+#include <vector>
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/cvstd.hpp"
+#include "opencv2/core/matx.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_basic
+//! @{
+
+//////////////////////////////// Complex //////////////////////////////
+
+/** @brief  A complex number class.
+
+  The template class is similar and compatible with std::complex, however it provides slightly
+  more convenient access to the real and imaginary parts using through the simple field access, as opposite
+  to std::complex::real() and std::complex::imag().
+*/
+template<typename _Tp> class Complex
+{
+public:
+
+    //! constructors
+    Complex();
+    Complex( _Tp _re, _Tp _im = 0 );
+
+    //! conversion to another data type
+    template<typename T2> operator Complex<T2>() const;
+    //! conjugation
+    Complex conj() const;
+
+    _Tp re, im; //< the real and the imaginary parts
+};
+
+typedef Complex<float> Complexf;
+typedef Complex<double> Complexd;
+
+template<typename _Tp> class DataType< Complex<_Tp> >
+{
+public:
+    typedef Complex<_Tp> value_type;
+    typedef value_type   work_type;
+    typedef _Tp          channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 2,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels) };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Point_ ////////////////////////////////
+
+/** @brief Template class for 2D points specified by its coordinates `x` and `y`.
+
+An instance of the class is interchangeable with C structures, CvPoint and CvPoint2D32f . There is
+also a cast operator to convert point coordinates to the specified type. The conversion from
+floating-point coordinates to integer coordinates is done by rounding. Commonly, the conversion
+uses this operation for each of the coordinates. Besides the class members listed in the
+declaration above, the following operations on points are implemented:
+@code
+    pt1 = pt2 + pt3;
+    pt1 = pt2 - pt3;
+    pt1 = pt2 * a;
+    pt1 = a * pt2;
+    pt1 = pt2 / a;
+    pt1 += pt2;
+    pt1 -= pt2;
+    pt1 *= a;
+    pt1 /= a;
+    double value = norm(pt); // L2 norm
+    pt1 == pt2;
+    pt1 != pt2;
+@endcode
+For your convenience, the following type aliases are defined:
+@code
+    typedef Point_<int> Point2i;
+    typedef Point2i Point;
+    typedef Point_<float> Point2f;
+    typedef Point_<double> Point2d;
+@endcode
+Example:
+@code
+    Point2f a(0.3f, 0.f), b(0.f, 0.4f);
+    Point pt = (a + b)*10.f;
+    cout << pt.x << ", " << pt.y << endl;
+@endcode
+*/
+template<typename _Tp> class Point_
+{
+public:
+    typedef _Tp value_type;
+
+    // various constructors
+    Point_();
+    Point_(_Tp _x, _Tp _y);
+    Point_(const Point_& pt);
+    Point_(const Size_<_Tp>& sz);
+    Point_(const Vec<_Tp, 2>& v);
+
+    Point_& operator = (const Point_& pt);
+    //! conversion to another data type
+    template<typename _Tp2> operator Point_<_Tp2>() const;
+
+    //! conversion to the old-style C structures
+    operator Vec<_Tp, 2>() const;
+
+    //! dot product
+    _Tp dot(const Point_& pt) const;
+    //! dot product computed in double-precision arithmetics
+    double ddot(const Point_& pt) const;
+    //! cross-product
+    double cross(const Point_& pt) const;
+    //! checks whether the point is inside the specified rectangle
+    bool inside(const Rect_<_Tp>& r) const;
+
+    _Tp x, y; //< the point coordinates
+};
+
+typedef Point_<int> Point2i;
+typedef Point_<float> Point2f;
+typedef Point_<double> Point2d;
+typedef Point2i Point;
+
+template<typename _Tp> class DataType< Point_<_Tp> >
+{
+public:
+    typedef Point_<_Tp>                               value_type;
+    typedef Point_<typename DataType<_Tp>::work_type> work_type;
+    typedef _Tp                                       channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 2,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Point3_ ////////////////////////////////
+
+/** @brief Template class for 3D points specified by its coordinates `x`, `y` and `z`.
+
+An instance of the class is interchangeable with the C structure CvPoint2D32f . Similarly to
+Point_ , the coordinates of 3D points can be converted to another type. The vector arithmetic and
+comparison operations are also supported.
+
+The following Point3_\<\> aliases are available:
+@code
+    typedef Point3_<int> Point3i;
+    typedef Point3_<float> Point3f;
+    typedef Point3_<double> Point3d;
+@endcode
+@see cv::Point3i, cv::Point3f and cv::Point3d
+*/
+template<typename _Tp> class Point3_
+{
+public:
+    typedef _Tp value_type;
+
+    // various constructors
+    Point3_();
+    Point3_(_Tp _x, _Tp _y, _Tp _z);
+    Point3_(const Point3_& pt);
+    explicit Point3_(const Point_<_Tp>& pt);
+    Point3_(const Vec<_Tp, 3>& v);
+
+    Point3_& operator = (const Point3_& pt);
+    //! conversion to another data type
+    template<typename _Tp2> operator Point3_<_Tp2>() const;
+    //! conversion to cv::Vec<>
+    operator Vec<_Tp, 3>() const;
+
+    //! dot product
+    _Tp dot(const Point3_& pt) const;
+    //! dot product computed in double-precision arithmetics
+    double ddot(const Point3_& pt) const;
+    //! cross product of the 2 3D points
+    Point3_ cross(const Point3_& pt) const;
+
+    _Tp x, y, z; //< the point coordinates
+};
+
+typedef Point3_<int> Point3i;
+typedef Point3_<float> Point3f;
+typedef Point3_<double> Point3d;
+
+template<typename _Tp> class DataType< Point3_<_Tp> >
+{
+public:
+    typedef Point3_<_Tp>                               value_type;
+    typedef Point3_<typename DataType<_Tp>::work_type> work_type;
+    typedef _Tp                                        channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 3,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Size_ ////////////////////////////////
+
+/** @brief Template class for specifying the size of an image or rectangle.
+
+The class includes two members called width and height. The structure can be converted to and from
+the old OpenCV structures CvSize and CvSize2D32f . The same set of arithmetic and comparison
+operations as for Point_ is available.
+
+OpenCV defines the following Size_\<\> aliases:
+@code
+    typedef Size_<int> Size2i;
+    typedef Size2i Size;
+    typedef Size_<float> Size2f;
+@endcode
+*/
+template<typename _Tp> class Size_
+{
+public:
+    typedef _Tp value_type;
+
+    //! various constructors
+    Size_();
+    Size_(_Tp _width, _Tp _height);
+    Size_(const Size_& sz);
+    Size_(const Point_<_Tp>& pt);
+
+    Size_& operator = (const Size_& sz);
+    //! the area (width*height)
+    _Tp area() const;
+
+    //! conversion of another data type.
+    template<typename _Tp2> operator Size_<_Tp2>() const;
+
+    _Tp width, height; // the width and the height
+};
+
+typedef Size_<int> Size2i;
+typedef Size_<float> Size2f;
+typedef Size_<double> Size2d;
+typedef Size2i Size;
+
+template<typename _Tp> class DataType< Size_<_Tp> >
+{
+public:
+    typedef Size_<_Tp>                               value_type;
+    typedef Size_<typename DataType<_Tp>::work_type> work_type;
+    typedef _Tp                                      channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 2,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Rect_ ////////////////////////////////
+
+/** @brief Template class for 2D rectangles
+
+described by the following parameters:
+-   Coordinates of the top-left corner. This is a default interpretation of Rect_::x and Rect_::y
+    in OpenCV. Though, in your algorithms you may count x and y from the bottom-left corner.
+-   Rectangle width and height.
+
+OpenCV typically assumes that the top and left boundary of the rectangle are inclusive, while the
+right and bottom boundaries are not. For example, the method Rect_::contains returns true if
+
+\f[x  \leq pt.x < x+width,
+      y  \leq pt.y < y+height\f]
+
+Virtually every loop over an image ROI in OpenCV (where ROI is specified by Rect_\<int\> ) is
+implemented as:
+@code
+    for(int y = roi.y; y < roi.y + roi.height; y++)
+        for(int x = roi.x; x < roi.x + roi.width; x++)
+        {
+            // ...
+        }
+@endcode
+In addition to the class members, the following operations on rectangles are implemented:
+-   \f$\texttt{rect} = \texttt{rect} \pm \texttt{point}\f$ (shifting a rectangle by a certain offset)
+-   \f$\texttt{rect} = \texttt{rect} \pm \texttt{size}\f$ (expanding or shrinking a rectangle by a
+    certain amount)
+-   rect += point, rect -= point, rect += size, rect -= size (augmenting operations)
+-   rect = rect1 & rect2 (rectangle intersection)
+-   rect = rect1 | rect2 (minimum area rectangle containing rect1 and rect2 )
+-   rect &= rect1, rect |= rect1 (and the corresponding augmenting operations)
+-   rect == rect1, rect != rect1 (rectangle comparison)
+
+This is an example how the partial ordering on rectangles can be established (rect1 \f$\subseteq\f$
+rect2):
+@code
+    template<typename _Tp> inline bool
+    operator <= (const Rect_<_Tp>& r1, const Rect_<_Tp>& r2)
+    {
+        return (r1 & r2) == r1;
+    }
+@endcode
+For your convenience, the Rect_\<\> alias is available: cv::Rect
+*/
+template<typename _Tp> class Rect_
+{
+public:
+    typedef _Tp value_type;
+
+    //! various constructors
+    Rect_();
+    Rect_(_Tp _x, _Tp _y, _Tp _width, _Tp _height);
+    Rect_(const Rect_& r);
+    Rect_(const Point_<_Tp>& org, const Size_<_Tp>& sz);
+    Rect_(const Point_<_Tp>& pt1, const Point_<_Tp>& pt2);
+
+    Rect_& operator = ( const Rect_& r );
+    //! the top-left corner
+    Point_<_Tp> tl() const;
+    //! the bottom-right corner
+    Point_<_Tp> br() const;
+
+    //! size (width, height) of the rectangle
+    Size_<_Tp> size() const;
+    //! area (width*height) of the rectangle
+    _Tp area() const;
+
+    //! conversion to another data type
+    template<typename _Tp2> operator Rect_<_Tp2>() const;
+
+    //! checks whether the rectangle contains the point
+    bool contains(const Point_<_Tp>& pt) const;
+
+    _Tp x, y, width, height; //< the top-left corner, as well as width and height of the rectangle
+};
+
+typedef Rect_<int> Rect2i;
+typedef Rect_<float> Rect2f;
+typedef Rect_<double> Rect2d;
+typedef Rect2i Rect;
+
+template<typename _Tp> class DataType< Rect_<_Tp> >
+{
+public:
+    typedef Rect_<_Tp>                               value_type;
+    typedef Rect_<typename DataType<_Tp>::work_type> work_type;
+    typedef _Tp                                      channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 4,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+///////////////////////////// RotatedRect /////////////////////////////
+
+/** @brief The class represents rotated (i.e. not up-right) rectangles on a plane.
+
+Each rectangle is specified by the center point (mass center), length of each side (represented by
+cv::Size2f structure) and the rotation angle in degrees.
+
+The sample below demonstrates how to use RotatedRect:
+@code
+    Mat image(200, 200, CV_8UC3, Scalar(0));
+    RotatedRect rRect = RotatedRect(Point2f(100,100), Size2f(100,50), 30);
+
+    Point2f vertices[4];
+    rRect.points(vertices);
+    for (int i = 0; i < 4; i++)
+        line(image, vertices[i], vertices[(i+1)%4], Scalar(0,255,0));
+
+    Rect brect = rRect.boundingRect();
+    rectangle(image, brect, Scalar(255,0,0));
+
+    imshow("rectangles", image);
+    waitKey(0);
+@endcode
+![image](pics/rotatedrect.png)
+
+@sa CamShift, fitEllipse, minAreaRect, CvBox2D
+*/
+class CV_EXPORTS RotatedRect
+{
+public:
+    //! various constructors
+    RotatedRect();
+    /**
+    @param center The rectangle mass center.
+    @param size Width and height of the rectangle.
+    @param angle The rotation angle in a clockwise direction. When the angle is 0, 90, 180, 270 etc.,
+    the rectangle becomes an up-right rectangle.
+    */
+    RotatedRect(const Point2f& center, const Size2f& size, float angle);
+    /**
+    Any 3 end points of the RotatedRect. They must be given in order (either clockwise or
+    anticlockwise).
+     */
+    RotatedRect(const Point2f& point1, const Point2f& point2, const Point2f& point3);
+
+    /** returns 4 vertices of the rectangle
+    @param pts The points array for storing rectangle vertices.
+    */
+    void points(Point2f pts[]) const;
+    //! returns the minimal up-right rectangle containing the rotated rectangle
+    Rect boundingRect() const;
+
+    Point2f center; //< the rectangle mass center
+    Size2f size;    //< width and height of the rectangle
+    float angle;    //< the rotation angle. When the angle is 0, 90, 180, 270 etc., the rectangle becomes an up-right rectangle.
+};
+
+template<> class DataType< RotatedRect >
+{
+public:
+    typedef RotatedRect  value_type;
+    typedef value_type   work_type;
+    typedef float        channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = (int)sizeof(value_type)/sizeof(channel_type), // 5
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Range /////////////////////////////////
+
+/** @brief Template class specifying a continuous subsequence (slice) of a sequence.
+
+The class is used to specify a row or a column span in a matrix ( Mat ) and for many other purposes.
+Range(a,b) is basically the same as a:b in Matlab or a..b in Python. As in Python, start is an
+inclusive left boundary of the range and end is an exclusive right boundary of the range. Such a
+half-opened interval is usually denoted as \f$[start,end)\f$ .
+
+The static method Range::all() returns a special variable that means "the whole sequence" or "the
+whole range", just like " : " in Matlab or " ... " in Python. All the methods and functions in
+OpenCV that take Range support this special Range::all() value. But, of course, in case of your own
+custom processing, you will probably have to check and handle it explicitly:
+@code
+    void my_function(..., const Range& r, ....)
+    {
+        if(r == Range::all()) {
+            // process all the data
+        }
+        else {
+            // process [r.start, r.end)
+        }
+    }
+@endcode
+*/
+class CV_EXPORTS Range
+{
+public:
+    Range();
+    Range(int _start, int _end);
+    int size() const;
+    bool empty() const;
+    static Range all();
+
+    int start, end;
+};
+
+template<> class DataType<Range>
+{
+public:
+    typedef Range      value_type;
+    typedef value_type work_type;
+    typedef int        channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 2,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// Scalar_ ///////////////////////////////
+
+/** @brief Template class for a 4-element vector derived from Vec.
+
+Being derived from Vec\<_Tp, 4\> , Scalar_ and Scalar can be used just as typical 4-element
+vectors. In addition, they can be converted to/from CvScalar . The type Scalar is widely used in
+OpenCV to pass pixel values.
+*/
+template<typename _Tp> class Scalar_ : public Vec<_Tp, 4>
+{
+public:
+    //! various constructors
+    Scalar_();
+    Scalar_(_Tp v0, _Tp v1, _Tp v2=0, _Tp v3=0);
+    Scalar_(_Tp v0);
+
+    template<typename _Tp2, int cn>
+    Scalar_(const Vec<_Tp2, cn>& v);
+
+    //! returns a scalar with all elements set to v0
+    static Scalar_<_Tp> all(_Tp v0);
+
+    //! conversion to another data type
+    template<typename T2> operator Scalar_<T2>() const;
+
+    //! per-element product
+    Scalar_<_Tp> mul(const Scalar_<_Tp>& a, double scale=1 ) const;
+
+    // returns (v0, -v1, -v2, -v3)
+    Scalar_<_Tp> conj() const;
+
+    // returns true iff v1 == v2 == v3 == 0
+    bool isReal() const;
+};
+
+typedef Scalar_<double> Scalar;
+
+template<typename _Tp> class DataType< Scalar_<_Tp> >
+{
+public:
+    typedef Scalar_<_Tp>                               value_type;
+    typedef Scalar_<typename DataType<_Tp>::work_type> work_type;
+    typedef _Tp                                        channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = 4,
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+/////////////////////////////// KeyPoint ////////////////////////////////
+
+/** @brief Data structure for salient point detectors.
+
+The class instance stores a keypoint, i.e. a point feature found by one of many available keypoint
+detectors, such as Harris corner detector, cv::FAST, cv::StarDetector, cv::SURF, cv::SIFT,
+cv::LDetector etc.
+
+The keypoint is characterized by the 2D position, scale (proportional to the diameter of the
+neighborhood that needs to be taken into account), orientation and some other parameters. The
+keypoint neighborhood is then analyzed by another algorithm that builds a descriptor (usually
+represented as a feature vector). The keypoints representing the same object in different images
+can then be matched using cv::KDTree or another method.
+*/
+class CV_EXPORTS_W_SIMPLE KeyPoint
+{
+public:
+    //! the default constructor
+    CV_WRAP KeyPoint();
+    /**
+    @param _pt x & y coordinates of the keypoint
+    @param _size keypoint diameter
+    @param _angle keypoint orientation
+    @param _response keypoint detector response on the keypoint (that is, strength of the keypoint)
+    @param _octave pyramid octave in which the keypoint has been detected
+    @param _class_id object id
+     */
+    KeyPoint(Point2f _pt, float _size, float _angle=-1, float _response=0, int _octave=0, int _class_id=-1);
+    /**
+    @param x x-coordinate of the keypoint
+    @param y y-coordinate of the keypoint
+    @param _size keypoint diameter
+    @param _angle keypoint orientation
+    @param _response keypoint detector response on the keypoint (that is, strength of the keypoint)
+    @param _octave pyramid octave in which the keypoint has been detected
+    @param _class_id object id
+     */
+    CV_WRAP KeyPoint(float x, float y, float _size, float _angle=-1, float _response=0, int _octave=0, int _class_id=-1);
+
+    size_t hash() const;
+
+    /**
+    This method converts vector of keypoints to vector of points or the reverse, where each keypoint is
+    assigned the same size and the same orientation.
+
+    @param keypoints Keypoints obtained from any feature detection algorithm like SIFT/SURF/ORB
+    @param points2f Array of (x,y) coordinates of each keypoint
+    @param keypointIndexes Array of indexes of keypoints to be converted to points. (Acts like a mask to
+    convert only specified keypoints)
+    */
+    CV_WRAP static void convert(const std::vector<KeyPoint>& keypoints,
+                                CV_OUT std::vector<Point2f>& points2f,
+                                const std::vector<int>& keypointIndexes=std::vector<int>());
+    /** @overload
+    @param points2f Array of (x,y) coordinates of each keypoint
+    @param keypoints Keypoints obtained from any feature detection algorithm like SIFT/SURF/ORB
+    @param size keypoint diameter
+    @param response keypoint detector response on the keypoint (that is, strength of the keypoint)
+    @param octave pyramid octave in which the keypoint has been detected
+    @param class_id object id
+    */
+    CV_WRAP static void convert(const std::vector<Point2f>& points2f,
+                                CV_OUT std::vector<KeyPoint>& keypoints,
+                                float size=1, float response=1, int octave=0, int class_id=-1);
+
+    /**
+    This method computes overlap for pair of keypoints. Overlap is the ratio between area of keypoint
+    regions' intersection and area of keypoint regions' union (considering keypoint region as circle).
+    If they don't overlap, we get zero. If they coincide at same location with same size, we get 1.
+    @param kp1 First keypoint
+    @param kp2 Second keypoint
+    */
+    CV_WRAP static float overlap(const KeyPoint& kp1, const KeyPoint& kp2);
+
+    CV_PROP_RW Point2f pt; //!< coordinates of the keypoints
+    CV_PROP_RW float size; //!< diameter of the meaningful keypoint neighborhood
+    CV_PROP_RW float angle; //!< computed orientation of the keypoint (-1 if not applicable);
+                            //!< it's in [0,360) degrees and measured relative to
+                            //!< image coordinate system, ie in clockwise.
+    CV_PROP_RW float response; //!< the response by which the most strong keypoints have been selected. Can be used for the further sorting or subsampling
+    CV_PROP_RW int octave; //!< octave (pyramid layer) from which the keypoint has been extracted
+    CV_PROP_RW int class_id; //!< object class (if the keypoints need to be clustered by an object they belong to)
+};
+
+template<> class DataType<KeyPoint>
+{
+public:
+    typedef KeyPoint      value_type;
+    typedef float         work_type;
+    typedef float         channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = (int)(sizeof(value_type)/sizeof(channel_type)), // 7
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+//////////////////////////////// DMatch /////////////////////////////////
+
+/** @brief Class for matching keypoint descriptors
+
+query descriptor index, train descriptor index, train image index, and distance between
+descriptors.
+*/
+class CV_EXPORTS_W_SIMPLE DMatch
+{
+public:
+    CV_WRAP DMatch();
+    CV_WRAP DMatch(int _queryIdx, int _trainIdx, float _distance);
+    CV_WRAP DMatch(int _queryIdx, int _trainIdx, int _imgIdx, float _distance);
+
+    CV_PROP_RW int queryIdx; // query descriptor index
+    CV_PROP_RW int trainIdx; // train descriptor index
+    CV_PROP_RW int imgIdx;   // train image index
+
+    CV_PROP_RW float distance;
+
+    // less is better
+    bool operator<(const DMatch &m) const;
+};
+
+template<> class DataType<DMatch>
+{
+public:
+    typedef DMatch      value_type;
+    typedef int         work_type;
+    typedef int         channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = (int)(sizeof(value_type)/sizeof(channel_type)), // 4
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+
+
+///////////////////////////// TermCriteria //////////////////////////////
+
+/** @brief The class defining termination criteria for iterative algorithms.
+
+You can initialize it by default constructor and then override any parameters, or the structure may
+be fully initialized using the advanced variant of the constructor.
+*/
+class CV_EXPORTS TermCriteria
+{
+public:
+    /**
+      Criteria type, can be one of: COUNT, EPS or COUNT + EPS
+    */
+    enum Type
+    {
+        COUNT=1, //!< the maximum number of iterations or elements to compute
+        MAX_ITER=COUNT, //!< ditto
+        EPS=2 //!< the desired accuracy or change in parameters at which the iterative algorithm stops
+    };
+
+    //! default constructor
+    TermCriteria();
+    /**
+    @param type The type of termination criteria, one of TermCriteria::Type
+    @param maxCount The maximum number of iterations or elements to compute.
+    @param epsilon The desired accuracy or change in parameters at which the iterative algorithm stops.
+    */
+    TermCriteria(int type, int maxCount, double epsilon);
+
+    int type; //!< the type of termination criteria: COUNT, EPS or COUNT + EPS
+    int maxCount; // the maximum number of iterations/elements
+    double epsilon; // the desired accuracy
+};
+
+
+//! @} core_basic
+
+///////////////////////// raster image moments //////////////////////////
+
+//! @addtogroup imgproc_shape
+//! @{
+
+/** @brief struct returned by cv::moments
+
+The spatial moments \f$\texttt{Moments::m}_{ji}\f$ are computed as:
+
+\f[\texttt{m} _{ji}= \sum _{x,y}  \left ( \texttt{array} (x,y)  \cdot x^j  \cdot y^i \right )\f]
+
+The central moments \f$\texttt{Moments::mu}_{ji}\f$ are computed as:
+
+\f[\texttt{mu} _{ji}= \sum _{x,y}  \left ( \texttt{array} (x,y)  \cdot (x -  \bar{x} )^j  \cdot (y -  \bar{y} )^i \right )\f]
+
+where \f$(\bar{x}, \bar{y})\f$ is the mass center:
+
+\f[\bar{x} = \frac{\texttt{m}_{10}}{\texttt{m}_{00}} , \; \bar{y} = \frac{\texttt{m}_{01}}{\texttt{m}_{00}}\f]
+
+The normalized central moments \f$\texttt{Moments::nu}_{ij}\f$ are computed as:
+
+\f[\texttt{nu} _{ji}= \frac{\texttt{mu}_{ji}}{\texttt{m}_{00}^{(i+j)/2+1}} .\f]
+
+@note
+\f$\texttt{mu}_{00}=\texttt{m}_{00}\f$, \f$\texttt{nu}_{00}=1\f$
+\f$\texttt{nu}_{10}=\texttt{mu}_{10}=\texttt{mu}_{01}=\texttt{mu}_{10}=0\f$ , hence the values are not
+stored.
+
+The moments of a contour are defined in the same way but computed using the Green's formula (see
+<http://en.wikipedia.org/wiki/Green_theorem>). So, due to a limited raster resolution, the moments
+computed for a contour are slightly different from the moments computed for the same rasterized
+contour.
+
+@note
+Since the contour moments are computed using Green formula, you may get seemingly odd results for
+contours with self-intersections, e.g. a zero area (m00) for butterfly-shaped contours.
+ */
+class CV_EXPORTS_W_MAP Moments
+{
+public:
+    //! the default constructor
+    Moments();
+    //! the full constructor
+    Moments(double m00, double m10, double m01, double m20, double m11,
+            double m02, double m30, double m21, double m12, double m03 );
+    ////! the conversion from CvMoments
+    //Moments( const CvMoments& moments );
+    ////! the conversion to CvMoments
+    //operator CvMoments() const;
+
+    //! @name spatial moments
+    //! @{
+    CV_PROP_RW double  m00, m10, m01, m20, m11, m02, m30, m21, m12, m03;
+    //! @}
+
+    //! @name central moments
+    //! @{
+    CV_PROP_RW double  mu20, mu11, mu02, mu30, mu21, mu12, mu03;
+    //! @}
+
+    //! @name central normalized moments
+    //! @{
+    CV_PROP_RW double  nu20, nu11, nu02, nu30, nu21, nu12, nu03;
+    //! @}
+};
+
+template<> class DataType<Moments>
+{
+public:
+    typedef Moments     value_type;
+    typedef double      work_type;
+    typedef double      channel_type;
+
+    enum { generic_type = 0,
+           depth        = DataType<channel_type>::depth,
+           channels     = (int)(sizeof(value_type)/sizeof(channel_type)), // 24
+           fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+           type         = CV_MAKETYPE(depth, channels)
+         };
+
+    typedef Vec<channel_type, channels> vec_type;
+};
+
+//! @} imgproc_shape
+
+//! @cond IGNORED
+
+/////////////////////////////////////////////////////////////////////////
+///////////////////////////// Implementation ////////////////////////////
+/////////////////////////////////////////////////////////////////////////
+
+//////////////////////////////// Complex ////////////////////////////////
+
+template<typename _Tp> inline
+Complex<_Tp>::Complex()
+    : re(0), im(0) {}
+
+template<typename _Tp> inline
+Complex<_Tp>::Complex( _Tp _re, _Tp _im )
+    : re(_re), im(_im) {}
+
+template<typename _Tp> template<typename T2> inline
+Complex<_Tp>::operator Complex<T2>() const
+{
+    return Complex<T2>(saturate_cast<T2>(re), saturate_cast<T2>(im));
+}
+
+template<typename _Tp> inline
+Complex<_Tp> Complex<_Tp>::conj() const
+{
+    return Complex<_Tp>(re, -im);
+}
+
+
+template<typename _Tp> static inline
+bool operator == (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return a.re == b.re && a.im == b.im;
+}
+
+template<typename _Tp> static inline
+bool operator != (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return a.re != b.re || a.im != b.im;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator + (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return Complex<_Tp>( a.re + b.re, a.im + b.im );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator += (Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    a.re += b.re; a.im += b.im;
+    return a;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator - (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return Complex<_Tp>( a.re - b.re, a.im - b.im );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator -= (Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    a.re -= b.re; a.im -= b.im;
+    return a;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator - (const Complex<_Tp>& a)
+{
+    return Complex<_Tp>(-a.re, -a.im);
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator * (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return Complex<_Tp>( a.re*b.re - a.im*b.im, a.re*b.im + a.im*b.re );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator * (const Complex<_Tp>& a, _Tp b)
+{
+    return Complex<_Tp>( a.re*b, a.im*b );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator * (_Tp b, const Complex<_Tp>& a)
+{
+    return Complex<_Tp>( a.re*b, a.im*b );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator + (const Complex<_Tp>& a, _Tp b)
+{
+    return Complex<_Tp>( a.re + b, a.im );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator - (const Complex<_Tp>& a, _Tp b)
+{ return Complex<_Tp>( a.re - b, a.im ); }
+
+template<typename _Tp> static inline
+Complex<_Tp> operator + (_Tp b, const Complex<_Tp>& a)
+{
+    return Complex<_Tp>( a.re + b, a.im );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator - (_Tp b, const Complex<_Tp>& a)
+{
+    return Complex<_Tp>( b - a.re, -a.im );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator += (Complex<_Tp>& a, _Tp b)
+{
+    a.re += b; return a;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator -= (Complex<_Tp>& a, _Tp b)
+{
+    a.re -= b; return a;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator *= (Complex<_Tp>& a, _Tp b)
+{
+    a.re *= b; a.im *= b; return a;
+}
+
+template<typename _Tp> static inline
+double abs(const Complex<_Tp>& a)
+{
+    return std::sqrt( (double)a.re*a.re + (double)a.im*a.im);
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator / (const Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    double t = 1./((double)b.re*b.re + (double)b.im*b.im);
+    return Complex<_Tp>( (_Tp)((a.re*b.re + a.im*b.im)*t),
+                        (_Tp)((-a.re*b.im + a.im*b.re)*t) );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp>& operator /= (Complex<_Tp>& a, const Complex<_Tp>& b)
+{
+    return (a = a / b);
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator / (const Complex<_Tp>& a, _Tp b)
+{
+    _Tp t = (_Tp)1/b;
+    return Complex<_Tp>( a.re*t, a.im*t );
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator / (_Tp b, const Complex<_Tp>& a)
+{
+    return Complex<_Tp>(b)/a;
+}
+
+template<typename _Tp> static inline
+Complex<_Tp> operator /= (const Complex<_Tp>& a, _Tp b)
+{
+    _Tp t = (_Tp)1/b;
+    a.re *= t; a.im *= t; return a;
+}
+
+
+
+//////////////////////////////// 2D Point ///////////////////////////////
+
+template<typename _Tp> inline
+Point_<_Tp>::Point_()
+    : x(0), y(0) {}
+
+template<typename _Tp> inline
+Point_<_Tp>::Point_(_Tp _x, _Tp _y)
+    : x(_x), y(_y) {}
+
+template<typename _Tp> inline
+Point_<_Tp>::Point_(const Point_& pt)
+    : x(pt.x), y(pt.y) {}
+
+template<typename _Tp> inline
+Point_<_Tp>::Point_(const Size_<_Tp>& sz)
+    : x(sz.width), y(sz.height) {}
+
+template<typename _Tp> inline
+Point_<_Tp>::Point_(const Vec<_Tp,2>& v)
+    : x(v[0]), y(v[1]) {}
+
+template<typename _Tp> inline
+Point_<_Tp>& Point_<_Tp>::operator = (const Point_& pt)
+{
+    x = pt.x; y = pt.y;
+    return *this;
+}
+
+template<typename _Tp> template<typename _Tp2> inline
+Point_<_Tp>::operator Point_<_Tp2>() const
+{
+    return Point_<_Tp2>(saturate_cast<_Tp2>(x), saturate_cast<_Tp2>(y));
+}
+
+template<typename _Tp> inline
+Point_<_Tp>::operator Vec<_Tp, 2>() const
+{
+    return Vec<_Tp, 2>(x, y);
+}
+
+template<typename _Tp> inline
+_Tp Point_<_Tp>::dot(const Point_& pt) const
+{
+    return saturate_cast<_Tp>(x*pt.x + y*pt.y);
+}
+
+template<typename _Tp> inline
+double Point_<_Tp>::ddot(const Point_& pt) const
+{
+    return (double)x*pt.x + (double)y*pt.y;
+}
+
+template<typename _Tp> inline
+double Point_<_Tp>::cross(const Point_& pt) const
+{
+    return (double)x*pt.y - (double)y*pt.x;
+}
+
+template<typename _Tp> inline bool
+Point_<_Tp>::inside( const Rect_<_Tp>& r ) const
+{
+    return r.contains(*this);
+}
+
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator += (Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator -= (Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator *= (Point_<_Tp>& a, int b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator *= (Point_<_Tp>& a, float b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator *= (Point_<_Tp>& a, double b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator /= (Point_<_Tp>& a, int b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator /= (Point_<_Tp>& a, float b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp>& operator /= (Point_<_Tp>& a, double b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+double norm(const Point_<_Tp>& pt)
+{
+    return std::sqrt((double)pt.x*pt.x + (double)pt.y*pt.y);
+}
+
+template<typename _Tp> static inline
+bool operator == (const Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return a.x == b.x && a.y == b.y;
+}
+
+template<typename _Tp> static inline
+bool operator != (const Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return a.x != b.x || a.y != b.y;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator + (const Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(a.x + b.x), saturate_cast<_Tp>(a.y + b.y) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator - (const Point_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(a.x - b.x), saturate_cast<_Tp>(a.y - b.y) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator - (const Point_<_Tp>& a)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(-a.x), saturate_cast<_Tp>(-a.y) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (const Point_<_Tp>& a, int b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(a.x*b), saturate_cast<_Tp>(a.y*b) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (int a, const Point_<_Tp>& b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(b.x*a), saturate_cast<_Tp>(b.y*a) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (const Point_<_Tp>& a, float b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(a.x*b), saturate_cast<_Tp>(a.y*b) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (float a, const Point_<_Tp>& b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(b.x*a), saturate_cast<_Tp>(b.y*a) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (const Point_<_Tp>& a, double b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(a.x*b), saturate_cast<_Tp>(a.y*b) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (double a, const Point_<_Tp>& b)
+{
+    return Point_<_Tp>( saturate_cast<_Tp>(b.x*a), saturate_cast<_Tp>(b.y*a) );
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator * (const Matx<_Tp, 2, 2>& a, const Point_<_Tp>& b)
+{
+    Matx<_Tp, 2, 1> tmp = a * Vec<_Tp,2>(b.x, b.y);
+    return Point_<_Tp>(tmp.val[0], tmp.val[1]);
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (const Matx<_Tp, 3, 3>& a, const Point_<_Tp>& b)
+{
+    Matx<_Tp, 3, 1> tmp = a * Vec<_Tp,3>(b.x, b.y, 1);
+    return Point3_<_Tp>(tmp.val[0], tmp.val[1], tmp.val[2]);
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator / (const Point_<_Tp>& a, int b)
+{
+    Point_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator / (const Point_<_Tp>& a, float b)
+{
+    Point_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Point_<_Tp> operator / (const Point_<_Tp>& a, double b)
+{
+    Point_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+
+
+//////////////////////////////// 3D Point ///////////////////////////////
+
+template<typename _Tp> inline
+Point3_<_Tp>::Point3_()
+    : x(0), y(0), z(0) {}
+
+template<typename _Tp> inline
+Point3_<_Tp>::Point3_(_Tp _x, _Tp _y, _Tp _z)
+    : x(_x), y(_y), z(_z) {}
+
+template<typename _Tp> inline
+Point3_<_Tp>::Point3_(const Point3_& pt)
+    : x(pt.x), y(pt.y), z(pt.z) {}
+
+template<typename _Tp> inline
+Point3_<_Tp>::Point3_(const Point_<_Tp>& pt)
+    : x(pt.x), y(pt.y), z(_Tp()) {}
+
+template<typename _Tp> inline
+Point3_<_Tp>::Point3_(const Vec<_Tp, 3>& v)
+    : x(v[0]), y(v[1]), z(v[2]) {}
+
+template<typename _Tp> template<typename _Tp2> inline
+Point3_<_Tp>::operator Point3_<_Tp2>() const
+{
+    return Point3_<_Tp2>(saturate_cast<_Tp2>(x), saturate_cast<_Tp2>(y), saturate_cast<_Tp2>(z));
+}
+
+template<typename _Tp> inline
+Point3_<_Tp>::operator Vec<_Tp, 3>() const
+{
+    return Vec<_Tp, 3>(x, y, z);
+}
+
+template<typename _Tp> inline
+Point3_<_Tp>& Point3_<_Tp>::operator = (const Point3_& pt)
+{
+    x = pt.x; y = pt.y; z = pt.z;
+    return *this;
+}
+
+template<typename _Tp> inline
+_Tp Point3_<_Tp>::dot(const Point3_& pt) const
+{
+    return saturate_cast<_Tp>(x*pt.x + y*pt.y + z*pt.z);
+}
+
+template<typename _Tp> inline
+double Point3_<_Tp>::ddot(const Point3_& pt) const
+{
+    return (double)x*pt.x + (double)y*pt.y + (double)z*pt.z;
+}
+
+template<typename _Tp> inline
+Point3_<_Tp> Point3_<_Tp>::cross(const Point3_<_Tp>& pt) const
+{
+    return Point3_<_Tp>(y*pt.z - z*pt.y, z*pt.x - x*pt.z, x*pt.y - y*pt.x);
+}
+
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator += (Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator -= (Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator *= (Point3_<_Tp>& a, int b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    a.z = saturate_cast<_Tp>(a.z * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator *= (Point3_<_Tp>& a, float b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    a.z = saturate_cast<_Tp>(a.z * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator *= (Point3_<_Tp>& a, double b)
+{
+    a.x = saturate_cast<_Tp>(a.x * b);
+    a.y = saturate_cast<_Tp>(a.y * b);
+    a.z = saturate_cast<_Tp>(a.z * b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator /= (Point3_<_Tp>& a, int b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    a.z = saturate_cast<_Tp>(a.z / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator /= (Point3_<_Tp>& a, float b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    a.z = saturate_cast<_Tp>(a.z / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp>& operator /= (Point3_<_Tp>& a, double b)
+{
+    a.x = saturate_cast<_Tp>(a.x / b);
+    a.y = saturate_cast<_Tp>(a.y / b);
+    a.z = saturate_cast<_Tp>(a.z / b);
+    return a;
+}
+
+template<typename _Tp> static inline
+double norm(const Point3_<_Tp>& pt)
+{
+    return std::sqrt((double)pt.x*pt.x + (double)pt.y*pt.y + (double)pt.z*pt.z);
+}
+
+template<typename _Tp> static inline
+bool operator == (const Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    return a.x == b.x && a.y == b.y && a.z == b.z;
+}
+
+template<typename _Tp> static inline
+bool operator != (const Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    return a.x != b.x || a.y != b.y || a.z != b.z;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator + (const Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(a.x + b.x), saturate_cast<_Tp>(a.y + b.y), saturate_cast<_Tp>(a.z + b.z));
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator - (const Point3_<_Tp>& a, const Point3_<_Tp>& b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(a.x - b.x), saturate_cast<_Tp>(a.y - b.y), saturate_cast<_Tp>(a.z - b.z));
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator - (const Point3_<_Tp>& a)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(-a.x), saturate_cast<_Tp>(-a.y), saturate_cast<_Tp>(-a.z) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (const Point3_<_Tp>& a, int b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(a.x*b), saturate_cast<_Tp>(a.y*b), saturate_cast<_Tp>(a.z*b) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (int a, const Point3_<_Tp>& b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(b.x * a), saturate_cast<_Tp>(b.y * a), saturate_cast<_Tp>(b.z * a) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (const Point3_<_Tp>& a, float b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(a.x * b), saturate_cast<_Tp>(a.y * b), saturate_cast<_Tp>(a.z * b) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (float a, const Point3_<_Tp>& b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(b.x * a), saturate_cast<_Tp>(b.y * a), saturate_cast<_Tp>(b.z * a) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (const Point3_<_Tp>& a, double b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(a.x * b), saturate_cast<_Tp>(a.y * b), saturate_cast<_Tp>(a.z * b) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (double a, const Point3_<_Tp>& b)
+{
+    return Point3_<_Tp>( saturate_cast<_Tp>(b.x * a), saturate_cast<_Tp>(b.y * a), saturate_cast<_Tp>(b.z * a) );
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator * (const Matx<_Tp, 3, 3>& a, const Point3_<_Tp>& b)
+{
+    Matx<_Tp, 3, 1> tmp = a * Vec<_Tp,3>(b.x, b.y, b.z);
+    return Point3_<_Tp>(tmp.val[0], tmp.val[1], tmp.val[2]);
+}
+
+template<typename _Tp> static inline
+Matx<_Tp, 4, 1> operator * (const Matx<_Tp, 4, 4>& a, const Point3_<_Tp>& b)
+{
+    return a * Matx<_Tp, 4, 1>(b.x, b.y, b.z, 1);
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator / (const Point3_<_Tp>& a, int b)
+{
+    Point3_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator / (const Point3_<_Tp>& a, float b)
+{
+    Point3_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Point3_<_Tp> operator / (const Point3_<_Tp>& a, double b)
+{
+    Point3_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+
+
+////////////////////////////////// Size /////////////////////////////////
+
+template<typename _Tp> inline
+Size_<_Tp>::Size_()
+    : width(0), height(0) {}
+
+template<typename _Tp> inline
+Size_<_Tp>::Size_(_Tp _width, _Tp _height)
+    : width(_width), height(_height) {}
+
+template<typename _Tp> inline
+Size_<_Tp>::Size_(const Size_& sz)
+    : width(sz.width), height(sz.height) {}
+
+template<typename _Tp> inline
+Size_<_Tp>::Size_(const Point_<_Tp>& pt)
+    : width(pt.x), height(pt.y) {}
+
+template<typename _Tp> template<typename _Tp2> inline
+Size_<_Tp>::operator Size_<_Tp2>() const
+{
+    return Size_<_Tp2>(saturate_cast<_Tp2>(width), saturate_cast<_Tp2>(height));
+}
+
+template<typename _Tp> inline
+Size_<_Tp>& Size_<_Tp>::operator = (const Size_<_Tp>& sz)
+{
+    width = sz.width; height = sz.height;
+    return *this;
+}
+
+template<typename _Tp> inline
+_Tp Size_<_Tp>::area() const
+{
+    return width * height;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp>& operator *= (Size_<_Tp>& a, _Tp b)
+{
+    a.width *= b;
+    a.height *= b;
+    return a;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp> operator * (const Size_<_Tp>& a, _Tp b)
+{
+    Size_<_Tp> tmp(a);
+    tmp *= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp>& operator /= (Size_<_Tp>& a, _Tp b)
+{
+    a.width /= b;
+    a.height /= b;
+    return a;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp> operator / (const Size_<_Tp>& a, _Tp b)
+{
+    Size_<_Tp> tmp(a);
+    tmp /= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp>& operator += (Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    a.width += b.width;
+    a.height += b.height;
+    return a;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp> operator + (const Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    Size_<_Tp> tmp(a);
+    tmp += b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp>& operator -= (Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    a.width -= b.width;
+    a.height -= b.height;
+    return a;
+}
+
+template<typename _Tp> static inline
+Size_<_Tp> operator - (const Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    Size_<_Tp> tmp(a);
+    tmp -= b;
+    return tmp;
+}
+
+template<typename _Tp> static inline
+bool operator == (const Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    return a.width == b.width && a.height == b.height;
+}
+
+template<typename _Tp> static inline
+bool operator != (const Size_<_Tp>& a, const Size_<_Tp>& b)
+{
+    return !(a == b);
+}
+
+
+
+////////////////////////////////// Rect /////////////////////////////////
+
+template<typename _Tp> inline
+Rect_<_Tp>::Rect_()
+    : x(0), y(0), width(0), height(0) {}
+
+template<typename _Tp> inline
+Rect_<_Tp>::Rect_(_Tp _x, _Tp _y, _Tp _width, _Tp _height)
+    : x(_x), y(_y), width(_width), height(_height) {}
+
+template<typename _Tp> inline
+Rect_<_Tp>::Rect_(const Rect_<_Tp>& r)
+    : x(r.x), y(r.y), width(r.width), height(r.height) {}
+
+template<typename _Tp> inline
+Rect_<_Tp>::Rect_(const Point_<_Tp>& org, const Size_<_Tp>& sz)
+    : x(org.x), y(org.y), width(sz.width), height(sz.height) {}
+
+template<typename _Tp> inline
+Rect_<_Tp>::Rect_(const Point_<_Tp>& pt1, const Point_<_Tp>& pt2)
+{
+    x = std::min(pt1.x, pt2.x);
+    y = std::min(pt1.y, pt2.y);
+    width = std::max(pt1.x, pt2.x) - x;
+    height = std::max(pt1.y, pt2.y) - y;
+}
+
+template<typename _Tp> inline
+Rect_<_Tp>& Rect_<_Tp>::operator = ( const Rect_<_Tp>& r )
+{
+    x = r.x;
+    y = r.y;
+    width = r.width;
+    height = r.height;
+    return *this;
+}
+
+template<typename _Tp> inline
+Point_<_Tp> Rect_<_Tp>::tl() const
+{
+    return Point_<_Tp>(x,y);
+}
+
+template<typename _Tp> inline
+Point_<_Tp> Rect_<_Tp>::br() const
+{
+    return Point_<_Tp>(x + width, y + height);
+}
+
+template<typename _Tp> inline
+Size_<_Tp> Rect_<_Tp>::size() const
+{
+    return Size_<_Tp>(width, height);
+}
+
+template<typename _Tp> inline
+_Tp Rect_<_Tp>::area() const
+{
+    return width * height;
+}
+
+template<typename _Tp> template<typename _Tp2> inline
+Rect_<_Tp>::operator Rect_<_Tp2>() const
+{
+    return Rect_<_Tp2>(saturate_cast<_Tp2>(x), saturate_cast<_Tp2>(y), saturate_cast<_Tp2>(width), saturate_cast<_Tp2>(height));
+}
+
+template<typename _Tp> inline
+bool Rect_<_Tp>::contains(const Point_<_Tp>& pt) const
+{
+    return x <= pt.x && pt.x < x + width && y <= pt.y && pt.y < y + height;
+}
+
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator += ( Rect_<_Tp>& a, const Point_<_Tp>& b )
+{
+    a.x += b.x;
+    a.y += b.y;
+    return a;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator -= ( Rect_<_Tp>& a, const Point_<_Tp>& b )
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    return a;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator += ( Rect_<_Tp>& a, const Size_<_Tp>& b )
+{
+    a.width += b.width;
+    a.height += b.height;
+    return a;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator -= ( Rect_<_Tp>& a, const Size_<_Tp>& b )
+{
+    a.width -= b.width;
+    a.height -= b.height;
+    return a;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator &= ( Rect_<_Tp>& a, const Rect_<_Tp>& b )
+{
+    _Tp x1 = std::max(a.x, b.x);
+    _Tp y1 = std::max(a.y, b.y);
+    a.width = std::min(a.x + a.width, b.x + b.width) - x1;
+    a.height = std::min(a.y + a.height, b.y + b.height) - y1;
+    a.x = x1;
+    a.y = y1;
+    if( a.width <= 0 || a.height <= 0 )
+        a = Rect();
+    return a;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp>& operator |= ( Rect_<_Tp>& a, const Rect_<_Tp>& b )
+{
+    _Tp x1 = std::min(a.x, b.x);
+    _Tp y1 = std::min(a.y, b.y);
+    a.width = std::max(a.x + a.width, b.x + b.width) - x1;
+    a.height = std::max(a.y + a.height, b.y + b.height) - y1;
+    a.x = x1;
+    a.y = y1;
+    return a;
+}
+
+template<typename _Tp> static inline
+bool operator == (const Rect_<_Tp>& a, const Rect_<_Tp>& b)
+{
+    return a.x == b.x && a.y == b.y && a.width == b.width && a.height == b.height;
+}
+
+template<typename _Tp> static inline
+bool operator != (const Rect_<_Tp>& a, const Rect_<_Tp>& b)
+{
+    return a.x != b.x || a.y != b.y || a.width != b.width || a.height != b.height;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp> operator + (const Rect_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return Rect_<_Tp>( a.x + b.x, a.y + b.y, a.width, a.height );
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp> operator - (const Rect_<_Tp>& a, const Point_<_Tp>& b)
+{
+    return Rect_<_Tp>( a.x - b.x, a.y - b.y, a.width, a.height );
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp> operator + (const Rect_<_Tp>& a, const Size_<_Tp>& b)
+{
+    return Rect_<_Tp>( a.x, a.y, a.width + b.width, a.height + b.height );
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp> operator & (const Rect_<_Tp>& a, const Rect_<_Tp>& b)
+{
+    Rect_<_Tp> c = a;
+    return c &= b;
+}
+
+template<typename _Tp> static inline
+Rect_<_Tp> operator | (const Rect_<_Tp>& a, const Rect_<_Tp>& b)
+{
+    Rect_<_Tp> c = a;
+    return c |= b;
+}
+
+
+
+////////////////////////////// RotatedRect //////////////////////////////
+
+inline
+RotatedRect::RotatedRect()
+    : center(), size(), angle(0) {}
+
+inline
+RotatedRect::RotatedRect(const Point2f& _center, const Size2f& _size, float _angle)
+    : center(_center), size(_size), angle(_angle) {}
+
+
+
+///////////////////////////////// Range /////////////////////////////////
+
+inline
+Range::Range()
+    : start(0), end(0) {}
+
+inline
+Range::Range(int _start, int _end)
+    : start(_start), end(_end) {}
+
+inline
+int Range::size() const
+{
+    return end - start;
+}
+
+inline
+bool Range::empty() const
+{
+    return start == end;
+}
+
+inline
+Range Range::all()
+{
+    return Range(INT_MIN, INT_MAX);
+}
+
+
+static inline
+bool operator == (const Range& r1, const Range& r2)
+{
+    return r1.start == r2.start && r1.end == r2.end;
+}
+
+static inline
+bool operator != (const Range& r1, const Range& r2)
+{
+    return !(r1 == r2);
+}
+
+static inline
+bool operator !(const Range& r)
+{
+    return r.start == r.end;
+}
+
+static inline
+Range operator & (const Range& r1, const Range& r2)
+{
+    Range r(std::max(r1.start, r2.start), std::min(r1.end, r2.end));
+    r.end = std::max(r.end, r.start);
+    return r;
+}
+
+static inline
+Range& operator &= (Range& r1, const Range& r2)
+{
+    r1 = r1 & r2;
+    return r1;
+}
+
+static inline
+Range operator + (const Range& r1, int delta)
+{
+    return Range(r1.start + delta, r1.end + delta);
+}
+
+static inline
+Range operator + (int delta, const Range& r1)
+{
+    return Range(r1.start + delta, r1.end + delta);
+}
+
+static inline
+Range operator - (const Range& r1, int delta)
+{
+    return r1 + (-delta);
+}
+
+
+
+///////////////////////////////// Scalar ////////////////////////////////
+
+template<typename _Tp> inline
+Scalar_<_Tp>::Scalar_()
+{
+    this->val[0] = this->val[1] = this->val[2] = this->val[3] = 0;
+}
+
+template<typename _Tp> inline
+Scalar_<_Tp>::Scalar_(_Tp v0, _Tp v1, _Tp v2, _Tp v3)
+{
+    this->val[0] = v0;
+    this->val[1] = v1;
+    this->val[2] = v2;
+    this->val[3] = v3;
+}
+
+template<typename _Tp> template<typename _Tp2, int cn> inline
+Scalar_<_Tp>::Scalar_(const Vec<_Tp2, cn>& v)
+{
+    int i;
+    for( i = 0; i < (cn < 4 ? cn : 4); i++ )
+        this->val[i] = cv::saturate_cast<_Tp>(v.val[i]);
+    for( ; i < 4; i++ )
+        this->val[i] = 0;
+}
+
+template<typename _Tp> inline
+Scalar_<_Tp>::Scalar_(_Tp v0)
+{
+    this->val[0] = v0;
+    this->val[1] = this->val[2] = this->val[3] = 0;
+}
+
+template<typename _Tp> inline
+Scalar_<_Tp> Scalar_<_Tp>::all(_Tp v0)
+{
+    return Scalar_<_Tp>(v0, v0, v0, v0);
+}
+
+
+template<typename _Tp> inline
+Scalar_<_Tp> Scalar_<_Tp>::mul(const Scalar_<_Tp>& a, double scale ) const
+{
+    return Scalar_<_Tp>(saturate_cast<_Tp>(this->val[0] * a.val[0] * scale),
+                        saturate_cast<_Tp>(this->val[1] * a.val[1] * scale),
+                        saturate_cast<_Tp>(this->val[2] * a.val[2] * scale),
+                        saturate_cast<_Tp>(this->val[3] * a.val[3] * scale));
+}
+
+template<typename _Tp> inline
+Scalar_<_Tp> Scalar_<_Tp>::conj() const
+{
+    return Scalar_<_Tp>(saturate_cast<_Tp>( this->val[0]),
+                        saturate_cast<_Tp>(-this->val[1]),
+                        saturate_cast<_Tp>(-this->val[2]),
+                        saturate_cast<_Tp>(-this->val[3]));
+}
+
+template<typename _Tp> inline
+bool Scalar_<_Tp>::isReal() const
+{
+    return this->val[1] == 0 && this->val[2] == 0 && this->val[3] == 0;
+}
+
+
+template<typename _Tp> template<typename T2> inline
+Scalar_<_Tp>::operator Scalar_<T2>() const
+{
+    return Scalar_<T2>(saturate_cast<T2>(this->val[0]),
+                       saturate_cast<T2>(this->val[1]),
+                       saturate_cast<T2>(this->val[2]),
+                       saturate_cast<T2>(this->val[3]));
+}
+
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator += (Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    a.val[0] += b.val[0];
+    a.val[1] += b.val[1];
+    a.val[2] += b.val[2];
+    a.val[3] += b.val[3];
+    return a;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator -= (Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    a.val[0] -= b.val[0];
+    a.val[1] -= b.val[1];
+    a.val[2] -= b.val[2];
+    a.val[3] -= b.val[3];
+    return a;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator *= ( Scalar_<_Tp>& a, _Tp v )
+{
+    a.val[0] *= v;
+    a.val[1] *= v;
+    a.val[2] *= v;
+    a.val[3] *= v;
+    return a;
+}
+
+template<typename _Tp> static inline
+bool operator == ( const Scalar_<_Tp>& a, const Scalar_<_Tp>& b )
+{
+    return a.val[0] == b.val[0] && a.val[1] == b.val[1] &&
+           a.val[2] == b.val[2] && a.val[3] == b.val[3];
+}
+
+template<typename _Tp> static inline
+bool operator != ( const Scalar_<_Tp>& a, const Scalar_<_Tp>& b )
+{
+    return a.val[0] != b.val[0] || a.val[1] != b.val[1] ||
+           a.val[2] != b.val[2] || a.val[3] != b.val[3];
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator + (const Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    return Scalar_<_Tp>(a.val[0] + b.val[0],
+                        a.val[1] + b.val[1],
+                        a.val[2] + b.val[2],
+                        a.val[3] + b.val[3]);
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator - (const Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    return Scalar_<_Tp>(saturate_cast<_Tp>(a.val[0] - b.val[0]),
+                        saturate_cast<_Tp>(a.val[1] - b.val[1]),
+                        saturate_cast<_Tp>(a.val[2] - b.val[2]),
+                        saturate_cast<_Tp>(a.val[3] - b.val[3]));
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator * (const Scalar_<_Tp>& a, _Tp alpha)
+{
+    return Scalar_<_Tp>(a.val[0] * alpha,
+                        a.val[1] * alpha,
+                        a.val[2] * alpha,
+                        a.val[3] * alpha);
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator * (_Tp alpha, const Scalar_<_Tp>& a)
+{
+    return a*alpha;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator - (const Scalar_<_Tp>& a)
+{
+    return Scalar_<_Tp>(saturate_cast<_Tp>(-a.val[0]),
+                        saturate_cast<_Tp>(-a.val[1]),
+                        saturate_cast<_Tp>(-a.val[2]),
+                        saturate_cast<_Tp>(-a.val[3]));
+}
+
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator * (const Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    return Scalar_<_Tp>(saturate_cast<_Tp>(a[0]*b[0] - a[1]*b[1] - a[2]*b[2] - a[3]*b[3]),
+                        saturate_cast<_Tp>(a[0]*b[1] + a[1]*b[0] + a[2]*b[3] - a[3]*b[2]),
+                        saturate_cast<_Tp>(a[0]*b[2] - a[1]*b[3] + a[2]*b[0] + a[3]*b[1]),
+                        saturate_cast<_Tp>(a[0]*b[3] + a[1]*b[2] - a[2]*b[1] + a[3]*b[0]));
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator *= (Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    a = a * b;
+    return a;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator / (const Scalar_<_Tp>& a, _Tp alpha)
+{
+    return Scalar_<_Tp>(a.val[0] / alpha,
+                        a.val[1] / alpha,
+                        a.val[2] / alpha,
+                        a.val[3] / alpha);
+}
+
+template<typename _Tp> static inline
+Scalar_<float> operator / (const Scalar_<float>& a, float alpha)
+{
+    float s = 1 / alpha;
+    return Scalar_<float>(a.val[0] * s, a.val[1] * s, a.val[2] * s, a.val[3] * s);
+}
+
+template<typename _Tp> static inline
+Scalar_<double> operator / (const Scalar_<double>& a, double alpha)
+{
+    double s = 1 / alpha;
+    return Scalar_<double>(a.val[0] * s, a.val[1] * s, a.val[2] * s, a.val[3] * s);
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator /= (Scalar_<_Tp>& a, _Tp alpha)
+{
+    a = a / alpha;
+    return a;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator / (_Tp a, const Scalar_<_Tp>& b)
+{
+    _Tp s = a / (b[0]*b[0] + b[1]*b[1] + b[2]*b[2] + b[3]*b[3]);
+    return b.conj() * s;
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp> operator / (const Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    return a * ((_Tp)1 / b);
+}
+
+template<typename _Tp> static inline
+Scalar_<_Tp>& operator /= (Scalar_<_Tp>& a, const Scalar_<_Tp>& b)
+{
+    a = a / b;
+    return a;
+}
+
+template<typename _Tp> static inline
+Scalar operator * (const Matx<_Tp, 4, 4>& a, const Scalar& b)
+{
+    Matx<double, 4, 1> c((Matx<double, 4, 4>)a, b, Matx_MatMulOp());
+    return reinterpret_cast<const Scalar&>(c);
+}
+
+template<> inline
+Scalar operator * (const Matx<double, 4, 4>& a, const Scalar& b)
+{
+    Matx<double, 4, 1> c(a, b, Matx_MatMulOp());
+    return reinterpret_cast<const Scalar&>(c);
+}
+
+
+
+//////////////////////////////// KeyPoint ///////////////////////////////
+
+inline
+KeyPoint::KeyPoint()
+    : pt(0,0), size(0), angle(-1), response(0), octave(0), class_id(-1) {}
+
+inline
+KeyPoint::KeyPoint(Point2f _pt, float _size, float _angle, float _response, int _octave, int _class_id)
+    : pt(_pt), size(_size), angle(_angle), response(_response), octave(_octave), class_id(_class_id) {}
+
+inline
+KeyPoint::KeyPoint(float x, float y, float _size, float _angle, float _response, int _octave, int _class_id)
+    : pt(x, y), size(_size), angle(_angle), response(_response), octave(_octave), class_id(_class_id) {}
+
+
+
+///////////////////////////////// DMatch ////////////////////////////////
+
+inline
+DMatch::DMatch()
+    : queryIdx(-1), trainIdx(-1), imgIdx(-1), distance(FLT_MAX) {}
+
+inline
+DMatch::DMatch(int _queryIdx, int _trainIdx, float _distance)
+    : queryIdx(_queryIdx), trainIdx(_trainIdx), imgIdx(-1), distance(_distance) {}
+
+inline
+DMatch::DMatch(int _queryIdx, int _trainIdx, int _imgIdx, float _distance)
+    : queryIdx(_queryIdx), trainIdx(_trainIdx), imgIdx(_imgIdx), distance(_distance) {}
+
+inline
+bool DMatch::operator < (const DMatch &m) const
+{
+    return distance < m.distance;
+}
+
+
+
+////////////////////////////// TermCriteria /////////////////////////////
+
+inline
+TermCriteria::TermCriteria()
+    : type(0), maxCount(0), epsilon(0) {}
+
+inline
+TermCriteria::TermCriteria(int _type, int _maxCount, double _epsilon)
+    : type(_type), maxCount(_maxCount), epsilon(_epsilon) {}
+
+//! @endcond
+
+} // cv
+
+#endif //__OPENCV_CORE_TYPES_HPP__
diff --git a/3rdparty/include/opencv2/core/types_c.h b/3rdparty/include/opencv2/core/types_c.h
new file mode 100644
index 0000000..cb39587
--- /dev/null
+++ b/3rdparty/include/opencv2/core/types_c.h
@@ -0,0 +1,1834 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_TYPES_H__
+#define __OPENCV_CORE_TYPES_H__
+
+#ifdef HAVE_IPL
+#  ifndef __IPL_H__
+#    if defined WIN32 || defined _WIN32
+#      include <ipl.h>
+#    else
+#      include <ipl/ipl.h>
+#    endif
+#  endif
+#elif defined __IPL_H__
+#  define HAVE_IPL
+#endif
+
+#include "opencv2/core/cvdef.h"
+
+#ifndef SKIP_INCLUDES
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <float.h>
+#endif // SKIP_INCLUDES
+
+#if defined WIN32 || defined _WIN32
+#  define CV_CDECL __cdecl
+#  define CV_STDCALL __stdcall
+#else
+#  define CV_CDECL
+#  define CV_STDCALL
+#endif
+
+#ifndef CV_DEFAULT
+#  ifdef __cplusplus
+#    define CV_DEFAULT(val) = val
+#  else
+#    define CV_DEFAULT(val)
+#  endif
+#endif
+
+#ifndef CV_EXTERN_C_FUNCPTR
+#  ifdef __cplusplus
+#    define CV_EXTERN_C_FUNCPTR(x) extern "C" { typedef x; }
+#  else
+#    define CV_EXTERN_C_FUNCPTR(x) typedef x
+#  endif
+#endif
+
+#ifndef CVAPI
+#  define CVAPI(rettype) CV_EXTERN_C CV_EXPORTS rettype CV_CDECL
+#endif
+
+#ifndef CV_IMPL
+#  define CV_IMPL CV_EXTERN_C
+#endif
+
+#ifdef __cplusplus
+#  include "opencv2/core.hpp"
+#endif
+
+/** @addtogroup core_c
+    @{
+*/
+
+/** @brief This is the "metatype" used *only* as a function parameter.
+
+It denotes that the function accepts arrays of multiple types, such as IplImage*, CvMat* or even
+CvSeq* sometimes. The particular array type is determined at runtime by analyzing the first 4
+bytes of the header. In C++ interface the role of CvArr is played by InputArray and OutputArray.
+ */
+typedef void CvArr;
+
+typedef int CVStatus;
+
+/** @see cv::Error::Code */
+enum {
+ CV_StsOk=                       0,  /**< everything is ok                */
+ CV_StsBackTrace=               -1,  /**< pseudo error for back trace     */
+ CV_StsError=                   -2,  /**< unknown /unspecified error      */
+ CV_StsInternal=                -3,  /**< internal error (bad state)      */
+ CV_StsNoMem=                   -4,  /**< insufficient memory             */
+ CV_StsBadArg=                  -5,  /**< function arg/param is bad       */
+ CV_StsBadFunc=                 -6,  /**< unsupported function            */
+ CV_StsNoConv=                  -7,  /**< iter. didn't converge           */
+ CV_StsAutoTrace=               -8,  /**< tracing                         */
+ CV_HeaderIsNull=               -9,  /**< image header is NULL            */
+ CV_BadImageSize=              -10,  /**< image size is invalid           */
+ CV_BadOffset=                 -11,  /**< offset is invalid               */
+ CV_BadDataPtr=                -12,  /**/
+ CV_BadStep=                   -13,  /**/
+ CV_BadModelOrChSeq=           -14,  /**/
+ CV_BadNumChannels=            -15,  /**/
+ CV_BadNumChannel1U=           -16,  /**/
+ CV_BadDepth=                  -17,  /**/
+ CV_BadAlphaChannel=           -18,  /**/
+ CV_BadOrder=                  -19,  /**/
+ CV_BadOrigin=                 -20,  /**/
+ CV_BadAlign=                  -21,  /**/
+ CV_BadCallBack=               -22,  /**/
+ CV_BadTileSize=               -23,  /**/
+ CV_BadCOI=                    -24,  /**/
+ CV_BadROISize=                -25,  /**/
+ CV_MaskIsTiled=               -26,  /**/
+ CV_StsNullPtr=                -27,  /**< null pointer */
+ CV_StsVecLengthErr=           -28,  /**< incorrect vector length */
+ CV_StsFilterStructContentErr= -29,  /**< incorr. filter structure content */
+ CV_StsKernelStructContentErr= -30,  /**< incorr. transform kernel content */
+ CV_StsFilterOffsetErr=        -31,  /**< incorrect filter offset value */
+ CV_StsBadSize=                -201, /**< the input/output structure size is incorrect  */
+ CV_StsDivByZero=              -202, /**< division by zero */
+ CV_StsInplaceNotSupported=    -203, /**< in-place operation is not supported */
+ CV_StsObjectNotFound=         -204, /**< request can't be completed */
+ CV_StsUnmatchedFormats=       -205, /**< formats of input/output arrays differ */
+ CV_StsBadFlag=                -206, /**< flag is wrong or not supported */
+ CV_StsBadPoint=               -207, /**< bad CvPoint */
+ CV_StsBadMask=                -208, /**< bad format of mask (neither 8uC1 nor 8sC1)*/
+ CV_StsUnmatchedSizes=         -209, /**< sizes of input/output structures do not match */
+ CV_StsUnsupportedFormat=      -210, /**< the data format/type is not supported by the function*/
+ CV_StsOutOfRange=             -211, /**< some of parameters are out of range */
+ CV_StsParseError=             -212, /**< invalid syntax/structure of the parsed file */
+ CV_StsNotImplemented=         -213, /**< the requested function/feature is not implemented */
+ CV_StsBadMemBlock=            -214, /**< an allocated block has been corrupted */
+ CV_StsAssert=                 -215, /**< assertion failed */
+ CV_GpuNotSupported=           -216,
+ CV_GpuApiCallError=           -217,
+ CV_OpenGlNotSupported=        -218,
+ CV_OpenGlApiCallError=        -219,
+ CV_OpenCLApiCallError=        -220,
+ CV_OpenCLDoubleNotSupported=  -221,
+ CV_OpenCLInitError=           -222,
+ CV_OpenCLNoAMDBlasFft=        -223
+};
+
+/****************************************************************************************\
+*                             Common macros and inline functions                         *
+\****************************************************************************************/
+
+#define CV_SWAP(a,b,t) ((t) = (a), (a) = (b), (b) = (t))
+
+/** min & max without jumps */
+#define  CV_IMIN(a, b)  ((a) ^ (((a)^(b)) & (((a) < (b)) - 1)))
+
+#define  CV_IMAX(a, b)  ((a) ^ (((a)^(b)) & (((a) > (b)) - 1)))
+
+/** absolute value without jumps */
+#ifndef __cplusplus
+#  define  CV_IABS(a)     (((a) ^ ((a) < 0 ? -1 : 0)) - ((a) < 0 ? -1 : 0))
+#else
+#  define  CV_IABS(a)     abs(a)
+#endif
+#define  CV_CMP(a,b)    (((a) > (b)) - ((a) < (b)))
+#define  CV_SIGN(a)     CV_CMP((a),0)
+
+#define cvInvSqrt(value) ((float)(1./sqrt(value)))
+#define cvSqrt(value)  ((float)sqrt(value))
+
+
+/*************** Random number generation *******************/
+
+typedef uint64 CvRNG;
+
+#define CV_RNG_COEFF 4164903690U
+
+/** @brief Initializes a random number generator state.
+
+The function initializes a random number generator and returns the state. The pointer to the state
+can be then passed to the cvRandInt, cvRandReal and cvRandArr functions. In the current
+implementation a multiply-with-carry generator is used.
+@param seed 64-bit value used to initiate a random sequence
+@sa the C++ class RNG replaced CvRNG.
+ */
+CV_INLINE CvRNG cvRNG( int64 seed CV_DEFAULT(-1))
+{
+    CvRNG rng = seed ? (uint64)seed : (uint64)(int64)-1;
+    return rng;
+}
+
+/** @brief Returns a 32-bit unsigned integer and updates RNG.
+
+The function returns a uniformly-distributed random 32-bit unsigned integer and updates the RNG
+state. It is similar to the rand() function from the C runtime library, except that OpenCV functions
+always generates a 32-bit random number, regardless of the platform.
+@param rng CvRNG state initialized by cvRNG.
+ */
+CV_INLINE unsigned cvRandInt( CvRNG* rng )
+{
+    uint64 temp = *rng;
+    temp = (uint64)(unsigned)temp*CV_RNG_COEFF + (temp >> 32);
+    *rng = temp;
+    return (unsigned)temp;
+}
+
+/** @brief Returns a floating-point random number and updates RNG.
+
+The function returns a uniformly-distributed random floating-point number between 0 and 1 (1 is not
+included).
+@param rng RNG state initialized by cvRNG
+ */
+CV_INLINE double cvRandReal( CvRNG* rng )
+{
+    return cvRandInt(rng)*2.3283064365386962890625e-10 /* 2^-32 */;
+}
+
+/****************************************************************************************\
+*                                  Image type (IplImage)                                 *
+\****************************************************************************************/
+
+#ifndef HAVE_IPL
+
+/*
+ * The following definitions (until #endif)
+ * is an extract from IPL headers.
+ * Copyright (c) 1995 Intel Corporation.
+ */
+#define IPL_DEPTH_SIGN 0x80000000
+
+#define IPL_DEPTH_1U     1
+#define IPL_DEPTH_8U     8
+#define IPL_DEPTH_16U   16
+#define IPL_DEPTH_32F   32
+
+#define IPL_DEPTH_8S  (IPL_DEPTH_SIGN| 8)
+#define IPL_DEPTH_16S (IPL_DEPTH_SIGN|16)
+#define IPL_DEPTH_32S (IPL_DEPTH_SIGN|32)
+
+#define IPL_DATA_ORDER_PIXEL  0
+#define IPL_DATA_ORDER_PLANE  1
+
+#define IPL_ORIGIN_TL 0
+#define IPL_ORIGIN_BL 1
+
+#define IPL_ALIGN_4BYTES   4
+#define IPL_ALIGN_8BYTES   8
+#define IPL_ALIGN_16BYTES 16
+#define IPL_ALIGN_32BYTES 32
+
+#define IPL_ALIGN_DWORD   IPL_ALIGN_4BYTES
+#define IPL_ALIGN_QWORD   IPL_ALIGN_8BYTES
+
+#define IPL_BORDER_CONSTANT   0
+#define IPL_BORDER_REPLICATE  1
+#define IPL_BORDER_REFLECT    2
+#define IPL_BORDER_WRAP       3
+
+/** The IplImage is taken from the Intel Image Processing Library, in which the format is native. OpenCV
+only supports a subset of possible IplImage formats, as outlined in the parameter list above.
+
+In addition to the above restrictions, OpenCV handles ROIs differently. OpenCV functions require
+that the image size or ROI size of all source and destination images match exactly. On the other
+hand, the Intel Image Processing Library processes the area of intersection between the source and
+destination images (or ROIs), allowing them to vary independently.
+*/
+typedef struct
+#ifdef __cplusplus
+  CV_EXPORTS
+#endif
+_IplImage
+{
+    int  nSize;             /**< sizeof(IplImage) */
+    int  ID;                /**< version (=0)*/
+    int  nChannels;         /**< Most of OpenCV functions support 1,2,3 or 4 channels */
+    int  alphaChannel;      /**< Ignored by OpenCV */
+    int  depth;             /**< Pixel depth in bits: IPL_DEPTH_8U, IPL_DEPTH_8S, IPL_DEPTH_16S,
+                               IPL_DEPTH_32S, IPL_DEPTH_32F and IPL_DEPTH_64F are supported.  */
+    char colorModel[4];     /**< Ignored by OpenCV */
+    char channelSeq[4];     /**< ditto */
+    int  dataOrder;         /**< 0 - interleaved color channels, 1 - separate color channels.
+                               cvCreateImage can only create interleaved images */
+    int  origin;            /**< 0 - top-left origin,
+                               1 - bottom-left origin (Windows bitmaps style).  */
+    int  align;             /**< Alignment of image rows (4 or 8).
+                               OpenCV ignores it and uses widthStep instead.    */
+    int  width;             /**< Image width in pixels.                           */
+    int  height;            /**< Image height in pixels.                          */
+    struct _IplROI *roi;    /**< Image ROI. If NULL, the whole image is selected. */
+    struct _IplImage *maskROI;      /**< Must be NULL. */
+    void  *imageId;                 /**< "           " */
+    struct _IplTileInfo *tileInfo;  /**< "           " */
+    int  imageSize;         /**< Image data size in bytes
+                               (==image->height*image->widthStep
+                               in case of interleaved data)*/
+    char *imageData;        /**< Pointer to aligned image data.         */
+    int  widthStep;         /**< Size of aligned image row in bytes.    */
+    int  BorderMode[4];     /**< Ignored by OpenCV.                     */
+    int  BorderConst[4];    /**< Ditto.                                 */
+    char *imageDataOrigin;  /**< Pointer to very origin of image data
+                               (not necessarily aligned) -
+                               needed for correct deallocation */
+
+#ifdef __cplusplus
+    _IplImage() {}
+    _IplImage(const cv::Mat& m);
+#endif
+}
+IplImage;
+
+typedef struct _IplTileInfo IplTileInfo;
+
+typedef struct _IplROI
+{
+    int  coi; /**< 0 - no COI (all channels are selected), 1 - 0th channel is selected ...*/
+    int  xOffset;
+    int  yOffset;
+    int  width;
+    int  height;
+}
+IplROI;
+
+typedef struct _IplConvKernel
+{
+    int  nCols;
+    int  nRows;
+    int  anchorX;
+    int  anchorY;
+    int *values;
+    int  nShiftR;
+}
+IplConvKernel;
+
+typedef struct _IplConvKernelFP
+{
+    int  nCols;
+    int  nRows;
+    int  anchorX;
+    int  anchorY;
+    float *values;
+}
+IplConvKernelFP;
+
+#define IPL_IMAGE_HEADER 1
+#define IPL_IMAGE_DATA   2
+#define IPL_IMAGE_ROI    4
+
+#endif/*HAVE_IPL*/
+
+/** extra border mode */
+#define IPL_BORDER_REFLECT_101    4
+#define IPL_BORDER_TRANSPARENT    5
+
+#define IPL_IMAGE_MAGIC_VAL  ((int)sizeof(IplImage))
+#define CV_TYPE_NAME_IMAGE "opencv-image"
+
+#define CV_IS_IMAGE_HDR(img) \
+    ((img) != NULL && ((const IplImage*)(img))->nSize == sizeof(IplImage))
+
+#define CV_IS_IMAGE(img) \
+    (CV_IS_IMAGE_HDR(img) && ((IplImage*)img)->imageData != NULL)
+
+/** for storing double-precision
+   floating point data in IplImage's */
+#define IPL_DEPTH_64F  64
+
+/** get reference to pixel at (col,row),
+   for multi-channel images (col) should be multiplied by number of channels */
+#define CV_IMAGE_ELEM( image, elemtype, row, col )       \
+    (((elemtype*)((image)->imageData + (image)->widthStep*(row)))[(col)])
+
+/****************************************************************************************\
+*                                  Matrix type (CvMat)                                   *
+\****************************************************************************************/
+
+#define CV_AUTO_STEP  0x7fffffff
+#define CV_WHOLE_ARR  cvSlice( 0, 0x3fffffff )
+
+#define CV_MAGIC_MASK       0xFFFF0000
+#define CV_MAT_MAGIC_VAL    0x42420000
+#define CV_TYPE_NAME_MAT    "opencv-matrix"
+
+/** Matrix elements are stored row by row. Element (i, j) (i - 0-based row index, j - 0-based column
+index) of a matrix can be retrieved or modified using CV_MAT_ELEM macro:
+
+    uchar pixval = CV_MAT_ELEM(grayimg, uchar, i, j)
+    CV_MAT_ELEM(cameraMatrix, float, 0, 2) = image.width*0.5f;
+
+To access multiple-channel matrices, you can use
+CV_MAT_ELEM(matrix, type, i, j\*nchannels + channel_idx).
+
+@deprecated CvMat is now obsolete; consider using Mat instead.
+ */
+typedef struct CvMat
+{
+    int type;
+    int step;
+
+    /* for internal use only */
+    int* refcount;
+    int hdr_refcount;
+
+    union
+    {
+        uchar* ptr;
+        short* s;
+        int* i;
+        float* fl;
+        double* db;
+    } data;
+
+#ifdef __cplusplus
+    union
+    {
+        int rows;
+        int height;
+    };
+
+    union
+    {
+        int cols;
+        int width;
+    };
+#else
+    int rows;
+    int cols;
+#endif
+
+
+#ifdef __cplusplus
+    CvMat() {}
+    CvMat(const CvMat& m) { memcpy(this, &m, sizeof(CvMat));}
+    CvMat(const cv::Mat& m);
+#endif
+
+}
+CvMat;
+
+
+#define CV_IS_MAT_HDR(mat) \
+    ((mat) != NULL && \
+    (((const CvMat*)(mat))->type & CV_MAGIC_MASK) == CV_MAT_MAGIC_VAL && \
+    ((const CvMat*)(mat))->cols > 0 && ((const CvMat*)(mat))->rows > 0)
+
+#define CV_IS_MAT_HDR_Z(mat) \
+    ((mat) != NULL && \
+    (((const CvMat*)(mat))->type & CV_MAGIC_MASK) == CV_MAT_MAGIC_VAL && \
+    ((const CvMat*)(mat))->cols >= 0 && ((const CvMat*)(mat))->rows >= 0)
+
+#define CV_IS_MAT(mat) \
+    (CV_IS_MAT_HDR(mat) && ((const CvMat*)(mat))->data.ptr != NULL)
+
+#define CV_IS_MASK_ARR(mat) \
+    (((mat)->type & (CV_MAT_TYPE_MASK & ~CV_8SC1)) == 0)
+
+#define CV_ARE_TYPES_EQ(mat1, mat2) \
+    ((((mat1)->type ^ (mat2)->type) & CV_MAT_TYPE_MASK) == 0)
+
+#define CV_ARE_CNS_EQ(mat1, mat2) \
+    ((((mat1)->type ^ (mat2)->type) & CV_MAT_CN_MASK) == 0)
+
+#define CV_ARE_DEPTHS_EQ(mat1, mat2) \
+    ((((mat1)->type ^ (mat2)->type) & CV_MAT_DEPTH_MASK) == 0)
+
+#define CV_ARE_SIZES_EQ(mat1, mat2) \
+    ((mat1)->rows == (mat2)->rows && (mat1)->cols == (mat2)->cols)
+
+#define CV_IS_MAT_CONST(mat)  \
+    (((mat)->rows|(mat)->cols) == 1)
+
+#define IPL2CV_DEPTH(depth) \
+    ((((CV_8U)+(CV_16U<<4)+(CV_32F<<8)+(CV_64F<<16)+(CV_8S<<20)+ \
+    (CV_16S<<24)+(CV_32S<<28)) >> ((((depth) & 0xF0) >> 2) + \
+    (((depth) & IPL_DEPTH_SIGN) ? 20 : 0))) & 15)
+
+/** Inline constructor. No data is allocated internally!!!
+ * (Use together with cvCreateData, or use cvCreateMat instead to
+ * get a matrix with allocated data):
+ */
+CV_INLINE CvMat cvMat( int rows, int cols, int type, void* data CV_DEFAULT(NULL))
+{
+    CvMat m;
+
+    assert( (unsigned)CV_MAT_DEPTH(type) <= CV_64F );
+    type = CV_MAT_TYPE(type);
+    m.type = CV_MAT_MAGIC_VAL | CV_MAT_CONT_FLAG | type;
+    m.cols = cols;
+    m.rows = rows;
+    m.step = m.cols*CV_ELEM_SIZE(type);
+    m.data.ptr = (uchar*)data;
+    m.refcount = NULL;
+    m.hdr_refcount = 0;
+
+    return m;
+}
+
+#ifdef __cplusplus
+inline CvMat::CvMat(const cv::Mat& m)
+{
+    CV_DbgAssert(m.dims <= 2);
+    *this = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
+    step = (int)m.step[0];
+    type = (type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
+}
+#endif
+
+
+#define CV_MAT_ELEM_PTR_FAST( mat, row, col, pix_size )  \
+    (assert( (unsigned)(row) < (unsigned)(mat).rows &&   \
+             (unsigned)(col) < (unsigned)(mat).cols ),   \
+     (mat).data.ptr + (size_t)(mat).step*(row) + (pix_size)*(col))
+
+#define CV_MAT_ELEM_PTR( mat, row, col )                 \
+    CV_MAT_ELEM_PTR_FAST( mat, row, col, CV_ELEM_SIZE((mat).type) )
+
+#define CV_MAT_ELEM( mat, elemtype, row, col )           \
+    (*(elemtype*)CV_MAT_ELEM_PTR_FAST( mat, row, col, sizeof(elemtype)))
+
+/** @brief Returns the particular element of single-channel floating-point matrix.
+
+The function is a fast replacement for cvGetReal2D in the case of single-channel floating-point
+matrices. It is faster because it is inline, it does fewer checks for array type and array element
+type, and it checks for the row and column ranges only in debug mode.
+@param mat Input matrix
+@param row The zero-based index of row
+@param col The zero-based index of column
+ */
+CV_INLINE  double  cvmGet( const CvMat* mat, int row, int col )
+{
+    int type;
+
+    type = CV_MAT_TYPE(mat->type);
+    assert( (unsigned)row < (unsigned)mat->rows &&
+            (unsigned)col < (unsigned)mat->cols );
+
+    if( type == CV_32FC1 )
+        return ((float*)(void*)(mat->data.ptr + (size_t)mat->step*row))[col];
+    else
+    {
+        assert( type == CV_64FC1 );
+        return ((double*)(void*)(mat->data.ptr + (size_t)mat->step*row))[col];
+    }
+}
+
+/** @brief Sets a specific element of a single-channel floating-point matrix.
+
+The function is a fast replacement for cvSetReal2D in the case of single-channel floating-point
+matrices. It is faster because it is inline, it does fewer checks for array type and array element
+type, and it checks for the row and column ranges only in debug mode.
+@param mat The matrix
+@param row The zero-based index of row
+@param col The zero-based index of column
+@param value The new value of the matrix element
+ */
+CV_INLINE  void  cvmSet( CvMat* mat, int row, int col, double value )
+{
+    int type;
+    type = CV_MAT_TYPE(mat->type);
+    assert( (unsigned)row < (unsigned)mat->rows &&
+            (unsigned)col < (unsigned)mat->cols );
+
+    if( type == CV_32FC1 )
+        ((float*)(void*)(mat->data.ptr + (size_t)mat->step*row))[col] = (float)value;
+    else
+    {
+        assert( type == CV_64FC1 );
+        ((double*)(void*)(mat->data.ptr + (size_t)mat->step*row))[col] = value;
+    }
+}
+
+
+CV_INLINE int cvIplDepth( int type )
+{
+    int depth = CV_MAT_DEPTH(type);
+    return CV_ELEM_SIZE1(depth)*8 | (depth == CV_8S || depth == CV_16S ||
+           depth == CV_32S ? IPL_DEPTH_SIGN : 0);
+}
+
+
+/****************************************************************************************\
+*                       Multi-dimensional dense array (CvMatND)                          *
+\****************************************************************************************/
+
+#define CV_MATND_MAGIC_VAL    0x42430000
+#define CV_TYPE_NAME_MATND    "opencv-nd-matrix"
+
+#define CV_MAX_DIM            32
+#define CV_MAX_DIM_HEAP       1024
+
+/**
+  @deprecated consider using cv::Mat instead
+  */
+typedef struct
+#ifdef __cplusplus
+  CV_EXPORTS
+#endif
+CvMatND
+{
+    int type;
+    int dims;
+
+    int* refcount;
+    int hdr_refcount;
+
+    union
+    {
+        uchar* ptr;
+        float* fl;
+        double* db;
+        int* i;
+        short* s;
+    } data;
+
+    struct
+    {
+        int size;
+        int step;
+    }
+    dim[CV_MAX_DIM];
+
+#ifdef __cplusplus
+    CvMatND() {}
+    CvMatND(const cv::Mat& m);
+#endif
+}
+CvMatND;
+
+#define CV_IS_MATND_HDR(mat) \
+    ((mat) != NULL && (((const CvMatND*)(mat))->type & CV_MAGIC_MASK) == CV_MATND_MAGIC_VAL)
+
+#define CV_IS_MATND(mat) \
+    (CV_IS_MATND_HDR(mat) && ((const CvMatND*)(mat))->data.ptr != NULL)
+
+
+/****************************************************************************************\
+*                      Multi-dimensional sparse array (CvSparseMat)                      *
+\****************************************************************************************/
+
+#define CV_SPARSE_MAT_MAGIC_VAL    0x42440000
+#define CV_TYPE_NAME_SPARSE_MAT    "opencv-sparse-matrix"
+
+struct CvSet;
+
+typedef struct
+#ifdef __cplusplus
+  CV_EXPORTS
+#endif
+CvSparseMat
+{
+    int type;
+    int dims;
+    int* refcount;
+    int hdr_refcount;
+
+    struct CvSet* heap;
+    void** hashtable;
+    int hashsize;
+    int valoffset;
+    int idxoffset;
+    int size[CV_MAX_DIM];
+
+#ifdef __cplusplus
+    void copyToSparseMat(cv::SparseMat& m) const;
+#endif
+}
+CvSparseMat;
+
+#ifdef __cplusplus
+    CV_EXPORTS CvSparseMat* cvCreateSparseMat(const cv::SparseMat& m);
+#endif
+
+#define CV_IS_SPARSE_MAT_HDR(mat) \
+    ((mat) != NULL && \
+    (((const CvSparseMat*)(mat))->type & CV_MAGIC_MASK) == CV_SPARSE_MAT_MAGIC_VAL)
+
+#define CV_IS_SPARSE_MAT(mat) \
+    CV_IS_SPARSE_MAT_HDR(mat)
+
+/**************** iteration through a sparse array *****************/
+
+typedef struct CvSparseNode
+{
+    unsigned hashval;
+    struct CvSparseNode* next;
+}
+CvSparseNode;
+
+typedef struct CvSparseMatIterator
+{
+    CvSparseMat* mat;
+    CvSparseNode* node;
+    int curidx;
+}
+CvSparseMatIterator;
+
+#define CV_NODE_VAL(mat,node)   ((void*)((uchar*)(node) + (mat)->valoffset))
+#define CV_NODE_IDX(mat,node)   ((int*)((uchar*)(node) + (mat)->idxoffset))
+
+/****************************************************************************************\
+*                                         Histogram                                      *
+\****************************************************************************************/
+
+typedef int CvHistType;
+
+#define CV_HIST_MAGIC_VAL     0x42450000
+#define CV_HIST_UNIFORM_FLAG  (1 << 10)
+
+/** indicates whether bin ranges are set already or not */
+#define CV_HIST_RANGES_FLAG   (1 << 11)
+
+#define CV_HIST_ARRAY         0
+#define CV_HIST_SPARSE        1
+#define CV_HIST_TREE          CV_HIST_SPARSE
+
+/** should be used as a parameter only,
+   it turns to CV_HIST_UNIFORM_FLAG of hist->type */
+#define CV_HIST_UNIFORM       1
+
+typedef struct CvHistogram
+{
+    int     type;
+    CvArr*  bins;
+    float   thresh[CV_MAX_DIM][2];  /**< For uniform histograms.                      */
+    float** thresh2;                /**< For non-uniform histograms.                  */
+    CvMatND mat;                    /**< Embedded matrix header for array histograms. */
+}
+CvHistogram;
+
+#define CV_IS_HIST( hist ) \
+    ((hist) != NULL  && \
+     (((CvHistogram*)(hist))->type & CV_MAGIC_MASK) == CV_HIST_MAGIC_VAL && \
+     (hist)->bins != NULL)
+
+#define CV_IS_UNIFORM_HIST( hist ) \
+    (((hist)->type & CV_HIST_UNIFORM_FLAG) != 0)
+
+#define CV_IS_SPARSE_HIST( hist ) \
+    CV_IS_SPARSE_MAT((hist)->bins)
+
+#define CV_HIST_HAS_RANGES( hist ) \
+    (((hist)->type & CV_HIST_RANGES_FLAG) != 0)
+
+/****************************************************************************************\
+*                      Other supplementary data type definitions                         *
+\****************************************************************************************/
+
+/*************************************** CvRect *****************************************/
+/** @sa Rect_ */
+typedef struct CvRect
+{
+    int x;
+    int y;
+    int width;
+    int height;
+
+#ifdef __cplusplus
+    CvRect(int _x = 0, int _y = 0, int w = 0, int h = 0): x(_x), y(_y), width(w), height(h) {}
+    template<typename _Tp>
+    CvRect(const cv::Rect_<_Tp>& r): x(cv::saturate_cast<int>(r.x)), y(cv::saturate_cast<int>(r.y)), width(cv::saturate_cast<int>(r.width)), height(cv::saturate_cast<int>(r.height)) {}
+    template<typename _Tp>
+    operator cv::Rect_<_Tp>() const { return cv::Rect_<_Tp>((_Tp)x, (_Tp)y, (_Tp)width, (_Tp)height); }
+#endif
+}
+CvRect;
+
+/** constructs CvRect structure. */
+CV_INLINE  CvRect  cvRect( int x, int y, int width, int height )
+{
+    CvRect r;
+
+    r.x = x;
+    r.y = y;
+    r.width = width;
+    r.height = height;
+
+    return r;
+}
+
+
+CV_INLINE  IplROI  cvRectToROI( CvRect rect, int coi )
+{
+    IplROI roi;
+    roi.xOffset = rect.x;
+    roi.yOffset = rect.y;
+    roi.width = rect.width;
+    roi.height = rect.height;
+    roi.coi = coi;
+
+    return roi;
+}
+
+
+CV_INLINE  CvRect  cvROIToRect( IplROI roi )
+{
+    return cvRect( roi.xOffset, roi.yOffset, roi.width, roi.height );
+}
+
+/*********************************** CvTermCriteria *************************************/
+
+#define CV_TERMCRIT_ITER    1
+#define CV_TERMCRIT_NUMBER  CV_TERMCRIT_ITER
+#define CV_TERMCRIT_EPS     2
+
+/** @sa TermCriteria
+ */
+typedef struct CvTermCriteria
+{
+    int    type;  /**< may be combination of
+                     CV_TERMCRIT_ITER
+                     CV_TERMCRIT_EPS */
+    int    max_iter;
+    double epsilon;
+
+#ifdef __cplusplus
+    CvTermCriteria(int _type = 0, int _iter = 0, double _eps = 0) : type(_type), max_iter(_iter), epsilon(_eps)  {}
+    CvTermCriteria(const cv::TermCriteria& t) : type(t.type), max_iter(t.maxCount), epsilon(t.epsilon)  {}
+    operator cv::TermCriteria() const { return cv::TermCriteria(type, max_iter, epsilon); }
+#endif
+
+}
+CvTermCriteria;
+
+CV_INLINE  CvTermCriteria  cvTermCriteria( int type, int max_iter, double epsilon )
+{
+    CvTermCriteria t;
+
+    t.type = type;
+    t.max_iter = max_iter;
+    t.epsilon = (float)epsilon;
+
+    return t;
+}
+
+
+/******************************* CvPoint and variants ***********************************/
+
+typedef struct CvPoint
+{
+    int x;
+    int y;
+
+#ifdef __cplusplus
+    CvPoint(int _x = 0, int _y = 0): x(_x), y(_y) {}
+    template<typename _Tp>
+    CvPoint(const cv::Point_<_Tp>& pt): x((int)pt.x), y((int)pt.y) {}
+    template<typename _Tp>
+    operator cv::Point_<_Tp>() const { return cv::Point_<_Tp>(cv::saturate_cast<_Tp>(x), cv::saturate_cast<_Tp>(y)); }
+#endif
+}
+CvPoint;
+
+/** constructs CvPoint structure. */
+CV_INLINE  CvPoint  cvPoint( int x, int y )
+{
+    CvPoint p;
+
+    p.x = x;
+    p.y = y;
+
+    return p;
+}
+
+
+typedef struct CvPoint2D32f
+{
+    float x;
+    float y;
+
+#ifdef __cplusplus
+    CvPoint2D32f(float _x = 0, float _y = 0): x(_x), y(_y) {}
+    template<typename _Tp>
+    CvPoint2D32f(const cv::Point_<_Tp>& pt): x((float)pt.x), y((float)pt.y) {}
+    template<typename _Tp>
+    operator cv::Point_<_Tp>() const { return cv::Point_<_Tp>(cv::saturate_cast<_Tp>(x), cv::saturate_cast<_Tp>(y)); }
+#endif
+}
+CvPoint2D32f;
+
+/** constructs CvPoint2D32f structure. */
+CV_INLINE  CvPoint2D32f  cvPoint2D32f( double x, double y )
+{
+    CvPoint2D32f p;
+
+    p.x = (float)x;
+    p.y = (float)y;
+
+    return p;
+}
+
+/** converts CvPoint to CvPoint2D32f. */
+CV_INLINE  CvPoint2D32f  cvPointTo32f( CvPoint point )
+{
+    return cvPoint2D32f( (float)point.x, (float)point.y );
+}
+
+/** converts CvPoint2D32f to CvPoint. */
+CV_INLINE  CvPoint  cvPointFrom32f( CvPoint2D32f point )
+{
+    CvPoint ipt;
+    ipt.x = cvRound(point.x);
+    ipt.y = cvRound(point.y);
+
+    return ipt;
+}
+
+
+typedef struct CvPoint3D32f
+{
+    float x;
+    float y;
+    float z;
+
+#ifdef __cplusplus
+    CvPoint3D32f(float _x = 0, float _y = 0, float _z = 0): x(_x), y(_y), z(_z) {}
+    template<typename _Tp>
+    CvPoint3D32f(const cv::Point3_<_Tp>& pt): x((float)pt.x), y((float)pt.y), z((float)pt.z) {}
+    template<typename _Tp>
+    operator cv::Point3_<_Tp>() const { return cv::Point3_<_Tp>(cv::saturate_cast<_Tp>(x), cv::saturate_cast<_Tp>(y), cv::saturate_cast<_Tp>(z)); }
+#endif
+}
+CvPoint3D32f;
+
+/** constructs CvPoint3D32f structure. */
+CV_INLINE  CvPoint3D32f  cvPoint3D32f( double x, double y, double z )
+{
+    CvPoint3D32f p;
+
+    p.x = (float)x;
+    p.y = (float)y;
+    p.z = (float)z;
+
+    return p;
+}
+
+
+typedef struct CvPoint2D64f
+{
+    double x;
+    double y;
+}
+CvPoint2D64f;
+
+/** constructs CvPoint2D64f structure.*/
+CV_INLINE  CvPoint2D64f  cvPoint2D64f( double x, double y )
+{
+    CvPoint2D64f p;
+
+    p.x = x;
+    p.y = y;
+
+    return p;
+}
+
+
+typedef struct CvPoint3D64f
+{
+    double x;
+    double y;
+    double z;
+}
+CvPoint3D64f;
+
+/** constructs CvPoint3D64f structure. */
+CV_INLINE  CvPoint3D64f  cvPoint3D64f( double x, double y, double z )
+{
+    CvPoint3D64f p;
+
+    p.x = x;
+    p.y = y;
+    p.z = z;
+
+    return p;
+}
+
+
+/******************************** CvSize's & CvBox **************************************/
+
+typedef struct CvSize
+{
+    int width;
+    int height;
+
+#ifdef __cplusplus
+    CvSize(int w = 0, int h = 0): width(w), height(h) {}
+    template<typename _Tp>
+    CvSize(const cv::Size_<_Tp>& sz): width(cv::saturate_cast<int>(sz.width)), height(cv::saturate_cast<int>(sz.height)) {}
+    template<typename _Tp>
+    operator cv::Size_<_Tp>() const { return cv::Size_<_Tp>(cv::saturate_cast<_Tp>(width), cv::saturate_cast<_Tp>(height)); }
+#endif
+}
+CvSize;
+
+/** constructs CvSize structure. */
+CV_INLINE  CvSize  cvSize( int width, int height )
+{
+    CvSize s;
+
+    s.width = width;
+    s.height = height;
+
+    return s;
+}
+
+typedef struct CvSize2D32f
+{
+    float width;
+    float height;
+
+#ifdef __cplusplus
+    CvSize2D32f(float w = 0, float h = 0): width(w), height(h) {}
+    template<typename _Tp>
+    CvSize2D32f(const cv::Size_<_Tp>& sz): width(cv::saturate_cast<float>(sz.width)), height(cv::saturate_cast<float>(sz.height)) {}
+    template<typename _Tp>
+    operator cv::Size_<_Tp>() const { return cv::Size_<_Tp>(cv::saturate_cast<_Tp>(width), cv::saturate_cast<_Tp>(height)); }
+#endif
+}
+CvSize2D32f;
+
+/** constructs CvSize2D32f structure. */
+CV_INLINE  CvSize2D32f  cvSize2D32f( double width, double height )
+{
+    CvSize2D32f s;
+
+    s.width = (float)width;
+    s.height = (float)height;
+
+    return s;
+}
+
+/** @sa RotatedRect
+ */
+typedef struct CvBox2D
+{
+    CvPoint2D32f center;  /**< Center of the box.                          */
+    CvSize2D32f  size;    /**< Box width and length.                       */
+    float angle;          /**< Angle between the horizontal axis           */
+                          /**< and the first side (i.e. length) in degrees */
+
+#ifdef __cplusplus
+    CvBox2D(CvPoint2D32f c = CvPoint2D32f(), CvSize2D32f s = CvSize2D32f(), float a = 0) : center(c), size(s), angle(a) {}
+    CvBox2D(const cv::RotatedRect& rr) : center(rr.center), size(rr.size), angle(rr.angle) {}
+    operator cv::RotatedRect() const { return cv::RotatedRect(center, size, angle); }
+#endif
+}
+CvBox2D;
+
+
+/** Line iterator state: */
+typedef struct CvLineIterator
+{
+    /** Pointer to the current point: */
+    uchar* ptr;
+
+    /* Bresenham algorithm state: */
+    int  err;
+    int  plus_delta;
+    int  minus_delta;
+    int  plus_step;
+    int  minus_step;
+}
+CvLineIterator;
+
+
+
+/************************************* CvSlice ******************************************/
+#define CV_WHOLE_SEQ_END_INDEX 0x3fffffff
+#define CV_WHOLE_SEQ  cvSlice(0, CV_WHOLE_SEQ_END_INDEX)
+
+typedef struct CvSlice
+{
+    int  start_index, end_index;
+
+#if defined(__cplusplus) && !defined(__CUDACC__)
+    CvSlice(int start = 0, int end = 0) : start_index(start), end_index(end) {}
+    CvSlice(const cv::Range& r) { *this = (r.start != INT_MIN && r.end != INT_MAX) ? CvSlice(r.start, r.end) : CvSlice(0, CV_WHOLE_SEQ_END_INDEX); }
+    operator cv::Range() const { return (start_index == 0 && end_index == CV_WHOLE_SEQ_END_INDEX ) ? cv::Range::all() : cv::Range(start_index, end_index); }
+#endif
+}
+CvSlice;
+
+CV_INLINE  CvSlice  cvSlice( int start, int end )
+{
+    CvSlice slice;
+    slice.start_index = start;
+    slice.end_index = end;
+
+    return slice;
+}
+
+
+
+/************************************* CvScalar *****************************************/
+/** @sa Scalar_
+ */
+typedef struct CvScalar
+{
+    double val[4];
+
+#ifdef __cplusplus
+    CvScalar() {}
+    CvScalar(double d0, double d1 = 0, double d2 = 0, double d3 = 0) { val[0] = d0; val[1] = d1; val[2] = d2; val[3] = d3; }
+    template<typename _Tp>
+    CvScalar(const cv::Scalar_<_Tp>& s) { val[0] = s.val[0]; val[1] = s.val[1]; val[2] = s.val[2]; val[3] = s.val[3]; }
+    template<typename _Tp>
+    operator cv::Scalar_<_Tp>() const { return cv::Scalar_<_Tp>(cv::saturate_cast<_Tp>(val[0]), cv::saturate_cast<_Tp>(val[1]), cv::saturate_cast<_Tp>(val[2]), cv::saturate_cast<_Tp>(val[3])); }
+    template<typename _Tp, int cn>
+    CvScalar(const cv::Vec<_Tp, cn>& v)
+    {
+        int i;
+        for( i = 0; i < (cn < 4 ? cn : 4); i++ ) val[i] = v.val[i];
+        for( ; i < 4; i++ ) val[i] = 0;
+    }
+#endif
+}
+CvScalar;
+
+CV_INLINE  CvScalar  cvScalar( double val0, double val1 CV_DEFAULT(0),
+                               double val2 CV_DEFAULT(0), double val3 CV_DEFAULT(0))
+{
+    CvScalar scalar;
+    scalar.val[0] = val0; scalar.val[1] = val1;
+    scalar.val[2] = val2; scalar.val[3] = val3;
+    return scalar;
+}
+
+
+CV_INLINE  CvScalar  cvRealScalar( double val0 )
+{
+    CvScalar scalar;
+    scalar.val[0] = val0;
+    scalar.val[1] = scalar.val[2] = scalar.val[3] = 0;
+    return scalar;
+}
+
+CV_INLINE  CvScalar  cvScalarAll( double val0123 )
+{
+    CvScalar scalar;
+    scalar.val[0] = val0123;
+    scalar.val[1] = val0123;
+    scalar.val[2] = val0123;
+    scalar.val[3] = val0123;
+    return scalar;
+}
+
+/****************************************************************************************\
+*                                   Dynamic Data structures                              *
+\****************************************************************************************/
+
+/******************************** Memory storage ****************************************/
+
+typedef struct CvMemBlock
+{
+    struct CvMemBlock*  prev;
+    struct CvMemBlock*  next;
+}
+CvMemBlock;
+
+#define CV_STORAGE_MAGIC_VAL    0x42890000
+
+typedef struct CvMemStorage
+{
+    int signature;
+    CvMemBlock* bottom;           /**< First allocated block.                   */
+    CvMemBlock* top;              /**< Current memory block - top of the stack. */
+    struct  CvMemStorage* parent; /**< We get new blocks from parent as needed. */
+    int block_size;               /**< Block size.                              */
+    int free_space;               /**< Remaining free space in current block.   */
+}
+CvMemStorage;
+
+#define CV_IS_STORAGE(storage)  \
+    ((storage) != NULL &&       \
+    (((CvMemStorage*)(storage))->signature & CV_MAGIC_MASK) == CV_STORAGE_MAGIC_VAL)
+
+
+typedef struct CvMemStoragePos
+{
+    CvMemBlock* top;
+    int free_space;
+}
+CvMemStoragePos;
+
+
+/*********************************** Sequence *******************************************/
+
+typedef struct CvSeqBlock
+{
+    struct CvSeqBlock*  prev; /**< Previous sequence block.                   */
+    struct CvSeqBlock*  next; /**< Next sequence block.                       */
+  int    start_index;         /**< Index of the first element in the block +  */
+                              /**< sequence->first->start_index.              */
+    int    count;             /**< Number of elements in the block.           */
+    schar* data;              /**< Pointer to the first element of the block. */
+}
+CvSeqBlock;
+
+
+#define CV_TREE_NODE_FIELDS(node_type)                               \
+    int       flags;             /**< Miscellaneous flags.     */      \
+    int       header_size;       /**< Size of sequence header. */      \
+    struct    node_type* h_prev; /**< Previous sequence.       */      \
+    struct    node_type* h_next; /**< Next sequence.           */      \
+    struct    node_type* v_prev; /**< 2nd previous sequence.   */      \
+    struct    node_type* v_next  /**< 2nd next sequence.       */
+
+/**
+   Read/Write sequence.
+   Elements can be dynamically inserted to or deleted from the sequence.
+*/
+#define CV_SEQUENCE_FIELDS()                                              \
+    CV_TREE_NODE_FIELDS(CvSeq);                                           \
+    int       total;          /**< Total number of elements.            */  \
+    int       elem_size;      /**< Size of sequence element in bytes.   */  \
+    schar*    block_max;      /**< Maximal bound of the last block.     */  \
+    schar*    ptr;            /**< Current write pointer.               */  \
+    int       delta_elems;    /**< Grow seq this many at a time.        */  \
+    CvMemStorage* storage;    /**< Where the seq is stored.             */  \
+    CvSeqBlock* free_blocks;  /**< Free blocks list.                    */  \
+    CvSeqBlock* first;        /**< Pointer to the first sequence block. */
+
+typedef struct CvSeq
+{
+    CV_SEQUENCE_FIELDS()
+}
+CvSeq;
+
+#define CV_TYPE_NAME_SEQ             "opencv-sequence"
+#define CV_TYPE_NAME_SEQ_TREE        "opencv-sequence-tree"
+
+/*************************************** Set ********************************************/
+/** @brief Set
+  Order is not preserved. There can be gaps between sequence elements.
+  After the element has been inserted it stays in the same place all the time.
+  The MSB(most-significant or sign bit) of the first field (flags) is 0 iff the element exists.
+*/
+#define CV_SET_ELEM_FIELDS(elem_type)   \
+    int  flags;                         \
+    struct elem_type* next_free;
+
+typedef struct CvSetElem
+{
+    CV_SET_ELEM_FIELDS(CvSetElem)
+}
+CvSetElem;
+
+#define CV_SET_FIELDS()      \
+    CV_SEQUENCE_FIELDS()     \
+    CvSetElem* free_elems;   \
+    int active_count;
+
+typedef struct CvSet
+{
+    CV_SET_FIELDS()
+}
+CvSet;
+
+
+#define CV_SET_ELEM_IDX_MASK   ((1 << 26) - 1)
+#define CV_SET_ELEM_FREE_FLAG  (1 << (sizeof(int)*8-1))
+
+/** Checks whether the element pointed by ptr belongs to a set or not */
+#define CV_IS_SET_ELEM( ptr )  (((CvSetElem*)(ptr))->flags >= 0)
+
+/************************************* Graph ********************************************/
+
+/** @name Graph
+
+We represent a graph as a set of vertices. Vertices contain their adjacency lists (more exactly,
+pointers to first incoming or outcoming edge (or 0 if isolated vertex)). Edges are stored in
+another set. There is a singly-linked list of incoming/outcoming edges for each vertex.
+
+Each edge consists of:
+
+- Two pointers to the starting and ending vertices (vtx[0] and vtx[1] respectively).
+
+    A graph may be oriented or not. In the latter case, edges between vertex i to vertex j are not
+distinguished during search operations.
+
+- Two pointers to next edges for the starting and ending vertices, where next[0] points to the
+next edge in the vtx[0] adjacency list and next[1] points to the next edge in the vtx[1]
+adjacency list.
+
+@see CvGraphEdge, CvGraphVtx, CvGraphVtx2D, CvGraph
+@{
+*/
+#define CV_GRAPH_EDGE_FIELDS()      \
+    int flags;                      \
+    float weight;                   \
+    struct CvGraphEdge* next[2];    \
+    struct CvGraphVtx* vtx[2];
+
+
+#define CV_GRAPH_VERTEX_FIELDS()    \
+    int flags;                      \
+    struct CvGraphEdge* first;
+
+
+typedef struct CvGraphEdge
+{
+    CV_GRAPH_EDGE_FIELDS()
+}
+CvGraphEdge;
+
+typedef struct CvGraphVtx
+{
+    CV_GRAPH_VERTEX_FIELDS()
+}
+CvGraphVtx;
+
+typedef struct CvGraphVtx2D
+{
+    CV_GRAPH_VERTEX_FIELDS()
+    CvPoint2D32f* ptr;
+}
+CvGraphVtx2D;
+
+/**
+   Graph is "derived" from the set (this is set a of vertices)
+   and includes another set (edges)
+*/
+#define  CV_GRAPH_FIELDS()   \
+    CV_SET_FIELDS()          \
+    CvSet* edges;
+
+typedef struct CvGraph
+{
+    CV_GRAPH_FIELDS()
+}
+CvGraph;
+
+#define CV_TYPE_NAME_GRAPH "opencv-graph"
+
+/** @} */
+
+/*********************************** Chain/Countour *************************************/
+
+typedef struct CvChain
+{
+    CV_SEQUENCE_FIELDS()
+    CvPoint  origin;
+}
+CvChain;
+
+#define CV_CONTOUR_FIELDS()  \
+    CV_SEQUENCE_FIELDS()     \
+    CvRect rect;             \
+    int color;               \
+    int reserved[3];
+
+typedef struct CvContour
+{
+    CV_CONTOUR_FIELDS()
+}
+CvContour;
+
+typedef CvContour CvPoint2DSeq;
+
+/****************************************************************************************\
+*                                    Sequence types                                      *
+\****************************************************************************************/
+
+#define CV_SEQ_MAGIC_VAL             0x42990000
+
+#define CV_IS_SEQ(seq) \
+    ((seq) != NULL && (((CvSeq*)(seq))->flags & CV_MAGIC_MASK) == CV_SEQ_MAGIC_VAL)
+
+#define CV_SET_MAGIC_VAL             0x42980000
+#define CV_IS_SET(set) \
+    ((set) != NULL && (((CvSeq*)(set))->flags & CV_MAGIC_MASK) == CV_SET_MAGIC_VAL)
+
+#define CV_SEQ_ELTYPE_BITS           12
+#define CV_SEQ_ELTYPE_MASK           ((1 << CV_SEQ_ELTYPE_BITS) - 1)
+
+#define CV_SEQ_ELTYPE_POINT          CV_32SC2  /**< (x,y) */
+#define CV_SEQ_ELTYPE_CODE           CV_8UC1   /**< freeman code: 0..7 */
+#define CV_SEQ_ELTYPE_GENERIC        0
+#define CV_SEQ_ELTYPE_PTR            CV_USRTYPE1
+#define CV_SEQ_ELTYPE_PPOINT         CV_SEQ_ELTYPE_PTR  /**< &(x,y) */
+#define CV_SEQ_ELTYPE_INDEX          CV_32SC1  /**< #(x,y) */
+#define CV_SEQ_ELTYPE_GRAPH_EDGE     0  /**< &next_o, &next_d, &vtx_o, &vtx_d */
+#define CV_SEQ_ELTYPE_GRAPH_VERTEX   0  /**< first_edge, &(x,y) */
+#define CV_SEQ_ELTYPE_TRIAN_ATR      0  /**< vertex of the binary tree   */
+#define CV_SEQ_ELTYPE_CONNECTED_COMP 0  /**< connected component  */
+#define CV_SEQ_ELTYPE_POINT3D        CV_32FC3  /**< (x,y,z)  */
+
+#define CV_SEQ_KIND_BITS        2
+#define CV_SEQ_KIND_MASK        (((1 << CV_SEQ_KIND_BITS) - 1)<<CV_SEQ_ELTYPE_BITS)
+
+/** types of sequences */
+#define CV_SEQ_KIND_GENERIC     (0 << CV_SEQ_ELTYPE_BITS)
+#define CV_SEQ_KIND_CURVE       (1 << CV_SEQ_ELTYPE_BITS)
+#define CV_SEQ_KIND_BIN_TREE    (2 << CV_SEQ_ELTYPE_BITS)
+
+/** types of sparse sequences (sets) */
+#define CV_SEQ_KIND_GRAPH       (1 << CV_SEQ_ELTYPE_BITS)
+#define CV_SEQ_KIND_SUBDIV2D    (2 << CV_SEQ_ELTYPE_BITS)
+
+#define CV_SEQ_FLAG_SHIFT       (CV_SEQ_KIND_BITS + CV_SEQ_ELTYPE_BITS)
+
+/** flags for curves */
+#define CV_SEQ_FLAG_CLOSED     (1 << CV_SEQ_FLAG_SHIFT)
+#define CV_SEQ_FLAG_SIMPLE     (0 << CV_SEQ_FLAG_SHIFT)
+#define CV_SEQ_FLAG_CONVEX     (0 << CV_SEQ_FLAG_SHIFT)
+#define CV_SEQ_FLAG_HOLE       (2 << CV_SEQ_FLAG_SHIFT)
+
+/** flags for graphs */
+#define CV_GRAPH_FLAG_ORIENTED (1 << CV_SEQ_FLAG_SHIFT)
+
+#define CV_GRAPH               CV_SEQ_KIND_GRAPH
+#define CV_ORIENTED_GRAPH      (CV_SEQ_KIND_GRAPH|CV_GRAPH_FLAG_ORIENTED)
+
+/** point sets */
+#define CV_SEQ_POINT_SET       (CV_SEQ_KIND_GENERIC| CV_SEQ_ELTYPE_POINT)
+#define CV_SEQ_POINT3D_SET     (CV_SEQ_KIND_GENERIC| CV_SEQ_ELTYPE_POINT3D)
+#define CV_SEQ_POLYLINE        (CV_SEQ_KIND_CURVE  | CV_SEQ_ELTYPE_POINT)
+#define CV_SEQ_POLYGON         (CV_SEQ_FLAG_CLOSED | CV_SEQ_POLYLINE )
+#define CV_SEQ_CONTOUR         CV_SEQ_POLYGON
+#define CV_SEQ_SIMPLE_POLYGON  (CV_SEQ_FLAG_SIMPLE | CV_SEQ_POLYGON  )
+
+/** chain-coded curves */
+#define CV_SEQ_CHAIN           (CV_SEQ_KIND_CURVE  | CV_SEQ_ELTYPE_CODE)
+#define CV_SEQ_CHAIN_CONTOUR   (CV_SEQ_FLAG_CLOSED | CV_SEQ_CHAIN)
+
+/** binary tree for the contour */
+#define CV_SEQ_POLYGON_TREE    (CV_SEQ_KIND_BIN_TREE  | CV_SEQ_ELTYPE_TRIAN_ATR)
+
+/** sequence of the connected components */
+#define CV_SEQ_CONNECTED_COMP  (CV_SEQ_KIND_GENERIC  | CV_SEQ_ELTYPE_CONNECTED_COMP)
+
+/** sequence of the integer numbers */
+#define CV_SEQ_INDEX           (CV_SEQ_KIND_GENERIC  | CV_SEQ_ELTYPE_INDEX)
+
+#define CV_SEQ_ELTYPE( seq )   ((seq)->flags & CV_SEQ_ELTYPE_MASK)
+#define CV_SEQ_KIND( seq )     ((seq)->flags & CV_SEQ_KIND_MASK )
+
+/** flag checking */
+#define CV_IS_SEQ_INDEX( seq )      ((CV_SEQ_ELTYPE(seq) == CV_SEQ_ELTYPE_INDEX) && \
+                                     (CV_SEQ_KIND(seq) == CV_SEQ_KIND_GENERIC))
+
+#define CV_IS_SEQ_CURVE( seq )      (CV_SEQ_KIND(seq) == CV_SEQ_KIND_CURVE)
+#define CV_IS_SEQ_CLOSED( seq )     (((seq)->flags & CV_SEQ_FLAG_CLOSED) != 0)
+#define CV_IS_SEQ_CONVEX( seq )     0
+#define CV_IS_SEQ_HOLE( seq )       (((seq)->flags & CV_SEQ_FLAG_HOLE) != 0)
+#define CV_IS_SEQ_SIMPLE( seq )     1
+
+/** type checking macros */
+#define CV_IS_SEQ_POINT_SET( seq ) \
+    ((CV_SEQ_ELTYPE(seq) == CV_32SC2 || CV_SEQ_ELTYPE(seq) == CV_32FC2))
+
+#define CV_IS_SEQ_POINT_SUBSET( seq ) \
+    (CV_IS_SEQ_INDEX( seq ) || CV_SEQ_ELTYPE(seq) == CV_SEQ_ELTYPE_PPOINT)
+
+#define CV_IS_SEQ_POLYLINE( seq )   \
+    (CV_SEQ_KIND(seq) == CV_SEQ_KIND_CURVE && CV_IS_SEQ_POINT_SET(seq))
+
+#define CV_IS_SEQ_POLYGON( seq )   \
+    (CV_IS_SEQ_POLYLINE(seq) && CV_IS_SEQ_CLOSED(seq))
+
+#define CV_IS_SEQ_CHAIN( seq )   \
+    (CV_SEQ_KIND(seq) == CV_SEQ_KIND_CURVE && (seq)->elem_size == 1)
+
+#define CV_IS_SEQ_CONTOUR( seq )   \
+    (CV_IS_SEQ_CLOSED(seq) && (CV_IS_SEQ_POLYLINE(seq) || CV_IS_SEQ_CHAIN(seq)))
+
+#define CV_IS_SEQ_CHAIN_CONTOUR( seq ) \
+    (CV_IS_SEQ_CHAIN( seq ) && CV_IS_SEQ_CLOSED( seq ))
+
+#define CV_IS_SEQ_POLYGON_TREE( seq ) \
+    (CV_SEQ_ELTYPE (seq) ==  CV_SEQ_ELTYPE_TRIAN_ATR &&    \
+    CV_SEQ_KIND( seq ) ==  CV_SEQ_KIND_BIN_TREE )
+
+#define CV_IS_GRAPH( seq )    \
+    (CV_IS_SET(seq) && CV_SEQ_KIND((CvSet*)(seq)) == CV_SEQ_KIND_GRAPH)
+
+#define CV_IS_GRAPH_ORIENTED( seq )   \
+    (((seq)->flags & CV_GRAPH_FLAG_ORIENTED) != 0)
+
+#define CV_IS_SUBDIV2D( seq )  \
+    (CV_IS_SET(seq) && CV_SEQ_KIND((CvSet*)(seq)) == CV_SEQ_KIND_SUBDIV2D)
+
+/****************************************************************************************/
+/*                            Sequence writer & reader                                  */
+/****************************************************************************************/
+
+#define CV_SEQ_WRITER_FIELDS()                                     \
+    int          header_size;                                      \
+    CvSeq*       seq;        /**< the sequence written */            \
+    CvSeqBlock*  block;      /**< current block */                   \
+    schar*       ptr;        /**< pointer to free space */           \
+    schar*       block_min;  /**< pointer to the beginning of block*/\
+    schar*       block_max;  /**< pointer to the end of block */
+
+typedef struct CvSeqWriter
+{
+    CV_SEQ_WRITER_FIELDS()
+}
+CvSeqWriter;
+
+
+#define CV_SEQ_READER_FIELDS()                                      \
+    int          header_size;                                       \
+    CvSeq*       seq;        /**< sequence, beign read */             \
+    CvSeqBlock*  block;      /**< current block */                    \
+    schar*       ptr;        /**< pointer to element be read next */  \
+    schar*       block_min;  /**< pointer to the beginning of block */\
+    schar*       block_max;  /**< pointer to the end of block */      \
+    int          delta_index;/**< = seq->first->start_index   */      \
+    schar*       prev_elem;  /**< pointer to previous element */
+
+typedef struct CvSeqReader
+{
+    CV_SEQ_READER_FIELDS()
+}
+CvSeqReader;
+
+/****************************************************************************************/
+/*                                Operations on sequences                               */
+/****************************************************************************************/
+
+#define  CV_SEQ_ELEM( seq, elem_type, index )                    \
+/** assert gives some guarantee that <seq> parameter is valid */  \
+(   assert(sizeof((seq)->first[0]) == sizeof(CvSeqBlock) &&      \
+    (seq)->elem_size == sizeof(elem_type)),                      \
+    (elem_type*)((seq)->first && (unsigned)index <               \
+    (unsigned)((seq)->first->count) ?                            \
+    (seq)->first->data + (index) * sizeof(elem_type) :           \
+    cvGetSeqElem( (CvSeq*)(seq), (index) )))
+#define CV_GET_SEQ_ELEM( elem_type, seq, index ) CV_SEQ_ELEM( (seq), elem_type, (index) )
+
+/** Add element to sequence: */
+#define CV_WRITE_SEQ_ELEM_VAR( elem_ptr, writer )     \
+{                                                     \
+    if( (writer).ptr >= (writer).block_max )          \
+    {                                                 \
+        cvCreateSeqBlock( &writer);                   \
+    }                                                 \
+    memcpy((writer).ptr, elem_ptr, (writer).seq->elem_size);\
+    (writer).ptr += (writer).seq->elem_size;          \
+}
+
+#define CV_WRITE_SEQ_ELEM( elem, writer )             \
+{                                                     \
+    assert( (writer).seq->elem_size == sizeof(elem)); \
+    if( (writer).ptr >= (writer).block_max )          \
+    {                                                 \
+        cvCreateSeqBlock( &writer);                   \
+    }                                                 \
+    assert( (writer).ptr <= (writer).block_max - sizeof(elem));\
+    memcpy((writer).ptr, &(elem), sizeof(elem));      \
+    (writer).ptr += sizeof(elem);                     \
+}
+
+
+/** Move reader position forward: */
+#define CV_NEXT_SEQ_ELEM( elem_size, reader )                 \
+{                                                             \
+    if( ((reader).ptr += (elem_size)) >= (reader).block_max ) \
+    {                                                         \
+        cvChangeSeqBlock( &(reader), 1 );                     \
+    }                                                         \
+}
+
+
+/** Move reader position backward: */
+#define CV_PREV_SEQ_ELEM( elem_size, reader )                \
+{                                                            \
+    if( ((reader).ptr -= (elem_size)) < (reader).block_min ) \
+    {                                                        \
+        cvChangeSeqBlock( &(reader), -1 );                   \
+    }                                                        \
+}
+
+/** Read element and move read position forward: */
+#define CV_READ_SEQ_ELEM( elem, reader )                       \
+{                                                              \
+    assert( (reader).seq->elem_size == sizeof(elem));          \
+    memcpy( &(elem), (reader).ptr, sizeof((elem)));            \
+    CV_NEXT_SEQ_ELEM( sizeof(elem), reader )                   \
+}
+
+/** Read element and move read position backward: */
+#define CV_REV_READ_SEQ_ELEM( elem, reader )                     \
+{                                                                \
+    assert( (reader).seq->elem_size == sizeof(elem));            \
+    memcpy(&(elem), (reader).ptr, sizeof((elem)));               \
+    CV_PREV_SEQ_ELEM( sizeof(elem), reader )                     \
+}
+
+
+#define CV_READ_CHAIN_POINT( _pt, reader )                              \
+{                                                                       \
+    (_pt) = (reader).pt;                                                \
+    if( (reader).ptr )                                                  \
+    {                                                                   \
+        CV_READ_SEQ_ELEM( (reader).code, (reader));                     \
+        assert( ((reader).code & ~7) == 0 );                            \
+        (reader).pt.x += (reader).deltas[(int)(reader).code][0];        \
+        (reader).pt.y += (reader).deltas[(int)(reader).code][1];        \
+    }                                                                   \
+}
+
+#define CV_CURRENT_POINT( reader )  (*((CvPoint*)((reader).ptr)))
+#define CV_PREV_POINT( reader )     (*((CvPoint*)((reader).prev_elem)))
+
+#define CV_READ_EDGE( pt1, pt2, reader )               \
+{                                                      \
+    assert( sizeof(pt1) == sizeof(CvPoint) &&          \
+            sizeof(pt2) == sizeof(CvPoint) &&          \
+            reader.seq->elem_size == sizeof(CvPoint)); \
+    (pt1) = CV_PREV_POINT( reader );                   \
+    (pt2) = CV_CURRENT_POINT( reader );                \
+    (reader).prev_elem = (reader).ptr;                 \
+    CV_NEXT_SEQ_ELEM( sizeof(CvPoint), (reader));      \
+}
+
+/************ Graph macros ************/
+
+/** Return next graph edge for given vertex: */
+#define  CV_NEXT_GRAPH_EDGE( edge, vertex )                              \
+     (assert((edge)->vtx[0] == (vertex) || (edge)->vtx[1] == (vertex)),  \
+      (edge)->next[(edge)->vtx[1] == (vertex)])
+
+
+
+/****************************************************************************************\
+*             Data structures for persistence (a.k.a serialization) functionality        *
+\****************************************************************************************/
+
+/** "black box" file storage */
+typedef struct CvFileStorage CvFileStorage;
+
+/** Storage flags: */
+#define CV_STORAGE_READ          0
+#define CV_STORAGE_WRITE         1
+#define CV_STORAGE_WRITE_TEXT    CV_STORAGE_WRITE
+#define CV_STORAGE_WRITE_BINARY  CV_STORAGE_WRITE
+#define CV_STORAGE_APPEND        2
+#define CV_STORAGE_MEMORY        4
+#define CV_STORAGE_FORMAT_MASK   (7<<3)
+#define CV_STORAGE_FORMAT_AUTO   0
+#define CV_STORAGE_FORMAT_XML    8
+#define CV_STORAGE_FORMAT_YAML  16
+
+/** @brief List of attributes. :
+
+In the current implementation, attributes are used to pass extra parameters when writing user
+objects (see cvWrite). XML attributes inside tags are not supported, aside from the object type
+specification (type_id attribute).
+@see cvAttrList, cvAttrValue
+ */
+typedef struct CvAttrList
+{
+    const char** attr;         /**< NULL-terminated array of (attribute_name,attribute_value) pairs. */
+    struct CvAttrList* next;   /**< Pointer to next chunk of the attributes list.                    */
+}
+CvAttrList;
+
+/** initializes CvAttrList structure */
+CV_INLINE CvAttrList cvAttrList( const char** attr CV_DEFAULT(NULL),
+                                 CvAttrList* next CV_DEFAULT(NULL) )
+{
+    CvAttrList l;
+    l.attr = attr;
+    l.next = next;
+
+    return l;
+}
+
+struct CvTypeInfo;
+
+#define CV_NODE_NONE        0
+#define CV_NODE_INT         1
+#define CV_NODE_INTEGER     CV_NODE_INT
+#define CV_NODE_REAL        2
+#define CV_NODE_FLOAT       CV_NODE_REAL
+#define CV_NODE_STR         3
+#define CV_NODE_STRING      CV_NODE_STR
+#define CV_NODE_REF         4 /**< not used */
+#define CV_NODE_SEQ         5
+#define CV_NODE_MAP         6
+#define CV_NODE_TYPE_MASK   7
+
+#define CV_NODE_TYPE(flags)  ((flags) & CV_NODE_TYPE_MASK)
+
+/** file node flags */
+#define CV_NODE_FLOW        8 /**<Used only for writing structures in YAML format. */
+#define CV_NODE_USER        16
+#define CV_NODE_EMPTY       32
+#define CV_NODE_NAMED       64
+
+#define CV_NODE_IS_INT(flags)        (CV_NODE_TYPE(flags) == CV_NODE_INT)
+#define CV_NODE_IS_REAL(flags)       (CV_NODE_TYPE(flags) == CV_NODE_REAL)
+#define CV_NODE_IS_STRING(flags)     (CV_NODE_TYPE(flags) == CV_NODE_STRING)
+#define CV_NODE_IS_SEQ(flags)        (CV_NODE_TYPE(flags) == CV_NODE_SEQ)
+#define CV_NODE_IS_MAP(flags)        (CV_NODE_TYPE(flags) == CV_NODE_MAP)
+#define CV_NODE_IS_COLLECTION(flags) (CV_NODE_TYPE(flags) >= CV_NODE_SEQ)
+#define CV_NODE_IS_FLOW(flags)       (((flags) & CV_NODE_FLOW) != 0)
+#define CV_NODE_IS_EMPTY(flags)      (((flags) & CV_NODE_EMPTY) != 0)
+#define CV_NODE_IS_USER(flags)       (((flags) & CV_NODE_USER) != 0)
+#define CV_NODE_HAS_NAME(flags)      (((flags) & CV_NODE_NAMED) != 0)
+
+#define CV_NODE_SEQ_SIMPLE 256
+#define CV_NODE_SEQ_IS_SIMPLE(seq) (((seq)->flags & CV_NODE_SEQ_SIMPLE) != 0)
+
+typedef struct CvString
+{
+    int len;
+    char* ptr;
+}
+CvString;
+
+/** All the keys (names) of elements in the readed file storage
+   are stored in the hash to speed up the lookup operations: */
+typedef struct CvStringHashNode
+{
+    unsigned hashval;
+    CvString str;
+    struct CvStringHashNode* next;
+}
+CvStringHashNode;
+
+typedef struct CvGenericHash CvFileNodeHash;
+
+/** Basic element of the file storage - scalar or collection: */
+typedef struct CvFileNode
+{
+    int tag;
+    struct CvTypeInfo* info; /**< type information
+            (only for user-defined object, for others it is 0) */
+    union
+    {
+        double f; /**< scalar floating-point number */
+        int i;    /**< scalar integer number */
+        CvString str; /**< text string */
+        CvSeq* seq; /**< sequence (ordered collection of file nodes) */
+        CvFileNodeHash* map; /**< map (collection of named file nodes) */
+    } data;
+}
+CvFileNode;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+typedef int (CV_CDECL *CvIsInstanceFunc)( const void* struct_ptr );
+typedef void (CV_CDECL *CvReleaseFunc)( void** struct_dblptr );
+typedef void* (CV_CDECL *CvReadFunc)( CvFileStorage* storage, CvFileNode* node );
+typedef void (CV_CDECL *CvWriteFunc)( CvFileStorage* storage, const char* name,
+                                      const void* struct_ptr, CvAttrList attributes );
+typedef void* (CV_CDECL *CvCloneFunc)( const void* struct_ptr );
+#ifdef __cplusplus
+}
+#endif
+
+/** @brief Type information
+
+The structure contains information about one of the standard or user-defined types. Instances of the
+type may or may not contain a pointer to the corresponding CvTypeInfo structure. In any case, there
+is a way to find the type info structure for a given object using the cvTypeOf function.
+Alternatively, type info can be found by type name using cvFindType, which is used when an object
+is read from file storage. The user can register a new type with cvRegisterType that adds the type
+information structure into the beginning of the type list. Thus, it is possible to create
+specialized types from generic standard types and override the basic methods.
+ */
+typedef struct CvTypeInfo
+{
+    int flags; /**< not used */
+    int header_size; /**< sizeof(CvTypeInfo) */
+    struct CvTypeInfo* prev; /**< previous registered type in the list */
+    struct CvTypeInfo* next; /**< next registered type in the list */
+    const char* type_name; /**< type name, written to file storage */
+    CvIsInstanceFunc is_instance; /**< checks if the passed object belongs to the type */
+    CvReleaseFunc release; /**< releases object (memory etc.) */
+    CvReadFunc read; /**< reads object from file storage */
+    CvWriteFunc write; /**< writes object to file storage */
+    CvCloneFunc clone; /**< creates a copy of the object */
+}
+CvTypeInfo;
+
+
+/**** System data types ******/
+
+typedef struct CvPluginFuncInfo
+{
+    void** func_addr;
+    void* default_func_addr;
+    const char* func_names;
+    int search_modules;
+    int loaded_from;
+}
+CvPluginFuncInfo;
+
+typedef struct CvModuleInfo
+{
+    struct CvModuleInfo* next;
+    const char* name;
+    const char* version;
+    CvPluginFuncInfo* func_tab;
+}
+CvModuleInfo;
+
+/** @} */
+
+#endif /*__OPENCV_CORE_TYPES_H__*/
+
+/* End of file. */
diff --git a/3rdparty/include/opencv2/core/utility.hpp b/3rdparty/include/opencv2/core/utility.hpp
new file mode 100644
index 0000000..3ec0660
--- /dev/null
+++ b/3rdparty/include/opencv2/core/utility.hpp
@@ -0,0 +1,889 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_CORE_UTILITY_H__
+#define __OPENCV_CORE_UTILITY_H__
+
+#ifndef __cplusplus
+#  error utility.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+
+#ifdef CV_COLLECT_IMPL_DATA
+CV_EXPORTS void setImpl(int flags); // set implementation flags and reset storage arrays
+CV_EXPORTS void addImpl(int flag, const char* func = 0); // add implementation and function name to storage arrays
+// Get stored implementation flags and fucntions names arrays
+// Each implementation entry correspond to function name entry, so you can find which implementation was executed in which fucntion
+CV_EXPORTS int getImpl(std::vector<int> &impl, std::vector<String> &funName);
+
+CV_EXPORTS bool useCollection(); // return implementation collection state
+CV_EXPORTS void setUseCollection(bool flag); // set implementation collection state
+
+#define CV_IMPL_PLAIN  0x01 // native CPU OpenCV implementation
+#define CV_IMPL_OCL    0x02 // OpenCL implementation
+#define CV_IMPL_IPP    0x04 // IPP implementation
+#define CV_IMPL_MT     0x10 // multithreaded implementation
+
+#define CV_IMPL_ADD(impl)                                                   \
+    if(cv::useCollection())                                                 \
+    {                                                                       \
+        cv::addImpl(impl, CV_Func);                                         \
+    }
+#else
+#define CV_IMPL_ADD(impl)
+#endif
+
+//! @addtogroup core_utils
+//! @{
+
+/** @brief  Automatically Allocated Buffer Class
+
+ The class is used for temporary buffers in functions and methods.
+ If a temporary buffer is usually small (a few K's of memory),
+ but its size depends on the parameters, it makes sense to create a small
+ fixed-size array on stack and use it if it's large enough. If the required buffer size
+ is larger than the fixed size, another buffer of sufficient size is allocated dynamically
+ and released after the processing. Therefore, in typical cases, when the buffer size is small,
+ there is no overhead associated with malloc()/free().
+ At the same time, there is no limit on the size of processed data.
+
+ This is what AutoBuffer does. The template takes 2 parameters - type of the buffer elements and
+ the number of stack-allocated elements. Here is how the class is used:
+
+ \code
+ void my_func(const cv::Mat& m)
+ {
+    cv::AutoBuffer<float> buf; // create automatic buffer containing 1000 floats
+
+    buf.allocate(m.rows); // if m.rows <= 1000, the pre-allocated buffer is used,
+                          // otherwise the buffer of "m.rows" floats will be allocated
+                          // dynamically and deallocated in cv::AutoBuffer destructor
+    ...
+ }
+ \endcode
+*/
+template<typename _Tp, size_t fixed_size = 1024/sizeof(_Tp)+8> class AutoBuffer
+{
+public:
+    typedef _Tp value_type;
+
+    //! the default constructor
+    AutoBuffer();
+    //! constructor taking the real buffer size
+    AutoBuffer(size_t _size);
+
+    //! the copy constructor
+    AutoBuffer(const AutoBuffer<_Tp, fixed_size>& buf);
+    //! the assignment operator
+    AutoBuffer<_Tp, fixed_size>& operator = (const AutoBuffer<_Tp, fixed_size>& buf);
+
+    //! destructor. calls deallocate()
+    ~AutoBuffer();
+
+    //! allocates the new buffer of size _size. if the _size is small enough, stack-allocated buffer is used
+    void allocate(size_t _size);
+    //! deallocates the buffer if it was dynamically allocated
+    void deallocate();
+    //! resizes the buffer and preserves the content
+    void resize(size_t _size);
+    //! returns the current buffer size
+    size_t size() const;
+    //! returns pointer to the real buffer, stack-allocated or head-allocated
+    operator _Tp* ();
+    //! returns read-only pointer to the real buffer, stack-allocated or head-allocated
+    operator const _Tp* () const;
+
+protected:
+    //! pointer to the real buffer, can point to buf if the buffer is small enough
+    _Tp* ptr;
+    //! size of the real buffer
+    size_t sz;
+    //! pre-allocated buffer. At least 1 element to confirm C++ standard reqirements
+    _Tp buf[(fixed_size > 0) ? fixed_size : 1];
+};
+
+/**  @brief Sets/resets the break-on-error mode.
+
+When the break-on-error mode is set, the default error handler issues a hardware exception, which
+can make debugging more convenient.
+
+\return the previous state
+ */
+CV_EXPORTS bool setBreakOnError(bool flag);
+
+extern "C" typedef int (*ErrorCallback)( int status, const char* func_name,
+                                       const char* err_msg, const char* file_name,
+                                       int line, void* userdata );
+
+
+/** @brief Sets the new error handler and the optional user data.
+
+  The function sets the new error handler, called from cv::error().
+
+  \param errCallback the new error handler. If NULL, the default error handler is used.
+  \param userdata the optional user data pointer, passed to the callback.
+  \param prevUserdata the optional output parameter where the previous user data pointer is stored
+
+  \return the previous error handler
+*/
+CV_EXPORTS ErrorCallback redirectError( ErrorCallback errCallback, void* userdata=0, void** prevUserdata=0);
+
+/** @brief Returns a text string formatted using the printf-like expression.
+
+The function acts like sprintf but forms and returns an STL string. It can be used to form an error
+message in the Exception constructor.
+@param fmt printf-compatible formatting specifiers.
+ */
+CV_EXPORTS String format( const char* fmt, ... );
+CV_EXPORTS String tempfile( const char* suffix = 0);
+CV_EXPORTS void glob(String pattern, std::vector<String>& result, bool recursive = false);
+
+/** @brief OpenCV will try to set the number of threads for the next parallel region.
+
+If threads == 0, OpenCV will disable threading optimizations and run all it's functions
+sequentially. Passing threads \< 0 will reset threads number to system default. This function must
+be called outside of parallel region.
+
+OpenCV will try to run it's functions with specified threads number, but some behaviour differs from
+framework:
+-   `TBB` – User-defined parallel constructions will run with the same threads number, if
+    another does not specified. If late on user creates own scheduler, OpenCV will be use it.
+-   `OpenMP` – No special defined behaviour.
+-   `Concurrency` – If threads == 1, OpenCV will disable threading optimizations and run it's
+    functions sequentially.
+-   `GCD` – Supports only values \<= 0.
+-   `C=` – No special defined behaviour.
+@param nthreads Number of threads used by OpenCV.
+@sa getNumThreads, getThreadNum
+ */
+CV_EXPORTS void setNumThreads(int nthreads);
+
+/** @brief Returns the number of threads used by OpenCV for parallel regions.
+
+Always returns 1 if OpenCV is built without threading support.
+
+The exact meaning of return value depends on the threading framework used by OpenCV library:
+- `TBB` – The number of threads, that OpenCV will try to use for parallel regions. If there is
+  any tbb::thread_scheduler_init in user code conflicting with OpenCV, then function returns
+  default number of threads used by TBB library.
+- `OpenMP` – An upper bound on the number of threads that could be used to form a new team.
+- `Concurrency` – The number of threads, that OpenCV will try to use for parallel regions.
+- `GCD` – Unsupported; returns the GCD thread pool limit (512) for compatibility.
+- `C=` – The number of threads, that OpenCV will try to use for parallel regions, if before
+  called setNumThreads with threads \> 0, otherwise returns the number of logical CPUs,
+  available for the process.
+@sa setNumThreads, getThreadNum
+ */
+CV_EXPORTS int getNumThreads();
+
+/** @brief Returns the index of the currently executed thread within the current parallel region. Always
+returns 0 if called outside of parallel region.
+
+The exact meaning of return value depends on the threading framework used by OpenCV library:
+- `TBB` – Unsupported with current 4.1 TBB release. May be will be supported in future.
+- `OpenMP` – The thread number, within the current team, of the calling thread.
+- `Concurrency` – An ID for the virtual processor that the current context is executing on (0
+  for master thread and unique number for others, but not necessary 1,2,3,...).
+- `GCD` – System calling thread's ID. Never returns 0 inside parallel region.
+- `C=` – The index of the current parallel task.
+@sa setNumThreads, getNumThreads
+ */
+CV_EXPORTS int getThreadNum();
+
+/** @brief Returns full configuration time cmake output.
+
+Returned value is raw cmake output including version control system revision, compiler version,
+compiler flags, enabled modules and third party libraries, etc. Output format depends on target
+architecture.
+ */
+CV_EXPORTS_W const String& getBuildInformation();
+
+/** @brief Returns the number of ticks.
+
+The function returns the number of ticks after the certain event (for example, when the machine was
+turned on). It can be used to initialize RNG or to measure a function execution time by reading the
+tick count before and after the function call. See also the tick frequency.
+ */
+CV_EXPORTS_W int64 getTickCount();
+
+/** @brief Returns the number of ticks per second.
+
+The function returns the number of ticks per second. That is, the following code computes the
+execution time in seconds:
+@code
+    double t = (double)getTickCount();
+    // do something ...
+    t = ((double)getTickCount() - t)/getTickFrequency();
+@endcode
+ */
+CV_EXPORTS_W double getTickFrequency();
+
+/** @brief Returns the number of CPU ticks.
+
+The function returns the current number of CPU ticks on some architectures (such as x86, x64,
+PowerPC). On other platforms the function is equivalent to getTickCount. It can also be used for
+very accurate time measurements, as well as for RNG initialization. Note that in case of multi-CPU
+systems a thread, from which getCPUTickCount is called, can be suspended and resumed at another CPU
+with its own counter. So, theoretically (and practically) the subsequent calls to the function do
+not necessary return the monotonously increasing values. Also, since a modern CPU varies the CPU
+frequency depending on the load, the number of CPU clocks spent in some code cannot be directly
+converted to time units. Therefore, getTickCount is generally a preferable solution for measuring
+execution time.
+ */
+CV_EXPORTS_W int64 getCPUTickCount();
+
+/** @brief Available CPU features.
+
+remember to keep this list identical to the one in cvdef.h
+*/
+enum CpuFeatures {
+    CPU_MMX             = 1,
+    CPU_SSE             = 2,
+    CPU_SSE2            = 3,
+    CPU_SSE3            = 4,
+    CPU_SSSE3           = 5,
+    CPU_SSE4_1          = 6,
+    CPU_SSE4_2          = 7,
+    CPU_POPCNT          = 8,
+
+    CPU_AVX             = 10,
+    CPU_AVX2            = 11,
+    CPU_FMA3            = 12,
+
+    CPU_AVX_512F        = 13,
+    CPU_AVX_512BW       = 14,
+    CPU_AVX_512CD       = 15,
+    CPU_AVX_512DQ       = 16,
+    CPU_AVX_512ER       = 17,
+    CPU_AVX_512IFMA512  = 18,
+    CPU_AVX_512PF       = 19,
+    CPU_AVX_512VBMI     = 20,
+    CPU_AVX_512VL       = 21,
+
+    CPU_NEON            = 100
+};
+
+/** @brief Returns true if the specified feature is supported by the host hardware.
+
+The function returns true if the host hardware supports the specified feature. When user calls
+setUseOptimized(false), the subsequent calls to checkHardwareSupport() will return false until
+setUseOptimized(true) is called. This way user can dynamically switch on and off the optimized code
+in OpenCV.
+@param feature The feature of interest, one of cv::CpuFeatures
+ */
+CV_EXPORTS_W bool checkHardwareSupport(int feature);
+
+/** @brief Returns the number of logical CPUs available for the process.
+ */
+CV_EXPORTS_W int getNumberOfCPUs();
+
+
+/** @brief Aligns a pointer to the specified number of bytes.
+
+The function returns the aligned pointer of the same type as the input pointer:
+\f[\texttt{(\_Tp*)(((size\_t)ptr + n-1) \& -n)}\f]
+@param ptr Aligned pointer.
+@param n Alignment size that must be a power of two.
+ */
+template<typename _Tp> static inline _Tp* alignPtr(_Tp* ptr, int n=(int)sizeof(_Tp))
+{
+    return (_Tp*)(((size_t)ptr + n-1) & -n);
+}
+
+/** @brief Aligns a buffer size to the specified number of bytes.
+
+The function returns the minimum number that is greater or equal to sz and is divisible by n :
+\f[\texttt{(sz + n-1) \& -n}\f]
+@param sz Buffer size to align.
+@param n Alignment size that must be a power of two.
+ */
+static inline size_t alignSize(size_t sz, int n)
+{
+    CV_DbgAssert((n & (n - 1)) == 0); // n is a power of 2
+    return (sz + n-1) & -n;
+}
+
+/** @brief Enables or disables the optimized code.
+
+The function can be used to dynamically turn on and off optimized code (code that uses SSE2, AVX,
+and other instructions on the platforms that support it). It sets a global flag that is further
+checked by OpenCV functions. Since the flag is not checked in the inner OpenCV loops, it is only
+safe to call the function on the very top level in your application where you can be sure that no
+other OpenCV function is currently executed.
+
+By default, the optimized code is enabled unless you disable it in CMake. The current status can be
+retrieved using useOptimized.
+@param onoff The boolean flag specifying whether the optimized code should be used (onoff=true)
+or not (onoff=false).
+ */
+CV_EXPORTS_W void setUseOptimized(bool onoff);
+
+/** @brief Returns the status of optimized code usage.
+
+The function returns true if the optimized code is enabled. Otherwise, it returns false.
+ */
+CV_EXPORTS_W bool useOptimized();
+
+static inline size_t getElemSize(int type) { return CV_ELEM_SIZE(type); }
+
+/////////////////////////////// Parallel Primitives //////////////////////////////////
+
+/** @brief Base class for parallel data processors
+*/
+class CV_EXPORTS ParallelLoopBody
+{
+public:
+    virtual ~ParallelLoopBody();
+    virtual void operator() (const Range& range) const = 0;
+};
+
+/** @brief Parallel data processor
+*/
+CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);
+
+/////////////////////////////// forEach method of cv::Mat ////////////////////////////
+template<typename _Tp, typename Functor> inline
+void Mat::forEach_impl(const Functor& operation) {
+    if (false) {
+        operation(*reinterpret_cast<_Tp*>(0), reinterpret_cast<int*>(NULL));
+        // If your compiler fail in this line.
+        // Please check that your functor signature is
+        //     (_Tp&, const int*)   <- multidimential
+        //  or (_Tp&, void*)        <- in case of you don't need current idx.
+    }
+
+    CV_Assert(this->total() / this->size[this->dims - 1] <= INT_MAX);
+    const int LINES = static_cast<int>(this->total() / this->size[this->dims - 1]);
+
+    class PixelOperationWrapper :public ParallelLoopBody
+    {
+    public:
+        PixelOperationWrapper(Mat_<_Tp>* const frame, const Functor& _operation)
+            : mat(frame), op(_operation) {};
+        virtual ~PixelOperationWrapper(){};
+        // ! Overloaded virtual operator
+        // convert range call to row call.
+        virtual void operator()(const Range &range) const {
+            const int DIMS = mat->dims;
+            const int COLS = mat->size[DIMS - 1];
+            if (DIMS <= 2) {
+                for (int row = range.start; row < range.end; ++row) {
+                    this->rowCall2(row, COLS);
+                }
+            } else {
+                std::vector<int> idx(COLS); /// idx is modified in this->rowCall
+                idx[DIMS - 2] = range.start - 1;
+
+                for (int line_num = range.start; line_num < range.end; ++line_num) {
+                    idx[DIMS - 2]++;
+                    for (int i = DIMS - 2; i >= 0; --i) {
+                        if (idx[i] >= mat->size[i]) {
+                            idx[i - 1] += idx[i] / mat->size[i];
+                            idx[i] %= mat->size[i];
+                            continue; // carry-over;
+                        }
+                        else {
+                            break;
+                        }
+                    }
+                    this->rowCall(&idx[0], COLS, DIMS);
+                }
+            }
+        };
+    private:
+        Mat_<_Tp>* const mat;
+        const Functor op;
+        // ! Call operator for each elements in this row.
+        inline void rowCall(int* const idx, const int COLS, const int DIMS) const {
+            int &col = idx[DIMS - 1];
+            col = 0;
+            _Tp* pixel = &(mat->template at<_Tp>(idx));
+
+            while (col < COLS) {
+                op(*pixel, const_cast<const int*>(idx));
+                pixel++; col++;
+            }
+            col = 0;
+        }
+        // ! Call operator for each elements in this row. 2d mat special version.
+        inline void rowCall2(const int row, const int COLS) const {
+            union Index{
+                int body[2];
+                operator const int*() const {
+                    return reinterpret_cast<const int*>(this);
+                }
+                int& operator[](const int i) {
+                    return body[i];
+                }
+            } idx = {{row, 0}};
+            // Special union is needed to avoid
+            // "error: array subscript is above array bounds [-Werror=array-bounds]"
+            // when call the functor `op` such that access idx[3].
+
+            _Tp* pixel = &(mat->template at<_Tp>(idx));
+            const _Tp* const pixel_end = pixel + COLS;
+            while(pixel < pixel_end) {
+                op(*pixel++, static_cast<const int*>(idx));
+                idx[1]++;
+            }
+        };
+        PixelOperationWrapper& operator=(const PixelOperationWrapper &) {
+            CV_Assert(false);
+            // We can not remove this implementation because Visual Studio warning C4822.
+            return *this;
+        };
+    };
+
+    parallel_for_(cv::Range(0, LINES), PixelOperationWrapper(reinterpret_cast<Mat_<_Tp>*>(this), operation));
+}
+
+/////////////////////////// Synchronization Primitives ///////////////////////////////
+
+class CV_EXPORTS Mutex
+{
+public:
+    Mutex();
+    ~Mutex();
+    Mutex(const Mutex& m);
+    Mutex& operator = (const Mutex& m);
+
+    void lock();
+    bool trylock();
+    void unlock();
+
+    struct Impl;
+protected:
+    Impl* impl;
+};
+
+class CV_EXPORTS AutoLock
+{
+public:
+    AutoLock(Mutex& m) : mutex(&m) { mutex->lock(); }
+    ~AutoLock() { mutex->unlock(); }
+protected:
+    Mutex* mutex;
+private:
+    AutoLock(const AutoLock&);
+    AutoLock& operator = (const AutoLock&);
+};
+
+class CV_EXPORTS TLSDataContainer
+{
+private:
+    int key_;
+protected:
+    TLSDataContainer();
+    virtual ~TLSDataContainer();
+public:
+    virtual void* createDataInstance() const = 0;
+    virtual void deleteDataInstance(void* data) const = 0;
+
+    void* getData() const;
+};
+
+template <typename T>
+class TLSData : protected TLSDataContainer
+{
+public:
+    inline TLSData() {}
+    inline ~TLSData() {}
+    inline T* get() const { return (T*)getData(); }
+private:
+    virtual void* createDataInstance() const { return new T; }
+    virtual void deleteDataInstance(void* data) const { delete (T*)data; }
+};
+
+/** @brief Designed for command line parsing
+
+The sample below demonstrates how to use CommandLineParser:
+@code
+    CommandLineParser parser(argc, argv, keys);
+    parser.about("Application name v1.0.0");
+
+    if (parser.has("help"))
+    {
+        parser.printMessage();
+        return 0;
+    }
+
+    int N = parser.get<int>("N");
+    double fps = parser.get<double>("fps");
+    String path = parser.get<String>("path");
+
+    use_time_stamp = parser.has("timestamp");
+
+    String img1 = parser.get<String>(0);
+    String img2 = parser.get<String>(1);
+
+    int repeat = parser.get<int>(2);
+
+    if (!parser.check())
+    {
+        parser.printErrors();
+        return 0;
+    }
+@endcode
+
+### Keys syntax
+
+The keys parameter is a string containing several blocks, each one is enclosed in curley braces and
+describes one argument. Each argument contains three parts separated by the `|` symbol:
+
+-# argument names is a space-separated list of option synonyms (to mark argument as positional, prefix it with the `@` symbol)
+-# default value will be used if the argument was not provided (can be empty)
+-# help message (can be empty)
+
+For example:
+
+@code{.cpp}
+    const String keys =
+        "{help h usage ? |      | print this message   }"
+        "{@image1        |      | image1 for compare   }"
+        "{@image2        |      | image2 for compare   }"
+        "{@repeat        |1     | number               }"
+        "{path           |.     | path to file         }"
+        "{fps            | -1.0 | fps for output video }"
+        "{N count        |100   | count of objects     }"
+        "{ts timestamp   |      | use time stamp       }"
+        ;
+}
+@endcode
+
+### Usage
+
+For the described keys:
+
+@code{.sh}
+    # Good call (3 positional parameters: image1, image2 and repeat; N is 200, ts is true)
+    $ ./app -N=200 1.png 2.jpg 19 -ts
+
+    # Bad call
+    $ ./app -fps=aaa
+    ERRORS:
+    Exception: can not convert: [aaa] to [double]
+@endcode
+ */
+class CV_EXPORTS CommandLineParser
+{
+public:
+
+    /** @brief Constructor
+
+    Initializes command line parser object
+
+    @param argc number of command line arguments (from main())
+    @param argv array of command line arguments (from main())
+    @param keys string describing acceptable command line parameters (see class description for syntax)
+    */
+    CommandLineParser(int argc, const char* const argv[], const String& keys);
+
+    /** @brief Copy constructor */
+    CommandLineParser(const CommandLineParser& parser);
+
+    /** @brief Assignment operator */
+    CommandLineParser& operator = (const CommandLineParser& parser);
+
+    /** @brief Destructor */
+    ~CommandLineParser();
+
+    /** @brief Returns application path
+
+    This method returns the path to the executable from the command line (`argv[0]`).
+
+    For example, if the application has been started with such command:
+    @code{.sh}
+    $ ./bin/my-executable
+    @endcode
+    this method will return `./bin`.
+    */
+    String getPathToApplication() const;
+
+    /** @brief Access arguments by name
+
+    Returns argument converted to selected type. If the argument is not known or can not be
+    converted to selected type, the error flag is set (can be checked with @ref check).
+
+    For example, define:
+    @code{.cpp}
+    String keys = "{N count||}";
+    @endcode
+
+    Call:
+    @code{.sh}
+    $ ./my-app -N=20
+    # or
+    $ ./my-app --count=20
+    @endcode
+
+    Access:
+    @code{.cpp}
+    int N = parser.get<int>("N");
+    @endcode
+
+    @param name name of the argument
+    @param space_delete remove spaces from the left and right of the string
+    @tparam T the argument will be converted to this type if possible
+
+    @note You can access positional arguments by their `@`-prefixed name:
+    @code{.cpp}
+    parser.get<String>("@image");
+    @endcode
+     */
+    template <typename T>
+    T get(const String& name, bool space_delete = true) const
+    {
+        T val = T();
+        getByName(name, space_delete, ParamType<T>::type, (void*)&val);
+        return val;
+    }
+
+    /** @brief Access positional arguments by index
+
+    Returns argument converted to selected type. Indexes are counted from zero.
+
+    For example, define:
+    @code{.cpp}
+    String keys = "{@arg1||}{@arg2||}"
+    @endcode
+
+    Call:
+    @code{.sh}
+    ./my-app abc qwe
+    @endcode
+
+    Access arguments:
+    @code{.cpp}
+    String val_1 = parser.get<String>(0); // returns "abc", arg1
+    String val_2 = parser.get<String>(1); // returns "qwe", arg2
+    @endcode
+
+    @param index index of the argument
+    @param space_delete remove spaces from the left and right of the string
+    @tparam T the argument will be converted to this type if possible
+     */
+    template <typename T>
+    T get(int index, bool space_delete = true) const
+    {
+        T val = T();
+        getByIndex(index, space_delete, ParamType<T>::type, (void*)&val);
+        return val;
+    }
+
+    /** @brief Check if field was provided in the command line
+
+    @param name argument name to check
+    */
+    bool has(const String& name) const;
+
+    /** @brief Check for parsing errors
+
+    Returns true if error occured while accessing the parameters (bad conversion, missing arguments,
+    etc.). Call @ref printErrors to print error messages list.
+     */
+    bool check() const;
+
+    /** @brief Set the about message
+
+    The about message will be shown when @ref printMessage is called, right before arguments table.
+     */
+    void about(const String& message);
+
+    /** @brief Print help message
+
+    This method will print standard help message containing the about message and arguments description.
+
+    @sa about
+    */
+    void printMessage() const;
+
+    /** @brief Print list of errors occured
+
+    @sa check
+    */
+    void printErrors() const;
+
+protected:
+    void getByName(const String& name, bool space_delete, int type, void* dst) const;
+    void getByIndex(int index, bool space_delete, int type, void* dst) const;
+
+    struct Impl;
+    Impl* impl;
+};
+
+//! @} core_utils
+
+//! @cond IGNORED
+
+/////////////////////////////// AutoBuffer implementation ////////////////////////////////////////
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::AutoBuffer()
+{
+    ptr = buf;
+    sz = fixed_size;
+}
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::AutoBuffer(size_t _size)
+{
+    ptr = buf;
+    sz = fixed_size;
+    allocate(_size);
+}
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::AutoBuffer(const AutoBuffer<_Tp, fixed_size>& abuf )
+{
+    ptr = buf;
+    sz = fixed_size;
+    allocate(abuf.size());
+    for( size_t i = 0; i < sz; i++ )
+        ptr[i] = abuf.ptr[i];
+}
+
+template<typename _Tp, size_t fixed_size> inline AutoBuffer<_Tp, fixed_size>&
+AutoBuffer<_Tp, fixed_size>::operator = (const AutoBuffer<_Tp, fixed_size>& abuf)
+{
+    if( this != &abuf )
+    {
+        deallocate();
+        allocate(abuf.size());
+        for( size_t i = 0; i < sz; i++ )
+            ptr[i] = abuf.ptr[i];
+    }
+    return *this;
+}
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::~AutoBuffer()
+{ deallocate(); }
+
+template<typename _Tp, size_t fixed_size> inline void
+AutoBuffer<_Tp, fixed_size>::allocate(size_t _size)
+{
+    if(_size <= sz)
+    {
+        sz = _size;
+        return;
+    }
+    deallocate();
+    if(_size > fixed_size)
+    {
+        ptr = new _Tp[_size];
+        sz = _size;
+    }
+}
+
+template<typename _Tp, size_t fixed_size> inline void
+AutoBuffer<_Tp, fixed_size>::deallocate()
+{
+    if( ptr != buf )
+    {
+        delete[] ptr;
+        ptr = buf;
+        sz = fixed_size;
+    }
+}
+
+template<typename _Tp, size_t fixed_size> inline void
+AutoBuffer<_Tp, fixed_size>::resize(size_t _size)
+{
+    if(_size <= sz)
+    {
+        sz = _size;
+        return;
+    }
+    size_t i, prevsize = sz, minsize = MIN(prevsize, _size);
+    _Tp* prevptr = ptr;
+
+    ptr = _size > fixed_size ? new _Tp[_size] : buf;
+    sz = _size;
+
+    if( ptr != prevptr )
+        for( i = 0; i < minsize; i++ )
+            ptr[i] = prevptr[i];
+    for( i = prevsize; i < _size; i++ )
+        ptr[i] = _Tp();
+
+    if( prevptr != buf )
+        delete[] prevptr;
+}
+
+template<typename _Tp, size_t fixed_size> inline size_t
+AutoBuffer<_Tp, fixed_size>::size() const
+{ return sz; }
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::operator _Tp* ()
+{ return ptr; }
+
+template<typename _Tp, size_t fixed_size> inline
+AutoBuffer<_Tp, fixed_size>::operator const _Tp* () const
+{ return ptr; }
+
+#ifndef OPENCV_NOSTL
+template<> inline std::string CommandLineParser::get<std::string>(int index, bool space_delete) const
+{
+    return get<String>(index, space_delete);
+}
+template<> inline std::string CommandLineParser::get<std::string>(const String& name, bool space_delete) const
+{
+    return get<String>(name, space_delete);
+}
+#endif // OPENCV_NOSTL
+
+//! @endcond
+
+} //namespace cv
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/core/core_c.h"
+#endif
+
+#endif //__OPENCV_CORE_UTILITY_H__
diff --git a/3rdparty/include/opencv2/core/version.hpp b/3rdparty/include/opencv2/core/version.hpp
new file mode 100644
index 0000000..e8662aa
--- /dev/null
+++ b/3rdparty/include/opencv2/core/version.hpp
@@ -0,0 +1,71 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright( C) 2000-2015, Intel Corporation, all rights reserved.
+// Copyright (C) 2011-2013, NVIDIA Corporation, all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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 Intel Corporation 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*/
+
+/*
+  definition of the current version of OpenCV
+  Usefull to test in user programs
+*/
+
+#ifndef __OPENCV_VERSION_HPP__
+#define __OPENCV_VERSION_HPP__
+
+#define CV_VERSION_MAJOR    3
+#define CV_VERSION_MINOR    0
+#define CV_VERSION_REVISION 0
+#define CV_VERSION_STATUS   ""
+
+#define CVAUX_STR_EXP(__A)  #__A
+#define CVAUX_STR(__A)      CVAUX_STR_EXP(__A)
+
+#define CVAUX_STRW_EXP(__A)  L#__A
+#define CVAUX_STRW(__A)      CVAUX_STRW_EXP(__A)
+
+#define CV_VERSION          CVAUX_STR(CV_VERSION_MAJOR) "." CVAUX_STR(CV_VERSION_MINOR) "." CVAUX_STR(CV_VERSION_REVISION) CV_VERSION_STATUS
+
+/* old  style version constants*/
+#define CV_MAJOR_VERSION    CV_VERSION_MAJOR
+#define CV_MINOR_VERSION    CV_VERSION_MINOR
+#define CV_SUBMINOR_VERSION CV_VERSION_REVISION
+
+#endif
diff --git a/3rdparty/include/opencv2/core/wimage.hpp b/3rdparty/include/opencv2/core/wimage.hpp
new file mode 100644
index 0000000..ef9d398
--- /dev/null
+++ b/3rdparty/include/opencv2/core/wimage.hpp
@@ -0,0 +1,603 @@
+/*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) 2008, Google, 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 Intel Corporation or contributors may not be used to endorse
+//     or promote products derived from this software without specific
+//     prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is"
+// and any express or implied warranties, including, but not limited to, the
+// implied warranties of merchantability and fitness for a particular purpose
+// are disclaimed. In no event shall the Intel Corporation or contributors be
+// liable for any direct, indirect, incidental, special, exemplary, or
+// consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+/////////////////////////////////////////////////////////////////////////////////
+//M*/
+
+#ifndef __OPENCV_CORE_WIMAGE_HPP__
+#define __OPENCV_CORE_WIMAGE_HPP__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+
+namespace cv {
+
+//! @addtogroup core
+//! @{
+
+template <typename T> class WImage;
+template <typename T> class WImageBuffer;
+template <typename T> class WImageView;
+
+template<typename T, int C> class WImageC;
+template<typename T, int C> class WImageBufferC;
+template<typename T, int C> class WImageViewC;
+
+// Commonly used typedefs.
+typedef WImage<uchar>            WImage_b;
+typedef WImageView<uchar>        WImageView_b;
+typedef WImageBuffer<uchar>      WImageBuffer_b;
+
+typedef WImageC<uchar, 1>        WImage1_b;
+typedef WImageViewC<uchar, 1>    WImageView1_b;
+typedef WImageBufferC<uchar, 1>  WImageBuffer1_b;
+
+typedef WImageC<uchar, 3>        WImage3_b;
+typedef WImageViewC<uchar, 3>    WImageView3_b;
+typedef WImageBufferC<uchar, 3>  WImageBuffer3_b;
+
+typedef WImage<float>            WImage_f;
+typedef WImageView<float>        WImageView_f;
+typedef WImageBuffer<float>      WImageBuffer_f;
+
+typedef WImageC<float, 1>        WImage1_f;
+typedef WImageViewC<float, 1>    WImageView1_f;
+typedef WImageBufferC<float, 1>  WImageBuffer1_f;
+
+typedef WImageC<float, 3>        WImage3_f;
+typedef WImageViewC<float, 3>    WImageView3_f;
+typedef WImageBufferC<float, 3>  WImageBuffer3_f;
+
+// There isn't a standard for signed and unsigned short so be more
+// explicit in the typename for these cases.
+typedef WImage<short>            WImage_16s;
+typedef WImageView<short>        WImageView_16s;
+typedef WImageBuffer<short>      WImageBuffer_16s;
+
+typedef WImageC<short, 1>        WImage1_16s;
+typedef WImageViewC<short, 1>    WImageView1_16s;
+typedef WImageBufferC<short, 1>  WImageBuffer1_16s;
+
+typedef WImageC<short, 3>        WImage3_16s;
+typedef WImageViewC<short, 3>    WImageView3_16s;
+typedef WImageBufferC<short, 3>  WImageBuffer3_16s;
+
+typedef WImage<ushort>            WImage_16u;
+typedef WImageView<ushort>        WImageView_16u;
+typedef WImageBuffer<ushort>      WImageBuffer_16u;
+
+typedef WImageC<ushort, 1>        WImage1_16u;
+typedef WImageViewC<ushort, 1>    WImageView1_16u;
+typedef WImageBufferC<ushort, 1>  WImageBuffer1_16u;
+
+typedef WImageC<ushort, 3>        WImage3_16u;
+typedef WImageViewC<ushort, 3>    WImageView3_16u;
+typedef WImageBufferC<ushort, 3>  WImageBuffer3_16u;
+
+/** @brief Image class which provides a thin layer around an IplImage.
+
+The goals of the class design are:
+
+    -# All the data has explicit ownership to avoid memory leaks
+    -# No hidden allocations or copies for performance.
+    -# Easy access to OpenCV methods (which will access IPP if available)
+    -# Can easily treat external data as an image
+    -# Easy to create images which are subsets of other images
+    -# Fast pixel access which can take advantage of number of channels if known at compile time.
+
+The WImage class is the image class which provides the data accessors. The 'W' comes from the fact
+that it is also a wrapper around the popular but inconvenient IplImage class. A WImage can be
+constructed either using a WImageBuffer class which allocates and frees the data, or using a
+WImageView class which constructs a subimage or a view into external data. The view class does no
+memory management. Each class actually has two versions, one when the number of channels is known
+at compile time and one when it isn't. Using the one with the number of channels specified can
+provide some compile time optimizations by using the fact that the number of channels is a
+constant.
+
+We use the convention (c,r) to refer to column c and row r with (0,0) being the upper left corner.
+This is similar to standard Euclidean coordinates with the first coordinate varying in the
+horizontal direction and the second coordinate varying in the vertical direction. Thus (c,r) is
+usually in the domain [0, width) X [0, height)
+
+Example usage:
+@code
+WImageBuffer3_b  im(5,7);  // Make a 5X7 3 channel image of type uchar
+WImageView3_b  sub_im(im, 2,2, 3,3); // 3X3 submatrix
+vector<float> vec(10, 3.0f);
+WImageView1_f user_im(&vec[0], 2, 5);  // 2X5 image w/ supplied data
+
+im.SetZero();  // same as cvSetZero(im.Ipl())
+*im(2, 3) = 15;  // Modify the element at column 2, row 3
+MySetRand(&sub_im);
+
+// Copy the second row into the first.  This can be done with no memory
+// allocation and will use SSE if IPP is available.
+int w = im.Width();
+im.View(0,0, w,1).CopyFrom(im.View(0,1, w,1));
+
+// Doesn't care about source of data since using WImage
+void MySetRand(WImage_b* im) { // Works with any number of channels
+for (int r = 0; r < im->Height(); ++r) {
+ float* row = im->Row(r);
+ for (int c = 0; c < im->Width(); ++c) {
+    for (int ch = 0; ch < im->Channels(); ++ch, ++row) {
+      *row = uchar(rand() & 255);
+    }
+ }
+}
+}
+@endcode
+
+Functions that are not part of the basic image allocation, viewing, and access should come from
+OpenCV, except some useful functions that are not part of OpenCV can be found in wimage_util.h
+*/
+template<typename T>
+class WImage
+{
+public:
+    typedef T BaseType;
+
+    // WImage is an abstract class with no other virtual methods so make the
+    // destructor virtual.
+    virtual ~WImage() = 0;
+
+    // Accessors
+    IplImage* Ipl() {return image_; }
+    const IplImage* Ipl() const {return image_; }
+    T* ImageData() { return reinterpret_cast<T*>(image_->imageData); }
+    const T* ImageData() const {
+        return reinterpret_cast<const T*>(image_->imageData);
+    }
+
+    int Width() const {return image_->width; }
+    int Height() const {return image_->height; }
+
+    // WidthStep is the number of bytes to go to the pixel with the next y coord
+    int WidthStep() const {return image_->widthStep; }
+
+    int Channels() const {return image_->nChannels; }
+    int ChannelSize() const {return sizeof(T); }  // number of bytes per channel
+
+    // Number of bytes per pixel
+    int PixelSize() const {return Channels() * ChannelSize(); }
+
+    // Return depth type (e.g. IPL_DEPTH_8U, IPL_DEPTH_32F) which is the number
+    // of bits per channel and with the signed bit set.
+    // This is known at compile time using specializations.
+    int Depth() const;
+
+    inline const T* Row(int r) const {
+        return reinterpret_cast<T*>(image_->imageData + r*image_->widthStep);
+    }
+
+    inline T* Row(int r) {
+        return reinterpret_cast<T*>(image_->imageData + r*image_->widthStep);
+    }
+
+    // Pixel accessors which returns a pointer to the start of the channel
+    inline T* operator() (int c, int r)  {
+        return reinterpret_cast<T*>(image_->imageData + r*image_->widthStep) +
+            c*Channels();
+    }
+
+    inline const T* operator() (int c, int r) const  {
+        return reinterpret_cast<T*>(image_->imageData + r*image_->widthStep) +
+            c*Channels();
+    }
+
+    // Copy the contents from another image which is just a convenience to cvCopy
+    void CopyFrom(const WImage<T>& src) { cvCopy(src.Ipl(), image_); }
+
+    // Set contents to zero which is just a convenient to cvSetZero
+    void SetZero() { cvSetZero(image_); }
+
+    // Construct a view into a region of this image
+    WImageView<T> View(int c, int r, int width, int height);
+
+protected:
+    // Disallow copy and assignment
+    WImage(const WImage&);
+    void operator=(const WImage&);
+
+    explicit WImage(IplImage* img) : image_(img) {
+        assert(!img || img->depth == Depth());
+    }
+
+    void SetIpl(IplImage* image) {
+        assert(!image || image->depth == Depth());
+        image_ = image;
+    }
+
+    IplImage* image_;
+};
+
+
+/** Image class when both the pixel type and number of channels
+are known at compile time.  This wrapper will speed up some of the operations
+like accessing individual pixels using the () operator.
+*/
+template<typename T, int C>
+class WImageC : public WImage<T>
+{
+public:
+    typedef typename WImage<T>::BaseType BaseType;
+    enum { kChannels = C };
+
+    explicit WImageC(IplImage* img) : WImage<T>(img) {
+        assert(!img || img->nChannels == Channels());
+    }
+
+    // Construct a view into a region of this image
+    WImageViewC<T, C> View(int c, int r, int width, int height);
+
+    // Copy the contents from another image which is just a convenience to cvCopy
+    void CopyFrom(const WImageC<T, C>& src) {
+        cvCopy(src.Ipl(), WImage<T>::image_);
+    }
+
+    // WImageC is an abstract class with no other virtual methods so make the
+    // destructor virtual.
+    virtual ~WImageC() = 0;
+
+    int Channels() const {return C; }
+
+protected:
+    // Disallow copy and assignment
+    WImageC(const WImageC&);
+    void operator=(const WImageC&);
+
+    void SetIpl(IplImage* image) {
+        assert(!image || image->depth == WImage<T>::Depth());
+        WImage<T>::SetIpl(image);
+    }
+};
+
+/** Image class which owns the data, so it can be allocated and is always
+freed.  It cannot be copied but can be explicity cloned.
+*/
+template<typename T>
+class WImageBuffer : public WImage<T>
+{
+public:
+    typedef typename WImage<T>::BaseType BaseType;
+
+    // Default constructor which creates an object that can be
+    WImageBuffer() : WImage<T>(0) {}
+
+    WImageBuffer(int width, int height, int nchannels) : WImage<T>(0) {
+        Allocate(width, height, nchannels);
+    }
+
+    // Constructor which takes ownership of a given IplImage so releases
+    // the image on destruction.
+    explicit WImageBuffer(IplImage* img) : WImage<T>(img) {}
+
+    // Allocate an image.  Does nothing if current size is the same as
+    // the new size.
+    void Allocate(int width, int height, int nchannels);
+
+    // Set the data to point to an image, releasing the old data
+    void SetIpl(IplImage* img) {
+        ReleaseImage();
+        WImage<T>::SetIpl(img);
+    }
+
+    // Clone an image which reallocates the image if of a different dimension.
+    void CloneFrom(const WImage<T>& src) {
+        Allocate(src.Width(), src.Height(), src.Channels());
+        CopyFrom(src);
+    }
+
+    ~WImageBuffer() {
+        ReleaseImage();
+    }
+
+    // Release the image if it isn't null.
+    void ReleaseImage() {
+        if (WImage<T>::image_) {
+            IplImage* image = WImage<T>::image_;
+            cvReleaseImage(&image);
+            WImage<T>::SetIpl(0);
+        }
+    }
+
+    bool IsNull() const {return WImage<T>::image_ == NULL; }
+
+private:
+    // Disallow copy and assignment
+    WImageBuffer(const WImageBuffer&);
+    void operator=(const WImageBuffer&);
+};
+
+/** Like a WImageBuffer class but when the number of channels is known at compile time.
+*/
+template<typename T, int C>
+class WImageBufferC : public WImageC<T, C>
+{
+public:
+    typedef typename WImage<T>::BaseType BaseType;
+    enum { kChannels = C };
+
+    // Default constructor which creates an object that can be
+    WImageBufferC() : WImageC<T, C>(0) {}
+
+    WImageBufferC(int width, int height) : WImageC<T, C>(0) {
+        Allocate(width, height);
+    }
+
+    // Constructor which takes ownership of a given IplImage so releases
+    // the image on destruction.
+    explicit WImageBufferC(IplImage* img) : WImageC<T, C>(img) {}
+
+    // Allocate an image.  Does nothing if current size is the same as
+    // the new size.
+    void Allocate(int width, int height);
+
+    // Set the data to point to an image, releasing the old data
+    void SetIpl(IplImage* img) {
+        ReleaseImage();
+        WImageC<T, C>::SetIpl(img);
+    }
+
+    // Clone an image which reallocates the image if of a different dimension.
+    void CloneFrom(const WImageC<T, C>& src) {
+        Allocate(src.Width(), src.Height());
+        CopyFrom(src);
+    }
+
+    ~WImageBufferC() {
+        ReleaseImage();
+    }
+
+    // Release the image if it isn't null.
+    void ReleaseImage() {
+        if (WImage<T>::image_) {
+            IplImage* image = WImage<T>::image_;
+            cvReleaseImage(&image);
+            WImageC<T, C>::SetIpl(0);
+        }
+    }
+
+    bool IsNull() const {return WImage<T>::image_ == NULL; }
+
+private:
+    // Disallow copy and assignment
+    WImageBufferC(const WImageBufferC&);
+    void operator=(const WImageBufferC&);
+};
+
+/** View into an image class which allows treating a subimage as an image or treating external data
+as an image
+*/
+template<typename T> class WImageView : public WImage<T>
+{
+public:
+    typedef typename WImage<T>::BaseType BaseType;
+
+    // Construct a subimage.  No checks are done that the subimage lies
+    // completely inside the original image.
+    WImageView(WImage<T>* img, int c, int r, int width, int height);
+
+    // Refer to external data.
+    // If not given width_step assumed to be same as width.
+    WImageView(T* data, int width, int height, int channels, int width_step = -1);
+
+    // Refer to external data.  This does NOT take ownership
+    // of the supplied IplImage.
+    WImageView(IplImage* img) : WImage<T>(img) {}
+
+    // Copy constructor
+    WImageView(const WImage<T>& img) : WImage<T>(0) {
+        header_ = *(img.Ipl());
+        WImage<T>::SetIpl(&header_);
+    }
+
+    WImageView& operator=(const WImage<T>& img) {
+        header_ = *(img.Ipl());
+        WImage<T>::SetIpl(&header_);
+        return *this;
+    }
+
+protected:
+    IplImage header_;
+};
+
+
+template<typename T, int C>
+class WImageViewC : public WImageC<T, C>
+{
+public:
+    typedef typename WImage<T>::BaseType BaseType;
+    enum { kChannels = C };
+
+    // Default constructor needed for vectors of views.
+    WImageViewC();
+
+    virtual ~WImageViewC() {}
+
+    // Construct a subimage.  No checks are done that the subimage lies
+    // completely inside the original image.
+    WImageViewC(WImageC<T, C>* img,
+        int c, int r, int width, int height);
+
+    // Refer to external data
+    WImageViewC(T* data, int width, int height, int width_step = -1);
+
+    // Refer to external data.  This does NOT take ownership
+    // of the supplied IplImage.
+    WImageViewC(IplImage* img) : WImageC<T, C>(img) {}
+
+    // Copy constructor which does a shallow copy to allow multiple views
+    // of same data.  gcc-4.1.1 gets confused if both versions of
+    // the constructor and assignment operator are not provided.
+    WImageViewC(const WImageC<T, C>& img) : WImageC<T, C>(0) {
+        header_ = *(img.Ipl());
+        WImageC<T, C>::SetIpl(&header_);
+    }
+    WImageViewC(const WImageViewC<T, C>& img) : WImageC<T, C>(0) {
+        header_ = *(img.Ipl());
+        WImageC<T, C>::SetIpl(&header_);
+    }
+
+    WImageViewC& operator=(const WImageC<T, C>& img) {
+        header_ = *(img.Ipl());
+        WImageC<T, C>::SetIpl(&header_);
+        return *this;
+    }
+    WImageViewC& operator=(const WImageViewC<T, C>& img) {
+        header_ = *(img.Ipl());
+        WImageC<T, C>::SetIpl(&header_);
+        return *this;
+    }
+
+protected:
+    IplImage header_;
+};
+
+
+// Specializations for depth
+template<>
+inline int WImage<uchar>::Depth() const {return IPL_DEPTH_8U; }
+template<>
+inline int WImage<signed char>::Depth() const {return IPL_DEPTH_8S; }
+template<>
+inline int WImage<short>::Depth() const {return IPL_DEPTH_16S; }
+template<>
+inline int WImage<ushort>::Depth() const {return IPL_DEPTH_16U; }
+template<>
+inline int WImage<int>::Depth() const {return IPL_DEPTH_32S; }
+template<>
+inline int WImage<float>::Depth() const {return IPL_DEPTH_32F; }
+template<>
+inline int WImage<double>::Depth() const {return IPL_DEPTH_64F; }
+
+template<typename T> inline WImage<T>::~WImage() {}
+template<typename T, int C> inline WImageC<T, C>::~WImageC() {}
+
+template<typename T>
+inline void WImageBuffer<T>::Allocate(int width, int height, int nchannels)
+{
+    if (IsNull() || WImage<T>::Width() != width ||
+        WImage<T>::Height() != height || WImage<T>::Channels() != nchannels) {
+        ReleaseImage();
+        WImage<T>::image_ = cvCreateImage(cvSize(width, height),
+            WImage<T>::Depth(), nchannels);
+    }
+}
+
+template<typename T, int C>
+inline void WImageBufferC<T, C>::Allocate(int width, int height)
+{
+    if (IsNull() || WImage<T>::Width() != width || WImage<T>::Height() != height) {
+        ReleaseImage();
+        WImageC<T, C>::SetIpl(cvCreateImage(cvSize(width, height),WImage<T>::Depth(), C));
+    }
+}
+
+template<typename T>
+WImageView<T>::WImageView(WImage<T>* img, int c, int r, int width, int height)
+        : WImage<T>(0)
+{
+    header_ = *(img->Ipl());
+    header_.imageData = reinterpret_cast<char*>((*img)(c, r));
+    header_.width = width;
+    header_.height = height;
+    WImage<T>::SetIpl(&header_);
+}
+
+template<typename T>
+WImageView<T>::WImageView(T* data, int width, int height, int nchannels, int width_step)
+          : WImage<T>(0)
+{
+    cvInitImageHeader(&header_, cvSize(width, height), WImage<T>::Depth(), nchannels);
+    header_.imageData = reinterpret_cast<char*>(data);
+    if (width_step > 0) {
+        header_.widthStep = width_step;
+    }
+    WImage<T>::SetIpl(&header_);
+}
+
+template<typename T, int C>
+WImageViewC<T, C>::WImageViewC(WImageC<T, C>* img, int c, int r, int width, int height)
+        : WImageC<T, C>(0)
+{
+    header_ = *(img->Ipl());
+    header_.imageData = reinterpret_cast<char*>((*img)(c, r));
+    header_.width = width;
+    header_.height = height;
+    WImageC<T, C>::SetIpl(&header_);
+}
+
+template<typename T, int C>
+WImageViewC<T, C>::WImageViewC() : WImageC<T, C>(0) {
+    cvInitImageHeader(&header_, cvSize(0, 0), WImage<T>::Depth(), C);
+    header_.imageData = reinterpret_cast<char*>(0);
+    WImageC<T, C>::SetIpl(&header_);
+}
+
+template<typename T, int C>
+WImageViewC<T, C>::WImageViewC(T* data, int width, int height, int width_step)
+    : WImageC<T, C>(0)
+{
+    cvInitImageHeader(&header_, cvSize(width, height), WImage<T>::Depth(), C);
+    header_.imageData = reinterpret_cast<char*>(data);
+    if (width_step > 0) {
+        header_.widthStep = width_step;
+    }
+    WImageC<T, C>::SetIpl(&header_);
+}
+
+// Construct a view into a region of an image
+template<typename T>
+WImageView<T> WImage<T>::View(int c, int r, int width, int height) {
+    return WImageView<T>(this, c, r, width, height);
+}
+
+template<typename T, int C>
+WImageViewC<T, C> WImageC<T, C>::View(int c, int r, int width, int height) {
+    return WImageViewC<T, C>(this, c, r, width, height);
+}
+
+//! @} core
+
+}  // end of namespace
+
+#endif // __cplusplus
+
+#endif
diff --git a/3rdparty/include/opencv2/cvconfig.h b/3rdparty/include/opencv2/cvconfig.h
new file mode 100644
index 0000000..5fd0d3b
--- /dev/null
+++ b/3rdparty/include/opencv2/cvconfig.h
@@ -0,0 +1,183 @@
+/* OpenCV compiled as static or dynamic libs */
+/* #undef BUILD_SHARED_LIBS */
+
+/* Compile for 'real' NVIDIA GPU architectures */
+#define CUDA_ARCH_BIN ""
+
+/* Create PTX or BIN for 1.0 compute capability */
+/* #undef CUDA_ARCH_BIN_OR_PTX_10 */
+
+/* NVIDIA GPU features are used */
+#define CUDA_ARCH_FEATURES ""
+
+/* Compile for 'virtual' NVIDIA PTX architectures */
+#define CUDA_ARCH_PTX ""
+
+/* AVFoundation video libraries */
+/* #undef HAVE_AVFOUNDATION */
+
+/* V4L capturing support */
+/* #undef HAVE_CAMV4L */
+
+/* V4L2 capturing support */
+/* #undef HAVE_CAMV4L2 */
+
+/* Carbon windowing environment */
+/* #undef HAVE_CARBON */
+
+/* AMD's Basic Linear Algebra Subprograms Library*/
+#define HAVE_CLAMDBLAS
+
+/* AMD's OpenCL Fast Fourier Transform Library*/
+#define HAVE_CLAMDFFT
+
+/* Clp support */
+/* #undef HAVE_CLP */
+
+/* Cocoa API */
+/* #undef HAVE_COCOA */
+
+/* C= */
+/* #undef HAVE_CSTRIPES */
+
+/* NVidia Cuda Basic Linear Algebra Subprograms (BLAS) API*/
+/* #undef HAVE_CUBLAS */
+
+/* NVidia Cuda Runtime API*/
+/* #undef HAVE_CUDA */
+
+/* NVidia Cuda Fast Fourier Transform (FFT) API*/
+/* #undef HAVE_CUFFT */
+
+/* IEEE1394 capturing support */
+/* #undef HAVE_DC1394 */
+
+/* IEEE1394 capturing support - libdc1394 v2.x */
+/* #undef HAVE_DC1394_2 */
+
+/* DirectX */
+#define HAVE_DIRECTX
+#define HAVE_D3D11
+#define HAVE_D3D10
+#define HAVE_D3D9
+
+/* DirectShow Video Capture library */
+#define HAVE_DSHOW
+
+/* Eigen Matrix & Linear Algebra Library */
+/* #undef HAVE_EIGEN */
+
+/* FFMpeg video library */
+#define HAVE_FFMPEG
+
+/* ffmpeg's libswscale */
+#define HAVE_FFMPEG_SWSCALE
+
+/* ffmpeg in Gentoo */
+#define HAVE_GENTOO_FFMPEG
+
+/* Geospatial Data Abstraction Library */
+/* #undef HAVE_GDAL */
+
+/* GStreamer multimedia framework */
+/* #undef HAVE_GSTREAMER */
+
+/* GTK+ 2.0 Thread support */
+/* #undef HAVE_GTHREAD */
+
+/* GTK+ 2.x toolkit */
+/* #undef HAVE_GTK */
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+/* #undef HAVE_INTTYPES_H */
+
+/* Intel Perceptual Computing SDK library */
+/* #undef HAVE_INTELPERC */
+
+/* Intel Integrated Performance Primitives */
+#define HAVE_IPP
+#define HAVE_IPP_ICV_ONLY
+
+/* Intel IPP Async */
+/* #undef HAVE_IPP_A */
+
+/* JPEG-2000 codec */
+#define HAVE_JASPER
+
+/* IJG JPEG codec */
+#define HAVE_JPEG
+
+/* libpng/png.h needs to be included */
+/* #undef HAVE_LIBPNG_PNG_H */
+
+/* V4L/V4L2 capturing support via libv4l */
+/* #undef HAVE_LIBV4L */
+
+/* Microsoft Media Foundation Capture library */
+/* #undef HAVE_MSMF */
+
+/* NVidia Video Decoding API*/
+/* #undef HAVE_NVCUVID */
+
+/* OpenCL Support */
+#define HAVE_OPENCL
+/* #undef HAVE_OPENCL_STATIC */
+/* #undef HAVE_OPENCL_SVM */
+
+/* OpenEXR codec */
+#define HAVE_OPENEXR
+
+/* OpenGL support*/
+/* #undef HAVE_OPENGL */
+
+/* OpenNI library */
+/* #undef HAVE_OPENNI */
+
+/* OpenNI library */
+/* #undef HAVE_OPENNI2 */
+
+/* PNG codec */
+#define HAVE_PNG
+
+/* Qt support */
+/* #undef HAVE_QT */
+
+/* Qt OpenGL support */
+/* #undef HAVE_QT_OPENGL */
+
+/* QuickTime video libraries */
+/* #undef HAVE_QUICKTIME */
+
+/* QTKit video libraries */
+/* #undef HAVE_QTKIT */
+
+/* Intel Threading Building Blocks */
+/* #undef HAVE_TBB */
+
+/* TIFF codec */
+#define HAVE_TIFF
+
+/* Unicap video capture library */
+/* #undef HAVE_UNICAP */
+
+/* Video for Windows support */
+#define HAVE_VFW
+
+/* V4L2 capturing support in videoio.h */
+/* #undef HAVE_VIDEOIO */
+
+/* Win32 UI */
+#define HAVE_WIN32UI
+
+/* XIMEA camera support */
+/* #undef HAVE_XIMEA */
+
+/* Xine video library */
+/* #undef HAVE_XINE */
+
+/* Define if your processor stores words with the most significant byte
+   first (like Motorola and SPARC, unlike Intel and VAX). */
+/* #undef WORDS_BIGENDIAN */
+
+/* gPhoto2 library */
+/* #undef HAVE_GPHOTO2 */
diff --git a/3rdparty/include/opencv2/features2d.hpp b/3rdparty/include/opencv2/features2d.hpp
new file mode 100644
index 0000000..cf95e7d
--- /dev/null
+++ b/3rdparty/include/opencv2/features2d.hpp
@@ -0,0 +1,1299 @@
+/*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*/
+
+#ifndef __OPENCV_FEATURES_2D_HPP__
+#define __OPENCV_FEATURES_2D_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/flann/miniflann.hpp"
+
+/**
+  @defgroup features2d 2D Features Framework
+  @{
+    @defgroup features2d_main Feature Detection and Description
+    @defgroup features2d_match Descriptor Matchers
+
+Matchers of keypoint descriptors in OpenCV have wrappers with a common interface that enables you to
+easily switch between different algorithms solving the same problem. This section is devoted to
+matching descriptors that are represented as vectors in a multidimensional space. All objects that
+implement vector descriptor matchers inherit the DescriptorMatcher interface.
+
+@note
+   -   An example explaining keypoint matching can be found at
+        opencv_source_code/samples/cpp/descriptor_extractor_matcher.cpp
+    -   An example on descriptor matching evaluation can be found at
+        opencv_source_code/samples/cpp/detector_descriptor_matcher_evaluation.cpp
+    -   An example on one to many image matching can be found at
+        opencv_source_code/samples/cpp/matching_to_many_images.cpp
+
+    @defgroup features2d_draw Drawing Function of Keypoints and Matches
+    @defgroup features2d_category Object Categorization
+
+This section describes approaches based on local 2D features and used to categorize objects.
+
+@note
+   -   A complete Bag-Of-Words sample can be found at
+        opencv_source_code/samples/cpp/bagofwords_classification.cpp
+    -   (Python) An example using the features2D framework to perform object categorization can be
+        found at opencv_source_code/samples/python2/find_obj.py
+
+  @}
+ */
+
+namespace cv
+{
+
+//! @addtogroup features2d
+//! @{
+
+// //! writes vector of keypoints to the file storage
+// CV_EXPORTS void write(FileStorage& fs, const String& name, const std::vector<KeyPoint>& keypoints);
+// //! reads vector of keypoints from the specified file storage node
+// CV_EXPORTS void read(const FileNode& node, CV_OUT std::vector<KeyPoint>& keypoints);
+
+/** @brief A class filters a vector of keypoints.
+
+ Because now it is difficult to provide a convenient interface for all usage scenarios of the
+ keypoints filter class, it has only several needed by now static methods.
+ */
+class CV_EXPORTS KeyPointsFilter
+{
+public:
+    KeyPointsFilter(){}
+
+    /*
+     * Remove keypoints within borderPixels of an image edge.
+     */
+    static void runByImageBorder( std::vector<KeyPoint>& keypoints, Size imageSize, int borderSize );
+    /*
+     * Remove keypoints of sizes out of range.
+     */
+    static void runByKeypointSize( std::vector<KeyPoint>& keypoints, float minSize,
+                                   float maxSize=FLT_MAX );
+    /*
+     * Remove keypoints from some image by mask for pixels of this image.
+     */
+    static void runByPixelsMask( std::vector<KeyPoint>& keypoints, const Mat& mask );
+    /*
+     * Remove duplicated keypoints.
+     */
+    static void removeDuplicated( std::vector<KeyPoint>& keypoints );
+
+    /*
+     * Retain the specified number of the best keypoints (according to the response)
+     */
+    static void retainBest( std::vector<KeyPoint>& keypoints, int npoints );
+};
+
+
+/************************************ Base Classes ************************************/
+
+/** @brief Abstract base class for 2D image feature detectors and descriptor extractors
+*/
+class CV_EXPORTS_W Feature2D : public virtual Algorithm
+{
+public:
+    virtual ~Feature2D();
+
+    /** @brief Detects keypoints in an image (first variant) or image set (second variant).
+
+    @param image Image.
+    @param keypoints The detected keypoints. In the second variant of the method keypoints[i] is a set
+    of keypoints detected in images[i] .
+    @param mask Mask specifying where to look for keypoints (optional). It must be a 8-bit integer
+    matrix with non-zero values in the region of interest.
+     */
+    CV_WRAP virtual void detect( InputArray image,
+                                 CV_OUT std::vector<KeyPoint>& keypoints,
+                                 InputArray mask=noArray() );
+
+    /** @overload
+    @param images Image set.
+    @param keypoints The detected keypoints. In the second variant of the method keypoints[i] is a set
+    of keypoints detected in images[i] .
+    @param masks Masks for each input image specifying where to look for keypoints (optional).
+    masks[i] is a mask for images[i].
+    */
+    virtual void detect( InputArrayOfArrays images,
+                         std::vector<std::vector<KeyPoint> >& keypoints,
+                         InputArrayOfArrays masks=noArray() );
+
+    /** @brief Computes the descriptors for a set of keypoints detected in an image (first variant) or image set
+    (second variant).
+
+    @param image Image.
+    @param keypoints Input collection of keypoints. Keypoints for which a descriptor cannot be
+    computed are removed. Sometimes new keypoints can be added, for example: SIFT duplicates keypoint
+    with several dominant orientations (for each orientation).
+    @param descriptors Computed descriptors. In the second variant of the method descriptors[i] are
+    descriptors computed for a keypoints[i]. Row j is the keypoints (or keypoints[i]) is the
+    descriptor for keypoint j-th keypoint.
+     */
+    CV_WRAP virtual void compute( InputArray image,
+                                  CV_OUT CV_IN_OUT std::vector<KeyPoint>& keypoints,
+                                  OutputArray descriptors );
+
+    /** @overload
+
+    @param images Image set.
+    @param keypoints Input collection of keypoints. Keypoints for which a descriptor cannot be
+    computed are removed. Sometimes new keypoints can be added, for example: SIFT duplicates keypoint
+    with several dominant orientations (for each orientation).
+    @param descriptors Computed descriptors. In the second variant of the method descriptors[i] are
+    descriptors computed for a keypoints[i]. Row j is the keypoints (or keypoints[i]) is the
+    descriptor for keypoint j-th keypoint.
+    */
+    virtual void compute( InputArrayOfArrays images,
+                          std::vector<std::vector<KeyPoint> >& keypoints,
+                          OutputArrayOfArrays descriptors );
+
+    /** Detects keypoints and computes the descriptors */
+    CV_WRAP virtual void detectAndCompute( InputArray image, InputArray mask,
+                                           CV_OUT std::vector<KeyPoint>& keypoints,
+                                           OutputArray descriptors,
+                                           bool useProvidedKeypoints=false );
+
+    CV_WRAP virtual int descriptorSize() const;
+    CV_WRAP virtual int descriptorType() const;
+    CV_WRAP virtual int defaultNorm() const;
+
+    //! Return true if detector object is empty
+    CV_WRAP virtual bool empty() const;
+};
+
+/** Feature detectors in OpenCV have wrappers with a common interface that enables you to easily switch
+between different algorithms solving the same problem. All objects that implement keypoint detectors
+inherit the FeatureDetector interface. */
+typedef Feature2D FeatureDetector;
+
+/** Extractors of keypoint descriptors in OpenCV have wrappers with a common interface that enables you
+to easily switch between different algorithms solving the same problem. This section is devoted to
+computing descriptors represented as vectors in a multidimensional space. All objects that implement
+the vector descriptor extractors inherit the DescriptorExtractor interface.
+ */
+typedef Feature2D DescriptorExtractor;
+
+//! @addtogroup features2d_main
+//! @{
+
+/** @brief Class implementing the BRISK keypoint detector and descriptor extractor, described in @cite LCS11 .
+ */
+class CV_EXPORTS_W BRISK : public Feature2D
+{
+public:
+    /** @brief The BRISK constructor
+
+    @param thresh AGAST detection threshold score.
+    @param octaves detection octaves. Use 0 to do single scale.
+    @param patternScale apply this scale to the pattern used for sampling the neighbourhood of a
+    keypoint.
+     */
+    CV_WRAP static Ptr<BRISK> create(int thresh=30, int octaves=3, float patternScale=1.0f);
+
+    /** @brief The BRISK constructor for a custom pattern
+
+    @param radiusList defines the radii (in pixels) where the samples around a keypoint are taken (for
+    keypoint scale 1).
+    @param numberList defines the number of sampling points on the sampling circle. Must be the same
+    size as radiusList..
+    @param dMax threshold for the short pairings used for descriptor formation (in pixels for keypoint
+    scale 1).
+    @param dMin threshold for the long pairings used for orientation determination (in pixels for
+    keypoint scale 1).
+    @param indexChange index remapping of the bits. */
+    CV_WRAP static Ptr<BRISK> create(const std::vector<float> &radiusList, const std::vector<int> &numberList,
+        float dMax=5.85f, float dMin=8.2f, const std::vector<int>& indexChange=std::vector<int>());
+};
+
+/** @brief Class implementing the ORB (*oriented BRIEF*) keypoint detector and descriptor extractor
+
+described in @cite RRKB11 . The algorithm uses FAST in pyramids to detect stable keypoints, selects
+the strongest features using FAST or Harris response, finds their orientation using first-order
+moments and computes the descriptors using BRIEF (where the coordinates of random point pairs (or
+k-tuples) are rotated according to the measured orientation).
+ */
+class CV_EXPORTS_W ORB : public Feature2D
+{
+public:
+    enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+
+    /** @brief The ORB constructor
+
+    @param nfeatures The maximum number of features to retain.
+    @param scaleFactor Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical
+    pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor
+    will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor
+    will mean that to cover certain scale range you will need more pyramid levels and so the speed
+    will suffer.
+    @param nlevels The number of pyramid levels. The smallest level will have linear size equal to
+    input_image_linear_size/pow(scaleFactor, nlevels).
+    @param edgeThreshold This is size of the border where the features are not detected. It should
+    roughly match the patchSize parameter.
+    @param firstLevel It should be 0 in the current implementation.
+    @param WTA_K The number of points that produce each element of the oriented BRIEF descriptor. The
+    default value 2 means the BRIEF where we take a random point pair and compare their brightnesses,
+    so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3
+    random points (of course, those point coordinates are random, but they are generated from the
+    pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel
+    rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such
+    output will occupy 2 bits, and therefore it will need a special variant of Hamming distance,
+    denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each
+    bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).
+    @param scoreType The default HARRIS_SCORE means that Harris algorithm is used to rank features
+    (the score is written to KeyPoint::score and is used to retain best nfeatures features);
+    FAST_SCORE is alternative value of the parameter that produces slightly less stable keypoints,
+    but it is a little faster to compute.
+    @param patchSize size of the patch used by the oriented BRIEF descriptor. Of course, on smaller
+    pyramid layers the perceived image area covered by a feature will be larger.
+    @param fastThreshold
+     */
+    CV_WRAP static Ptr<ORB> create(int nfeatures=500, float scaleFactor=1.2f, int nlevels=8, int edgeThreshold=31,
+        int firstLevel=0, int WTA_K=2, int scoreType=ORB::HARRIS_SCORE, int patchSize=31, int fastThreshold=20);
+
+    CV_WRAP virtual void setMaxFeatures(int maxFeatures) = 0;
+    CV_WRAP virtual int getMaxFeatures() const = 0;
+
+    CV_WRAP virtual void setScaleFactor(double scaleFactor) = 0;
+    CV_WRAP virtual double getScaleFactor() const = 0;
+
+    CV_WRAP virtual void setNLevels(int nlevels) = 0;
+    CV_WRAP virtual int getNLevels() const = 0;
+
+    CV_WRAP virtual void setEdgeThreshold(int edgeThreshold) = 0;
+    CV_WRAP virtual int getEdgeThreshold() const = 0;
+
+    CV_WRAP virtual void setFirstLevel(int firstLevel) = 0;
+    CV_WRAP virtual int getFirstLevel() const = 0;
+
+    CV_WRAP virtual void setWTA_K(int wta_k) = 0;
+    CV_WRAP virtual int getWTA_K() const = 0;
+
+    CV_WRAP virtual void setScoreType(int scoreType) = 0;
+    CV_WRAP virtual int getScoreType() const = 0;
+
+    CV_WRAP virtual void setPatchSize(int patchSize) = 0;
+    CV_WRAP virtual int getPatchSize() const = 0;
+
+    CV_WRAP virtual void setFastThreshold(int fastThreshold) = 0;
+    CV_WRAP virtual int getFastThreshold() const = 0;
+};
+
+/** @brief Maximally stable extremal region extractor. :
+
+The class encapsulates all the parameters of the MSER extraction algorithm (see
+<http://en.wikipedia.org/wiki/Maximally_stable_extremal_regions>). Also see
+<http://code.opencv.org/projects/opencv/wiki/MSER> for useful comments and parameters description.
+
+@note
+   -   (Python) A complete example showing the use of the MSER detector can be found at
+        opencv_source_code/samples/python2/mser.py
+ */
+class CV_EXPORTS_W MSER : public Feature2D
+{
+public:
+    //! the full constructor
+    CV_WRAP static Ptr<MSER> create( int _delta=5, int _min_area=60, int _max_area=14400,
+          double _max_variation=0.25, double _min_diversity=.2,
+          int _max_evolution=200, double _area_threshold=1.01,
+          double _min_margin=0.003, int _edge_blur_size=5 );
+
+    CV_WRAP virtual void detectRegions( InputArray image,
+                                        CV_OUT std::vector<std::vector<Point> >& msers,
+                                        std::vector<Rect>& bboxes ) = 0;
+
+    CV_WRAP virtual void setDelta(int delta) = 0;
+    CV_WRAP virtual int getDelta() const = 0;
+
+    CV_WRAP virtual void setMinArea(int minArea) = 0;
+    CV_WRAP virtual int getMinArea() const = 0;
+
+    CV_WRAP virtual void setMaxArea(int maxArea) = 0;
+    CV_WRAP virtual int getMaxArea() const = 0;
+
+    CV_WRAP virtual void setPass2Only(bool f) = 0;
+    CV_WRAP virtual bool getPass2Only() const = 0;
+};
+
+/** @overload */
+CV_EXPORTS void FAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression=true );
+
+/** @brief Detects corners using the FAST algorithm
+
+@param image grayscale image where keypoints (corners) are detected.
+@param keypoints keypoints detected on the image.
+@param threshold threshold on difference between intensity of the central pixel and pixels of a
+circle around this pixel.
+@param nonmaxSuppression if true, non-maximum suppression is applied to detected corners
+(keypoints).
+@param type one of the three neighborhoods as defined in the paper:
+FastFeatureDetector::TYPE_9_16, FastFeatureDetector::TYPE_7_12,
+FastFeatureDetector::TYPE_5_8
+
+Detects corners using the FAST algorithm by @cite Rosten06 .
+
+@note In Python API, types are given as cv2.FAST_FEATURE_DETECTOR_TYPE_5_8,
+cv2.FAST_FEATURE_DETECTOR_TYPE_7_12 and cv2.FAST_FEATURE_DETECTOR_TYPE_9_16. For corner
+detection, use cv2.FAST.detect() method.
+ */
+CV_EXPORTS void FAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression, int type );
+
+//! @} features2d_main
+
+//! @addtogroup features2d_main
+//! @{
+
+/** @brief Wrapping class for feature detection using the FAST method. :
+ */
+class CV_EXPORTS_W FastFeatureDetector : public Feature2D
+{
+public:
+    enum
+    {
+        TYPE_5_8 = 0, TYPE_7_12 = 1, TYPE_9_16 = 2,
+        THRESHOLD = 10000, NONMAX_SUPPRESSION=10001, FAST_N=10002,
+    };
+
+    CV_WRAP static Ptr<FastFeatureDetector> create( int threshold=10,
+                                                    bool nonmaxSuppression=true,
+                                                    int type=FastFeatureDetector::TYPE_9_16 );
+
+    CV_WRAP virtual void setThreshold(int threshold) = 0;
+    CV_WRAP virtual int getThreshold() const = 0;
+
+    CV_WRAP virtual void setNonmaxSuppression(bool f) = 0;
+    CV_WRAP virtual bool getNonmaxSuppression() const = 0;
+
+    CV_WRAP virtual void setType(int type) = 0;
+    CV_WRAP virtual int getType() const = 0;
+};
+
+/** @overload */
+CV_EXPORTS void AGAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression=true );
+
+/** @brief Detects corners using the AGAST algorithm
+
+@param image grayscale image where keypoints (corners) are detected.
+@param keypoints keypoints detected on the image.
+@param threshold threshold on difference between intensity of the central pixel and pixels of a
+circle around this pixel.
+@param nonmaxSuppression if true, non-maximum suppression is applied to detected corners
+(keypoints).
+@param type one of the four neighborhoods as defined in the paper:
+AgastFeatureDetector::AGAST_5_8, AgastFeatureDetector::AGAST_7_12d,
+AgastFeatureDetector::AGAST_7_12s, AgastFeatureDetector::OAST_9_16
+
+Detects corners using the AGAST algorithm by @cite mair2010_agast .
+
+ */
+CV_EXPORTS void AGAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression, int type );
+//! @} features2d_main
+
+//! @addtogroup features2d_main
+//! @{
+
+/** @brief Wrapping class for feature detection using the AGAST method. :
+ */
+class CV_EXPORTS_W AgastFeatureDetector : public Feature2D
+{
+public:
+    enum
+    {
+        AGAST_5_8 = 0, AGAST_7_12d = 1, AGAST_7_12s = 2, OAST_9_16 = 3,
+        THRESHOLD = 10000, NONMAX_SUPPRESSION = 10001,
+    };
+
+    CV_WRAP static Ptr<AgastFeatureDetector> create( int threshold=10,
+                                                     bool nonmaxSuppression=true,
+                                                     int type=AgastFeatureDetector::OAST_9_16 );
+
+    CV_WRAP virtual void setThreshold(int threshold) = 0;
+    CV_WRAP virtual int getThreshold() const = 0;
+
+    CV_WRAP virtual void setNonmaxSuppression(bool f) = 0;
+    CV_WRAP virtual bool getNonmaxSuppression() const = 0;
+
+    CV_WRAP virtual void setType(int type) = 0;
+    CV_WRAP virtual int getType() const = 0;
+};
+
+/** @brief Wrapping class for feature detection using the goodFeaturesToTrack function. :
+ */
+class CV_EXPORTS_W GFTTDetector : public Feature2D
+{
+public:
+    CV_WRAP static Ptr<GFTTDetector> create( int maxCorners=1000, double qualityLevel=0.01, double minDistance=1,
+                                             int blockSize=3, bool useHarrisDetector=false, double k=0.04 );
+    CV_WRAP virtual void setMaxFeatures(int maxFeatures) = 0;
+    CV_WRAP virtual int getMaxFeatures() const = 0;
+
+    CV_WRAP virtual void setQualityLevel(double qlevel) = 0;
+    CV_WRAP virtual double getQualityLevel() const = 0;
+
+    CV_WRAP virtual void setMinDistance(double minDistance) = 0;
+    CV_WRAP virtual double getMinDistance() const = 0;
+
+    CV_WRAP virtual void setBlockSize(int blockSize) = 0;
+    CV_WRAP virtual int getBlockSize() const = 0;
+
+    CV_WRAP virtual void setHarrisDetector(bool val) = 0;
+    CV_WRAP virtual bool getHarrisDetector() const = 0;
+
+    CV_WRAP virtual void setK(double k) = 0;
+    CV_WRAP virtual double getK() const = 0;
+};
+
+/** @brief Class for extracting blobs from an image. :
+
+The class implements a simple algorithm for extracting blobs from an image:
+
+1.  Convert the source image to binary images by applying thresholding with several thresholds from
+    minThreshold (inclusive) to maxThreshold (exclusive) with distance thresholdStep between
+    neighboring thresholds.
+2.  Extract connected components from every binary image by findContours and calculate their
+    centers.
+3.  Group centers from several binary images by their coordinates. Close centers form one group that
+    corresponds to one blob, which is controlled by the minDistBetweenBlobs parameter.
+4.  From the groups, estimate final centers of blobs and their radiuses and return as locations and
+    sizes of keypoints.
+
+This class performs several filtrations of returned blobs. You should set filterBy\* to true/false
+to turn on/off corresponding filtration. Available filtrations:
+
+-   **By color**. This filter compares the intensity of a binary image at the center of a blob to
+blobColor. If they differ, the blob is filtered out. Use blobColor = 0 to extract dark blobs
+and blobColor = 255 to extract light blobs.
+-   **By area**. Extracted blobs have an area between minArea (inclusive) and maxArea (exclusive).
+-   **By circularity**. Extracted blobs have circularity
+(\f$\frac{4*\pi*Area}{perimeter * perimeter}\f$) between minCircularity (inclusive) and
+maxCircularity (exclusive).
+-   **By ratio of the minimum inertia to maximum inertia**. Extracted blobs have this ratio
+between minInertiaRatio (inclusive) and maxInertiaRatio (exclusive).
+-   **By convexity**. Extracted blobs have convexity (area / area of blob convex hull) between
+minConvexity (inclusive) and maxConvexity (exclusive).
+
+Default values of parameters are tuned to extract dark circular blobs.
+ */
+class CV_EXPORTS_W SimpleBlobDetector : public Feature2D
+{
+public:
+  struct CV_EXPORTS_W_SIMPLE Params
+  {
+      CV_WRAP Params();
+      CV_PROP_RW float thresholdStep;
+      CV_PROP_RW float minThreshold;
+      CV_PROP_RW float maxThreshold;
+      CV_PROP_RW size_t minRepeatability;
+      CV_PROP_RW float minDistBetweenBlobs;
+
+      CV_PROP_RW bool filterByColor;
+      CV_PROP_RW uchar blobColor;
+
+      CV_PROP_RW bool filterByArea;
+      CV_PROP_RW float minArea, maxArea;
+
+      CV_PROP_RW bool filterByCircularity;
+      CV_PROP_RW float minCircularity, maxCircularity;
+
+      CV_PROP_RW bool filterByInertia;
+      CV_PROP_RW float minInertiaRatio, maxInertiaRatio;
+
+      CV_PROP_RW bool filterByConvexity;
+      CV_PROP_RW float minConvexity, maxConvexity;
+
+      void read( const FileNode& fn );
+      void write( FileStorage& fs ) const;
+  };
+
+  CV_WRAP static Ptr<SimpleBlobDetector>
+    create(const SimpleBlobDetector::Params &parameters = SimpleBlobDetector::Params());
+};
+
+//! @} features2d_main
+
+//! @addtogroup features2d_main
+//! @{
+
+/** @brief Class implementing the KAZE keypoint detector and descriptor extractor, described in @cite ABD12 .
+
+@note AKAZE descriptor can only be used with KAZE or AKAZE keypoints .. [ABD12] KAZE Features. Pablo
+F. Alcantarilla, Adrien Bartoli and Andrew J. Davison. In European Conference on Computer Vision
+(ECCV), Fiorenze, Italy, October 2012.
+*/
+class CV_EXPORTS_W KAZE : public Feature2D
+{
+public:
+    enum
+    {
+        DIFF_PM_G1 = 0,
+        DIFF_PM_G2 = 1,
+        DIFF_WEICKERT = 2,
+        DIFF_CHARBONNIER = 3
+    };
+
+    /** @brief The KAZE constructor
+
+    @param extended Set to enable extraction of extended (128-byte) descriptor.
+    @param upright Set to enable use of upright descriptors (non rotation-invariant).
+    @param threshold Detector response threshold to accept point
+    @param nOctaves Maximum octave evolution of the image
+    @param nOctaveLayers Default number of sublevels per scale level
+    @param diffusivity Diffusivity type. DIFF_PM_G1, DIFF_PM_G2, DIFF_WEICKERT or
+    DIFF_CHARBONNIER
+     */
+    CV_WRAP static Ptr<KAZE> create(bool extended=false, bool upright=false,
+                                    float threshold = 0.001f,
+                                    int nOctaves = 4, int nOctaveLayers = 4,
+                                    int diffusivity = KAZE::DIFF_PM_G2);
+
+    CV_WRAP virtual void setExtended(bool extended) = 0;
+    CV_WRAP virtual bool getExtended() const = 0;
+
+    CV_WRAP virtual void setUpright(bool upright) = 0;
+    CV_WRAP virtual bool getUpright() const = 0;
+
+    CV_WRAP virtual void setThreshold(double threshold) = 0;
+    CV_WRAP virtual double getThreshold() const = 0;
+
+    CV_WRAP virtual void setNOctaves(int octaves) = 0;
+    CV_WRAP virtual int getNOctaves() const = 0;
+
+    CV_WRAP virtual void setNOctaveLayers(int octaveLayers) = 0;
+    CV_WRAP virtual int getNOctaveLayers() const = 0;
+
+    CV_WRAP virtual void setDiffusivity(int diff) = 0;
+    CV_WRAP virtual int getDiffusivity() const = 0;
+};
+
+/** @brief Class implementing the AKAZE keypoint detector and descriptor extractor, described in @cite ANB13 . :
+
+@note AKAZE descriptors can only be used with KAZE or AKAZE keypoints. Try to avoid using *extract*
+and *detect* instead of *operator()* due to performance reasons. .. [ANB13] Fast Explicit Diffusion
+for Accelerated Features in Nonlinear Scale Spaces. Pablo F. Alcantarilla, Jesús Nuevo and Adrien
+Bartoli. In British Machine Vision Conference (BMVC), Bristol, UK, September 2013.
+ */
+class CV_EXPORTS_W AKAZE : public Feature2D
+{
+public:
+    // AKAZE descriptor type
+    enum
+    {
+        DESCRIPTOR_KAZE_UPRIGHT = 2, ///< Upright descriptors, not invariant to rotation
+        DESCRIPTOR_KAZE = 3,
+        DESCRIPTOR_MLDB_UPRIGHT = 4, ///< Upright descriptors, not invariant to rotation
+        DESCRIPTOR_MLDB = 5
+    };
+
+    /** @brief The AKAZE constructor
+
+    @param descriptor_type Type of the extracted descriptor: DESCRIPTOR_KAZE,
+    DESCRIPTOR_KAZE_UPRIGHT, DESCRIPTOR_MLDB or DESCRIPTOR_MLDB_UPRIGHT.
+    @param descriptor_size Size of the descriptor in bits. 0 -\> Full size
+    @param descriptor_channels Number of channels in the descriptor (1, 2, 3)
+    @param threshold Detector response threshold to accept point
+    @param nOctaves Maximum octave evolution of the image
+    @param nOctaveLayers Default number of sublevels per scale level
+    @param diffusivity Diffusivity type. DIFF_PM_G1, DIFF_PM_G2, DIFF_WEICKERT or
+    DIFF_CHARBONNIER
+     */
+    CV_WRAP static Ptr<AKAZE> create(int descriptor_type=AKAZE::DESCRIPTOR_MLDB,
+                                     int descriptor_size = 0, int descriptor_channels = 3,
+                                     float threshold = 0.001f, int nOctaves = 4,
+                                     int nOctaveLayers = 4, int diffusivity = KAZE::DIFF_PM_G2);
+
+    CV_WRAP virtual void setDescriptorType(int dtype) = 0;
+    CV_WRAP virtual int getDescriptorType() const = 0;
+
+    CV_WRAP virtual void setDescriptorSize(int dsize) = 0;
+    CV_WRAP virtual int getDescriptorSize() const = 0;
+
+    CV_WRAP virtual void setDescriptorChannels(int dch) = 0;
+    CV_WRAP virtual int getDescriptorChannels() const = 0;
+
+    CV_WRAP virtual void setThreshold(double threshold) = 0;
+    CV_WRAP virtual double getThreshold() const = 0;
+
+    CV_WRAP virtual void setNOctaves(int octaves) = 0;
+    CV_WRAP virtual int getNOctaves() const = 0;
+
+    CV_WRAP virtual void setNOctaveLayers(int octaveLayers) = 0;
+    CV_WRAP virtual int getNOctaveLayers() const = 0;
+
+    CV_WRAP virtual void setDiffusivity(int diff) = 0;
+    CV_WRAP virtual int getDiffusivity() const = 0;
+};
+
+//! @} features2d_main
+
+/****************************************************************************************\
+*                                      Distance                                          *
+\****************************************************************************************/
+
+template<typename T>
+struct CV_EXPORTS Accumulator
+{
+    typedef T Type;
+};
+
+template<> struct Accumulator<unsigned char>  { typedef float Type; };
+template<> struct Accumulator<unsigned short> { typedef float Type; };
+template<> struct Accumulator<char>   { typedef float Type; };
+template<> struct Accumulator<short>  { typedef float Type; };
+
+/*
+ * Squared Euclidean distance functor
+ */
+template<class T>
+struct CV_EXPORTS SL2
+{
+    enum { normType = NORM_L2SQR };
+    typedef T ValueType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    ResultType operator()( const T* a, const T* b, int size ) const
+    {
+        return normL2Sqr<ValueType, ResultType>(a, b, size);
+    }
+};
+
+/*
+ * Euclidean distance functor
+ */
+template<class T>
+struct CV_EXPORTS L2
+{
+    enum { normType = NORM_L2 };
+    typedef T ValueType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    ResultType operator()( const T* a, const T* b, int size ) const
+    {
+        return (ResultType)std::sqrt((double)normL2Sqr<ValueType, ResultType>(a, b, size));
+    }
+};
+
+/*
+ * Manhattan distance (city block distance) functor
+ */
+template<class T>
+struct CV_EXPORTS L1
+{
+    enum { normType = NORM_L1 };
+    typedef T ValueType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    ResultType operator()( const T* a, const T* b, int size ) const
+    {
+        return normL1<ValueType, ResultType>(a, b, size);
+    }
+};
+
+/****************************************************************************************\
+*                                  DescriptorMatcher                                     *
+\****************************************************************************************/
+
+//! @addtogroup features2d_match
+//! @{
+
+/** @brief Abstract base class for matching keypoint descriptors.
+
+It has two groups of match methods: for matching descriptors of an image with another image or with
+an image set.
+ */
+class CV_EXPORTS_W DescriptorMatcher : public Algorithm
+{
+public:
+    virtual ~DescriptorMatcher();
+
+    /** @brief Adds descriptors to train a CPU(trainDescCollectionis) or GPU(utrainDescCollectionis) descriptor
+    collection.
+
+    If the collection is not empty, the new descriptors are added to existing train descriptors.
+
+    @param descriptors Descriptors to add. Each descriptors[i] is a set of descriptors from the same
+    train image.
+     */
+    CV_WRAP virtual void add( InputArrayOfArrays descriptors );
+
+    /** @brief Returns a constant link to the train descriptor collection trainDescCollection .
+     */
+    CV_WRAP const std::vector<Mat>& getTrainDescriptors() const;
+
+    /** @brief Clears the train descriptor collections.
+     */
+    CV_WRAP virtual void clear();
+
+    /** @brief Returns true if there are no train descriptors in the both collections.
+     */
+    CV_WRAP virtual bool empty() const;
+
+    /** @brief Returns true if the descriptor matcher supports masking permissible matches.
+     */
+    CV_WRAP virtual bool isMaskSupported() const = 0;
+
+    /** @brief Trains a descriptor matcher
+
+    Trains a descriptor matcher (for example, the flann index). In all methods to match, the method
+    train() is run every time before matching. Some descriptor matchers (for example, BruteForceMatcher)
+    have an empty implementation of this method. Other matchers really train their inner structures (for
+    example, FlannBasedMatcher trains flann::Index ).
+     */
+    CV_WRAP virtual void train();
+
+    /** @brief Finds the best match for each descriptor from a query set.
+
+    @param queryDescriptors Query set of descriptors.
+    @param trainDescriptors Train set of descriptors. This set is not added to the train descriptors
+    collection stored in the class object.
+    @param matches Matches. If a query descriptor is masked out in mask , no match is added for this
+    descriptor. So, matches size may be smaller than the query descriptors count.
+    @param mask Mask specifying permissible matches between an input query and train matrices of
+    descriptors.
+
+    In the first variant of this method, the train descriptors are passed as an input argument. In the
+    second variant of the method, train descriptors collection that was set by DescriptorMatcher::add is
+    used. Optional mask (or masks) can be passed to specify which query and training descriptors can be
+    matched. Namely, queryDescriptors[i] can be matched with trainDescriptors[j] only if
+    mask.at\<uchar\>(i,j) is non-zero.
+     */
+    CV_WRAP void match( InputArray queryDescriptors, InputArray trainDescriptors,
+                CV_OUT std::vector<DMatch>& matches, InputArray mask=noArray() ) const;
+
+    /** @brief Finds the k best matches for each descriptor from a query set.
+
+    @param queryDescriptors Query set of descriptors.
+    @param trainDescriptors Train set of descriptors. This set is not added to the train descriptors
+    collection stored in the class object.
+    @param mask Mask specifying permissible matches between an input query and train matrices of
+    descriptors.
+    @param matches Matches. Each matches[i] is k or less matches for the same query descriptor.
+    @param k Count of best matches found per each query descriptor or less if a query descriptor has
+    less than k possible matches in total.
+    @param compactResult Parameter used when the mask (or masks) is not empty. If compactResult is
+    false, the matches vector has the same size as queryDescriptors rows. If compactResult is true,
+    the matches vector does not contain matches for fully masked-out query descriptors.
+
+    These extended variants of DescriptorMatcher::match methods find several best matches for each query
+    descriptor. The matches are returned in the distance increasing order. See DescriptorMatcher::match
+    for the details about query and train descriptors.
+     */
+    CV_WRAP void knnMatch( InputArray queryDescriptors, InputArray trainDescriptors,
+                   CV_OUT std::vector<std::vector<DMatch> >& matches, int k,
+                   InputArray mask=noArray(), bool compactResult=false ) const;
+
+    /** @brief For each query descriptor, finds the training descriptors not farther than the specified distance.
+
+    @param queryDescriptors Query set of descriptors.
+    @param trainDescriptors Train set of descriptors. This set is not added to the train descriptors
+    collection stored in the class object.
+    @param matches Found matches.
+    @param compactResult Parameter used when the mask (or masks) is not empty. If compactResult is
+    false, the matches vector has the same size as queryDescriptors rows. If compactResult is true,
+    the matches vector does not contain matches for fully masked-out query descriptors.
+    @param maxDistance Threshold for the distance between matched descriptors. Distance means here
+    metric distance (e.g. Hamming distance), not the distance between coordinates (which is measured
+    in Pixels)!
+    @param mask Mask specifying permissible matches between an input query and train matrices of
+    descriptors.
+
+    For each query descriptor, the methods find such training descriptors that the distance between the
+    query descriptor and the training descriptor is equal or smaller than maxDistance. Found matches are
+    returned in the distance increasing order.
+     */
+    void radiusMatch( InputArray queryDescriptors, InputArray trainDescriptors,
+                      std::vector<std::vector<DMatch> >& matches, float maxDistance,
+                      InputArray mask=noArray(), bool compactResult=false ) const;
+
+    /** @overload
+    @param queryDescriptors Query set of descriptors.
+    @param matches Matches. If a query descriptor is masked out in mask , no match is added for this
+    descriptor. So, matches size may be smaller than the query descriptors count.
+    @param masks Set of masks. Each masks[i] specifies permissible matches between the input query
+    descriptors and stored train descriptors from the i-th image trainDescCollection[i].
+    */
+    CV_WRAP void match( InputArray queryDescriptors, CV_OUT std::vector<DMatch>& matches,
+                        InputArrayOfArrays masks=noArray() );
+    /** @overload
+    @param queryDescriptors Query set of descriptors.
+    @param matches Matches. Each matches[i] is k or less matches for the same query descriptor.
+    @param k Count of best matches found per each query descriptor or less if a query descriptor has
+    less than k possible matches in total.
+    @param masks Set of masks. Each masks[i] specifies permissible matches between the input query
+    descriptors and stored train descriptors from the i-th image trainDescCollection[i].
+    @param compactResult Parameter used when the mask (or masks) is not empty. If compactResult is
+    false, the matches vector has the same size as queryDescriptors rows. If compactResult is true,
+    the matches vector does not contain matches for fully masked-out query descriptors.
+    */
+    CV_WRAP void knnMatch( InputArray queryDescriptors, CV_OUT std::vector<std::vector<DMatch> >& matches, int k,
+                           InputArrayOfArrays masks=noArray(), bool compactResult=false );
+    /** @overload
+    @param queryDescriptors Query set of descriptors.
+    @param matches Found matches.
+    @param maxDistance Threshold for the distance between matched descriptors. Distance means here
+    metric distance (e.g. Hamming distance), not the distance between coordinates (which is measured
+    in Pixels)!
+    @param masks Set of masks. Each masks[i] specifies permissible matches between the input query
+    descriptors and stored train descriptors from the i-th image trainDescCollection[i].
+    @param compactResult Parameter used when the mask (or masks) is not empty. If compactResult is
+    false, the matches vector has the same size as queryDescriptors rows. If compactResult is true,
+    the matches vector does not contain matches for fully masked-out query descriptors.
+    */
+    void radiusMatch( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
+                      InputArrayOfArrays masks=noArray(), bool compactResult=false );
+
+    // Reads matcher object from a file node
+    virtual void read( const FileNode& );
+    // Writes matcher object to a file storage
+    virtual void write( FileStorage& ) const;
+
+    /** @brief Clones the matcher.
+
+    @param emptyTrainData If emptyTrainData is false, the method creates a deep copy of the object,
+    that is, copies both parameters and train data. If emptyTrainData is true, the method creates an
+    object copy with the current parameters but with empty train data.
+     */
+    virtual Ptr<DescriptorMatcher> clone( bool emptyTrainData=false ) const = 0;
+
+    /** @brief Creates a descriptor matcher of a given type with the default parameters (using default
+    constructor).
+
+    @param descriptorMatcherType Descriptor matcher type. Now the following matcher types are
+    supported:
+    -   `BruteForce` (it uses L2 )
+    -   `BruteForce-L1`
+    -   `BruteForce-Hamming`
+    -   `BruteForce-Hamming(2)`
+    -   `FlannBased`
+     */
+    CV_WRAP static Ptr<DescriptorMatcher> create( const String& descriptorMatcherType );
+protected:
+    /**
+     * Class to work with descriptors from several images as with one merged matrix.
+     * It is used e.g. in FlannBasedMatcher.
+     */
+    class CV_EXPORTS DescriptorCollection
+    {
+    public:
+        DescriptorCollection();
+        DescriptorCollection( const DescriptorCollection& collection );
+        virtual ~DescriptorCollection();
+
+        // Vector of matrices "descriptors" will be merged to one matrix "mergedDescriptors" here.
+        void set( const std::vector<Mat>& descriptors );
+        virtual void clear();
+
+        const Mat& getDescriptors() const;
+        const Mat getDescriptor( int imgIdx, int localDescIdx ) const;
+        const Mat getDescriptor( int globalDescIdx ) const;
+        void getLocalIdx( int globalDescIdx, int& imgIdx, int& localDescIdx ) const;
+
+        int size() const;
+
+    protected:
+        Mat mergedDescriptors;
+        std::vector<int> startIdxs;
+    };
+
+    //! In fact the matching is implemented only by the following two methods. These methods suppose
+    //! that the class object has been trained already. Public match methods call these methods
+    //! after calling train().
+    virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false ) = 0;
+    virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false ) = 0;
+
+    static bool isPossibleMatch( InputArray mask, int queryIdx, int trainIdx );
+    static bool isMaskedOut( InputArrayOfArrays masks, int queryIdx );
+
+    static Mat clone_op( Mat m ) { return m.clone(); }
+    void checkMasks( InputArrayOfArrays masks, int queryDescriptorsCount ) const;
+
+    //! Collection of descriptors from train images.
+    std::vector<Mat> trainDescCollection;
+    std::vector<UMat> utrainDescCollection;
+};
+
+/** @brief Brute-force descriptor matcher.
+
+For each descriptor in the first set, this matcher finds the closest descriptor in the second set
+by trying each one. This descriptor matcher supports masking permissible matches of descriptor
+sets.
+ */
+class CV_EXPORTS_W BFMatcher : public DescriptorMatcher
+{
+public:
+    /** @brief Brute-force matcher constructor.
+
+    @param normType One of NORM_L1, NORM_L2, NORM_HAMMING, NORM_HAMMING2. L1 and L2 norms are
+    preferable choices for SIFT and SURF descriptors, NORM_HAMMING should be used with ORB, BRISK and
+    BRIEF, NORM_HAMMING2 should be used with ORB when WTA_K==3 or 4 (see ORB::ORB constructor
+    description).
+    @param crossCheck If it is false, this is will be default BFMatcher behaviour when it finds the k
+    nearest neighbors for each query descriptor. If crossCheck==true, then the knnMatch() method with
+    k=1 will only return pairs (i,j) such that for i-th query descriptor the j-th descriptor in the
+    matcher's collection is the nearest and vice versa, i.e. the BFMatcher will only return consistent
+    pairs. Such technique usually produces best results with minimal number of outliers when there are
+    enough matches. This is alternative to the ratio test, used by D. Lowe in SIFT paper.
+     */
+    CV_WRAP BFMatcher( int normType=NORM_L2, bool crossCheck=false );
+    virtual ~BFMatcher() {}
+
+    virtual bool isMaskSupported() const { return true; }
+
+    virtual Ptr<DescriptorMatcher> clone( bool emptyTrainData=false ) const;
+protected:
+    virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
+    virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
+
+    int normType;
+    bool crossCheck;
+};
+
+
+/** @brief Flann-based descriptor matcher.
+
+This matcher trains flann::Index_ on a train descriptor collection and calls its nearest search
+methods to find the best matches. So, this matcher may be faster when matching a large train
+collection than the brute force matcher. FlannBasedMatcher does not support masking permissible
+matches of descriptor sets because flann::Index does not support this. :
+ */
+class CV_EXPORTS_W FlannBasedMatcher : public DescriptorMatcher
+{
+public:
+    CV_WRAP FlannBasedMatcher( const Ptr<flann::IndexParams>& indexParams=makePtr<flann::KDTreeIndexParams>(),
+                       const Ptr<flann::SearchParams>& searchParams=makePtr<flann::SearchParams>() );
+
+    virtual void add( InputArrayOfArrays descriptors );
+    virtual void clear();
+
+    // Reads matcher object from a file node
+    virtual void read( const FileNode& );
+    // Writes matcher object to a file storage
+    virtual void write( FileStorage& ) const;
+
+    virtual void train();
+    virtual bool isMaskSupported() const;
+
+    virtual Ptr<DescriptorMatcher> clone( bool emptyTrainData=false ) const;
+protected:
+    static void convertToDMatches( const DescriptorCollection& descriptors,
+                                   const Mat& indices, const Mat& distances,
+                                   std::vector<std::vector<DMatch> >& matches );
+
+    virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
+    virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
+
+    Ptr<flann::IndexParams> indexParams;
+    Ptr<flann::SearchParams> searchParams;
+    Ptr<flann::Index> flannIndex;
+
+    DescriptorCollection mergedDescriptors;
+    int addedDescCount;
+};
+
+//! @} features2d_match
+
+/****************************************************************************************\
+*                                   Drawing functions                                    *
+\****************************************************************************************/
+
+//! @addtogroup features2d_draw
+//! @{
+
+struct CV_EXPORTS DrawMatchesFlags
+{
+    enum{ DEFAULT = 0, //!< Output image matrix will be created (Mat::create),
+                       //!< i.e. existing memory of output image may be reused.
+                       //!< Two source image, matches and single keypoints will be drawn.
+                       //!< For each keypoint only the center point will be drawn (without
+                       //!< the circle around keypoint with keypoint size and orientation).
+          DRAW_OVER_OUTIMG = 1, //!< Output image matrix will not be created (Mat::create).
+                                //!< Matches will be drawn on existing content of output image.
+          NOT_DRAW_SINGLE_POINTS = 2, //!< Single keypoints will not be drawn.
+          DRAW_RICH_KEYPOINTS = 4 //!< For each keypoint the circle around keypoint with keypoint size and
+                                  //!< orientation will be drawn.
+        };
+};
+
+/** @brief Draws keypoints.
+
+@param image Source image.
+@param keypoints Keypoints from the source image.
+@param outImage Output image. Its content depends on the flags value defining what is drawn in the
+output image. See possible flags bit values below.
+@param color Color of keypoints.
+@param flags Flags setting drawing features. Possible flags bit values are defined by
+DrawMatchesFlags. See details above in drawMatches .
+
+@note
+For Python API, flags are modified as cv2.DRAW_MATCHES_FLAGS_DEFAULT,
+cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS, cv2.DRAW_MATCHES_FLAGS_DRAW_OVER_OUTIMG,
+cv2.DRAW_MATCHES_FLAGS_NOT_DRAW_SINGLE_POINTS
+ */
+CV_EXPORTS_W void drawKeypoints( InputArray image, const std::vector<KeyPoint>& keypoints, InputOutputArray outImage,
+                               const Scalar& color=Scalar::all(-1), int flags=DrawMatchesFlags::DEFAULT );
+
+/** @brief Draws the found matches of keypoints from two images.
+
+@param img1 First source image.
+@param keypoints1 Keypoints from the first source image.
+@param img2 Second source image.
+@param keypoints2 Keypoints from the second source image.
+@param matches1to2 Matches from the first image to the second one, which means that keypoints1[i]
+has a corresponding point in keypoints2[matches[i]] .
+@param outImg Output image. Its content depends on the flags value defining what is drawn in the
+output image. See possible flags bit values below.
+@param matchColor Color of matches (lines and connected keypoints). If matchColor==Scalar::all(-1)
+, the color is generated randomly.
+@param singlePointColor Color of single keypoints (circles), which means that keypoints do not
+have the matches. If singlePointColor==Scalar::all(-1) , the color is generated randomly.
+@param matchesMask Mask determining which matches are drawn. If the mask is empty, all matches are
+drawn.
+@param flags Flags setting drawing features. Possible flags bit values are defined by
+DrawMatchesFlags.
+
+This function draws matches of keypoints from two images in the output image. Match is a line
+connecting two keypoints (circles). See cv::DrawMatchesFlags.
+ */
+CV_EXPORTS_W void drawMatches( InputArray img1, const std::vector<KeyPoint>& keypoints1,
+                             InputArray img2, const std::vector<KeyPoint>& keypoints2,
+                             const std::vector<DMatch>& matches1to2, InputOutputArray outImg,
+                             const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1),
+                             const std::vector<char>& matchesMask=std::vector<char>(), int flags=DrawMatchesFlags::DEFAULT );
+
+/** @overload */
+CV_EXPORTS_AS(drawMatchesKnn) void drawMatches( InputArray img1, const std::vector<KeyPoint>& keypoints1,
+                             InputArray img2, const std::vector<KeyPoint>& keypoints2,
+                             const std::vector<std::vector<DMatch> >& matches1to2, InputOutputArray outImg,
+                             const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1),
+                             const std::vector<std::vector<char> >& matchesMask=std::vector<std::vector<char> >(), int flags=DrawMatchesFlags::DEFAULT );
+
+//! @} features2d_draw
+
+/****************************************************************************************\
+*   Functions to evaluate the feature detectors and [generic] descriptor extractors      *
+\****************************************************************************************/
+
+CV_EXPORTS void evaluateFeatureDetector( const Mat& img1, const Mat& img2, const Mat& H1to2,
+                                         std::vector<KeyPoint>* keypoints1, std::vector<KeyPoint>* keypoints2,
+                                         float& repeatability, int& correspCount,
+                                         const Ptr<FeatureDetector>& fdetector=Ptr<FeatureDetector>() );
+
+CV_EXPORTS void computeRecallPrecisionCurve( const std::vector<std::vector<DMatch> >& matches1to2,
+                                             const std::vector<std::vector<uchar> >& correctMatches1to2Mask,
+                                             std::vector<Point2f>& recallPrecisionCurve );
+
+CV_EXPORTS float getRecall( const std::vector<Point2f>& recallPrecisionCurve, float l_precision );
+CV_EXPORTS int getNearestPoint( const std::vector<Point2f>& recallPrecisionCurve, float l_precision );
+
+/****************************************************************************************\
+*                                     Bag of visual words                                *
+\****************************************************************************************/
+
+//! @addtogroup features2d_category
+//! @{
+
+/** @brief Abstract base class for training the *bag of visual words* vocabulary from a set of descriptors.
+
+For details, see, for example, *Visual Categorization with Bags of Keypoints* by Gabriella Csurka,
+Christopher R. Dance, Lixin Fan, Jutta Willamowski, Cedric Bray, 2004. :
+ */
+class CV_EXPORTS_W BOWTrainer
+{
+public:
+    BOWTrainer();
+    virtual ~BOWTrainer();
+
+    /** @brief Adds descriptors to a training set.
+
+    @param descriptors Descriptors to add to a training set. Each row of the descriptors matrix is a
+    descriptor.
+
+    The training set is clustered using clustermethod to construct the vocabulary.
+     */
+    CV_WRAP void add( const Mat& descriptors );
+
+    /** @brief Returns a training set of descriptors.
+    */
+    CV_WRAP const std::vector<Mat>& getDescriptors() const;
+
+    /** @brief Returns the count of all descriptors stored in the training set.
+    */
+    CV_WRAP int descriptorsCount() const;
+
+    CV_WRAP virtual void clear();
+
+    /** @overload */
+    CV_WRAP virtual Mat cluster() const = 0;
+
+    /** @brief Clusters train descriptors.
+
+    @param descriptors Descriptors to cluster. Each row of the descriptors matrix is a descriptor.
+    Descriptors are not added to the inner train descriptor set.
+
+    The vocabulary consists of cluster centers. So, this method returns the vocabulary. In the first
+    variant of the method, train descriptors stored in the object are clustered. In the second variant,
+    input descriptors are clustered.
+     */
+    CV_WRAP virtual Mat cluster( const Mat& descriptors ) const = 0;
+
+protected:
+    std::vector<Mat> descriptors;
+    int size;
+};
+
+/** @brief kmeans -based class to train visual vocabulary using the *bag of visual words* approach. :
+ */
+class CV_EXPORTS_W BOWKMeansTrainer : public BOWTrainer
+{
+public:
+    /** @brief The constructor.
+
+    @see cv::kmeans
+    */
+    CV_WRAP BOWKMeansTrainer( int clusterCount, const TermCriteria& termcrit=TermCriteria(),
+                      int attempts=3, int flags=KMEANS_PP_CENTERS );
+    virtual ~BOWKMeansTrainer();
+
+    // Returns trained vocabulary (i.e. cluster centers).
+    CV_WRAP virtual Mat cluster() const;
+    CV_WRAP virtual Mat cluster( const Mat& descriptors ) const;
+
+protected:
+
+    int clusterCount;
+    TermCriteria termcrit;
+    int attempts;
+    int flags;
+};
+
+/** @brief Class to compute an image descriptor using the *bag of visual words*.
+
+Such a computation consists of the following steps:
+
+1.  Compute descriptors for a given image and its keypoints set.
+2.  Find the nearest visual words from the vocabulary for each keypoint descriptor.
+3.  Compute the bag-of-words image descriptor as is a normalized histogram of vocabulary words
+encountered in the image. The i-th bin of the histogram is a frequency of i-th word of the
+vocabulary in the given image.
+ */
+class CV_EXPORTS_W BOWImgDescriptorExtractor
+{
+public:
+    /** @brief The constructor.
+
+    @param dextractor Descriptor extractor that is used to compute descriptors for an input image and
+    its keypoints.
+    @param dmatcher Descriptor matcher that is used to find the nearest word of the trained vocabulary
+    for each keypoint descriptor of the image.
+     */
+    CV_WRAP BOWImgDescriptorExtractor( const Ptr<DescriptorExtractor>& dextractor,
+                               const Ptr<DescriptorMatcher>& dmatcher );
+    /** @overload */
+    BOWImgDescriptorExtractor( const Ptr<DescriptorMatcher>& dmatcher );
+    virtual ~BOWImgDescriptorExtractor();
+
+    /** @brief Sets a visual vocabulary.
+
+    @param vocabulary Vocabulary (can be trained using the inheritor of BOWTrainer ). Each row of the
+    vocabulary is a visual word (cluster center).
+     */
+    CV_WRAP void setVocabulary( const Mat& vocabulary );
+
+    /** @brief Returns the set vocabulary.
+    */
+    CV_WRAP const Mat& getVocabulary() const;
+
+    /** @brief Computes an image descriptor using the set visual vocabulary.
+
+    @param image Image, for which the descriptor is computed.
+    @param keypoints Keypoints detected in the input image.
+    @param imgDescriptor Computed output image descriptor.
+    @param pointIdxsOfClusters Indices of keypoints that belong to the cluster. This means that
+    pointIdxsOfClusters[i] are keypoint indices that belong to the i -th cluster (word of vocabulary)
+    returned if it is non-zero.
+    @param descriptors Descriptors of the image keypoints that are returned if they are non-zero.
+     */
+    void compute( InputArray image, std::vector<KeyPoint>& keypoints, OutputArray imgDescriptor,
+                  std::vector<std::vector<int> >* pointIdxsOfClusters=0, Mat* descriptors=0 );
+    /** @overload
+    @param keypointDescriptors Computed descriptors to match with vocabulary.
+    @param imgDescriptor Computed output image descriptor.
+    @param pointIdxsOfClusters Indices of keypoints that belong to the cluster. This means that
+    pointIdxsOfClusters[i] are keypoint indices that belong to the i -th cluster (word of vocabulary)
+    returned if it is non-zero.
+    */
+    void compute( InputArray keypointDescriptors, OutputArray imgDescriptor,
+                  std::vector<std::vector<int> >* pointIdxsOfClusters=0 );
+    // compute() is not constant because DescriptorMatcher::match is not constant
+
+    CV_WRAP_AS(compute) void compute2( const Mat& image, std::vector<KeyPoint>& keypoints, CV_OUT Mat& imgDescriptor )
+    { compute(image,keypoints,imgDescriptor); }
+
+    /** @brief Returns an image descriptor size if the vocabulary is set. Otherwise, it returns 0.
+    */
+    CV_WRAP int descriptorSize() const;
+
+    /** @brief Returns an image descriptor type.
+     */
+    CV_WRAP int descriptorType() const;
+
+protected:
+    Mat vocabulary;
+    Ptr<DescriptorExtractor> dextractor;
+    Ptr<DescriptorMatcher> dmatcher;
+};
+
+//! @} features2d_category
+
+//! @} features2d
+
+} /* namespace cv */
+
+#endif
diff --git a/3rdparty/include/opencv2/features2d/features2d.hpp b/3rdparty/include/opencv2/features2d/features2d.hpp
new file mode 100644
index 0000000..e81df0a
--- /dev/null
+++ b/3rdparty/include/opencv2/features2d/features2d.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/features2d.hpp"
diff --git a/3rdparty/include/opencv2/flann.hpp b/3rdparty/include/opencv2/flann.hpp
new file mode 100644
index 0000000..4f92d57
--- /dev/null
+++ b/3rdparty/include/opencv2/flann.hpp
@@ -0,0 +1,561 @@
+/*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*/
+
+#ifndef _OPENCV_FLANN_HPP_
+#define _OPENCV_FLANN_HPP_
+
+#include "opencv2/core.hpp"
+#include "opencv2/flann/miniflann.hpp"
+#include "opencv2/flann/flann_base.hpp"
+
+/**
+@defgroup flann Clustering and Search in Multi-Dimensional Spaces
+
+This section documents OpenCV's interface to the FLANN library. FLANN (Fast Library for Approximate
+Nearest Neighbors) is a library that contains a collection of algorithms optimized for fast nearest
+neighbor search in large datasets and for high dimensional features. More information about FLANN
+can be found in @cite Muja2009 .
+*/
+
+namespace cvflann
+{
+    CV_EXPORTS flann_distance_t flann_distance_type();
+    FLANN_DEPRECATED CV_EXPORTS void set_distance_type(flann_distance_t distance_type, int order);
+}
+
+
+namespace cv
+{
+namespace flann
+{
+
+
+//! @addtogroup flann
+//! @{
+
+template <typename T> struct CvType {};
+template <> struct CvType<unsigned char> { static int type() { return CV_8U; } };
+template <> struct CvType<char> { static int type() { return CV_8S; } };
+template <> struct CvType<unsigned short> { static int type() { return CV_16U; } };
+template <> struct CvType<short> { static int type() { return CV_16S; } };
+template <> struct CvType<int> { static int type() { return CV_32S; } };
+template <> struct CvType<float> { static int type() { return CV_32F; } };
+template <> struct CvType<double> { static int type() { return CV_64F; } };
+
+
+// bring the flann parameters into this namespace
+using ::cvflann::get_param;
+using ::cvflann::print_params;
+
+// bring the flann distances into this namespace
+using ::cvflann::L2_Simple;
+using ::cvflann::L2;
+using ::cvflann::L1;
+using ::cvflann::MinkowskiDistance;
+using ::cvflann::MaxDistance;
+using ::cvflann::HammingLUT;
+using ::cvflann::Hamming;
+using ::cvflann::Hamming2;
+using ::cvflann::HistIntersectionDistance;
+using ::cvflann::HellingerDistance;
+using ::cvflann::ChiSquareDistance;
+using ::cvflann::KL_Divergence;
+
+
+/** @brief The FLANN nearest neighbor index class. This class is templated with the type of elements for which
+the index is built.
+ */
+template <typename Distance>
+class GenericIndex
+{
+public:
+        typedef typename Distance::ElementType ElementType;
+        typedef typename Distance::ResultType DistanceType;
+
+        /** @brief Constructs a nearest neighbor search index for a given dataset.
+
+        @param features Matrix of containing the features(points) to index. The size of the matrix is
+        num_features x feature_dimensionality and the data type of the elements in the matrix must
+        coincide with the type of the index.
+        @param params Structure containing the index parameters. The type of index that will be
+        constructed depends on the type of this parameter. See the description.
+        @param distance
+
+        The method constructs a fast search structure from a set of features using the specified algorithm
+        with specified parameters, as defined by params. params is a reference to one of the following class
+        IndexParams descendants:
+
+        - **LinearIndexParams** When passing an object of this type, the index will perform a linear,
+        brute-force search. :
+        @code
+        struct LinearIndexParams : public IndexParams
+        {
+        };
+        @endcode
+        - **KDTreeIndexParams** When passing an object of this type the index constructed will consist of
+        a set of randomized kd-trees which will be searched in parallel. :
+        @code
+        struct KDTreeIndexParams : public IndexParams
+        {
+            KDTreeIndexParams( int trees = 4 );
+        };
+        @endcode
+        - **KMeansIndexParams** When passing an object of this type the index constructed will be a
+        hierarchical k-means tree. :
+        @code
+        struct KMeansIndexParams : public IndexParams
+        {
+            KMeansIndexParams(
+                int branching = 32,
+                int iterations = 11,
+                flann_centers_init_t centers_init = CENTERS_RANDOM,
+                float cb_index = 0.2 );
+        };
+        @endcode
+        - **CompositeIndexParams** When using a parameters object of this type the index created
+        combines the randomized kd-trees and the hierarchical k-means tree. :
+        @code
+        struct CompositeIndexParams : public IndexParams
+        {
+            CompositeIndexParams(
+                int trees = 4,
+                int branching = 32,
+                int iterations = 11,
+                flann_centers_init_t centers_init = CENTERS_RANDOM,
+                float cb_index = 0.2 );
+        };
+        @endcode
+        - **LshIndexParams** When using a parameters object of this type the index created uses
+        multi-probe LSH (by Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search
+        by Qin Lv, William Josephson, Zhe Wang, Moses Charikar, Kai Li., Proceedings of the 33rd
+        International Conference on Very Large Data Bases (VLDB). Vienna, Austria. September 2007) :
+        @code
+        struct LshIndexParams : public IndexParams
+        {
+            LshIndexParams(
+                unsigned int table_number,
+                unsigned int key_size,
+                unsigned int multi_probe_level );
+        };
+        @endcode
+        - **AutotunedIndexParams** When passing an object of this type the index created is
+        automatically tuned to offer the best performance, by choosing the optimal index type
+        (randomized kd-trees, hierarchical kmeans, linear) and parameters for the dataset provided. :
+        @code
+        struct AutotunedIndexParams : public IndexParams
+        {
+            AutotunedIndexParams(
+                float target_precision = 0.9,
+                float build_weight = 0.01,
+                float memory_weight = 0,
+                float sample_fraction = 0.1 );
+        };
+        @endcode
+        - **SavedIndexParams** This object type is used for loading a previously saved index from the
+        disk. :
+        @code
+        struct SavedIndexParams : public IndexParams
+        {
+            SavedIndexParams( String filename );
+        };
+        @endcode
+         */
+        GenericIndex(const Mat& features, const ::cvflann::IndexParams& params, Distance distance = Distance());
+
+        ~GenericIndex();
+
+        /** @brief Performs a K-nearest neighbor search for a given query point using the index.
+
+        @param query The query point
+        @param indices Vector that will contain the indices of the K-nearest neighbors found. It must have
+        at least knn size.
+        @param dists Vector that will contain the distances to the K-nearest neighbors found. It must have
+        at least knn size.
+        @param knn Number of nearest neighbors to search for.
+        @param params SearchParams
+         */
+        void knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices,
+                       std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& params);
+        void knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& params);
+
+        int radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices,
+                         std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& params);
+        int radiusSearch(const Mat& query, Mat& indices, Mat& dists,
+                         DistanceType radius, const ::cvflann::SearchParams& params);
+
+        void save(String filename) { nnIndex->save(filename); }
+
+        int veclen() const { return nnIndex->veclen(); }
+
+        int size() const { return nnIndex->size(); }
+
+        ::cvflann::IndexParams getParameters() { return nnIndex->getParameters(); }
+
+        FLANN_DEPRECATED const ::cvflann::IndexParams* getIndexParameters() { return nnIndex->getIndexParameters(); }
+
+private:
+        ::cvflann::Index<Distance>* nnIndex;
+};
+
+//! @cond IGNORED
+
+#define FLANN_DISTANCE_CHECK \
+    if ( ::cvflann::flann_distance_type() != cvflann::FLANN_DIST_L2) { \
+        printf("[WARNING] You are using cv::flann::Index (or cv::flann::GenericIndex) and have also changed "\
+        "the distance using cvflann::set_distance_type. This is no longer working as expected "\
+        "(cv::flann::Index always uses L2). You should create the index templated on the distance, "\
+        "for example for L1 distance use: GenericIndex< L1<float> > \n"); \
+    }
+
+
+template <typename Distance>
+GenericIndex<Distance>::GenericIndex(const Mat& dataset, const ::cvflann::IndexParams& params, Distance distance)
+{
+    CV_Assert(dataset.type() == CvType<ElementType>::type());
+    CV_Assert(dataset.isContinuous());
+    ::cvflann::Matrix<ElementType> m_dataset((ElementType*)dataset.ptr<ElementType>(0), dataset.rows, dataset.cols);
+
+    nnIndex = new ::cvflann::Index<Distance>(m_dataset, params, distance);
+
+    FLANN_DISTANCE_CHECK
+
+    nnIndex->buildIndex();
+}
+
+template <typename Distance>
+GenericIndex<Distance>::~GenericIndex()
+{
+    delete nnIndex;
+}
+
+template <typename Distance>
+void GenericIndex<Distance>::knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& searchParams)
+{
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
+    ::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
+    ::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
+
+    FLANN_DISTANCE_CHECK
+
+    nnIndex->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
+}
+
+
+template <typename Distance>
+void GenericIndex<Distance>::knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& searchParams)
+{
+    CV_Assert(queries.type() == CvType<ElementType>::type());
+    CV_Assert(queries.isContinuous());
+    ::cvflann::Matrix<ElementType> m_queries((ElementType*)queries.ptr<ElementType>(0), queries.rows, queries.cols);
+
+    CV_Assert(indices.type() == CV_32S);
+    CV_Assert(indices.isContinuous());
+    ::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
+
+    CV_Assert(dists.type() == CvType<DistanceType>::type());
+    CV_Assert(dists.isContinuous());
+    ::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
+
+    FLANN_DISTANCE_CHECK
+
+    nnIndex->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
+}
+
+template <typename Distance>
+int GenericIndex<Distance>::radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
+{
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
+    ::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
+    ::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
+
+    FLANN_DISTANCE_CHECK
+
+    return nnIndex->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+}
+
+template <typename Distance>
+int GenericIndex<Distance>::radiusSearch(const Mat& query, Mat& indices, Mat& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
+{
+    CV_Assert(query.type() == CvType<ElementType>::type());
+    CV_Assert(query.isContinuous());
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)query.ptr<ElementType>(0), query.rows, query.cols);
+
+    CV_Assert(indices.type() == CV_32S);
+    CV_Assert(indices.isContinuous());
+    ::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
+
+    CV_Assert(dists.type() == CvType<DistanceType>::type());
+    CV_Assert(dists.isContinuous());
+    ::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
+
+    FLANN_DISTANCE_CHECK
+
+    return nnIndex->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+}
+
+//! @endcond
+
+/**
+ * @deprecated Use GenericIndex class instead
+ */
+template <typename T>
+class
+#ifndef _MSC_VER
+ FLANN_DEPRECATED
+#endif
+ Index_ {
+public:
+        typedef typename L2<T>::ElementType ElementType;
+        typedef typename L2<T>::ResultType DistanceType;
+
+    Index_(const Mat& features, const ::cvflann::IndexParams& params);
+
+    ~Index_();
+
+    void knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& params);
+    void knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& params);
+
+    int radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& params);
+    int radiusSearch(const Mat& query, Mat& indices, Mat& dists, DistanceType radius, const ::cvflann::SearchParams& params);
+
+    void save(String filename)
+        {
+            if (nnIndex_L1) nnIndex_L1->save(filename);
+            if (nnIndex_L2) nnIndex_L2->save(filename);
+        }
+
+    int veclen() const
+    {
+            if (nnIndex_L1) return nnIndex_L1->veclen();
+            if (nnIndex_L2) return nnIndex_L2->veclen();
+        }
+
+    int size() const
+    {
+            if (nnIndex_L1) return nnIndex_L1->size();
+            if (nnIndex_L2) return nnIndex_L2->size();
+        }
+
+        ::cvflann::IndexParams getParameters()
+        {
+            if (nnIndex_L1) return nnIndex_L1->getParameters();
+            if (nnIndex_L2) return nnIndex_L2->getParameters();
+
+        }
+
+        FLANN_DEPRECATED const ::cvflann::IndexParams* getIndexParameters()
+        {
+            if (nnIndex_L1) return nnIndex_L1->getIndexParameters();
+            if (nnIndex_L2) return nnIndex_L2->getIndexParameters();
+        }
+
+private:
+        // providing backwards compatibility for L2 and L1 distances (most common)
+        ::cvflann::Index< L2<ElementType> >* nnIndex_L2;
+        ::cvflann::Index< L1<ElementType> >* nnIndex_L1;
+};
+
+#ifdef _MSC_VER
+template <typename T>
+class FLANN_DEPRECATED Index_;
+#endif
+
+//! @cond IGNORED
+
+template <typename T>
+Index_<T>::Index_(const Mat& dataset, const ::cvflann::IndexParams& params)
+{
+    printf("[WARNING] The cv::flann::Index_<T> class is deperecated, use cv::flann::GenericIndex<Distance> instead\n");
+
+    CV_Assert(dataset.type() == CvType<ElementType>::type());
+    CV_Assert(dataset.isContinuous());
+    ::cvflann::Matrix<ElementType> m_dataset((ElementType*)dataset.ptr<ElementType>(0), dataset.rows, dataset.cols);
+
+    if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L2 ) {
+        nnIndex_L1 = NULL;
+        nnIndex_L2 = new ::cvflann::Index< L2<ElementType> >(m_dataset, params);
+    }
+    else if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L1 ) {
+        nnIndex_L1 = new ::cvflann::Index< L1<ElementType> >(m_dataset, params);
+        nnIndex_L2 = NULL;
+    }
+    else {
+        printf("[ERROR] cv::flann::Index_<T> only provides backwards compatibility for the L1 and L2 distances. "
+        "For other distance types you must use cv::flann::GenericIndex<Distance>\n");
+        CV_Assert(0);
+    }
+    if (nnIndex_L1) nnIndex_L1->buildIndex();
+    if (nnIndex_L2) nnIndex_L2->buildIndex();
+}
+
+template <typename T>
+Index_<T>::~Index_()
+{
+    if (nnIndex_L1) delete nnIndex_L1;
+    if (nnIndex_L2) delete nnIndex_L2;
+}
+
+template <typename T>
+void Index_<T>::knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& searchParams)
+{
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
+    ::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
+    ::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
+
+    if (nnIndex_L1) nnIndex_L1->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
+    if (nnIndex_L2) nnIndex_L2->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
+}
+
+
+template <typename T>
+void Index_<T>::knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& searchParams)
+{
+    CV_Assert(queries.type() == CvType<ElementType>::type());
+    CV_Assert(queries.isContinuous());
+    ::cvflann::Matrix<ElementType> m_queries((ElementType*)queries.ptr<ElementType>(0), queries.rows, queries.cols);
+
+    CV_Assert(indices.type() == CV_32S);
+    CV_Assert(indices.isContinuous());
+    ::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
+
+    CV_Assert(dists.type() == CvType<DistanceType>::type());
+    CV_Assert(dists.isContinuous());
+    ::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
+
+    if (nnIndex_L1) nnIndex_L1->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
+    if (nnIndex_L2) nnIndex_L2->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
+}
+
+template <typename T>
+int Index_<T>::radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
+{
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
+    ::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
+    ::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
+
+    if (nnIndex_L1) return nnIndex_L1->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+    if (nnIndex_L2) return nnIndex_L2->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+}
+
+template <typename T>
+int Index_<T>::radiusSearch(const Mat& query, Mat& indices, Mat& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
+{
+    CV_Assert(query.type() == CvType<ElementType>::type());
+    CV_Assert(query.isContinuous());
+    ::cvflann::Matrix<ElementType> m_query((ElementType*)query.ptr<ElementType>(0), query.rows, query.cols);
+
+    CV_Assert(indices.type() == CV_32S);
+    CV_Assert(indices.isContinuous());
+    ::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
+
+    CV_Assert(dists.type() == CvType<DistanceType>::type());
+    CV_Assert(dists.isContinuous());
+    ::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
+
+    if (nnIndex_L1) return nnIndex_L1->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+    if (nnIndex_L2) return nnIndex_L2->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
+}
+
+//! @endcond
+
+/** @brief Clusters features using hierarchical k-means algorithm.
+
+@param features The points to be clustered. The matrix must have elements of type
+Distance::ElementType.
+@param centers The centers of the clusters obtained. The matrix must have type
+Distance::ResultType. The number of rows in this matrix represents the number of clusters desired,
+however, because of the way the cut in the hierarchical tree is chosen, the number of clusters
+computed will be the highest number of the form (branching-1)\*k+1 that's lower than the number of
+clusters desired, where branching is the tree's branching factor (see description of the
+KMeansIndexParams).
+@param params Parameters used in the construction of the hierarchical k-means tree.
+@param d Distance to be used for clustering.
+
+The method clusters the given feature vectors by constructing a hierarchical k-means tree and
+choosing a cut in the tree that minimizes the cluster's variance. It returns the number of clusters
+found.
+ */
+template <typename Distance>
+int hierarchicalClustering(const Mat& features, Mat& centers, const ::cvflann::KMeansIndexParams& params,
+                           Distance d = Distance())
+{
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+    CV_Assert(features.type() == CvType<ElementType>::type());
+    CV_Assert(features.isContinuous());
+    ::cvflann::Matrix<ElementType> m_features((ElementType*)features.ptr<ElementType>(0), features.rows, features.cols);
+
+    CV_Assert(centers.type() == CvType<DistanceType>::type());
+    CV_Assert(centers.isContinuous());
+    ::cvflann::Matrix<DistanceType> m_centers((DistanceType*)centers.ptr<DistanceType>(0), centers.rows, centers.cols);
+
+    return ::cvflann::hierarchicalClustering<Distance>(m_features, m_centers, params, d);
+}
+
+/** @deprecated
+*/
+template <typename ELEM_TYPE, typename DIST_TYPE>
+FLANN_DEPRECATED int hierarchicalClustering(const Mat& features, Mat& centers, const ::cvflann::KMeansIndexParams& params)
+{
+    printf("[WARNING] cv::flann::hierarchicalClustering<ELEM_TYPE,DIST_TYPE> is deprecated, use "
+        "cv::flann::hierarchicalClustering<Distance> instead\n");
+
+    if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L2 ) {
+        return hierarchicalClustering< L2<ELEM_TYPE> >(features, centers, params);
+    }
+    else if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L1 ) {
+        return hierarchicalClustering< L1<ELEM_TYPE> >(features, centers, params);
+    }
+    else {
+        printf("[ERROR] cv::flann::hierarchicalClustering<ELEM_TYPE,DIST_TYPE> only provides backwards "
+        "compatibility for the L1 and L2 distances. "
+        "For other distance types you must use cv::flann::hierarchicalClustering<Distance>\n");
+        CV_Assert(0);
+    }
+}
+
+//! @} flann
+
+} } // namespace cv::flann
+
+#endif
diff --git a/3rdparty/include/opencv2/flann/all_indices.h b/3rdparty/include/opencv2/flann/all_indices.h
new file mode 100644
index 0000000..ff53fd8
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/all_indices.h
@@ -0,0 +1,155 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_ALL_INDICES_H_
+#define OPENCV_FLANN_ALL_INDICES_H_
+
+#include "general.h"
+
+#include "nn_index.h"
+#include "kdtree_index.h"
+#include "kdtree_single_index.h"
+#include "kmeans_index.h"
+#include "composite_index.h"
+#include "linear_index.h"
+#include "hierarchical_clustering_index.h"
+#include "lsh_index.h"
+#include "autotuned_index.h"
+
+
+namespace cvflann
+{
+
+template<typename KDTreeCapability, typename VectorSpace, typename Distance>
+struct index_creator
+{
+    static NNIndex<Distance>* create(const Matrix<typename Distance::ElementType>& dataset, const IndexParams& params, const Distance& distance)
+    {
+        flann_algorithm_t index_type = get_param<flann_algorithm_t>(params, "algorithm");
+
+        NNIndex<Distance>* nnIndex;
+        switch (index_type) {
+        case FLANN_INDEX_LINEAR:
+            nnIndex = new LinearIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_KDTREE_SINGLE:
+            nnIndex = new KDTreeSingleIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_KDTREE:
+            nnIndex = new KDTreeIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_KMEANS:
+            nnIndex = new KMeansIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_COMPOSITE:
+            nnIndex = new CompositeIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_AUTOTUNED:
+            nnIndex = new AutotunedIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_HIERARCHICAL:
+            nnIndex = new HierarchicalClusteringIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_LSH:
+            nnIndex = new LshIndex<Distance>(dataset, params, distance);
+            break;
+        default:
+            throw FLANNException("Unknown index type");
+        }
+
+        return nnIndex;
+    }
+};
+
+template<typename VectorSpace, typename Distance>
+struct index_creator<False,VectorSpace,Distance>
+{
+    static NNIndex<Distance>* create(const Matrix<typename Distance::ElementType>& dataset, const IndexParams& params, const Distance& distance)
+    {
+        flann_algorithm_t index_type = get_param<flann_algorithm_t>(params, "algorithm");
+
+        NNIndex<Distance>* nnIndex;
+        switch (index_type) {
+        case FLANN_INDEX_LINEAR:
+            nnIndex = new LinearIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_KMEANS:
+            nnIndex = new KMeansIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_HIERARCHICAL:
+            nnIndex = new HierarchicalClusteringIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_LSH:
+            nnIndex = new LshIndex<Distance>(dataset, params, distance);
+            break;
+        default:
+            throw FLANNException("Unknown index type");
+        }
+
+        return nnIndex;
+    }
+};
+
+template<typename Distance>
+struct index_creator<False,False,Distance>
+{
+    static NNIndex<Distance>* create(const Matrix<typename Distance::ElementType>& dataset, const IndexParams& params, const Distance& distance)
+    {
+        flann_algorithm_t index_type = get_param<flann_algorithm_t>(params, "algorithm");
+
+        NNIndex<Distance>* nnIndex;
+        switch (index_type) {
+        case FLANN_INDEX_LINEAR:
+            nnIndex = new LinearIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_HIERARCHICAL:
+            nnIndex = new HierarchicalClusteringIndex<Distance>(dataset, params, distance);
+            break;
+        case FLANN_INDEX_LSH:
+            nnIndex = new LshIndex<Distance>(dataset, params, distance);
+            break;
+        default:
+            throw FLANNException("Unknown index type");
+        }
+
+        return nnIndex;
+    }
+};
+
+template<typename Distance>
+NNIndex<Distance>* create_index_by_type(const Matrix<typename Distance::ElementType>& dataset, const IndexParams& params, const Distance& distance)
+{
+    return index_creator<typename Distance::is_kdtree_distance,
+                         typename Distance::is_vector_space_distance,
+                         Distance>::create(dataset, params,distance);
+}
+
+}
+
+#endif /* OPENCV_FLANN_ALL_INDICES_H_ */
diff --git a/3rdparty/include/opencv2/flann/allocator.h b/3rdparty/include/opencv2/flann/allocator.h
new file mode 100644
index 0000000..26091d0
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/allocator.h
@@ -0,0 +1,188 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_ALLOCATOR_H_
+#define OPENCV_FLANN_ALLOCATOR_H_
+
+#include <stdlib.h>
+#include <stdio.h>
+
+
+namespace cvflann
+{
+
+/**
+ * Allocates (using C's malloc) a generic type T.
+ *
+ * Params:
+ *     count = number of instances to allocate.
+ * Returns: pointer (of type T*) to memory buffer
+ */
+template <typename T>
+T* allocate(size_t count = 1)
+{
+    T* mem = (T*) ::malloc(sizeof(T)*count);
+    return mem;
+}
+
+
+/**
+ * Pooled storage allocator
+ *
+ * The following routines allow for the efficient allocation of storage in
+ * small chunks from a specified pool.  Rather than allowing each structure
+ * to be freed individually, an entire pool of storage is freed at once.
+ * This method has two advantages over just using malloc() and free().  First,
+ * it is far more efficient for allocating small objects, as there is
+ * no overhead for remembering all the information needed to free each
+ * object or consolidating fragmented memory.  Second, the decision about
+ * how long to keep an object is made at the time of allocation, and there
+ * is no need to track down all the objects to free them.
+ *
+ */
+
+const size_t     WORDSIZE=16;
+const  size_t     BLOCKSIZE=8192;
+
+class PooledAllocator
+{
+    /* We maintain memory alignment to word boundaries by requiring that all
+        allocations be in multiples of the machine wordsize.  */
+    /* Size of machine word in bytes.  Must be power of 2. */
+    /* Minimum number of bytes requested at a time from	the system.  Must be multiple of WORDSIZE. */
+
+
+    int     remaining;  /* Number of bytes left in current block of storage. */
+    void*   base;     /* Pointer to base of current block of storage. */
+    void*   loc;      /* Current location in block to next allocate memory. */
+    int     blocksize;
+
+
+public:
+    int     usedMemory;
+    int     wastedMemory;
+
+    /**
+        Default constructor. Initializes a new pool.
+     */
+    PooledAllocator(int blockSize = BLOCKSIZE)
+    {
+        blocksize = blockSize;
+        remaining = 0;
+        base = NULL;
+
+        usedMemory = 0;
+        wastedMemory = 0;
+    }
+
+    /**
+     * Destructor. Frees all the memory allocated in this pool.
+     */
+    ~PooledAllocator()
+    {
+        void* prev;
+
+        while (base != NULL) {
+            prev = *((void**) base); /* Get pointer to prev block. */
+            ::free(base);
+            base = prev;
+        }
+    }
+
+    /**
+     * Returns a pointer to a piece of new memory of the given size in bytes
+     * allocated from the pool.
+     */
+    void* allocateMemory(int size)
+    {
+        int blockSize;
+
+        /* Round size up to a multiple of wordsize.  The following expression
+            only works for WORDSIZE that is a power of 2, by masking last bits of
+            incremented size to zero.
+         */
+        size = (size + (WORDSIZE - 1)) & ~(WORDSIZE - 1);
+
+        /* Check whether a new block must be allocated.  Note that the first word
+            of a block is reserved for a pointer to the previous block.
+         */
+        if (size > remaining) {
+
+            wastedMemory += remaining;
+
+            /* Allocate new storage. */
+            blockSize = (size + sizeof(void*) + (WORDSIZE-1) > BLOCKSIZE) ?
+                        size + sizeof(void*) + (WORDSIZE-1) : BLOCKSIZE;
+
+            // use the standard C malloc to allocate memory
+            void* m = ::malloc(blockSize);
+            if (!m) {
+                fprintf(stderr,"Failed to allocate memory.\n");
+                return NULL;
+            }
+
+            /* Fill first word of new block with pointer to previous block. */
+            ((void**) m)[0] = base;
+            base = m;
+
+            int shift = 0;
+            //int shift = (WORDSIZE - ( (((size_t)m) + sizeof(void*)) & (WORDSIZE-1))) & (WORDSIZE-1);
+
+            remaining = blockSize - sizeof(void*) - shift;
+            loc = ((char*)m + sizeof(void*) + shift);
+        }
+        void* rloc = loc;
+        loc = (char*)loc + size;
+        remaining -= size;
+
+        usedMemory += size;
+
+        return rloc;
+    }
+
+    /**
+     * Allocates (using this pool) a generic type T.
+     *
+     * Params:
+     *     count = number of instances to allocate.
+     * Returns: pointer (of type T*) to memory buffer
+     */
+    template <typename T>
+    T* allocate(size_t count = 1)
+    {
+        T* mem = (T*) this->allocateMemory((int)(sizeof(T)*count));
+        return mem;
+    }
+
+};
+
+}
+
+#endif //OPENCV_FLANN_ALLOCATOR_H_
diff --git a/3rdparty/include/opencv2/flann/any.h b/3rdparty/include/opencv2/flann/any.h
new file mode 100644
index 0000000..8c2edaa
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/any.h
@@ -0,0 +1,323 @@
+#ifndef OPENCV_FLANN_ANY_H_
+#define OPENCV_FLANN_ANY_H_
+/*
+ * (C) Copyright Christopher Diggins 2005-2011
+ * (C) Copyright Pablo Aguilar 2005
+ * (C) Copyright Kevlin Henney 2001
+ *
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt
+ *
+ * Adapted for FLANN by Marius Muja
+ */
+
+#include "defines.h"
+#include <stdexcept>
+#include <ostream>
+#include <typeinfo>
+
+namespace cvflann
+{
+
+namespace anyimpl
+{
+
+struct bad_any_cast
+{
+};
+
+struct empty_any
+{
+};
+
+inline std::ostream& operator <<(std::ostream& out, const empty_any&)
+{
+    out << "[empty_any]";
+    return out;
+}
+
+struct base_any_policy
+{
+    virtual void static_delete(void** x) = 0;
+    virtual void copy_from_value(void const* src, void** dest) = 0;
+    virtual void clone(void* const* src, void** dest) = 0;
+    virtual void move(void* const* src, void** dest) = 0;
+    virtual void* get_value(void** src) = 0;
+    virtual const void* get_value(void* const * src) = 0;
+    virtual ::size_t get_size() = 0;
+    virtual const std::type_info& type() = 0;
+    virtual void print(std::ostream& out, void* const* src) = 0;
+    virtual ~base_any_policy() {}
+};
+
+template<typename T>
+struct typed_base_any_policy : base_any_policy
+{
+    virtual ::size_t get_size() { return sizeof(T); }
+    virtual const std::type_info& type() { return typeid(T); }
+
+};
+
+template<typename T>
+struct small_any_policy : typed_base_any_policy<T>
+{
+    virtual void static_delete(void**) { }
+    virtual void copy_from_value(void const* src, void** dest)
+    {
+        new (dest) T(* reinterpret_cast<T const*>(src));
+    }
+    virtual void clone(void* const* src, void** dest) { *dest = *src; }
+    virtual void move(void* const* src, void** dest) { *dest = *src; }
+    virtual void* get_value(void** src) { return reinterpret_cast<void*>(src); }
+    virtual const void* get_value(void* const * src) { return reinterpret_cast<const void*>(src); }
+    virtual void print(std::ostream& out, void* const* src) { out << *reinterpret_cast<T const*>(src); }
+};
+
+template<typename T>
+struct big_any_policy : typed_base_any_policy<T>
+{
+    virtual void static_delete(void** x)
+    {
+        if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
+    }
+    virtual void copy_from_value(void const* src, void** dest)
+    {
+        *dest = new T(*reinterpret_cast<T const*>(src));
+    }
+    virtual void clone(void* const* src, void** dest)
+    {
+        *dest = new T(**reinterpret_cast<T* const*>(src));
+    }
+    virtual void move(void* const* src, void** dest)
+    {
+        (*reinterpret_cast<T**>(dest))->~T();
+        **reinterpret_cast<T**>(dest) = **reinterpret_cast<T* const*>(src);
+    }
+    virtual void* get_value(void** src) { return *src; }
+    virtual const void* get_value(void* const * src) { return *src; }
+    virtual void print(std::ostream& out, void* const* src) { out << *reinterpret_cast<T const*>(*src); }
+};
+
+template<> inline void big_any_policy<flann_centers_init_t>::print(std::ostream& out, void* const* src)
+{
+    out << int(*reinterpret_cast<flann_centers_init_t const*>(*src));
+}
+
+template<> inline void big_any_policy<flann_algorithm_t>::print(std::ostream& out, void* const* src)
+{
+    out << int(*reinterpret_cast<flann_algorithm_t const*>(*src));
+}
+
+template<> inline void big_any_policy<cv::String>::print(std::ostream& out, void* const* src)
+{
+    out << (*reinterpret_cast<cv::String const*>(*src)).c_str();
+}
+
+template<typename T>
+struct choose_policy
+{
+    typedef big_any_policy<T> type;
+};
+
+template<typename T>
+struct choose_policy<T*>
+{
+    typedef small_any_policy<T*> type;
+};
+
+struct any;
+
+/// Choosing the policy for an any type is illegal, but should never happen.
+/// This is designed to throw a compiler error.
+template<>
+struct choose_policy<any>
+{
+    typedef void type;
+};
+
+/// Specializations for small types.
+#define SMALL_POLICY(TYPE) \
+    template<> \
+    struct choose_policy<TYPE> { typedef small_any_policy<TYPE> type; \
+    }
+
+SMALL_POLICY(signed char);
+SMALL_POLICY(unsigned char);
+SMALL_POLICY(signed short);
+SMALL_POLICY(unsigned short);
+SMALL_POLICY(signed int);
+SMALL_POLICY(unsigned int);
+SMALL_POLICY(signed long);
+SMALL_POLICY(unsigned long);
+SMALL_POLICY(float);
+SMALL_POLICY(bool);
+
+#undef SMALL_POLICY
+
+template <typename T>
+class SinglePolicy
+{
+    SinglePolicy();
+    SinglePolicy(const SinglePolicy& other);
+    SinglePolicy& operator=(const SinglePolicy& other);
+
+public:
+    static base_any_policy* get_policy();
+
+private:
+    static typename choose_policy<T>::type policy;
+};
+
+template <typename T>
+typename choose_policy<T>::type SinglePolicy<T>::policy;
+
+/// This function will return a different policy for each type.
+template <typename T>
+inline base_any_policy* SinglePolicy<T>::get_policy() { return &policy; }
+
+} // namespace anyimpl
+
+struct any
+{
+private:
+    // fields
+    anyimpl::base_any_policy* policy;
+    void* object;
+
+public:
+    /// Initializing constructor.
+    template <typename T>
+    any(const T& x)
+        : policy(anyimpl::SinglePolicy<anyimpl::empty_any>::get_policy()), object(NULL)
+    {
+        assign(x);
+    }
+
+    /// Empty constructor.
+    any()
+        : policy(anyimpl::SinglePolicy<anyimpl::empty_any>::get_policy()), object(NULL)
+    { }
+
+    /// Special initializing constructor for string literals.
+    any(const char* x)
+        : policy(anyimpl::SinglePolicy<anyimpl::empty_any>::get_policy()), object(NULL)
+    {
+        assign(x);
+    }
+
+    /// Copy constructor.
+    any(const any& x)
+        : policy(anyimpl::SinglePolicy<anyimpl::empty_any>::get_policy()), object(NULL)
+    {
+        assign(x);
+    }
+
+    /// Destructor.
+    ~any()
+    {
+        policy->static_delete(&object);
+    }
+
+    /// Assignment function from another any.
+    any& assign(const any& x)
+    {
+        reset();
+        policy = x.policy;
+        policy->clone(&x.object, &object);
+        return *this;
+    }
+
+    /// Assignment function.
+    template <typename T>
+    any& assign(const T& x)
+    {
+        reset();
+        policy = anyimpl::SinglePolicy<T>::get_policy();
+        policy->copy_from_value(&x, &object);
+        return *this;
+    }
+
+    /// Assignment operator.
+    template<typename T>
+    any& operator=(const T& x)
+    {
+        return assign(x);
+    }
+
+    /// Assignment operator, specialed for literal strings.
+    /// They have types like const char [6] which don't work as expected.
+    any& operator=(const char* x)
+    {
+        return assign(x);
+    }
+
+    /// Utility functions
+    any& swap(any& x)
+    {
+        std::swap(policy, x.policy);
+        std::swap(object, x.object);
+        return *this;
+    }
+
+    /// Cast operator. You can only cast to the original type.
+    template<typename T>
+    T& cast()
+    {
+        if (policy->type() != typeid(T)) throw anyimpl::bad_any_cast();
+        T* r = reinterpret_cast<T*>(policy->get_value(&object));
+        return *r;
+    }
+
+    /// Cast operator. You can only cast to the original type.
+    template<typename T>
+    const T& cast() const
+    {
+        if (policy->type() != typeid(T)) throw anyimpl::bad_any_cast();
+        const T* r = reinterpret_cast<const T*>(policy->get_value(&object));
+        return *r;
+    }
+
+    /// Returns true if the any contains no value.
+    bool empty() const
+    {
+        return policy->type() == typeid(anyimpl::empty_any);
+    }
+
+    /// Frees any allocated memory, and sets the value to NULL.
+    void reset()
+    {
+        policy->static_delete(&object);
+        policy = anyimpl::SinglePolicy<anyimpl::empty_any>::get_policy();
+    }
+
+    /// Returns true if the two types are the same.
+    bool compatible(const any& x) const
+    {
+        return policy->type() == x.policy->type();
+    }
+
+    /// Returns if the type is compatible with the policy
+    template<typename T>
+    bool has_type()
+    {
+        return policy->type() == typeid(T);
+    }
+
+    const std::type_info& type() const
+    {
+        return policy->type();
+    }
+
+    friend std::ostream& operator <<(std::ostream& out, const any& any_val);
+};
+
+inline std::ostream& operator <<(std::ostream& out, const any& any_val)
+{
+    any_val.policy->print(out,&any_val.object);
+    return out;
+}
+
+}
+
+#endif // OPENCV_FLANN_ANY_H_
diff --git a/3rdparty/include/opencv2/flann/autotuned_index.h b/3rdparty/include/opencv2/flann/autotuned_index.h
new file mode 100644
index 0000000..0670d19
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/autotuned_index.h
@@ -0,0 +1,587 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+#ifndef OPENCV_FLANN_AUTOTUNED_INDEX_H_
+#define OPENCV_FLANN_AUTOTUNED_INDEX_H_
+
+#include "general.h"
+#include "nn_index.h"
+#include "ground_truth.h"
+#include "index_testing.h"
+#include "sampling.h"
+#include "kdtree_index.h"
+#include "kdtree_single_index.h"
+#include "kmeans_index.h"
+#include "composite_index.h"
+#include "linear_index.h"
+#include "logger.h"
+
+namespace cvflann
+{
+
+template<typename Distance>
+NNIndex<Distance>* create_index_by_type(const Matrix<typename Distance::ElementType>& dataset, const IndexParams& params, const Distance& distance);
+
+
+struct AutotunedIndexParams : public IndexParams
+{
+    AutotunedIndexParams(float target_precision = 0.8, float build_weight = 0.01, float memory_weight = 0, float sample_fraction = 0.1)
+    {
+        (*this)["algorithm"] = FLANN_INDEX_AUTOTUNED;
+        // precision desired (used for autotuning, -1 otherwise)
+        (*this)["target_precision"] = target_precision;
+        // build tree time weighting factor
+        (*this)["build_weight"] = build_weight;
+        // index memory weighting factor
+        (*this)["memory_weight"] = memory_weight;
+        // what fraction of the dataset to use for autotuning
+        (*this)["sample_fraction"] = sample_fraction;
+    }
+};
+
+
+template <typename Distance>
+class AutotunedIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+    AutotunedIndex(const Matrix<ElementType>& inputData, const IndexParams& params = AutotunedIndexParams(), Distance d = Distance()) :
+        dataset_(inputData), distance_(d)
+    {
+        target_precision_ = get_param(params, "target_precision",0.8f);
+        build_weight_ =  get_param(params,"build_weight", 0.01f);
+        memory_weight_ = get_param(params, "memory_weight", 0.0f);
+        sample_fraction_ = get_param(params,"sample_fraction", 0.1f);
+        bestIndex_ = NULL;
+    }
+
+    AutotunedIndex(const AutotunedIndex&);
+    AutotunedIndex& operator=(const AutotunedIndex&);
+
+    virtual ~AutotunedIndex()
+    {
+        if (bestIndex_ != NULL) {
+            delete bestIndex_;
+            bestIndex_ = NULL;
+        }
+    }
+
+    /**
+     *          Method responsible with building the index.
+     */
+    virtual void buildIndex()
+    {
+        std::ostringstream stream;
+        bestParams_ = estimateBuildParams();
+        print_params(bestParams_, stream);
+        Logger::info("----------------------------------------------------\n");
+        Logger::info("Autotuned parameters:\n");
+        Logger::info("%s", stream.str().c_str());
+        Logger::info("----------------------------------------------------\n");
+
+        bestIndex_ = create_index_by_type(dataset_, bestParams_, distance_);
+        bestIndex_->buildIndex();
+        speedup_ = estimateSearchParams(bestSearchParams_);
+        stream.str(std::string());
+        print_params(bestSearchParams_, stream);
+        Logger::info("----------------------------------------------------\n");
+        Logger::info("Search parameters:\n");
+        Logger::info("%s", stream.str().c_str());
+        Logger::info("----------------------------------------------------\n");
+    }
+
+    /**
+     *  Saves the index to a stream
+     */
+    virtual void saveIndex(FILE* stream)
+    {
+        save_value(stream, (int)bestIndex_->getType());
+        bestIndex_->saveIndex(stream);
+        save_value(stream, get_param<int>(bestSearchParams_, "checks"));
+    }
+
+    /**
+     *  Loads the index from a stream
+     */
+    virtual void loadIndex(FILE* stream)
+    {
+        int index_type;
+
+        load_value(stream, index_type);
+        IndexParams params;
+        params["algorithm"] = (flann_algorithm_t)index_type;
+        bestIndex_ = create_index_by_type<Distance>(dataset_, params, distance_);
+        bestIndex_->loadIndex(stream);
+        int checks;
+        load_value(stream, checks);
+        bestSearchParams_["checks"] = checks;
+    }
+
+    /**
+     *      Method that searches for nearest-neighbors
+     */
+    virtual void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+        int checks = get_param<int>(searchParams,"checks",FLANN_CHECKS_AUTOTUNED);
+        if (checks == FLANN_CHECKS_AUTOTUNED) {
+            bestIndex_->findNeighbors(result, vec, bestSearchParams_);
+        }
+        else {
+            bestIndex_->findNeighbors(result, vec, searchParams);
+        }
+    }
+
+
+    IndexParams getParameters() const
+    {
+        return bestIndex_->getParameters();
+    }
+
+    SearchParams getSearchParameters() const
+    {
+        return bestSearchParams_;
+    }
+
+    float getSpeedup() const
+    {
+        return speedup_;
+    }
+
+
+    /**
+     *      Number of features in this index.
+     */
+    virtual size_t size() const
+    {
+        return bestIndex_->size();
+    }
+
+    /**
+     *  The length of each vector in this index.
+     */
+    virtual size_t veclen() const
+    {
+        return bestIndex_->veclen();
+    }
+
+    /**
+     * The amount of memory (in bytes) this index uses.
+     */
+    virtual int usedMemory() const
+    {
+        return bestIndex_->usedMemory();
+    }
+
+    /**
+     * Algorithm name
+     */
+    virtual flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_AUTOTUNED;
+    }
+
+private:
+
+    struct CostData
+    {
+        float searchTimeCost;
+        float buildTimeCost;
+        float memoryCost;
+        float totalCost;
+        IndexParams params;
+    };
+
+    void evaluate_kmeans(CostData& cost)
+    {
+        StartStopTimer t;
+        int checks;
+        const int nn = 1;
+
+        Logger::info("KMeansTree using params: max_iterations=%d, branching=%d\n",
+                     get_param<int>(cost.params,"iterations"),
+                     get_param<int>(cost.params,"branching"));
+        KMeansIndex<Distance> kmeans(sampledDataset_, cost.params, distance_);
+        // measure index build time
+        t.start();
+        kmeans.buildIndex();
+        t.stop();
+        float buildTime = (float)t.value;
+
+        // measure search time
+        float searchTime = test_index_precision(kmeans, sampledDataset_, testDataset_, gt_matches_, target_precision_, checks, distance_, nn);
+
+        float datasetMemory = float(sampledDataset_.rows * sampledDataset_.cols * sizeof(float));
+        cost.memoryCost = (kmeans.usedMemory() + datasetMemory) / datasetMemory;
+        cost.searchTimeCost = searchTime;
+        cost.buildTimeCost = buildTime;
+        Logger::info("KMeansTree buildTime=%g, searchTime=%g, build_weight=%g\n", buildTime, searchTime, build_weight_);
+    }
+
+
+    void evaluate_kdtree(CostData& cost)
+    {
+        StartStopTimer t;
+        int checks;
+        const int nn = 1;
+
+        Logger::info("KDTree using params: trees=%d\n", get_param<int>(cost.params,"trees"));
+        KDTreeIndex<Distance> kdtree(sampledDataset_, cost.params, distance_);
+
+        t.start();
+        kdtree.buildIndex();
+        t.stop();
+        float buildTime = (float)t.value;
+
+        //measure search time
+        float searchTime = test_index_precision(kdtree, sampledDataset_, testDataset_, gt_matches_, target_precision_, checks, distance_, nn);
+
+        float datasetMemory = float(sampledDataset_.rows * sampledDataset_.cols * sizeof(float));
+        cost.memoryCost = (kdtree.usedMemory() + datasetMemory) / datasetMemory;
+        cost.searchTimeCost = searchTime;
+        cost.buildTimeCost = buildTime;
+        Logger::info("KDTree buildTime=%g, searchTime=%g\n", buildTime, searchTime);
+    }
+
+
+    //    struct KMeansSimpleDownhillFunctor {
+    //
+    //        Autotune& autotuner;
+    //        KMeansSimpleDownhillFunctor(Autotune& autotuner_) : autotuner(autotuner_) {}
+    //
+    //        float operator()(int* params) {
+    //
+    //            float maxFloat = numeric_limits<float>::max();
+    //
+    //            if (params[0]<2) return maxFloat;
+    //            if (params[1]<0) return maxFloat;
+    //
+    //            CostData c;
+    //            c.params["algorithm"] = KMEANS;
+    //            c.params["centers-init"] = CENTERS_RANDOM;
+    //            c.params["branching"] = params[0];
+    //            c.params["max-iterations"] = params[1];
+    //
+    //            autotuner.evaluate_kmeans(c);
+    //
+    //            return c.timeCost;
+    //
+    //        }
+    //    };
+    //
+    //    struct KDTreeSimpleDownhillFunctor {
+    //
+    //        Autotune& autotuner;
+    //        KDTreeSimpleDownhillFunctor(Autotune& autotuner_) : autotuner(autotuner_) {}
+    //
+    //        float operator()(int* params) {
+    //            float maxFloat = numeric_limits<float>::max();
+    //
+    //            if (params[0]<1) return maxFloat;
+    //
+    //            CostData c;
+    //            c.params["algorithm"] = KDTREE;
+    //            c.params["trees"] = params[0];
+    //
+    //            autotuner.evaluate_kdtree(c);
+    //
+    //            return c.timeCost;
+    //
+    //        }
+    //    };
+
+
+
+    void optimizeKMeans(std::vector<CostData>& costs)
+    {
+        Logger::info("KMEANS, Step 1: Exploring parameter space\n");
+
+        // explore kmeans parameters space using combinations of the parameters below
+        int maxIterations[] = { 1, 5, 10, 15 };
+        int branchingFactors[] = { 16, 32, 64, 128, 256 };
+
+        int kmeansParamSpaceSize = FLANN_ARRAY_LEN(maxIterations) * FLANN_ARRAY_LEN(branchingFactors);
+        costs.reserve(costs.size() + kmeansParamSpaceSize);
+
+        // evaluate kmeans for all parameter combinations
+        for (size_t i = 0; i < FLANN_ARRAY_LEN(maxIterations); ++i) {
+            for (size_t j = 0; j < FLANN_ARRAY_LEN(branchingFactors); ++j) {
+                CostData cost;
+                cost.params["algorithm"] = FLANN_INDEX_KMEANS;
+                cost.params["centers_init"] = FLANN_CENTERS_RANDOM;
+                cost.params["iterations"] = maxIterations[i];
+                cost.params["branching"] = branchingFactors[j];
+
+                evaluate_kmeans(cost);
+                costs.push_back(cost);
+            }
+        }
+
+        //         Logger::info("KMEANS, Step 2: simplex-downhill optimization\n");
+        //
+        //         const int n = 2;
+        //         // choose initial simplex points as the best parameters so far
+        //         int kmeansNMPoints[n*(n+1)];
+        //         float kmeansVals[n+1];
+        //         for (int i=0;i<n+1;++i) {
+        //             kmeansNMPoints[i*n] = (int)kmeansCosts[i].params["branching"];
+        //             kmeansNMPoints[i*n+1] = (int)kmeansCosts[i].params["max-iterations"];
+        //             kmeansVals[i] = kmeansCosts[i].timeCost;
+        //         }
+        //         KMeansSimpleDownhillFunctor kmeans_cost_func(*this);
+        //         // run optimization
+        //         optimizeSimplexDownhill(kmeansNMPoints,n,kmeans_cost_func,kmeansVals);
+        //         // store results
+        //         for (int i=0;i<n+1;++i) {
+        //             kmeansCosts[i].params["branching"] = kmeansNMPoints[i*2];
+        //             kmeansCosts[i].params["max-iterations"] = kmeansNMPoints[i*2+1];
+        //             kmeansCosts[i].timeCost = kmeansVals[i];
+        //         }
+    }
+
+
+    void optimizeKDTree(std::vector<CostData>& costs)
+    {
+        Logger::info("KD-TREE, Step 1: Exploring parameter space\n");
+
+        // explore kd-tree parameters space using the parameters below
+        int testTrees[] = { 1, 4, 8, 16, 32 };
+
+        // evaluate kdtree for all parameter combinations
+        for (size_t i = 0; i < FLANN_ARRAY_LEN(testTrees); ++i) {
+            CostData cost;
+            cost.params["trees"] = testTrees[i];
+
+            evaluate_kdtree(cost);
+            costs.push_back(cost);
+        }
+
+        //         Logger::info("KD-TREE, Step 2: simplex-downhill optimization\n");
+        //
+        //         const int n = 1;
+        //         // choose initial simplex points as the best parameters so far
+        //         int kdtreeNMPoints[n*(n+1)];
+        //         float kdtreeVals[n+1];
+        //         for (int i=0;i<n+1;++i) {
+        //             kdtreeNMPoints[i] = (int)kdtreeCosts[i].params["trees"];
+        //             kdtreeVals[i] = kdtreeCosts[i].timeCost;
+        //         }
+        //         KDTreeSimpleDownhillFunctor kdtree_cost_func(*this);
+        //         // run optimization
+        //         optimizeSimplexDownhill(kdtreeNMPoints,n,kdtree_cost_func,kdtreeVals);
+        //         // store results
+        //         for (int i=0;i<n+1;++i) {
+        //             kdtreeCosts[i].params["trees"] = kdtreeNMPoints[i];
+        //             kdtreeCosts[i].timeCost = kdtreeVals[i];
+        //         }
+    }
+
+    /**
+     *  Chooses the best nearest-neighbor algorithm and estimates the optimal
+     *  parameters to use when building the index (for a given precision).
+     *  Returns a dictionary with the optimal parameters.
+     */
+    IndexParams estimateBuildParams()
+    {
+        std::vector<CostData> costs;
+
+        int sampleSize = int(sample_fraction_ * dataset_.rows);
+        int testSampleSize = std::min(sampleSize / 10, 1000);
+
+        Logger::info("Entering autotuning, dataset size: %d, sampleSize: %d, testSampleSize: %d, target precision: %g\n", dataset_.rows, sampleSize, testSampleSize, target_precision_);
+
+        // For a very small dataset, it makes no sense to build any fancy index, just
+        // use linear search
+        if (testSampleSize < 10) {
+            Logger::info("Choosing linear, dataset too small\n");
+            return LinearIndexParams();
+        }
+
+        // We use a fraction of the original dataset to speedup the autotune algorithm
+        sampledDataset_ = random_sample(dataset_, sampleSize);
+        // We use a cross-validation approach, first we sample a testset from the dataset
+        testDataset_ = random_sample(sampledDataset_, testSampleSize, true);
+
+        // We compute the ground truth using linear search
+        Logger::info("Computing ground truth... \n");
+        gt_matches_ = Matrix<int>(new int[testDataset_.rows], testDataset_.rows, 1);
+        StartStopTimer t;
+        t.start();
+        compute_ground_truth<Distance>(sampledDataset_, testDataset_, gt_matches_, 0, distance_);
+        t.stop();
+
+        CostData linear_cost;
+        linear_cost.searchTimeCost = (float)t.value;
+        linear_cost.buildTimeCost = 0;
+        linear_cost.memoryCost = 0;
+        linear_cost.params["algorithm"] = FLANN_INDEX_LINEAR;
+
+        costs.push_back(linear_cost);
+
+        // Start parameter autotune process
+        Logger::info("Autotuning parameters...\n");
+
+        optimizeKMeans(costs);
+        optimizeKDTree(costs);
+
+        float bestTimeCost = costs[0].searchTimeCost;
+        for (size_t i = 0; i < costs.size(); ++i) {
+            float timeCost = costs[i].buildTimeCost * build_weight_ + costs[i].searchTimeCost;
+            if (timeCost < bestTimeCost) {
+                bestTimeCost = timeCost;
+            }
+        }
+
+        float bestCost = costs[0].searchTimeCost / bestTimeCost;
+        IndexParams bestParams = costs[0].params;
+        if (bestTimeCost > 0) {
+            for (size_t i = 0; i < costs.size(); ++i) {
+                float crtCost = (costs[i].buildTimeCost * build_weight_ + costs[i].searchTimeCost) / bestTimeCost +
+                                memory_weight_ * costs[i].memoryCost;
+                if (crtCost < bestCost) {
+                    bestCost = crtCost;
+                    bestParams = costs[i].params;
+                }
+            }
+        }
+
+        delete[] gt_matches_.data;
+        delete[] testDataset_.data;
+        delete[] sampledDataset_.data;
+
+        return bestParams;
+    }
+
+
+
+    /**
+     *  Estimates the search time parameters needed to get the desired precision.
+     *  Precondition: the index is built
+     *  Postcondition: the searchParams will have the optimum params set, also the speedup obtained over linear search.
+     */
+    float estimateSearchParams(SearchParams& searchParams)
+    {
+        const int nn = 1;
+        const size_t SAMPLE_COUNT = 1000;
+
+        assert(bestIndex_ != NULL); // must have a valid index
+
+        float speedup = 0;
+
+        int samples = (int)std::min(dataset_.rows / 10, SAMPLE_COUNT);
+        if (samples > 0) {
+            Matrix<ElementType> testDataset = random_sample(dataset_, samples);
+
+            Logger::info("Computing ground truth\n");
+
+            // we need to compute the ground truth first
+            Matrix<int> gt_matches(new int[testDataset.rows], testDataset.rows, 1);
+            StartStopTimer t;
+            t.start();
+            compute_ground_truth<Distance>(dataset_, testDataset, gt_matches, 1, distance_);
+            t.stop();
+            float linear = (float)t.value;
+
+            int checks;
+            Logger::info("Estimating number of checks\n");
+
+            float searchTime;
+            float cb_index;
+            if (bestIndex_->getType() == FLANN_INDEX_KMEANS) {
+                Logger::info("KMeans algorithm, estimating cluster border factor\n");
+                KMeansIndex<Distance>* kmeans = (KMeansIndex<Distance>*)bestIndex_;
+                float bestSearchTime = -1;
+                float best_cb_index = -1;
+                int best_checks = -1;
+                for (cb_index = 0; cb_index < 1.1f; cb_index += 0.2f) {
+                    kmeans->set_cb_index(cb_index);
+                    searchTime = test_index_precision(*kmeans, dataset_, testDataset, gt_matches, target_precision_, checks, distance_, nn, 1);
+                    if ((searchTime < bestSearchTime) || (bestSearchTime == -1)) {
+                        bestSearchTime = searchTime;
+                        best_cb_index = cb_index;
+                        best_checks = checks;
+                    }
+                }
+                searchTime = bestSearchTime;
+                cb_index = best_cb_index;
+                checks = best_checks;
+
+                kmeans->set_cb_index(best_cb_index);
+                Logger::info("Optimum cb_index: %g\n", cb_index);
+                bestParams_["cb_index"] = cb_index;
+            }
+            else {
+                searchTime = test_index_precision(*bestIndex_, dataset_, testDataset, gt_matches, target_precision_, checks, distance_, nn, 1);
+            }
+
+            Logger::info("Required number of checks: %d \n", checks);
+            searchParams["checks"] = checks;
+
+            speedup = linear / searchTime;
+
+            delete[] gt_matches.data;
+            delete[] testDataset.data;
+        }
+
+        return speedup;
+    }
+
+private:
+    NNIndex<Distance>* bestIndex_;
+
+    IndexParams bestParams_;
+    SearchParams bestSearchParams_;
+
+    Matrix<ElementType> sampledDataset_;
+    Matrix<ElementType> testDataset_;
+    Matrix<int> gt_matches_;
+
+    float speedup_;
+
+    /**
+     * The dataset used by this index
+     */
+    const Matrix<ElementType> dataset_;
+
+    /**
+     * Index parameters
+     */
+    float target_precision_;
+    float build_weight_;
+    float memory_weight_;
+    float sample_fraction_;
+
+    Distance distance_;
+
+
+};
+}
+
+#endif /* OPENCV_FLANN_AUTOTUNED_INDEX_H_ */
diff --git a/3rdparty/include/opencv2/flann/composite_index.h b/3rdparty/include/opencv2/flann/composite_index.h
new file mode 100644
index 0000000..527ca1a
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/composite_index.h
@@ -0,0 +1,194 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_COMPOSITE_INDEX_H_
+#define OPENCV_FLANN_COMPOSITE_INDEX_H_
+
+#include "general.h"
+#include "nn_index.h"
+#include "kdtree_index.h"
+#include "kmeans_index.h"
+
+namespace cvflann
+{
+
+/**
+ * Index parameters for the CompositeIndex.
+ */
+struct CompositeIndexParams : public IndexParams
+{
+    CompositeIndexParams(int trees = 4, int branching = 32, int iterations = 11,
+                         flann_centers_init_t centers_init = FLANN_CENTERS_RANDOM, float cb_index = 0.2 )
+    {
+        (*this)["algorithm"] = FLANN_INDEX_KMEANS;
+        // number of randomized trees to use (for kdtree)
+        (*this)["trees"] = trees;
+        // branching factor
+        (*this)["branching"] = branching;
+        // max iterations to perform in one kmeans clustering (kmeans tree)
+        (*this)["iterations"] = iterations;
+        // algorithm used for picking the initial cluster centers for kmeans tree
+        (*this)["centers_init"] = centers_init;
+        // cluster boundary index. Used when searching the kmeans tree
+        (*this)["cb_index"] = cb_index;
+    }
+};
+
+
+/**
+ * This index builds a kd-tree index and a k-means index and performs nearest
+ * neighbour search both indexes. This gives a slight boost in search performance
+ * as some of the neighbours that are missed by one index are found by the other.
+ */
+template <typename Distance>
+class CompositeIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+    /**
+     * Index constructor
+     * @param inputData dataset containing the points to index
+     * @param params Index parameters
+     * @param d Distance functor
+     * @return
+     */
+    CompositeIndex(const Matrix<ElementType>& inputData, const IndexParams& params = CompositeIndexParams(),
+                   Distance d = Distance()) : index_params_(params)
+    {
+        kdtree_index_ = new KDTreeIndex<Distance>(inputData, params, d);
+        kmeans_index_ = new KMeansIndex<Distance>(inputData, params, d);
+
+    }
+
+    CompositeIndex(const CompositeIndex&);
+    CompositeIndex& operator=(const CompositeIndex&);
+
+    virtual ~CompositeIndex()
+    {
+        delete kdtree_index_;
+        delete kmeans_index_;
+    }
+
+    /**
+     * @return The index type
+     */
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_COMPOSITE;
+    }
+
+    /**
+     * @return Size of the index
+     */
+    size_t size() const
+    {
+        return kdtree_index_->size();
+    }
+
+    /**
+     * \returns The dimensionality of the features in this index.
+     */
+    size_t veclen() const
+    {
+        return kdtree_index_->veclen();
+    }
+
+    /**
+     * \returns The amount of memory (in bytes) used by the index.
+     */
+    int usedMemory() const
+    {
+        return kmeans_index_->usedMemory() + kdtree_index_->usedMemory();
+    }
+
+    /**
+     * \brief Builds the index
+     */
+    void buildIndex()
+    {
+        Logger::info("Building kmeans tree...\n");
+        kmeans_index_->buildIndex();
+        Logger::info("Building kdtree tree...\n");
+        kdtree_index_->buildIndex();
+    }
+
+    /**
+     * \brief Saves the index to a stream
+     * \param stream The stream to save the index to
+     */
+    void saveIndex(FILE* stream)
+    {
+        kmeans_index_->saveIndex(stream);
+        kdtree_index_->saveIndex(stream);
+    }
+
+    /**
+     * \brief Loads the index from a stream
+     * \param stream The stream from which the index is loaded
+     */
+    void loadIndex(FILE* stream)
+    {
+        kmeans_index_->loadIndex(stream);
+        kdtree_index_->loadIndex(stream);
+    }
+
+    /**
+     * \returns The index parameters
+     */
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+    /**
+     * \brief Method that searches for nearest-neighbours
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+        kmeans_index_->findNeighbors(result, vec, searchParams);
+        kdtree_index_->findNeighbors(result, vec, searchParams);
+    }
+
+private:
+    /** The k-means index */
+    KMeansIndex<Distance>* kmeans_index_;
+
+    /** The kd-tree index */
+    KDTreeIndex<Distance>* kdtree_index_;
+
+    /** The index parameters */
+    const IndexParams index_params_;
+};
+
+}
+
+#endif //OPENCV_FLANN_COMPOSITE_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/config.h b/3rdparty/include/opencv2/flann/config.h
new file mode 100644
index 0000000..56832fd
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/config.h
@@ -0,0 +1,38 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2011  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2011  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_CONFIG_H_
+#define OPENCV_FLANN_CONFIG_H_
+
+#ifdef FLANN_VERSION_
+#undef FLANN_VERSION_
+#endif
+#define FLANN_VERSION_ "1.6.10"
+
+#endif /* OPENCV_FLANN_CONFIG_H_ */
diff --git a/3rdparty/include/opencv2/flann/defines.h b/3rdparty/include/opencv2/flann/defines.h
new file mode 100644
index 0000000..f0264f7
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/defines.h
@@ -0,0 +1,177 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2011  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2011  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_DEFINES_H_
+#define OPENCV_FLANN_DEFINES_H_
+
+#include "config.h"
+
+#ifdef FLANN_EXPORT
+#undef FLANN_EXPORT
+#endif
+#ifdef WIN32
+/* win32 dll export/import directives */
+ #ifdef FLANN_EXPORTS
+  #define FLANN_EXPORT __declspec(dllexport)
+ #elif defined(FLANN_STATIC)
+  #define FLANN_EXPORT
+ #else
+  #define FLANN_EXPORT __declspec(dllimport)
+ #endif
+#else
+/* unix needs nothing */
+ #define FLANN_EXPORT
+#endif
+
+
+#ifdef FLANN_DEPRECATED
+#undef FLANN_DEPRECATED
+#endif
+#ifdef __GNUC__
+#define FLANN_DEPRECATED __attribute__ ((deprecated))
+#elif defined(_MSC_VER)
+#define FLANN_DEPRECATED __declspec(deprecated)
+#else
+#pragma message("WARNING: You need to implement FLANN_DEPRECATED for this compiler")
+#define FLANN_DEPRECATED
+#endif
+
+
+#undef FLANN_PLATFORM_32_BIT
+#undef FLANN_PLATFORM_64_BIT
+#if defined __amd64__ || defined __x86_64__ || defined _WIN64 || defined _M_X64
+#define FLANN_PLATFORM_64_BIT
+#else
+#define FLANN_PLATFORM_32_BIT
+#endif
+
+
+#undef FLANN_ARRAY_LEN
+#define FLANN_ARRAY_LEN(a) (sizeof(a)/sizeof(a[0]))
+
+namespace cvflann {
+
+/* Nearest neighbour index algorithms */
+enum flann_algorithm_t
+{
+    FLANN_INDEX_LINEAR = 0,
+    FLANN_INDEX_KDTREE = 1,
+    FLANN_INDEX_KMEANS = 2,
+    FLANN_INDEX_COMPOSITE = 3,
+    FLANN_INDEX_KDTREE_SINGLE = 4,
+    FLANN_INDEX_HIERARCHICAL = 5,
+    FLANN_INDEX_LSH = 6,
+    FLANN_INDEX_SAVED = 254,
+    FLANN_INDEX_AUTOTUNED = 255,
+
+    // deprecated constants, should use the FLANN_INDEX_* ones instead
+    LINEAR = 0,
+    KDTREE = 1,
+    KMEANS = 2,
+    COMPOSITE = 3,
+    KDTREE_SINGLE = 4,
+    SAVED = 254,
+    AUTOTUNED = 255
+};
+
+
+
+enum flann_centers_init_t
+{
+    FLANN_CENTERS_RANDOM = 0,
+    FLANN_CENTERS_GONZALES = 1,
+    FLANN_CENTERS_KMEANSPP = 2,
+    FLANN_CENTERS_GROUPWISE = 3,
+
+    // deprecated constants, should use the FLANN_CENTERS_* ones instead
+    CENTERS_RANDOM = 0,
+    CENTERS_GONZALES = 1,
+    CENTERS_KMEANSPP = 2
+};
+
+enum flann_log_level_t
+{
+    FLANN_LOG_NONE = 0,
+    FLANN_LOG_FATAL = 1,
+    FLANN_LOG_ERROR = 2,
+    FLANN_LOG_WARN = 3,
+    FLANN_LOG_INFO = 4
+};
+
+enum flann_distance_t
+{
+    FLANN_DIST_EUCLIDEAN = 1,
+    FLANN_DIST_L2 = 1,
+    FLANN_DIST_MANHATTAN = 2,
+    FLANN_DIST_L1 = 2,
+    FLANN_DIST_MINKOWSKI = 3,
+    FLANN_DIST_MAX   = 4,
+    FLANN_DIST_HIST_INTERSECT   = 5,
+    FLANN_DIST_HELLINGER = 6,
+    FLANN_DIST_CHI_SQUARE = 7,
+    FLANN_DIST_CS         = 7,
+    FLANN_DIST_KULLBACK_LEIBLER  = 8,
+    FLANN_DIST_KL                = 8,
+    FLANN_DIST_HAMMING          = 9,
+
+    // deprecated constants, should use the FLANN_DIST_* ones instead
+    EUCLIDEAN = 1,
+    MANHATTAN = 2,
+    MINKOWSKI = 3,
+    MAX_DIST   = 4,
+    HIST_INTERSECT   = 5,
+    HELLINGER = 6,
+    CS         = 7,
+    KL         = 8,
+    KULLBACK_LEIBLER  = 8
+};
+
+enum flann_datatype_t
+{
+    FLANN_INT8 = 0,
+    FLANN_INT16 = 1,
+    FLANN_INT32 = 2,
+    FLANN_INT64 = 3,
+    FLANN_UINT8 = 4,
+    FLANN_UINT16 = 5,
+    FLANN_UINT32 = 6,
+    FLANN_UINT64 = 7,
+    FLANN_FLOAT32 = 8,
+    FLANN_FLOAT64 = 9
+};
+
+enum
+{
+    FLANN_CHECKS_UNLIMITED = -1,
+    FLANN_CHECKS_AUTOTUNED = -2
+};
+
+}
+
+#endif /* OPENCV_FLANN_DEFINES_H_ */
diff --git a/3rdparty/include/opencv2/flann/dist.h b/3rdparty/include/opencv2/flann/dist.h
new file mode 100644
index 0000000..9dbe527
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/dist.h
@@ -0,0 +1,905 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_DIST_H_
+#define OPENCV_FLANN_DIST_H_
+
+#include <cmath>
+#include <cstdlib>
+#include <string.h>
+#ifdef _MSC_VER
+typedef unsigned __int32 uint32_t;
+typedef unsigned __int64 uint64_t;
+#else
+#include <stdint.h>
+#endif
+
+#include "defines.h"
+
+#if (defined WIN32 || defined _WIN32) && defined(_M_ARM)
+# include <Intrin.h>
+#endif
+
+#ifdef __ARM_NEON__
+# include "arm_neon.h"
+#endif
+
+namespace cvflann
+{
+
+template<typename T>
+inline T abs(T x) { return (x<0) ? -x : x; }
+
+template<>
+inline int abs<int>(int x) { return ::abs(x); }
+
+template<>
+inline float abs<float>(float x) { return fabsf(x); }
+
+template<>
+inline double abs<double>(double x) { return fabs(x); }
+
+template<typename T>
+struct Accumulator { typedef T Type; };
+template<>
+struct Accumulator<unsigned char>  { typedef float Type; };
+template<>
+struct Accumulator<unsigned short> { typedef float Type; };
+template<>
+struct Accumulator<unsigned int> { typedef float Type; };
+template<>
+struct Accumulator<char>   { typedef float Type; };
+template<>
+struct Accumulator<short>  { typedef float Type; };
+template<>
+struct Accumulator<int> { typedef float Type; };
+
+#undef True
+#undef False
+
+class True
+{
+};
+
+class False
+{
+};
+
+
+/**
+ * Squared Euclidean distance functor.
+ *
+ * This is the simpler, unrolled version. This is preferable for
+ * very low dimensionality data (eg 3D points)
+ */
+template<class T>
+struct L2_Simple
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff;
+        for(size_t i = 0; i < size; ++i ) {
+            diff = *a++ - *b++;
+            result += diff*diff;
+        }
+        return result;
+    }
+
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        return (a-b)*(a-b);
+    }
+};
+
+
+
+/**
+ * Squared Euclidean distance functor, optimized version
+ */
+template<class T>
+struct L2
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the squared Euclidean distance between two vectors.
+     *
+     *	This is highly optimised, with loop unrolling, as it is one
+     *	of the most expensive inner loops.
+     *
+     *	The computation of squared root at the end is omitted for
+     *	efficiency.
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff0, diff1, diff2, diff3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            diff0 = (ResultType)(a[0] - b[0]);
+            diff1 = (ResultType)(a[1] - b[1]);
+            diff2 = (ResultType)(a[2] - b[2]);
+            diff3 = (ResultType)(a[3] - b[3]);
+            result += diff0 * diff0 + diff1 * diff1 + diff2 * diff2 + diff3 * diff3;
+            a += 4;
+            b += 4;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        /* Process last 0-3 pixels.  Not needed for standard vector lengths. */
+        while (a < last) {
+            diff0 = (ResultType)(*a++ - *b++);
+            result += diff0 * diff0;
+        }
+        return result;
+    }
+
+    /**
+     *	Partial euclidean distance, using just one dimension. This is used by the
+     *	kd-tree when computing partial distances while traversing the tree.
+     *
+     *	Squared root is omitted for efficiency.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        return (a-b)*(a-b);
+    }
+};
+
+
+/*
+ * Manhattan distance functor, optimized version
+ */
+template<class T>
+struct L1
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the Manhattan (L_1) distance between two vectors.
+     *
+     *	This is highly optimised, with loop unrolling, as it is one
+     *	of the most expensive inner loops.
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff0, diff1, diff2, diff3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            diff0 = (ResultType)abs(a[0] - b[0]);
+            diff1 = (ResultType)abs(a[1] - b[1]);
+            diff2 = (ResultType)abs(a[2] - b[2]);
+            diff3 = (ResultType)abs(a[3] - b[3]);
+            result += diff0 + diff1 + diff2 + diff3;
+            a += 4;
+            b += 4;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        /* Process last 0-3 pixels.  Not needed for standard vector lengths. */
+        while (a < last) {
+            diff0 = (ResultType)abs(*a++ - *b++);
+            result += diff0;
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        return abs(a-b);
+    }
+};
+
+
+
+template<class T>
+struct MinkowskiDistance
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    int order;
+
+    MinkowskiDistance(int order_) : order(order_) {}
+
+    /**
+     *  Compute the Minkowsky (L_p) distance between two vectors.
+     *
+     *	This is highly optimised, with loop unrolling, as it is one
+     *	of the most expensive inner loops.
+     *
+     *	The computation of squared root at the end is omitted for
+     *	efficiency.
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff0, diff1, diff2, diff3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            diff0 = (ResultType)abs(a[0] - b[0]);
+            diff1 = (ResultType)abs(a[1] - b[1]);
+            diff2 = (ResultType)abs(a[2] - b[2]);
+            diff3 = (ResultType)abs(a[3] - b[3]);
+            result += pow(diff0,order) + pow(diff1,order) + pow(diff2,order) + pow(diff3,order);
+            a += 4;
+            b += 4;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        /* Process last 0-3 pixels.  Not needed for standard vector lengths. */
+        while (a < last) {
+            diff0 = (ResultType)abs(*a++ - *b++);
+            result += pow(diff0,order);
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        return pow(static_cast<ResultType>(abs(a-b)),order);
+    }
+};
+
+
+
+template<class T>
+struct MaxDistance
+{
+    typedef False is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the max distance (L_infinity) between two vectors.
+     *
+     *  This distance is not a valid kdtree distance, it's not dimensionwise additive.
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff0, diff1, diff2, diff3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            diff0 = abs(a[0] - b[0]);
+            diff1 = abs(a[1] - b[1]);
+            diff2 = abs(a[2] - b[2]);
+            diff3 = abs(a[3] - b[3]);
+            if (diff0>result) {result = diff0; }
+            if (diff1>result) {result = diff1; }
+            if (diff2>result) {result = diff2; }
+            if (diff3>result) {result = diff3; }
+            a += 4;
+            b += 4;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        /* Process last 0-3 pixels.  Not needed for standard vector lengths. */
+        while (a < last) {
+            diff0 = abs(*a++ - *b++);
+            result = (diff0>result) ? diff0 : result;
+        }
+        return result;
+    }
+
+    /* This distance functor is not dimension-wise additive, which
+     * makes it an invalid kd-tree distance, not implementing the accum_dist method */
+
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Hamming distance functor - counts the bit differences between two strings - useful for the Brief descriptor
+ * bit count of A exclusive XOR'ed with B
+ */
+struct HammingLUT
+{
+    typedef False is_kdtree_distance;
+    typedef False is_vector_space_distance;
+
+    typedef unsigned char ElementType;
+    typedef int ResultType;
+
+    /** this will count the bits in a ^ b
+     */
+    ResultType operator()(const unsigned char* a, const unsigned char* b, size_t size) const
+    {
+        static const uchar popCountTable[] =
+        {
+            0, 1, 1, 2, 1, 2, 2, 3, 1, 2, 2, 3, 2, 3, 3, 4, 1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5,
+            1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
+            1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
+            2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
+            1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
+            2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
+            2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
+            3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7, 4, 5, 5, 6, 5, 6, 6, 7, 5, 6, 6, 7, 6, 7, 7, 8
+        };
+        ResultType result = 0;
+        for (size_t i = 0; i < size; i++) {
+            result += popCountTable[a[i] ^ b[i]];
+        }
+        return result;
+    }
+};
+
+/**
+ * Hamming distance functor (pop count between two binary vectors, i.e. xor them and count the number of bits set)
+ * That code was taken from brief.cpp in OpenCV
+ */
+template<class T>
+struct Hamming
+{
+    typedef False is_kdtree_distance;
+    typedef False is_vector_space_distance;
+
+
+    typedef T ElementType;
+    typedef int ResultType;
+
+    template<typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
+    {
+        ResultType result = 0;
+#ifdef __ARM_NEON__
+        {
+            uint32x4_t bits = vmovq_n_u32(0);
+            for (size_t i = 0; i < size; i += 16) {
+                uint8x16_t A_vec = vld1q_u8 (a + i);
+                uint8x16_t B_vec = vld1q_u8 (b + i);
+                uint8x16_t AxorB = veorq_u8 (A_vec, B_vec);
+                uint8x16_t bitsSet = vcntq_u8 (AxorB);
+                uint16x8_t bitSet8 = vpaddlq_u8 (bitsSet);
+                uint32x4_t bitSet4 = vpaddlq_u16 (bitSet8);
+                bits = vaddq_u32(bits, bitSet4);
+            }
+            uint64x2_t bitSet2 = vpaddlq_u32 (bits);
+            result = vgetq_lane_s32 (vreinterpretq_s32_u64(bitSet2),0);
+            result += vgetq_lane_s32 (vreinterpretq_s32_u64(bitSet2),2);
+        }
+#elif __GNUC__
+        {
+            //for portability just use unsigned long -- and use the __builtin_popcountll (see docs for __builtin_popcountll)
+            typedef unsigned long long pop_t;
+            const size_t modulo = size % sizeof(pop_t);
+            const pop_t* a2 = reinterpret_cast<const pop_t*> (a);
+            const pop_t* b2 = reinterpret_cast<const pop_t*> (b);
+            const pop_t* a2_end = a2 + (size / sizeof(pop_t));
+
+            for (; a2 != a2_end; ++a2, ++b2) result += __builtin_popcountll((*a2) ^ (*b2));
+
+            if (modulo) {
+                //in the case where size is not dividable by sizeof(size_t)
+                //need to mask off the bits at the end
+                pop_t a_final = 0, b_final = 0;
+                memcpy(&a_final, a2, modulo);
+                memcpy(&b_final, b2, modulo);
+                result += __builtin_popcountll(a_final ^ b_final);
+            }
+        }
+#else // NO NEON and NOT GNUC
+        typedef unsigned long long pop_t;
+        HammingLUT lut;
+        result = lut(reinterpret_cast<const unsigned char*> (a),
+                     reinterpret_cast<const unsigned char*> (b), size * sizeof(pop_t));
+#endif
+        return result;
+    }
+};
+
+template<typename T>
+struct Hamming2
+{
+    typedef False is_kdtree_distance;
+    typedef False is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef int ResultType;
+
+    /** This is popcount_3() from:
+     * http://en.wikipedia.org/wiki/Hamming_weight */
+    unsigned int popcnt32(uint32_t n) const
+    {
+        n -= ((n >> 1) & 0x55555555);
+        n = (n & 0x33333333) + ((n >> 2) & 0x33333333);
+        return (((n + (n >> 4))& 0xF0F0F0F)* 0x1010101) >> 24;
+    }
+
+#ifdef FLANN_PLATFORM_64_BIT
+    unsigned int popcnt64(uint64_t n) const
+    {
+        n -= ((n >> 1) & 0x5555555555555555);
+        n = (n & 0x3333333333333333) + ((n >> 2) & 0x3333333333333333);
+        return (((n + (n >> 4))& 0x0f0f0f0f0f0f0f0f)* 0x0101010101010101) >> 56;
+    }
+#endif
+
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
+    {
+#ifdef FLANN_PLATFORM_64_BIT
+        const uint64_t* pa = reinterpret_cast<const uint64_t*>(a);
+        const uint64_t* pb = reinterpret_cast<const uint64_t*>(b);
+        ResultType result = 0;
+        size /= (sizeof(uint64_t)/sizeof(unsigned char));
+        for(size_t i = 0; i < size; ++i ) {
+            result += popcnt64(*pa ^ *pb);
+            ++pa;
+            ++pb;
+        }
+#else
+        const uint32_t* pa = reinterpret_cast<const uint32_t*>(a);
+        const uint32_t* pb = reinterpret_cast<const uint32_t*>(b);
+        ResultType result = 0;
+        size /= (sizeof(uint32_t)/sizeof(unsigned char));
+        for(size_t i = 0; i < size; ++i ) {
+            result += popcnt32(*pa ^ *pb);
+            ++pa;
+            ++pb;
+        }
+#endif
+        return result;
+    }
+};
+
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class T>
+struct HistIntersectionDistance
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the histogram intersection distance
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType min0, min1, min2, min3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            min0 = (ResultType)(a[0] < b[0] ? a[0] : b[0]);
+            min1 = (ResultType)(a[1] < b[1] ? a[1] : b[1]);
+            min2 = (ResultType)(a[2] < b[2] ? a[2] : b[2]);
+            min3 = (ResultType)(a[3] < b[3] ? a[3] : b[3]);
+            result += min0 + min1 + min2 + min3;
+            a += 4;
+            b += 4;
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        /* Process last 0-3 pixels.  Not needed for standard vector lengths. */
+        while (a < last) {
+            min0 = (ResultType)(*a < *b ? *a : *b);
+            result += min0;
+            ++a;
+            ++b;
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        return a<b ? a : b;
+    }
+};
+
+
+
+template<class T>
+struct HellingerDistance
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the Hellinger distance
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType diff0, diff1, diff2, diff3;
+        Iterator1 last = a + size;
+        Iterator1 lastgroup = last - 3;
+
+        /* Process 4 items with each loop for efficiency. */
+        while (a < lastgroup) {
+            diff0 = sqrt(static_cast<ResultType>(a[0])) - sqrt(static_cast<ResultType>(b[0]));
+            diff1 = sqrt(static_cast<ResultType>(a[1])) - sqrt(static_cast<ResultType>(b[1]));
+            diff2 = sqrt(static_cast<ResultType>(a[2])) - sqrt(static_cast<ResultType>(b[2]));
+            diff3 = sqrt(static_cast<ResultType>(a[3])) - sqrt(static_cast<ResultType>(b[3]));
+            result += diff0 * diff0 + diff1 * diff1 + diff2 * diff2 + diff3 * diff3;
+            a += 4;
+            b += 4;
+        }
+        while (a < last) {
+            diff0 = sqrt(static_cast<ResultType>(*a++)) - sqrt(static_cast<ResultType>(*b++));
+            result += diff0 * diff0;
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        ResultType diff = sqrt(static_cast<ResultType>(a)) - sqrt(static_cast<ResultType>(b));
+        return diff * diff;
+    }
+};
+
+
+template<class T>
+struct ChiSquareDistance
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the chi-square distance
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        ResultType sum, diff;
+        Iterator1 last = a + size;
+
+        while (a < last) {
+            sum = (ResultType)(*a + *b);
+            if (sum>0) {
+                diff = (ResultType)(*a - *b);
+                result += diff*diff/sum;
+            }
+            ++a;
+            ++b;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        ResultType result = ResultType();
+        ResultType sum, diff;
+
+        sum = (ResultType)(a+b);
+        if (sum>0) {
+            diff = (ResultType)(a-b);
+            result = diff*diff/sum;
+        }
+        return result;
+    }
+};
+
+
+template<class T>
+struct KL_Divergence
+{
+    typedef True is_kdtree_distance;
+    typedef True is_vector_space_distance;
+
+    typedef T ElementType;
+    typedef typename Accumulator<T>::Type ResultType;
+
+    /**
+     *  Compute the Kullback–Leibler divergence
+     */
+    template <typename Iterator1, typename Iterator2>
+    ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
+    {
+        ResultType result = ResultType();
+        Iterator1 last = a + size;
+
+        while (a < last) {
+            if (* b != 0) {
+                ResultType ratio = (ResultType)(*a / *b);
+                if (ratio>0) {
+                    result += *a * log(ratio);
+                }
+            }
+            ++a;
+            ++b;
+
+            if ((worst_dist>0)&&(result>worst_dist)) {
+                return result;
+            }
+        }
+        return result;
+    }
+
+    /**
+     * Partial distance, used by the kd-tree.
+     */
+    template <typename U, typename V>
+    inline ResultType accum_dist(const U& a, const V& b, int) const
+    {
+        ResultType result = ResultType();
+        if( *b != 0 ) {
+            ResultType ratio = (ResultType)(a / b);
+            if (ratio>0) {
+                result = a * log(ratio);
+            }
+        }
+        return result;
+    }
+};
+
+
+
+/*
+ * This is a "zero iterator". It basically behaves like a zero filled
+ * array to all algorithms that use arrays as iterators (STL style).
+ * It's useful when there's a need to compute the distance between feature
+ * and origin it and allows for better compiler optimisation than using a
+ * zero-filled array.
+ */
+template <typename T>
+struct ZeroIterator
+{
+
+    T operator*()
+    {
+        return 0;
+    }
+
+    T operator[](int)
+    {
+        return 0;
+    }
+
+    const ZeroIterator<T>& operator ++()
+    {
+        return *this;
+    }
+
+    ZeroIterator<T> operator ++(int)
+    {
+        return *this;
+    }
+
+    ZeroIterator<T>& operator+=(int)
+    {
+        return *this;
+    }
+
+};
+
+
+/*
+ * Depending on processed distances, some of them are already squared (e.g. L2)
+ * and some are not (e.g.Hamming). In KMeans++ for instance we want to be sure
+ * we are working on ^2 distances, thus following templates to ensure that.
+ */
+template <typename Distance, typename ElementType>
+struct squareDistance
+{
+    typedef typename Distance::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist*dist; }
+};
+
+
+template <typename ElementType>
+struct squareDistance<L2_Simple<ElementType>, ElementType>
+{
+    typedef typename L2_Simple<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+template <typename ElementType>
+struct squareDistance<L2<ElementType>, ElementType>
+{
+    typedef typename L2<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+
+template <typename ElementType>
+struct squareDistance<MinkowskiDistance<ElementType>, ElementType>
+{
+    typedef typename MinkowskiDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+template <typename ElementType>
+struct squareDistance<HellingerDistance<ElementType>, ElementType>
+{
+    typedef typename HellingerDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+template <typename ElementType>
+struct squareDistance<ChiSquareDistance<ElementType>, ElementType>
+{
+    typedef typename ChiSquareDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+
+template <typename Distance>
+typename Distance::ResultType ensureSquareDistance( typename Distance::ResultType dist )
+{
+    typedef typename Distance::ElementType ElementType;
+
+    squareDistance<Distance, ElementType> dummy;
+    return dummy( dist );
+}
+
+
+/*
+ * ...and a template to ensure the user that he will process the normal distance,
+ * and not squared distance, without loosing processing time calling sqrt(ensureSquareDistance)
+ * that will result in doing actually sqrt(dist*dist) for L1 distance for instance.
+ */
+template <typename Distance, typename ElementType>
+struct simpleDistance
+{
+    typedef typename Distance::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return dist; }
+};
+
+
+template <typename ElementType>
+struct simpleDistance<L2_Simple<ElementType>, ElementType>
+{
+    typedef typename L2_Simple<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return sqrt(dist); }
+};
+
+template <typename ElementType>
+struct simpleDistance<L2<ElementType>, ElementType>
+{
+    typedef typename L2<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return sqrt(dist); }
+};
+
+
+template <typename ElementType>
+struct simpleDistance<MinkowskiDistance<ElementType>, ElementType>
+{
+    typedef typename MinkowskiDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return sqrt(dist); }
+};
+
+template <typename ElementType>
+struct simpleDistance<HellingerDistance<ElementType>, ElementType>
+{
+    typedef typename HellingerDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return sqrt(dist); }
+};
+
+template <typename ElementType>
+struct simpleDistance<ChiSquareDistance<ElementType>, ElementType>
+{
+    typedef typename ChiSquareDistance<ElementType>::ResultType ResultType;
+    ResultType operator()( ResultType dist ) { return sqrt(dist); }
+};
+
+
+template <typename Distance>
+typename Distance::ResultType ensureSimpleDistance( typename Distance::ResultType dist )
+{
+    typedef typename Distance::ElementType ElementType;
+
+    simpleDistance<Distance, ElementType> dummy;
+    return dummy( dist );
+}
+
+}
+
+#endif //OPENCV_FLANN_DIST_H_
diff --git a/3rdparty/include/opencv2/flann/dummy.h b/3rdparty/include/opencv2/flann/dummy.h
new file mode 100644
index 0000000..26bd3fa
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/dummy.h
@@ -0,0 +1,16 @@
+
+#ifndef OPENCV_FLANN_DUMMY_H_
+#define OPENCV_FLANN_DUMMY_H_
+
+namespace cvflann
+{
+
+#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined CVAPI_EXPORTS
+__declspec(dllexport)
+#endif
+void dummyfunc();
+
+}
+
+
+#endif  /* OPENCV_FLANN_DUMMY_H_ */
diff --git a/3rdparty/include/opencv2/flann/dynamic_bitset.h b/3rdparty/include/opencv2/flann/dynamic_bitset.h
new file mode 100644
index 0000000..d795b5d
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/dynamic_bitset.h
@@ -0,0 +1,159 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+/***********************************************************************
+ * Author: Vincent Rabaud
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_DYNAMIC_BITSET_H_
+#define OPENCV_FLANN_DYNAMIC_BITSET_H_
+
+#ifndef FLANN_USE_BOOST
+#  define FLANN_USE_BOOST 0
+#endif
+//#define FLANN_USE_BOOST 1
+#if FLANN_USE_BOOST
+#include <boost/dynamic_bitset.hpp>
+typedef boost::dynamic_bitset<> DynamicBitset;
+#else
+
+#include <limits.h>
+
+#include "dist.h"
+
+namespace cvflann {
+
+/** Class re-implementing the boost version of it
+ * This helps not depending on boost, it also does not do the bound checks
+ * and has a way to reset a block for speed
+ */
+class DynamicBitset
+{
+public:
+    /** default constructor
+     */
+    DynamicBitset()
+    {
+    }
+
+    /** only constructor we use in our code
+     * @param sz the size of the bitset (in bits)
+     */
+    DynamicBitset(size_t sz)
+    {
+        resize(sz);
+        reset();
+    }
+
+    /** Sets all the bits to 0
+     */
+    void clear()
+    {
+        std::fill(bitset_.begin(), bitset_.end(), 0);
+    }
+
+    /** @brief checks if the bitset is empty
+     * @return true if the bitset is empty
+     */
+    bool empty() const
+    {
+        return bitset_.empty();
+    }
+
+    /** set all the bits to 0
+     */
+    void reset()
+    {
+        std::fill(bitset_.begin(), bitset_.end(), 0);
+    }
+
+    /** @brief set one bit to 0
+     * @param index
+     */
+    void reset(size_t index)
+    {
+        bitset_[index / cell_bit_size_] &= ~(size_t(1) << (index % cell_bit_size_));
+    }
+
+    /** @brief sets a specific bit to 0, and more bits too
+     * This function is useful when resetting a given set of bits so that the
+     * whole bitset ends up being 0: if that's the case, we don't care about setting
+     * other bits to 0
+     * @param index
+     */
+    void reset_block(size_t index)
+    {
+        bitset_[index / cell_bit_size_] = 0;
+    }
+
+    /** resize the bitset so that it contains at least sz bits
+     * @param sz
+     */
+    void resize(size_t sz)
+    {
+        size_ = sz;
+        bitset_.resize(sz / cell_bit_size_ + 1);
+    }
+
+    /** set a bit to true
+     * @param index the index of the bit to set to 1
+     */
+    void set(size_t index)
+    {
+        bitset_[index / cell_bit_size_] |= size_t(1) << (index % cell_bit_size_);
+    }
+
+    /** gives the number of contained bits
+     */
+    size_t size() const
+    {
+        return size_;
+    }
+
+    /** check if a bit is set
+     * @param index the index of the bit to check
+     * @return true if the bit is set
+     */
+    bool test(size_t index) const
+    {
+        return (bitset_[index / cell_bit_size_] & (size_t(1) << (index % cell_bit_size_))) != 0;
+    }
+
+private:
+    std::vector<size_t> bitset_;
+    size_t size_;
+    static const unsigned int cell_bit_size_ = CHAR_BIT * sizeof(size_t);
+};
+
+} // namespace cvflann
+
+#endif
+
+#endif // OPENCV_FLANN_DYNAMIC_BITSET_H_
diff --git a/3rdparty/include/opencv2/flann/flann.hpp b/3rdparty/include/opencv2/flann/flann.hpp
new file mode 100644
index 0000000..227683f
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/flann.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/flann.hpp"
diff --git a/3rdparty/include/opencv2/flann/flann_base.hpp b/3rdparty/include/opencv2/flann/flann_base.hpp
new file mode 100644
index 0000000..98c33cf
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/flann_base.hpp
@@ -0,0 +1,290 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_BASE_HPP_
+#define OPENCV_FLANN_BASE_HPP_
+
+#include <vector>
+#include <cassert>
+#include <cstdio>
+
+#include "general.h"
+#include "matrix.h"
+#include "params.h"
+#include "saving.h"
+
+#include "all_indices.h"
+
+namespace cvflann
+{
+
+/**
+ * Sets the log level used for all flann functions
+ * @param level Verbosity level
+ */
+inline void log_verbosity(int level)
+{
+    if (level >= 0) {
+        Logger::setLevel(level);
+    }
+}
+
+/**
+ * (Deprecated) Index parameters for creating a saved index.
+ */
+struct SavedIndexParams : public IndexParams
+{
+    SavedIndexParams(cv::String filename)
+    {
+        (* this)["algorithm"] = FLANN_INDEX_SAVED;
+        (*this)["filename"] = filename;
+    }
+};
+
+
+template<typename Distance>
+NNIndex<Distance>* load_saved_index(const Matrix<typename Distance::ElementType>& dataset, const cv::String& filename, Distance distance)
+{
+    typedef typename Distance::ElementType ElementType;
+
+    FILE* fin = fopen(filename.c_str(), "rb");
+    if (fin == NULL) {
+        return NULL;
+    }
+    IndexHeader header = load_header(fin);
+    if (header.data_type != Datatype<ElementType>::type()) {
+        throw FLANNException("Datatype of saved index is different than of the one to be created.");
+    }
+    if ((size_t(header.rows) != dataset.rows)||(size_t(header.cols) != dataset.cols)) {
+        throw FLANNException("The index saved belongs to a different dataset");
+    }
+
+    IndexParams params;
+    params["algorithm"] = header.index_type;
+    NNIndex<Distance>* nnIndex = create_index_by_type<Distance>(dataset, params, distance);
+    nnIndex->loadIndex(fin);
+    fclose(fin);
+
+    return nnIndex;
+}
+
+
+template<typename Distance>
+class Index : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+    Index(const Matrix<ElementType>& features, const IndexParams& params, Distance distance = Distance() )
+        : index_params_(params)
+    {
+        flann_algorithm_t index_type = get_param<flann_algorithm_t>(params,"algorithm");
+        loaded_ = false;
+
+        if (index_type == FLANN_INDEX_SAVED) {
+            nnIndex_ = load_saved_index<Distance>(features, get_param<cv::String>(params,"filename"), distance);
+            loaded_ = true;
+        }
+        else {
+            nnIndex_ = create_index_by_type<Distance>(features, params, distance);
+        }
+    }
+
+    ~Index()
+    {
+        delete nnIndex_;
+    }
+
+    /**
+     * Builds the index.
+     */
+    void buildIndex()
+    {
+        if (!loaded_) {
+            nnIndex_->buildIndex();
+        }
+    }
+
+    void save(cv::String filename)
+    {
+        FILE* fout = fopen(filename.c_str(), "wb");
+        if (fout == NULL) {
+            throw FLANNException("Cannot open file");
+        }
+        save_header(fout, *nnIndex_);
+        saveIndex(fout);
+        fclose(fout);
+    }
+
+    /**
+     * \brief Saves the index to a stream
+     * \param stream The stream to save the index to
+     */
+    virtual void saveIndex(FILE* stream)
+    {
+        nnIndex_->saveIndex(stream);
+    }
+
+    /**
+     * \brief Loads the index from a stream
+     * \param stream The stream from which the index is loaded
+     */
+    virtual void loadIndex(FILE* stream)
+    {
+        nnIndex_->loadIndex(stream);
+    }
+
+    /**
+     * \returns number of features in this index.
+     */
+    size_t veclen() const
+    {
+        return nnIndex_->veclen();
+    }
+
+    /**
+     * \returns The dimensionality of the features in this index.
+     */
+    size_t size() const
+    {
+        return nnIndex_->size();
+    }
+
+    /**
+     * \returns The index type (kdtree, kmeans,...)
+     */
+    flann_algorithm_t getType() const
+    {
+        return nnIndex_->getType();
+    }
+
+    /**
+     * \returns The amount of memory (in bytes) used by the index.
+     */
+    virtual int usedMemory() const
+    {
+        return nnIndex_->usedMemory();
+    }
+
+
+    /**
+     * \returns The index parameters
+     */
+    IndexParams getParameters() const
+    {
+        return nnIndex_->getParameters();
+    }
+
+    /**
+     * \brief Perform k-nearest neighbor search
+     * \param[in] queries The query points for which to find the nearest neighbors
+     * \param[out] indices The indices of the nearest neighbors found
+     * \param[out] dists Distances to the nearest neighbors found
+     * \param[in] knn Number of nearest neighbors to return
+     * \param[in] params Search parameters
+     */
+    void knnSearch(const Matrix<ElementType>& queries, Matrix<int>& indices, Matrix<DistanceType>& dists, int knn, const SearchParams& params)
+    {
+        nnIndex_->knnSearch(queries, indices, dists, knn, params);
+    }
+
+    /**
+     * \brief Perform radius search
+     * \param[in] query The query point
+     * \param[out] indices The indinces of the neighbors found within the given radius
+     * \param[out] dists The distances to the nearest neighbors found
+     * \param[in] radius The radius used for search
+     * \param[in] params Search parameters
+     * \returns Number of neighbors found
+     */
+    int radiusSearch(const Matrix<ElementType>& query, Matrix<int>& indices, Matrix<DistanceType>& dists, float radius, const SearchParams& params)
+    {
+        return nnIndex_->radiusSearch(query, indices, dists, radius, params);
+    }
+
+    /**
+     * \brief Method that searches for nearest-neighbours
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+        nnIndex_->findNeighbors(result, vec, searchParams);
+    }
+
+    /**
+     * \brief Returns actual index
+     */
+    FLANN_DEPRECATED NNIndex<Distance>* getIndex()
+    {
+        return nnIndex_;
+    }
+
+    /**
+     * \brief Returns index parameters.
+     * \deprecated use getParameters() instead.
+     */
+    FLANN_DEPRECATED  const IndexParams* getIndexParameters()
+    {
+        return &index_params_;
+    }
+
+private:
+    /** Pointer to actual index class */
+    NNIndex<Distance>* nnIndex_;
+    /** Indices if the index was loaded from a file */
+    bool loaded_;
+    /** Parameters passed to the index */
+    IndexParams index_params_;
+};
+
+/**
+ * Performs a hierarchical clustering of the points passed as argument and then takes a cut in the
+ * the clustering tree to return a flat clustering.
+ * @param[in] points Points to be clustered
+ * @param centers The computed cluster centres. Matrix should be preallocated and centers.rows is the
+ *  number of clusters requested.
+ * @param params Clustering parameters (The same as for cvflann::KMeansIndex)
+ * @param d Distance to be used for clustering (eg: cvflann::L2)
+ * @return number of clusters computed (can be different than clusters.rows and is the highest number
+ * of the form (branching-1)*K+1 smaller than clusters.rows).
+ */
+template <typename Distance>
+int hierarchicalClustering(const Matrix<typename Distance::ElementType>& points, Matrix<typename Distance::ResultType>& centers,
+                           const KMeansIndexParams& params, Distance d = Distance())
+{
+    KMeansIndex<Distance> kmeans(points, params, d);
+    kmeans.buildIndex();
+
+    int clusterNum = kmeans.getClusterCenters(centers);
+    return clusterNum;
+}
+
+}
+#endif /* OPENCV_FLANN_BASE_HPP_ */
diff --git a/3rdparty/include/opencv2/flann/general.h b/3rdparty/include/opencv2/flann/general.h
new file mode 100644
index 0000000..9d5402a
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/general.h
@@ -0,0 +1,50 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_GENERAL_H_
+#define OPENCV_FLANN_GENERAL_H_
+
+#include "opencv2/core.hpp"
+
+namespace cvflann
+{
+
+class FLANNException : public cv::Exception
+{
+public:
+    FLANNException(const char* message) : cv::Exception(0, message, "", __FILE__, __LINE__) { }
+
+    FLANNException(const cv::String& message) : cv::Exception(0, message, "", __FILE__, __LINE__) { }
+};
+
+}
+
+
+#endif  /* OPENCV_FLANN_GENERAL_H_ */
diff --git a/3rdparty/include/opencv2/flann/ground_truth.h b/3rdparty/include/opencv2/flann/ground_truth.h
new file mode 100644
index 0000000..fd8f3ae
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/ground_truth.h
@@ -0,0 +1,94 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_GROUND_TRUTH_H_
+#define OPENCV_FLANN_GROUND_TRUTH_H_
+
+#include "dist.h"
+#include "matrix.h"
+
+
+namespace cvflann
+{
+
+template <typename Distance>
+void find_nearest(const Matrix<typename Distance::ElementType>& dataset, typename Distance::ElementType* query, int* matches, int nn,
+                  int skip = 0, Distance distance = Distance())
+{
+    typedef typename Distance::ResultType DistanceType;
+    int n = nn + skip;
+
+    std::vector<int> match(n);
+    std::vector<DistanceType> dists(n);
+
+    dists[0] = distance(dataset[0], query, dataset.cols);
+    match[0] = 0;
+    int dcnt = 1;
+
+    for (size_t i=1; i<dataset.rows; ++i) {
+        DistanceType tmp = distance(dataset[i], query, dataset.cols);
+
+        if (dcnt<n) {
+            match[dcnt] = (int)i;
+            dists[dcnt++] = tmp;
+        }
+        else if (tmp < dists[dcnt-1]) {
+            dists[dcnt-1] = tmp;
+            match[dcnt-1] = (int)i;
+        }
+
+        int j = dcnt-1;
+        // bubble up
+        while (j>=1 && dists[j]<dists[j-1]) {
+            std::swap(dists[j],dists[j-1]);
+            std::swap(match[j],match[j-1]);
+            j--;
+        }
+    }
+
+    for (int i=0; i<nn; ++i) {
+        matches[i] = match[i+skip];
+    }
+}
+
+
+template <typename Distance>
+void compute_ground_truth(const Matrix<typename Distance::ElementType>& dataset, const Matrix<typename Distance::ElementType>& testset, Matrix<int>& matches,
+                          int skip=0, Distance d = Distance())
+{
+    for (size_t i=0; i<testset.rows; ++i) {
+        find_nearest<Distance>(dataset, testset[i], matches[i], (int)matches.cols, skip, d);
+    }
+}
+
+
+}
+
+#endif //OPENCV_FLANN_GROUND_TRUTH_H_
diff --git a/3rdparty/include/opencv2/flann/hdf5.h b/3rdparty/include/opencv2/flann/hdf5.h
new file mode 100644
index 0000000..80d23b9
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/hdf5.h
@@ -0,0 +1,231 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_HDF5_H_
+#define OPENCV_FLANN_HDF5_H_
+
+#include <hdf5.h>
+
+#include "matrix.h"
+
+
+namespace cvflann
+{
+
+namespace
+{
+
+template<typename T>
+hid_t get_hdf5_type()
+{
+    throw FLANNException("Unsupported type for IO operations");
+}
+
+template<>
+hid_t get_hdf5_type<char>() { return H5T_NATIVE_CHAR; }
+template<>
+hid_t get_hdf5_type<unsigned char>() { return H5T_NATIVE_UCHAR; }
+template<>
+hid_t get_hdf5_type<short int>() { return H5T_NATIVE_SHORT; }
+template<>
+hid_t get_hdf5_type<unsigned short int>() { return H5T_NATIVE_USHORT; }
+template<>
+hid_t get_hdf5_type<int>() { return H5T_NATIVE_INT; }
+template<>
+hid_t get_hdf5_type<unsigned int>() { return H5T_NATIVE_UINT; }
+template<>
+hid_t get_hdf5_type<long>() { return H5T_NATIVE_LONG; }
+template<>
+hid_t get_hdf5_type<unsigned long>() { return H5T_NATIVE_ULONG; }
+template<>
+hid_t get_hdf5_type<float>() { return H5T_NATIVE_FLOAT; }
+template<>
+hid_t get_hdf5_type<double>() { return H5T_NATIVE_DOUBLE; }
+}
+
+
+#define CHECK_ERROR(x,y) if ((x)<0) throw FLANNException((y));
+
+template<typename T>
+void save_to_file(const cvflann::Matrix<T>& dataset, const String& filename, const String& name)
+{
+
+#if H5Eset_auto_vers == 2
+    H5Eset_auto( H5E_DEFAULT, NULL, NULL );
+#else
+    H5Eset_auto( NULL, NULL );
+#endif
+
+    herr_t status;
+    hid_t file_id;
+    file_id = H5Fopen(filename.c_str(), H5F_ACC_RDWR, H5P_DEFAULT);
+    if (file_id < 0) {
+        file_id = H5Fcreate(filename.c_str(), H5F_ACC_EXCL, H5P_DEFAULT, H5P_DEFAULT);
+    }
+    CHECK_ERROR(file_id,"Error creating hdf5 file.");
+
+    hsize_t     dimsf[2];              // dataset dimensions
+    dimsf[0] = dataset.rows;
+    dimsf[1] = dataset.cols;
+
+    hid_t space_id = H5Screate_simple(2, dimsf, NULL);
+    hid_t memspace_id = H5Screate_simple(2, dimsf, NULL);
+
+    hid_t dataset_id;
+#if H5Dcreate_vers == 2
+    dataset_id = H5Dcreate2(file_id, name.c_str(), get_hdf5_type<T>(), space_id, H5P_DEFAULT, H5P_DEFAULT, H5P_DEFAULT);
+#else
+    dataset_id = H5Dcreate(file_id, name.c_str(), get_hdf5_type<T>(), space_id, H5P_DEFAULT);
+#endif
+
+    if (dataset_id<0) {
+#if H5Dopen_vers == 2
+        dataset_id = H5Dopen2(file_id, name.c_str(), H5P_DEFAULT);
+#else
+        dataset_id = H5Dopen(file_id, name.c_str());
+#endif
+    }
+    CHECK_ERROR(dataset_id,"Error creating or opening dataset in file.");
+
+    status = H5Dwrite(dataset_id, get_hdf5_type<T>(), memspace_id, space_id, H5P_DEFAULT, dataset.data );
+    CHECK_ERROR(status, "Error writing to dataset");
+
+    H5Sclose(memspace_id);
+    H5Sclose(space_id);
+    H5Dclose(dataset_id);
+    H5Fclose(file_id);
+
+}
+
+
+template<typename T>
+void load_from_file(cvflann::Matrix<T>& dataset, const String& filename, const String& name)
+{
+    herr_t status;
+    hid_t file_id = H5Fopen(filename.c_str(), H5F_ACC_RDWR, H5P_DEFAULT);
+    CHECK_ERROR(file_id,"Error opening hdf5 file.");
+
+    hid_t dataset_id;
+#if H5Dopen_vers == 2
+    dataset_id = H5Dopen2(file_id, name.c_str(), H5P_DEFAULT);
+#else
+    dataset_id = H5Dopen(file_id, name.c_str());
+#endif
+    CHECK_ERROR(dataset_id,"Error opening dataset in file.");
+
+    hid_t space_id = H5Dget_space(dataset_id);
+
+    hsize_t dims_out[2];
+    H5Sget_simple_extent_dims(space_id, dims_out, NULL);
+
+    dataset = cvflann::Matrix<T>(new T[dims_out[0]*dims_out[1]], dims_out[0], dims_out[1]);
+
+    status = H5Dread(dataset_id, get_hdf5_type<T>(), H5S_ALL, H5S_ALL, H5P_DEFAULT, dataset[0]);
+    CHECK_ERROR(status, "Error reading dataset");
+
+    H5Sclose(space_id);
+    H5Dclose(dataset_id);
+    H5Fclose(file_id);
+}
+
+
+#ifdef HAVE_MPI
+
+namespace mpi
+{
+/**
+ * Loads a the hyperslice corresponding to this processor from a hdf5 file.
+ * @param flann_dataset Dataset where the data is loaded
+ * @param filename HDF5 file name
+ * @param name Name of dataset inside file
+ */
+template<typename T>
+void load_from_file(cvflann::Matrix<T>& dataset, const String& filename, const String& name)
+{
+    MPI_Comm comm  = MPI_COMM_WORLD;
+    MPI_Info info  = MPI_INFO_NULL;
+
+    int mpi_size, mpi_rank;
+    MPI_Comm_size(comm, &mpi_size);
+    MPI_Comm_rank(comm, &mpi_rank);
+
+    herr_t status;
+
+    hid_t plist_id = H5Pcreate(H5P_FILE_ACCESS);
+    H5Pset_fapl_mpio(plist_id, comm, info);
+    hid_t file_id = H5Fopen(filename.c_str(), H5F_ACC_RDWR, plist_id);
+    CHECK_ERROR(file_id,"Error opening hdf5 file.");
+    H5Pclose(plist_id);
+    hid_t dataset_id;
+#if H5Dopen_vers == 2
+    dataset_id = H5Dopen2(file_id, name.c_str(), H5P_DEFAULT);
+#else
+    dataset_id = H5Dopen(file_id, name.c_str());
+#endif
+    CHECK_ERROR(dataset_id,"Error opening dataset in file.");
+
+    hid_t space_id = H5Dget_space(dataset_id);
+    hsize_t dims[2];
+    H5Sget_simple_extent_dims(space_id, dims, NULL);
+
+    hsize_t count[2];
+    hsize_t offset[2];
+
+    hsize_t item_cnt = dims[0]/mpi_size+(dims[0]%mpi_size==0 ? 0 : 1);
+    hsize_t cnt = (mpi_rank<mpi_size-1 ? item_cnt : dims[0]-item_cnt*(mpi_size-1));
+
+    count[0] = cnt;
+    count[1] = dims[1];
+    offset[0] = mpi_rank*item_cnt;
+    offset[1] = 0;
+
+    hid_t memspace_id = H5Screate_simple(2,count,NULL);
+
+    H5Sselect_hyperslab(space_id, H5S_SELECT_SET, offset, NULL, count, NULL);
+
+    dataset.rows = count[0];
+    dataset.cols = count[1];
+    dataset.data = new T[dataset.rows*dataset.cols];
+
+    plist_id = H5Pcreate(H5P_DATASET_XFER);
+    H5Pset_dxpl_mpio(plist_id, H5FD_MPIO_COLLECTIVE);
+    status = H5Dread(dataset_id, get_hdf5_type<T>(), memspace_id, space_id, plist_id, dataset.data);
+    CHECK_ERROR(status, "Error reading dataset");
+
+    H5Pclose(plist_id);
+    H5Sclose(space_id);
+    H5Sclose(memspace_id);
+    H5Dclose(dataset_id);
+    H5Fclose(file_id);
+}
+}
+#endif // HAVE_MPI
+} // namespace cvflann::mpi
+
+#endif /* OPENCV_FLANN_HDF5_H_ */
diff --git a/3rdparty/include/opencv2/flann/heap.h b/3rdparty/include/opencv2/flann/heap.h
new file mode 100644
index 0000000..92a6ea6
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/heap.h
@@ -0,0 +1,165 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_HEAP_H_
+#define OPENCV_FLANN_HEAP_H_
+
+#include <algorithm>
+#include <vector>
+
+namespace cvflann
+{
+
+/**
+ * Priority Queue Implementation
+ *
+ * The priority queue is implemented with a heap.  A heap is a complete
+ * (full) binary tree in which each parent is less than both of its
+ * children, but the order of the children is unspecified.
+ */
+template <typename T>
+class Heap
+{
+
+    /**
+     * Storage array for the heap.
+     * Type T must be comparable.
+     */
+    std::vector<T> heap;
+    int length;
+
+    /**
+     * Number of element in the heap
+     */
+    int count;
+
+
+
+public:
+    /**
+     * Constructor.
+     *
+     * Params:
+     *     sz = heap size
+     */
+
+    Heap(int sz)
+    {
+        length = sz;
+        heap.reserve(length);
+        count = 0;
+    }
+
+    /**
+     *
+     * Returns: heap size
+     */
+    int size()
+    {
+        return count;
+    }
+
+    /**
+     * Tests if the heap is empty
+     *
+     * Returns: true is heap empty, false otherwise
+     */
+    bool empty()
+    {
+        return size()==0;
+    }
+
+    /**
+     * Clears the heap.
+     */
+    void clear()
+    {
+        heap.clear();
+        count = 0;
+    }
+
+    struct CompareT
+    {
+        bool operator()(const T& t_1, const T& t_2) const
+        {
+            return t_2 < t_1;
+        }
+    };
+
+    /**
+     * Insert a new element in the heap.
+     *
+     * We select the next empty leaf node, and then keep moving any larger
+     * parents down until the right location is found to store this element.
+     *
+     * Params:
+     *     value = the new element to be inserted in the heap
+     */
+    void insert(T value)
+    {
+        /* If heap is full, then return without adding this element. */
+        if (count == length) {
+            return;
+        }
+
+        heap.push_back(value);
+        static CompareT compareT;
+        std::push_heap(heap.begin(), heap.end(), compareT);
+        ++count;
+    }
+
+
+
+    /**
+     * Returns the node of minimum value from the heap (top of the heap).
+     *
+     * Params:
+     *     value = out parameter used to return the min element
+     * Returns: false if heap empty
+     */
+    bool popMin(T& value)
+    {
+        if (count == 0) {
+            return false;
+        }
+
+        value = heap[0];
+        static CompareT compareT;
+        std::pop_heap(heap.begin(), heap.end(), compareT);
+        heap.pop_back();
+        --count;
+
+        return true;  /* Return old last node. */
+    }
+};
+
+}
+
+#endif //OPENCV_FLANN_HEAP_H_
diff --git a/3rdparty/include/opencv2/flann/hierarchical_clustering_index.h b/3rdparty/include/opencv2/flann/hierarchical_clustering_index.h
new file mode 100644
index 0000000..9d890d4
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/hierarchical_clustering_index.h
@@ -0,0 +1,848 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2011  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2011  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_HIERARCHICAL_CLUSTERING_INDEX_H_
+#define OPENCV_FLANN_HIERARCHICAL_CLUSTERING_INDEX_H_
+
+#include <algorithm>
+#include <map>
+#include <cassert>
+#include <limits>
+#include <cmath>
+
+#include "general.h"
+#include "nn_index.h"
+#include "dist.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "heap.h"
+#include "allocator.h"
+#include "random.h"
+#include "saving.h"
+
+
+namespace cvflann
+{
+
+struct HierarchicalClusteringIndexParams : public IndexParams
+{
+    HierarchicalClusteringIndexParams(int branching = 32,
+                                      flann_centers_init_t centers_init = FLANN_CENTERS_RANDOM,
+                                      int trees = 4, int leaf_size = 100)
+    {
+        (*this)["algorithm"] = FLANN_INDEX_HIERARCHICAL;
+        // The branching factor used in the hierarchical clustering
+        (*this)["branching"] = branching;
+        // Algorithm used for picking the initial cluster centers
+        (*this)["centers_init"] = centers_init;
+        // number of parallel trees to build
+        (*this)["trees"] = trees;
+        // maximum leaf size
+        (*this)["leaf_size"] = leaf_size;
+    }
+};
+
+
+/**
+ * Hierarchical index
+ *
+ * Contains a tree constructed through a hierarchical clustering
+ * and other information for indexing a set of points for nearest-neighbour matching.
+ */
+template <typename Distance>
+class HierarchicalClusteringIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+private:
+
+
+    typedef void (HierarchicalClusteringIndex::* centersAlgFunction)(int, int*, int, int*, int&);
+
+    /**
+     * The function used for choosing the cluster centers.
+     */
+    centersAlgFunction chooseCenters;
+
+
+
+    /**
+     * Chooses the initial centers in the k-means clustering in a random manner.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     *     indices_length = length of indices vector
+     *
+     */
+    void chooseCentersRandom(int k, int* dsindices, int indices_length, int* centers, int& centers_length)
+    {
+        UniqueRandom r(indices_length);
+
+        int index;
+        for (index=0; index<k; ++index) {
+            bool duplicate = true;
+            int rnd;
+            while (duplicate) {
+                duplicate = false;
+                rnd = r.next();
+                if (rnd<0) {
+                    centers_length = index;
+                    return;
+                }
+
+                centers[index] = dsindices[rnd];
+
+                for (int j=0; j<index; ++j) {
+                    DistanceType sq = distance(dataset[centers[index]], dataset[centers[j]], dataset.cols);
+                    if (sq<1e-16) {
+                        duplicate = true;
+                    }
+                }
+            }
+        }
+
+        centers_length = index;
+    }
+
+
+    /**
+     * Chooses the initial centers in the k-means using Gonzales' algorithm
+     * so that the centers are spaced apart from each other.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     * Returns:
+     */
+    void chooseCentersGonzales(int k, int* dsindices, int indices_length, int* centers, int& centers_length)
+    {
+        int n = indices_length;
+
+        int rnd = rand_int(n);
+        assert(rnd >=0 && rnd < n);
+
+        centers[0] = dsindices[rnd];
+
+        int index;
+        for (index=1; index<k; ++index) {
+
+            int best_index = -1;
+            DistanceType best_val = 0;
+            for (int j=0; j<n; ++j) {
+                DistanceType dist = distance(dataset[centers[0]],dataset[dsindices[j]],dataset.cols);
+                for (int i=1; i<index; ++i) {
+                    DistanceType tmp_dist = distance(dataset[centers[i]],dataset[dsindices[j]],dataset.cols);
+                    if (tmp_dist<dist) {
+                        dist = tmp_dist;
+                    }
+                }
+                if (dist>best_val) {
+                    best_val = dist;
+                    best_index = j;
+                }
+            }
+            if (best_index!=-1) {
+                centers[index] = dsindices[best_index];
+            }
+            else {
+                break;
+            }
+        }
+        centers_length = index;
+    }
+
+
+    /**
+     * Chooses the initial centers in the k-means using the algorithm
+     * proposed in the KMeans++ paper:
+     * Arthur, David; Vassilvitskii, Sergei - k-means++: The Advantages of Careful Seeding
+     *
+     * Implementation of this function was converted from the one provided in Arthur's code.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     * Returns:
+     */
+    void chooseCentersKMeanspp(int k, int* dsindices, int indices_length, int* centers, int& centers_length)
+    {
+        int n = indices_length;
+
+        double currentPot = 0;
+        DistanceType* closestDistSq = new DistanceType[n];
+
+        // Choose one random center and set the closestDistSq values
+        int index = rand_int(n);
+        assert(index >=0 && index < n);
+        centers[0] = dsindices[index];
+
+        // Computing distance^2 will have the advantage of even higher probability further to pick new centers
+        // far from previous centers (and this complies to "k-means++: the advantages of careful seeding" article)
+        for (int i = 0; i < n; i++) {
+            closestDistSq[i] = distance(dataset[dsindices[i]], dataset[dsindices[index]], dataset.cols);
+            closestDistSq[i] = ensureSquareDistance<Distance>( closestDistSq[i] );
+            currentPot += closestDistSq[i];
+        }
+
+
+        const int numLocalTries = 1;
+
+        // Choose each center
+        int centerCount;
+        for (centerCount = 1; centerCount < k; centerCount++) {
+
+            // Repeat several trials
+            double bestNewPot = -1;
+            int bestNewIndex = 0;
+            for (int localTrial = 0; localTrial < numLocalTries; localTrial++) {
+
+                // Choose our center - have to be slightly careful to return a valid answer even accounting
+                // for possible rounding errors
+                double randVal = rand_double(currentPot);
+                for (index = 0; index < n-1; index++) {
+                    if (randVal <= closestDistSq[index]) break;
+                    else randVal -= closestDistSq[index];
+                }
+
+                // Compute the new potential
+                double newPot = 0;
+                for (int i = 0; i < n; i++) {
+                    DistanceType dist = distance(dataset[dsindices[i]], dataset[dsindices[index]], dataset.cols);
+                    newPot += std::min( ensureSquareDistance<Distance>(dist), closestDistSq[i] );
+                }
+
+                // Store the best result
+                if ((bestNewPot < 0)||(newPot < bestNewPot)) {
+                    bestNewPot = newPot;
+                    bestNewIndex = index;
+                }
+            }
+
+            // Add the appropriate center
+            centers[centerCount] = dsindices[bestNewIndex];
+            currentPot = bestNewPot;
+            for (int i = 0; i < n; i++) {
+                DistanceType dist = distance(dataset[dsindices[i]], dataset[dsindices[bestNewIndex]], dataset.cols);
+                closestDistSq[i] = std::min( ensureSquareDistance<Distance>(dist), closestDistSq[i] );
+            }
+        }
+
+        centers_length = centerCount;
+
+        delete[] closestDistSq;
+    }
+
+
+    /**
+     * Chooses the initial centers in a way inspired by Gonzales (by Pierre-Emmanuel Viel):
+     * select the first point of the list as a candidate, then parse the points list. If another
+     * point is further than current candidate from the other centers, test if it is a good center
+     * of a local aggregation. If it is, replace current candidate by this point. And so on...
+     *
+     * Used with KMeansIndex that computes centers coordinates by averaging positions of clusters points,
+     * this doesn't make a real difference with previous methods. But used with HierarchicalClusteringIndex
+     * class that pick centers among existing points instead of computing the barycenters, there is a real
+     * improvement.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     * Returns:
+     */
+    void GroupWiseCenterChooser(int k, int* dsindices, int indices_length, int* centers, int& centers_length)
+    {
+        const float kSpeedUpFactor = 1.3f;
+
+        int n = indices_length;
+
+        DistanceType* closestDistSq = new DistanceType[n];
+
+        // Choose one random center and set the closestDistSq values
+        int index = rand_int(n);
+        assert(index >=0 && index < n);
+        centers[0] = dsindices[index];
+
+        for (int i = 0; i < n; i++) {
+            closestDistSq[i] = distance(dataset[dsindices[i]], dataset[dsindices[index]], dataset.cols);
+        }
+
+
+        // Choose each center
+        int centerCount;
+        for (centerCount = 1; centerCount < k; centerCount++) {
+
+            // Repeat several trials
+            double bestNewPot = -1;
+            int bestNewIndex = 0;
+            DistanceType furthest = 0;
+            for (index = 0; index < n; index++) {
+
+                // We will test only the potential of the points further than current candidate
+                if( closestDistSq[index] > kSpeedUpFactor * (float)furthest ) {
+
+                    // Compute the new potential
+                    double newPot = 0;
+                    for (int i = 0; i < n; i++) {
+                        newPot += std::min( distance(dataset[dsindices[i]], dataset[dsindices[index]], dataset.cols)
+                                            , closestDistSq[i] );
+                    }
+
+                    // Store the best result
+                    if ((bestNewPot < 0)||(newPot <= bestNewPot)) {
+                        bestNewPot = newPot;
+                        bestNewIndex = index;
+                        furthest = closestDistSq[index];
+                    }
+                }
+            }
+
+            // Add the appropriate center
+            centers[centerCount] = dsindices[bestNewIndex];
+            for (int i = 0; i < n; i++) {
+                closestDistSq[i] = std::min( distance(dataset[dsindices[i]], dataset[dsindices[bestNewIndex]], dataset.cols)
+                                             , closestDistSq[i] );
+            }
+        }
+
+        centers_length = centerCount;
+
+        delete[] closestDistSq;
+    }
+
+
+public:
+
+
+    /**
+     * Index constructor
+     *
+     * Params:
+     *          inputData = dataset with the input features
+     *          params = parameters passed to the hierarchical k-means algorithm
+     */
+    HierarchicalClusteringIndex(const Matrix<ElementType>& inputData, const IndexParams& index_params = HierarchicalClusteringIndexParams(),
+                                Distance d = Distance())
+        : dataset(inputData), params(index_params), root(NULL), indices(NULL), distance(d)
+    {
+        memoryCounter = 0;
+
+        size_ = dataset.rows;
+        veclen_ = dataset.cols;
+
+        branching_ = get_param(params,"branching",32);
+        centers_init_ = get_param(params,"centers_init", FLANN_CENTERS_RANDOM);
+        trees_ = get_param(params,"trees",4);
+        leaf_size_ = get_param(params,"leaf_size",100);
+
+        if (centers_init_==FLANN_CENTERS_RANDOM) {
+            chooseCenters = &HierarchicalClusteringIndex::chooseCentersRandom;
+        }
+        else if (centers_init_==FLANN_CENTERS_GONZALES) {
+            chooseCenters = &HierarchicalClusteringIndex::chooseCentersGonzales;
+        }
+        else if (centers_init_==FLANN_CENTERS_KMEANSPP) {
+            chooseCenters = &HierarchicalClusteringIndex::chooseCentersKMeanspp;
+        }
+        else if (centers_init_==FLANN_CENTERS_GROUPWISE) {
+            chooseCenters = &HierarchicalClusteringIndex::GroupWiseCenterChooser;
+        }
+        else {
+            throw FLANNException("Unknown algorithm for choosing initial centers.");
+        }
+
+        trees_ = get_param(params,"trees",4);
+        root = new NodePtr[trees_];
+        indices = new int*[trees_];
+
+        for (int i=0; i<trees_; ++i) {
+            root[i] = NULL;
+            indices[i] = NULL;
+        }
+    }
+
+    HierarchicalClusteringIndex(const HierarchicalClusteringIndex&);
+    HierarchicalClusteringIndex& operator=(const HierarchicalClusteringIndex&);
+
+    /**
+     * Index destructor.
+     *
+     * Release the memory used by the index.
+     */
+    virtual ~HierarchicalClusteringIndex()
+    {
+        free_elements();
+
+        if (root!=NULL) {
+            delete[] root;
+        }
+
+        if (indices!=NULL) {
+            delete[] indices;
+        }
+    }
+
+
+    /**
+     * Release the inner elements of indices[]
+     */
+    void free_elements()
+    {
+        if (indices!=NULL) {
+            for(int i=0; i<trees_; ++i) {
+                if (indices[i]!=NULL) {
+                    delete[] indices[i];
+                    indices[i] = NULL;
+                }
+            }
+        }
+    }
+
+
+    /**
+     *  Returns size of index.
+     */
+    size_t size() const
+    {
+        return size_;
+    }
+
+    /**
+     * Returns the length of an index feature.
+     */
+    size_t veclen() const
+    {
+        return veclen_;
+    }
+
+
+    /**
+     * Computes the inde memory usage
+     * Returns: memory used by the index
+     */
+    int usedMemory() const
+    {
+        return pool.usedMemory+pool.wastedMemory+memoryCounter;
+    }
+
+    /**
+     * Builds the index
+     */
+    void buildIndex()
+    {
+        if (branching_<2) {
+            throw FLANNException("Branching factor must be at least 2");
+        }
+
+        free_elements();
+
+        for (int i=0; i<trees_; ++i) {
+            indices[i] = new int[size_];
+            for (size_t j=0; j<size_; ++j) {
+                indices[i][j] = (int)j;
+            }
+            root[i] = pool.allocate<Node>();
+            computeClustering(root[i], indices[i], (int)size_, branching_,0);
+        }
+    }
+
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_HIERARCHICAL;
+    }
+
+
+    void saveIndex(FILE* stream)
+    {
+        save_value(stream, branching_);
+        save_value(stream, trees_);
+        save_value(stream, centers_init_);
+        save_value(stream, leaf_size_);
+        save_value(stream, memoryCounter);
+        for (int i=0; i<trees_; ++i) {
+            save_value(stream, *indices[i], size_);
+            save_tree(stream, root[i], i);
+        }
+
+    }
+
+
+    void loadIndex(FILE* stream)
+    {
+        free_elements();
+
+        if (root!=NULL) {
+            delete[] root;
+        }
+
+        if (indices!=NULL) {
+            delete[] indices;
+        }
+
+        load_value(stream, branching_);
+        load_value(stream, trees_);
+        load_value(stream, centers_init_);
+        load_value(stream, leaf_size_);
+        load_value(stream, memoryCounter);
+
+        indices = new int*[trees_];
+        root = new NodePtr[trees_];
+        for (int i=0; i<trees_; ++i) {
+            indices[i] = new int[size_];
+            load_value(stream, *indices[i], size_);
+            load_tree(stream, root[i], i);
+        }
+
+        params["algorithm"] = getType();
+        params["branching"] = branching_;
+        params["trees"] = trees_;
+        params["centers_init"] = centers_init_;
+        params["leaf_size"] = leaf_size_;
+    }
+
+
+    /**
+     * Find set of nearest neighbors to vec. Their indices are stored inside
+     * the result object.
+     *
+     * Params:
+     *     result = the result object in which the indices of the nearest-neighbors are stored
+     *     vec = the vector for which to search the nearest neighbors
+     *     searchParams = parameters that influence the search algorithm (checks)
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+
+        int maxChecks = get_param(searchParams,"checks",32);
+
+        // Priority queue storing intermediate branches in the best-bin-first search
+        Heap<BranchSt>* heap = new Heap<BranchSt>((int)size_);
+
+        std::vector<bool> checked(size_,false);
+        int checks = 0;
+        for (int i=0; i<trees_; ++i) {
+            findNN(root[i], result, vec, checks, maxChecks, heap, checked);
+        }
+
+        BranchSt branch;
+        while (heap->popMin(branch) && (checks<maxChecks || !result.full())) {
+            NodePtr node = branch.node;
+            findNN(node, result, vec, checks, maxChecks, heap, checked);
+        }
+        assert(result.full());
+
+        delete heap;
+
+    }
+
+    IndexParams getParameters() const
+    {
+        return params;
+    }
+
+
+private:
+
+    /**
+     * Struture representing a node in the hierarchical k-means tree.
+     */
+    struct Node
+    {
+        /**
+         * The cluster center index
+         */
+        int pivot;
+        /**
+         * The cluster size (number of points in the cluster)
+         */
+        int size;
+        /**
+         * Child nodes (only for non-terminal nodes)
+         */
+        Node** childs;
+        /**
+         * Node points (only for terminal nodes)
+         */
+        int* indices;
+        /**
+         * Level
+         */
+        int level;
+    };
+    typedef Node* NodePtr;
+
+
+
+    /**
+     * Alias definition for a nicer syntax.
+     */
+    typedef BranchStruct<NodePtr, DistanceType> BranchSt;
+
+
+
+    void save_tree(FILE* stream, NodePtr node, int num)
+    {
+        save_value(stream, *node);
+        if (node->childs==NULL) {
+            int indices_offset = (int)(node->indices - indices[num]);
+            save_value(stream, indices_offset);
+        }
+        else {
+            for(int i=0; i<branching_; ++i) {
+                save_tree(stream, node->childs[i], num);
+            }
+        }
+    }
+
+
+    void load_tree(FILE* stream, NodePtr& node, int num)
+    {
+        node = pool.allocate<Node>();
+        load_value(stream, *node);
+        if (node->childs==NULL) {
+            int indices_offset;
+            load_value(stream, indices_offset);
+            node->indices = indices[num] + indices_offset;
+        }
+        else {
+            node->childs = pool.allocate<NodePtr>(branching_);
+            for(int i=0; i<branching_; ++i) {
+                load_tree(stream, node->childs[i], num);
+            }
+        }
+    }
+
+
+
+
+    void computeLabels(int* dsindices, int indices_length,  int* centers, int centers_length, int* labels, DistanceType& cost)
+    {
+        cost = 0;
+        for (int i=0; i<indices_length; ++i) {
+            ElementType* point = dataset[dsindices[i]];
+            DistanceType dist = distance(point, dataset[centers[0]], veclen_);
+            labels[i] = 0;
+            for (int j=1; j<centers_length; ++j) {
+                DistanceType new_dist = distance(point, dataset[centers[j]], veclen_);
+                if (dist>new_dist) {
+                    labels[i] = j;
+                    dist = new_dist;
+                }
+            }
+            cost += dist;
+        }
+    }
+
+    /**
+     * The method responsible with actually doing the recursive hierarchical
+     * clustering
+     *
+     * Params:
+     *     node = the node to cluster
+     *     indices = indices of the points belonging to the current node
+     *     branching = the branching factor to use in the clustering
+     *
+     * TODO: for 1-sized clusters don't store a cluster center (it's the same as the single cluster point)
+     */
+    void computeClustering(NodePtr node, int* dsindices, int indices_length, int branching, int level)
+    {
+        node->size = indices_length;
+        node->level = level;
+
+        if (indices_length < leaf_size_) { // leaf node
+            node->indices = dsindices;
+            std::sort(node->indices,node->indices+indices_length);
+            node->childs = NULL;
+            return;
+        }
+
+        std::vector<int> centers(branching);
+        std::vector<int> labels(indices_length);
+
+        int centers_length;
+        (this->*chooseCenters)(branching, dsindices, indices_length, &centers[0], centers_length);
+
+        if (centers_length<branching) {
+            node->indices = dsindices;
+            std::sort(node->indices,node->indices+indices_length);
+            node->childs = NULL;
+            return;
+        }
+
+
+        //	assign points to clusters
+        DistanceType cost;
+        computeLabels(dsindices, indices_length, &centers[0], centers_length, &labels[0], cost);
+
+        node->childs = pool.allocate<NodePtr>(branching);
+        int start = 0;
+        int end = start;
+        for (int i=0; i<branching; ++i) {
+            for (int j=0; j<indices_length; ++j) {
+                if (labels[j]==i) {
+                    std::swap(dsindices[j],dsindices[end]);
+                    std::swap(labels[j],labels[end]);
+                    end++;
+                }
+            }
+
+            node->childs[i] = pool.allocate<Node>();
+            node->childs[i]->pivot = centers[i];
+            node->childs[i]->indices = NULL;
+            computeClustering(node->childs[i],dsindices+start, end-start, branching, level+1);
+            start=end;
+        }
+    }
+
+
+
+    /**
+     * Performs one descent in the hierarchical k-means tree. The branches not
+     * visited are stored in a priority queue.
+     *
+     * Params:
+     *      node = node to explore
+     *      result = container for the k-nearest neighbors found
+     *      vec = query points
+     *      checks = how many points in the dataset have been checked so far
+     *      maxChecks = maximum dataset points to checks
+     */
+
+
+    void findNN(NodePtr node, ResultSet<DistanceType>& result, const ElementType* vec, int& checks, int maxChecks,
+                Heap<BranchSt>* heap, std::vector<bool>& checked)
+    {
+        if (node->childs==NULL) {
+            if (checks>=maxChecks) {
+                if (result.full()) return;
+            }
+            for (int i=0; i<node->size; ++i) {
+                int index = node->indices[i];
+                if (!checked[index]) {
+                    DistanceType dist = distance(dataset[index], vec, veclen_);
+                    result.addPoint(dist, index);
+                    checked[index] = true;
+                    ++checks;
+                }
+            }
+        }
+        else {
+            DistanceType* domain_distances = new DistanceType[branching_];
+            int best_index = 0;
+            domain_distances[best_index] = distance(vec, dataset[node->childs[best_index]->pivot], veclen_);
+            for (int i=1; i<branching_; ++i) {
+                domain_distances[i] = distance(vec, dataset[node->childs[i]->pivot], veclen_);
+                if (domain_distances[i]<domain_distances[best_index]) {
+                    best_index = i;
+                }
+            }
+            for (int i=0; i<branching_; ++i) {
+                if (i!=best_index) {
+                    heap->insert(BranchSt(node->childs[i],domain_distances[i]));
+                }
+            }
+            delete[] domain_distances;
+            findNN(node->childs[best_index],result,vec, checks, maxChecks, heap, checked);
+        }
+    }
+
+private:
+
+
+    /**
+     * The dataset used by this index
+     */
+    const Matrix<ElementType> dataset;
+
+    /**
+     * Parameters used by this index
+     */
+    IndexParams params;
+
+
+    /**
+     * Number of features in the dataset.
+     */
+    size_t size_;
+
+    /**
+     * Length of each feature.
+     */
+    size_t veclen_;
+
+    /**
+     * The root node in the tree.
+     */
+    NodePtr* root;
+
+    /**
+     *  Array of indices to vectors in the dataset.
+     */
+    int** indices;
+
+
+    /**
+     * The distance
+     */
+    Distance distance;
+
+    /**
+     * Pooled memory allocator.
+     *
+     * Using a pooled memory allocator is more efficient
+     * than allocating memory directly when there is a large
+     * number small of memory allocations.
+     */
+    PooledAllocator pool;
+
+    /**
+     * Memory occupied by the index.
+     */
+    int memoryCounter;
+
+    /** index parameters */
+    int branching_;
+    int trees_;
+    flann_centers_init_t centers_init_;
+    int leaf_size_;
+
+
+};
+
+}
+
+#endif /* OPENCV_FLANN_HIERARCHICAL_CLUSTERING_INDEX_H_ */
diff --git a/3rdparty/include/opencv2/flann/index_testing.h b/3rdparty/include/opencv2/flann/index_testing.h
new file mode 100644
index 0000000..d764004
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/index_testing.h
@@ -0,0 +1,318 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_INDEX_TESTING_H_
+#define OPENCV_FLANN_INDEX_TESTING_H_
+
+#include <cstring>
+#include <cassert>
+#include <cmath>
+
+#include "matrix.h"
+#include "nn_index.h"
+#include "result_set.h"
+#include "logger.h"
+#include "timer.h"
+
+
+namespace cvflann
+{
+
+inline int countCorrectMatches(int* neighbors, int* groundTruth, int n)
+{
+    int count = 0;
+    for (int i=0; i<n; ++i) {
+        for (int k=0; k<n; ++k) {
+            if (neighbors[i]==groundTruth[k]) {
+                count++;
+                break;
+            }
+        }
+    }
+    return count;
+}
+
+
+template <typename Distance>
+typename Distance::ResultType computeDistanceRaport(const Matrix<typename Distance::ElementType>& inputData, typename Distance::ElementType* target,
+                                                    int* neighbors, int* groundTruth, int veclen, int n, const Distance& distance)
+{
+    typedef typename Distance::ResultType DistanceType;
+
+    DistanceType ret = 0;
+    for (int i=0; i<n; ++i) {
+        DistanceType den = distance(inputData[groundTruth[i]], target, veclen);
+        DistanceType num = distance(inputData[neighbors[i]], target, veclen);
+
+        if ((den==0)&&(num==0)) {
+            ret += 1;
+        }
+        else {
+            ret += num/den;
+        }
+    }
+
+    return ret;
+}
+
+template <typename Distance>
+float search_with_ground_truth(NNIndex<Distance>& index, const Matrix<typename Distance::ElementType>& inputData,
+                               const Matrix<typename Distance::ElementType>& testData, const Matrix<int>& matches, int nn, int checks,
+                               float& time, typename Distance::ResultType& dist, const Distance& distance, int skipMatches)
+{
+    typedef typename Distance::ResultType DistanceType;
+
+    if (matches.cols<size_t(nn)) {
+        Logger::info("matches.cols=%d, nn=%d\n",matches.cols,nn);
+
+        throw FLANNException("Ground truth is not computed for as many neighbors as requested");
+    }
+
+    KNNResultSet<DistanceType> resultSet(nn+skipMatches);
+    SearchParams searchParams(checks);
+
+    std::vector<int> indices(nn+skipMatches);
+    std::vector<DistanceType> dists(nn+skipMatches);
+    int* neighbors = &indices[skipMatches];
+
+    int correct = 0;
+    DistanceType distR = 0;
+    StartStopTimer t;
+    int repeats = 0;
+    while (t.value<0.2) {
+        repeats++;
+        t.start();
+        correct = 0;
+        distR = 0;
+        for (size_t i = 0; i < testData.rows; i++) {
+            resultSet.init(&indices[0], &dists[0]);
+            index.findNeighbors(resultSet, testData[i], searchParams);
+
+            correct += countCorrectMatches(neighbors,matches[i], nn);
+            distR += computeDistanceRaport<Distance>(inputData, testData[i], neighbors, matches[i], (int)testData.cols, nn, distance);
+        }
+        t.stop();
+    }
+    time = float(t.value/repeats);
+
+    float precicion = (float)correct/(nn*testData.rows);
+
+    dist = distR/(testData.rows*nn);
+
+    Logger::info("%8d %10.4g %10.5g %10.5g %10.5g\n",
+                 checks, precicion, time, 1000.0 * time / testData.rows, dist);
+
+    return precicion;
+}
+
+
+template <typename Distance>
+float test_index_checks(NNIndex<Distance>& index, const Matrix<typename Distance::ElementType>& inputData,
+                        const Matrix<typename Distance::ElementType>& testData, const Matrix<int>& matches,
+                        int checks, float& precision, const Distance& distance, int nn = 1, int skipMatches = 0)
+{
+    typedef typename Distance::ResultType DistanceType;
+
+    Logger::info("  Nodes  Precision(%)   Time(s)   Time/vec(ms)  Mean dist\n");
+    Logger::info("---------------------------------------------------------\n");
+
+    float time = 0;
+    DistanceType dist = 0;
+    precision = search_with_ground_truth(index, inputData, testData, matches, nn, checks, time, dist, distance, skipMatches);
+
+    return time;
+}
+
+template <typename Distance>
+float test_index_precision(NNIndex<Distance>& index, const Matrix<typename Distance::ElementType>& inputData,
+                           const Matrix<typename Distance::ElementType>& testData, const Matrix<int>& matches,
+                           float precision, int& checks, const Distance& distance, int nn = 1, int skipMatches = 0)
+{
+    typedef typename Distance::ResultType DistanceType;
+    const float SEARCH_EPS = 0.001f;
+
+    Logger::info("  Nodes  Precision(%)   Time(s)   Time/vec(ms)  Mean dist\n");
+    Logger::info("---------------------------------------------------------\n");
+
+    int c2 = 1;
+    float p2;
+    int c1 = 1;
+    //float p1;
+    float time;
+    DistanceType dist;
+
+    p2 = search_with_ground_truth(index, inputData, testData, matches, nn, c2, time, dist, distance, skipMatches);
+
+    if (p2>precision) {
+        Logger::info("Got as close as I can\n");
+        checks = c2;
+        return time;
+    }
+
+    while (p2<precision) {
+        c1 = c2;
+        //p1 = p2;
+        c2 *=2;
+        p2 = search_with_ground_truth(index, inputData, testData, matches, nn, c2, time, dist, distance, skipMatches);
+    }
+
+    int cx;
+    float realPrecision;
+    if (fabs(p2-precision)>SEARCH_EPS) {
+        Logger::info("Start linear estimation\n");
+        // after we got to values in the vecinity of the desired precision
+        // use linear approximation get a better estimation
+
+        cx = (c1+c2)/2;
+        realPrecision = search_with_ground_truth(index, inputData, testData, matches, nn, cx, time, dist, distance, skipMatches);
+        while (fabs(realPrecision-precision)>SEARCH_EPS) {
+
+            if (realPrecision<precision) {
+                c1 = cx;
+            }
+            else {
+                c2 = cx;
+            }
+            cx = (c1+c2)/2;
+            if (cx==c1) {
+                Logger::info("Got as close as I can\n");
+                break;
+            }
+            realPrecision = search_with_ground_truth(index, inputData, testData, matches, nn, cx, time, dist, distance, skipMatches);
+        }
+
+        c2 = cx;
+        p2 = realPrecision;
+
+    }
+    else {
+        Logger::info("No need for linear estimation\n");
+        cx = c2;
+        realPrecision = p2;
+    }
+
+    checks = cx;
+    return time;
+}
+
+
+template <typename Distance>
+void test_index_precisions(NNIndex<Distance>& index, const Matrix<typename Distance::ElementType>& inputData,
+                           const Matrix<typename Distance::ElementType>& testData, const Matrix<int>& matches,
+                           float* precisions, int precisions_length, const Distance& distance, int nn = 1, int skipMatches = 0, float maxTime = 0)
+{
+    typedef typename Distance::ResultType DistanceType;
+
+    const float SEARCH_EPS = 0.001;
+
+    // make sure precisions array is sorted
+    std::sort(precisions, precisions+precisions_length);
+
+    int pindex = 0;
+    float precision = precisions[pindex];
+
+    Logger::info("  Nodes  Precision(%)   Time(s)   Time/vec(ms)  Mean dist\n");
+    Logger::info("---------------------------------------------------------\n");
+
+    int c2 = 1;
+    float p2;
+
+    int c1 = 1;
+    float p1;
+
+    float time;
+    DistanceType dist;
+
+    p2 = search_with_ground_truth(index, inputData, testData, matches, nn, c2, time, dist, distance, skipMatches);
+
+    // if precision for 1 run down the tree is already
+    // better then some of the requested precisions, then
+    // skip those
+    while (precisions[pindex]<p2 && pindex<precisions_length) {
+        pindex++;
+    }
+
+    if (pindex==precisions_length) {
+        Logger::info("Got as close as I can\n");
+        return;
+    }
+
+    for (int i=pindex; i<precisions_length; ++i) {
+
+        precision = precisions[i];
+        while (p2<precision) {
+            c1 = c2;
+            p1 = p2;
+            c2 *=2;
+            p2 = search_with_ground_truth(index, inputData, testData, matches, nn, c2, time, dist, distance, skipMatches);
+            if ((maxTime> 0)&&(time > maxTime)&&(p2<precision)) return;
+        }
+
+        int cx;
+        float realPrecision;
+        if (fabs(p2-precision)>SEARCH_EPS) {
+            Logger::info("Start linear estimation\n");
+            // after we got to values in the vecinity of the desired precision
+            // use linear approximation get a better estimation
+
+            cx = (c1+c2)/2;
+            realPrecision = search_with_ground_truth(index, inputData, testData, matches, nn, cx, time, dist, distance, skipMatches);
+            while (fabs(realPrecision-precision)>SEARCH_EPS) {
+
+                if (realPrecision<precision) {
+                    c1 = cx;
+                }
+                else {
+                    c2 = cx;
+                }
+                cx = (c1+c2)/2;
+                if (cx==c1) {
+                    Logger::info("Got as close as I can\n");
+                    break;
+                }
+                realPrecision = search_with_ground_truth(index, inputData, testData, matches, nn, cx, time, dist, distance, skipMatches);
+            }
+
+            c2 = cx;
+            p2 = realPrecision;
+
+        }
+        else {
+            Logger::info("No need for linear estimation\n");
+            cx = c2;
+            realPrecision = p2;
+        }
+
+    }
+}
+
+}
+
+#endif //OPENCV_FLANN_INDEX_TESTING_H_
diff --git a/3rdparty/include/opencv2/flann/kdtree_index.h b/3rdparty/include/opencv2/flann/kdtree_index.h
new file mode 100644
index 0000000..dc0971c
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/kdtree_index.h
@@ -0,0 +1,621 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_KDTREE_INDEX_H_
+#define OPENCV_FLANN_KDTREE_INDEX_H_
+
+#include <algorithm>
+#include <map>
+#include <cassert>
+#include <cstring>
+
+#include "general.h"
+#include "nn_index.h"
+#include "dynamic_bitset.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "heap.h"
+#include "allocator.h"
+#include "random.h"
+#include "saving.h"
+
+
+namespace cvflann
+{
+
+struct KDTreeIndexParams : public IndexParams
+{
+    KDTreeIndexParams(int trees = 4)
+    {
+        (*this)["algorithm"] = FLANN_INDEX_KDTREE;
+        (*this)["trees"] = trees;
+    }
+};
+
+
+/**
+ * Randomized kd-tree index
+ *
+ * Contains the k-d trees and other information for indexing a set of points
+ * for nearest-neighbor matching.
+ */
+template <typename Distance>
+class KDTreeIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+
+    /**
+     * KDTree constructor
+     *
+     * Params:
+     *          inputData = dataset with the input features
+     *          params = parameters passed to the kdtree algorithm
+     */
+    KDTreeIndex(const Matrix<ElementType>& inputData, const IndexParams& params = KDTreeIndexParams(),
+                Distance d = Distance() ) :
+        dataset_(inputData), index_params_(params), distance_(d)
+    {
+        size_ = dataset_.rows;
+        veclen_ = dataset_.cols;
+
+        trees_ = get_param(index_params_,"trees",4);
+        tree_roots_ = new NodePtr[trees_];
+
+        // Create a permutable array of indices to the input vectors.
+        vind_.resize(size_);
+        for (size_t i = 0; i < size_; ++i) {
+            vind_[i] = int(i);
+        }
+
+        mean_ = new DistanceType[veclen_];
+        var_ = new DistanceType[veclen_];
+    }
+
+
+    KDTreeIndex(const KDTreeIndex&);
+    KDTreeIndex& operator=(const KDTreeIndex&);
+
+    /**
+     * Standard destructor
+     */
+    ~KDTreeIndex()
+    {
+        if (tree_roots_!=NULL) {
+            delete[] tree_roots_;
+        }
+        delete[] mean_;
+        delete[] var_;
+    }
+
+    /**
+     * Builds the index
+     */
+    void buildIndex()
+    {
+        /* Construct the randomized trees. */
+        for (int i = 0; i < trees_; i++) {
+            /* Randomize the order of vectors to allow for unbiased sampling. */
+            std::random_shuffle(vind_.begin(), vind_.end());
+            tree_roots_[i] = divideTree(&vind_[0], int(size_) );
+        }
+    }
+
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_KDTREE;
+    }
+
+
+    void saveIndex(FILE* stream)
+    {
+        save_value(stream, trees_);
+        for (int i=0; i<trees_; ++i) {
+            save_tree(stream, tree_roots_[i]);
+        }
+    }
+
+
+
+    void loadIndex(FILE* stream)
+    {
+        load_value(stream, trees_);
+        if (tree_roots_!=NULL) {
+            delete[] tree_roots_;
+        }
+        tree_roots_ = new NodePtr[trees_];
+        for (int i=0; i<trees_; ++i) {
+            load_tree(stream,tree_roots_[i]);
+        }
+
+        index_params_["algorithm"] = getType();
+        index_params_["trees"] = tree_roots_;
+    }
+
+    /**
+     *  Returns size of index.
+     */
+    size_t size() const
+    {
+        return size_;
+    }
+
+    /**
+     * Returns the length of an index feature.
+     */
+    size_t veclen() const
+    {
+        return veclen_;
+    }
+
+    /**
+     * Computes the inde memory usage
+     * Returns: memory used by the index
+     */
+    int usedMemory() const
+    {
+        return int(pool_.usedMemory+pool_.wastedMemory+dataset_.rows*sizeof(int));  // pool memory and vind array memory
+    }
+
+    /**
+     * Find set of nearest neighbors to vec. Their indices are stored inside
+     * the result object.
+     *
+     * Params:
+     *     result = the result object in which the indices of the nearest-neighbors are stored
+     *     vec = the vector for which to search the nearest neighbors
+     *     maxCheck = the maximum number of restarts (in a best-bin-first manner)
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+        int maxChecks = get_param(searchParams,"checks", 32);
+        float epsError = 1+get_param(searchParams,"eps",0.0f);
+
+        if (maxChecks==FLANN_CHECKS_UNLIMITED) {
+            getExactNeighbors(result, vec, epsError);
+        }
+        else {
+            getNeighbors(result, vec, maxChecks, epsError);
+        }
+    }
+
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+private:
+
+
+    /*--------------------- Internal Data Structures --------------------------*/
+    struct Node
+    {
+        /**
+         * Dimension used for subdivision.
+         */
+        int divfeat;
+        /**
+         * The values used for subdivision.
+         */
+        DistanceType divval;
+        /**
+         * The child nodes.
+         */
+        Node* child1, * child2;
+    };
+    typedef Node* NodePtr;
+    typedef BranchStruct<NodePtr, DistanceType> BranchSt;
+    typedef BranchSt* Branch;
+
+
+
+    void save_tree(FILE* stream, NodePtr tree)
+    {
+        save_value(stream, *tree);
+        if (tree->child1!=NULL) {
+            save_tree(stream, tree->child1);
+        }
+        if (tree->child2!=NULL) {
+            save_tree(stream, tree->child2);
+        }
+    }
+
+
+    void load_tree(FILE* stream, NodePtr& tree)
+    {
+        tree = pool_.allocate<Node>();
+        load_value(stream, *tree);
+        if (tree->child1!=NULL) {
+            load_tree(stream, tree->child1);
+        }
+        if (tree->child2!=NULL) {
+            load_tree(stream, tree->child2);
+        }
+    }
+
+
+    /**
+     * Create a tree node that subdivides the list of vecs from vind[first]
+     * to vind[last].  The routine is called recursively on each sublist.
+     * Place a pointer to this new tree node in the location pTree.
+     *
+     * Params: pTree = the new node to create
+     *                  first = index of the first vector
+     *                  last = index of the last vector
+     */
+    NodePtr divideTree(int* ind, int count)
+    {
+        NodePtr node = pool_.allocate<Node>(); // allocate memory
+
+        /* If too few exemplars remain, then make this a leaf node. */
+        if ( count == 1) {
+            node->child1 = node->child2 = NULL;    /* Mark as leaf node. */
+            node->divfeat = *ind;    /* Store index of this vec. */
+        }
+        else {
+            int idx;
+            int cutfeat;
+            DistanceType cutval;
+            meanSplit(ind, count, idx, cutfeat, cutval);
+
+            node->divfeat = cutfeat;
+            node->divval = cutval;
+            node->child1 = divideTree(ind, idx);
+            node->child2 = divideTree(ind+idx, count-idx);
+        }
+
+        return node;
+    }
+
+
+    /**
+     * Choose which feature to use in order to subdivide this set of vectors.
+     * Make a random choice among those with the highest variance, and use
+     * its variance as the threshold value.
+     */
+    void meanSplit(int* ind, int count, int& index, int& cutfeat, DistanceType& cutval)
+    {
+        memset(mean_,0,veclen_*sizeof(DistanceType));
+        memset(var_,0,veclen_*sizeof(DistanceType));
+
+        /* Compute mean values.  Only the first SAMPLE_MEAN values need to be
+            sampled to get a good estimate.
+         */
+        int cnt = std::min((int)SAMPLE_MEAN+1, count);
+        for (int j = 0; j < cnt; ++j) {
+            ElementType* v = dataset_[ind[j]];
+            for (size_t k=0; k<veclen_; ++k) {
+                mean_[k] += v[k];
+            }
+        }
+        for (size_t k=0; k<veclen_; ++k) {
+            mean_[k] /= cnt;
+        }
+
+        /* Compute variances (no need to divide by count). */
+        for (int j = 0; j < cnt; ++j) {
+            ElementType* v = dataset_[ind[j]];
+            for (size_t k=0; k<veclen_; ++k) {
+                DistanceType dist = v[k] - mean_[k];
+                var_[k] += dist * dist;
+            }
+        }
+        /* Select one of the highest variance indices at random. */
+        cutfeat = selectDivision(var_);
+        cutval = mean_[cutfeat];
+
+        int lim1, lim2;
+        planeSplit(ind, count, cutfeat, cutval, lim1, lim2);
+
+        if (lim1>count/2) index = lim1;
+        else if (lim2<count/2) index = lim2;
+        else index = count/2;
+
+        /* If either list is empty, it means that all remaining features
+         * are identical. Split in the middle to maintain a balanced tree.
+         */
+        if ((lim1==count)||(lim2==0)) index = count/2;
+    }
+
+
+    /**
+     * Select the top RAND_DIM largest values from v and return the index of
+     * one of these selected at random.
+     */
+    int selectDivision(DistanceType* v)
+    {
+        int num = 0;
+        size_t topind[RAND_DIM];
+
+        /* Create a list of the indices of the top RAND_DIM values. */
+        for (size_t i = 0; i < veclen_; ++i) {
+            if ((num < RAND_DIM)||(v[i] > v[topind[num-1]])) {
+                /* Put this element at end of topind. */
+                if (num < RAND_DIM) {
+                    topind[num++] = i;            /* Add to list. */
+                }
+                else {
+                    topind[num-1] = i;         /* Replace last element. */
+                }
+                /* Bubble end value down to right location by repeated swapping. */
+                int j = num - 1;
+                while (j > 0  &&  v[topind[j]] > v[topind[j-1]]) {
+                    std::swap(topind[j], topind[j-1]);
+                    --j;
+                }
+            }
+        }
+        /* Select a random integer in range [0,num-1], and return that index. */
+        int rnd = rand_int(num);
+        return (int)topind[rnd];
+    }
+
+
+    /**
+     *  Subdivide the list of points by a plane perpendicular on axe corresponding
+     *  to the 'cutfeat' dimension at 'cutval' position.
+     *
+     *  On return:
+     *  dataset[ind[0..lim1-1]][cutfeat]<cutval
+     *  dataset[ind[lim1..lim2-1]][cutfeat]==cutval
+     *  dataset[ind[lim2..count]][cutfeat]>cutval
+     */
+    void planeSplit(int* ind, int count, int cutfeat, DistanceType cutval, int& lim1, int& lim2)
+    {
+        /* Move vector indices for left subtree to front of list. */
+        int left = 0;
+        int right = count-1;
+        for (;; ) {
+            while (left<=right && dataset_[ind[left]][cutfeat]<cutval) ++left;
+            while (left<=right && dataset_[ind[right]][cutfeat]>=cutval) --right;
+            if (left>right) break;
+            std::swap(ind[left], ind[right]); ++left; --right;
+        }
+        lim1 = left;
+        right = count-1;
+        for (;; ) {
+            while (left<=right && dataset_[ind[left]][cutfeat]<=cutval) ++left;
+            while (left<=right && dataset_[ind[right]][cutfeat]>cutval) --right;
+            if (left>right) break;
+            std::swap(ind[left], ind[right]); ++left; --right;
+        }
+        lim2 = left;
+    }
+
+    /**
+     * Performs an exact nearest neighbor search. The exact search performs a full
+     * traversal of the tree.
+     */
+    void getExactNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, float epsError)
+    {
+        //		checkID -= 1;  /* Set a different unique ID for each search. */
+
+        if (trees_ > 1) {
+            fprintf(stderr,"It doesn't make any sense to use more than one tree for exact search");
+        }
+        if (trees_>0) {
+            searchLevelExact(result, vec, tree_roots_[0], 0.0, epsError);
+        }
+        assert(result.full());
+    }
+
+    /**
+     * Performs the approximate nearest-neighbor search. The search is approximate
+     * because the tree traversal is abandoned after a given number of descends in
+     * the tree.
+     */
+    void getNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, int maxCheck, float epsError)
+    {
+        int i;
+        BranchSt branch;
+
+        int checkCount = 0;
+        Heap<BranchSt>* heap = new Heap<BranchSt>((int)size_);
+        DynamicBitset checked(size_);
+
+        /* Search once through each tree down to root. */
+        for (i = 0; i < trees_; ++i) {
+            searchLevel(result, vec, tree_roots_[i], 0, checkCount, maxCheck, epsError, heap, checked);
+        }
+
+        /* Keep searching other branches from heap until finished. */
+        while ( heap->popMin(branch) && (checkCount < maxCheck || !result.full() )) {
+            searchLevel(result, vec, branch.node, branch.mindist, checkCount, maxCheck, epsError, heap, checked);
+        }
+
+        delete heap;
+
+        assert(result.full());
+    }
+
+
+    /**
+     *  Search starting from a given node of the tree.  Based on any mismatches at
+     *  higher levels, all exemplars below this level must have a distance of
+     *  at least "mindistsq".
+     */
+    void searchLevel(ResultSet<DistanceType>& result_set, const ElementType* vec, NodePtr node, DistanceType mindist, int& checkCount, int maxCheck,
+                     float epsError, Heap<BranchSt>* heap, DynamicBitset& checked)
+    {
+        if (result_set.worstDist()<mindist) {
+            //			printf("Ignoring branch, too far\n");
+            return;
+        }
+
+        /* If this is a leaf node, then do check and return. */
+        if ((node->child1 == NULL)&&(node->child2 == NULL)) {
+            /*  Do not check same node more than once when searching multiple trees.
+                Once a vector is checked, we set its location in vind to the
+                current checkID.
+             */
+            int index = node->divfeat;
+            if ( checked.test(index) || ((checkCount>=maxCheck)&& result_set.full()) ) return;
+            checked.set(index);
+            checkCount++;
+
+            DistanceType dist = distance_(dataset_[index], vec, veclen_);
+            result_set.addPoint(dist,index);
+
+            return;
+        }
+
+        /* Which child branch should be taken first? */
+        ElementType val = vec[node->divfeat];
+        DistanceType diff = val - node->divval;
+        NodePtr bestChild = (diff < 0) ? node->child1 : node->child2;
+        NodePtr otherChild = (diff < 0) ? node->child2 : node->child1;
+
+        /* Create a branch record for the branch not taken.  Add distance
+            of this feature boundary (we don't attempt to correct for any
+            use of this feature in a parent node, which is unlikely to
+            happen and would have only a small effect).  Don't bother
+            adding more branches to heap after halfway point, as cost of
+            adding exceeds their value.
+         */
+
+        DistanceType new_distsq = mindist + distance_.accum_dist(val, node->divval, node->divfeat);
+        //		if (2 * checkCount < maxCheck  ||  !result.full()) {
+        if ((new_distsq*epsError < result_set.worstDist())||  !result_set.full()) {
+            heap->insert( BranchSt(otherChild, new_distsq) );
+        }
+
+        /* Call recursively to search next level down. */
+        searchLevel(result_set, vec, bestChild, mindist, checkCount, maxCheck, epsError, heap, checked);
+    }
+
+    /**
+     * Performs an exact search in the tree starting from a node.
+     */
+    void searchLevelExact(ResultSet<DistanceType>& result_set, const ElementType* vec, const NodePtr node, DistanceType mindist, const float epsError)
+    {
+        /* If this is a leaf node, then do check and return. */
+        if ((node->child1 == NULL)&&(node->child2 == NULL)) {
+            int index = node->divfeat;
+            DistanceType dist = distance_(dataset_[index], vec, veclen_);
+            result_set.addPoint(dist,index);
+            return;
+        }
+
+        /* Which child branch should be taken first? */
+        ElementType val = vec[node->divfeat];
+        DistanceType diff = val - node->divval;
+        NodePtr bestChild = (diff < 0) ? node->child1 : node->child2;
+        NodePtr otherChild = (diff < 0) ? node->child2 : node->child1;
+
+        /* Create a branch record for the branch not taken.  Add distance
+            of this feature boundary (we don't attempt to correct for any
+            use of this feature in a parent node, which is unlikely to
+            happen and would have only a small effect).  Don't bother
+            adding more branches to heap after halfway point, as cost of
+            adding exceeds their value.
+         */
+
+        DistanceType new_distsq = mindist + distance_.accum_dist(val, node->divval, node->divfeat);
+
+        /* Call recursively to search next level down. */
+        searchLevelExact(result_set, vec, bestChild, mindist, epsError);
+
+        if (new_distsq*epsError<=result_set.worstDist()) {
+            searchLevelExact(result_set, vec, otherChild, new_distsq, epsError);
+        }
+    }
+
+
+private:
+
+    enum
+    {
+        /**
+         * To improve efficiency, only SAMPLE_MEAN random values are used to
+         * compute the mean and variance at each level when building a tree.
+         * A value of 100 seems to perform as well as using all values.
+         */
+        SAMPLE_MEAN = 100,
+        /**
+         * Top random dimensions to consider
+         *
+         * When creating random trees, the dimension on which to subdivide is
+         * selected at random from among the top RAND_DIM dimensions with the
+         * highest variance.  A value of 5 works well.
+         */
+        RAND_DIM=5
+    };
+
+
+    /**
+     * Number of randomized trees that are used
+     */
+    int trees_;
+
+    /**
+     *  Array of indices to vectors in the dataset.
+     */
+    std::vector<int> vind_;
+
+    /**
+     * The dataset used by this index
+     */
+    const Matrix<ElementType> dataset_;
+
+    IndexParams index_params_;
+
+    size_t size_;
+    size_t veclen_;
+
+
+    DistanceType* mean_;
+    DistanceType* var_;
+
+
+    /**
+     * Array of k-d trees used to find neighbours.
+     */
+    NodePtr* tree_roots_;
+
+    /**
+     * Pooled memory allocator.
+     *
+     * Using a pooled memory allocator is more efficient
+     * than allocating memory directly when there is a large
+     * number small of memory allocations.
+     */
+    PooledAllocator pool_;
+
+    Distance distance_;
+
+
+};   // class KDTreeForest
+
+}
+
+#endif //OPENCV_FLANN_KDTREE_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/kdtree_single_index.h b/3rdparty/include/opencv2/flann/kdtree_single_index.h
new file mode 100644
index 0000000..30488ad
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/kdtree_single_index.h
@@ -0,0 +1,634 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_KDTREE_SINGLE_INDEX_H_
+#define OPENCV_FLANN_KDTREE_SINGLE_INDEX_H_
+
+#include <algorithm>
+#include <map>
+#include <cassert>
+#include <cstring>
+
+#include "general.h"
+#include "nn_index.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "heap.h"
+#include "allocator.h"
+#include "random.h"
+#include "saving.h"
+
+namespace cvflann
+{
+
+struct KDTreeSingleIndexParams : public IndexParams
+{
+    KDTreeSingleIndexParams(int leaf_max_size = 10, bool reorder = true, int dim = -1)
+    {
+        (*this)["algorithm"] = FLANN_INDEX_KDTREE_SINGLE;
+        (*this)["leaf_max_size"] = leaf_max_size;
+        (*this)["reorder"] = reorder;
+        (*this)["dim"] = dim;
+    }
+};
+
+
+/**
+ * Randomized kd-tree index
+ *
+ * Contains the k-d trees and other information for indexing a set of points
+ * for nearest-neighbor matching.
+ */
+template <typename Distance>
+class KDTreeSingleIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+
+    /**
+     * KDTree constructor
+     *
+     * Params:
+     *          inputData = dataset with the input features
+     *          params = parameters passed to the kdtree algorithm
+     */
+    KDTreeSingleIndex(const Matrix<ElementType>& inputData, const IndexParams& params = KDTreeSingleIndexParams(),
+                      Distance d = Distance() ) :
+        dataset_(inputData), index_params_(params), distance_(d)
+    {
+        size_ = dataset_.rows;
+        dim_ = dataset_.cols;
+        int dim_param = get_param(params,"dim",-1);
+        if (dim_param>0) dim_ = dim_param;
+        leaf_max_size_ = get_param(params,"leaf_max_size",10);
+        reorder_ = get_param(params,"reorder",true);
+
+        // Create a permutable array of indices to the input vectors.
+        vind_.resize(size_);
+        for (size_t i = 0; i < size_; i++) {
+            vind_[i] = (int)i;
+        }
+    }
+
+    KDTreeSingleIndex(const KDTreeSingleIndex&);
+    KDTreeSingleIndex& operator=(const KDTreeSingleIndex&);
+
+    /**
+     * Standard destructor
+     */
+    ~KDTreeSingleIndex()
+    {
+        if (reorder_) delete[] data_.data;
+    }
+
+    /**
+     * Builds the index
+     */
+    void buildIndex()
+    {
+        computeBoundingBox(root_bbox_);
+        root_node_ = divideTree(0, (int)size_, root_bbox_ );   // construct the tree
+
+        if (reorder_) {
+            delete[] data_.data;
+            data_ = cvflann::Matrix<ElementType>(new ElementType[size_*dim_], size_, dim_);
+            for (size_t i=0; i<size_; ++i) {
+                for (size_t j=0; j<dim_; ++j) {
+                    data_[i][j] = dataset_[vind_[i]][j];
+                }
+            }
+        }
+        else {
+            data_ = dataset_;
+        }
+    }
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_KDTREE_SINGLE;
+    }
+
+
+    void saveIndex(FILE* stream)
+    {
+        save_value(stream, size_);
+        save_value(stream, dim_);
+        save_value(stream, root_bbox_);
+        save_value(stream, reorder_);
+        save_value(stream, leaf_max_size_);
+        save_value(stream, vind_);
+        if (reorder_) {
+            save_value(stream, data_);
+        }
+        save_tree(stream, root_node_);
+    }
+
+
+    void loadIndex(FILE* stream)
+    {
+        load_value(stream, size_);
+        load_value(stream, dim_);
+        load_value(stream, root_bbox_);
+        load_value(stream, reorder_);
+        load_value(stream, leaf_max_size_);
+        load_value(stream, vind_);
+        if (reorder_) {
+            load_value(stream, data_);
+        }
+        else {
+            data_ = dataset_;
+        }
+        load_tree(stream, root_node_);
+
+
+        index_params_["algorithm"] = getType();
+        index_params_["leaf_max_size"] = leaf_max_size_;
+        index_params_["reorder"] = reorder_;
+    }
+
+    /**
+     *  Returns size of index.
+     */
+    size_t size() const
+    {
+        return size_;
+    }
+
+    /**
+     * Returns the length of an index feature.
+     */
+    size_t veclen() const
+    {
+        return dim_;
+    }
+
+    /**
+     * Computes the inde memory usage
+     * Returns: memory used by the index
+     */
+    int usedMemory() const
+    {
+        return (int)(pool_.usedMemory+pool_.wastedMemory+dataset_.rows*sizeof(int));  // pool memory and vind array memory
+    }
+
+
+    /**
+     * \brief Perform k-nearest neighbor search
+     * \param[in] queries The query points for which to find the nearest neighbors
+     * \param[out] indices The indices of the nearest neighbors found
+     * \param[out] dists Distances to the nearest neighbors found
+     * \param[in] knn Number of nearest neighbors to return
+     * \param[in] params Search parameters
+     */
+    void knnSearch(const Matrix<ElementType>& queries, Matrix<int>& indices, Matrix<DistanceType>& dists, int knn, const SearchParams& params)
+    {
+        assert(queries.cols == veclen());
+        assert(indices.rows >= queries.rows);
+        assert(dists.rows >= queries.rows);
+        assert(int(indices.cols) >= knn);
+        assert(int(dists.cols) >= knn);
+
+        KNNSimpleResultSet<DistanceType> resultSet(knn);
+        for (size_t i = 0; i < queries.rows; i++) {
+            resultSet.init(indices[i], dists[i]);
+            findNeighbors(resultSet, queries[i], params);
+        }
+    }
+
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+    /**
+     * Find set of nearest neighbors to vec. Their indices are stored inside
+     * the result object.
+     *
+     * Params:
+     *     result = the result object in which the indices of the nearest-neighbors are stored
+     *     vec = the vector for which to search the nearest neighbors
+     *     maxCheck = the maximum number of restarts (in a best-bin-first manner)
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+        float epsError = 1+get_param(searchParams,"eps",0.0f);
+
+        std::vector<DistanceType> dists(dim_,0);
+        DistanceType distsq = computeInitialDistances(vec, dists);
+        searchLevel(result, vec, root_node_, distsq, dists, epsError);
+    }
+
+private:
+
+
+    /*--------------------- Internal Data Structures --------------------------*/
+    struct Node
+    {
+        /**
+         * Indices of points in leaf node
+         */
+        int left, right;
+        /**
+         * Dimension used for subdivision.
+         */
+        int divfeat;
+        /**
+         * The values used for subdivision.
+         */
+        DistanceType divlow, divhigh;
+        /**
+         * The child nodes.
+         */
+        Node* child1, * child2;
+    };
+    typedef Node* NodePtr;
+
+
+    struct Interval
+    {
+        DistanceType low, high;
+    };
+
+    typedef std::vector<Interval> BoundingBox;
+
+    typedef BranchStruct<NodePtr, DistanceType> BranchSt;
+    typedef BranchSt* Branch;
+
+
+
+
+    void save_tree(FILE* stream, NodePtr tree)
+    {
+        save_value(stream, *tree);
+        if (tree->child1!=NULL) {
+            save_tree(stream, tree->child1);
+        }
+        if (tree->child2!=NULL) {
+            save_tree(stream, tree->child2);
+        }
+    }
+
+
+    void load_tree(FILE* stream, NodePtr& tree)
+    {
+        tree = pool_.allocate<Node>();
+        load_value(stream, *tree);
+        if (tree->child1!=NULL) {
+            load_tree(stream, tree->child1);
+        }
+        if (tree->child2!=NULL) {
+            load_tree(stream, tree->child2);
+        }
+    }
+
+
+    void computeBoundingBox(BoundingBox& bbox)
+    {
+        bbox.resize(dim_);
+        for (size_t i=0; i<dim_; ++i) {
+            bbox[i].low = (DistanceType)dataset_[0][i];
+            bbox[i].high = (DistanceType)dataset_[0][i];
+        }
+        for (size_t k=1; k<dataset_.rows; ++k) {
+            for (size_t i=0; i<dim_; ++i) {
+                if (dataset_[k][i]<bbox[i].low) bbox[i].low = (DistanceType)dataset_[k][i];
+                if (dataset_[k][i]>bbox[i].high) bbox[i].high = (DistanceType)dataset_[k][i];
+            }
+        }
+    }
+
+
+    /**
+     * Create a tree node that subdivides the list of vecs from vind[first]
+     * to vind[last].  The routine is called recursively on each sublist.
+     * Place a pointer to this new tree node in the location pTree.
+     *
+     * Params: pTree = the new node to create
+     *                  first = index of the first vector
+     *                  last = index of the last vector
+     */
+    NodePtr divideTree(int left, int right, BoundingBox& bbox)
+    {
+        NodePtr node = pool_.allocate<Node>(); // allocate memory
+
+        /* If too few exemplars remain, then make this a leaf node. */
+        if ( (right-left) <= leaf_max_size_) {
+            node->child1 = node->child2 = NULL;    /* Mark as leaf node. */
+            node->left = left;
+            node->right = right;
+
+            // compute bounding-box of leaf points
+            for (size_t i=0; i<dim_; ++i) {
+                bbox[i].low = (DistanceType)dataset_[vind_[left]][i];
+                bbox[i].high = (DistanceType)dataset_[vind_[left]][i];
+            }
+            for (int k=left+1; k<right; ++k) {
+                for (size_t i=0; i<dim_; ++i) {
+                    if (bbox[i].low>dataset_[vind_[k]][i]) bbox[i].low=(DistanceType)dataset_[vind_[k]][i];
+                    if (bbox[i].high<dataset_[vind_[k]][i]) bbox[i].high=(DistanceType)dataset_[vind_[k]][i];
+                }
+            }
+        }
+        else {
+            int idx;
+            int cutfeat;
+            DistanceType cutval;
+            middleSplit_(&vind_[0]+left, right-left, idx, cutfeat, cutval, bbox);
+
+            node->divfeat = cutfeat;
+
+            BoundingBox left_bbox(bbox);
+            left_bbox[cutfeat].high = cutval;
+            node->child1 = divideTree(left, left+idx, left_bbox);
+
+            BoundingBox right_bbox(bbox);
+            right_bbox[cutfeat].low = cutval;
+            node->child2 = divideTree(left+idx, right, right_bbox);
+
+            node->divlow = left_bbox[cutfeat].high;
+            node->divhigh = right_bbox[cutfeat].low;
+
+            for (size_t i=0; i<dim_; ++i) {
+                bbox[i].low = std::min(left_bbox[i].low, right_bbox[i].low);
+                bbox[i].high = std::max(left_bbox[i].high, right_bbox[i].high);
+            }
+        }
+
+        return node;
+    }
+
+    void computeMinMax(int* ind, int count, int dim, ElementType& min_elem, ElementType& max_elem)
+    {
+        min_elem = dataset_[ind[0]][dim];
+        max_elem = dataset_[ind[0]][dim];
+        for (int i=1; i<count; ++i) {
+            ElementType val = dataset_[ind[i]][dim];
+            if (val<min_elem) min_elem = val;
+            if (val>max_elem) max_elem = val;
+        }
+    }
+
+    void middleSplit(int* ind, int count, int& index, int& cutfeat, DistanceType& cutval, const BoundingBox& bbox)
+    {
+        // find the largest span from the approximate bounding box
+        ElementType max_span = bbox[0].high-bbox[0].low;
+        cutfeat = 0;
+        cutval = (bbox[0].high+bbox[0].low)/2;
+        for (size_t i=1; i<dim_; ++i) {
+            ElementType span = bbox[i].high-bbox[i].low;
+            if (span>max_span) {
+                max_span = span;
+                cutfeat = i;
+                cutval = (bbox[i].high+bbox[i].low)/2;
+            }
+        }
+
+        // compute exact span on the found dimension
+        ElementType min_elem, max_elem;
+        computeMinMax(ind, count, cutfeat, min_elem, max_elem);
+        cutval = (min_elem+max_elem)/2;
+        max_span = max_elem - min_elem;
+
+        // check if a dimension of a largest span exists
+        size_t k = cutfeat;
+        for (size_t i=0; i<dim_; ++i) {
+            if (i==k) continue;
+            ElementType span = bbox[i].high-bbox[i].low;
+            if (span>max_span) {
+                computeMinMax(ind, count, i, min_elem, max_elem);
+                span = max_elem - min_elem;
+                if (span>max_span) {
+                    max_span = span;
+                    cutfeat = i;
+                    cutval = (min_elem+max_elem)/2;
+                }
+            }
+        }
+        int lim1, lim2;
+        planeSplit(ind, count, cutfeat, cutval, lim1, lim2);
+
+        if (lim1>count/2) index = lim1;
+        else if (lim2<count/2) index = lim2;
+        else index = count/2;
+    }
+
+
+    void middleSplit_(int* ind, int count, int& index, int& cutfeat, DistanceType& cutval, const BoundingBox& bbox)
+    {
+        const float EPS=0.00001f;
+        DistanceType max_span = bbox[0].high-bbox[0].low;
+        for (size_t i=1; i<dim_; ++i) {
+            DistanceType span = bbox[i].high-bbox[i].low;
+            if (span>max_span) {
+                max_span = span;
+            }
+        }
+        DistanceType max_spread = -1;
+        cutfeat = 0;
+        for (size_t i=0; i<dim_; ++i) {
+            DistanceType span = bbox[i].high-bbox[i].low;
+            if (span>(DistanceType)((1-EPS)*max_span)) {
+                ElementType min_elem, max_elem;
+                computeMinMax(ind, count, cutfeat, min_elem, max_elem);
+                DistanceType spread = (DistanceType)(max_elem-min_elem);
+                if (spread>max_spread) {
+                    cutfeat = (int)i;
+                    max_spread = spread;
+                }
+            }
+        }
+        // split in the middle
+        DistanceType split_val = (bbox[cutfeat].low+bbox[cutfeat].high)/2;
+        ElementType min_elem, max_elem;
+        computeMinMax(ind, count, cutfeat, min_elem, max_elem);
+
+        if (split_val<min_elem) cutval = (DistanceType)min_elem;
+        else if (split_val>max_elem) cutval = (DistanceType)max_elem;
+        else cutval = split_val;
+
+        int lim1, lim2;
+        planeSplit(ind, count, cutfeat, cutval, lim1, lim2);
+
+        if (lim1>count/2) index = lim1;
+        else if (lim2<count/2) index = lim2;
+        else index = count/2;
+    }
+
+
+    /**
+     *  Subdivide the list of points by a plane perpendicular on axe corresponding
+     *  to the 'cutfeat' dimension at 'cutval' position.
+     *
+     *  On return:
+     *  dataset[ind[0..lim1-1]][cutfeat]<cutval
+     *  dataset[ind[lim1..lim2-1]][cutfeat]==cutval
+     *  dataset[ind[lim2..count]][cutfeat]>cutval
+     */
+    void planeSplit(int* ind, int count, int cutfeat, DistanceType cutval, int& lim1, int& lim2)
+    {
+        /* Move vector indices for left subtree to front of list. */
+        int left = 0;
+        int right = count-1;
+        for (;; ) {
+            while (left<=right && dataset_[ind[left]][cutfeat]<cutval) ++left;
+            while (left<=right && dataset_[ind[right]][cutfeat]>=cutval) --right;
+            if (left>right) break;
+            std::swap(ind[left], ind[right]); ++left; --right;
+        }
+        /* If either list is empty, it means that all remaining features
+         * are identical. Split in the middle to maintain a balanced tree.
+         */
+        lim1 = left;
+        right = count-1;
+        for (;; ) {
+            while (left<=right && dataset_[ind[left]][cutfeat]<=cutval) ++left;
+            while (left<=right && dataset_[ind[right]][cutfeat]>cutval) --right;
+            if (left>right) break;
+            std::swap(ind[left], ind[right]); ++left; --right;
+        }
+        lim2 = left;
+    }
+
+    DistanceType computeInitialDistances(const ElementType* vec, std::vector<DistanceType>& dists)
+    {
+        DistanceType distsq = 0.0;
+
+        for (size_t i = 0; i < dim_; ++i) {
+            if (vec[i] < root_bbox_[i].low) {
+                dists[i] = distance_.accum_dist(vec[i], root_bbox_[i].low, (int)i);
+                distsq += dists[i];
+            }
+            if (vec[i] > root_bbox_[i].high) {
+                dists[i] = distance_.accum_dist(vec[i], root_bbox_[i].high, (int)i);
+                distsq += dists[i];
+            }
+        }
+
+        return distsq;
+    }
+
+    /**
+     * Performs an exact search in the tree starting from a node.
+     */
+    void searchLevel(ResultSet<DistanceType>& result_set, const ElementType* vec, const NodePtr node, DistanceType mindistsq,
+                     std::vector<DistanceType>& dists, const float epsError)
+    {
+        /* If this is a leaf node, then do check and return. */
+        if ((node->child1 == NULL)&&(node->child2 == NULL)) {
+            DistanceType worst_dist = result_set.worstDist();
+            for (int i=node->left; i<node->right; ++i) {
+                int index = reorder_ ? i : vind_[i];
+                DistanceType dist = distance_(vec, data_[index], dim_, worst_dist);
+                if (dist<worst_dist) {
+                    result_set.addPoint(dist,vind_[i]);
+                }
+            }
+            return;
+        }
+
+        /* Which child branch should be taken first? */
+        int idx = node->divfeat;
+        ElementType val = vec[idx];
+        DistanceType diff1 = val - node->divlow;
+        DistanceType diff2 = val - node->divhigh;
+
+        NodePtr bestChild;
+        NodePtr otherChild;
+        DistanceType cut_dist;
+        if ((diff1+diff2)<0) {
+            bestChild = node->child1;
+            otherChild = node->child2;
+            cut_dist = distance_.accum_dist(val, node->divhigh, idx);
+        }
+        else {
+            bestChild = node->child2;
+            otherChild = node->child1;
+            cut_dist = distance_.accum_dist( val, node->divlow, idx);
+        }
+
+        /* Call recursively to search next level down. */
+        searchLevel(result_set, vec, bestChild, mindistsq, dists, epsError);
+
+        DistanceType dst = dists[idx];
+        mindistsq = mindistsq + cut_dist - dst;
+        dists[idx] = cut_dist;
+        if (mindistsq*epsError<=result_set.worstDist()) {
+            searchLevel(result_set, vec, otherChild, mindistsq, dists, epsError);
+        }
+        dists[idx] = dst;
+    }
+
+private:
+
+    /**
+     * The dataset used by this index
+     */
+    const Matrix<ElementType> dataset_;
+
+    IndexParams index_params_;
+
+    int leaf_max_size_;
+    bool reorder_;
+
+
+    /**
+     *  Array of indices to vectors in the dataset.
+     */
+    std::vector<int> vind_;
+
+    Matrix<ElementType> data_;
+
+    size_t size_;
+    size_t dim_;
+
+    /**
+     * Array of k-d trees used to find neighbours.
+     */
+    NodePtr root_node_;
+
+    BoundingBox root_bbox_;
+
+    /**
+     * Pooled memory allocator.
+     *
+     * Using a pooled memory allocator is more efficient
+     * than allocating memory directly when there is a large
+     * number small of memory allocations.
+     */
+    PooledAllocator pool_;
+
+    Distance distance_;
+};   // class KDTree
+
+}
+
+#endif //OPENCV_FLANN_KDTREE_SINGLE_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/kmeans_index.h b/3rdparty/include/opencv2/flann/kmeans_index.h
new file mode 100644
index 0000000..b49b8dd
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/kmeans_index.h
@@ -0,0 +1,1167 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_KMEANS_INDEX_H_
+#define OPENCV_FLANN_KMEANS_INDEX_H_
+
+#include <algorithm>
+#include <map>
+#include <cassert>
+#include <limits>
+#include <cmath>
+
+#include "general.h"
+#include "nn_index.h"
+#include "dist.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "heap.h"
+#include "allocator.h"
+#include "random.h"
+#include "saving.h"
+#include "logger.h"
+
+
+namespace cvflann
+{
+
+struct KMeansIndexParams : public IndexParams
+{
+    KMeansIndexParams(int branching = 32, int iterations = 11,
+                      flann_centers_init_t centers_init = FLANN_CENTERS_RANDOM, float cb_index = 0.2 )
+    {
+        (*this)["algorithm"] = FLANN_INDEX_KMEANS;
+        // branching factor
+        (*this)["branching"] = branching;
+        // max iterations to perform in one kmeans clustering (kmeans tree)
+        (*this)["iterations"] = iterations;
+        // algorithm used for picking the initial cluster centers for kmeans tree
+        (*this)["centers_init"] = centers_init;
+        // cluster boundary index. Used when searching the kmeans tree
+        (*this)["cb_index"] = cb_index;
+    }
+};
+
+
+/**
+ * Hierarchical kmeans index
+ *
+ * Contains a tree constructed through a hierarchical kmeans clustering
+ * and other information for indexing a set of points for nearest-neighbour matching.
+ */
+template <typename Distance>
+class KMeansIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+
+
+    typedef void (KMeansIndex::* centersAlgFunction)(int, int*, int, int*, int&);
+
+    /**
+     * The function used for choosing the cluster centers.
+     */
+    centersAlgFunction chooseCenters;
+
+
+
+    /**
+     * Chooses the initial centers in the k-means clustering in a random manner.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     *     indices_length = length of indices vector
+     *
+     */
+    void chooseCentersRandom(int k, int* indices, int indices_length, int* centers, int& centers_length)
+    {
+        UniqueRandom r(indices_length);
+
+        int index;
+        for (index=0; index<k; ++index) {
+            bool duplicate = true;
+            int rnd;
+            while (duplicate) {
+                duplicate = false;
+                rnd = r.next();
+                if (rnd<0) {
+                    centers_length = index;
+                    return;
+                }
+
+                centers[index] = indices[rnd];
+
+                for (int j=0; j<index; ++j) {
+                    DistanceType sq = distance_(dataset_[centers[index]], dataset_[centers[j]], dataset_.cols);
+                    if (sq<1e-16) {
+                        duplicate = true;
+                    }
+                }
+            }
+        }
+
+        centers_length = index;
+    }
+
+
+    /**
+     * Chooses the initial centers in the k-means using Gonzales' algorithm
+     * so that the centers are spaced apart from each other.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     * Returns:
+     */
+    void chooseCentersGonzales(int k, int* indices, int indices_length, int* centers, int& centers_length)
+    {
+        int n = indices_length;
+
+        int rnd = rand_int(n);
+        assert(rnd >=0 && rnd < n);
+
+        centers[0] = indices[rnd];
+
+        int index;
+        for (index=1; index<k; ++index) {
+
+            int best_index = -1;
+            DistanceType best_val = 0;
+            for (int j=0; j<n; ++j) {
+                DistanceType dist = distance_(dataset_[centers[0]],dataset_[indices[j]],dataset_.cols);
+                for (int i=1; i<index; ++i) {
+                    DistanceType tmp_dist = distance_(dataset_[centers[i]],dataset_[indices[j]],dataset_.cols);
+                    if (tmp_dist<dist) {
+                        dist = tmp_dist;
+                    }
+                }
+                if (dist>best_val) {
+                    best_val = dist;
+                    best_index = j;
+                }
+            }
+            if (best_index!=-1) {
+                centers[index] = indices[best_index];
+            }
+            else {
+                break;
+            }
+        }
+        centers_length = index;
+    }
+
+
+    /**
+     * Chooses the initial centers in the k-means using the algorithm
+     * proposed in the KMeans++ paper:
+     * Arthur, David; Vassilvitskii, Sergei - k-means++: The Advantages of Careful Seeding
+     *
+     * Implementation of this function was converted from the one provided in Arthur's code.
+     *
+     * Params:
+     *     k = number of centers
+     *     vecs = the dataset of points
+     *     indices = indices in the dataset
+     * Returns:
+     */
+    void chooseCentersKMeanspp(int k, int* indices, int indices_length, int* centers, int& centers_length)
+    {
+        int n = indices_length;
+
+        double currentPot = 0;
+        DistanceType* closestDistSq = new DistanceType[n];
+
+        // Choose one random center and set the closestDistSq values
+        int index = rand_int(n);
+        assert(index >=0 && index < n);
+        centers[0] = indices[index];
+
+        for (int i = 0; i < n; i++) {
+            closestDistSq[i] = distance_(dataset_[indices[i]], dataset_[indices[index]], dataset_.cols);
+            closestDistSq[i] = ensureSquareDistance<Distance>( closestDistSq[i] );
+            currentPot += closestDistSq[i];
+        }
+
+
+        const int numLocalTries = 1;
+
+        // Choose each center
+        int centerCount;
+        for (centerCount = 1; centerCount < k; centerCount++) {
+
+            // Repeat several trials
+            double bestNewPot = -1;
+            int bestNewIndex = -1;
+            for (int localTrial = 0; localTrial < numLocalTries; localTrial++) {
+
+                // Choose our center - have to be slightly careful to return a valid answer even accounting
+                // for possible rounding errors
+                double randVal = rand_double(currentPot);
+                for (index = 0; index < n-1; index++) {
+                    if (randVal <= closestDistSq[index]) break;
+                    else randVal -= closestDistSq[index];
+                }
+
+                // Compute the new potential
+                double newPot = 0;
+                for (int i = 0; i < n; i++) {
+                    DistanceType dist = distance_(dataset_[indices[i]], dataset_[indices[index]], dataset_.cols);
+                    newPot += std::min( ensureSquareDistance<Distance>(dist), closestDistSq[i] );
+                }
+
+                // Store the best result
+                if ((bestNewPot < 0)||(newPot < bestNewPot)) {
+                    bestNewPot = newPot;
+                    bestNewIndex = index;
+                }
+            }
+
+            // Add the appropriate center
+            centers[centerCount] = indices[bestNewIndex];
+            currentPot = bestNewPot;
+            for (int i = 0; i < n; i++) {
+                DistanceType dist = distance_(dataset_[indices[i]], dataset_[indices[bestNewIndex]], dataset_.cols);
+                closestDistSq[i] = std::min( ensureSquareDistance<Distance>(dist), closestDistSq[i] );
+            }
+        }
+
+        centers_length = centerCount;
+
+        delete[] closestDistSq;
+    }
+
+
+
+public:
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_KMEANS;
+    }
+
+    class KMeansDistanceComputer : public cv::ParallelLoopBody
+    {
+    public:
+        KMeansDistanceComputer(Distance _distance, const Matrix<ElementType>& _dataset,
+            const int _branching, const int* _indices, const Matrix<double>& _dcenters, const size_t _veclen,
+            int* _count, int* _belongs_to, std::vector<DistanceType>& _radiuses, bool& _converged, cv::Mutex& _mtx)
+            : distance(_distance)
+            , dataset(_dataset)
+            , branching(_branching)
+            , indices(_indices)
+            , dcenters(_dcenters)
+            , veclen(_veclen)
+            , count(_count)
+            , belongs_to(_belongs_to)
+            , radiuses(_radiuses)
+            , converged(_converged)
+            , mtx(_mtx)
+        {
+        }
+
+        void operator()(const cv::Range& range) const
+        {
+            const int begin = range.start;
+            const int end = range.end;
+
+            for( int i = begin; i<end; ++i)
+            {
+                DistanceType sq_dist = distance(dataset[indices[i]], dcenters[0], veclen);
+                int new_centroid = 0;
+                for (int j=1; j<branching; ++j) {
+                    DistanceType new_sq_dist = distance(dataset[indices[i]], dcenters[j], veclen);
+                    if (sq_dist>new_sq_dist) {
+                        new_centroid = j;
+                        sq_dist = new_sq_dist;
+                    }
+                }
+                if (sq_dist > radiuses[new_centroid]) {
+                    radiuses[new_centroid] = sq_dist;
+                }
+                if (new_centroid != belongs_to[i]) {
+                    count[belongs_to[i]]--;
+                    count[new_centroid]++;
+                    belongs_to[i] = new_centroid;
+                    mtx.lock();
+                    converged = false;
+                    mtx.unlock();
+                }
+            }
+        }
+
+    private:
+        Distance distance;
+        const Matrix<ElementType>& dataset;
+        const int branching;
+        const int* indices;
+        const Matrix<double>& dcenters;
+        const size_t veclen;
+        int* count;
+        int* belongs_to;
+        std::vector<DistanceType>& radiuses;
+        bool& converged;
+        cv::Mutex& mtx;
+        KMeansDistanceComputer& operator=( const KMeansDistanceComputer & ) { return *this; }
+    };
+
+    /**
+     * Index constructor
+     *
+     * Params:
+     *          inputData = dataset with the input features
+     *          params = parameters passed to the hierarchical k-means algorithm
+     */
+    KMeansIndex(const Matrix<ElementType>& inputData, const IndexParams& params = KMeansIndexParams(),
+                Distance d = Distance())
+        : dataset_(inputData), index_params_(params), root_(NULL), indices_(NULL), distance_(d)
+    {
+        memoryCounter_ = 0;
+
+        size_ = dataset_.rows;
+        veclen_ = dataset_.cols;
+
+        branching_ = get_param(params,"branching",32);
+        iterations_ = get_param(params,"iterations",11);
+        if (iterations_<0) {
+            iterations_ = (std::numeric_limits<int>::max)();
+        }
+        centers_init_  = get_param(params,"centers_init",FLANN_CENTERS_RANDOM);
+
+        if (centers_init_==FLANN_CENTERS_RANDOM) {
+            chooseCenters = &KMeansIndex::chooseCentersRandom;
+        }
+        else if (centers_init_==FLANN_CENTERS_GONZALES) {
+            chooseCenters = &KMeansIndex::chooseCentersGonzales;
+        }
+        else if (centers_init_==FLANN_CENTERS_KMEANSPP) {
+            chooseCenters = &KMeansIndex::chooseCentersKMeanspp;
+        }
+        else {
+            throw FLANNException("Unknown algorithm for choosing initial centers.");
+        }
+        cb_index_ = 0.4f;
+
+    }
+
+
+    KMeansIndex(const KMeansIndex&);
+    KMeansIndex& operator=(const KMeansIndex&);
+
+
+    /**
+     * Index destructor.
+     *
+     * Release the memory used by the index.
+     */
+    virtual ~KMeansIndex()
+    {
+        if (root_ != NULL) {
+            free_centers(root_);
+        }
+        if (indices_!=NULL) {
+            delete[] indices_;
+        }
+    }
+
+    /**
+     *  Returns size of index.
+     */
+    size_t size() const
+    {
+        return size_;
+    }
+
+    /**
+     * Returns the length of an index feature.
+     */
+    size_t veclen() const
+    {
+        return veclen_;
+    }
+
+
+    void set_cb_index( float index)
+    {
+        cb_index_ = index;
+    }
+
+    /**
+     * Computes the inde memory usage
+     * Returns: memory used by the index
+     */
+    int usedMemory() const
+    {
+        return pool_.usedMemory+pool_.wastedMemory+memoryCounter_;
+    }
+
+    /**
+     * Builds the index
+     */
+    void buildIndex()
+    {
+        if (branching_<2) {
+            throw FLANNException("Branching factor must be at least 2");
+        }
+
+        indices_ = new int[size_];
+        for (size_t i=0; i<size_; ++i) {
+            indices_[i] = int(i);
+        }
+
+        root_ = pool_.allocate<KMeansNode>();
+        computeNodeStatistics(root_, indices_, (int)size_);
+        computeClustering(root_, indices_, (int)size_, branching_,0);
+    }
+
+
+    void saveIndex(FILE* stream)
+    {
+        save_value(stream, branching_);
+        save_value(stream, iterations_);
+        save_value(stream, memoryCounter_);
+        save_value(stream, cb_index_);
+        save_value(stream, *indices_, (int)size_);
+
+        save_tree(stream, root_);
+    }
+
+
+    void loadIndex(FILE* stream)
+    {
+        load_value(stream, branching_);
+        load_value(stream, iterations_);
+        load_value(stream, memoryCounter_);
+        load_value(stream, cb_index_);
+        if (indices_!=NULL) {
+            delete[] indices_;
+        }
+        indices_ = new int[size_];
+        load_value(stream, *indices_, size_);
+
+        if (root_!=NULL) {
+            free_centers(root_);
+        }
+        load_tree(stream, root_);
+
+        index_params_["algorithm"] = getType();
+        index_params_["branching"] = branching_;
+        index_params_["iterations"] = iterations_;
+        index_params_["centers_init"] = centers_init_;
+        index_params_["cb_index"] = cb_index_;
+
+    }
+
+
+    /**
+     * Find set of nearest neighbors to vec. Their indices are stored inside
+     * the result object.
+     *
+     * Params:
+     *     result = the result object in which the indices of the nearest-neighbors are stored
+     *     vec = the vector for which to search the nearest neighbors
+     *     searchParams = parameters that influence the search algorithm (checks, cb_index)
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams)
+    {
+
+        int maxChecks = get_param(searchParams,"checks",32);
+
+        if (maxChecks==FLANN_CHECKS_UNLIMITED) {
+            findExactNN(root_, result, vec);
+        }
+        else {
+            // Priority queue storing intermediate branches in the best-bin-first search
+            Heap<BranchSt>* heap = new Heap<BranchSt>((int)size_);
+
+            int checks = 0;
+            findNN(root_, result, vec, checks, maxChecks, heap);
+
+            BranchSt branch;
+            while (heap->popMin(branch) && (checks<maxChecks || !result.full())) {
+                KMeansNodePtr node = branch.node;
+                findNN(node, result, vec, checks, maxChecks, heap);
+            }
+            assert(result.full());
+
+            delete heap;
+        }
+
+    }
+
+    /**
+     * Clustering function that takes a cut in the hierarchical k-means
+     * tree and return the clusters centers of that clustering.
+     * Params:
+     *     numClusters = number of clusters to have in the clustering computed
+     * Returns: number of cluster centers
+     */
+    int getClusterCenters(Matrix<DistanceType>& centers)
+    {
+        int numClusters = centers.rows;
+        if (numClusters<1) {
+            throw FLANNException("Number of clusters must be at least 1");
+        }
+
+        DistanceType variance;
+        KMeansNodePtr* clusters = new KMeansNodePtr[numClusters];
+
+        int clusterCount = getMinVarianceClusters(root_, clusters, numClusters, variance);
+
+        Logger::info("Clusters requested: %d, returning %d\n",numClusters, clusterCount);
+
+        for (int i=0; i<clusterCount; ++i) {
+            DistanceType* center = clusters[i]->pivot;
+            for (size_t j=0; j<veclen_; ++j) {
+                centers[i][j] = center[j];
+            }
+        }
+        delete[] clusters;
+
+        return clusterCount;
+    }
+
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+
+private:
+    /**
+     * Struture representing a node in the hierarchical k-means tree.
+     */
+    struct KMeansNode
+    {
+        /**
+         * The cluster center.
+         */
+        DistanceType* pivot;
+        /**
+         * The cluster radius.
+         */
+        DistanceType radius;
+        /**
+         * The cluster mean radius.
+         */
+        DistanceType mean_radius;
+        /**
+         * The cluster variance.
+         */
+        DistanceType variance;
+        /**
+         * The cluster size (number of points in the cluster)
+         */
+        int size;
+        /**
+         * Child nodes (only for non-terminal nodes)
+         */
+        KMeansNode** childs;
+        /**
+         * Node points (only for terminal nodes)
+         */
+        int* indices;
+        /**
+         * Level
+         */
+        int level;
+    };
+    typedef KMeansNode* KMeansNodePtr;
+
+    /**
+     * Alias definition for a nicer syntax.
+     */
+    typedef BranchStruct<KMeansNodePtr, DistanceType> BranchSt;
+
+
+
+
+    void save_tree(FILE* stream, KMeansNodePtr node)
+    {
+        save_value(stream, *node);
+        save_value(stream, *(node->pivot), (int)veclen_);
+        if (node->childs==NULL) {
+            int indices_offset = (int)(node->indices - indices_);
+            save_value(stream, indices_offset);
+        }
+        else {
+            for(int i=0; i<branching_; ++i) {
+                save_tree(stream, node->childs[i]);
+            }
+        }
+    }
+
+
+    void load_tree(FILE* stream, KMeansNodePtr& node)
+    {
+        node = pool_.allocate<KMeansNode>();
+        load_value(stream, *node);
+        node->pivot = new DistanceType[veclen_];
+        load_value(stream, *(node->pivot), (int)veclen_);
+        if (node->childs==NULL) {
+            int indices_offset;
+            load_value(stream, indices_offset);
+            node->indices = indices_ + indices_offset;
+        }
+        else {
+            node->childs = pool_.allocate<KMeansNodePtr>(branching_);
+            for(int i=0; i<branching_; ++i) {
+                load_tree(stream, node->childs[i]);
+            }
+        }
+    }
+
+
+    /**
+     * Helper function
+     */
+    void free_centers(KMeansNodePtr node)
+    {
+        delete[] node->pivot;
+        if (node->childs!=NULL) {
+            for (int k=0; k<branching_; ++k) {
+                free_centers(node->childs[k]);
+            }
+        }
+    }
+
+    /**
+     * Computes the statistics of a node (mean, radius, variance).
+     *
+     * Params:
+     *     node = the node to use
+     *     indices = the indices of the points belonging to the node
+     */
+    void computeNodeStatistics(KMeansNodePtr node, int* indices, int indices_length)
+    {
+
+        DistanceType radius = 0;
+        DistanceType variance = 0;
+        DistanceType* mean = new DistanceType[veclen_];
+        memoryCounter_ += int(veclen_*sizeof(DistanceType));
+
+        memset(mean,0,veclen_*sizeof(DistanceType));
+
+        for (size_t i=0; i<size_; ++i) {
+            ElementType* vec = dataset_[indices[i]];
+            for (size_t j=0; j<veclen_; ++j) {
+                mean[j] += vec[j];
+            }
+            variance += distance_(vec, ZeroIterator<ElementType>(), veclen_);
+        }
+        for (size_t j=0; j<veclen_; ++j) {
+            mean[j] /= size_;
+        }
+        variance /= size_;
+        variance -= distance_(mean, ZeroIterator<ElementType>(), veclen_);
+
+        DistanceType tmp = 0;
+        for (int i=0; i<indices_length; ++i) {
+            tmp = distance_(mean, dataset_[indices[i]], veclen_);
+            if (tmp>radius) {
+                radius = tmp;
+            }
+        }
+
+        node->variance = variance;
+        node->radius = radius;
+        node->pivot = mean;
+    }
+
+
+    /**
+     * The method responsible with actually doing the recursive hierarchical
+     * clustering
+     *
+     * Params:
+     *     node = the node to cluster
+     *     indices = indices of the points belonging to the current node
+     *     branching = the branching factor to use in the clustering
+     *
+     * TODO: for 1-sized clusters don't store a cluster center (it's the same as the single cluster point)
+     */
+    void computeClustering(KMeansNodePtr node, int* indices, int indices_length, int branching, int level)
+    {
+        node->size = indices_length;
+        node->level = level;
+
+        if (indices_length < branching) {
+            node->indices = indices;
+            std::sort(node->indices,node->indices+indices_length);
+            node->childs = NULL;
+            return;
+        }
+
+        cv::AutoBuffer<int> centers_idx_buf(branching);
+        int* centers_idx = (int*)centers_idx_buf;
+        int centers_length;
+        (this->*chooseCenters)(branching, indices, indices_length, centers_idx, centers_length);
+
+        if (centers_length<branching) {
+            node->indices = indices;
+            std::sort(node->indices,node->indices+indices_length);
+            node->childs = NULL;
+            return;
+        }
+
+
+        cv::AutoBuffer<double> dcenters_buf(branching*veclen_);
+        Matrix<double> dcenters((double*)dcenters_buf,branching,veclen_);
+        for (int i=0; i<centers_length; ++i) {
+            ElementType* vec = dataset_[centers_idx[i]];
+            for (size_t k=0; k<veclen_; ++k) {
+                dcenters[i][k] = double(vec[k]);
+            }
+        }
+
+        std::vector<DistanceType> radiuses(branching);
+        cv::AutoBuffer<int> count_buf(branching);
+        int* count = (int*)count_buf;
+        for (int i=0; i<branching; ++i) {
+            radiuses[i] = 0;
+            count[i] = 0;
+        }
+
+        //	assign points to clusters
+        cv::AutoBuffer<int> belongs_to_buf(indices_length);
+        int* belongs_to = (int*)belongs_to_buf;
+        for (int i=0; i<indices_length; ++i) {
+
+            DistanceType sq_dist = distance_(dataset_[indices[i]], dcenters[0], veclen_);
+            belongs_to[i] = 0;
+            for (int j=1; j<branching; ++j) {
+                DistanceType new_sq_dist = distance_(dataset_[indices[i]], dcenters[j], veclen_);
+                if (sq_dist>new_sq_dist) {
+                    belongs_to[i] = j;
+                    sq_dist = new_sq_dist;
+                }
+            }
+            if (sq_dist>radiuses[belongs_to[i]]) {
+                radiuses[belongs_to[i]] = sq_dist;
+            }
+            count[belongs_to[i]]++;
+        }
+
+        bool converged = false;
+        int iteration = 0;
+        while (!converged && iteration<iterations_) {
+            converged = true;
+            iteration++;
+
+            // compute the new cluster centers
+            for (int i=0; i<branching; ++i) {
+                memset(dcenters[i],0,sizeof(double)*veclen_);
+                radiuses[i] = 0;
+            }
+            for (int i=0; i<indices_length; ++i) {
+                ElementType* vec = dataset_[indices[i]];
+                double* center = dcenters[belongs_to[i]];
+                for (size_t k=0; k<veclen_; ++k) {
+                    center[k] += vec[k];
+                }
+            }
+            for (int i=0; i<branching; ++i) {
+                int cnt = count[i];
+                for (size_t k=0; k<veclen_; ++k) {
+                    dcenters[i][k] /= cnt;
+                }
+            }
+
+            // reassign points to clusters
+            cv::Mutex mtx;
+            KMeansDistanceComputer invoker(distance_, dataset_, branching, indices, dcenters, veclen_, count, belongs_to, radiuses, converged, mtx);
+            parallel_for_(cv::Range(0, (int)indices_length), invoker);
+
+            for (int i=0; i<branching; ++i) {
+                // if one cluster converges to an empty cluster,
+                // move an element into that cluster
+                if (count[i]==0) {
+                    int j = (i+1)%branching;
+                    while (count[j]<=1) {
+                        j = (j+1)%branching;
+                    }
+
+                    for (int k=0; k<indices_length; ++k) {
+                        if (belongs_to[k]==j) {
+                            // for cluster j, we move the furthest element from the center to the empty cluster i
+                            if ( distance_(dataset_[indices[k]], dcenters[j], veclen_) == radiuses[j] ) {
+                                belongs_to[k] = i;
+                                count[j]--;
+                                count[i]++;
+                                break;
+                            }
+                        }
+                    }
+                    converged = false;
+                }
+            }
+
+        }
+
+        DistanceType** centers = new DistanceType*[branching];
+
+        for (int i=0; i<branching; ++i) {
+            centers[i] = new DistanceType[veclen_];
+            memoryCounter_ += (int)(veclen_*sizeof(DistanceType));
+            for (size_t k=0; k<veclen_; ++k) {
+                centers[i][k] = (DistanceType)dcenters[i][k];
+            }
+        }
+
+
+        // compute kmeans clustering for each of the resulting clusters
+        node->childs = pool_.allocate<KMeansNodePtr>(branching);
+        int start = 0;
+        int end = start;
+        for (int c=0; c<branching; ++c) {
+            int s = count[c];
+
+            DistanceType variance = 0;
+            DistanceType mean_radius =0;
+            for (int i=0; i<indices_length; ++i) {
+                if (belongs_to[i]==c) {
+                    DistanceType d = distance_(dataset_[indices[i]], ZeroIterator<ElementType>(), veclen_);
+                    variance += d;
+                    mean_radius += sqrt(d);
+                    std::swap(indices[i],indices[end]);
+                    std::swap(belongs_to[i],belongs_to[end]);
+                    end++;
+                }
+            }
+            variance /= s;
+            mean_radius /= s;
+            variance -= distance_(centers[c], ZeroIterator<ElementType>(), veclen_);
+
+            node->childs[c] = pool_.allocate<KMeansNode>();
+            node->childs[c]->radius = radiuses[c];
+            node->childs[c]->pivot = centers[c];
+            node->childs[c]->variance = variance;
+            node->childs[c]->mean_radius = mean_radius;
+            node->childs[c]->indices = NULL;
+            computeClustering(node->childs[c],indices+start, end-start, branching, level+1);
+            start=end;
+        }
+    }
+
+
+
+    /**
+     * Performs one descent in the hierarchical k-means tree. The branches not
+     * visited are stored in a priority queue.
+     *
+     * Params:
+     *      node = node to explore
+     *      result = container for the k-nearest neighbors found
+     *      vec = query points
+     *      checks = how many points in the dataset have been checked so far
+     *      maxChecks = maximum dataset points to checks
+     */
+
+
+    void findNN(KMeansNodePtr node, ResultSet<DistanceType>& result, const ElementType* vec, int& checks, int maxChecks,
+                Heap<BranchSt>* heap)
+    {
+        // Ignore those clusters that are too far away
+        {
+            DistanceType bsq = distance_(vec, node->pivot, veclen_);
+            DistanceType rsq = node->radius;
+            DistanceType wsq = result.worstDist();
+
+            DistanceType val = bsq-rsq-wsq;
+            DistanceType val2 = val*val-4*rsq*wsq;
+
+            //if (val>0) {
+            if ((val>0)&&(val2>0)) {
+                return;
+            }
+        }
+
+        if (node->childs==NULL) {
+            if (checks>=maxChecks) {
+                if (result.full()) return;
+            }
+            checks += node->size;
+            for (int i=0; i<node->size; ++i) {
+                int index = node->indices[i];
+                DistanceType dist = distance_(dataset_[index], vec, veclen_);
+                result.addPoint(dist, index);
+            }
+        }
+        else {
+            DistanceType* domain_distances = new DistanceType[branching_];
+            int closest_center = exploreNodeBranches(node, vec, domain_distances, heap);
+            delete[] domain_distances;
+            findNN(node->childs[closest_center],result,vec, checks, maxChecks, heap);
+        }
+    }
+
+    /**
+     * Helper function that computes the nearest childs of a node to a given query point.
+     * Params:
+     *     node = the node
+     *     q = the query point
+     *     distances = array with the distances to each child node.
+     * Returns:
+     */
+    int exploreNodeBranches(KMeansNodePtr node, const ElementType* q, DistanceType* domain_distances, Heap<BranchSt>* heap)
+    {
+
+        int best_index = 0;
+        domain_distances[best_index] = distance_(q, node->childs[best_index]->pivot, veclen_);
+        for (int i=1; i<branching_; ++i) {
+            domain_distances[i] = distance_(q, node->childs[i]->pivot, veclen_);
+            if (domain_distances[i]<domain_distances[best_index]) {
+                best_index = i;
+            }
+        }
+
+        //		float* best_center = node->childs[best_index]->pivot;
+        for (int i=0; i<branching_; ++i) {
+            if (i != best_index) {
+                domain_distances[i] -= cb_index_*node->childs[i]->variance;
+
+                //				float dist_to_border = getDistanceToBorder(node.childs[i].pivot,best_center,q);
+                //				if (domain_distances[i]<dist_to_border) {
+                //					domain_distances[i] = dist_to_border;
+                //				}
+                heap->insert(BranchSt(node->childs[i],domain_distances[i]));
+            }
+        }
+
+        return best_index;
+    }
+
+
+    /**
+     * Function the performs exact nearest neighbor search by traversing the entire tree.
+     */
+    void findExactNN(KMeansNodePtr node, ResultSet<DistanceType>& result, const ElementType* vec)
+    {
+        // Ignore those clusters that are too far away
+        {
+            DistanceType bsq = distance_(vec, node->pivot, veclen_);
+            DistanceType rsq = node->radius;
+            DistanceType wsq = result.worstDist();
+
+            DistanceType val = bsq-rsq-wsq;
+            DistanceType val2 = val*val-4*rsq*wsq;
+
+            //                  if (val>0) {
+            if ((val>0)&&(val2>0)) {
+                return;
+            }
+        }
+
+
+        if (node->childs==NULL) {
+            for (int i=0; i<node->size; ++i) {
+                int index = node->indices[i];
+                DistanceType dist = distance_(dataset_[index], vec, veclen_);
+                result.addPoint(dist, index);
+            }
+        }
+        else {
+            int* sort_indices = new int[branching_];
+
+            getCenterOrdering(node, vec, sort_indices);
+
+            for (int i=0; i<branching_; ++i) {
+                findExactNN(node->childs[sort_indices[i]],result,vec);
+            }
+
+            delete[] sort_indices;
+        }
+    }
+
+
+    /**
+     * Helper function.
+     *
+     * I computes the order in which to traverse the child nodes of a particular node.
+     */
+    void getCenterOrdering(KMeansNodePtr node, const ElementType* q, int* sort_indices)
+    {
+        DistanceType* domain_distances = new DistanceType[branching_];
+        for (int i=0; i<branching_; ++i) {
+            DistanceType dist = distance_(q, node->childs[i]->pivot, veclen_);
+
+            int j=0;
+            while (domain_distances[j]<dist && j<i) j++;
+            for (int k=i; k>j; --k) {
+                domain_distances[k] = domain_distances[k-1];
+                sort_indices[k] = sort_indices[k-1];
+            }
+            domain_distances[j] = dist;
+            sort_indices[j] = i;
+        }
+        delete[] domain_distances;
+    }
+
+    /**
+     * Method that computes the squared distance from the query point q
+     * from inside region with center c to the border between this
+     * region and the region with center p
+     */
+    DistanceType getDistanceToBorder(DistanceType* p, DistanceType* c, DistanceType* q)
+    {
+        DistanceType sum = 0;
+        DistanceType sum2 = 0;
+
+        for (int i=0; i<veclen_; ++i) {
+            DistanceType t = c[i]-p[i];
+            sum += t*(q[i]-(c[i]+p[i])/2);
+            sum2 += t*t;
+        }
+
+        return sum*sum/sum2;
+    }
+
+
+    /**
+     * Helper function the descends in the hierarchical k-means tree by spliting those clusters that minimize
+     * the overall variance of the clustering.
+     * Params:
+     *     root = root node
+     *     clusters = array with clusters centers (return value)
+     *     varianceValue = variance of the clustering (return value)
+     * Returns:
+     */
+    int getMinVarianceClusters(KMeansNodePtr root, KMeansNodePtr* clusters, int clusters_length, DistanceType& varianceValue)
+    {
+        int clusterCount = 1;
+        clusters[0] = root;
+
+        DistanceType meanVariance = root->variance*root->size;
+
+        while (clusterCount<clusters_length) {
+            DistanceType minVariance = (std::numeric_limits<DistanceType>::max)();
+            int splitIndex = -1;
+
+            for (int i=0; i<clusterCount; ++i) {
+                if (clusters[i]->childs != NULL) {
+
+                    DistanceType variance = meanVariance - clusters[i]->variance*clusters[i]->size;
+
+                    for (int j=0; j<branching_; ++j) {
+                        variance += clusters[i]->childs[j]->variance*clusters[i]->childs[j]->size;
+                    }
+                    if (variance<minVariance) {
+                        minVariance = variance;
+                        splitIndex = i;
+                    }
+                }
+            }
+
+            if (splitIndex==-1) break;
+            if ( (branching_+clusterCount-1) > clusters_length) break;
+
+            meanVariance = minVariance;
+
+            // split node
+            KMeansNodePtr toSplit = clusters[splitIndex];
+            clusters[splitIndex] = toSplit->childs[0];
+            for (int i=1; i<branching_; ++i) {
+                clusters[clusterCount++] = toSplit->childs[i];
+            }
+        }
+
+        varianceValue = meanVariance/root->size;
+        return clusterCount;
+    }
+
+private:
+    /** The branching factor used in the hierarchical k-means clustering */
+    int branching_;
+
+    /** Maximum number of iterations to use when performing k-means clustering */
+    int iterations_;
+
+    /** Algorithm for choosing the cluster centers */
+    flann_centers_init_t centers_init_;
+
+    /**
+     * Cluster border index. This is used in the tree search phase when determining
+     * the closest cluster to explore next. A zero value takes into account only
+     * the cluster centres, a value greater then zero also take into account the size
+     * of the cluster.
+     */
+    float cb_index_;
+
+    /**
+     * The dataset used by this index
+     */
+    const Matrix<ElementType> dataset_;
+
+    /** Index parameters */
+    IndexParams index_params_;
+
+    /**
+     * Number of features in the dataset.
+     */
+    size_t size_;
+
+    /**
+     * Length of each feature.
+     */
+    size_t veclen_;
+
+    /**
+     * The root node in the tree.
+     */
+    KMeansNodePtr root_;
+
+    /**
+     *  Array of indices to vectors in the dataset.
+     */
+    int* indices_;
+
+    /**
+     * The distance
+     */
+    Distance distance_;
+
+    /**
+     * Pooled memory allocator.
+     */
+    PooledAllocator pool_;
+
+    /**
+     * Memory occupied by the index.
+     */
+    int memoryCounter_;
+};
+
+}
+
+#endif //OPENCV_FLANN_KMEANS_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/linear_index.h b/3rdparty/include/opencv2/flann/linear_index.h
new file mode 100644
index 0000000..5aa7a5c
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/linear_index.h
@@ -0,0 +1,132 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_LINEAR_INDEX_H_
+#define OPENCV_FLANN_LINEAR_INDEX_H_
+
+#include "general.h"
+#include "nn_index.h"
+
+namespace cvflann
+{
+
+struct LinearIndexParams : public IndexParams
+{
+    LinearIndexParams()
+    {
+        (* this)["algorithm"] = FLANN_INDEX_LINEAR;
+    }
+};
+
+template <typename Distance>
+class LinearIndex : public NNIndex<Distance>
+{
+public:
+
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+
+    LinearIndex(const Matrix<ElementType>& inputData, const IndexParams& params = LinearIndexParams(),
+                Distance d = Distance()) :
+        dataset_(inputData), index_params_(params), distance_(d)
+    {
+    }
+
+    LinearIndex(const LinearIndex&);
+    LinearIndex& operator=(const LinearIndex&);
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_LINEAR;
+    }
+
+
+    size_t size() const
+    {
+        return dataset_.rows;
+    }
+
+    size_t veclen() const
+    {
+        return dataset_.cols;
+    }
+
+
+    int usedMemory() const
+    {
+        return 0;
+    }
+
+    void buildIndex()
+    {
+        /* nothing to do here for linear search */
+    }
+
+    void saveIndex(FILE*)
+    {
+        /* nothing to do here for linear search */
+    }
+
+
+    void loadIndex(FILE*)
+    {
+        /* nothing to do here for linear search */
+
+        index_params_["algorithm"] = getType();
+    }
+
+    void findNeighbors(ResultSet<DistanceType>& resultSet, const ElementType* vec, const SearchParams& /*searchParams*/)
+    {
+        ElementType* data = dataset_.data;
+        for (size_t i = 0; i < dataset_.rows; ++i, data += dataset_.cols) {
+            DistanceType dist = distance_(data, vec, dataset_.cols);
+            resultSet.addPoint(dist, (int)i);
+        }
+    }
+
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+private:
+    /** The dataset */
+    const Matrix<ElementType> dataset_;
+    /** Index parameters */
+    IndexParams index_params_;
+    /** Index distance */
+    Distance distance_;
+
+};
+
+}
+
+#endif // OPENCV_FLANN_LINEAR_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/logger.h b/3rdparty/include/opencv2/flann/logger.h
new file mode 100644
index 0000000..24f3fb6
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/logger.h
@@ -0,0 +1,130 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_LOGGER_H
+#define OPENCV_FLANN_LOGGER_H
+
+#include <stdio.h>
+#include <stdarg.h>
+
+#include "defines.h"
+
+
+namespace cvflann
+{
+
+class Logger
+{
+    Logger() : stream(stdout), logLevel(FLANN_LOG_WARN) {}
+
+    ~Logger()
+    {
+        if ((stream!=NULL)&&(stream!=stdout)) {
+            fclose(stream);
+        }
+    }
+
+    static Logger& instance()
+    {
+        static Logger logger;
+        return logger;
+    }
+
+    void _setDestination(const char* name)
+    {
+        if (name==NULL) {
+            stream = stdout;
+        }
+        else {
+            stream = fopen(name,"w");
+            if (stream == NULL) {
+                stream = stdout;
+            }
+        }
+    }
+
+    int _log(int level, const char* fmt, va_list arglist)
+    {
+        if (level > logLevel ) return -1;
+        int ret = vfprintf(stream, fmt, arglist);
+        return ret;
+    }
+
+public:
+    /**
+     * Sets the logging level. All messages with lower priority will be ignored.
+     * @param level Logging level
+     */
+    static void setLevel(int level) { instance().logLevel = level; }
+
+    /**
+     * Sets the logging destination
+     * @param name Filename or NULL for console
+     */
+    static void setDestination(const char* name) { instance()._setDestination(name); }
+
+    /**
+     * Print log message
+     * @param level Log level
+     * @param fmt Message format
+     * @return
+     */
+    static int log(int level, const char* fmt, ...)
+    {
+        va_list arglist;
+        va_start(arglist, fmt);
+        int ret = instance()._log(level,fmt,arglist);
+        va_end(arglist);
+        return ret;
+    }
+
+#define LOG_METHOD(NAME,LEVEL) \
+    static int NAME(const char* fmt, ...) \
+    { \
+        va_list ap; \
+        va_start(ap, fmt); \
+        int ret = instance()._log(LEVEL, fmt, ap); \
+        va_end(ap); \
+        return ret; \
+    }
+
+    LOG_METHOD(fatal, FLANN_LOG_FATAL)
+    LOG_METHOD(error, FLANN_LOG_ERROR)
+    LOG_METHOD(warn, FLANN_LOG_WARN)
+    LOG_METHOD(info, FLANN_LOG_INFO)
+
+private:
+    FILE* stream;
+    int logLevel;
+};
+
+}
+
+#endif //OPENCV_FLANN_LOGGER_H
diff --git a/3rdparty/include/opencv2/flann/lsh_index.h b/3rdparty/include/opencv2/flann/lsh_index.h
new file mode 100644
index 0000000..4d4670e
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/lsh_index.h
@@ -0,0 +1,392 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+/***********************************************************************
+ * Author: Vincent Rabaud
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_LSH_INDEX_H_
+#define OPENCV_FLANN_LSH_INDEX_H_
+
+#include <algorithm>
+#include <cassert>
+#include <cstring>
+#include <map>
+#include <vector>
+
+#include "general.h"
+#include "nn_index.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "heap.h"
+#include "lsh_table.h"
+#include "allocator.h"
+#include "random.h"
+#include "saving.h"
+
+namespace cvflann
+{
+
+struct LshIndexParams : public IndexParams
+{
+    LshIndexParams(unsigned int table_number = 12, unsigned int key_size = 20, unsigned int multi_probe_level = 2)
+    {
+        (* this)["algorithm"] = FLANN_INDEX_LSH;
+        // The number of hash tables to use
+        (*this)["table_number"] = table_number;
+        // The length of the key in the hash tables
+        (*this)["key_size"] = key_size;
+        // Number of levels to use in multi-probe (0 for standard LSH)
+        (*this)["multi_probe_level"] = multi_probe_level;
+    }
+};
+
+/**
+ * Randomized kd-tree index
+ *
+ * Contains the k-d trees and other information for indexing a set of points
+ * for nearest-neighbor matching.
+ */
+template<typename Distance>
+class LshIndex : public NNIndex<Distance>
+{
+public:
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+    /** Constructor
+     * @param input_data dataset with the input features
+     * @param params parameters passed to the LSH algorithm
+     * @param d the distance used
+     */
+    LshIndex(const Matrix<ElementType>& input_data, const IndexParams& params = LshIndexParams(),
+             Distance d = Distance()) :
+        dataset_(input_data), index_params_(params), distance_(d)
+    {
+        // cv::flann::IndexParams sets integer params as 'int', so it is used with get_param
+        // in place of 'unsigned int'
+        table_number_ = (unsigned int)get_param<int>(index_params_,"table_number",12);
+        key_size_ = (unsigned int)get_param<int>(index_params_,"key_size",20);
+        multi_probe_level_ = (unsigned int)get_param<int>(index_params_,"multi_probe_level",2);
+
+        feature_size_ = (unsigned)dataset_.cols;
+        fill_xor_mask(0, key_size_, multi_probe_level_, xor_masks_);
+    }
+
+
+    LshIndex(const LshIndex&);
+    LshIndex& operator=(const LshIndex&);
+
+    /**
+     * Builds the index
+     */
+    void buildIndex()
+    {
+        tables_.resize(table_number_);
+        for (unsigned int i = 0; i < table_number_; ++i) {
+            lsh::LshTable<ElementType>& table = tables_[i];
+            table = lsh::LshTable<ElementType>(feature_size_, key_size_);
+
+            // Add the features to the table
+            table.add(dataset_);
+        }
+    }
+
+    flann_algorithm_t getType() const
+    {
+        return FLANN_INDEX_LSH;
+    }
+
+
+    void saveIndex(FILE* stream)
+    {
+        save_value(stream,table_number_);
+        save_value(stream,key_size_);
+        save_value(stream,multi_probe_level_);
+        save_value(stream, dataset_);
+    }
+
+    void loadIndex(FILE* stream)
+    {
+        load_value(stream, table_number_);
+        load_value(stream, key_size_);
+        load_value(stream, multi_probe_level_);
+        load_value(stream, dataset_);
+        // Building the index is so fast we can afford not storing it
+        buildIndex();
+
+        index_params_["algorithm"] = getType();
+        index_params_["table_number"] = table_number_;
+        index_params_["key_size"] = key_size_;
+        index_params_["multi_probe_level"] = multi_probe_level_;
+    }
+
+    /**
+     *  Returns size of index.
+     */
+    size_t size() const
+    {
+        return dataset_.rows;
+    }
+
+    /**
+     * Returns the length of an index feature.
+     */
+    size_t veclen() const
+    {
+        return feature_size_;
+    }
+
+    /**
+     * Computes the index memory usage
+     * Returns: memory used by the index
+     */
+    int usedMemory() const
+    {
+        return (int)(dataset_.rows * sizeof(int));
+    }
+
+
+    IndexParams getParameters() const
+    {
+        return index_params_;
+    }
+
+    /**
+     * \brief Perform k-nearest neighbor search
+     * \param[in] queries The query points for which to find the nearest neighbors
+     * \param[out] indices The indices of the nearest neighbors found
+     * \param[out] dists Distances to the nearest neighbors found
+     * \param[in] knn Number of nearest neighbors to return
+     * \param[in] params Search parameters
+     */
+    virtual void knnSearch(const Matrix<ElementType>& queries, Matrix<int>& indices, Matrix<DistanceType>& dists, int knn, const SearchParams& params)
+    {
+        assert(queries.cols == veclen());
+        assert(indices.rows >= queries.rows);
+        assert(dists.rows >= queries.rows);
+        assert(int(indices.cols) >= knn);
+        assert(int(dists.cols) >= knn);
+
+
+        KNNUniqueResultSet<DistanceType> resultSet(knn);
+        for (size_t i = 0; i < queries.rows; i++) {
+            resultSet.clear();
+            std::fill_n(indices[i], knn, -1);
+            std::fill_n(dists[i], knn, std::numeric_limits<DistanceType>::max());
+            findNeighbors(resultSet, queries[i], params);
+            if (get_param(params,"sorted",true)) resultSet.sortAndCopy(indices[i], dists[i], knn);
+            else resultSet.copy(indices[i], dists[i], knn);
+        }
+    }
+
+
+    /**
+     * Find set of nearest neighbors to vec. Their indices are stored inside
+     * the result object.
+     *
+     * Params:
+     *     result = the result object in which the indices of the nearest-neighbors are stored
+     *     vec = the vector for which to search the nearest neighbors
+     *     maxCheck = the maximum number of restarts (in a best-bin-first manner)
+     */
+    void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& /*searchParams*/)
+    {
+        getNeighbors(vec, result);
+    }
+
+private:
+    /** Defines the comparator on score and index
+     */
+    typedef std::pair<float, unsigned int> ScoreIndexPair;
+    struct SortScoreIndexPairOnSecond
+    {
+        bool operator()(const ScoreIndexPair& left, const ScoreIndexPair& right) const
+        {
+            return left.second < right.second;
+        }
+    };
+
+    /** Fills the different xor masks to use when getting the neighbors in multi-probe LSH
+     * @param key the key we build neighbors from
+     * @param lowest_index the lowest index of the bit set
+     * @param level the multi-probe level we are at
+     * @param xor_masks all the xor mask
+     */
+    void fill_xor_mask(lsh::BucketKey key, int lowest_index, unsigned int level,
+                       std::vector<lsh::BucketKey>& xor_masks)
+    {
+        xor_masks.push_back(key);
+        if (level == 0) return;
+        for (int index = lowest_index - 1; index >= 0; --index) {
+            // Create a new key
+            lsh::BucketKey new_key = key | (1 << index);
+            fill_xor_mask(new_key, index, level - 1, xor_masks);
+        }
+    }
+
+    /** Performs the approximate nearest-neighbor search.
+     * @param vec the feature to analyze
+     * @param do_radius flag indicating if we check the radius too
+     * @param radius the radius if it is a radius search
+     * @param do_k flag indicating if we limit the number of nn
+     * @param k_nn the number of nearest neighbors
+     * @param checked_average used for debugging
+     */
+    void getNeighbors(const ElementType* vec, bool /*do_radius*/, float radius, bool do_k, unsigned int k_nn,
+                      float& /*checked_average*/)
+    {
+        static std::vector<ScoreIndexPair> score_index_heap;
+
+        if (do_k) {
+            unsigned int worst_score = std::numeric_limits<unsigned int>::max();
+            typename std::vector<lsh::LshTable<ElementType> >::const_iterator table = tables_.begin();
+            typename std::vector<lsh::LshTable<ElementType> >::const_iterator table_end = tables_.end();
+            for (; table != table_end; ++table) {
+                size_t key = table->getKey(vec);
+                std::vector<lsh::BucketKey>::const_iterator xor_mask = xor_masks_.begin();
+                std::vector<lsh::BucketKey>::const_iterator xor_mask_end = xor_masks_.end();
+                for (; xor_mask != xor_mask_end; ++xor_mask) {
+                    size_t sub_key = key ^ (*xor_mask);
+                    const lsh::Bucket* bucket = table->getBucketFromKey(sub_key);
+                    if (bucket == 0) continue;
+
+                    // Go over each descriptor index
+                    std::vector<lsh::FeatureIndex>::const_iterator training_index = bucket->begin();
+                    std::vector<lsh::FeatureIndex>::const_iterator last_training_index = bucket->end();
+                    DistanceType hamming_distance;
+
+                    // Process the rest of the candidates
+                    for (; training_index < last_training_index; ++training_index) {
+                        hamming_distance = distance_(vec, dataset_[*training_index], dataset_.cols);
+
+                        if (hamming_distance < worst_score) {
+                            // Insert the new element
+                            score_index_heap.push_back(ScoreIndexPair(hamming_distance, training_index));
+                            std::push_heap(score_index_heap.begin(), score_index_heap.end());
+
+                            if (score_index_heap.size() > (unsigned int)k_nn) {
+                                // Remove the highest distance value as we have too many elements
+                                std::pop_heap(score_index_heap.begin(), score_index_heap.end());
+                                score_index_heap.pop_back();
+                                // Keep track of the worst score
+                                worst_score = score_index_heap.front().first;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        else {
+            typename std::vector<lsh::LshTable<ElementType> >::const_iterator table = tables_.begin();
+            typename std::vector<lsh::LshTable<ElementType> >::const_iterator table_end = tables_.end();
+            for (; table != table_end; ++table) {
+                size_t key = table->getKey(vec);
+                std::vector<lsh::BucketKey>::const_iterator xor_mask = xor_masks_.begin();
+                std::vector<lsh::BucketKey>::const_iterator xor_mask_end = xor_masks_.end();
+                for (; xor_mask != xor_mask_end; ++xor_mask) {
+                    size_t sub_key = key ^ (*xor_mask);
+                    const lsh::Bucket* bucket = table->getBucketFromKey(sub_key);
+                    if (bucket == 0) continue;
+
+                    // Go over each descriptor index
+                    std::vector<lsh::FeatureIndex>::const_iterator training_index = bucket->begin();
+                    std::vector<lsh::FeatureIndex>::const_iterator last_training_index = bucket->end();
+                    DistanceType hamming_distance;
+
+                    // Process the rest of the candidates
+                    for (; training_index < last_training_index; ++training_index) {
+                        // Compute the Hamming distance
+                        hamming_distance = distance_(vec, dataset_[*training_index], dataset_.cols);
+                        if (hamming_distance < radius) score_index_heap.push_back(ScoreIndexPair(hamming_distance, training_index));
+                    }
+                }
+            }
+        }
+    }
+
+    /** Performs the approximate nearest-neighbor search.
+     * This is a slower version than the above as it uses the ResultSet
+     * @param vec the feature to analyze
+     */
+    void getNeighbors(const ElementType* vec, ResultSet<DistanceType>& result)
+    {
+        typename std::vector<lsh::LshTable<ElementType> >::const_iterator table = tables_.begin();
+        typename std::vector<lsh::LshTable<ElementType> >::const_iterator table_end = tables_.end();
+        for (; table != table_end; ++table) {
+            size_t key = table->getKey(vec);
+            std::vector<lsh::BucketKey>::const_iterator xor_mask = xor_masks_.begin();
+            std::vector<lsh::BucketKey>::const_iterator xor_mask_end = xor_masks_.end();
+            for (; xor_mask != xor_mask_end; ++xor_mask) {
+                size_t sub_key = key ^ (*xor_mask);
+                const lsh::Bucket* bucket = table->getBucketFromKey((lsh::BucketKey)sub_key);
+                if (bucket == 0) continue;
+
+                // Go over each descriptor index
+                std::vector<lsh::FeatureIndex>::const_iterator training_index = bucket->begin();
+                std::vector<lsh::FeatureIndex>::const_iterator last_training_index = bucket->end();
+                DistanceType hamming_distance;
+
+                // Process the rest of the candidates
+                for (; training_index < last_training_index; ++training_index) {
+                    // Compute the Hamming distance
+                    hamming_distance = distance_(vec, dataset_[*training_index], (int)dataset_.cols);
+                    result.addPoint(hamming_distance, *training_index);
+                }
+            }
+        }
+    }
+
+    /** The different hash tables */
+    std::vector<lsh::LshTable<ElementType> > tables_;
+
+    /** The data the LSH tables where built from */
+    Matrix<ElementType> dataset_;
+
+    /** The size of the features (as ElementType[]) */
+    unsigned int feature_size_;
+
+    IndexParams index_params_;
+
+    /** table number */
+    unsigned int table_number_;
+    /** key size */
+    unsigned int key_size_;
+    /** How far should we look for neighbors in multi-probe LSH */
+    unsigned int multi_probe_level_;
+
+    /** The XOR masks to apply to a key to get the neighboring buckets */
+    std::vector<lsh::BucketKey> xor_masks_;
+
+    Distance distance_;
+};
+}
+
+#endif //OPENCV_FLANN_LSH_INDEX_H_
diff --git a/3rdparty/include/opencv2/flann/lsh_table.h b/3rdparty/include/opencv2/flann/lsh_table.h
new file mode 100644
index 0000000..582dcdb
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/lsh_table.h
@@ -0,0 +1,492 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+/***********************************************************************
+ * Author: Vincent Rabaud
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_LSH_TABLE_H_
+#define OPENCV_FLANN_LSH_TABLE_H_
+
+#include <algorithm>
+#include <iostream>
+#include <iomanip>
+#include <limits.h>
+// TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP
+#ifdef __GXX_EXPERIMENTAL_CXX0X__
+#  define USE_UNORDERED_MAP 1
+#else
+#  define USE_UNORDERED_MAP 0
+#endif
+#if USE_UNORDERED_MAP
+#include <unordered_map>
+#else
+#include <map>
+#endif
+#include <math.h>
+#include <stddef.h>
+
+#include "dynamic_bitset.h"
+#include "matrix.h"
+
+namespace cvflann
+{
+
+namespace lsh
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** What is stored in an LSH bucket
+ */
+typedef uint32_t FeatureIndex;
+/** The id from which we can get a bucket back in an LSH table
+ */
+typedef unsigned int BucketKey;
+
+/** A bucket in an LSH table
+ */
+typedef std::vector<FeatureIndex> Bucket;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** POD for stats about an LSH table
+ */
+struct LshStats
+{
+    std::vector<unsigned int> bucket_sizes_;
+    size_t n_buckets_;
+    size_t bucket_size_mean_;
+    size_t bucket_size_median_;
+    size_t bucket_size_min_;
+    size_t bucket_size_max_;
+    size_t bucket_size_std_dev;
+    /** Each contained vector contains three value: beginning/end for interval, number of elements in the bin
+     */
+    std::vector<std::vector<unsigned int> > size_histogram_;
+};
+
+/** Overload the << operator for LshStats
+ * @param out the streams
+ * @param stats the stats to display
+ * @return the streams
+ */
+inline std::ostream& operator <<(std::ostream& out, const LshStats& stats)
+{
+    int w = 20;
+    out << "Lsh Table Stats:\n" << std::setw(w) << std::setiosflags(std::ios::right) << "N buckets : "
+    << stats.n_buckets_ << "\n" << std::setw(w) << std::setiosflags(std::ios::right) << "mean size : "
+    << std::setiosflags(std::ios::left) << stats.bucket_size_mean_ << "\n" << std::setw(w)
+    << std::setiosflags(std::ios::right) << "median size : " << stats.bucket_size_median_ << "\n" << std::setw(w)
+    << std::setiosflags(std::ios::right) << "min size : " << std::setiosflags(std::ios::left)
+    << stats.bucket_size_min_ << "\n" << std::setw(w) << std::setiosflags(std::ios::right) << "max size : "
+    << std::setiosflags(std::ios::left) << stats.bucket_size_max_;
+
+    // Display the histogram
+    out << std::endl << std::setw(w) << std::setiosflags(std::ios::right) << "histogram : "
+    << std::setiosflags(std::ios::left);
+    for (std::vector<std::vector<unsigned int> >::const_iterator iterator = stats.size_histogram_.begin(), end =
+             stats.size_histogram_.end(); iterator != end; ++iterator) out << (*iterator)[0] << "-" << (*iterator)[1] << ": " << (*iterator)[2] << ",  ";
+
+    return out;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** Lsh hash table. As its key is a sub-feature, and as usually
+ * the size of it is pretty small, we keep it as a continuous memory array.
+ * The value is an index in the corpus of features (we keep it as an unsigned
+ * int for pure memory reasons, it could be a size_t)
+ */
+template<typename ElementType>
+class LshTable
+{
+public:
+    /** A container of all the feature indices. Optimized for space
+     */
+#if USE_UNORDERED_MAP
+    typedef std::unordered_map<BucketKey, Bucket> BucketsSpace;
+#else
+    typedef std::map<BucketKey, Bucket> BucketsSpace;
+#endif
+
+    /** A container of all the feature indices. Optimized for speed
+     */
+    typedef std::vector<Bucket> BucketsSpeed;
+
+    /** Default constructor
+     */
+    LshTable()
+    {
+    }
+
+    /** Default constructor
+     * Create the mask and allocate the memory
+     * @param feature_size is the size of the feature (considered as a ElementType[])
+     * @param key_size is the number of bits that are turned on in the feature
+     */
+    LshTable(unsigned int feature_size, unsigned int key_size)
+    {
+        (void)feature_size;
+        (void)key_size;
+        std::cerr << "LSH is not implemented for that type" << std::endl;
+        assert(0);
+    }
+
+    /** Add a feature to the table
+     * @param value the value to store for that feature
+     * @param feature the feature itself
+     */
+    void add(unsigned int value, const ElementType* feature)
+    {
+        // Add the value to the corresponding bucket
+        BucketKey key = (lsh::BucketKey)getKey(feature);
+
+        switch (speed_level_) {
+        case kArray:
+            // That means we get the buckets from an array
+            buckets_speed_[key].push_back(value);
+            break;
+        case kBitsetHash:
+            // That means we can check the bitset for the presence of a key
+            key_bitset_.set(key);
+            buckets_space_[key].push_back(value);
+            break;
+        case kHash:
+        {
+            // That means we have to check for the hash table for the presence of a key
+            buckets_space_[key].push_back(value);
+            break;
+        }
+        }
+    }
+
+    /** Add a set of features to the table
+     * @param dataset the values to store
+     */
+    void add(Matrix<ElementType> dataset)
+    {
+#if USE_UNORDERED_MAP
+        buckets_space_.rehash((buckets_space_.size() + dataset.rows) * 1.2);
+#endif
+        // Add the features to the table
+        for (unsigned int i = 0; i < dataset.rows; ++i) add(i, dataset[i]);
+        // Now that the table is full, optimize it for speed/space
+        optimize();
+    }
+
+    /** Get a bucket given the key
+     * @param key
+     * @return
+     */
+    inline const Bucket* getBucketFromKey(BucketKey key) const
+    {
+        // Generate other buckets
+        switch (speed_level_) {
+        case kArray:
+            // That means we get the buckets from an array
+            return &buckets_speed_[key];
+            break;
+        case kBitsetHash:
+            // That means we can check the bitset for the presence of a key
+            if (key_bitset_.test(key)) return &buckets_space_.find(key)->second;
+            else return 0;
+            break;
+        case kHash:
+        {
+            // That means we have to check for the hash table for the presence of a key
+            BucketsSpace::const_iterator bucket_it, bucket_end = buckets_space_.end();
+            bucket_it = buckets_space_.find(key);
+            // Stop here if that bucket does not exist
+            if (bucket_it == bucket_end) return 0;
+            else return &bucket_it->second;
+            break;
+        }
+        }
+        return 0;
+    }
+
+    /** Compute the sub-signature of a feature
+     */
+    size_t getKey(const ElementType* /*feature*/) const
+    {
+        std::cerr << "LSH is not implemented for that type" << std::endl;
+        assert(0);
+        return 1;
+    }
+
+    /** Get statistics about the table
+     * @return
+     */
+    LshStats getStats() const;
+
+private:
+    /** defines the speed fo the implementation
+     * kArray uses a vector for storing data
+     * kBitsetHash uses a hash map but checks for the validity of a key with a bitset
+     * kHash uses a hash map only
+     */
+    enum SpeedLevel
+    {
+        kArray, kBitsetHash, kHash
+    };
+
+    /** Initialize some variables
+     */
+    void initialize(size_t key_size)
+    {
+        const size_t key_size_lower_bound = 1;
+        //a value (size_t(1) << key_size) must fit the size_t type so key_size has to be strictly less than size of size_t
+        const size_t key_size_upper_bound = std::min(sizeof(BucketKey) * CHAR_BIT + 1, sizeof(size_t) * CHAR_BIT);
+        if (key_size < key_size_lower_bound || key_size >= key_size_upper_bound)
+        {
+            CV_Error(cv::Error::StsBadArg, cv::format("Invalid key_size (=%d). Valid values for your system are %d <= key_size < %d.", (int)key_size, (int)key_size_lower_bound, (int)key_size_upper_bound));
+        }
+
+        speed_level_ = kHash;
+        key_size_ = (unsigned)key_size;
+    }
+
+    /** Optimize the table for speed/space
+     */
+    void optimize()
+    {
+        // If we are already using the fast storage, no need to do anything
+        if (speed_level_ == kArray) return;
+
+        // Use an array if it will be more than half full
+        if (buckets_space_.size() > ((size_t(1) << key_size_) / 2)) {
+            speed_level_ = kArray;
+            // Fill the array version of it
+            buckets_speed_.resize(size_t(1) << key_size_);
+            for (BucketsSpace::const_iterator key_bucket = buckets_space_.begin(); key_bucket != buckets_space_.end(); ++key_bucket) buckets_speed_[key_bucket->first] = key_bucket->second;
+
+            // Empty the hash table
+            buckets_space_.clear();
+            return;
+        }
+
+        // If the bitset is going to use less than 10% of the RAM of the hash map (at least 1 size_t for the key and two
+        // for the vector) or less than 512MB (key_size_ <= 30)
+        if (((std::max(buckets_space_.size(), buckets_speed_.size()) * CHAR_BIT * 3 * sizeof(BucketKey)) / 10
+             >= (size_t(1) << key_size_)) || (key_size_ <= 32)) {
+            speed_level_ = kBitsetHash;
+            key_bitset_.resize(size_t(1) << key_size_);
+            key_bitset_.reset();
+            // Try with the BucketsSpace
+            for (BucketsSpace::const_iterator key_bucket = buckets_space_.begin(); key_bucket != buckets_space_.end(); ++key_bucket) key_bitset_.set(key_bucket->first);
+        }
+        else {
+            speed_level_ = kHash;
+            key_bitset_.clear();
+        }
+    }
+
+    /** The vector of all the buckets if they are held for speed
+     */
+    BucketsSpeed buckets_speed_;
+
+    /** The hash table of all the buckets in case we cannot use the speed version
+     */
+    BucketsSpace buckets_space_;
+
+    /** What is used to store the data */
+    SpeedLevel speed_level_;
+
+    /** If the subkey is small enough, it will keep track of which subkeys are set through that bitset
+     * That is just a speedup so that we don't look in the hash table (which can be mush slower that checking a bitset)
+     */
+    DynamicBitset key_bitset_;
+
+    /** The size of the sub-signature in bits
+     */
+    unsigned int key_size_;
+
+    // Members only used for the unsigned char specialization
+    /** The mask to apply to a feature to get the hash key
+     * Only used in the unsigned char case
+     */
+    std::vector<size_t> mask_;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Specialization for unsigned char
+
+template<>
+inline LshTable<unsigned char>::LshTable(unsigned int feature_size, unsigned int subsignature_size)
+{
+    initialize(subsignature_size);
+    // Allocate the mask
+    mask_ = std::vector<size_t>((size_t)ceil((float)(feature_size * sizeof(char)) / (float)sizeof(size_t)), 0);
+
+    // A bit brutal but fast to code
+    std::vector<size_t> indices(feature_size * CHAR_BIT);
+    for (size_t i = 0; i < feature_size * CHAR_BIT; ++i) indices[i] = i;
+    std::random_shuffle(indices.begin(), indices.end());
+
+    // Generate a random set of order of subsignature_size_ bits
+    for (unsigned int i = 0; i < key_size_; ++i) {
+        size_t index = indices[i];
+
+        // Set that bit in the mask
+        size_t divisor = CHAR_BIT * sizeof(size_t);
+        size_t idx = index / divisor; //pick the right size_t index
+        mask_[idx] |= size_t(1) << (index % divisor); //use modulo to find the bit offset
+    }
+
+    // Set to 1 if you want to display the mask for debug
+#if 0
+    {
+        size_t bcount = 0;
+        BOOST_FOREACH(size_t mask_block, mask_){
+            out << std::setw(sizeof(size_t) * CHAR_BIT / 4) << std::setfill('0') << std::hex << mask_block
+                << std::endl;
+            bcount += __builtin_popcountll(mask_block);
+        }
+        out << "bit count : " << std::dec << bcount << std::endl;
+        out << "mask size : " << mask_.size() << std::endl;
+        return out;
+    }
+#endif
+}
+
+/** Return the Subsignature of a feature
+ * @param feature the feature to analyze
+ */
+template<>
+inline size_t LshTable<unsigned char>::getKey(const unsigned char* feature) const
+{
+    // no need to check if T is dividable by sizeof(size_t) like in the Hamming
+    // distance computation as we have a mask
+    const size_t* feature_block_ptr = reinterpret_cast<const size_t*> ((const void*)feature);
+
+    // Figure out the subsignature of the feature
+    // Given the feature ABCDEF, and the mask 001011, the output will be
+    // 000CEF
+    size_t subsignature = 0;
+    size_t bit_index = 1;
+
+    for (std::vector<size_t>::const_iterator pmask_block = mask_.begin(); pmask_block != mask_.end(); ++pmask_block) {
+        // get the mask and signature blocks
+        size_t feature_block = *feature_block_ptr;
+        size_t mask_block = *pmask_block;
+        while (mask_block) {
+            // Get the lowest set bit in the mask block
+            size_t lowest_bit = mask_block & (-(ptrdiff_t)mask_block);
+            // Add it to the current subsignature if necessary
+            subsignature += (feature_block & lowest_bit) ? bit_index : 0;
+            // Reset the bit in the mask block
+            mask_block ^= lowest_bit;
+            // increment the bit index for the subsignature
+            bit_index <<= 1;
+        }
+        // Check the next feature block
+        ++feature_block_ptr;
+    }
+    return subsignature;
+}
+
+template<>
+inline LshStats LshTable<unsigned char>::getStats() const
+{
+    LshStats stats;
+    stats.bucket_size_mean_ = 0;
+    if ((buckets_speed_.empty()) && (buckets_space_.empty())) {
+        stats.n_buckets_ = 0;
+        stats.bucket_size_median_ = 0;
+        stats.bucket_size_min_ = 0;
+        stats.bucket_size_max_ = 0;
+        return stats;
+    }
+
+    if (!buckets_speed_.empty()) {
+        for (BucketsSpeed::const_iterator pbucket = buckets_speed_.begin(); pbucket != buckets_speed_.end(); ++pbucket) {
+            stats.bucket_sizes_.push_back((lsh::FeatureIndex)pbucket->size());
+            stats.bucket_size_mean_ += pbucket->size();
+        }
+        stats.bucket_size_mean_ /= buckets_speed_.size();
+        stats.n_buckets_ = buckets_speed_.size();
+    }
+    else {
+        for (BucketsSpace::const_iterator x = buckets_space_.begin(); x != buckets_space_.end(); ++x) {
+            stats.bucket_sizes_.push_back((lsh::FeatureIndex)x->second.size());
+            stats.bucket_size_mean_ += x->second.size();
+        }
+        stats.bucket_size_mean_ /= buckets_space_.size();
+        stats.n_buckets_ = buckets_space_.size();
+    }
+
+    std::sort(stats.bucket_sizes_.begin(), stats.bucket_sizes_.end());
+
+    //  BOOST_FOREACH(int size, stats.bucket_sizes_)
+    //          std::cout << size << " ";
+    //  std::cout << std::endl;
+    stats.bucket_size_median_ = stats.bucket_sizes_[stats.bucket_sizes_.size() / 2];
+    stats.bucket_size_min_ = stats.bucket_sizes_.front();
+    stats.bucket_size_max_ = stats.bucket_sizes_.back();
+
+    // TODO compute mean and std
+    /*float mean, stddev;
+       stats.bucket_size_mean_ = mean;
+       stats.bucket_size_std_dev = stddev;*/
+
+    // Include a histogram of the buckets
+    unsigned int bin_start = 0;
+    unsigned int bin_end = 20;
+    bool is_new_bin = true;
+    for (std::vector<unsigned int>::iterator iterator = stats.bucket_sizes_.begin(), end = stats.bucket_sizes_.end(); iterator
+         != end; )
+        if (*iterator < bin_end) {
+            if (is_new_bin) {
+                stats.size_histogram_.push_back(std::vector<unsigned int>(3, 0));
+                stats.size_histogram_.back()[0] = bin_start;
+                stats.size_histogram_.back()[1] = bin_end - 1;
+                is_new_bin = false;
+            }
+            ++stats.size_histogram_.back()[2];
+            ++iterator;
+        }
+        else {
+            bin_start += 20;
+            bin_end += 20;
+            is_new_bin = true;
+        }
+
+    return stats;
+}
+
+// End the two namespaces
+}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#endif /* OPENCV_FLANN_LSH_TABLE_H_ */
diff --git a/3rdparty/include/opencv2/flann/matrix.h b/3rdparty/include/opencv2/flann/matrix.h
new file mode 100644
index 0000000..51b6c63
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/matrix.h
@@ -0,0 +1,116 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_DATASET_H_
+#define OPENCV_FLANN_DATASET_H_
+
+#include <stdio.h>
+
+#include "general.h"
+
+namespace cvflann
+{
+
+/**
+ * Class that implements a simple rectangular matrix stored in a memory buffer and
+ * provides convenient matrix-like access using the [] operators.
+ */
+template <typename T>
+class Matrix
+{
+public:
+    typedef T type;
+
+    size_t rows;
+    size_t cols;
+    size_t stride;
+    T* data;
+
+    Matrix() : rows(0), cols(0), stride(0), data(NULL)
+    {
+    }
+
+    Matrix(T* data_, size_t rows_, size_t cols_, size_t stride_ = 0) :
+        rows(rows_), cols(cols_),  stride(stride_), data(data_)
+    {
+        if (stride==0) stride = cols;
+    }
+
+    /**
+     * Convenience function for deallocating the storage data.
+     */
+    FLANN_DEPRECATED void free()
+    {
+        fprintf(stderr, "The cvflann::Matrix<T>::free() method is deprecated "
+                "and it does not do any memory deallocation any more.  You are"
+                "responsible for deallocating the matrix memory (by doing"
+                "'delete[] matrix.data' for example)");
+    }
+
+    /**
+     * Operator that return a (pointer to a) row of the data.
+     */
+    T* operator[](size_t index) const
+    {
+        return data+index*stride;
+    }
+};
+
+
+class UntypedMatrix
+{
+public:
+    size_t rows;
+    size_t cols;
+    void* data;
+    flann_datatype_t type;
+
+    UntypedMatrix(void* data_, long rows_, long cols_) :
+        rows(rows_), cols(cols_), data(data_)
+    {
+    }
+
+    ~UntypedMatrix()
+    {
+    }
+
+
+    template<typename T>
+    Matrix<T> as()
+    {
+        return Matrix<T>((T*)data, rows, cols);
+    }
+};
+
+
+
+}
+
+#endif //OPENCV_FLANN_DATASET_H_
diff --git a/3rdparty/include/opencv2/flann/miniflann.hpp b/3rdparty/include/opencv2/flann/miniflann.hpp
new file mode 100644
index 0000000..02fa236
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/miniflann.hpp
@@ -0,0 +1,158 @@
+/*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*/
+
+#ifndef _OPENCV_MINIFLANN_HPP_
+#define _OPENCV_MINIFLANN_HPP_
+
+#include "opencv2/core.hpp"
+#include "opencv2/flann/defines.h"
+
+namespace cv
+{
+
+namespace flann
+{
+
+struct CV_EXPORTS IndexParams
+{
+    IndexParams();
+    ~IndexParams();
+
+    String getString(const String& key, const String& defaultVal=String()) const;
+    int getInt(const String& key, int defaultVal=-1) const;
+    double getDouble(const String& key, double defaultVal=-1) const;
+
+    void setString(const String& key, const String& value);
+    void setInt(const String& key, int value);
+    void setDouble(const String& key, double value);
+    void setFloat(const String& key, float value);
+    void setBool(const String& key, bool value);
+    void setAlgorithm(int value);
+
+    void getAll(std::vector<String>& names,
+                std::vector<int>& types,
+                std::vector<String>& strValues,
+                std::vector<double>& numValues) const;
+
+    void* params;
+};
+
+struct CV_EXPORTS KDTreeIndexParams : public IndexParams
+{
+    KDTreeIndexParams(int trees=4);
+};
+
+struct CV_EXPORTS LinearIndexParams : public IndexParams
+{
+    LinearIndexParams();
+};
+
+struct CV_EXPORTS CompositeIndexParams : public IndexParams
+{
+    CompositeIndexParams(int trees = 4, int branching = 32, int iterations = 11,
+                         cvflann::flann_centers_init_t centers_init = cvflann::FLANN_CENTERS_RANDOM, float cb_index = 0.2f );
+};
+
+struct CV_EXPORTS AutotunedIndexParams : public IndexParams
+{
+    AutotunedIndexParams(float target_precision = 0.8f, float build_weight = 0.01f,
+                         float memory_weight = 0, float sample_fraction = 0.1f);
+};
+
+struct CV_EXPORTS HierarchicalClusteringIndexParams : public IndexParams
+{
+    HierarchicalClusteringIndexParams(int branching = 32,
+                      cvflann::flann_centers_init_t centers_init = cvflann::FLANN_CENTERS_RANDOM, int trees = 4, int leaf_size = 100 );
+};
+
+struct CV_EXPORTS KMeansIndexParams : public IndexParams
+{
+    KMeansIndexParams(int branching = 32, int iterations = 11,
+                      cvflann::flann_centers_init_t centers_init = cvflann::FLANN_CENTERS_RANDOM, float cb_index = 0.2f );
+};
+
+struct CV_EXPORTS LshIndexParams : public IndexParams
+{
+    LshIndexParams(int table_number, int key_size, int multi_probe_level);
+};
+
+struct CV_EXPORTS SavedIndexParams : public IndexParams
+{
+    SavedIndexParams(const String& filename);
+};
+
+struct CV_EXPORTS SearchParams : public IndexParams
+{
+    SearchParams( int checks = 32, float eps = 0, bool sorted = true );
+};
+
+class CV_EXPORTS_W Index
+{
+public:
+    CV_WRAP Index();
+    CV_WRAP Index(InputArray features, const IndexParams& params, cvflann::flann_distance_t distType=cvflann::FLANN_DIST_L2);
+    virtual ~Index();
+
+    CV_WRAP virtual void build(InputArray features, const IndexParams& params, cvflann::flann_distance_t distType=cvflann::FLANN_DIST_L2);
+    CV_WRAP virtual void knnSearch(InputArray query, OutputArray indices,
+                   OutputArray dists, int knn, const SearchParams& params=SearchParams());
+
+    CV_WRAP virtual int radiusSearch(InputArray query, OutputArray indices,
+                             OutputArray dists, double radius, int maxResults,
+                             const SearchParams& params=SearchParams());
+
+    CV_WRAP virtual void save(const String& filename) const;
+    CV_WRAP virtual bool load(InputArray features, const String& filename);
+    CV_WRAP virtual void release();
+    CV_WRAP cvflann::flann_distance_t getDistance() const;
+    CV_WRAP cvflann::flann_algorithm_t getAlgorithm() const;
+
+protected:
+    cvflann::flann_distance_t distType;
+    cvflann::flann_algorithm_t algo;
+    int featureType;
+    void* index;
+};
+
+} } // namespace cv::flann
+
+#endif
diff --git a/3rdparty/include/opencv2/flann/nn_index.h b/3rdparty/include/opencv2/flann/nn_index.h
new file mode 100644
index 0000000..381d4bc
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/nn_index.h
@@ -0,0 +1,177 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_NNINDEX_H
+#define OPENCV_FLANN_NNINDEX_H
+
+#include "general.h"
+#include "matrix.h"
+#include "result_set.h"
+#include "params.h"
+
+namespace cvflann
+{
+
+/**
+ * Nearest-neighbour index base class
+ */
+template <typename Distance>
+class NNIndex
+{
+    typedef typename Distance::ElementType ElementType;
+    typedef typename Distance::ResultType DistanceType;
+
+public:
+
+    virtual ~NNIndex() {}
+
+    /**
+     * \brief Builds the index
+     */
+    virtual void buildIndex() = 0;
+
+    /**
+     * \brief Perform k-nearest neighbor search
+     * \param[in] queries The query points for which to find the nearest neighbors
+     * \param[out] indices The indices of the nearest neighbors found
+     * \param[out] dists Distances to the nearest neighbors found
+     * \param[in] knn Number of nearest neighbors to return
+     * \param[in] params Search parameters
+     */
+    virtual void knnSearch(const Matrix<ElementType>& queries, Matrix<int>& indices, Matrix<DistanceType>& dists, int knn, const SearchParams& params)
+    {
+        assert(queries.cols == veclen());
+        assert(indices.rows >= queries.rows);
+        assert(dists.rows >= queries.rows);
+        assert(int(indices.cols) >= knn);
+        assert(int(dists.cols) >= knn);
+
+#if 0
+        KNNResultSet<DistanceType> resultSet(knn);
+        for (size_t i = 0; i < queries.rows; i++) {
+            resultSet.init(indices[i], dists[i]);
+            findNeighbors(resultSet, queries[i], params);
+        }
+#else
+        KNNUniqueResultSet<DistanceType> resultSet(knn);
+        for (size_t i = 0; i < queries.rows; i++) {
+            resultSet.clear();
+            findNeighbors(resultSet, queries[i], params);
+            if (get_param(params,"sorted",true)) resultSet.sortAndCopy(indices[i], dists[i], knn);
+            else resultSet.copy(indices[i], dists[i], knn);
+        }
+#endif
+    }
+
+    /**
+     * \brief Perform radius search
+     * \param[in] query The query point
+     * \param[out] indices The indinces of the neighbors found within the given radius
+     * \param[out] dists The distances to the nearest neighbors found
+     * \param[in] radius The radius used for search
+     * \param[in] params Search parameters
+     * \returns Number of neighbors found
+     */
+    virtual int radiusSearch(const Matrix<ElementType>& query, Matrix<int>& indices, Matrix<DistanceType>& dists, float radius, const SearchParams& params)
+    {
+        if (query.rows != 1) {
+            fprintf(stderr, "I can only search one feature at a time for range search\n");
+            return -1;
+        }
+        assert(query.cols == veclen());
+        assert(indices.cols == dists.cols);
+
+        int n = 0;
+        int* indices_ptr = NULL;
+        DistanceType* dists_ptr = NULL;
+        if (indices.cols > 0) {
+            n = (int)indices.cols;
+            indices_ptr = indices[0];
+            dists_ptr = dists[0];
+        }
+
+        RadiusUniqueResultSet<DistanceType> resultSet((DistanceType)radius);
+        resultSet.clear();
+        findNeighbors(resultSet, query[0], params);
+        if (n>0) {
+            if (get_param(params,"sorted",true)) resultSet.sortAndCopy(indices_ptr, dists_ptr, n);
+            else resultSet.copy(indices_ptr, dists_ptr, n);
+        }
+
+        return (int)resultSet.size();
+    }
+
+    /**
+     * \brief Saves the index to a stream
+     * \param stream The stream to save the index to
+     */
+    virtual void saveIndex(FILE* stream) = 0;
+
+    /**
+     * \brief Loads the index from a stream
+     * \param stream The stream from which the index is loaded
+     */
+    virtual void loadIndex(FILE* stream) = 0;
+
+    /**
+     * \returns number of features in this index.
+     */
+    virtual size_t size() const = 0;
+
+    /**
+     * \returns The dimensionality of the features in this index.
+     */
+    virtual size_t veclen() const = 0;
+
+    /**
+     * \returns The amount of memory (in bytes) used by the index.
+     */
+    virtual int usedMemory() const = 0;
+
+    /**
+     * \returns The index type (kdtree, kmeans,...)
+     */
+    virtual flann_algorithm_t getType() const = 0;
+
+    /**
+     * \returns The index parameters
+     */
+    virtual IndexParams getParameters() const = 0;
+
+
+    /**
+     * \brief Method that searches for nearest-neighbours
+     */
+    virtual void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams) = 0;
+};
+
+}
+
+#endif //OPENCV_FLANN_NNINDEX_H
diff --git a/3rdparty/include/opencv2/flann/object_factory.h b/3rdparty/include/opencv2/flann/object_factory.h
new file mode 100644
index 0000000..7f971c5
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/object_factory.h
@@ -0,0 +1,91 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_OBJECT_FACTORY_H_
+#define OPENCV_FLANN_OBJECT_FACTORY_H_
+
+#include <map>
+
+namespace cvflann
+{
+
+class CreatorNotFound
+{
+};
+
+template<typename BaseClass,
+         typename UniqueIdType,
+         typename ObjectCreator = BaseClass* (*)()>
+class ObjectFactory
+{
+    typedef ObjectFactory<BaseClass,UniqueIdType,ObjectCreator> ThisClass;
+    typedef std::map<UniqueIdType, ObjectCreator> ObjectRegistry;
+
+    // singleton class, private constructor
+    ObjectFactory() {}
+
+public:
+
+    bool subscribe(UniqueIdType id, ObjectCreator creator)
+    {
+        if (object_registry.find(id) != object_registry.end()) return false;
+
+        object_registry[id] = creator;
+        return true;
+    }
+
+    bool unregister(UniqueIdType id)
+    {
+        return object_registry.erase(id) == 1;
+    }
+
+    ObjectCreator create(UniqueIdType id)
+    {
+        typename ObjectRegistry::const_iterator iter = object_registry.find(id);
+
+        if (iter == object_registry.end()) {
+            throw CreatorNotFound();
+        }
+
+        return iter->second;
+    }
+
+    static ThisClass& instance()
+    {
+        static ThisClass the_factory;
+        return the_factory;
+    }
+private:
+    ObjectRegistry object_registry;
+};
+
+}
+
+#endif /* OPENCV_FLANN_OBJECT_FACTORY_H_ */
diff --git a/3rdparty/include/opencv2/flann/params.h b/3rdparty/include/opencv2/flann/params.h
new file mode 100644
index 0000000..95ef4cd
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/params.h
@@ -0,0 +1,99 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2011  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2011  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_PARAMS_H_
+#define OPENCV_FLANN_PARAMS_H_
+
+#include "any.h"
+#include "general.h"
+#include <iostream>
+#include <map>
+
+
+namespace cvflann
+{
+
+typedef std::map<cv::String, any> IndexParams;
+
+struct SearchParams : public IndexParams
+{
+    SearchParams(int checks = 32, float eps = 0, bool sorted = true )
+    {
+        // how many leafs to visit when searching for neighbours (-1 for unlimited)
+        (*this)["checks"] = checks;
+        // search for eps-approximate neighbours (default: 0)
+        (*this)["eps"] = eps;
+        // only for radius search, require neighbours sorted by distance (default: true)
+        (*this)["sorted"] = sorted;
+    }
+};
+
+
+template<typename T>
+T get_param(const IndexParams& params, cv::String name, const T& default_value)
+{
+    IndexParams::const_iterator it = params.find(name);
+    if (it != params.end()) {
+        return it->second.cast<T>();
+    }
+    else {
+        return default_value;
+    }
+}
+
+template<typename T>
+T get_param(const IndexParams& params, cv::String name)
+{
+    IndexParams::const_iterator it = params.find(name);
+    if (it != params.end()) {
+        return it->second.cast<T>();
+    }
+    else {
+        throw FLANNException(cv::String("Missing parameter '")+name+cv::String("' in the parameters given"));
+    }
+}
+
+inline void print_params(const IndexParams& params, std::ostream& stream)
+{
+    IndexParams::const_iterator it;
+
+    for(it=params.begin(); it!=params.end(); ++it) {
+        stream << it->first << " : " << it->second << std::endl;
+    }
+}
+
+inline void print_params(const IndexParams& params)
+{
+    print_params(params, std::cout);
+}
+
+}
+
+
+#endif /* OPENCV_FLANN_PARAMS_H_ */
diff --git a/3rdparty/include/opencv2/flann/random.h b/3rdparty/include/opencv2/flann/random.h
new file mode 100644
index 0000000..a3cf5ec
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/random.h
@@ -0,0 +1,133 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_RANDOM_H
+#define OPENCV_FLANN_RANDOM_H
+
+#include <algorithm>
+#include <cstdlib>
+#include <vector>
+
+#include "general.h"
+
+namespace cvflann
+{
+
+/**
+ * Seeds the random number generator
+ *  @param seed Random seed
+ */
+inline void seed_random(unsigned int seed)
+{
+    srand(seed);
+}
+
+/*
+ * Generates a random double value.
+ */
+/**
+ * Generates a random double value.
+ * @param high Upper limit
+ * @param low Lower limit
+ * @return Random double value
+ */
+inline double rand_double(double high = 1.0, double low = 0)
+{
+    return low + ((high-low) * (std::rand() / (RAND_MAX + 1.0)));
+}
+
+/**
+ * Generates a random integer value.
+ * @param high Upper limit
+ * @param low Lower limit
+ * @return Random integer value
+ */
+inline int rand_int(int high = RAND_MAX, int low = 0)
+{
+    return low + (int) ( double(high-low) * (std::rand() / (RAND_MAX + 1.0)));
+}
+
+/**
+ * Random number generator that returns a distinct number from
+ * the [0,n) interval each time.
+ */
+class UniqueRandom
+{
+    std::vector<int> vals_;
+    int size_;
+    int counter_;
+
+public:
+    /**
+     * Constructor.
+     * @param n Size of the interval from which to generate
+     * @return
+     */
+    UniqueRandom(int n)
+    {
+        init(n);
+    }
+
+    /**
+     * Initializes the number generator.
+     * @param n the size of the interval from which to generate random numbers.
+     */
+    void init(int n)
+    {
+        // create and initialize an array of size n
+        vals_.resize(n);
+        size_ = n;
+        for (int i = 0; i < size_; ++i) vals_[i] = i;
+
+        // shuffle the elements in the array
+        std::random_shuffle(vals_.begin(), vals_.end());
+
+        counter_ = 0;
+    }
+
+    /**
+     * Return a distinct random integer in greater or equal to 0 and less
+     * than 'n' on each call. It should be called maximum 'n' times.
+     * Returns: a random integer
+     */
+    int next()
+    {
+        if (counter_ == size_) {
+            return -1;
+        }
+        else {
+            return vals_[counter_++];
+        }
+    }
+};
+
+}
+
+#endif //OPENCV_FLANN_RANDOM_H
diff --git a/3rdparty/include/opencv2/flann/result_set.h b/3rdparty/include/opencv2/flann/result_set.h
new file mode 100644
index 0000000..9750019
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/result_set.h
@@ -0,0 +1,543 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_RESULTSET_H
+#define OPENCV_FLANN_RESULTSET_H
+
+#include <algorithm>
+#include <cstring>
+#include <iostream>
+#include <limits>
+#include <set>
+#include <vector>
+
+namespace cvflann
+{
+
+/* This record represents a branch point when finding neighbors in
+    the tree.  It contains a record of the minimum distance to the query
+    point, as well as the node at which the search resumes.
+ */
+
+template <typename T, typename DistanceType>
+struct BranchStruct
+{
+    T node;           /* Tree node at which search resumes */
+    DistanceType mindist;     /* Minimum distance to query for all nodes below. */
+
+    BranchStruct() {}
+    BranchStruct(const T& aNode, DistanceType dist) : node(aNode), mindist(dist) {}
+
+    bool operator<(const BranchStruct<T, DistanceType>& rhs) const
+    {
+        return mindist<rhs.mindist;
+    }
+};
+
+
+template <typename DistanceType>
+class ResultSet
+{
+public:
+    virtual ~ResultSet() {}
+
+    virtual bool full() const = 0;
+
+    virtual void addPoint(DistanceType dist, int index) = 0;
+
+    virtual DistanceType worstDist() const = 0;
+
+};
+
+/**
+ * KNNSimpleResultSet does not ensure that the element it holds are unique.
+ * Is used in those cases where the nearest neighbour algorithm used does not
+ * attempt to insert the same element multiple times.
+ */
+template <typename DistanceType>
+class KNNSimpleResultSet : public ResultSet<DistanceType>
+{
+    int* indices;
+    DistanceType* dists;
+    int capacity;
+    int count;
+    DistanceType worst_distance_;
+
+public:
+    KNNSimpleResultSet(int capacity_) : capacity(capacity_), count(0)
+    {
+    }
+
+    void init(int* indices_, DistanceType* dists_)
+    {
+        indices = indices_;
+        dists = dists_;
+        count = 0;
+        worst_distance_ = (std::numeric_limits<DistanceType>::max)();
+        dists[capacity-1] = worst_distance_;
+    }
+
+    size_t size() const
+    {
+        return count;
+    }
+
+    bool full() const
+    {
+        return count == capacity;
+    }
+
+
+    void addPoint(DistanceType dist, int index)
+    {
+        if (dist >= worst_distance_) return;
+        int i;
+        for (i=count; i>0; --i) {
+#ifdef FLANN_FIRST_MATCH
+            if ( (dists[i-1]>dist) || ((dist==dists[i-1])&&(indices[i-1]>index)) )
+#else
+            if (dists[i-1]>dist)
+#endif
+            {
+                if (i<capacity) {
+                    dists[i] = dists[i-1];
+                    indices[i] = indices[i-1];
+                }
+            }
+            else break;
+        }
+        if (count < capacity) ++count;
+        dists[i] = dist;
+        indices[i] = index;
+        worst_distance_ = dists[capacity-1];
+    }
+
+    DistanceType worstDist() const
+    {
+        return worst_distance_;
+    }
+};
+
+/**
+ * K-Nearest neighbour result set. Ensures that the elements inserted are unique
+ */
+template <typename DistanceType>
+class KNNResultSet : public ResultSet<DistanceType>
+{
+    int* indices;
+    DistanceType* dists;
+    int capacity;
+    int count;
+    DistanceType worst_distance_;
+
+public:
+    KNNResultSet(int capacity_) : capacity(capacity_), count(0)
+    {
+    }
+
+    void init(int* indices_, DistanceType* dists_)
+    {
+        indices = indices_;
+        dists = dists_;
+        count = 0;
+        worst_distance_ = (std::numeric_limits<DistanceType>::max)();
+        dists[capacity-1] = worst_distance_;
+    }
+
+    size_t size() const
+    {
+        return count;
+    }
+
+    bool full() const
+    {
+        return count == capacity;
+    }
+
+
+    void addPoint(DistanceType dist, int index)
+    {
+        if (dist >= worst_distance_) return;
+        int i;
+        for (i = count; i > 0; --i) {
+#ifdef FLANN_FIRST_MATCH
+            if ( (dists[i-1]<=dist) && ((dist!=dists[i-1])||(indices[i-1]<=index)) )
+#else
+            if (dists[i-1]<=dist)
+#endif
+            {
+                // Check for duplicate indices
+                int j = i - 1;
+                while ((j >= 0) && (dists[j] == dist)) {
+                    if (indices[j] == index) {
+                        return;
+                    }
+                    --j;
+                }
+                break;
+            }
+        }
+
+        if (count < capacity) ++count;
+        for (int j = count-1; j > i; --j) {
+            dists[j] = dists[j-1];
+            indices[j] = indices[j-1];
+        }
+        dists[i] = dist;
+        indices[i] = index;
+        worst_distance_ = dists[capacity-1];
+    }
+
+    DistanceType worstDist() const
+    {
+        return worst_distance_;
+    }
+};
+
+
+/**
+ * A result-set class used when performing a radius based search.
+ */
+template <typename DistanceType>
+class RadiusResultSet : public ResultSet<DistanceType>
+{
+    DistanceType radius;
+    int* indices;
+    DistanceType* dists;
+    size_t capacity;
+    size_t count;
+
+public:
+    RadiusResultSet(DistanceType radius_, int* indices_, DistanceType* dists_, int capacity_) :
+        radius(radius_), indices(indices_), dists(dists_), capacity(capacity_)
+    {
+        init();
+    }
+
+    ~RadiusResultSet()
+    {
+    }
+
+    void init()
+    {
+        count = 0;
+    }
+
+    size_t size() const
+    {
+        return count;
+    }
+
+    bool full() const
+    {
+        return true;
+    }
+
+    void addPoint(DistanceType dist, int index)
+    {
+        if (dist<radius) {
+            if ((capacity>0)&&(count < capacity)) {
+                dists[count] = dist;
+                indices[count] = index;
+            }
+            count++;
+        }
+    }
+
+    DistanceType worstDist() const
+    {
+        return radius;
+    }
+
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** Class that holds the k NN neighbors
+ * Faster than KNNResultSet as it uses a binary heap and does not maintain two arrays
+ */
+template<typename DistanceType>
+class UniqueResultSet : public ResultSet<DistanceType>
+{
+public:
+    struct DistIndex
+    {
+        DistIndex(DistanceType dist, unsigned int index) :
+            dist_(dist), index_(index)
+        {
+        }
+        bool operator<(const DistIndex dist_index) const
+        {
+            return (dist_ < dist_index.dist_) || ((dist_ == dist_index.dist_) && index_ < dist_index.index_);
+        }
+        DistanceType dist_;
+        unsigned int index_;
+    };
+
+    /** Default cosntructor */
+    UniqueResultSet() :
+        worst_distance_(std::numeric_limits<DistanceType>::max())
+    {
+    }
+
+    /** Check the status of the set
+     * @return true if we have k NN
+     */
+    inline bool full() const
+    {
+        return is_full_;
+    }
+
+    /** Remove all elements in the set
+     */
+    virtual void clear() = 0;
+
+    /** Copy the set to two C arrays
+     * @param indices pointer to a C array of indices
+     * @param dist pointer to a C array of distances
+     * @param n_neighbors the number of neighbors to copy
+     */
+    virtual void copy(int* indices, DistanceType* dist, int n_neighbors = -1) const
+    {
+        if (n_neighbors < 0) {
+            for (typename std::set<DistIndex>::const_iterator dist_index = dist_indices_.begin(), dist_index_end =
+                     dist_indices_.end(); dist_index != dist_index_end; ++dist_index, ++indices, ++dist) {
+                *indices = dist_index->index_;
+                *dist = dist_index->dist_;
+            }
+        }
+        else {
+            int i = 0;
+            for (typename std::set<DistIndex>::const_iterator dist_index = dist_indices_.begin(), dist_index_end =
+                     dist_indices_.end(); (dist_index != dist_index_end) && (i < n_neighbors); ++dist_index, ++indices, ++dist, ++i) {
+                *indices = dist_index->index_;
+                *dist = dist_index->dist_;
+            }
+        }
+    }
+
+    /** Copy the set to two C arrays but sort it according to the distance first
+     * @param indices pointer to a C array of indices
+     * @param dist pointer to a C array of distances
+     * @param n_neighbors the number of neighbors to copy
+     */
+    virtual void sortAndCopy(int* indices, DistanceType* dist, int n_neighbors = -1) const
+    {
+        copy(indices, dist, n_neighbors);
+    }
+
+    /** The number of neighbors in the set
+     * @return
+     */
+    size_t size() const
+    {
+        return dist_indices_.size();
+    }
+
+    /** The distance of the furthest neighbor
+     * If we don't have enough neighbors, it returns the max possible value
+     * @return
+     */
+    inline DistanceType worstDist() const
+    {
+        return worst_distance_;
+    }
+protected:
+    /** Flag to say if the set is full */
+    bool is_full_;
+
+    /** The worst distance found so far */
+    DistanceType worst_distance_;
+
+    /** The best candidates so far */
+    std::set<DistIndex> dist_indices_;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** Class that holds the k NN neighbors
+ * Faster than KNNResultSet as it uses a binary heap and does not maintain two arrays
+ */
+template<typename DistanceType>
+class KNNUniqueResultSet : public UniqueResultSet<DistanceType>
+{
+public:
+    /** Constructor
+     * @param capacity the number of neighbors to store at max
+     */
+    KNNUniqueResultSet(unsigned int capacity) : capacity_(capacity)
+    {
+        this->is_full_ = false;
+        this->clear();
+    }
+
+    /** Add a possible candidate to the best neighbors
+     * @param dist distance for that neighbor
+     * @param index index of that neighbor
+     */
+    inline void addPoint(DistanceType dist, int index)
+    {
+        // Don't do anything if we are worse than the worst
+        if (dist >= worst_distance_) return;
+        dist_indices_.insert(DistIndex(dist, index));
+
+        if (is_full_) {
+            if (dist_indices_.size() > capacity_) {
+                dist_indices_.erase(*dist_indices_.rbegin());
+                worst_distance_ = dist_indices_.rbegin()->dist_;
+            }
+        }
+        else if (dist_indices_.size() == capacity_) {
+            is_full_ = true;
+            worst_distance_ = dist_indices_.rbegin()->dist_;
+        }
+    }
+
+    /** Remove all elements in the set
+     */
+    void clear()
+    {
+        dist_indices_.clear();
+        worst_distance_ = std::numeric_limits<DistanceType>::max();
+        is_full_ = false;
+    }
+
+protected:
+    typedef typename UniqueResultSet<DistanceType>::DistIndex DistIndex;
+    using UniqueResultSet<DistanceType>::is_full_;
+    using UniqueResultSet<DistanceType>::worst_distance_;
+    using UniqueResultSet<DistanceType>::dist_indices_;
+
+    /** The number of neighbors to keep */
+    unsigned int capacity_;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** Class that holds the radius nearest neighbors
+ * It is more accurate than RadiusResult as it is not limited in the number of neighbors
+ */
+template<typename DistanceType>
+class RadiusUniqueResultSet : public UniqueResultSet<DistanceType>
+{
+public:
+    /** Constructor
+     * @param radius the maximum distance of a neighbor
+     */
+    RadiusUniqueResultSet(DistanceType radius) :
+        radius_(radius)
+    {
+        is_full_ = true;
+    }
+
+    /** Add a possible candidate to the best neighbors
+     * @param dist distance for that neighbor
+     * @param index index of that neighbor
+     */
+    void addPoint(DistanceType dist, int index)
+    {
+        if (dist <= radius_) dist_indices_.insert(DistIndex(dist, index));
+    }
+
+    /** Remove all elements in the set
+     */
+    inline void clear()
+    {
+        dist_indices_.clear();
+    }
+
+
+    /** Check the status of the set
+     * @return alwys false
+     */
+    inline bool full() const
+    {
+        return true;
+    }
+
+    /** The distance of the furthest neighbor
+     * If we don't have enough neighbors, it returns the max possible value
+     * @return
+     */
+    inline DistanceType worstDist() const
+    {
+        return radius_;
+    }
+private:
+    typedef typename UniqueResultSet<DistanceType>::DistIndex DistIndex;
+    using UniqueResultSet<DistanceType>::dist_indices_;
+    using UniqueResultSet<DistanceType>::is_full_;
+
+    /** The furthest distance a neighbor can be */
+    DistanceType radius_;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** Class that holds the k NN neighbors within a radius distance
+ */
+template<typename DistanceType>
+class KNNRadiusUniqueResultSet : public KNNUniqueResultSet<DistanceType>
+{
+public:
+    /** Constructor
+     * @param capacity the number of neighbors to store at max
+     * @param radius the maximum distance of a neighbor
+     */
+    KNNRadiusUniqueResultSet(unsigned int capacity, DistanceType radius)
+    {
+        this->capacity_ = capacity;
+        this->radius_ = radius;
+        this->dist_indices_.reserve(capacity_);
+        this->clear();
+    }
+
+    /** Remove all elements in the set
+     */
+    void clear()
+    {
+        dist_indices_.clear();
+        worst_distance_ = radius_;
+        is_full_ = false;
+    }
+private:
+    using KNNUniqueResultSet<DistanceType>::dist_indices_;
+    using KNNUniqueResultSet<DistanceType>::is_full_;
+    using KNNUniqueResultSet<DistanceType>::worst_distance_;
+
+    /** The maximum number of neighbors to consider */
+    unsigned int capacity_;
+
+    /** The maximum distance of a neighbor */
+    DistanceType radius_;
+};
+}
+
+#endif //OPENCV_FLANN_RESULTSET_H
diff --git a/3rdparty/include/opencv2/flann/sampling.h b/3rdparty/include/opencv2/flann/sampling.h
new file mode 100644
index 0000000..396f177
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/sampling.h
@@ -0,0 +1,81 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+
+#ifndef OPENCV_FLANN_SAMPLING_H_
+#define OPENCV_FLANN_SAMPLING_H_
+
+#include "matrix.h"
+#include "random.h"
+
+namespace cvflann
+{
+
+template<typename T>
+Matrix<T> random_sample(Matrix<T>& srcMatrix, long size, bool remove = false)
+{
+    Matrix<T> newSet(new T[size * srcMatrix.cols], size,srcMatrix.cols);
+
+    T* src,* dest;
+    for (long i=0; i<size; ++i) {
+        long r = rand_int((int)(srcMatrix.rows-i));
+        dest = newSet[i];
+        src = srcMatrix[r];
+        std::copy(src, src+srcMatrix.cols, dest);
+        if (remove) {
+            src = srcMatrix[srcMatrix.rows-i-1];
+            dest = srcMatrix[r];
+            std::copy(src, src+srcMatrix.cols, dest);
+        }
+    }
+    if (remove) {
+        srcMatrix.rows -= size;
+    }
+    return newSet;
+}
+
+template<typename T>
+Matrix<T> random_sample(const Matrix<T>& srcMatrix, size_t size)
+{
+    UniqueRandom rand((int)srcMatrix.rows);
+    Matrix<T> newSet(new T[size * srcMatrix.cols], size,srcMatrix.cols);
+
+    T* src,* dest;
+    for (size_t i=0; i<size; ++i) {
+        long r = rand.next();
+        dest = newSet[i];
+        src = srcMatrix[r];
+        std::copy(src, src+srcMatrix.cols, dest);
+    }
+    return newSet;
+}
+
+} // namespace
+
+
+#endif /* OPENCV_FLANN_SAMPLING_H_ */
diff --git a/3rdparty/include/opencv2/flann/saving.h b/3rdparty/include/opencv2/flann/saving.h
new file mode 100644
index 0000000..7e3bea5
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/saving.h
@@ -0,0 +1,187 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE NNIndexGOODS 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_SAVING_H_
+#define OPENCV_FLANN_SAVING_H_
+
+#include <cstring>
+#include <vector>
+
+#include "general.h"
+#include "nn_index.h"
+
+#ifdef FLANN_SIGNATURE_
+#undef FLANN_SIGNATURE_
+#endif
+#define FLANN_SIGNATURE_ "FLANN_INDEX"
+
+namespace cvflann
+{
+
+template <typename T>
+struct Datatype {};
+template<>
+struct Datatype<char> { static flann_datatype_t type() { return FLANN_INT8; } };
+template<>
+struct Datatype<short> { static flann_datatype_t type() { return FLANN_INT16; } };
+template<>
+struct Datatype<int> { static flann_datatype_t type() { return FLANN_INT32; } };
+template<>
+struct Datatype<unsigned char> { static flann_datatype_t type() { return FLANN_UINT8; } };
+template<>
+struct Datatype<unsigned short> { static flann_datatype_t type() { return FLANN_UINT16; } };
+template<>
+struct Datatype<unsigned int> { static flann_datatype_t type() { return FLANN_UINT32; } };
+template<>
+struct Datatype<float> { static flann_datatype_t type() { return FLANN_FLOAT32; } };
+template<>
+struct Datatype<double> { static flann_datatype_t type() { return FLANN_FLOAT64; } };
+
+
+/**
+ * Structure representing the index header.
+ */
+struct IndexHeader
+{
+    char signature[16];
+    char version[16];
+    flann_datatype_t data_type;
+    flann_algorithm_t index_type;
+    size_t rows;
+    size_t cols;
+};
+
+/**
+ * Saves index header to stream
+ *
+ * @param stream - Stream to save to
+ * @param index - The index to save
+ */
+template<typename Distance>
+void save_header(FILE* stream, const NNIndex<Distance>& index)
+{
+    IndexHeader header;
+    memset(header.signature, 0, sizeof(header.signature));
+    strcpy(header.signature, FLANN_SIGNATURE_);
+    memset(header.version, 0, sizeof(header.version));
+    strcpy(header.version, FLANN_VERSION_);
+    header.data_type = Datatype<typename Distance::ElementType>::type();
+    header.index_type = index.getType();
+    header.rows = index.size();
+    header.cols = index.veclen();
+
+    std::fwrite(&header, sizeof(header),1,stream);
+}
+
+
+/**
+ *
+ * @param stream - Stream to load from
+ * @return Index header
+ */
+inline IndexHeader load_header(FILE* stream)
+{
+    IndexHeader header;
+    size_t read_size = fread(&header,sizeof(header),1,stream);
+
+    if (read_size!=(size_t)1) {
+        throw FLANNException("Invalid index file, cannot read");
+    }
+
+    if (strcmp(header.signature,FLANN_SIGNATURE_)!=0) {
+        throw FLANNException("Invalid index file, wrong signature");
+    }
+
+    return header;
+
+}
+
+
+template<typename T>
+void save_value(FILE* stream, const T& value, size_t count = 1)
+{
+    fwrite(&value, sizeof(value),count, stream);
+}
+
+template<typename T>
+void save_value(FILE* stream, const cvflann::Matrix<T>& value)
+{
+    fwrite(&value, sizeof(value),1, stream);
+    fwrite(value.data, sizeof(T),value.rows*value.cols, stream);
+}
+
+template<typename T>
+void save_value(FILE* stream, const std::vector<T>& value)
+{
+    size_t size = value.size();
+    fwrite(&size, sizeof(size_t), 1, stream);
+    fwrite(&value[0], sizeof(T), size, stream);
+}
+
+template<typename T>
+void load_value(FILE* stream, T& value, size_t count = 1)
+{
+    size_t read_cnt = fread(&value, sizeof(value), count, stream);
+    if (read_cnt != count) {
+        throw FLANNException("Cannot read from file");
+    }
+}
+
+template<typename T>
+void load_value(FILE* stream, cvflann::Matrix<T>& value)
+{
+    size_t read_cnt = fread(&value, sizeof(value), 1, stream);
+    if (read_cnt != 1) {
+        throw FLANNException("Cannot read from file");
+    }
+    value.data = new T[value.rows*value.cols];
+    read_cnt = fread(value.data, sizeof(T), value.rows*value.cols, stream);
+    if (read_cnt != (size_t)(value.rows*value.cols)) {
+        throw FLANNException("Cannot read from file");
+    }
+}
+
+
+template<typename T>
+void load_value(FILE* stream, std::vector<T>& value)
+{
+    size_t size;
+    size_t read_cnt = fread(&size, sizeof(size_t), 1, stream);
+    if (read_cnt!=1) {
+        throw FLANNException("Cannot read from file");
+    }
+    value.resize(size);
+    read_cnt = fread(&value[0], sizeof(T), size, stream);
+    if (read_cnt != size) {
+        throw FLANNException("Cannot read from file");
+    }
+}
+
+}
+
+#endif /* OPENCV_FLANN_SAVING_H_ */
diff --git a/3rdparty/include/opencv2/flann/simplex_downhill.h b/3rdparty/include/opencv2/flann/simplex_downhill.h
new file mode 100644
index 0000000..145901a
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/simplex_downhill.h
@@ -0,0 +1,186 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_SIMPLEX_DOWNHILL_H_
+#define OPENCV_FLANN_SIMPLEX_DOWNHILL_H_
+
+namespace cvflann
+{
+
+/**
+    Adds val to array vals (and point to array points) and keeping the arrays sorted by vals.
+ */
+template <typename T>
+void addValue(int pos, float val, float* vals, T* point, T* points, int n)
+{
+    vals[pos] = val;
+    for (int i=0; i<n; ++i) {
+        points[pos*n+i] = point[i];
+    }
+
+    // bubble down
+    int j=pos;
+    while (j>0 && vals[j]<vals[j-1]) {
+        swap(vals[j],vals[j-1]);
+        for (int i=0; i<n; ++i) {
+            swap(points[j*n+i],points[(j-1)*n+i]);
+        }
+        --j;
+    }
+}
+
+
+/**
+    Simplex downhill optimization function.
+    Preconditions: points is a 2D mattrix of size (n+1) x n
+                    func is the cost function taking n an array of n params and returning float
+                    vals is the cost function in the n+1 simplex points, if NULL it will be computed
+
+    Postcondition: returns optimum value and points[0..n] are the optimum parameters
+ */
+template <typename T, typename F>
+float optimizeSimplexDownhill(T* points, int n, F func, float* vals = NULL )
+{
+    const int MAX_ITERATIONS = 10;
+
+    assert(n>0);
+
+    T* p_o = new T[n];
+    T* p_r = new T[n];
+    T* p_e = new T[n];
+
+    int alpha = 1;
+
+    int iterations = 0;
+
+    bool ownVals = false;
+    if (vals == NULL) {
+        ownVals = true;
+        vals = new float[n+1];
+        for (int i=0; i<n+1; ++i) {
+            float val = func(points+i*n);
+            addValue(i, val, vals, points+i*n, points, n);
+        }
+    }
+    int nn = n*n;
+
+    while (true) {
+
+        if (iterations++ > MAX_ITERATIONS) break;
+
+        // compute average of simplex points (except the highest point)
+        for (int j=0; j<n; ++j) {
+            p_o[j] = 0;
+            for (int i=0; i<n; ++i) {
+                p_o[i] += points[j*n+i];
+            }
+        }
+        for (int i=0; i<n; ++i) {
+            p_o[i] /= n;
+        }
+
+        bool converged = true;
+        for (int i=0; i<n; ++i) {
+            if (p_o[i] != points[nn+i]) {
+                converged = false;
+            }
+        }
+        if (converged) break;
+
+        // trying a reflection
+        for (int i=0; i<n; ++i) {
+            p_r[i] = p_o[i] + alpha*(p_o[i]-points[nn+i]);
+        }
+        float val_r = func(p_r);
+
+        if ((val_r>=vals[0])&&(val_r<vals[n])) {
+            // reflection between second highest and lowest
+            // add it to the simplex
+            Logger::info("Choosing reflection\n");
+            addValue(n, val_r,vals, p_r, points, n);
+            continue;
+        }
+
+        if (val_r<vals[0]) {
+            // value is smaller than smalest in simplex
+
+            // expand some more to see if it drops further
+            for (int i=0; i<n; ++i) {
+                p_e[i] = 2*p_r[i]-p_o[i];
+            }
+            float val_e = func(p_e);
+
+            if (val_e<val_r) {
+                Logger::info("Choosing reflection and expansion\n");
+                addValue(n, val_e,vals,p_e,points,n);
+            }
+            else {
+                Logger::info("Choosing reflection\n");
+                addValue(n, val_r,vals,p_r,points,n);
+            }
+            continue;
+        }
+        if (val_r>=vals[n]) {
+            for (int i=0; i<n; ++i) {
+                p_e[i] = (p_o[i]+points[nn+i])/2;
+            }
+            float val_e = func(p_e);
+
+            if (val_e<vals[n]) {
+                Logger::info("Choosing contraction\n");
+                addValue(n,val_e,vals,p_e,points,n);
+                continue;
+            }
+        }
+        {
+            Logger::info("Full contraction\n");
+            for (int j=1; j<=n; ++j) {
+                for (int i=0; i<n; ++i) {
+                    points[j*n+i] = (points[j*n+i]+points[i])/2;
+                }
+                float val = func(points+j*n);
+                addValue(j,val,vals,points+j*n,points,n);
+            }
+        }
+    }
+
+    float bestVal = vals[0];
+
+    delete[] p_r;
+    delete[] p_o;
+    delete[] p_e;
+    if (ownVals) delete[] vals;
+
+    return bestVal;
+}
+
+}
+
+#endif //OPENCV_FLANN_SIMPLEX_DOWNHILL_H_
diff --git a/3rdparty/include/opencv2/flann/timer.h b/3rdparty/include/opencv2/flann/timer.h
new file mode 100644
index 0000000..f771a34
--- /dev/null
+++ b/3rdparty/include/opencv2/flann/timer.h
@@ -0,0 +1,94 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *************************************************************************/
+
+#ifndef OPENCV_FLANN_TIMER_H
+#define OPENCV_FLANN_TIMER_H
+
+#include <time.h>
+#include "opencv2/core.hpp"
+#include "opencv2/core/utility.hpp"
+
+namespace cvflann
+{
+
+/**
+ * A start-stop timer class.
+ *
+ * Can be used to time portions of code.
+ */
+class StartStopTimer
+{
+    int64 startTime;
+
+public:
+    /**
+     * Value of the timer.
+     */
+    double value;
+
+
+    /**
+     * Constructor.
+     */
+    StartStopTimer()
+    {
+        reset();
+    }
+
+    /**
+     * Starts the timer.
+     */
+    void start()
+    {
+        startTime = cv::getTickCount();
+    }
+
+    /**
+     * Stops the timer and updates timer value.
+     */
+    void stop()
+    {
+        int64 stopTime = cv::getTickCount();
+        value += ( (double)stopTime - startTime) / cv::getTickFrequency();
+    }
+
+    /**
+     * Resets the timer value to 0.
+     */
+    void reset()
+    {
+        value = 0;
+    }
+
+};
+
+}
+
+#endif // FLANN_TIMER_H
diff --git a/3rdparty/include/opencv2/hal.hpp b/3rdparty/include/opencv2/hal.hpp
new file mode 100644
index 0000000..95d1ac6
--- /dev/null
+++ b/3rdparty/include/opencv2/hal.hpp
@@ -0,0 +1,98 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_HAL_HPP__
+#define __OPENCV_HAL_HPP__
+
+#include "opencv2/hal/defs.h"
+
+/**
+  @defgroup hal Hardware Acceleration Layer
+*/
+
+namespace cv { namespace hal {
+
+namespace Error {
+
+enum
+{
+    Ok = 0,
+    Unknown = -1
+};
+
+}
+
+int normHamming(const uchar* a, int n);
+int normHamming(const uchar* a, const uchar* b, int n);
+
+int normHamming(const uchar* a, int n, int cellSize);
+int normHamming(const uchar* a, const uchar* b, int n, int cellSize);
+
+//////////////////////////////// low-level functions ////////////////////////////////
+
+int LU(float* A, size_t astep, int m, float* b, size_t bstep, int n);
+int LU(double* A, size_t astep, int m, double* b, size_t bstep, int n);
+bool Cholesky(float* A, size_t astep, int m, float* b, size_t bstep, int n);
+bool Cholesky(double* A, size_t astep, int m, double* b, size_t bstep, int n);
+
+int normL1_(const uchar* a, const uchar* b, int n);
+float normL1_(const float* a, const float* b, int n);
+float normL2Sqr_(const float* a, const float* b, int n);
+
+void exp(const float* src, float* dst, int n);
+void exp(const double* src, double* dst, int n);
+void log(const float* src, float* dst, int n);
+void log(const double* src, double* dst, int n);
+
+void fastAtan2(const float* y, const float* x, float* dst, int n, bool angleInDegrees);
+void magnitude(const float* x, const float* y, float* dst, int n);
+void magnitude(const double* x, const double* y, double* dst, int n);
+void sqrt(const float* src, float* dst, int len);
+void sqrt(const double* src, double* dst, int len);
+void invSqrt(const float* src, float* dst, int len);
+void invSqrt(const double* src, double* dst, int len);
+
+}} //cv::hal
+
+#endif //__OPENCV_HAL_HPP__
diff --git a/3rdparty/include/opencv2/hal/defs.h b/3rdparty/include/opencv2/hal/defs.h
new file mode 100644
index 0000000..1975339
--- /dev/null
+++ b/3rdparty/include/opencv2/hal/defs.h
@@ -0,0 +1,675 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_DEF_H__
+#define __OPENCV_DEF_H__
+
+#if !defined _CRT_SECURE_NO_DEPRECATE && defined _MSC_VER && _MSC_VER > 1300
+#  define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio warnings */
+#endif
+
+#include <limits.h>
+
+#if defined __ICL
+#  define CV_ICC   __ICL
+#elif defined __ICC
+#  define CV_ICC   __ICC
+#elif defined __ECL
+#  define CV_ICC   __ECL
+#elif defined __ECC
+#  define CV_ICC   __ECC
+#elif defined __INTEL_COMPILER
+#  define CV_ICC   __INTEL_COMPILER
+#endif
+
+#ifndef CV_INLINE
+#  if defined __cplusplus
+#    define CV_INLINE static inline
+#  elif defined _MSC_VER
+#    define CV_INLINE __inline
+#  else
+#    define CV_INLINE static
+#  endif
+#endif
+
+#if defined CV_ICC && !defined CV_ENABLE_UNROLLED
+#  define CV_ENABLE_UNROLLED 0
+#else
+#  define CV_ENABLE_UNROLLED 1
+#endif
+
+#ifdef __GNUC__
+#  define CV_DECL_ALIGNED(x) __attribute__ ((aligned (x)))
+#elif defined _MSC_VER
+#  define CV_DECL_ALIGNED(x) __declspec(align(x))
+#else
+#  define CV_DECL_ALIGNED(x)
+#endif
+
+/* CPU features and intrinsics support */
+#define CV_CPU_NONE             0
+#define CV_CPU_MMX              1
+#define CV_CPU_SSE              2
+#define CV_CPU_SSE2             3
+#define CV_CPU_SSE3             4
+#define CV_CPU_SSSE3            5
+#define CV_CPU_SSE4_1           6
+#define CV_CPU_SSE4_2           7
+#define CV_CPU_POPCNT           8
+
+#define CV_CPU_AVX              10
+#define CV_CPU_AVX2             11
+#define CV_CPU_FMA3             12
+
+#define CV_CPU_AVX_512F         13
+#define CV_CPU_AVX_512BW        14
+#define CV_CPU_AVX_512CD        15
+#define CV_CPU_AVX_512DQ        16
+#define CV_CPU_AVX_512ER        17
+#define CV_CPU_AVX_512IFMA512   18
+#define CV_CPU_AVX_512PF        19
+#define CV_CPU_AVX_512VBMI      20
+#define CV_CPU_AVX_512VL        21
+
+#define CV_CPU_NEON   100
+
+// when adding to this list remember to update the enum in core/utility.cpp
+#define CV_HARDWARE_MAX_FEATURE 255
+
+// do not include SSE/AVX/NEON headers for NVCC compiler
+#ifndef __CUDACC__
+
+#if defined __SSE2__ || defined _M_X64 || (defined _M_IX86_FP && _M_IX86_FP >= 2)
+#  include <emmintrin.h>
+#  define CV_MMX 1
+#  define CV_SSE 1
+#  define CV_SSE2 1
+#  if defined __SSE3__ || (defined _MSC_VER && _MSC_VER >= 1500)
+#    include <pmmintrin.h>
+#    define CV_SSE3 1
+#  endif
+#  if defined __SSSE3__  || (defined _MSC_VER && _MSC_VER >= 1500)
+#    include <tmmintrin.h>
+#    define CV_SSSE3 1
+#  endif
+#  if defined __SSE4_1__ || (defined _MSC_VER && _MSC_VER >= 1500)
+#    include <smmintrin.h>
+#    define CV_SSE4_1 1
+#  endif
+#  if defined __SSE4_2__ || (defined _MSC_VER && _MSC_VER >= 1500)
+#    include <nmmintrin.h>
+#    define CV_SSE4_2 1
+#  endif
+#  if defined __POPCNT__ || (defined _MSC_VER && _MSC_VER >= 1500)
+#    ifdef _MSC_VER
+#      include <nmmintrin.h>
+#    else
+#      include <popcntintrin.h>
+#    endif
+#    define CV_POPCNT 1
+#  endif
+#  if defined __AVX__ || (defined _MSC_VER && _MSC_VER >= 1600 && 0)
+// MS Visual Studio 2010 (2012?) has no macro pre-defined to identify the use of /arch:AVX
+// See: http://connect.microsoft.com/VisualStudio/feedback/details/605858/arch-avx-should-define-a-predefined-macro-in-x64-and-set-a-unique-value-for-m-ix86-fp-in-win32
+#    include <immintrin.h>
+#    define CV_AVX 1
+#    if defined(_XCR_XFEATURE_ENABLED_MASK)
+#      define __xgetbv() _xgetbv(_XCR_XFEATURE_ENABLED_MASK)
+#    else
+#      define __xgetbv() 0
+#    endif
+#  endif
+#  if defined __AVX2__ || (defined _MSC_VER && _MSC_VER >= 1800 && 0)
+#    include <immintrin.h>
+#    define CV_AVX2 1
+#    if defined __FMA__
+#      define CV_FMA3 1
+#    endif
+#  endif
+#endif
+
+#if (defined WIN32 || defined _WIN32) && defined(_M_ARM)
+# include <Intrin.h>
+# include "arm_neon.h"
+# define CV_NEON 1
+# define CPU_HAS_NEON_FEATURE (true)
+#elif defined(__ARM_NEON__) || (defined (__ARM_NEON) && defined(__aarch64__))
+#  include <arm_neon.h>
+#  define CV_NEON 1
+#endif
+
+#if defined __GNUC__ && defined __arm__ && (defined __ARM_PCS_VFP || defined __ARM_VFPV3__)
+#  define CV_VFP 1
+#endif
+
+#endif // __CUDACC__
+
+#ifndef CV_POPCNT
+#define CV_POPCNT 0
+#endif
+#ifndef CV_MMX
+#  define CV_MMX 0
+#endif
+#ifndef CV_SSE
+#  define CV_SSE 0
+#endif
+#ifndef CV_SSE2
+#  define CV_SSE2 0
+#endif
+#ifndef CV_SSE3
+#  define CV_SSE3 0
+#endif
+#ifndef CV_SSSE3
+#  define CV_SSSE3 0
+#endif
+#ifndef CV_SSE4_1
+#  define CV_SSE4_1 0
+#endif
+#ifndef CV_SSE4_2
+#  define CV_SSE4_2 0
+#endif
+#ifndef CV_AVX
+#  define CV_AVX 0
+#endif
+#ifndef CV_AVX2
+#  define CV_AVX2 0
+#endif
+#ifndef CV_FMA3
+#  define CV_FMA3 0
+#endif
+#ifndef CV_AVX_512F
+#  define CV_AVX_512F 0
+#endif
+#ifndef CV_AVX_512BW
+#  define CV_AVX_512BW 0
+#endif
+#ifndef CV_AVX_512CD
+#  define CV_AVX_512CD 0
+#endif
+#ifndef CV_AVX_512DQ
+#  define CV_AVX_512DQ 0
+#endif
+#ifndef CV_AVX_512ER
+#  define CV_AVX_512ER 0
+#endif
+#ifndef CV_AVX_512IFMA512
+#  define CV_AVX_512IFMA512 0
+#endif
+#ifndef CV_AVX_512PF
+#  define CV_AVX_512PF 0
+#endif
+#ifndef CV_AVX_512VBMI
+#  define CV_AVX_512VBMI 0
+#endif
+#ifndef CV_AVX_512VL
+#  define CV_AVX_512VL 0
+#endif
+
+#ifndef CV_NEON
+#  define CV_NEON 0
+#endif
+
+#ifndef CV_VFP
+#  define CV_VFP 0
+#endif
+
+/* primitive types */
+/*
+  schar  - signed 1 byte integer
+  uchar  - unsigned 1 byte integer
+  short  - signed 2 byte integer
+  ushort - unsigned 2 byte integer
+  int    - signed 4 byte integer
+  uint   - unsigned 4 byte integer
+  int64  - signed 8 byte integer
+  uint64 - unsigned 8 byte integer
+*/
+
+#if !defined _MSC_VER && !defined __BORLANDC__
+#  if defined __cplusplus && __cplusplus >= 201103L
+#    include <cstdint>
+     typedef std::uint32_t uint;
+#  else
+#    include <stdint.h>
+     typedef uint32_t uint;
+#  endif
+#else
+   typedef unsigned uint;
+#endif
+
+typedef signed char schar;
+
+#ifndef __IPL_H__
+   typedef unsigned char uchar;
+   typedef unsigned short ushort;
+#endif
+
+#if defined _MSC_VER || defined __BORLANDC__
+   typedef __int64 int64;
+   typedef unsigned __int64 uint64;
+#  define CV_BIG_INT(n)   n##I64
+#  define CV_BIG_UINT(n)  n##UI64
+#else
+   typedef int64_t int64;
+   typedef uint64_t uint64;
+#  define CV_BIG_INT(n)   n##LL
+#  define CV_BIG_UINT(n)  n##ULL
+#endif
+
+/* fundamental constants */
+#define CV_PI   3.1415926535897932384626433832795
+#define CV_2PI 6.283185307179586476925286766559
+#define CV_LOG2 0.69314718055994530941723212145818
+
+typedef union Cv32suf
+{
+    int i;
+    unsigned u;
+    float f;
+}
+Cv32suf;
+
+typedef union Cv64suf
+{
+    int64 i;
+    uint64 u;
+    double f;
+}
+Cv64suf;
+
+
+/****************************************************************************************\
+*                                      fast math                                         *
+\****************************************************************************************/
+
+#if defined __BORLANDC__
+#  include <fastmath.h>
+#elif defined __cplusplus
+#  include <cmath>
+#else
+#  include <math.h>
+#endif
+
+#ifdef HAVE_TEGRA_OPTIMIZATION
+#  include "tegra_round.hpp"
+#endif
+
+//! @addtogroup core_utils
+//! @{
+
+#if CV_VFP
+    // 1. general scheme
+    #define ARM_ROUND(_value, _asm_string) \
+        int res; \
+        float temp; \
+        asm(_asm_string : [res] "=r" (res), [temp] "=w" (temp) : [value] "w" (_value)); \
+        return res
+    // 2. version for double
+    #ifdef __clang__
+        #define ARM_ROUND_DBL(value) ARM_ROUND(value, "vcvtr.s32.f64 %[temp], %[value] \n vmov %[res], %[temp]")
+    #else
+        #define ARM_ROUND_DBL(value) ARM_ROUND(value, "vcvtr.s32.f64 %[temp], %P[value] \n vmov %[res], %[temp]")
+    #endif
+    // 3. version for float
+    #define ARM_ROUND_FLT(value) ARM_ROUND(value, "vcvtr.s32.f32 %[temp], %[value]\n vmov %[res], %[temp]")
+#endif // CV_VFP
+
+/** @brief Rounds floating-point number to the nearest integer
+
+ @param value floating-point number. If the value is outside of INT_MIN ... INT_MAX range, the
+ result is not defined.
+ */
+CV_INLINE int
+cvRound( double value )
+{
+#if ((defined _MSC_VER && defined _M_X64) || (defined __GNUC__ && defined __x86_64__ \
+    && defined __SSE2__ && !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128d t = _mm_set_sd( value );
+    return _mm_cvtsd_si32(t);
+#elif defined _MSC_VER && defined _M_IX86
+    int t;
+    __asm
+    {
+        fld value;
+        fistp t;
+    }
+    return t;
+#elif ((defined _MSC_VER && defined _M_ARM) || defined CV_ICC || \
+        defined __GNUC__) && defined HAVE_TEGRA_OPTIMIZATION
+    TEGRA_ROUND_DBL(value);
+#elif defined CV_ICC || defined __GNUC__
+# if CV_VFP
+    ARM_ROUND_DBL(value);
+# else
+    return (int)lrint(value);
+# endif
+#else
+    /* it's ok if round does not comply with IEEE754 standard;
+       the tests should allow +/-1 difference when the tested functions use round */
+    return (int)(value + (value >= 0 ? 0.5 : -0.5));
+#endif
+}
+
+
+/** @brief Rounds floating-point number to the nearest integer not larger than the original.
+
+ The function computes an integer i such that:
+ \f[i \le \texttt{value} < i+1\f]
+ @param value floating-point number. If the value is outside of INT_MIN ... INT_MAX range, the
+ result is not defined.
+ */
+CV_INLINE int cvFloor( double value )
+{
+#if (defined _MSC_VER && defined _M_X64 || (defined __GNUC__ && defined __SSE2__ && !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128d t = _mm_set_sd( value );
+    int i = _mm_cvtsd_si32(t);
+    return i - _mm_movemask_pd(_mm_cmplt_sd(t, _mm_cvtsi32_sd(t,i)));
+#elif defined __GNUC__
+    int i = (int)value;
+    return i - (i > value);
+#else
+    int i = cvRound(value);
+    float diff = (float)(value - i);
+    return i - (diff < 0);
+#endif
+}
+
+/** @brief Rounds floating-point number to the nearest integer not larger than the original.
+
+ The function computes an integer i such that:
+ \f[i \le \texttt{value} < i+1\f]
+ @param value floating-point number. If the value is outside of INT_MIN ... INT_MAX range, the
+ result is not defined.
+ */
+CV_INLINE int cvCeil( double value )
+{
+#if (defined _MSC_VER && defined _M_X64 || (defined __GNUC__ && defined __SSE2__&& !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128d t = _mm_set_sd( value );
+    int i = _mm_cvtsd_si32(t);
+    return i + _mm_movemask_pd(_mm_cmplt_sd(_mm_cvtsi32_sd(t,i), t));
+#elif defined __GNUC__
+    int i = (int)value;
+    return i + (i < value);
+#else
+    int i = cvRound(value);
+    float diff = (float)(i - value);
+    return i + (diff < 0);
+#endif
+}
+
+/** @brief Determines if the argument is Not A Number.
+
+ @param value The input floating-point value
+
+ The function returns 1 if the argument is Not A Number (as defined by IEEE754 standard), 0
+ otherwise. */
+CV_INLINE int cvIsNaN( double value )
+{
+    Cv64suf ieee754;
+    ieee754.f = value;
+    return ((unsigned)(ieee754.u >> 32) & 0x7fffffff) +
+           ((unsigned)ieee754.u != 0) > 0x7ff00000;
+}
+
+/** @brief Determines if the argument is Infinity.
+
+ @param value The input floating-point value
+
+ The function returns 1 if the argument is a plus or minus infinity (as defined by IEEE754 standard)
+ and 0 otherwise. */
+CV_INLINE int cvIsInf( double value )
+{
+    Cv64suf ieee754;
+    ieee754.f = value;
+    return ((unsigned)(ieee754.u >> 32) & 0x7fffffff) == 0x7ff00000 &&
+            (unsigned)ieee754.u == 0;
+}
+
+#ifdef __cplusplus
+
+/** @overload */
+CV_INLINE int cvRound(float value)
+{
+#if ((defined _MSC_VER && defined _M_X64) || (defined __GNUC__ && defined __x86_64__ && \
+      defined __SSE2__ && !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128 t = _mm_set_ss( value );
+    return _mm_cvtss_si32(t);
+#elif defined _MSC_VER && defined _M_IX86
+    int t;
+    __asm
+    {
+        fld value;
+        fistp t;
+    }
+    return t;
+#elif ((defined _MSC_VER && defined _M_ARM) || defined CV_ICC || \
+        defined __GNUC__) && defined HAVE_TEGRA_OPTIMIZATION
+    TEGRA_ROUND_FLT(value);
+#elif defined CV_ICC || defined __GNUC__
+# if CV_VFP
+    ARM_ROUND_FLT(value);
+# else
+    return (int)lrintf(value);
+# endif
+#else
+    /* it's ok if round does not comply with IEEE754 standard;
+     the tests should allow +/-1 difference when the tested functions use round */
+    return (int)(value + (value >= 0 ? 0.5f : -0.5f));
+#endif
+}
+
+/** @overload */
+CV_INLINE int cvRound( int value )
+{
+    return value;
+}
+
+/** @overload */
+CV_INLINE int cvFloor( float value )
+{
+#if (defined _MSC_VER && defined _M_X64 || (defined __GNUC__ && defined __SSE2__ && !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128 t = _mm_set_ss( value );
+    int i = _mm_cvtss_si32(t);
+    return i - _mm_movemask_ps(_mm_cmplt_ss(t, _mm_cvtsi32_ss(t,i)));
+#elif defined __GNUC__
+    int i = (int)value;
+    return i - (i > value);
+#else
+    int i = cvRound(value);
+    float diff = (float)(value - i);
+    return i - (diff < 0);
+#endif
+}
+
+/** @overload */
+CV_INLINE int cvFloor( int value )
+{
+    return value;
+}
+
+/** @overload */
+CV_INLINE int cvCeil( float value )
+{
+#if (defined _MSC_VER && defined _M_X64 || (defined __GNUC__ && defined __SSE2__&& !defined __APPLE__)) && !defined(__CUDACC__)
+    __m128 t = _mm_set_ss( value );
+    int i = _mm_cvtss_si32(t);
+    return i + _mm_movemask_ps(_mm_cmplt_ss(_mm_cvtsi32_ss(t,i), t));
+#elif defined __GNUC__
+    int i = (int)value;
+    return i + (i < value);
+#else
+    int i = cvRound(value);
+    float diff = (float)(i - value);
+    return i + (diff < 0);
+#endif
+}
+
+/** @overload */
+CV_INLINE int cvCeil( int value )
+{
+    return value;
+}
+
+/** @overload */
+CV_INLINE int cvIsNaN( float value )
+{
+    Cv32suf ieee754;
+    ieee754.f = value;
+    return (ieee754.u & 0x7fffffff) > 0x7f800000;
+}
+
+/** @overload */
+CV_INLINE int cvIsInf( float value )
+{
+    Cv32suf ieee754;
+    ieee754.f = value;
+    return (ieee754.u & 0x7fffffff) == 0x7f800000;
+}
+
+#include <algorithm>
+
+namespace cv
+{
+
+/////////////// saturate_cast (used in image & signal processing) ///////////////////
+
+/**
+ Template function for accurate conversion from one primitive type to another.
+
+ The functions saturate_cast resemble the standard C++ cast operations, such as static_cast\<T\>()
+ and others. They perform an efficient and accurate conversion from one primitive type to another
+ (see the introduction chapter). saturate in the name means that when the input value v is out of the
+ range of the target type, the result is not formed just by taking low bits of the input, but instead
+ the value is clipped. For example:
+ @code
+ uchar a = saturate_cast<uchar>(-100); // a = 0 (UCHAR_MIN)
+ short b = saturate_cast<short>(33333.33333); // b = 32767 (SHRT_MAX)
+ @endcode
+ Such clipping is done when the target type is unsigned char , signed char , unsigned short or
+ signed short . For 32-bit integers, no clipping is done.
+
+ When the parameter is a floating-point value and the target type is an integer (8-, 16- or 32-bit),
+ the floating-point value is first rounded to the nearest integer and then clipped if needed (when
+ the target type is 8- or 16-bit).
+
+ This operation is used in the simplest or most complex image processing functions in OpenCV.
+
+ @param v Function parameter.
+ @sa add, subtract, multiply, divide, Mat::convertTo
+ */
+template<typename _Tp> static inline _Tp saturate_cast(uchar v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(schar v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(ushort v)   { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(short v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(unsigned v) { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(int v)      { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(float v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(double v)   { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(int64 v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(uint64 v)   { return _Tp(v); }
+
+//! @cond IGNORED
+
+template<> inline uchar saturate_cast<uchar>(schar v)        { return (uchar)std::max((int)v, 0); }
+template<> inline uchar saturate_cast<uchar>(ushort v)       { return (uchar)std::min((unsigned)v, (unsigned)UCHAR_MAX); }
+template<> inline uchar saturate_cast<uchar>(int v)          { return (uchar)((unsigned)v <= UCHAR_MAX ? v : v > 0 ? UCHAR_MAX : 0); }
+template<> inline uchar saturate_cast<uchar>(short v)        { return saturate_cast<uchar>((int)v); }
+template<> inline uchar saturate_cast<uchar>(unsigned v)     { return (uchar)std::min(v, (unsigned)UCHAR_MAX); }
+template<> inline uchar saturate_cast<uchar>(float v)        { int iv = cvRound(v); return saturate_cast<uchar>(iv); }
+template<> inline uchar saturate_cast<uchar>(double v)       { int iv = cvRound(v); return saturate_cast<uchar>(iv); }
+template<> inline uchar saturate_cast<uchar>(int64 v)        { return (uchar)((uint64)v <= (uint64)UCHAR_MAX ? v : v > 0 ? UCHAR_MAX : 0); }
+template<> inline uchar saturate_cast<uchar>(uint64 v)       { return (uchar)std::min(v, (uint64)UCHAR_MAX); }
+
+template<> inline schar saturate_cast<schar>(uchar v)        { return (schar)std::min((int)v, SCHAR_MAX); }
+template<> inline schar saturate_cast<schar>(ushort v)       { return (schar)std::min((unsigned)v, (unsigned)SCHAR_MAX); }
+template<> inline schar saturate_cast<schar>(int v)          { return (schar)((unsigned)(v-SCHAR_MIN) <= (unsigned)UCHAR_MAX ? v : v > 0 ? SCHAR_MAX : SCHAR_MIN); }
+template<> inline schar saturate_cast<schar>(short v)        { return saturate_cast<schar>((int)v); }
+template<> inline schar saturate_cast<schar>(unsigned v)     { return (schar)std::min(v, (unsigned)SCHAR_MAX); }
+template<> inline schar saturate_cast<schar>(float v)        { int iv = cvRound(v); return saturate_cast<schar>(iv); }
+template<> inline schar saturate_cast<schar>(double v)       { int iv = cvRound(v); return saturate_cast<schar>(iv); }
+template<> inline schar saturate_cast<schar>(int64 v)        { return (schar)((uint64)((int64)v-SCHAR_MIN) <= (uint64)UCHAR_MAX ? v : v > 0 ? SCHAR_MAX : SCHAR_MIN); }
+template<> inline schar saturate_cast<schar>(uint64 v)       { return (schar)std::min(v, (uint64)SCHAR_MAX); }
+
+template<> inline ushort saturate_cast<ushort>(schar v)      { return (ushort)std::max((int)v, 0); }
+template<> inline ushort saturate_cast<ushort>(short v)      { return (ushort)std::max((int)v, 0); }
+template<> inline ushort saturate_cast<ushort>(int v)        { return (ushort)((unsigned)v <= (unsigned)USHRT_MAX ? v : v > 0 ? USHRT_MAX : 0); }
+template<> inline ushort saturate_cast<ushort>(unsigned v)   { return (ushort)std::min(v, (unsigned)USHRT_MAX); }
+template<> inline ushort saturate_cast<ushort>(float v)      { int iv = cvRound(v); return saturate_cast<ushort>(iv); }
+template<> inline ushort saturate_cast<ushort>(double v)     { int iv = cvRound(v); return saturate_cast<ushort>(iv); }
+template<> inline ushort saturate_cast<ushort>(int64 v)      { return (ushort)((uint64)v <= (uint64)USHRT_MAX ? v : v > 0 ? USHRT_MAX : 0); }
+template<> inline ushort saturate_cast<ushort>(uint64 v)     { return (ushort)std::min(v, (uint64)USHRT_MAX); }
+
+template<> inline short saturate_cast<short>(ushort v)       { return (short)std::min((int)v, SHRT_MAX); }
+template<> inline short saturate_cast<short>(int v)          { return (short)((unsigned)(v - SHRT_MIN) <= (unsigned)USHRT_MAX ? v : v > 0 ? SHRT_MAX : SHRT_MIN); }
+template<> inline short saturate_cast<short>(unsigned v)     { return (short)std::min(v, (unsigned)SHRT_MAX); }
+template<> inline short saturate_cast<short>(float v)        { int iv = cvRound(v); return saturate_cast<short>(iv); }
+template<> inline short saturate_cast<short>(double v)       { int iv = cvRound(v); return saturate_cast<short>(iv); }
+template<> inline short saturate_cast<short>(int64 v)        { return (short)((uint64)((int64)v - SHRT_MIN) <= (uint64)USHRT_MAX ? v : v > 0 ? SHRT_MAX : SHRT_MIN); }
+template<> inline short saturate_cast<short>(uint64 v)       { return (short)std::min(v, (uint64)SHRT_MAX); }
+
+template<> inline int saturate_cast<int>(float v)            { return cvRound(v); }
+template<> inline int saturate_cast<int>(double v)           { return cvRound(v); }
+
+// we intentionally do not clip negative numbers, to make -1 become 0xffffffff etc.
+template<> inline unsigned saturate_cast<unsigned>(float v)  { return cvRound(v); }
+template<> inline unsigned saturate_cast<unsigned>(double v) { return cvRound(v); }
+
+//! @endcond
+
+}
+
+#endif // __cplusplus
+
+//! @} core_utils
+
+#endif //__OPENCV_HAL_H__
diff --git a/3rdparty/include/opencv2/hal/intrin.hpp b/3rdparty/include/opencv2/hal/intrin.hpp
new file mode 100644
index 0000000..767c578
--- /dev/null
+++ b/3rdparty/include/opencv2/hal/intrin.hpp
@@ -0,0 +1,292 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_HAL_INTRIN_HPP__
+#define __OPENCV_HAL_INTRIN_HPP__
+
+#include <cmath>
+#include <float.h>
+#include <stdlib.h>
+
+#define OPENCV_HAL_ADD(a, b) ((a) + (b))
+#define OPENCV_HAL_AND(a, b) ((a) & (b))
+#define OPENCV_HAL_NOP(a) (a)
+#define OPENCV_HAL_1ST(a, b) (a)
+
+// unlike HAL API, which is in cv::hal,
+// we put intrinsics into cv namespace to make its
+// access from within opencv code more accessible
+namespace cv {
+
+template<typename _Tp> struct V_TypeTraits
+{
+    typedef _Tp int_type;
+    typedef _Tp uint_type;
+    typedef _Tp abs_type;
+    typedef _Tp sum_type;
+
+    enum { delta = 0, shift = 0 };
+
+    static int_type reinterpret_int(_Tp x) { return x; }
+    static uint_type reinterpet_uint(_Tp x) { return x; }
+    static _Tp reinterpret_from_int(int_type x) { return (_Tp)x; }
+};
+
+template<> struct V_TypeTraits<uchar>
+{
+    typedef uchar value_type;
+    typedef schar int_type;
+    typedef uchar uint_type;
+    typedef uchar abs_type;
+    typedef int sum_type;
+
+    typedef ushort w_type;
+
+    enum { delta = 128, shift = 8 };
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<schar>
+{
+    typedef schar value_type;
+    typedef schar int_type;
+    typedef uchar uint_type;
+    typedef uchar abs_type;
+    typedef int sum_type;
+
+    typedef short w_type;
+
+    enum { delta = 128, shift = 8 };
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<ushort>
+{
+    typedef ushort value_type;
+    typedef short int_type;
+    typedef ushort uint_type;
+    typedef ushort abs_type;
+    typedef int sum_type;
+
+    typedef unsigned w_type;
+    typedef uchar nu_type;
+
+    enum { delta = 32768, shift = 16 };
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<short>
+{
+    typedef short value_type;
+    typedef short int_type;
+    typedef ushort uint_type;
+    typedef ushort abs_type;
+    typedef int sum_type;
+
+    typedef int w_type;
+    typedef uchar nu_type;
+    typedef schar n_type;
+
+    enum { delta = 128, shift = 8 };
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<unsigned>
+{
+    typedef unsigned value_type;
+    typedef int int_type;
+    typedef unsigned uint_type;
+    typedef unsigned abs_type;
+    typedef unsigned sum_type;
+
+    typedef uint64 w_type;
+    typedef ushort nu_type;
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<int>
+{
+    typedef int value_type;
+    typedef int int_type;
+    typedef unsigned uint_type;
+    typedef unsigned abs_type;
+    typedef int sum_type;
+
+    typedef int64 w_type;
+    typedef short n_type;
+    typedef ushort nu_type;
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<uint64>
+{
+    typedef uint64 value_type;
+    typedef int64 int_type;
+    typedef uint64 uint_type;
+    typedef uint64 abs_type;
+    typedef uint64 sum_type;
+
+    typedef unsigned nu_type;
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+template<> struct V_TypeTraits<int64>
+{
+    typedef int64 value_type;
+    typedef int64 int_type;
+    typedef uint64 uint_type;
+    typedef uint64 abs_type;
+    typedef int64 sum_type;
+
+    typedef int nu_type;
+
+    static int_type reinterpret_int(value_type x) { return (int_type)x; }
+    static uint_type reinterpret_uint(value_type x) { return (uint_type)x; }
+    static value_type reinterpret_from_int(int_type x) { return (value_type)x; }
+};
+
+
+template<> struct V_TypeTraits<float>
+{
+    typedef float value_type;
+    typedef int int_type;
+    typedef unsigned uint_type;
+    typedef float abs_type;
+    typedef float sum_type;
+
+    typedef double w_type;
+
+    static int_type reinterpret_int(value_type x)
+    {
+        Cv32suf u;
+        u.f = x;
+        return u.i;
+    }
+    static uint_type reinterpet_uint(value_type x)
+    {
+        Cv32suf u;
+        u.f = x;
+        return u.u;
+    }
+    static value_type reinterpret_from_int(int_type x)
+    {
+        Cv32suf u;
+        u.i = x;
+        return u.f;
+    }
+};
+
+template<> struct V_TypeTraits<double>
+{
+    typedef double value_type;
+    typedef int64 int_type;
+    typedef uint64 uint_type;
+    typedef double abs_type;
+    typedef double sum_type;
+    static int_type reinterpret_int(value_type x)
+    {
+        Cv64suf u;
+        u.f = x;
+        return u.i;
+    }
+    static uint_type reinterpet_uint(value_type x)
+    {
+        Cv64suf u;
+        u.f = x;
+        return u.u;
+    }
+    static value_type reinterpret_from_int(int_type x)
+    {
+        Cv64suf u;
+        u.i = x;
+        return u.f;
+    }
+};
+
+}
+
+#if CV_SSE2
+
+#include "opencv2/hal/intrin_sse.hpp"
+
+#elif CV_NEON
+
+#include "opencv2/hal/intrin_neon.hpp"
+
+#else
+
+#include "opencv2/hal/intrin_cpp.hpp"
+
+#endif
+
+#ifndef CV_SIMD128
+#define CV_SIMD128 0
+#endif
+
+#ifndef CV_SIMD128_64F
+#define CV_SIMD128_64F 0
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/hal/intrin_cpp.hpp b/3rdparty/include/opencv2/hal/intrin_cpp.hpp
new file mode 100644
index 0000000..e0140a8
--- /dev/null
+++ b/3rdparty/include/opencv2/hal/intrin_cpp.hpp
@@ -0,0 +1,811 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_HAL_INTRIN_CPP_HPP__
+#define __OPENCV_HAL_INTRIN_CPP_HPP__
+
+namespace cv
+{
+
+template<typename _Tp, int n> struct v_reg
+{
+    typedef _Tp lane_type;
+    typedef v_reg<typename V_TypeTraits<_Tp>::int_type, n> int_vec;
+    typedef v_reg<typename V_TypeTraits<_Tp>::abs_type, n> abs_vec;
+    enum { nlanes = n };
+
+    explicit v_reg(const _Tp* ptr) { for( int i = 0; i < n; i++ ) s[i] = ptr[i]; }
+    v_reg(_Tp s0, _Tp s1) { s[0] = s0; s[1] = s1; }
+    v_reg(_Tp s0, _Tp s1, _Tp s2, _Tp s3) { s[0] = s0; s[1] = s1; s[2] = s2; s[3] = s3; }
+    v_reg(_Tp s0, _Tp s1, _Tp s2, _Tp s3,
+           _Tp s4, _Tp s5, _Tp s6, _Tp s7)
+    {
+        s[0] = s0; s[1] = s1; s[2] = s2; s[3] = s3;
+        s[4] = s4; s[5] = s5; s[6] = s6; s[7] = s7;
+    }
+    v_reg(_Tp s0, _Tp s1, _Tp s2, _Tp s3,
+           _Tp s4, _Tp s5, _Tp s6, _Tp s7,
+           _Tp s8, _Tp s9, _Tp s10, _Tp s11,
+           _Tp s12, _Tp s13, _Tp s14, _Tp s15)
+    {
+        s[0] = s0; s[1] = s1; s[2] = s2; s[3] = s3;
+        s[4] = s4; s[5] = s5; s[6] = s6; s[7] = s7;
+        s[8] = s8; s[9] = s9; s[10] = s10; s[11] = s11;
+        s[12] = s12; s[13] = s13; s[14] = s14; s[15] = s15;
+    }
+
+    v_reg() {}
+    v_reg(const v_reg<_Tp, n> & r)
+    {
+        for( int i = 0; i < n; i++ )
+            s[i] = r.s[i];
+    }
+
+    _Tp get(const int i) const { return s[i]; }
+    _Tp get0() const { return s[0]; }
+    v_reg<_Tp, n> high() const
+    {
+        v_reg<_Tp, n> c;
+        int i;
+        for( i = 0; i < n/2; i++ )
+        {
+            c.s[i] = s[i+(n/2)];
+            c.s[i+(n/2)] = 0;
+        }
+        return c;
+    }
+
+    static v_reg<_Tp, n> zero()
+    {
+        v_reg<_Tp, n> c;
+        for( int i = 0; i < n; i++ )
+            c.s[i] = (_Tp)0;
+        return c;
+    }
+
+    static v_reg<_Tp, n> all(_Tp s)
+    {
+        v_reg<_Tp, n> c;
+        for( int i = 0; i < n; i++ )
+            c.s[i] = s;
+        return c;
+    }
+
+    template<typename _Tp2, int n2> v_reg<_Tp2, n2> reinterpret_as() const
+    {
+        size_t bytes = std::min(sizeof(_Tp2)*n2, sizeof(_Tp)*n);
+        v_reg<_Tp2, n2> c;
+        memcpy(&c.s[0], &s[0], bytes);
+        return c;
+    }
+
+    _Tp s[n];
+};
+
+#define OPENCV_HAL_IMPL_BIN_OP(bin_op) \
+template<typename _Tp, int n> inline v_reg<_Tp, n> \
+    operator bin_op (const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    v_reg<_Tp, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = saturate_cast<_Tp>(a.s[i] bin_op b.s[i]); \
+    return c; \
+} \
+template<typename _Tp, int n> inline v_reg<_Tp, n>& \
+    operator bin_op##= (v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    for( int i = 0; i < n; i++ ) \
+        a.s[i] = saturate_cast<_Tp>(a.s[i] bin_op b.s[i]); \
+    return a; \
+}
+
+OPENCV_HAL_IMPL_BIN_OP(+)
+OPENCV_HAL_IMPL_BIN_OP(-)
+OPENCV_HAL_IMPL_BIN_OP(*)
+OPENCV_HAL_IMPL_BIN_OP(/)
+
+#define OPENCV_HAL_IMPL_BIT_OP(bit_op) \
+template<typename _Tp, int n> inline v_reg<_Tp, n> operator bit_op \
+    (const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    v_reg<_Tp, n> c; \
+    typedef typename V_TypeTraits<_Tp>::int_type itype; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_from_int((itype)(V_TypeTraits<_Tp>::reinterpret_int(a.s[i]) bit_op \
+                                                        V_TypeTraits<_Tp>::reinterpret_int(b.s[i]))); \
+    return c; \
+} \
+template<typename _Tp, int n> inline v_reg<_Tp, n>& operator \
+    bit_op##= (v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    typedef typename V_TypeTraits<_Tp>::int_type itype; \
+    for( int i = 0; i < n; i++ ) \
+        a.s[i] = V_TypeTraits<_Tp>::reinterpret_from_int((itype)(V_TypeTraits<_Tp>::reinterpret_int(a.s[i]) bit_op \
+                                                        V_TypeTraits<_Tp>::reinterpret_int(b.s[i]))); \
+    return a; \
+}
+
+OPENCV_HAL_IMPL_BIT_OP(&)
+OPENCV_HAL_IMPL_BIT_OP(|)
+OPENCV_HAL_IMPL_BIT_OP(^)
+
+template<typename _Tp, int n> inline v_reg<_Tp, n> operator ~ (const v_reg<_Tp, n>& a)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_from_int(~V_TypeTraits<_Tp>::reinterpret_int(a.s[i]));
+        return c;
+}
+
+#define OPENCV_HAL_IMPL_MATH_FUNC(func, cfunc, _Tp2) \
+template<typename _Tp, int n> inline v_reg<_Tp2, n> func(const v_reg<_Tp, n>& a) \
+{ \
+    v_reg<_Tp2, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = cfunc(a.s[i]); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_MATH_FUNC(v_sqrt, std::sqrt, _Tp)
+OPENCV_HAL_IMPL_MATH_FUNC(v_sin, std::sin, _Tp)
+OPENCV_HAL_IMPL_MATH_FUNC(v_cos, std::cos, _Tp)
+OPENCV_HAL_IMPL_MATH_FUNC(v_exp, std::exp, _Tp)
+OPENCV_HAL_IMPL_MATH_FUNC(v_log, std::log, _Tp)
+OPENCV_HAL_IMPL_MATH_FUNC(v_abs, (typename V_TypeTraits<_Tp>::abs_type)std::abs,
+                          typename V_TypeTraits<_Tp>::abs_type)
+OPENCV_HAL_IMPL_MATH_FUNC(v_round, cvRound, int)
+OPENCV_HAL_IMPL_MATH_FUNC(v_floor, cvFloor, int)
+OPENCV_HAL_IMPL_MATH_FUNC(v_ceil, cvCeil, int)
+OPENCV_HAL_IMPL_MATH_FUNC(v_trunc, int, int)
+
+#define OPENCV_HAL_IMPL_MINMAX_FUNC(func, hfunc, cfunc) \
+template<typename _Tp, int n> inline v_reg<_Tp, n> func(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    v_reg<_Tp, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = cfunc(a.s[i], b.s[i]); \
+    return c; \
+} \
+template<typename _Tp, int n> inline _Tp hfunc(const v_reg<_Tp, n>& a) \
+{ \
+    _Tp c = a.s[0]; \
+    for( int i = 1; i < n; i++ ) \
+        c = cfunc(c, a.s[i]); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_MINMAX_FUNC(v_min, v_reduce_min, std::min)
+OPENCV_HAL_IMPL_MINMAX_FUNC(v_max, v_reduce_max, std::max)
+
+template<typename _Tp, int n>
+inline void v_minmax( const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b,
+                      v_reg<_Tp, n>& minval, v_reg<_Tp, n>& maxval )
+{
+    for( int i = 0; i < n; i++ )
+    {
+        minval.s[i] = std::min(a.s[i], b.s[i]);
+        maxval.s[i] = std::max(a.s[i], b.s[i]);
+    }
+}
+
+
+#define OPENCV_HAL_IMPL_CMP_OP(cmp_op) \
+template<typename _Tp, int n> \
+inline v_reg<_Tp, n> operator cmp_op(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    typedef typename V_TypeTraits<_Tp>::int_type itype; \
+    v_reg<_Tp, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_from_int((itype)-(int)(a.s[i] cmp_op b.s[i])); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_CMP_OP(<)
+OPENCV_HAL_IMPL_CMP_OP(>)
+OPENCV_HAL_IMPL_CMP_OP(<=)
+OPENCV_HAL_IMPL_CMP_OP(>=)
+OPENCV_HAL_IMPL_CMP_OP(==)
+OPENCV_HAL_IMPL_CMP_OP(!=)
+
+#define OPENCV_HAL_IMPL_ADD_SUB_OP(func, bin_op, cast_op, _Tp2) \
+template<typename _Tp, int n> \
+inline v_reg<_Tp2, n> func(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b) \
+{ \
+    typedef _Tp2 rtype; \
+    v_reg<rtype, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = cast_op(a.s[i] bin_op b.s[i]); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_ADD_SUB_OP(v_add_wrap, +, (_Tp), _Tp)
+OPENCV_HAL_IMPL_ADD_SUB_OP(v_sub_wrap, -, (_Tp), _Tp)
+OPENCV_HAL_IMPL_ADD_SUB_OP(v_absdiff, -, (rtype)std::abs, typename V_TypeTraits<_Tp>::abs_type)
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_invsqrt(const v_reg<_Tp, n>& a)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = 1.f/std::sqrt(a.s[i]);
+    return c;
+}
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_magnitude(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = std::sqrt(a.s[i]*a.s[i] + b.s[i]*b.s[i]);
+    return c;
+}
+
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_sqr_magnitude(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = a.s[i]*a.s[i] + b.s[i]*b.s[i];
+    return c;
+}
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_muladd(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b,
+                              const v_reg<_Tp, n>& c)
+{
+    v_reg<_Tp, n> d;
+    for( int i = 0; i < n; i++ )
+        d.s[i] = a.s[i]*b.s[i] + c.s[i];
+    return d;
+}
+
+template<typename _Tp, int n> inline v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>
+    v_dotprod(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    typedef typename V_TypeTraits<_Tp>::w_type w_type;
+    v_reg<w_type, n/2> c;
+    for( int i = 0; i < (n/2); i++ )
+        c.s[i] = (w_type)a.s[i*2]*b.s[i*2] + (w_type)a.s[i*2+1]*b.s[i*2+1];
+    return c;
+}
+
+template<typename _Tp, int n> inline void v_mul_expand(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b,
+                                                       v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>& c,
+                                                       v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>& d)
+{
+    typedef typename V_TypeTraits<_Tp>::w_type w_type;
+    for( int i = 0; i < (n/2); i++ )
+    {
+        c.s[i] = (w_type)a.s[i]*b.s[i]*2;
+        d.s[i] = (w_type)a.s[i+(n/2)]*b.s[i+(n/2)];
+    }
+}
+
+template<typename _Tp, int n> inline void v_hsum(const v_reg<_Tp, n>& a,
+                                                 v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>& c)
+{
+    typedef typename V_TypeTraits<_Tp>::w_type w_type;
+    for( int i = 0; i < (n/2); i++ )
+    {
+        c.s[i] = (w_type)a.s[i*2] + a.s[i*2+1];
+    }
+}
+
+#define OPENCV_HAL_IMPL_SHIFT_OP(shift_op) \
+template<typename _Tp, int n> inline v_reg<_Tp, n> operator shift_op(const v_reg<_Tp, n>& a, int imm) \
+{ \
+    v_reg<_Tp, n> c; \
+    for( int i = 0; i < n; i++ ) \
+        c.s[i] = (_Tp)(a.s[i] shift_op imm); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_SHIFT_OP(<<)
+OPENCV_HAL_IMPL_SHIFT_OP(>>)
+
+template<typename _Tp, int n> inline typename V_TypeTraits<_Tp>::sum_type v_reduce_sum(const v_reg<_Tp, n>& a)
+{
+    typename V_TypeTraits<_Tp>::sum_type c = a.s[0];
+    for( int i = 1; i < n; i++ )
+        c += a.s[i];
+    return c;
+}
+
+template<typename _Tp, int n> inline int v_signmask(const v_reg<_Tp, n>& a)
+{
+    int mask = 0;
+    for( int i = 0; i < n; i++ )
+        mask |= (V_TypeTraits<_Tp>::reinterpret_int(a.s[i]) < 0) << i;
+    return mask;
+}
+
+template<typename _Tp, int n> inline bool v_check_all(const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < n; i++ )
+        if( V_TypeTraits<_Tp>::reinterpret_int(a.s[i]) >= 0 )
+            return false;
+    return true;
+}
+
+template<typename _Tp, int n> inline bool v_check_any(const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < n; i++ )
+        if( V_TypeTraits<_Tp>::reinterpret_int(a.s[i]) < 0 )
+            return true;
+    return false;
+}
+
+template<typename _Tp, int n> inline v_reg<_Tp, n> v_select(const v_reg<_Tp, n>& mask,
+                                                           const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_int(mask.s[i]) < 0 ? b.s[i] : a.s[i];
+    return c;
+}
+
+template<typename _Tp, int n> inline void v_expand(const v_reg<_Tp, n>& a,
+                            v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>& b0,
+                            v_reg<typename V_TypeTraits<_Tp>::w_type, n/2>& b1)
+{
+    for( int i = 0; i < (n/2); i++ )
+    {
+        b0.s[i] = a.s[i];
+        b1.s[i] = a.s[i+(n/2)];
+    }
+}
+
+template<typename _Tp, int n> inline v_reg<typename V_TypeTraits<_Tp>::int_type, n>
+    v_reinterpret_as_int(const v_reg<_Tp, n>& a)
+{
+    v_reg<typename V_TypeTraits<_Tp>::int_type, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_int(a.s[i]);
+    return c;
+}
+
+template<typename _Tp, int n> inline v_reg<typename V_TypeTraits<_Tp>::uint_type, n>
+    v_reinterpret_as_uint(const v_reg<_Tp, n>& a)
+{
+    v_reg<typename V_TypeTraits<_Tp>::uint_type, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = V_TypeTraits<_Tp>::reinterpret_uint(a.s[i]);
+    return c;
+}
+
+template<typename _Tp, int n> inline void v_zip( const v_reg<_Tp, n>& a0, const v_reg<_Tp, n>& a1,
+                                               v_reg<_Tp, n>& b0, v_reg<_Tp, n>& b1 )
+{
+    int i;
+    for( i = 0; i < n/2; i++ )
+    {
+        b0.s[i*2] = a0.s[i];
+        b0.s[i*2+1] = a1.s[i];
+    }
+    for( ; i < n; i++ )
+    {
+        b1.s[i*2-n] = a0.s[i];
+        b1.s[i*2-n+1] = a1.s[i];
+    }
+}
+
+template<typename _Tp, int n> inline v_reg<_Tp, n> v_load(const _Tp* ptr)
+{
+    return v_reg<_Tp, n>(ptr);
+}
+
+template<typename _Tp, int n> inline v_reg<_Tp, n> v_load_aligned(const _Tp* ptr)
+{
+    return v_reg<_Tp, n>(ptr);
+}
+
+template<typename _Tp, int n> inline void v_load_halves(const _Tp* loptr, const _Tp* hiptr)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < n/2; i++ )
+    {
+        c.s[i] = loptr[i];
+        c.s[i+n/2] = hiptr[i];
+    }
+    return c;
+}
+
+template<typename _Tp, int n> inline v_reg<typename V_TypeTraits<_Tp>::w_type, n> v_load_expand(const _Tp* ptr)
+{
+    typedef typename V_TypeTraits<_Tp>::w_type w_type;
+    v_reg<w_type, n> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = ptr[i];
+    }
+    return c;
+}
+
+template<typename _Tp, int n> inline v_reg<typename
+    V_TypeTraits<typename V_TypeTraits<_Tp>::w_type>::w_type, n> v_load_expand_q(const _Tp* ptr)
+{
+    typedef typename V_TypeTraits<typename V_TypeTraits<_Tp>::w_type>::w_type w_type;
+    v_reg<w_type, n> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = ptr[i];
+    }
+    return c;
+}
+
+template<typename _Tp, int n> inline void v_load_deinterleave(const _Tp* ptr, v_reg<_Tp, n>& a,
+                                                            v_reg<_Tp, n>& b, v_reg<_Tp, n>& c)
+{
+    int i, i3;
+    for( i = i3 = 0; i < n; i++, i3 += 3 )
+    {
+        a.s[i] = ptr[i3];
+        b.s[i] = ptr[i3+1];
+        c.s[i] = ptr[i3+2];
+    }
+}
+
+template<typename _Tp, int n>
+inline void v_load_deinterleave(const _Tp* ptr, v_reg<_Tp, n>& a,
+                                v_reg<_Tp, n>& b, v_reg<_Tp, n>& c,
+                                v_reg<_Tp, n>& d)
+{
+    int i, i4;
+    for( i = i4 = 0; i < n; i++, i4 += 4 )
+    {
+        a.s[i] = ptr[i4];
+        b.s[i] = ptr[i4+1];
+        c.s[i] = ptr[i4+2];
+        d.s[i] = ptr[i4+3];
+    }
+}
+
+template<typename _Tp, int n>
+inline void v_store_interleave( _Tp* ptr, const v_reg<_Tp, n>& a,
+                                const v_reg<_Tp, n>& b, const v_reg<_Tp, n>& c)
+{
+    int i, i3;
+    for( i = i3 = 0; i < n; i++, i3 += 3 )
+    {
+        ptr[i3] = a.s[i];
+        ptr[i3+1] = b.s[i];
+        ptr[i3+2] = c.s[i];
+    }
+}
+
+template<typename _Tp, int n> inline void v_store_interleave( _Tp* ptr, const v_reg<_Tp, n>& a,
+                                                            const v_reg<_Tp, n>& b, const v_reg<_Tp, n>& c,
+                                                            const v_reg<_Tp, n>& d)
+{
+    int i, i4;
+    for( i = i4 = 0; i < n; i++, i4 += 4 )
+    {
+        ptr[i4] = a.s[i];
+        ptr[i4+1] = b.s[i];
+        ptr[i4+2] = c.s[i];
+        ptr[i4+3] = d.s[i];
+    }
+}
+
+template<typename _Tp, int n>
+inline void v_store(_Tp* ptr, const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < n; i++ )
+        ptr[i] = a.s[i];
+}
+
+template<typename _Tp, int n>
+inline void v_store_low(_Tp* ptr, const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < (n/2); i++ )
+        ptr[i] = a.s[i];
+}
+
+template<typename _Tp, int n>
+inline void v_store_high(_Tp* ptr, const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < (n/2); i++ )
+        ptr[i] = a.s[i+(n/2)];
+}
+
+template<typename _Tp, int n>
+inline void v_store_aligned(_Tp* ptr, const v_reg<_Tp, n>& a)
+{
+    for( int i = 0; i < n; i++ )
+        ptr[i] = a.s[i];
+}
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_combine_low(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < (n/2); i++ )
+    {
+        c.s[i] = a.s[i];
+        c.s[i+(n/2)] = b.s[i];
+    }
+}
+
+template<typename _Tp, int n>
+inline v_reg<_Tp, n> v_combine_high(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b)
+{
+    v_reg<_Tp, n> c;
+    for( int i = 0; i < (n/2); i++ )
+    {
+        c.s[i] = a.s[i+(n/2)];
+        c.s[i+(n/2)] = b.s[i+(n/2)];
+    }
+}
+
+template<typename _Tp, int n>
+inline void v_recombine(const v_reg<_Tp, n>& a, const v_reg<_Tp, n>& b,
+                        v_reg<_Tp, n>& low, v_reg<_Tp, n>& high)
+{
+    for( int i = 0; i < (n/2); i++ )
+    {
+        low.s[i] = a.s[i];
+        low.s[i+(n/2)] = b.s[i];
+        high.s[i] = a.s[i+(n/2)];
+        high.s[i+(n/2)] = b.s[i+(n/2)];
+    }
+}
+
+template<int n> inline v_reg<int, n> v_round(const v_reg<float, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = cvRound(a.s[i]);
+    return c;
+}
+
+template<int n> inline v_reg<int, n> v_floor(const v_reg<float, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = cvFloor(a.s[i]);
+    return c;
+}
+
+template<int n> inline v_reg<int, n> v_ceil(const v_reg<float, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = cvCeil(a.s[i]);
+    return c;
+}
+
+template<int n> inline v_reg<int, n> v_trunc(const v_reg<float, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = (int)(a.s[i]);
+    return c;
+}
+
+template<int n> inline v_reg<int, n*2> v_round(const v_reg<double, n>& a)
+{
+    v_reg<int, n*2> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = cvRound(a.s[i]);
+        c.s[i+n] = 0;
+    }
+    return c;
+}
+
+template<int n> inline v_reg<int, n*2> v_floor(const v_reg<double, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = cvFloor(a.s[i]);
+        c.s[i+n] = 0;
+    }
+    return c;
+}
+
+template<int n> inline v_reg<int, n*2> v_ceil(const v_reg<double, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = cvCeil(a.s[i]);
+        c.s[i+n] = 0;
+    }
+    return c;
+}
+
+template<int n> inline v_reg<int, n*2> v_trunc(const v_reg<double, n>& a)
+{
+    v_reg<int, n> c;
+    for( int i = 0; i < n; i++ )
+    {
+        c.s[i] = cvCeil(a.s[i]);
+        c.s[i+n] = 0;
+    }
+    return c;
+}
+
+template<int n> inline v_reg<float, n> v_cvt_f32(const v_reg<int, n>& a)
+{
+    v_reg<float, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = (float)a.s[i];
+    return c;
+}
+
+template<int n> inline v_reg<double, n> v_cvt_f64(const v_reg<int, n*2>& a)
+{
+    v_reg<double, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = (double)a.s[i];
+    return c;
+}
+
+template<int n> inline v_reg<double, n> v_cvt_f64(const v_reg<float, n*2>& a)
+{
+    v_reg<double, n> c;
+    for( int i = 0; i < n; i++ )
+        c.s[i] = (double)a.s[i];
+    return c;
+}
+
+template<typename _Tp>
+inline void v_transpose4x4( v_reg<_Tp, 4>& a0, const v_reg<_Tp, 4>& a1,
+                            const v_reg<_Tp, 4>& a2, const v_reg<_Tp, 4>& a3,
+                            v_reg<_Tp, 4>& b0, v_reg<_Tp, 4>& b1,
+                            v_reg<_Tp, 4>& b2, v_reg<_Tp, 4>& b3 )
+{
+    b0 = v_reg<_Tp, 4>(a0.s[0], a1.s[0], a2.s[0], a3.s[0]);
+    b1 = v_reg<_Tp, 4>(a0.s[1], a1.s[1], a2.s[1], a3.s[1]);
+    b2 = v_reg<_Tp, 4>(a0.s[2], a1.s[2], a2.s[2], a3.s[2]);
+    b3 = v_reg<_Tp, 4>(a0.s[3], a1.s[3], a2.s[3], a3.s[3]);
+}
+
+typedef v_reg<uchar, 16> v_uint8x16;
+typedef v_reg<schar, 16> v_int8x16;
+typedef v_reg<ushort, 8> v_uint16x8;
+typedef v_reg<short, 8> v_int16x8;
+typedef v_reg<unsigned, 4> v_uint32x4;
+typedef v_reg<int, 4> v_int32x4;
+typedef v_reg<float, 4> v_float32x4;
+typedef v_reg<float, 8> v_float32x8;
+typedef v_reg<double, 2> v_float64x2;
+typedef v_reg<uint64, 2> v_uint64x2;
+typedef v_reg<int64, 2> v_int64x2;
+
+#define OPENCV_HAL_IMPL_C_INIT(_Tpvec, _Tp, suffix) \
+inline _Tpvec v_setzero_##suffix() { return _Tpvec::zero(); } \
+inline _Tpvec v_setall_##suffix(_Tp val) { return _Tpvec::all(val); } \
+template<typename _Tp0, int n0> inline _Tpvec \
+    v_reinterpret_as_##suffix(const v_reg<_Tp0, n0>& a) \
+{ return a.template reinterpret_as<_Tp, _Tpvec::nlanes>(a); }
+
+OPENCV_HAL_IMPL_C_INIT(v_uint8x16, uchar, u8)
+OPENCV_HAL_IMPL_C_INIT(v_int8x16, schar, s8)
+OPENCV_HAL_IMPL_C_INIT(v_uint16x8, ushort, u16)
+OPENCV_HAL_IMPL_C_INIT(v_int16x8, short, s16)
+OPENCV_HAL_IMPL_C_INIT(v_uint32x4, unsigned, u32)
+OPENCV_HAL_IMPL_C_INIT(v_int32x4, int, s32)
+OPENCV_HAL_IMPL_C_INIT(v_float32x4, float, f32)
+OPENCV_HAL_IMPL_C_INIT(v_float64x2, double, f64)
+OPENCV_HAL_IMPL_C_INIT(v_uint64x2, uint64, u64)
+OPENCV_HAL_IMPL_C_INIT(v_uint64x2, int64, s64)
+
+#define OPENCV_HAL_IMPL_C_SHIFT(_Tpvec, _Tp) \
+template<int n> inline _Tpvec v_shl(const _Tpvec& a) \
+{ return a << n; } \
+template<int n> inline _Tpvec v_shr(const _Tpvec& a) \
+{ return a >> n; } \
+template<int n> inline _Tpvec v_rshr(const _Tpvec& a) \
+{ \
+    _Tpvec c; \
+    for( int i = 0; i < _Tpvec::nlanes; i++ ) \
+        c.s[i] = (_Tp)((a.s[i] + ((_Tp)1 << (n - 1))) >> n); \
+    return c; \
+}
+
+OPENCV_HAL_IMPL_C_SHIFT(v_uint16x8, ushort)
+OPENCV_HAL_IMPL_C_SHIFT(v_int16x8, short)
+OPENCV_HAL_IMPL_C_SHIFT(v_uint32x4, unsigned)
+OPENCV_HAL_IMPL_C_SHIFT(v_int32x4, int)
+OPENCV_HAL_IMPL_C_SHIFT(v_uint64x2, uint64)
+OPENCV_HAL_IMPL_C_SHIFT(v_int64x2, int64)
+
+
+#define OPENCV_HAL_IMPL_C_PACK(_Tpvec, _Tp, _Tpnvec, _Tpn, pack_suffix) \
+inline _Tpnvec v_##pack_suffix(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    _Tpnvec c; \
+    for( int i = 0; i < _Tpvec::nlanes; i++ ) \
+    { \
+        c.s[i] = saturate_cast<_Tpn>(a.s[i]); \
+        c.s[i+_Tpvec::nlanes] = saturate_cast<_Tpn>(b.s[i]); \
+    } \
+    return c; \
+} \
+template<int n> inline _Tpnvec v_rshr_##pack_suffix(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    _Tpnvec c; \
+    for( int i = 0; i < _Tpvec::nlanes; i++ ) \
+    { \
+        c.s[i] = saturate_cast<_Tpn>((a.s[i] + ((_Tp)1 << (n - 1))) >> n); \
+        c.s[i+_Tpvec::nlanes] = saturate_cast<_Tpn>((b.s[i] + ((_Tp)1 << (n - 1))) >> n); \
+    } \
+    return c; \
+} \
+inline void v_##pack_suffix##_store(_Tpn* ptr, const _Tpvec& a) \
+{ \
+    for( int i = 0; i < _Tpvec::nlanes; i++ ) \
+        ptr[i] = saturate_cast<_Tpn>(a.s[i]); \
+} \
+template<int n> inline void v_rshr_##pack_suffix##_store(_Tpn* ptr, const _Tpvec& a) \
+{ \
+    for( int i = 0; i < _Tpvec::nlanes; i++ ) \
+        ptr[i] = saturate_cast<_Tpn>((a.s[i] + ((_Tp)1 << (n - 1))) >> n); \
+}
+
+OPENCV_HAL_IMPL_C_PACK(v_uint16x8, ushort, v_uint8x16, uchar, pack)
+OPENCV_HAL_IMPL_C_PACK(v_int16x8, short, v_int8x16, schar, pack)
+OPENCV_HAL_IMPL_C_PACK(v_int16x8, short, v_uint8x16, uchar, pack_u)
+OPENCV_HAL_IMPL_C_PACK(v_uint32x4, unsigned, v_uint16x8, ushort, pack)
+OPENCV_HAL_IMPL_C_PACK(v_int32x4, int, v_int16x8, short, pack)
+OPENCV_HAL_IMPL_C_PACK(v_int32x4, int, v_uint16x8, ushort, pack_u)
+OPENCV_HAL_IMPL_C_PACK(v_uint64x2, uint64, v_uint32x4, unsigned, pack)
+OPENCV_HAL_IMPL_C_PACK(v_int64x2, int64, v_int32x4, int, pack)
+
+inline v_float32x4 v_matmul(const v_float32x4& v, const v_float32x4& m0,
+                            const v_float32x4& m1, const v_float32x4& m2,
+                            const v_float32x4& m3)
+{
+    return v_float32x4(v.s[0]*m0.s[0] + v.s[1]*m1.s[0] + v.s[2]*m2.s[0] + v.s[3]*m3.s[0],
+                       v.s[0]*m0.s[1] + v.s[1]*m1.s[1] + v.s[2]*m2.s[1] + v.s[3]*m3.s[1],
+                       v.s[0]*m0.s[2] + v.s[1]*m1.s[2] + v.s[2]*m2.s[2] + v.s[3]*m3.s[2],
+                       v.s[0]*m0.s[3] + v.s[1]*m1.s[3] + v.s[2]*m2.s[3] + v.s[3]*m3.s[3]);
+}
+
+}
+
+#endif
diff --git a/3rdparty/include/opencv2/hal/intrin_neon.hpp b/3rdparty/include/opencv2/hal/intrin_neon.hpp
new file mode 100644
index 0000000..2418566
--- /dev/null
+++ b/3rdparty/include/opencv2/hal/intrin_neon.hpp
@@ -0,0 +1,826 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_HAL_INTRIN_NEON_HPP__
+#define __OPENCV_HAL_INTRIN_NEON_HPP__
+
+namespace cv
+{
+
+#define CV_SIMD128 1
+
+struct v_uint8x16
+{
+    typedef uchar lane_type;
+    enum { nlanes = 16 };
+
+    v_uint8x16() {}
+    explicit v_uint8x16(uint8x16_t v) : val(v) {}
+    v_uint8x16(uchar v0, uchar v1, uchar v2, uchar v3, uchar v4, uchar v5, uchar v6, uchar v7,
+               uchar v8, uchar v9, uchar v10, uchar v11, uchar v12, uchar v13, uchar v14, uchar v15)
+    {
+        uchar v[] = {v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15};
+        val = vld1q_u8(v);
+    }
+    uchar get0() const
+    {
+        return vgetq_lane_u8(val, 0);
+    }
+
+    uint8x16_t val;
+};
+
+struct v_int8x16
+{
+    typedef schar lane_type;
+    enum { nlanes = 16 };
+
+    v_int8x16() {}
+    explicit v_int8x16(int8x16_t v) : val(v) {}
+    v_int8x16(schar v0, schar v1, schar v2, schar v3, schar v4, schar v5, schar v6, schar v7,
+               schar v8, schar v9, schar v10, schar v11, schar v12, schar v13, schar v14, schar v15)
+    {
+        schar v[] = {v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15};
+        val = vld1q_s8(v);
+    }
+    schar get0() const
+    {
+        return vgetq_lane_s8(val, 0);
+    }
+
+    int8x16_t val;
+};
+
+struct v_uint16x8
+{
+    typedef ushort lane_type;
+    enum { nlanes = 8 };
+
+    v_uint16x8() {}
+    explicit v_uint16x8(uint16x8_t v) : val(v) {}
+    v_uint16x8(ushort v0, ushort v1, ushort v2, ushort v3, ushort v4, ushort v5, ushort v6, ushort v7)
+    {
+        ushort v[] = {v0, v1, v2, v3, v4, v5, v6, v7};
+        val = vld1q_u16(v);
+    }
+    ushort get0() const
+    {
+        return vgetq_lane_u16(val, 0);
+    }
+
+    uint16x8_t val;
+};
+
+struct v_int16x8
+{
+    typedef short lane_type;
+    enum { nlanes = 8 };
+
+    v_int16x8() {}
+    explicit v_int16x8(int16x8_t v) : val(v) {}
+    v_int16x8(short v0, short v1, short v2, short v3, short v4, short v5, short v6, short v7)
+    {
+        short v[] = {v0, v1, v2, v3, v4, v5, v6, v7};
+        val = vld1q_s16(v);
+    }
+    short get0() const
+    {
+        return vgetq_lane_s16(val, 0);
+    }
+
+    int16x8_t val;
+};
+
+struct v_uint32x4
+{
+    typedef unsigned lane_type;
+    enum { nlanes = 4 };
+
+    v_uint32x4() {}
+    explicit v_uint32x4(uint32x4_t v) : val(v) {}
+    v_uint32x4(unsigned v0, unsigned v1, unsigned v2, unsigned v3)
+    {
+        unsigned v[] = {v0, v1, v2, v3};
+        val = vld1q_u32(v);
+    }
+    unsigned get0() const
+    {
+        return vgetq_lane_u32(val, 0);
+    }
+
+    uint32x4_t val;
+};
+
+struct v_int32x4
+{
+    typedef int lane_type;
+    enum { nlanes = 4 };
+
+    v_int32x4() {}
+    explicit v_int32x4(int32x4_t v) : val(v) {}
+    v_int32x4(int v0, int v1, int v2, int v3)
+    {
+        int v[] = {v0, v1, v2, v3};
+        val = vld1q_s32(v);
+    }
+    int get0() const
+    {
+        return vgetq_lane_s32(val, 0);
+    }
+    int32x4_t val;
+};
+
+struct v_float32x4
+{
+    typedef float lane_type;
+    enum { nlanes = 4 };
+
+    v_float32x4() {}
+    explicit v_float32x4(float32x4_t v) : val(v) {}
+    v_float32x4(float v0, float v1, float v2, float v3)
+    {
+        float v[] = {v0, v1, v2, v3};
+        val = vld1q_f32(v);
+    }
+    float get0() const
+    {
+        return vgetq_lane_f32(val, 0);
+    }
+    float32x4_t val;
+};
+
+struct v_uint64x2
+{
+    typedef uint64 lane_type;
+    enum { nlanes = 2 };
+
+    v_uint64x2() {}
+    explicit v_uint64x2(uint64x2_t v) : val(v) {}
+    v_uint64x2(unsigned v0, unsigned v1)
+    {
+        uint64 v[] = {v0, v1};
+        val = vld1q_u64(v);
+    }
+    uint64 get0() const
+    {
+        return vgetq_lane_u64(val, 0);
+    }
+    uint64x2_t val;
+};
+
+struct v_int64x2
+{
+    typedef int64 lane_type;
+    enum { nlanes = 2 };
+
+    v_int64x2() {}
+    explicit v_int64x2(int64x2_t v) : val(v) {}
+    v_int64x2(int v0, int v1)
+    {
+        int64 v[] = {v0, v1};
+        val = vld1q_s64(v);
+    }
+    int64 get0() const
+    {
+        return vgetq_lane_s64(val, 0);
+    }
+    int64x2_t val;
+};
+
+#define OPENCV_HAL_IMPL_NEON_INIT(_Tpv, _Tp, suffix) \
+inline v_##_Tpv v_setzero_##suffix() { return v_##_Tpv(vdupq_n_##suffix((_Tp)0)); } \
+inline v_##_Tpv v_setall_##suffix(_Tp v) { return v_##_Tpv(vdupq_n_##suffix(v)); } \
+inline _Tpv##_t vreinterpretq_##suffix##_##suffix(_Tpv##_t v) { return v; } \
+inline v_uint8x16 v_reinterpret_as_u8(const v_##_Tpv& v) { return v_uint8x16(vreinterpretq_u8_##suffix(v.val)); } \
+inline v_int8x16 v_reinterpret_as_s8(const v_##_Tpv& v) { return v_int8x16(vreinterpretq_s8_##suffix(v.val)); } \
+inline v_uint16x8 v_reinterpret_as_u16(const v_##_Tpv& v) { return v_uint16x8(vreinterpretq_u16_##suffix(v.val)); } \
+inline v_int16x8 v_reinterpret_as_s16(const v_##_Tpv& v) { return v_int16x8(vreinterpretq_s16_##suffix(v.val)); } \
+inline v_uint32x4 v_reinterpret_as_u32(const v_##_Tpv& v) { return v_uint32x4(vreinterpretq_u32_##suffix(v.val)); } \
+inline v_int32x4 v_reinterpret_as_s32(const v_##_Tpv& v) { return v_int32x4(vreinterpretq_s32_##suffix(v.val)); } \
+inline v_uint64x2 v_reinterpret_as_u64(const v_##_Tpv& v) { return v_uint64x2(vreinterpretq_u64_##suffix(v.val)); } \
+inline v_int64x2 v_reinterpret_as_s64(const v_##_Tpv& v) { return v_int64x2(vreinterpretq_s64_##suffix(v.val)); } \
+inline v_float32x4 v_reinterpret_as_f32(const v_##_Tpv& v) { return v_float32x4(vreinterpretq_f32_##suffix(v.val)); }
+
+OPENCV_HAL_IMPL_NEON_INIT(uint8x16, uchar, u8)
+OPENCV_HAL_IMPL_NEON_INIT(int8x16, schar, s8)
+OPENCV_HAL_IMPL_NEON_INIT(uint16x8, ushort, u16)
+OPENCV_HAL_IMPL_NEON_INIT(int16x8, short, s16)
+OPENCV_HAL_IMPL_NEON_INIT(uint32x4, unsigned, u32)
+OPENCV_HAL_IMPL_NEON_INIT(int32x4, int, s32)
+OPENCV_HAL_IMPL_NEON_INIT(uint64x2, uint64, u64)
+OPENCV_HAL_IMPL_NEON_INIT(int64x2, int64, s64)
+OPENCV_HAL_IMPL_NEON_INIT(float32x4, float, f32)
+
+#define OPENCV_HAL_IMPL_NEON_PACK(_Tpvec, _Tp, hreg, suffix, _Tpwvec, wsuffix, pack, op) \
+inline _Tpvec v_##pack(const _Tpwvec& a, const _Tpwvec& b) \
+{ \
+    hreg a1 = vqmov##op##_##wsuffix(a.val), b1 = vqmov##op##_##wsuffix(b.val); \
+    return _Tpvec(vcombine_##suffix(a1, b1)); \
+} \
+inline void v_##pack##_store(_Tp* ptr, const _Tpwvec& a) \
+{ \
+    hreg a1 = vqmov##op##_##wsuffix(a.val); \
+    vst1_##suffix(ptr, a1); \
+} \
+template<int n> inline \
+_Tpvec v_rshr_##pack(const _Tpwvec& a, const _Tpwvec& b) \
+{ \
+    hreg a1 = vqrshr##op##_n_##wsuffix(a.val, n); \
+    hreg b1 = vqrshr##op##_n_##wsuffix(b.val, n); \
+    return _Tpvec(vcombine_##suffix(a1, b1)); \
+} \
+template<int n> inline \
+void v_rshr_##pack##_store(_Tp* ptr, const _Tpwvec& a) \
+{ \
+    hreg a1 = vqrshr##op##_n_##wsuffix(a.val, n); \
+    vst1_##suffix(ptr, a1); \
+}
+
+OPENCV_HAL_IMPL_NEON_PACK(v_uint8x16, uchar, uint8x8_t, u8, v_uint16x8, u16, pack, n)
+OPENCV_HAL_IMPL_NEON_PACK(v_uint8x16, uchar, uint8x8_t, u8, v_int16x8, s16, pack_u, un)
+OPENCV_HAL_IMPL_NEON_PACK(v_int8x16, schar, int8x8_t, s8, v_int16x8, s16, pack, n)
+OPENCV_HAL_IMPL_NEON_PACK(v_uint16x8, ushort, uint16x4_t, u16, v_uint32x4, u32, pack, n)
+OPENCV_HAL_IMPL_NEON_PACK(v_uint16x8, ushort, uint16x4_t, u16, v_int32x4, s32, pack_u, un)
+OPENCV_HAL_IMPL_NEON_PACK(v_int16x8, short, int16x4_t, s16, v_int32x4, s32, pack, n)
+OPENCV_HAL_IMPL_NEON_PACK(v_uint32x4, unsigned, uint32x2_t, u32, v_uint64x2, u64, pack, n)
+OPENCV_HAL_IMPL_NEON_PACK(v_int32x4, int, int32x2_t, s32, v_int64x2, s64, pack, n)
+
+inline v_float32x4 v_matmul(const v_float32x4& v, const v_float32x4& m0,
+                            const v_float32x4& m1, const v_float32x4& m2,
+                            const v_float32x4& m3)
+{
+    float32x2_t vl = vget_low_f32(v.val), vh = vget_high_f32(v.val);
+    float32x4_t res = vmulq_lane_f32(m0.val, vl, 0);
+    res = vmlaq_lane_f32(res, m1.val, vl, 1);
+    res = vmlaq_lane_f32(res, m2.val, vh, 0);
+    res = vmlaq_lane_f32(res, m3.val, vh, 1);
+    return v_float32x4(res);
+}
+
+#define OPENCV_HAL_IMPL_NEON_BIN_OP(bin_op, _Tpvec, intrin) \
+inline _Tpvec operator bin_op (const _Tpvec& a, const _Tpvec& b) \
+{ \
+    return _Tpvec(intrin(a.val, b.val)); \
+} \
+inline _Tpvec& operator bin_op##= (_Tpvec& a, const _Tpvec& b) \
+{ \
+    a.val = intrin(a.val, b.val); \
+    return a; \
+}
+
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_uint8x16, vqaddq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_uint8x16, vqsubq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_int8x16, vqaddq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_int8x16, vqsubq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_uint16x8, vqaddq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_uint16x8, vqsubq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(*, v_uint16x8, vmulq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_int16x8, vqaddq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_int16x8, vqsubq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(*, v_int16x8, vmulq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_int32x4, vaddq_s32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_int32x4, vsubq_s32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(*, v_int32x4, vmulq_s32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_uint32x4, vaddq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_uint32x4, vsubq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(*, v_uint32x4, vmulq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_float32x4, vaddq_f32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_float32x4, vsubq_f32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(*, v_float32x4, vmulq_f32)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_int64x2, vaddq_s64)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_int64x2, vsubq_s64)
+OPENCV_HAL_IMPL_NEON_BIN_OP(+, v_uint64x2, vaddq_u64)
+OPENCV_HAL_IMPL_NEON_BIN_OP(-, v_uint64x2, vsubq_u64)
+
+inline v_float32x4 operator / (const v_float32x4& a, const v_float32x4& b)
+{
+    float32x4_t reciprocal = vrecpeq_f32(b.val);
+    reciprocal = vmulq_f32(vrecpsq_f32(b.val, reciprocal), reciprocal);
+    reciprocal = vmulq_f32(vrecpsq_f32(b.val, reciprocal), reciprocal);
+    return v_float32x4(vmulq_f32(a.val, reciprocal));
+}
+inline v_float32x4& operator /= (v_float32x4& a, const v_float32x4& b)
+{
+    float32x4_t reciprocal = vrecpeq_f32(b.val);
+    reciprocal = vmulq_f32(vrecpsq_f32(b.val, reciprocal), reciprocal);
+    reciprocal = vmulq_f32(vrecpsq_f32(b.val, reciprocal), reciprocal);
+    a.val = vmulq_f32(a.val, reciprocal);
+    return a;
+}
+
+inline void v_mul_expand(const v_int16x8& a, const v_int16x8& b,
+                         v_int32x4& c, v_int32x4& d)
+{
+    c.val = vmull_s16(vget_low_s16(a.val), vget_low_s16(b.val));
+    d.val = vmull_s16(vget_high_s16(a.val), vget_high_s16(b.val));
+}
+
+inline void v_mul_expand(const v_uint16x8& a, const v_uint16x8& b,
+                         v_uint32x4& c, v_uint32x4& d)
+{
+    c.val = vmull_u16(vget_low_u16(a.val), vget_low_u16(b.val));
+    d.val = vmull_u16(vget_high_u16(a.val), vget_high_u16(b.val));
+}
+
+inline void v_mul_expand(const v_uint32x4& a, const v_uint32x4& b,
+                         v_uint64x2& c, v_uint64x2& d)
+{
+    c.val = vmull_u32(vget_low_u32(a.val), vget_low_u32(b.val));
+    d.val = vmull_u32(vget_high_u32(a.val), vget_high_u32(b.val));
+}
+
+inline v_int32x4 v_dotprod(const v_int16x8& a, const v_int16x8& b)
+{
+    int32x4_t c = vmull_s16(vget_low_s16(a.val), vget_low_s16(b.val));
+    int32x4_t d = vmull_s16(vget_high_s16(a.val), vget_high_s16(b.val));
+    int32x4x2_t cd = vtrnq_s32(c, d);
+    return v_int32x4(vaddq_s32(cd.val[0], cd.val[1]));
+}
+
+#define OPENCV_HAL_IMPL_NEON_LOGIC_OP(_Tpvec, suffix) \
+    OPENCV_HAL_IMPL_NEON_BIN_OP(&, _Tpvec, vandq_##suffix) \
+    OPENCV_HAL_IMPL_NEON_BIN_OP(|, _Tpvec, vorrq_##suffix) \
+    OPENCV_HAL_IMPL_NEON_BIN_OP(^, _Tpvec, veorq_##suffix) \
+    inline _Tpvec operator ~ (const _Tpvec& a) \
+    { \
+        return _Tpvec(vreinterpretq_##suffix##_u8(vmvnq_u8(vreinterpretq_u8_##suffix(a.val)))); \
+    }
+
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_uint8x16, u8)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_int8x16, s8)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_uint16x8, u16)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_int16x8, s16)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_uint32x4, u32)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_int32x4, s32)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_uint64x2, u64)
+OPENCV_HAL_IMPL_NEON_LOGIC_OP(v_int64x2, s64)
+
+#define OPENCV_HAL_IMPL_NEON_FLT_BIT_OP(bin_op, intrin) \
+inline v_float32x4 operator bin_op (const v_float32x4& a, const v_float32x4& b) \
+{ \
+    return v_float32x4(vreinterpretq_f32_s32(intrin(vreinterpretq_s32_f32(a.val), vreinterpretq_s32_f32(b.val)))); \
+} \
+inline v_float32x4& operator bin_op##= (v_float32x4& a, const v_float32x4& b) \
+{ \
+    a.val = vreinterpretq_f32_s32(intrin(vreinterpretq_s32_f32(a.val), vreinterpretq_s32_f32(b.val))); \
+    return a; \
+}
+
+OPENCV_HAL_IMPL_NEON_FLT_BIT_OP(&, vandq_s32)
+OPENCV_HAL_IMPL_NEON_FLT_BIT_OP(|, vorrq_s32)
+OPENCV_HAL_IMPL_NEON_FLT_BIT_OP(^, veorq_s32)
+
+inline v_float32x4 operator ~ (const v_float32x4& a)
+{
+    return v_float32x4(vreinterpretq_f32_s32(vmvnq_s32(vreinterpretq_s32_f32(a.val))));
+}
+
+inline v_float32x4 v_sqrt(const v_float32x4& x)
+{
+    float32x4_t x1 = vmaxq_f32(x.val, vdupq_n_f32(FLT_MIN));
+    float32x4_t e = vrsqrteq_f32(x1);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(x1, e), e), e);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(x1, e), e), e);
+    return v_float32x4(vmulq_f32(x.val, e));
+}
+
+inline v_float32x4 v_invsqrt(const v_float32x4& x)
+{
+    float32x4_t e = vrsqrteq_f32(x.val);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(x.val, e), e), e);
+    e = vmulq_f32(vrsqrtsq_f32(vmulq_f32(x.val, e), e), e);
+    return v_float32x4(e);
+}
+
+inline v_float32x4 v_abs(v_float32x4 x)
+{ return v_float32x4(vabsq_f32(x.val)); }
+
+// TODO: exp, log, sin, cos
+
+#define OPENCV_HAL_IMPL_NEON_BIN_FUNC(_Tpvec, func, intrin) \
+inline _Tpvec func(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    return _Tpvec(intrin(a.val, b.val)); \
+}
+
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint8x16, v_min, vminq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint8x16, v_max, vmaxq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int8x16, v_min, vminq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int8x16, v_max, vmaxq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint16x8, v_min, vminq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint16x8, v_max, vmaxq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int16x8, v_min, vminq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int16x8, v_max, vmaxq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint32x4, v_min, vminq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint32x4, v_max, vmaxq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int32x4, v_min, vminq_s32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int32x4, v_max, vmaxq_s32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_float32x4, v_min, vminq_f32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_float32x4, v_max, vmaxq_f32)
+
+
+#define OPENCV_HAL_IMPL_NEON_INT_CMP_OP(_Tpvec, cast, suffix, not_suffix) \
+inline _Tpvec operator == (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vceqq_##suffix(a.val, b.val))); } \
+inline _Tpvec operator != (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vmvnq_##not_suffix(vceqq_##suffix(a.val, b.val)))); } \
+inline _Tpvec operator < (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vcltq_##suffix(a.val, b.val))); } \
+inline _Tpvec operator > (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vcgtq_##suffix(a.val, b.val))); } \
+inline _Tpvec operator <= (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vcleq_##suffix(a.val, b.val))); } \
+inline _Tpvec operator >= (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(cast(vcgeq_##suffix(a.val, b.val))); }
+
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_uint8x16, OPENCV_HAL_NOP, u8, u8)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_int8x16, vreinterpretq_s8_u8, s8, u8)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_uint16x8, OPENCV_HAL_NOP, u16, u16)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_int16x8, vreinterpretq_s16_u16, s16, u16)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_uint32x4, OPENCV_HAL_NOP, u32, u32)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_int32x4, vreinterpretq_s32_u32, s32, u32)
+OPENCV_HAL_IMPL_NEON_INT_CMP_OP(v_float32x4, vreinterpretq_f32_u32, f32, u32)
+
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint8x16, v_add_wrap, vaddq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int8x16, v_add_wrap, vaddq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint16x8, v_add_wrap, vaddq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int16x8, v_add_wrap, vaddq_s16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint8x16, v_sub_wrap, vsubq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int8x16, v_sub_wrap, vsubq_s8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint16x8, v_sub_wrap, vsubq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_int16x8, v_sub_wrap, vsubq_s16)
+
+// TODO: absdiff for signed integers
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint8x16, v_absdiff, vabdq_u8)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint16x8, v_absdiff, vabdq_u16)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_uint32x4, v_absdiff, vabdq_u32)
+OPENCV_HAL_IMPL_NEON_BIN_FUNC(v_float32x4, v_absdiff, vabdq_f32)
+
+inline v_float32x4 v_magnitude(const v_float32x4& a, const v_float32x4& b)
+{
+    v_float32x4 x(vmlaq_f32(vmulq_f32(a.val, a.val), b.val, b.val));
+    return v_sqrt(x);
+}
+
+inline v_float32x4 v_sqr_magnitude(const v_float32x4& a, const v_float32x4& b)
+{
+    return v_float32x4(vmlaq_f32(vmulq_f32(a.val, a.val), b.val, b.val));
+}
+
+inline v_float32x4 v_muladd(const v_float32x4& a, const v_float32x4& b, const v_float32x4& c)
+{
+    return v_float32x4(vmlaq_f32(c.val, a.val, b.val));
+}
+
+// trade efficiency for convenience
+#define OPENCV_HAL_IMPL_NEON_SHIFT_OP(_Tpvec, suffix, _Tps, ssuffix) \
+inline _Tpvec operator << (const _Tpvec& a, int n) \
+{ return _Tpvec(vshlq_##suffix(a.val, vdupq_n_##ssuffix((_Tps)n))); } \
+inline _Tpvec operator >> (const _Tpvec& a, int n) \
+{ return _Tpvec(vshlq_##suffix(a.val, vdupq_n_##ssuffix((_Tps)-n))); } \
+template<int n> inline _Tpvec v_shl(const _Tpvec& a) \
+{ return _Tpvec(vshlq_n_##suffix(a.val, n)); } \
+template<int n> inline _Tpvec v_shr(const _Tpvec& a) \
+{ return _Tpvec(vshrq_n_##suffix(a.val, n)); } \
+template<int n> inline _Tpvec v_rshr(const _Tpvec& a) \
+{ return _Tpvec(vrshrq_n_##suffix(a.val, n)); }
+
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_uint8x16, u8, schar, s8)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_int8x16, s8, schar, s8)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_uint16x8, u16, short, s16)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_int16x8, s16, short, s16)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_uint32x4, u32, int, s32)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_int32x4, s32, int, s32)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_uint64x2, u64, int64, s64)
+OPENCV_HAL_IMPL_NEON_SHIFT_OP(v_int64x2, s64, int64, s64)
+
+#define OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(_Tpvec, _Tp, suffix) \
+inline _Tpvec v_load(const _Tp* ptr) \
+{ return _Tpvec(vld1q_##suffix(ptr)); } \
+inline _Tpvec v_load_aligned(const _Tp* ptr) \
+{ return _Tpvec(vld1q_##suffix(ptr)); } \
+inline _Tpvec v_load_halves(const _Tp* ptr0, const _Tp* ptr1) \
+{ return _Tpvec(vcombine_##suffix(vld1_##suffix(ptr0), vld1_##suffix(ptr1))); } \
+inline void v_store(_Tp* ptr, const _Tpvec& a) \
+{ vst1q_##suffix(ptr, a.val); } \
+inline void v_store_aligned(_Tp* ptr, const _Tpvec& a) \
+{ vst1q_##suffix(ptr, a.val); } \
+inline void v_store_low(_Tp* ptr, const _Tpvec& a) \
+{ vst1_##suffix(ptr, vget_low_##suffix(a.val)); } \
+inline void v_store_high(_Tp* ptr, const _Tpvec& a) \
+{ vst1_##suffix(ptr, vget_high_##suffix(a.val)); }
+
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_uint8x16, uchar, u8)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_int8x16, schar, s8)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_uint16x8, ushort, u16)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_int16x8, short, s16)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_uint32x4, unsigned, u32)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_int32x4, int, s32)
+OPENCV_HAL_IMPL_NEON_LOADSTORE_OP(v_float32x4, float, f32)
+
+#define OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(_Tpvec, scalartype, func, scalar_func) \
+inline scalartype v_reduce_##func(const _Tpvec& a) \
+{ \
+    scalartype CV_DECL_ALIGNED(16) buf[4]; \
+    v_store_aligned(buf, a); \
+    scalartype s0 = scalar_func(buf[0], buf[1]); \
+    scalartype s1 = scalar_func(buf[2], buf[3]); \
+    return scalar_func(s0, s1); \
+}
+
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, max, std::max)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, min, std::min)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, max, std::max)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, min, std::min)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, max, std::max)
+OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, min, std::min)
+
+inline int v_signmask(const v_uint8x16& a)
+{
+    int8x8_t m0 = vcreate_s8(CV_BIG_UINT(0x0706050403020100));
+    uint8x16_t v0 = vshlq_u8(vshrq_n_u8(a.val, 7), vcombine_s8(m0, m0));
+    uint64x2_t v1 = vpaddlq_u32(vpaddlq_u16(vpaddlq_u8(v0)));
+    return (int)vgetq_lane_u64(v1, 0) + ((int)vgetq_lane_u64(v1, 1) << 8);
+}
+inline int v_signmask(const v_int8x16& a)
+{ return v_signmask(v_reinterpret_as_u8(a)); }
+
+inline int v_signmask(const v_uint16x8& a)
+{
+    int16x4_t m0 = vcreate_s16(CV_BIG_UINT(0x0003000200010000));
+    uint16x8_t v0 = vshlq_u16(vshrq_n_u16(a.val, 15), vcombine_s16(m0, m0));
+    uint64x2_t v1 = vpaddlq_u32(vpaddlq_u16(v0));
+    return (int)vgetq_lane_u64(v1, 0) + ((int)vgetq_lane_u64(v1, 1) << 4);
+}
+inline int v_signmask(const v_int16x8& a)
+{ return v_signmask(v_reinterpret_as_u16(a)); }
+
+inline int v_signmask(const v_uint32x4& a)
+{
+    int32x2_t m0 = vcreate_s32(CV_BIG_UINT(0x0000000100000000));
+    uint32x4_t v0 = vshlq_u32(vshrq_n_u32(a.val, 31), vcombine_s32(m0, m0));
+    uint64x2_t v1 = vpaddlq_u32(v0);
+    return (int)vgetq_lane_u64(v1, 0) + ((int)vgetq_lane_u64(v1, 1) << 2);
+}
+inline int v_signmask(const v_int32x4& a)
+{ return v_signmask(v_reinterpret_as_u32(a)); }
+inline int v_signmask(const v_float32x4& a)
+{ return v_signmask(v_reinterpret_as_u32(a)); }
+
+#define OPENCV_HAL_IMPL_NEON_CHECK_ALLANY(_Tpvec, suffix, shift) \
+inline bool v_check_all(const v_##_Tpvec& a) \
+{ \
+    _Tpvec##_t v0 = vshrq_n_##suffix(vmvnq_##suffix(a.val), shift); \
+    uint64x2_t v1 = vreinterpretq_u64_##suffix(v0); \
+    return (vgetq_lane_u64(v1, 0) | vgetq_lane_u64(v1, 1)) == 0; \
+} \
+inline bool v_check_any(const v_##_Tpvec& a) \
+{ \
+    _Tpvec##_t v0 = vshrq_n_##suffix(a.val, shift); \
+    uint64x2_t v1 = vreinterpretq_u64_##suffix(v0); \
+    return (vgetq_lane_u64(v1, 0) | vgetq_lane_u64(v1, 1)) != 0; \
+}
+
+OPENCV_HAL_IMPL_NEON_CHECK_ALLANY(uint8x16, u8, 7)
+OPENCV_HAL_IMPL_NEON_CHECK_ALLANY(uint16x8, u16, 15)
+OPENCV_HAL_IMPL_NEON_CHECK_ALLANY(uint32x4, u32, 31)
+
+inline bool v_check_all(const v_int8x16& a)
+{ return v_check_all(v_reinterpret_as_u8(a)); }
+inline bool v_check_all(const v_int16x8& a)
+{ return v_check_all(v_reinterpret_as_u16(a)); }
+inline bool v_check_all(const v_int32x4& a)
+{ return v_check_all(v_reinterpret_as_u32(a)); }
+inline bool v_check_all(const v_float32x4& a)
+{ return v_check_all(v_reinterpret_as_u32(a)); }
+
+inline bool v_check_any(const v_int8x16& a)
+{ return v_check_all(v_reinterpret_as_u8(a)); }
+inline bool v_check_any(const v_int16x8& a)
+{ return v_check_all(v_reinterpret_as_u16(a)); }
+inline bool v_check_any(const v_int32x4& a)
+{ return v_check_all(v_reinterpret_as_u32(a)); }
+inline bool v_check_any(const v_float32x4& a)
+{ return v_check_all(v_reinterpret_as_u32(a)); }
+
+#define OPENCV_HAL_IMPL_NEON_SELECT(_Tpvec, suffix, usuffix) \
+inline _Tpvec v_select(const _Tpvec& mask, const _Tpvec& a, const _Tpvec& b) \
+{ \
+    return _Tpvec(vbslq_##suffix(vreinterpretq_##usuffix##_##suffix(mask.val), a.val, b.val)); \
+}
+
+OPENCV_HAL_IMPL_NEON_SELECT(v_uint8x16, u8, u8)
+OPENCV_HAL_IMPL_NEON_SELECT(v_int8x16, s8, u8)
+OPENCV_HAL_IMPL_NEON_SELECT(v_uint16x8, u16, u16)
+OPENCV_HAL_IMPL_NEON_SELECT(v_int16x8, s16, u16)
+OPENCV_HAL_IMPL_NEON_SELECT(v_uint32x4, u32, u32)
+OPENCV_HAL_IMPL_NEON_SELECT(v_int32x4, s32, u32)
+OPENCV_HAL_IMPL_NEON_SELECT(v_float32x4, f32, u32)
+
+#define OPENCV_HAL_IMPL_NEON_EXPAND(_Tpvec, _Tpwvec, _Tp, suffix) \
+inline void v_expand(const _Tpvec& a, _Tpwvec& b0, _Tpwvec& b1) \
+{ \
+    b0.val = vmovl_##suffix(vget_low_##suffix(a.val)); \
+    b1.val = vmovl_##suffix(vget_high_##suffix(a.val)); \
+} \
+inline _Tpwvec v_load_expand(const _Tp* ptr) \
+{ \
+    return _Tpwvec(vmovl_##suffix(vld1_##suffix(ptr))); \
+}
+
+OPENCV_HAL_IMPL_NEON_EXPAND(v_uint8x16, v_uint16x8, uchar, u8)
+OPENCV_HAL_IMPL_NEON_EXPAND(v_int8x16, v_int16x8, schar, s8)
+OPENCV_HAL_IMPL_NEON_EXPAND(v_uint16x8, v_uint32x4, ushort, u16)
+OPENCV_HAL_IMPL_NEON_EXPAND(v_int16x8, v_int32x4, short, s16)
+
+inline v_uint32x4 v_load_expand_q(const uchar* ptr)
+{
+    uint8x8_t v0 = vcreate_u8(*(unsigned*)ptr);
+    uint16x4_t v1 = vget_low_u16(vmovl_u8(v0));
+    return v_uint32x4(vmovl_u16(v1));
+}
+
+inline v_int32x4 v_load_expand_q(const schar* ptr)
+{
+    int8x8_t v0 = vcreate_s8(*(unsigned*)ptr);
+    int16x4_t v1 = vget_low_s16(vmovl_s8(v0));
+    return v_int32x4(vmovl_s16(v1));
+}
+
+#define OPENCV_HAL_IMPL_NEON_UNPACKS(_Tpvec, suffix) \
+inline void v_zip(const v_##_Tpvec& a0, const v_##_Tpvec& a1, v_##_Tpvec& b0, v_##_Tpvec& b1) \
+{ \
+    _Tpvec##x2_t p = vzipq_##suffix(a0.val, a1.val); \
+    b0.val = p.val[0]; \
+    b1.val = p.val[1]; \
+} \
+inline v_##_Tpvec v_combine_low(const v_##_Tpvec& a, const v_##_Tpvec& b) \
+{ \
+    return v_##_Tpvec(vcombine_##suffix(vget_low_##suffix(a.val), vget_low_##suffix(b.val))); \
+} \
+inline v_##_Tpvec v_combine_high(const v_##_Tpvec& a, const v_##_Tpvec& b) \
+{ \
+    return v_##_Tpvec(vcombine_##suffix(vget_high_##suffix(a.val), vget_high_##suffix(b.val))); \
+} \
+inline void v_recombine(const v_##_Tpvec& a, const v_##_Tpvec& b, v_##_Tpvec& c, v_##_Tpvec& d) \
+{ \
+    c.val = vcombine_##suffix(vget_low_##suffix(a.val), vget_low_##suffix(b.val)); \
+    d.val = vcombine_##suffix(vget_high_##suffix(a.val), vget_high_##suffix(b.val)); \
+}
+
+OPENCV_HAL_IMPL_NEON_UNPACKS(uint8x16, u8)
+OPENCV_HAL_IMPL_NEON_UNPACKS(int8x16, s8)
+OPENCV_HAL_IMPL_NEON_UNPACKS(uint16x8, u16)
+OPENCV_HAL_IMPL_NEON_UNPACKS(int16x8, s16)
+OPENCV_HAL_IMPL_NEON_UNPACKS(uint32x4, u32)
+OPENCV_HAL_IMPL_NEON_UNPACKS(int32x4, s32)
+OPENCV_HAL_IMPL_NEON_UNPACKS(float32x4, f32)
+
+inline v_int32x4 v_round(const v_float32x4& a)
+{
+    static const int32x4_t v_sign = vdupq_n_s32(1 << 31),
+        v_05 = vreinterpretq_s32_f32(vdupq_n_f32(0.5f));
+
+    int32x4_t v_addition = vorrq_s32(v_05, vandq_s32(v_sign, vreinterpretq_s32_f32(a.val)));
+    return v_int32x4(vcvtq_s32_f32(vaddq_f32(a.val, vreinterpretq_f32_s32(v_addition))));
+}
+
+inline v_int32x4 v_floor(const v_float32x4& a)
+{
+    int32x4_t a1 = vcvtq_s32_f32(a.val);
+    uint32x4_t mask = vcgtq_f32(vcvtq_f32_s32(a1), a.val);
+    return v_int32x4(vaddq_s32(a1, vreinterpretq_s32_u32(mask)));
+}
+
+inline v_int32x4 v_ceil(const v_float32x4& a)
+{
+    int32x4_t a1 = vcvtq_s32_f32(a.val);
+    uint32x4_t mask = vcgtq_f32(a.val, vcvtq_f32_s32(a1));
+    return v_int32x4(vsubq_s32(a1, vreinterpretq_s32_u32(mask)));
+}
+
+inline v_int32x4 v_trunc(const v_float32x4& a)
+{ return v_int32x4(vcvtq_s32_f32(a.val)); }
+
+#define OPENCV_HAL_IMPL_NEON_TRANSPOSE4x4(_Tpvec, suffix) \
+inline void transpose4x4(const v_##_Tpvec& a0, const v_##_Tpvec& a1, \
+                         const v_##_Tpvec& a2, const v_##_Tpvec& a3, \
+                         v_##_Tpvec& b0, v_##_Tpvec& b1, \
+                         v_##_Tpvec& b2, v_##_Tpvec& b3) \
+{ \
+    /* m00 m01 m02 m03 */ \
+    /* m10 m11 m12 m13 */ \
+    /* m20 m21 m22 m23 */ \
+    /* m30 m31 m32 m33 */ \
+    _Tpvec##x2_t t0 = vtrnq_##suffix(a0.val, a1.val); \
+    _Tpvec##x2_t t1 = vtrnq_##suffix(a2.val, a3.val); \
+    /* m00 m10 m02 m12 */ \
+    /* m01 m11 m03 m13 */ \
+    /* m20 m30 m22 m32 */ \
+    /* m21 m31 m23 m33 */ \
+    b0.val = vcombine_##suffix(vget_low_##suffix(t0.val[0]), vget_low_##suffix(t1.val[0])); \
+    b1.val = vcombine_##suffix(vget_low_##suffix(t0.val[1]), vget_low_##suffix(t1.val[1])); \
+    b2.val = vcombine_##suffix(vget_high_##suffix(t0.val[0]), vget_high_##suffix(t1.val[0])); \
+    b3.val = vcombine_##suffix(vget_high_##suffix(t0.val[1]), vget_high_##suffix(t1.val[1])); \
+}
+
+OPENCV_HAL_IMPL_NEON_TRANSPOSE4x4(uint32x4, u32)
+OPENCV_HAL_IMPL_NEON_TRANSPOSE4x4(int32x4, s32)
+OPENCV_HAL_IMPL_NEON_TRANSPOSE4x4(float32x4, f32)
+
+#define OPENCV_HAL_IMPL_NEON_INTERLEAVED(_Tpvec, _Tp, suffix) \
+inline void v_load_deinterleave(const _Tp* ptr, v_##_Tpvec& a, v_##_Tpvec& b, v_##_Tpvec& c) \
+{ \
+    _Tpvec##x3_t v = vld3q_##suffix(ptr); \
+    a.val = v.val[0]; \
+    b.val = v.val[1]; \
+    c.val = v.val[2]; \
+} \
+inline void v_load_deinterleave(const _Tp* ptr, v_##_Tpvec& a, v_##_Tpvec& b, \
+                                v_##_Tpvec& c, v_##_Tpvec& d) \
+{ \
+    _Tpvec##x4_t v = vld4q_##suffix(ptr); \
+    a.val = v.val[0]; \
+    b.val = v.val[1]; \
+    c.val = v.val[2]; \
+    d.val = v.val[3]; \
+} \
+inline void v_store_interleave( _Tp* ptr, const v_##_Tpvec& a, const v_##_Tpvec& b, const v_##_Tpvec& c) \
+{ \
+    _Tpvec##x3_t v; \
+    v.val[0] = a.val; \
+    v.val[1] = b.val; \
+    v.val[2] = c.val; \
+    vst3q_##suffix(ptr, v); \
+} \
+inline void v_store_interleave( _Tp* ptr, const v_##_Tpvec& a, const v_##_Tpvec& b, \
+                               const v_##_Tpvec& c, const v_##_Tpvec& d) \
+{ \
+    _Tpvec##x4_t v; \
+    v.val[0] = a.val; \
+    v.val[1] = b.val; \
+    v.val[2] = c.val; \
+    v.val[3] = d.val; \
+    vst4q_##suffix(ptr, v); \
+}
+
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(uint8x16, uchar, u8)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(int8x16, schar, s8)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(uint16x8, ushort, u16)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(int16x8, short, s16)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(uint32x4, unsigned, u32)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(int32x4, int, s32)
+OPENCV_HAL_IMPL_NEON_INTERLEAVED(float32x4, float, f32)
+
+inline v_float32x4 v_cvt_f32(const v_int32x4& a)
+{
+    return v_float32x4(vcvtq_f32_s32(a.val));
+}
+
+}
+
+#endif
diff --git a/3rdparty/include/opencv2/hal/intrin_sse.hpp b/3rdparty/include/opencv2/hal/intrin_sse.hpp
new file mode 100644
index 0000000..69171e2
--- /dev/null
+++ b/3rdparty/include/opencv2/hal/intrin_sse.hpp
@@ -0,0 +1,1554 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2015, Itseez 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*/
+
+#ifndef __OPENCV_HAL_SSE_HPP__
+#define __OPENCV_HAL_SSE_HPP__
+
+#define CV_SIMD128 1
+#define CV_SIMD128_64F 1
+
+namespace cv
+{
+
+struct v_uint8x16
+{
+    typedef uchar lane_type;
+    enum { nlanes = 16 };
+
+    v_uint8x16() {}
+    explicit v_uint8x16(__m128i v) : val(v) {}
+    v_uint8x16(uchar v0, uchar v1, uchar v2, uchar v3, uchar v4, uchar v5, uchar v6, uchar v7,
+               uchar v8, uchar v9, uchar v10, uchar v11, uchar v12, uchar v13, uchar v14, uchar v15)
+    {
+        val = _mm_setr_epi8((char)v0, (char)v1, (char)v2, (char)v3,
+                            (char)v4, (char)v5, (char)v6, (char)v7,
+                            (char)v8, (char)v9, (char)v10, (char)v11,
+                            (char)v12, (char)v13, (char)v14, (char)v15);
+    }
+    uchar get0() const
+    {
+        return (uchar)_mm_cvtsi128_si32(val);
+    }
+
+    __m128i val;
+};
+
+struct v_int8x16
+{
+    typedef schar lane_type;
+    enum { nlanes = 16 };
+
+    v_int8x16() {}
+    explicit v_int8x16(__m128i v) : val(v) {}
+    v_int8x16(schar v0, schar v1, schar v2, schar v3, schar v4, schar v5, schar v6, schar v7,
+              schar v8, schar v9, schar v10, schar v11, schar v12, schar v13, schar v14, schar v15)
+    {
+        val = _mm_setr_epi8((char)v0, (char)v1, (char)v2, (char)v3,
+                            (char)v4, (char)v5, (char)v6, (char)v7,
+                            (char)v8, (char)v9, (char)v10, (char)v11,
+                            (char)v12, (char)v13, (char)v14, (char)v15);
+    }
+    schar get0() const
+    {
+        return (schar)_mm_cvtsi128_si32(val);
+    }
+
+    __m128i val;
+};
+
+struct v_uint16x8
+{
+    typedef ushort lane_type;
+    enum { nlanes = 8 };
+
+    v_uint16x8() {}
+    explicit v_uint16x8(__m128i v) : val(v) {}
+    v_uint16x8(ushort v0, ushort v1, ushort v2, ushort v3, ushort v4, ushort v5, ushort v6, ushort v7)
+    {
+        val = _mm_setr_epi16((short)v0, (short)v1, (short)v2, (short)v3,
+                             (short)v4, (short)v5, (short)v6, (short)v7);
+    }
+    ushort get0() const
+    {
+        return (ushort)_mm_cvtsi128_si32(val);
+    }
+
+    __m128i val;
+};
+
+struct v_int16x8
+{
+    typedef short lane_type;
+    enum { nlanes = 8 };
+
+    v_int16x8() {}
+    explicit v_int16x8(__m128i v) : val(v) {}
+    v_int16x8(short v0, short v1, short v2, short v3, short v4, short v5, short v6, short v7)
+    {
+        val = _mm_setr_epi16((short)v0, (short)v1, (short)v2, (short)v3,
+                             (short)v4, (short)v5, (short)v6, (short)v7);
+    }
+    short get0() const
+    {
+        return (short)_mm_cvtsi128_si32(val);
+    }
+    __m128i val;
+};
+
+struct v_uint32x4
+{
+    typedef unsigned lane_type;
+    enum { nlanes = 4 };
+
+    v_uint32x4() {}
+    explicit v_uint32x4(__m128i v) : val(v) {}
+    v_uint32x4(unsigned v0, unsigned v1, unsigned v2, unsigned v3)
+    {
+        val = _mm_setr_epi32((int)v0, (int)v1, (int)v2, (int)v3);
+    }
+    unsigned get0() const
+    {
+        return (unsigned)_mm_cvtsi128_si32(val);
+    }
+    __m128i val;
+};
+
+struct v_int32x4
+{
+    typedef int lane_type;
+    enum { nlanes = 4 };
+
+    v_int32x4() {}
+    explicit v_int32x4(__m128i v) : val(v) {}
+    v_int32x4(int v0, int v1, int v2, int v3)
+    {
+        val = _mm_setr_epi32(v0, v1, v2, v3);
+    }
+    int get0() const
+    {
+        return _mm_cvtsi128_si32(val);
+    }
+    __m128i val;
+};
+
+struct v_float32x4
+{
+    typedef float lane_type;
+    enum { nlanes = 4 };
+
+    v_float32x4() {}
+    explicit v_float32x4(__m128 v) : val(v) {}
+    v_float32x4(float v0, float v1, float v2, float v3)
+    {
+        val = _mm_setr_ps(v0, v1, v2, v3);
+    }
+    float get0() const
+    {
+        return _mm_cvtss_f32(val);
+    }
+    __m128 val;
+};
+
+struct v_uint64x2
+{
+    typedef uint64 lane_type;
+    enum { nlanes = 2 };
+
+    v_uint64x2() {}
+    explicit v_uint64x2(__m128i v) : val(v) {}
+    v_uint64x2(uint64 v0, uint64 v1)
+    {
+        val = _mm_setr_epi32((int)v0, (int)(v0 >> 32), (int)v1, (int)(v1 >> 32));
+    }
+    uint64 get0() const
+    {
+        int a = _mm_cvtsi128_si32(val);
+        int b = _mm_cvtsi128_si32(_mm_srli_epi64(val, 32));
+        return (unsigned)a | ((uint64)(unsigned)b << 32);
+    }
+    __m128i val;
+};
+
+struct v_int64x2
+{
+    typedef int64 lane_type;
+    enum { nlanes = 2 };
+
+    v_int64x2() {}
+    explicit v_int64x2(__m128i v) : val(v) {}
+    v_int64x2(int64 v0, int64 v1)
+    {
+        val = _mm_setr_epi32((int)v0, (int)(v0 >> 32), (int)v1, (int)(v1 >> 32));
+    }
+    int64 get0() const
+    {
+        int a = _mm_cvtsi128_si32(val);
+        int b = _mm_cvtsi128_si32(_mm_srli_epi64(val, 32));
+        return (int64)((unsigned)a | ((uint64)(unsigned)b << 32));
+    }
+    __m128i val;
+};
+
+struct v_float64x2
+{
+    typedef double lane_type;
+    enum { nlanes = 2 };
+
+    v_float64x2() {}
+    explicit v_float64x2(__m128d v) : val(v) {}
+    v_float64x2(double v0, double v1)
+    {
+        val = _mm_setr_pd(v0, v1);
+    }
+    double get0() const
+    {
+        return _mm_cvtsd_f64(val);
+    }
+    __m128d val;
+};
+
+#define OPENCV_HAL_IMPL_SSE_INITVEC(_Tpvec, _Tp, suffix, zsuffix, ssuffix, _Tps, cast) \
+inline _Tpvec v_setzero_##suffix() { return _Tpvec(_mm_setzero_##zsuffix()); } \
+inline _Tpvec v_setall_##suffix(_Tp v) { return _Tpvec(_mm_set1_##ssuffix((_Tps)v)); } \
+template<typename _Tpvec0> inline _Tpvec v_reinterpret_as_##suffix(const _Tpvec0& a) \
+{ return _Tpvec(cast(a.val)); }
+
+OPENCV_HAL_IMPL_SSE_INITVEC(v_uint8x16, uchar, u8, si128, epi8, char, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_int8x16, schar, s8, si128, epi8, char, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_uint16x8, ushort, u16, si128, epi16, short, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_int16x8, short, s16, si128, epi16, short, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_uint32x4, unsigned, u32, si128, epi32, int, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_int32x4, int, s32, si128, epi32, int, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_float32x4, float, f32, ps, ps, float, _mm_castsi128_ps)
+OPENCV_HAL_IMPL_SSE_INITVEC(v_float64x2, double, f64, pd, pd, double, _mm_castsi128_pd)
+
+inline v_uint64x2 v_setzero_u64() { return v_uint64x2(_mm_setzero_si128()); }
+inline v_int64x2 v_setzero_s64() { return v_int64x2(_mm_setzero_si128()); }
+inline v_uint64x2 v_setall_u64(uint64 val) { return v_uint64x2(val, val); }
+inline v_int64x2 v_setall_s64(int64 val) { return v_int64x2(val, val); }
+
+template<typename _Tpvec> inline
+v_uint64x2 v_reinterpret_as_u64(const _Tpvec& a) { return v_uint64x2(a.val); }
+template<typename _Tpvec> inline
+v_int64x2 v_reinterpret_as_s64(const _Tpvec& a) { return v_int64x2(a.val); }
+inline v_float32x4 v_reinterpret_as_f32(const v_uint64x2& a)
+{ return v_float32x4(_mm_castsi128_ps(a.val)); }
+inline v_float32x4 v_reinterpret_as_f32(const v_int64x2& a)
+{ return v_float32x4(_mm_castsi128_ps(a.val)); }
+inline v_float64x2 v_reinterpret_as_f64(const v_uint64x2& a)
+{ return v_float64x2(_mm_castsi128_pd(a.val)); }
+inline v_float64x2 v_reinterpret_as_f64(const v_int64x2& a)
+{ return v_float64x2(_mm_castsi128_pd(a.val)); }
+
+#define OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(_Tpvec, suffix) \
+inline _Tpvec v_reinterpret_as_##suffix(const v_float32x4& a) \
+{ return _Tpvec(_mm_castps_si128(a.val)); } \
+inline _Tpvec v_reinterpret_as_##suffix(const v_float64x2& a) \
+{ return _Tpvec(_mm_castpd_si128(a.val)); }
+
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_uint8x16, u8)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_int8x16, s8)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_uint16x8, u16)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_int16x8, s16)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_uint32x4, u32)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_int32x4, s32)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_uint64x2, u64)
+OPENCV_HAL_IMPL_SSE_INIT_FROM_FLT(v_int64x2, s64)
+
+//////////////// PACK ///////////////
+inline v_uint8x16 v_pack(const v_uint16x8& a, const v_uint16x8& b)
+{
+    __m128i delta = _mm_set1_epi16(255);
+    return v_uint8x16(_mm_packus_epi16(_mm_subs_epu16(a.val, _mm_subs_epu16(a.val, delta)),
+                                       _mm_subs_epu16(b.val, _mm_subs_epu16(b.val, delta))));
+}
+
+inline void v_pack_store(uchar* ptr, const v_uint16x8& a)
+{
+    __m128i delta = _mm_set1_epi16(255);
+    __m128i a1 = _mm_subs_epu16(a.val, _mm_subs_epu16(a.val, delta));
+    _mm_storel_epi64((__m128i*)ptr, _mm_packus_epi16(a1, a1));
+}
+
+inline v_uint8x16 v_pack_u(const v_int16x8& a, const v_int16x8& b)
+{ return v_uint8x16(_mm_packus_epi16(a.val, b.val)); }
+
+inline void v_pack_u_store(uchar* ptr, const v_int16x8& a)
+{ _mm_storel_epi64((__m128i*)ptr, _mm_packus_epi16(a.val, a.val)); }
+
+template<int n> inline
+v_uint8x16 v_rshr_pack(const v_uint16x8& a, const v_uint16x8& b)
+{
+    // we assume that n > 0, and so the shifted 16-bit values can be treated as signed numbers.
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    return v_uint8x16(_mm_packus_epi16(_mm_srli_epi16(_mm_adds_epu16(a.val, delta), n),
+                                       _mm_srli_epi16(_mm_adds_epu16(b.val, delta), n)));
+}
+
+template<int n> inline
+void v_rshr_pack_store(uchar* ptr, const v_uint16x8& a)
+{
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    __m128i a1 = _mm_srli_epi16(_mm_adds_epu16(a.val, delta), n);
+    _mm_storel_epi64((__m128i*)ptr, _mm_packus_epi16(a1, a1));
+}
+
+template<int n> inline
+v_uint8x16 v_rshr_pack_u(const v_int16x8& a, const v_int16x8& b)
+{
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    return v_uint8x16(_mm_packus_epi16(_mm_srai_epi16(_mm_adds_epi16(a.val, delta), n),
+                                       _mm_srai_epi16(_mm_adds_epi16(b.val, delta), n)));
+}
+
+template<int n> inline
+void v_rshr_pack_u_store(uchar* ptr, const v_int16x8& a)
+{
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    __m128i a1 = _mm_srai_epi16(_mm_adds_epi16(a.val, delta), n);
+    _mm_storel_epi64((__m128i*)ptr, _mm_packus_epi16(a1, a1));
+}
+
+inline v_int8x16 v_pack(const v_int16x8& a, const v_int16x8& b)
+{ return v_int8x16(_mm_packs_epi16(a.val, b.val)); }
+
+inline void v_pack_store(schar* ptr, v_int16x8& a)
+{ _mm_storel_epi64((__m128i*)ptr, _mm_packs_epi16(a.val, a.val)); }
+
+template<int n> inline
+v_int8x16 v_rshr_pack(const v_int16x8& a, const v_int16x8& b)
+{
+    // we assume that n > 0, and so the shifted 16-bit values can be treated as signed numbers.
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    return v_int8x16(_mm_packs_epi16(_mm_srai_epi16(_mm_adds_epi16(a.val, delta), n),
+                                     _mm_srai_epi16(_mm_adds_epi16(b.val, delta), n)));
+}
+template<int n> inline
+void v_rshr_pack_store(schar* ptr, const v_int16x8& a)
+{
+    // we assume that n > 0, and so the shifted 16-bit values can be treated as signed numbers.
+    __m128i delta = _mm_set1_epi16((short)(1 << (n-1)));
+    __m128i a1 = _mm_srai_epi16(_mm_adds_epi16(a.val, delta), n);
+    _mm_storel_epi64((__m128i*)ptr, _mm_packs_epi16(a1, a1));
+}
+
+
+// bit-wise "mask ? a : b"
+inline __m128i v_select_si128(__m128i mask, __m128i a, __m128i b)
+{
+    return _mm_xor_si128(b, _mm_and_si128(_mm_xor_si128(a, b), mask));
+}
+
+inline v_uint16x8 v_pack(const v_uint32x4& a, const v_uint32x4& b)
+{
+    __m128i z = _mm_setzero_si128(), maxval32 = _mm_set1_epi32(65535), delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(v_select_si128(_mm_cmpgt_epi32(z, a.val), maxval32, a.val), delta32);
+    __m128i b1 = _mm_sub_epi32(v_select_si128(_mm_cmpgt_epi32(z, b.val), maxval32, b.val), delta32);
+    __m128i r = _mm_packs_epi32(a1, b1);
+    return v_uint16x8(_mm_sub_epi16(r, _mm_set1_epi16(-32768)));
+}
+
+inline void v_pack_store(ushort* ptr, const v_uint32x4& a)
+{
+    __m128i z = _mm_setzero_si128(), maxval32 = _mm_set1_epi32(65535), delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(v_select_si128(_mm_cmpgt_epi32(z, a.val), maxval32, a.val), delta32);
+    __m128i r = _mm_packs_epi32(a1, a1);
+    _mm_storel_epi64((__m128i*)ptr, _mm_sub_epi16(r, _mm_set1_epi16(-32768)));
+}
+
+template<int n> inline
+v_uint16x8 v_rshr_pack(const v_uint32x4& a, const v_uint32x4& b)
+{
+    __m128i delta = _mm_set1_epi32(1 << (n-1)), delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(_mm_srli_epi32(_mm_add_epi32(a.val, delta), n), delta32);
+    __m128i b1 = _mm_sub_epi32(_mm_srli_epi32(_mm_add_epi32(b.val, delta), n), delta32);
+    return v_uint16x8(_mm_sub_epi16(_mm_packs_epi32(a1, b1), _mm_set1_epi16(-32768)));
+}
+
+template<int n> inline
+void v_rshr_pack_store(ushort* ptr, const v_uint32x4& a)
+{
+    __m128i delta = _mm_set1_epi32(1 << (n-1)), delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(_mm_srli_epi32(_mm_add_epi32(a.val, delta), n), delta32);
+    __m128i a2 = _mm_sub_epi16(_mm_packs_epi32(a1, a1), _mm_set1_epi16(-32768));
+    _mm_storel_epi64((__m128i*)ptr, a2);
+}
+
+inline v_uint16x8 v_pack_u(const v_int32x4& a, const v_int32x4& b)
+{
+    __m128i delta32 = _mm_set1_epi32(32768);
+    __m128i r = _mm_packs_epi32(_mm_sub_epi32(a.val, delta32), _mm_sub_epi32(b.val, delta32));
+    return v_uint16x8(_mm_sub_epi16(r, _mm_set1_epi16(-32768)));
+}
+
+inline void v_pack_u_store(ushort* ptr, const v_int32x4& a)
+{
+    __m128i delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(a.val, delta32);
+    __m128i r = _mm_sub_epi16(_mm_packs_epi32(a1, a1), _mm_set1_epi16(-32768));
+    _mm_storel_epi64((__m128i*)ptr, r);
+}
+
+template<int n> inline
+void v_rshr_pack_u_store(ushort* ptr, const v_int32x4& a)
+{
+    __m128i delta = _mm_set1_epi32(1 << (n-1)), delta32 = _mm_set1_epi32(32768);
+    __m128i a1 = _mm_sub_epi32(_mm_srai_epi32(_mm_add_epi32(a.val, delta), n), delta32);
+    __m128i a2 = _mm_sub_epi16(_mm_packs_epi32(a1, a1), _mm_set1_epi16(-32768));
+    _mm_storel_epi64((__m128i*)ptr, a2);
+}
+
+inline v_int16x8 v_pack(const v_int32x4& a, const v_int32x4& b)
+{ return v_int16x8(_mm_packs_epi32(a.val, b.val)); }
+
+inline void v_pack_store(short* ptr, const v_int32x4& a)
+{
+    _mm_storel_epi64((__m128i*)ptr, _mm_packs_epi32(a.val, a.val));
+}
+
+template<int n> inline
+v_int16x8 v_rshr_pack(const v_int32x4& a, const v_int32x4& b)
+{
+    __m128i delta = _mm_set1_epi32(1 << (n-1));
+    return v_int16x8(_mm_packs_epi32(_mm_srai_epi32(_mm_add_epi32(a.val, delta), n),
+                                     _mm_srai_epi32(_mm_add_epi32(b.val, delta), n)));
+}
+
+template<int n> inline
+void v_rshr_pack_store(short* ptr, const v_int32x4& a)
+{
+    __m128i delta = _mm_set1_epi32(1 << (n-1));
+    __m128i a1 = _mm_srai_epi32(_mm_add_epi32(a.val, delta), n);
+    _mm_storel_epi64((__m128i*)ptr, a1);
+}
+
+
+// [a0 0 | b0 0]  [a1 0 | b1 0]
+inline v_uint32x4 v_pack(const v_uint64x2& a, const v_uint64x2& b)
+{
+    __m128i v0 = _mm_unpacklo_epi32(a.val, b.val); // a0 a1 0 0
+    __m128i v1 = _mm_unpackhi_epi32(a.val, b.val); // b0 b1 0 0
+    return v_uint32x4(_mm_unpacklo_epi64(v0, v1));
+}
+
+inline void v_pack_store(unsigned* ptr, const v_uint64x2& a)
+{
+    __m128i a1 = _mm_shuffle_epi32(a.val, _MM_SHUFFLE(0, 2, 2, 0));
+    _mm_storel_epi64((__m128i*)ptr, a1);
+}
+
+// [a0 0 | b0 0]  [a1 0 | b1 0]
+inline v_int32x4 v_pack(const v_int64x2& a, const v_int64x2& b)
+{
+    __m128i v0 = _mm_unpacklo_epi32(a.val, b.val); // a0 a1 0 0
+    __m128i v1 = _mm_unpackhi_epi32(a.val, b.val); // b0 b1 0 0
+    return v_int32x4(_mm_unpacklo_epi64(v0, v1));
+}
+
+inline void v_pack_store(int* ptr, const v_int64x2& a)
+{
+    __m128i a1 = _mm_shuffle_epi32(a.val, _MM_SHUFFLE(0, 2, 2, 0));
+    _mm_storel_epi64((__m128i*)ptr, a1);
+}
+
+template<int n> inline
+v_uint32x4 v_rshr_pack(const v_uint64x2& a, const v_uint64x2& b)
+{
+    uint64 delta = (uint64)1 << (n-1);
+    v_uint64x2 delta2(delta, delta);
+    __m128i a1 = _mm_srli_epi64(_mm_add_epi64(a.val, delta2.val), n);
+    __m128i b1 = _mm_srli_epi64(_mm_add_epi64(b.val, delta2.val), n);
+    __m128i v0 = _mm_unpacklo_epi32(a1, b1); // a0 a1 0 0
+    __m128i v1 = _mm_unpackhi_epi32(a1, b1); // b0 b1 0 0
+    return v_uint32x4(_mm_unpacklo_epi64(v0, v1));
+}
+
+template<int n> inline
+void v_rshr_pack_store(unsigned* ptr, const v_uint64x2& a)
+{
+    uint64 delta = (uint64)1 << (n-1);
+    v_uint64x2 delta2(delta, delta);
+    __m128i a1 = _mm_srli_epi64(_mm_add_epi64(a.val, delta2.val), n);
+    __m128i a2 = _mm_shuffle_epi32(a1, _MM_SHUFFLE(0, 2, 2, 0));
+    _mm_storel_epi64((__m128i*)ptr, a2);
+}
+
+inline __m128i v_sign_epi64(__m128i a)
+{
+    return _mm_shuffle_epi32(_mm_srai_epi32(a, 31), _MM_SHUFFLE(3, 3, 1, 1)); // x m0 | x m1
+}
+
+inline __m128i v_srai_epi64(__m128i a, int imm)
+{
+    __m128i smask = v_sign_epi64(a);
+    return _mm_xor_si128(_mm_srli_epi64(_mm_xor_si128(a, smask), imm), smask);
+}
+
+template<int n> inline
+v_int32x4 v_rshr_pack(const v_int64x2& a, const v_int64x2& b)
+{
+    int64 delta = (int64)1 << (n-1);
+    v_int64x2 delta2(delta, delta);
+    __m128i a1 = v_srai_epi64(_mm_add_epi64(a.val, delta2.val), n);
+    __m128i b1 = v_srai_epi64(_mm_add_epi64(b.val, delta2.val), n);
+    __m128i v0 = _mm_unpacklo_epi32(a1, b1); // a0 a1 0 0
+    __m128i v1 = _mm_unpackhi_epi32(a1, b1); // b0 b1 0 0
+    return v_int32x4(_mm_unpacklo_epi64(v0, v1));
+}
+
+template<int n> inline
+void v_rshr_pack_store(int* ptr, const v_int64x2& a)
+{
+    int64 delta = (int64)1 << (n-1);
+    v_int64x2 delta2(delta, delta);
+    __m128i a1 = v_srai_epi64(_mm_add_epi64(a.val, delta2.val), n);
+    __m128i a2 = _mm_shuffle_epi32(a1, _MM_SHUFFLE(0, 2, 2, 0));
+    _mm_storel_epi64((__m128i*)ptr, a2);
+}
+
+inline v_float32x4 v_matmul(const v_float32x4& v, const v_float32x4& m0,
+                            const v_float32x4& m1, const v_float32x4& m2,
+                            const v_float32x4& m3)
+{
+    __m128 v0 = _mm_mul_ps(_mm_shuffle_ps(v.val, v.val, _MM_SHUFFLE(0, 0, 0, 0)), m0.val);
+    __m128 v1 = _mm_mul_ps(_mm_shuffle_ps(v.val, v.val, _MM_SHUFFLE(1, 1, 1, 1)), m1.val);
+    __m128 v2 = _mm_mul_ps(_mm_shuffle_ps(v.val, v.val, _MM_SHUFFLE(2, 2, 2, 2)), m2.val);
+    __m128 v3 = _mm_mul_ps(_mm_shuffle_ps(v.val, v.val, _MM_SHUFFLE(3, 3, 3, 3)), m3.val);
+
+    return v_float32x4(_mm_add_ps(_mm_add_ps(v0, v1), _mm_add_ps(v2, v3)));
+}
+
+
+#define OPENCV_HAL_IMPL_SSE_BIN_OP(bin_op, _Tpvec, intrin) \
+    inline _Tpvec operator bin_op (const _Tpvec& a, const _Tpvec& b) \
+    { \
+        return _Tpvec(intrin(a.val, b.val)); \
+    } \
+    inline _Tpvec& operator bin_op##= (_Tpvec& a, const _Tpvec& b) \
+    { \
+        a.val = intrin(a.val, b.val); \
+        return a; \
+    }
+
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_uint8x16, _mm_adds_epu8)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_uint8x16, _mm_subs_epu8)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_int8x16, _mm_adds_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_int8x16, _mm_subs_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_uint16x8, _mm_adds_epu16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_uint16x8, _mm_subs_epu16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(*, v_uint16x8, _mm_mullo_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_int16x8, _mm_adds_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_int16x8, _mm_subs_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(*, v_int16x8, _mm_mullo_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_uint32x4, _mm_add_epi32)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_uint32x4, _mm_sub_epi32)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_int32x4, _mm_add_epi32)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_int32x4, _mm_sub_epi32)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_float32x4, _mm_add_ps)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_float32x4, _mm_sub_ps)
+OPENCV_HAL_IMPL_SSE_BIN_OP(*, v_float32x4, _mm_mul_ps)
+OPENCV_HAL_IMPL_SSE_BIN_OP(/, v_float32x4, _mm_div_ps)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_float64x2, _mm_add_pd)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_float64x2, _mm_sub_pd)
+OPENCV_HAL_IMPL_SSE_BIN_OP(*, v_float64x2, _mm_mul_pd)
+OPENCV_HAL_IMPL_SSE_BIN_OP(/, v_float64x2, _mm_div_pd)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_uint64x2, _mm_add_epi64)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_uint64x2, _mm_sub_epi64)
+OPENCV_HAL_IMPL_SSE_BIN_OP(+, v_int64x2, _mm_add_epi64)
+OPENCV_HAL_IMPL_SSE_BIN_OP(-, v_int64x2, _mm_sub_epi64)
+
+inline v_uint32x4 operator * (const v_uint32x4& a, const v_uint32x4& b)
+{
+    __m128i c0 = _mm_mul_epu32(a.val, b.val);
+    __m128i c1 = _mm_mul_epu32(_mm_srli_epi64(a.val, 32), _mm_srli_epi64(b.val, 32));
+    __m128i d0 = _mm_unpacklo_epi32(c0, c1);
+    __m128i d1 = _mm_unpackhi_epi32(c0, c1);
+    return v_uint32x4(_mm_unpacklo_epi64(d0, d1));
+}
+inline v_int32x4 operator * (const v_int32x4& a, const v_int32x4& b)
+{
+    __m128i c0 = _mm_mul_epu32(a.val, b.val);
+    __m128i c1 = _mm_mul_epu32(_mm_srli_epi64(a.val, 32), _mm_srli_epi64(b.val, 32));
+    __m128i d0 = _mm_unpacklo_epi32(c0, c1);
+    __m128i d1 = _mm_unpackhi_epi32(c0, c1);
+    return v_int32x4(_mm_unpacklo_epi64(d0, d1));
+}
+inline v_uint32x4& operator *= (v_uint32x4& a, const v_uint32x4& b)
+{
+    a = a * b;
+    return a;
+}
+inline v_int32x4& operator *= (v_int32x4& a, const v_int32x4& b)
+{
+    a = a * b;
+    return a;
+}
+
+inline void v_mul_expand(const v_int16x8& a, const v_int16x8& b,
+                         v_int32x4& c, v_int32x4& d)
+{
+    __m128i v0 = _mm_mullo_epi16(a.val, b.val);
+    __m128i v1 = _mm_mulhi_epi16(a.val, b.val);
+    c.val = _mm_unpacklo_epi32(v0, v1);
+    d.val = _mm_unpackhi_epi32(v0, v1);
+}
+
+inline void v_mul_expand(const v_uint16x8& a, const v_uint16x8& b,
+                         v_uint32x4& c, v_uint32x4& d)
+{
+    __m128i v0 = _mm_mullo_epi16(a.val, b.val);
+    __m128i v1 = _mm_mulhi_epu16(a.val, b.val);
+    c.val = _mm_unpacklo_epi32(v0, v1);
+    d.val = _mm_unpackhi_epi32(v0, v1);
+}
+
+inline void v_mul_expand(const v_uint32x4& a, const v_uint32x4& b,
+                         v_uint64x2& c, v_uint64x2& d)
+{
+    __m128i c0 = _mm_mul_epu32(a.val, b.val);
+    __m128i c1 = _mm_mul_epu32(_mm_srli_epi64(a.val, 32), _mm_srli_epi64(b.val, 32));
+    c.val = _mm_unpacklo_epi64(c0, c1);
+    d.val = _mm_unpackhi_epi64(c0, c1);
+}
+
+inline v_int32x4 v_dotprod(const v_int16x8& a, const v_int16x8& b)
+{
+    return v_int32x4(_mm_madd_epi16(a.val, b.val));
+}
+
+#define OPENCV_HAL_IMPL_SSE_LOGIC_OP(_Tpvec, suffix, not_const) \
+    OPENCV_HAL_IMPL_SSE_BIN_OP(&, _Tpvec, _mm_and_##suffix) \
+    OPENCV_HAL_IMPL_SSE_BIN_OP(|, _Tpvec, _mm_or_##suffix) \
+    OPENCV_HAL_IMPL_SSE_BIN_OP(^, _Tpvec, _mm_xor_##suffix) \
+    inline _Tpvec operator ~ (const _Tpvec& a) \
+    { \
+        return _Tpvec(_mm_xor_##suffix(a.val, not_const)); \
+    }
+
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_uint8x16, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_int8x16, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_uint16x8, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_int16x8, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_uint32x4, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_int32x4, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_uint64x2, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_int64x2, si128, _mm_set1_epi32(-1))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_float32x4, ps, _mm_castsi128_ps(_mm_set1_epi32(-1)))
+OPENCV_HAL_IMPL_SSE_LOGIC_OP(v_float64x2, pd, _mm_castsi128_pd(_mm_set1_epi32(-1)))
+
+inline v_float32x4 v_sqrt(const v_float32x4& x)
+{ return v_float32x4(_mm_sqrt_ps(x.val)); }
+
+inline v_float32x4 v_invsqrt(const v_float32x4& x)
+{
+    static const __m128 _0_5 = _mm_set1_ps(0.5f), _1_5 = _mm_set1_ps(1.5f);
+    __m128 t = x.val;
+    __m128 h = _mm_mul_ps(t, _0_5);
+    t = _mm_rsqrt_ps(t);
+    t = _mm_mul_ps(t, _mm_sub_ps(_1_5, _mm_mul_ps(_mm_mul_ps(t, t), h)));
+    return v_float32x4(t);
+}
+
+inline v_float64x2 v_sqrt(const v_float64x2& x)
+{ return v_float64x2(_mm_sqrt_pd(x.val)); }
+
+inline v_float64x2 v_invsqrt(const v_float64x2& x)
+{
+    static const __m128d v_1 = _mm_set1_pd(1.);
+    return v_float64x2(_mm_div_pd(v_1, _mm_sqrt_pd(x.val)));
+}
+
+inline v_float32x4 v_abs(const v_float32x4& x)
+{ return v_float32x4(_mm_and_ps(x.val, _mm_castsi128_ps(_mm_set1_epi32(0x7fffffff)))); }
+inline v_float64x2 v_abs(const v_float64x2& x)
+{
+    return v_float64x2(_mm_and_pd(x.val,
+        _mm_castsi128_pd(_mm_srli_epi64(_mm_set1_epi32(-1), 1))));
+}
+
+// TODO: exp, log, sin, cos
+
+#define OPENCV_HAL_IMPL_SSE_BIN_FUNC(_Tpvec, func, intrin) \
+inline _Tpvec func(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    return _Tpvec(intrin(a.val, b.val)); \
+}
+
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint8x16, v_min, _mm_min_epu8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint8x16, v_max, _mm_max_epu8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int16x8, v_min, _mm_min_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int16x8, v_max, _mm_max_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_float32x4, v_min, _mm_min_ps)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_float32x4, v_max, _mm_max_ps)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_float64x2, v_min, _mm_min_pd)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_float64x2, v_max, _mm_max_pd)
+
+inline v_int8x16 v_min(const v_int8x16& a, const v_int8x16& b)
+{
+    __m128i delta = _mm_set1_epi8((char)-128);
+    return v_int8x16(_mm_xor_si128(delta, _mm_min_epu8(_mm_xor_si128(a.val, delta),
+                                                       _mm_xor_si128(b.val, delta))));
+}
+inline v_int8x16 v_max(const v_int8x16& a, const v_int8x16& b)
+{
+    __m128i delta = _mm_set1_epi8((char)-128);
+    return v_int8x16(_mm_xor_si128(delta, _mm_max_epu8(_mm_xor_si128(a.val, delta),
+                                                       _mm_xor_si128(b.val, delta))));
+}
+inline v_uint16x8 v_min(const v_uint16x8& a, const v_uint16x8& b)
+{
+    return v_uint16x8(_mm_subs_epu16(a.val, _mm_subs_epu16(a.val, b.val)));
+}
+inline v_uint16x8 v_max(const v_uint16x8& a, const v_uint16x8& b)
+{
+    return v_uint16x8(_mm_adds_epu16(_mm_subs_epu16(a.val, b.val), b.val));
+}
+inline v_uint32x4 v_min(const v_uint32x4& a, const v_uint32x4& b)
+{
+    __m128i delta = _mm_set1_epi32((int)0x80000000);
+    __m128i mask = _mm_cmpgt_epi32(_mm_xor_si128(a.val, delta), _mm_xor_si128(b.val, delta));
+    return v_uint32x4(v_select_si128(mask, b.val, a.val));
+}
+inline v_uint32x4 v_max(const v_uint32x4& a, const v_uint32x4& b)
+{
+    __m128i delta = _mm_set1_epi32((int)0x80000000);
+    __m128i mask = _mm_cmpgt_epi32(_mm_xor_si128(a.val, delta), _mm_xor_si128(b.val, delta));
+    return v_uint32x4(v_select_si128(mask, a.val, b.val));
+}
+inline v_int32x4 v_min(const v_int32x4& a, const v_int32x4& b)
+{
+    return v_int32x4(v_select_si128(_mm_cmpgt_epi32(a.val, b.val), b.val, a.val));
+}
+inline v_int32x4 v_max(const v_int32x4& a, const v_int32x4& b)
+{
+    return v_int32x4(v_select_si128(_mm_cmpgt_epi32(a.val, b.val), a.val, b.val));
+}
+
+#define OPENCV_HAL_IMPL_SSE_INT_CMP_OP(_Tpuvec, _Tpsvec, suffix, sbit) \
+inline _Tpuvec operator == (const _Tpuvec& a, const _Tpuvec& b) \
+{ return _Tpuvec(_mm_cmpeq_##suffix(a.val, b.val)); } \
+inline _Tpuvec operator != (const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    return _Tpuvec(_mm_xor_si128(_mm_cmpeq_##suffix(a.val, b.val), not_mask)); \
+} \
+inline _Tpsvec operator == (const _Tpsvec& a, const _Tpsvec& b) \
+{ return _Tpsvec(_mm_cmpeq_##suffix(a.val, b.val)); } \
+inline _Tpsvec operator != (const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    return _Tpsvec(_mm_xor_si128(_mm_cmpeq_##suffix(a.val, b.val), not_mask)); \
+} \
+inline _Tpuvec operator < (const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    __m128i smask = _mm_set1_##suffix(sbit); \
+    return _Tpuvec(_mm_cmpgt_##suffix(_mm_xor_si128(b.val, smask), _mm_xor_si128(a.val, smask))); \
+} \
+inline _Tpuvec operator > (const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    __m128i smask = _mm_set1_##suffix(sbit); \
+    return _Tpuvec(_mm_cmpgt_##suffix(_mm_xor_si128(a.val, smask), _mm_xor_si128(b.val, smask))); \
+} \
+inline _Tpuvec operator <= (const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    __m128i smask = _mm_set1_##suffix(sbit); \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    __m128i res = _mm_cmpgt_##suffix(_mm_xor_si128(a.val, smask), _mm_xor_si128(b.val, smask)); \
+    return _Tpuvec(_mm_xor_si128(res, not_mask)); \
+} \
+inline _Tpuvec operator >= (const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    __m128i smask = _mm_set1_##suffix(sbit); \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    __m128i res = _mm_cmpgt_##suffix(_mm_xor_si128(b.val, smask), _mm_xor_si128(a.val, smask)); \
+    return _Tpuvec(_mm_xor_si128(res, not_mask)); \
+} \
+inline _Tpsvec operator < (const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    return _Tpsvec(_mm_cmpgt_##suffix(b.val, a.val)); \
+} \
+inline _Tpsvec operator > (const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    return _Tpsvec(_mm_cmpgt_##suffix(a.val, b.val)); \
+} \
+inline _Tpsvec operator <= (const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    return _Tpsvec(_mm_xor_si128(_mm_cmpgt_##suffix(a.val, b.val), not_mask)); \
+} \
+inline _Tpsvec operator >= (const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    __m128i not_mask = _mm_set1_epi32(-1); \
+    return _Tpsvec(_mm_xor_si128(_mm_cmpgt_##suffix(b.val, a.val), not_mask)); \
+}
+
+OPENCV_HAL_IMPL_SSE_INT_CMP_OP(v_uint8x16, v_int8x16, epi8, (char)-128)
+OPENCV_HAL_IMPL_SSE_INT_CMP_OP(v_uint16x8, v_int16x8, epi16, (short)-32768)
+OPENCV_HAL_IMPL_SSE_INT_CMP_OP(v_uint32x4, v_int32x4, epi32, (int)0x80000000)
+
+#define OPENCV_HAL_IMPL_SSE_FLT_CMP_OP(_Tpvec, suffix) \
+inline _Tpvec operator == (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmpeq_##suffix(a.val, b.val)); } \
+inline _Tpvec operator != (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmpneq_##suffix(a.val, b.val)); } \
+inline _Tpvec operator < (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmplt_##suffix(a.val, b.val)); } \
+inline _Tpvec operator > (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmpgt_##suffix(a.val, b.val)); } \
+inline _Tpvec operator <= (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmple_##suffix(a.val, b.val)); } \
+inline _Tpvec operator >= (const _Tpvec& a, const _Tpvec& b) \
+{ return _Tpvec(_mm_cmpge_##suffix(a.val, b.val)); }
+
+OPENCV_HAL_IMPL_SSE_FLT_CMP_OP(v_float32x4, ps)
+OPENCV_HAL_IMPL_SSE_FLT_CMP_OP(v_float64x2, pd)
+
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint8x16, v_add_wrap, _mm_add_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int8x16, v_add_wrap, _mm_add_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint16x8, v_add_wrap, _mm_add_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int16x8, v_add_wrap, _mm_add_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint8x16, v_sub_wrap, _mm_sub_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int8x16, v_sub_wrap, _mm_sub_epi8)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_uint16x8, v_sub_wrap, _mm_sub_epi16)
+OPENCV_HAL_IMPL_SSE_BIN_FUNC(v_int16x8, v_sub_wrap, _mm_sub_epi16)
+
+#define OPENCV_HAL_IMPL_SSE_ABSDIFF_8_16(_Tpuvec, _Tpsvec, bits, smask32) \
+inline _Tpuvec v_absdiff(const _Tpuvec& a, const _Tpuvec& b) \
+{ \
+    return _Tpuvec(_mm_add_epi##bits(_mm_subs_epu##bits(a.val, b.val), _mm_subs_epu##bits(b.val, a.val))); \
+} \
+inline _Tpuvec v_absdiff(const _Tpsvec& a, const _Tpsvec& b) \
+{ \
+    __m128i smask = _mm_set1_epi32(smask32); \
+    __m128i a1 = _mm_xor_si128(a.val, smask); \
+    __m128i b1 = _mm_xor_si128(b.val, smask); \
+    return _Tpuvec(_mm_add_epi##bits(_mm_subs_epu##bits(a1, b1), _mm_subs_epu##bits(b1, a1))); \
+}
+
+OPENCV_HAL_IMPL_SSE_ABSDIFF_8_16(v_uint8x16, v_int8x16, 8, (int)0x80808080)
+OPENCV_HAL_IMPL_SSE_ABSDIFF_8_16(v_uint16x8, v_int16x8, 16, (int)0x80008000)
+
+#define OPENCV_HAL_IMPL_SSE_MISC_FLT_OP(_Tpvec, _Tp, _Tpreg, suffix, absmask_vec) \
+inline _Tpvec v_absdiff(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    _Tpreg absmask = _mm_castsi128_##suffix(absmask_vec); \
+    return _Tpvec(_mm_and_##suffix(_mm_sub_##suffix(a.val, b.val), absmask)); \
+} \
+inline _Tpvec v_magnitude(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    _Tpreg res = _mm_add_##suffix(_mm_mul_##suffix(a.val, a.val), _mm_mul_##suffix(b.val, b.val)); \
+    return _Tpvec(_mm_sqrt_##suffix(res)); \
+} \
+inline _Tpvec v_sqr_magnitude(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    _Tpreg res = _mm_add_##suffix(_mm_mul_##suffix(a.val, a.val), _mm_mul_##suffix(b.val, b.val)); \
+    return _Tpvec(res); \
+} \
+inline _Tpvec v_muladd(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c) \
+{ \
+    return _Tpvec(_mm_add_##suffix(_mm_mul_##suffix(a.val, b.val), c.val)); \
+}
+
+OPENCV_HAL_IMPL_SSE_MISC_FLT_OP(v_float32x4, float, __m128, ps, _mm_set1_epi32((int)0x7fffffff))
+OPENCV_HAL_IMPL_SSE_MISC_FLT_OP(v_float64x2, double, __m128d, pd, _mm_srli_epi64(_mm_set1_epi32(-1), 1))
+
+#define OPENCV_HAL_IMPL_SSE_SHIFT_OP(_Tpuvec, _Tpsvec, suffix, srai) \
+inline _Tpuvec operator << (const _Tpuvec& a, int imm) \
+{ \
+    return _Tpuvec(_mm_slli_##suffix(a.val, imm)); \
+} \
+inline _Tpsvec operator << (const _Tpsvec& a, int imm) \
+{ \
+    return _Tpsvec(_mm_slli_##suffix(a.val, imm)); \
+} \
+inline _Tpuvec operator >> (const _Tpuvec& a, int imm) \
+{ \
+    return _Tpuvec(_mm_srli_##suffix(a.val, imm)); \
+} \
+inline _Tpsvec operator >> (const _Tpsvec& a, int imm) \
+{ \
+    return _Tpsvec(srai(a.val, imm)); \
+} \
+template<int imm> \
+inline _Tpuvec v_shl(const _Tpuvec& a) \
+{ \
+    return _Tpuvec(_mm_slli_##suffix(a.val, imm)); \
+} \
+template<int imm> \
+inline _Tpsvec v_shl(const _Tpsvec& a) \
+{ \
+    return _Tpsvec(_mm_slli_##suffix(a.val, imm)); \
+} \
+template<int imm> \
+inline _Tpuvec v_shr(const _Tpuvec& a) \
+{ \
+    return _Tpuvec(_mm_srli_##suffix(a.val, imm)); \
+} \
+template<int imm> \
+inline _Tpsvec v_shr(const _Tpsvec& a) \
+{ \
+    return _Tpsvec(srai(a.val, imm)); \
+}
+
+OPENCV_HAL_IMPL_SSE_SHIFT_OP(v_uint16x8, v_int16x8, epi16, _mm_srai_epi16)
+OPENCV_HAL_IMPL_SSE_SHIFT_OP(v_uint32x4, v_int32x4, epi32, _mm_srai_epi32)
+OPENCV_HAL_IMPL_SSE_SHIFT_OP(v_uint64x2, v_int64x2, epi64, v_srai_epi64)
+
+#define OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(_Tpvec, _Tp) \
+inline _Tpvec v_load(const _Tp* ptr) \
+{ return _Tpvec(_mm_loadu_si128((const __m128i*)ptr)); } \
+inline _Tpvec v_load_aligned(const _Tp* ptr) \
+{ return _Tpvec(_mm_load_si128((const __m128i*)ptr)); } \
+inline _Tpvec v_load_halves(const _Tp* ptr0, const _Tp* ptr1) \
+{ \
+    return _Tpvec(_mm_unpacklo_epi64(_mm_loadl_epi64((const __m128i*)ptr0), \
+                                     _mm_loadl_epi64((const __m128i*)ptr1))); \
+} \
+inline void v_store(_Tp* ptr, const _Tpvec& a) \
+{ _mm_storeu_si128((__m128i*)ptr, a.val); } \
+inline void v_store_aligned(_Tp* ptr, const _Tpvec& a) \
+{ _mm_store_si128((__m128i*)ptr, a.val); } \
+inline void v_store_low(_Tp* ptr, const _Tpvec& a) \
+{ _mm_storel_epi64((__m128i*)ptr, a.val); } \
+inline void v_store_high(_Tp* ptr, const _Tpvec& a) \
+{ _mm_storel_epi64((__m128i*)ptr, _mm_unpackhi_epi64(a.val, a.val)); }
+
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_uint8x16, uchar)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_int8x16, schar)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_uint16x8, ushort)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_int16x8, short)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_uint32x4, unsigned)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_int32x4, int)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_uint64x2, uint64)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INT_OP(v_int64x2, int64)
+
+#define OPENCV_HAL_IMPL_SSE_LOADSTORE_FLT_OP(_Tpvec, _Tp, suffix) \
+inline _Tpvec v_load(const _Tp* ptr) \
+{ return _Tpvec(_mm_loadu_##suffix(ptr)); } \
+inline _Tpvec v_load_aligned(const _Tp* ptr) \
+{ return _Tpvec(_mm_load_##suffix(ptr)); } \
+inline _Tpvec v_load_halves(const _Tp* ptr0, const _Tp* ptr1) \
+{ \
+    return _Tpvec(_mm_castsi128_##suffix( \
+        _mm_unpacklo_epi64(_mm_loadl_epi64((const __m128i*)ptr0), \
+                           _mm_loadl_epi64((const __m128i*)ptr1)))); \
+} \
+inline void v_store(_Tp* ptr, const _Tpvec& a) \
+{ _mm_storeu_##suffix(ptr, a.val); } \
+inline void v_store_aligned(_Tp* ptr, const _Tpvec& a) \
+{ _mm_store_##suffix(ptr, a.val); } \
+inline void v_store_low(_Tp* ptr, const _Tpvec& a) \
+{ _mm_storel_epi64((__m128i*)ptr, _mm_cast##suffix##_si128(a.val)); } \
+inline void v_store_high(_Tp* ptr, const _Tpvec& a) \
+{ \
+    __m128i a1 = _mm_cast##suffix##_si128(a.val); \
+    _mm_storel_epi64((__m128i*)ptr, _mm_unpackhi_epi64(a1, a1)); \
+}
+
+OPENCV_HAL_IMPL_SSE_LOADSTORE_FLT_OP(v_float32x4, float, ps)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_FLT_OP(v_float64x2, double, pd)
+
+#define OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(_Tpvec, scalartype, func, scalar_func) \
+inline scalartype v_reduce_##func(const _Tpvec& a) \
+{ \
+    scalartype CV_DECL_ALIGNED(16) buf[4]; \
+    v_store_aligned(buf, a); \
+    scalartype s0 = scalar_func(buf[0], buf[1]); \
+    scalartype s1 = scalar_func(buf[2], buf[3]); \
+    return scalar_func(s0, s1); \
+}
+
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_uint32x4, unsigned, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_uint32x4, unsigned, max, std::max)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_uint32x4, unsigned, min, std::min)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_int32x4, int, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_int32x4, int, max, std::max)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_int32x4, int, min, std::min)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_float32x4, float, sum, OPENCV_HAL_ADD)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_float32x4, float, max, std::max)
+OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(v_float32x4, float, min, std::min)
+
+#define OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(_Tpvec, suffix, pack_op, and_op, signmask, allmask) \
+inline int v_signmask(const _Tpvec& a) \
+{ \
+    return and_op(_mm_movemask_##suffix(pack_op(a.val)), signmask); \
+} \
+inline bool v_check_all(const _Tpvec& a) \
+{ return and_op(_mm_movemask_##suffix(a.val), allmask) == allmask; } \
+inline bool v_check_any(const _Tpvec& a) \
+{ return and_op(_mm_movemask_##suffix(a.val), allmask) != 0; }
+
+#define OPENCV_HAL_PACKS(a) _mm_packs_epi16(a, a)
+inline __m128i v_packq_epi32(__m128i a)
+{
+    __m128i b = _mm_packs_epi32(a, a);
+    return _mm_packs_epi16(b, b);
+}
+
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_uint8x16, epi8, OPENCV_HAL_NOP, OPENCV_HAL_1ST, 65535, 65535)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_int8x16, epi8, OPENCV_HAL_NOP, OPENCV_HAL_1ST, 65535, 65535)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_uint16x8, epi8, OPENCV_HAL_PACKS, OPENCV_HAL_AND, 255, (int)0xaaaa)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_int16x8, epi8, OPENCV_HAL_PACKS, OPENCV_HAL_AND, 255, (int)0xaaaa)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_uint32x4, epi8, v_packq_epi32, OPENCV_HAL_AND, 15, (int)0x8888)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_int32x4, epi8, v_packq_epi32, OPENCV_HAL_AND, 15, (int)0x8888)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_float32x4, ps, OPENCV_HAL_NOP, OPENCV_HAL_1ST, 15, 15)
+OPENCV_HAL_IMPL_SSE_CHECK_SIGNS(v_float64x2, pd, OPENCV_HAL_NOP, OPENCV_HAL_1ST, 3, 3)
+
+#define OPENCV_HAL_IMPL_SSE_SELECT(_Tpvec, suffix) \
+inline _Tpvec v_select(const _Tpvec& mask, const _Tpvec& a, const _Tpvec& b) \
+{ \
+    return _Tpvec(_mm_xor_##suffix(b.val, _mm_and_##suffix(_mm_xor_##suffix(b.val, a.val), mask.val))); \
+}
+
+OPENCV_HAL_IMPL_SSE_SELECT(v_uint8x16, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_int8x16, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_uint16x8, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_int16x8, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_uint32x4, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_int32x4, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_uint64x2, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_int64x2, si128)
+OPENCV_HAL_IMPL_SSE_SELECT(v_float32x4, ps)
+OPENCV_HAL_IMPL_SSE_SELECT(v_float64x2, pd)
+
+#define OPENCV_HAL_IMPL_SSE_EXPAND(_Tpuvec, _Tpwuvec, _Tpu, _Tpsvec, _Tpwsvec, _Tps, suffix, wsuffix, shift) \
+inline void v_expand(const _Tpuvec& a, _Tpwuvec& b0, _Tpwuvec& b1) \
+{ \
+    __m128i z = _mm_setzero_si128(); \
+    b0.val = _mm_unpacklo_##suffix(a.val, z); \
+    b1.val = _mm_unpackhi_##suffix(a.val, z); \
+} \
+inline _Tpwuvec v_load_expand(const _Tpu* ptr) \
+{ \
+    __m128i z = _mm_setzero_si128(); \
+    return _Tpwuvec(_mm_unpacklo_##suffix(_mm_loadl_epi64((const __m128i*)ptr), z)); \
+} \
+inline void v_expand(const _Tpsvec& a, _Tpwsvec& b0, _Tpwsvec& b1) \
+{ \
+    b0.val = _mm_srai_##wsuffix(_mm_unpacklo_##suffix(a.val, a.val), shift); \
+    b1.val = _mm_srai_##wsuffix(_mm_unpackhi_##suffix(a.val, a.val), shift); \
+} \
+inline _Tpwsvec v_load_expand(const _Tps* ptr) \
+{ \
+    __m128i a = _mm_loadl_epi64((const __m128i*)ptr); \
+    return _Tpwsvec(_mm_srai_##wsuffix(_mm_unpacklo_##suffix(a, a), shift)); \
+}
+
+OPENCV_HAL_IMPL_SSE_EXPAND(v_uint8x16, v_uint16x8, uchar, v_int8x16, v_int16x8, schar, epi8, epi16, 8)
+OPENCV_HAL_IMPL_SSE_EXPAND(v_uint16x8, v_uint32x4, ushort, v_int16x8, v_int32x4, short, epi16, epi32, 16)
+
+inline void v_expand(const v_uint32x4& a, v_uint64x2& b0, v_uint64x2& b1)
+{
+    __m128i z = _mm_setzero_si128();
+    b0.val = _mm_unpacklo_epi32(a.val, z);
+    b1.val = _mm_unpackhi_epi32(a.val, z);
+}
+inline v_uint64x2 v_load_expand(const unsigned* ptr)
+{
+    __m128i z = _mm_setzero_si128();
+    return v_uint64x2(_mm_unpacklo_epi32(_mm_loadl_epi64((const __m128i*)ptr), z));
+}
+inline void v_expand(const v_int32x4& a, v_int64x2& b0, v_int64x2& b1)
+{
+    __m128i s = _mm_srai_epi32(a.val, 31);
+    b0.val = _mm_unpacklo_epi32(a.val, s);
+    b1.val = _mm_unpackhi_epi32(a.val, s);
+}
+inline v_int64x2 v_load_expand(const int* ptr)
+{
+    __m128i a = _mm_loadl_epi64((const __m128i*)ptr);
+    __m128i s = _mm_srai_epi32(a, 31);
+    return v_int64x2(_mm_unpacklo_epi32(a, s));
+}
+
+inline v_uint32x4 v_load_expand_q(const uchar* ptr)
+{
+    __m128i z = _mm_setzero_si128();
+    __m128i a = _mm_cvtsi32_si128(*(const int*)ptr);
+    return v_uint32x4(_mm_unpacklo_epi16(_mm_unpacklo_epi8(a, z), z));
+}
+
+inline v_int32x4 v_load_expand_q(const schar* ptr)
+{
+    __m128i a = _mm_cvtsi32_si128(*(const int*)ptr);
+    a = _mm_unpacklo_epi8(a, a);
+    a = _mm_unpacklo_epi8(a, a);
+    return v_int32x4(_mm_srai_epi32(a, 24));
+}
+
+#define OPENCV_HAL_IMPL_SSE_UNPACKS(_Tpvec, suffix, cast_from, cast_to) \
+inline void v_zip(const _Tpvec& a0, const _Tpvec& a1, _Tpvec& b0, _Tpvec& b1) \
+{ \
+    b0.val = _mm_unpacklo_##suffix(a0.val, a1.val); \
+    b1.val = _mm_unpackhi_##suffix(a0.val, a1.val); \
+} \
+inline _Tpvec v_combine_low(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    __m128i a1 = cast_from(a.val), b1 = cast_from(b.val); \
+    return _Tpvec(cast_to(_mm_unpacklo_epi64(a1, b1))); \
+} \
+inline _Tpvec v_combine_high(const _Tpvec& a, const _Tpvec& b) \
+{ \
+    __m128i a1 = cast_from(a.val), b1 = cast_from(b.val); \
+    return _Tpvec(cast_to(_mm_unpackhi_epi64(a1, b1))); \
+} \
+inline void v_recombine(const _Tpvec& a, const _Tpvec& b, _Tpvec& c, _Tpvec& d) \
+{ \
+    __m128i a1 = cast_from(a.val), b1 = cast_from(b.val); \
+    c.val = cast_to(_mm_unpacklo_epi64(a1, b1)); \
+    d.val = cast_to(_mm_unpackhi_epi64(a1, b1)); \
+}
+
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_uint8x16, epi8, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_int8x16, epi8, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_uint16x8, epi16, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_int16x8, epi16, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_uint32x4, epi32, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_int32x4, epi32, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_float32x4, ps, _mm_castps_si128, _mm_castsi128_ps)
+OPENCV_HAL_IMPL_SSE_UNPACKS(v_float64x2, pd, _mm_castpd_si128, _mm_castsi128_pd)
+
+inline v_int32x4 v_round(const v_float32x4& a)
+{ return v_int32x4(_mm_cvtps_epi32(a.val)); }
+
+inline v_int32x4 v_floor(const v_float32x4& a)
+{
+    __m128i a1 = _mm_cvtps_epi32(a.val);
+    __m128i mask = _mm_castps_si128(_mm_cmpgt_ps(_mm_cvtepi32_ps(a1), a.val));
+    return v_int32x4(_mm_add_epi32(a1, mask));
+}
+
+inline v_int32x4 v_ceil(const v_float32x4& a)
+{
+    __m128i a1 = _mm_cvtps_epi32(a.val);
+    __m128i mask = _mm_castps_si128(_mm_cmpgt_ps(a.val, _mm_cvtepi32_ps(a1)));
+    return v_int32x4(_mm_sub_epi32(a1, mask));
+}
+
+inline v_int32x4 v_trunc(const v_float32x4& a)
+{ return v_int32x4(_mm_cvttps_epi32(a.val)); }
+
+inline v_int32x4 v_round(const v_float64x2& a)
+{ return v_int32x4(_mm_cvtpd_epi32(a.val)); }
+
+inline v_int32x4 v_floor(const v_float64x2& a)
+{
+    __m128i a1 = _mm_cvtpd_epi32(a.val);
+    __m128i mask = _mm_castpd_si128(_mm_cmpgt_pd(_mm_cvtepi32_pd(a1), a.val));
+    mask = _mm_srli_si128(_mm_slli_si128(mask, 4), 8); // m0 m0 m1 m1 => m0 m1 0 0
+    return v_int32x4(_mm_add_epi32(a1, mask));
+}
+
+inline v_int32x4 v_ceil(const v_float64x2& a)
+{
+    __m128i a1 = _mm_cvtpd_epi32(a.val);
+    __m128i mask = _mm_castpd_si128(_mm_cmpgt_pd(a.val, _mm_cvtepi32_pd(a1)));
+    mask = _mm_srli_si128(_mm_slli_si128(mask, 4), 8); // m0 m0 m1 m1 => m0 m1 0 0
+    return v_int32x4(_mm_sub_epi32(a1, mask));
+}
+
+inline v_int32x4 v_trunc(const v_float64x2& a)
+{ return v_int32x4(_mm_cvttpd_epi32(a.val)); }
+
+#define OPENCV_HAL_IMPL_SSE_TRANSPOSE4x4(_Tpvec, suffix, cast_from, cast_to) \
+inline void v_transpose4x4(const _Tpvec& a0, const _Tpvec& a1, \
+                           const _Tpvec& a2, const _Tpvec& a3, \
+                           _Tpvec& b0, _Tpvec& b1, \
+                           _Tpvec& b2, _Tpvec& b3) \
+{ \
+    __m128i t0 = cast_from(_mm_unpacklo_##suffix(a0.val, a1.val)); \
+    __m128i t1 = cast_from(_mm_unpacklo_##suffix(a2.val, a3.val)); \
+    __m128i t2 = cast_from(_mm_unpackhi_##suffix(a0.val, a1.val)); \
+    __m128i t3 = cast_from(_mm_unpackhi_##suffix(a2.val, a3.val)); \
+\
+    b0.val = cast_to(_mm_unpacklo_epi64(t0, t1)); \
+    b1.val = cast_to(_mm_unpackhi_epi64(t0, t1)); \
+    b2.val = cast_to(_mm_unpacklo_epi64(t2, t3)); \
+    b3.val = cast_to(_mm_unpackhi_epi64(t2, t3)); \
+}
+
+OPENCV_HAL_IMPL_SSE_TRANSPOSE4x4(v_uint32x4, epi32, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_TRANSPOSE4x4(v_int32x4, epi32, OPENCV_HAL_NOP, OPENCV_HAL_NOP)
+OPENCV_HAL_IMPL_SSE_TRANSPOSE4x4(v_float32x4, ps, _mm_castps_si128, _mm_castsi128_ps)
+
+// adopted from sse_utils.hpp
+inline void v_load_deinterleave(const uchar* ptr, v_uint8x16& a, v_uint8x16& b, v_uint8x16& c)
+{
+    __m128i t00 = _mm_loadu_si128((const __m128i*)ptr);
+    __m128i t01 = _mm_loadu_si128((const __m128i*)(ptr + 16));
+    __m128i t02 = _mm_loadu_si128((const __m128i*)(ptr + 32));
+
+    __m128i t10 = _mm_unpacklo_epi8(t00, _mm_unpackhi_epi64(t01, t01));
+    __m128i t11 = _mm_unpacklo_epi8(_mm_unpackhi_epi64(t00, t00), t02);
+    __m128i t12 = _mm_unpacklo_epi8(t01, _mm_unpackhi_epi64(t02, t02));
+
+    __m128i t20 = _mm_unpacklo_epi8(t10, _mm_unpackhi_epi64(t11, t11));
+    __m128i t21 = _mm_unpacklo_epi8(_mm_unpackhi_epi64(t10, t10), t12);
+    __m128i t22 = _mm_unpacklo_epi8(t11, _mm_unpackhi_epi64(t12, t12));
+
+    __m128i t30 = _mm_unpacklo_epi8(t20, _mm_unpackhi_epi64(t21, t21));
+    __m128i t31 = _mm_unpacklo_epi8(_mm_unpackhi_epi64(t20, t20), t22);
+    __m128i t32 = _mm_unpacklo_epi8(t21, _mm_unpackhi_epi64(t22, t22));
+
+    a.val = _mm_unpacklo_epi8(t30, _mm_unpackhi_epi64(t31, t31));
+    b.val = _mm_unpacklo_epi8(_mm_unpackhi_epi64(t30, t30), t32);
+    c.val = _mm_unpacklo_epi8(t31, _mm_unpackhi_epi64(t32, t32));
+}
+
+inline void v_load_deinterleave(const uchar* ptr, v_uint8x16& a, v_uint8x16& b, v_uint8x16& c, v_uint8x16& d)
+{
+    __m128i u0 = _mm_loadu_si128((const __m128i*)ptr); // a0 b0 c0 d0 a1 b1 c1 d1 ...
+    __m128i u1 = _mm_loadu_si128((const __m128i*)(ptr + 16)); // a4 b4 c4 d4 ...
+    __m128i u2 = _mm_loadu_si128((const __m128i*)(ptr + 32)); // a8 b8 c8 d8 ...
+    __m128i u3 = _mm_loadu_si128((const __m128i*)(ptr + 48)); // a12 b12 c12 d12 ...
+
+    __m128i v0 = _mm_unpacklo_epi8(u0, u2); // a0 a8 b0 b8 ...
+    __m128i v1 = _mm_unpackhi_epi8(u0, u2); // a2 a10 b2 b10 ...
+    __m128i v2 = _mm_unpacklo_epi8(u1, u3); // a4 a12 b4 b12 ...
+    __m128i v3 = _mm_unpackhi_epi8(u1, u3); // a6 a14 b4 b14 ...
+
+    u0 = _mm_unpacklo_epi8(v0, v2); // a0 a4 a8 a12 ...
+    u1 = _mm_unpacklo_epi8(v1, v3); // a2 a6 a10 a14 ...
+    u2 = _mm_unpackhi_epi8(v0, v2); // a1 a5 a9 a13 ...
+    u3 = _mm_unpackhi_epi8(v1, v3); // a3 a7 a11 a15 ...
+
+    v0 = _mm_unpacklo_epi8(u0, u1); // a0 a2 a4 a6 ...
+    v1 = _mm_unpacklo_epi8(u2, u3); // a1 a3 a5 a7 ...
+    v2 = _mm_unpackhi_epi8(u0, u1); // b0 b2 b4 b6 ...
+    v3 = _mm_unpackhi_epi8(u2, u3); // b1 b3 b5 b7 ...
+
+    a.val = _mm_unpacklo_epi8(v0, v1);
+    b.val = _mm_unpacklo_epi8(v2, v3);
+    c.val = _mm_unpackhi_epi8(v0, v1);
+    d.val = _mm_unpacklo_epi8(v2, v3);
+}
+
+inline void v_load_deinterleave(const ushort* ptr, v_uint16x8& a, v_uint16x8& b, v_uint16x8& c)
+{
+    __m128i t00 = _mm_loadu_si128((const __m128i*)ptr);
+    __m128i t01 = _mm_loadu_si128((const __m128i*)(ptr + 8));
+    __m128i t02 = _mm_loadu_si128((const __m128i*)(ptr + 16));
+
+    __m128i t10 = _mm_unpacklo_epi16(t00, _mm_unpackhi_epi64(t01, t01));
+    __m128i t11 = _mm_unpacklo_epi16(_mm_unpackhi_epi64(t00, t00), t02);
+    __m128i t12 = _mm_unpacklo_epi16(t01, _mm_unpackhi_epi64(t02, t02));
+
+    __m128i t20 = _mm_unpacklo_epi16(t10, _mm_unpackhi_epi64(t11, t11));
+    __m128i t21 = _mm_unpacklo_epi16(_mm_unpackhi_epi64(t10, t10), t12);
+    __m128i t22 = _mm_unpacklo_epi16(t11, _mm_unpackhi_epi64(t12, t12));
+
+    a.val = _mm_unpacklo_epi16(t20, _mm_unpackhi_epi64(t21, t21));
+    b.val = _mm_unpacklo_epi16(_mm_unpackhi_epi64(t20, t20), t22);
+    c.val = _mm_unpacklo_epi16(t21, _mm_unpackhi_epi64(t22, t22));
+}
+
+inline void v_load_deinterleave(const ushort* ptr, v_uint16x8& a, v_uint16x8& b, v_uint16x8& c, v_uint16x8& d)
+{
+    __m128i u0 = _mm_loadu_si128((const __m128i*)ptr); // a0 b0 c0 d0 a1 b1 c1 d1
+    __m128i u1 = _mm_loadu_si128((const __m128i*)(ptr + 8)); // a2 b2 c2 d2 ...
+    __m128i u2 = _mm_loadu_si128((const __m128i*)(ptr + 16)); // a4 b4 c4 d4 ...
+    __m128i u3 = _mm_loadu_si128((const __m128i*)(ptr + 24)); // a6 b6 c6 d6 ...
+
+    __m128i v0 = _mm_unpacklo_epi16(u0, u2); // a0 a4 b0 b4 ...
+    __m128i v1 = _mm_unpackhi_epi16(u0, u2); // a1 a5 b1 b5 ...
+    __m128i v2 = _mm_unpacklo_epi16(u1, u3); // a2 a6 b2 b6 ...
+    __m128i v3 = _mm_unpackhi_epi16(u1, u3); // a3 a7 b3 b7 ...
+
+    u0 = _mm_unpacklo_epi16(v0, v2); // a0 a2 a4 a6 ...
+    u1 = _mm_unpacklo_epi16(v1, v3); // a1 a3 a5 a7 ...
+    u2 = _mm_unpackhi_epi16(v0, v2); // c0 c2 c4 c6 ...
+    u3 = _mm_unpackhi_epi16(v1, v3); // c1 c3 c5 c7 ...
+
+    a.val = _mm_unpacklo_epi16(u0, u1);
+    b.val = _mm_unpackhi_epi16(u0, u1);
+    c.val = _mm_unpacklo_epi16(u2, u3);
+    d.val = _mm_unpackhi_epi16(u2, u3);
+}
+
+inline void v_load_deinterleave(const unsigned* ptr, v_uint32x4& a, v_uint32x4& b, v_uint32x4& c)
+{
+    __m128i t00 = _mm_loadu_si128((const __m128i*)ptr);
+    __m128i t01 = _mm_loadu_si128((const __m128i*)(ptr + 4));
+    __m128i t02 = _mm_loadu_si128((const __m128i*)(ptr + 8));
+
+    __m128i t10 = _mm_unpacklo_epi32(t00, _mm_unpackhi_epi64(t01, t01));
+    __m128i t11 = _mm_unpacklo_epi32(_mm_unpackhi_epi64(t00, t00), t02);
+    __m128i t12 = _mm_unpacklo_epi32(t01, _mm_unpackhi_epi64(t02, t02));
+
+    a.val = _mm_unpacklo_epi32(t10, _mm_unpackhi_epi64(t11, t11));
+    b.val = _mm_unpacklo_epi32(_mm_unpackhi_epi64(t10, t10), t12);
+    c.val = _mm_unpacklo_epi32(t11, _mm_unpackhi_epi64(t12, t12));
+}
+
+inline void v_load_deinterleave(const unsigned* ptr, v_uint32x4& a, v_uint32x4& b, v_uint32x4& c, v_uint32x4& d)
+{
+    v_uint32x4 u0(_mm_loadu_si128((const __m128i*)ptr));        // a0 b0 c0 d0
+    v_uint32x4 u1(_mm_loadu_si128((const __m128i*)(ptr + 4))); // a1 b1 c1 d1
+    v_uint32x4 u2(_mm_loadu_si128((const __m128i*)(ptr + 8))); // a2 b2 c2 d2
+    v_uint32x4 u3(_mm_loadu_si128((const __m128i*)(ptr + 12))); // a3 b3 c3 d3
+
+    v_transpose4x4(u0, u1, u2, u3, a, b, c, d);
+}
+
+inline void v_store_interleave( uchar* ptr, const v_uint8x16& a, const v_uint8x16& b,
+                                const v_uint8x16& c )
+{
+    __m128i z = _mm_setzero_si128();
+    __m128i ab0 = _mm_unpacklo_epi8(a.val, b.val);
+    __m128i ab1 = _mm_unpackhi_epi8(a.val, b.val);
+    __m128i c0 = _mm_unpacklo_epi8(c.val, z);
+    __m128i c1 = _mm_unpackhi_epi8(c.val, z);
+
+    __m128i p00 = _mm_unpacklo_epi16(ab0, c0);
+    __m128i p01 = _mm_unpackhi_epi16(ab0, c0);
+    __m128i p02 = _mm_unpacklo_epi16(ab1, c1);
+    __m128i p03 = _mm_unpackhi_epi16(ab1, c1);
+
+    __m128i p10 = _mm_unpacklo_epi32(p00, p01);
+    __m128i p11 = _mm_unpackhi_epi32(p00, p01);
+    __m128i p12 = _mm_unpacklo_epi32(p02, p03);
+    __m128i p13 = _mm_unpackhi_epi32(p02, p03);
+
+    __m128i p20 = _mm_unpacklo_epi64(p10, p11);
+    __m128i p21 = _mm_unpackhi_epi64(p10, p11);
+    __m128i p22 = _mm_unpacklo_epi64(p12, p13);
+    __m128i p23 = _mm_unpackhi_epi64(p12, p13);
+
+    p20 = _mm_slli_si128(p20, 1);
+    p22 = _mm_slli_si128(p22, 1);
+
+    __m128i p30 = _mm_slli_epi64(_mm_unpacklo_epi32(p20, p21), 8);
+    __m128i p31 = _mm_srli_epi64(_mm_unpackhi_epi32(p20, p21), 8);
+    __m128i p32 = _mm_slli_epi64(_mm_unpacklo_epi32(p22, p23), 8);
+    __m128i p33 = _mm_srli_epi64(_mm_unpackhi_epi32(p22, p23), 8);
+
+    __m128i p40 = _mm_unpacklo_epi64(p30, p31);
+    __m128i p41 = _mm_unpackhi_epi64(p30, p31);
+    __m128i p42 = _mm_unpacklo_epi64(p32, p33);
+    __m128i p43 = _mm_unpackhi_epi64(p32, p33);
+
+    __m128i v0 = _mm_or_si128(_mm_srli_si128(p40, 2), _mm_slli_si128(p41, 10));
+    __m128i v1 = _mm_or_si128(_mm_srli_si128(p41, 6), _mm_slli_si128(p42, 6));
+    __m128i v2 = _mm_or_si128(_mm_srli_si128(p42, 10), _mm_slli_si128(p43, 2));
+
+    _mm_storeu_si128((__m128i*)(ptr), v0);
+    _mm_storeu_si128((__m128i*)(ptr + 16), v1);
+    _mm_storeu_si128((__m128i*)(ptr + 32), v2);
+}
+
+inline void v_store_interleave( uchar* ptr, const v_uint8x16& a, const v_uint8x16& b,
+                                const v_uint8x16& c, const v_uint8x16& d)
+{
+    // a0 a1 a2 a3 ....
+    // b0 b1 b2 b3 ....
+    // c0 c1 c2 c3 ....
+    // d0 d1 d2 d3 ....
+    __m128i u0 = _mm_unpacklo_epi8(a.val, c.val); // a0 c0 a1 c1 ...
+    __m128i u1 = _mm_unpackhi_epi8(a.val, c.val); // a8 c8 a9 c9 ...
+    __m128i u2 = _mm_unpacklo_epi8(b.val, d.val); // b0 d0 b1 d1 ...
+    __m128i u3 = _mm_unpackhi_epi8(b.val, d.val); // b8 d8 b9 d9 ...
+
+    __m128i v0 = _mm_unpacklo_epi8(u0, u2); // a0 b0 c0 d0 ...
+    __m128i v1 = _mm_unpacklo_epi8(u1, u3); // a8 b8 c8 d8 ...
+    __m128i v2 = _mm_unpackhi_epi8(u0, u2); // a4 b4 c4 d4 ...
+    __m128i v3 = _mm_unpackhi_epi8(u1, u3); // a12 b12 c12 d12 ...
+
+    _mm_storeu_si128((__m128i*)ptr, v0);
+    _mm_storeu_si128((__m128i*)(ptr + 16), v2);
+    _mm_storeu_si128((__m128i*)(ptr + 32), v1);
+    _mm_storeu_si128((__m128i*)(ptr + 48), v3);
+}
+
+inline void v_store_interleave( ushort* ptr, const v_uint16x8& a,
+                                const v_uint16x8& b,
+                                const v_uint16x8& c )
+{
+    __m128i z = _mm_setzero_si128();
+    __m128i ab0 = _mm_unpacklo_epi16(a.val, b.val);
+    __m128i ab1 = _mm_unpackhi_epi16(a.val, b.val);
+    __m128i c0 = _mm_unpacklo_epi16(c.val, z);
+    __m128i c1 = _mm_unpackhi_epi16(c.val, z);
+
+    __m128i p10 = _mm_unpacklo_epi32(ab0, c0);
+    __m128i p11 = _mm_unpackhi_epi32(ab0, c0);
+    __m128i p12 = _mm_unpacklo_epi32(ab1, c1);
+    __m128i p13 = _mm_unpackhi_epi32(ab1, c1);
+
+    __m128i p20 = _mm_unpacklo_epi64(p10, p11);
+    __m128i p21 = _mm_unpackhi_epi64(p10, p11);
+    __m128i p22 = _mm_unpacklo_epi64(p12, p13);
+    __m128i p23 = _mm_unpackhi_epi64(p12, p13);
+
+    p20 = _mm_slli_si128(p20, 2);
+    p22 = _mm_slli_si128(p22, 2);
+
+    __m128i p30 = _mm_unpacklo_epi64(p20, p21);
+    __m128i p31 = _mm_unpackhi_epi64(p20, p21);
+    __m128i p32 = _mm_unpacklo_epi64(p22, p23);
+    __m128i p33 = _mm_unpackhi_epi64(p22, p23);
+
+    __m128i v0 = _mm_or_si128(_mm_srli_si128(p30, 2), _mm_slli_si128(p31, 10));
+    __m128i v1 = _mm_or_si128(_mm_srli_si128(p31, 6), _mm_slli_si128(p32, 6));
+    __m128i v2 = _mm_or_si128(_mm_srli_si128(p32, 10), _mm_slli_si128(p33, 2));
+
+    _mm_storeu_si128((__m128i*)(ptr), v0);
+    _mm_storeu_si128((__m128i*)(ptr + 8), v1);
+    _mm_storeu_si128((__m128i*)(ptr + 16), v2);
+}
+
+inline void v_store_interleave( ushort* ptr, const v_uint16x8& a, const v_uint16x8& b,
+                                const v_uint16x8& c, const v_uint16x8& d)
+{
+    // a0 a1 a2 a3 ....
+    // b0 b1 b2 b3 ....
+    // c0 c1 c2 c3 ....
+    // d0 d1 d2 d3 ....
+    __m128i u0 = _mm_unpacklo_epi16(a.val, c.val); // a0 c0 a1 c1 ...
+    __m128i u1 = _mm_unpackhi_epi16(a.val, c.val); // a4 c4 a5 c5 ...
+    __m128i u2 = _mm_unpacklo_epi16(b.val, d.val); // b0 d0 b1 d1 ...
+    __m128i u3 = _mm_unpackhi_epi16(b.val, d.val); // b4 d4 b5 d5 ...
+
+    __m128i v0 = _mm_unpacklo_epi16(u0, u2); // a0 b0 c0 d0 ...
+    __m128i v1 = _mm_unpacklo_epi16(u1, u3); // a4 b4 c4 d4 ...
+    __m128i v2 = _mm_unpackhi_epi16(u0, u2); // a2 b2 c2 d2 ...
+    __m128i v3 = _mm_unpackhi_epi16(u1, u3); // a6 b6 c6 d6 ...
+
+    _mm_storeu_si128((__m128i*)ptr, v0);
+    _mm_storeu_si128((__m128i*)(ptr + 8), v2);
+    _mm_storeu_si128((__m128i*)(ptr + 16), v1);
+    _mm_storeu_si128((__m128i*)(ptr + 24), v3);
+}
+
+inline void v_store_interleave( unsigned* ptr, const v_uint32x4& a, const v_uint32x4& b,
+                                const v_uint32x4& c )
+{
+    v_uint32x4 z = v_setzero_u32(), u0, u1, u2, u3;
+    v_transpose4x4(a, b, c, z, u0, u1, u2, u3);
+
+    __m128i v0 = _mm_or_si128(u0.val, _mm_slli_si128(u1.val, 12));
+    __m128i v1 = _mm_or_si128(_mm_srli_si128(u1.val, 4), _mm_slli_si128(u2.val, 8));
+    __m128i v2 = _mm_or_si128(_mm_srli_si128(u2.val, 8), _mm_slli_si128(u3.val, 4));
+
+    _mm_storeu_si128((__m128i*)ptr, v0);
+    _mm_storeu_si128((__m128i*)(ptr + 4), v1);
+    _mm_storeu_si128((__m128i*)(ptr + 8), v2);
+}
+
+inline void v_store_interleave(unsigned* ptr, const v_uint32x4& a, const v_uint32x4& b,
+                               const v_uint32x4& c, const v_uint32x4& d)
+{
+    v_uint32x4 t0, t1, t2, t3;
+    v_transpose4x4(a, b, c, d, t0, t1, t2, t3);
+    v_store(ptr, t0);
+    v_store(ptr + 4, t1);
+    v_store(ptr + 8, t2);
+    v_store(ptr + 12, t3);
+}
+
+#define OPENCV_HAL_IMPL_SSE_LOADSTORE_INTERLEAVE(_Tpvec, _Tp, suffix, _Tpuvec, _Tpu, usuffix) \
+inline void v_load_deinterleave( const _Tp* ptr, _Tpvec& a0, \
+                                 _Tpvec& b0, _Tpvec& c0 ) \
+{ \
+    _Tpuvec a1, b1, c1; \
+    v_load_deinterleave((const _Tpu*)ptr, a1, b1, c1); \
+    a0 = v_reinterpret_as_##suffix(a1); \
+    b0 = v_reinterpret_as_##suffix(b1); \
+    c0 = v_reinterpret_as_##suffix(c1); \
+} \
+inline void v_load_deinterleave( const _Tp* ptr, _Tpvec& a0, \
+                                 _Tpvec& b0, _Tpvec& c0, _Tpvec& d0 ) \
+{ \
+    _Tpuvec a1, b1, c1, d1; \
+    v_load_deinterleave((const _Tpu*)ptr, a1, b1, c1, d1); \
+    a0 = v_reinterpret_as_##suffix(a1); \
+    b0 = v_reinterpret_as_##suffix(b1); \
+    c0 = v_reinterpret_as_##suffix(c1); \
+    d0 = v_reinterpret_as_##suffix(d1); \
+} \
+inline void v_store_interleave( _Tp* ptr, const _Tpvec& a0, \
+                               const _Tpvec& b0, const _Tpvec& c0 ) \
+{ \
+    _Tpuvec a1 = v_reinterpret_as_##usuffix(a0); \
+    _Tpuvec b1 = v_reinterpret_as_##usuffix(b0); \
+    _Tpuvec c1 = v_reinterpret_as_##usuffix(c0); \
+    v_store_interleave((_Tpu*)ptr, a1, b1, c1); \
+} \
+inline void v_store_interleave( _Tp* ptr, const _Tpvec& a0, const _Tpvec& b0, \
+                               const _Tpvec& c0, const _Tpvec& d0 ) \
+{ \
+    _Tpuvec a1 = v_reinterpret_as_##usuffix(a0); \
+    _Tpuvec b1 = v_reinterpret_as_##usuffix(b0); \
+    _Tpuvec c1 = v_reinterpret_as_##usuffix(c0); \
+    _Tpuvec d1 = v_reinterpret_as_##usuffix(d0); \
+    v_store_interleave((_Tpu*)ptr, a1, b1, c1, d1); \
+}
+
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INTERLEAVE(v_int8x16, schar, s8, v_uint8x16, uchar, u8)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INTERLEAVE(v_int16x8, short, s16, v_uint16x8, ushort, u16)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INTERLEAVE(v_int32x4, int, s32, v_uint32x4, unsigned, u32)
+OPENCV_HAL_IMPL_SSE_LOADSTORE_INTERLEAVE(v_float32x4, float, f32, v_uint32x4, unsigned, u32)
+
+inline v_float32x4 v_cvt_f32(const v_int32x4& a)
+{
+    return v_float32x4(_mm_cvtepi32_ps(a.val));
+}
+
+inline v_float32x4 v_cvt_f32(const v_float64x2& a)
+{
+    return v_float32x4(_mm_cvtpd_ps(a.val));
+}
+
+inline v_float64x2 v_cvt_f64(const v_int32x4& a)
+{
+    return v_float64x2(_mm_cvtepi32_pd(a.val));
+}
+
+inline v_float64x2 v_cvt_f64(const v_float32x4& a)
+{
+    return v_float64x2(_mm_cvtps_pd(a.val));
+}
+
+}
+
+#endif
diff --git a/3rdparty/include/opencv2/highgui.hpp b/3rdparty/include/opencv2/highgui.hpp
new file mode 100644
index 0000000..9275ae7
--- /dev/null
+++ b/3rdparty/include/opencv2/highgui.hpp
@@ -0,0 +1,704 @@
+/*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*/
+
+#ifndef __OPENCV_HIGHGUI_HPP__
+#define __OPENCV_HIGHGUI_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/videoio.hpp"
+
+/**
+@defgroup highgui High-level GUI
+
+While OpenCV was designed for use in full-scale applications and can be used within functionally
+rich UI frameworks (such as Qt\*, WinForms\*, or Cocoa\*) or without any UI at all, sometimes there
+it is required to try functionality quickly and visualize the results. This is what the HighGUI
+module has been designed for.
+
+It provides easy interface to:
+
+-   Create and manipulate windows that can display images and "remember" their content (no need to
+    handle repaint events from OS).
+-   Add trackbars to the windows, handle simple mouse events as well as keyboard commands.
+
+@{
+    @defgroup highgui_opengl OpenGL support
+    @defgroup highgui_qt Qt New Functions
+
+    ![image](pics/qtgui.png)
+
+    This figure explains new functionality implemented with Qt\* GUI. The new GUI provides a statusbar,
+    a toolbar, and a control panel. The control panel can have trackbars and buttonbars attached to it.
+    If you cannot see the control panel, press Ctrl+P or right-click any Qt window and select **Display
+    properties window**.
+
+    -   To attach a trackbar, the window name parameter must be NULL.
+
+    -   To attach a buttonbar, a button must be created. If the last bar attached to the control panel
+        is a buttonbar, the new button is added to the right of the last button. If the last bar
+        attached to the control panel is a trackbar, or the control panel is empty, a new buttonbar is
+        created. Then, a new button is attached to it.
+
+    See below the example used to generate the figure: :
+    @code
+        int main(int argc, char *argv[])
+            int value = 50;
+            int value2 = 0;
+
+            cvNamedWindow("main1",CV_WINDOW_NORMAL);
+            cvNamedWindow("main2",CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
+
+            cvCreateTrackbar( "track1", "main1", &value, 255,  NULL);//OK tested
+            char* nameb1 = "button1";
+            char* nameb2 = "button2";
+            cvCreateButton(nameb1,callbackButton,nameb1,CV_CHECKBOX,1);
+
+            cvCreateButton(nameb2,callbackButton,nameb2,CV_CHECKBOX,0);
+            cvCreateTrackbar( "track2", NULL, &value2, 255, NULL);
+            cvCreateButton("button5",callbackButton1,NULL,CV_RADIOBOX,0);
+            cvCreateButton("button6",callbackButton2,NULL,CV_RADIOBOX,1);
+
+            cvSetMouseCallback( "main2",on_mouse,NULL );
+
+            IplImage* img1 = cvLoadImage("files/flower.jpg");
+            IplImage* img2 = cvCreateImage(cvGetSize(img1),8,3);
+            CvCapture* video = cvCaptureFromFile("files/hockey.avi");
+            IplImage* img3 = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,3);
+
+            while(cvWaitKey(33) != 27)
+            {
+                cvAddS(img1,cvScalarAll(value),img2);
+                cvAddS(cvQueryFrame(video),cvScalarAll(value2),img3);
+                cvShowImage("main1",img2);
+                cvShowImage("main2",img3);
+            }
+
+            cvDestroyAllWindows();
+            cvReleaseImage(&img1);
+            cvReleaseImage(&img2);
+            cvReleaseImage(&img3);
+            cvReleaseCapture(&video);
+            return 0;
+        }
+    @endcode
+
+    @defgroup highgui_c C API
+@}
+*/
+
+///////////////////////// graphical user interface //////////////////////////
+namespace cv
+{
+
+//! @addtogroup highgui
+//! @{
+
+// Flags for namedWindow
+enum { WINDOW_NORMAL     = 0x00000000, // the user can resize the window (no constraint) / also use to switch a fullscreen window to a normal size
+       WINDOW_AUTOSIZE   = 0x00000001, // the user cannot resize the window, the size is constrainted by the image displayed
+       WINDOW_OPENGL     = 0x00001000, // window with opengl support
+
+       WINDOW_FULLSCREEN = 1,          // change the window to fullscreen
+       WINDOW_FREERATIO  = 0x00000100, // the image expends as much as it can (no ratio constraint)
+       WINDOW_KEEPRATIO  = 0x00000000  // the ratio of the image is respected
+     };
+
+// Flags for set / getWindowProperty
+enum { WND_PROP_FULLSCREEN   = 0, // fullscreen property    (can be WINDOW_NORMAL or WINDOW_FULLSCREEN)
+       WND_PROP_AUTOSIZE     = 1, // autosize property      (can be WINDOW_NORMAL or WINDOW_AUTOSIZE)
+       WND_PROP_ASPECT_RATIO = 2, // window's aspect ration (can be set to WINDOW_FREERATIO or WINDOW_KEEPRATIO);
+       WND_PROP_OPENGL       = 3  // opengl support
+     };
+
+enum { EVENT_MOUSEMOVE      = 0,
+       EVENT_LBUTTONDOWN    = 1,
+       EVENT_RBUTTONDOWN    = 2,
+       EVENT_MBUTTONDOWN    = 3,
+       EVENT_LBUTTONUP      = 4,
+       EVENT_RBUTTONUP      = 5,
+       EVENT_MBUTTONUP      = 6,
+       EVENT_LBUTTONDBLCLK  = 7,
+       EVENT_RBUTTONDBLCLK  = 8,
+       EVENT_MBUTTONDBLCLK  = 9,
+       EVENT_MOUSEWHEEL     = 10,
+       EVENT_MOUSEHWHEEL    = 11
+     };
+
+enum { EVENT_FLAG_LBUTTON   = 1,
+       EVENT_FLAG_RBUTTON   = 2,
+       EVENT_FLAG_MBUTTON   = 4,
+       EVENT_FLAG_CTRLKEY   = 8,
+       EVENT_FLAG_SHIFTKEY  = 16,
+       EVENT_FLAG_ALTKEY    = 32
+     };
+
+// Qt font
+enum {  QT_FONT_LIGHT           = 25, //QFont::Light,
+        QT_FONT_NORMAL          = 50, //QFont::Normal,
+        QT_FONT_DEMIBOLD        = 63, //QFont::DemiBold,
+        QT_FONT_BOLD            = 75, //QFont::Bold,
+        QT_FONT_BLACK           = 87  //QFont::Black
+     };
+
+// Qt font style
+enum {  QT_STYLE_NORMAL         = 0, //QFont::StyleNormal,
+        QT_STYLE_ITALIC         = 1, //QFont::StyleItalic,
+        QT_STYLE_OBLIQUE        = 2  //QFont::StyleOblique
+     };
+
+// Qt "button" type
+enum { QT_PUSH_BUTTON = 0,
+       QT_CHECKBOX    = 1,
+       QT_RADIOBOX    = 2
+     };
+
+
+typedef void (*MouseCallback)(int event, int x, int y, int flags, void* userdata);
+typedef void (*TrackbarCallback)(int pos, void* userdata);
+typedef void (*OpenGlDrawCallback)(void* userdata);
+typedef void (*ButtonCallback)(int state, void* userdata);
+
+/** @brief Creates a window.
+
+@param winname Name of the window in the window caption that may be used as a window identifier.
+@param flags Flags of the window. The supported flags are:
+> -   **WINDOW_NORMAL** If this is set, the user can resize the window (no constraint).
+> -   **WINDOW_AUTOSIZE** If this is set, the window size is automatically adjusted to fit the
+>     displayed image (see imshow ), and you cannot change the window size manually.
+> -   **WINDOW_OPENGL** If this is set, the window will be created with OpenGL support.
+
+The function namedWindow creates a window that can be used as a placeholder for images and
+trackbars. Created windows are referred to by their names.
+
+If a window with the same name already exists, the function does nothing.
+
+You can call destroyWindow or destroyAllWindows to close the window and de-allocate any associated
+memory usage. For a simple program, you do not really have to call these functions because all the
+resources and windows of the application are closed automatically by the operating system upon exit.
+
+@note
+
+Qt backend supports additional flags:
+ -   **CV_WINDOW_NORMAL or CV_WINDOW_AUTOSIZE:** CV_WINDOW_NORMAL enables you to resize the
+     window, whereas CV_WINDOW_AUTOSIZE adjusts automatically the window size to fit the
+     displayed image (see imshow ), and you cannot change the window size manually.
+ -   **CV_WINDOW_FREERATIO or CV_WINDOW_KEEPRATIO:** CV_WINDOW_FREERATIO adjusts the image
+     with no respect to its ratio, whereas CV_WINDOW_KEEPRATIO keeps the image ratio.
+ -   **CV_GUI_NORMAL or CV_GUI_EXPANDED:** CV_GUI_NORMAL is the old way to draw the window
+     without statusbar and toolbar, whereas CV_GUI_EXPANDED is a new enhanced GUI.
+By default, flags == CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO | CV_GUI_EXPANDED
+ */
+CV_EXPORTS_W void namedWindow(const String& winname, int flags = WINDOW_AUTOSIZE);
+
+/** @brief Destroys a window.
+
+@param winname Name of the window to be destroyed.
+
+The function destroyWindow destroys the window with the given name.
+ */
+CV_EXPORTS_W void destroyWindow(const String& winname);
+
+/** @brief Destroys all of the HighGUI windows.
+
+The function destroyAllWindows destroys all of the opened HighGUI windows.
+ */
+CV_EXPORTS_W void destroyAllWindows();
+
+CV_EXPORTS_W int startWindowThread();
+
+/** @brief Waits for a pressed key.
+
+@param delay Delay in milliseconds. 0 is the special value that means "forever".
+
+The function waitKey waits for a key event infinitely (when \f$\texttt{delay}\leq 0\f$ ) or for delay
+milliseconds, when it is positive. Since the OS has a minimum time between switching threads, the
+function will not wait exactly delay ms, it will wait at least delay ms, depending on what else is
+running on your computer at that time. It returns the code of the pressed key or -1 if no key was
+pressed before the specified time had elapsed.
+
+@note
+
+This function is the only method in HighGUI that can fetch and handle events, so it needs to be
+called periodically for normal event processing unless HighGUI is used within an environment that
+takes care of event processing.
+
+@note
+
+The function only works if there is at least one HighGUI window created and the window is active.
+If there are several HighGUI windows, any of them can be active.
+ */
+CV_EXPORTS_W int waitKey(int delay = 0);
+
+/** @brief Displays an image in the specified window.
+
+@param winname Name of the window.
+@param mat Image to be shown.
+
+The function imshow displays an image in the specified window. If the window was created with the
+CV_WINDOW_AUTOSIZE flag, the image is shown with its original size, however it is still limited by the screen resolution.
+Otherwise, the image is scaled to fit the window. The function may scale the image, depending on its depth:
+
+-   If the image is 8-bit unsigned, it is displayed as is.
+-   If the image is 16-bit unsigned or 32-bit integer, the pixels are divided by 256. That is, the
+    value range [0,255\*256] is mapped to [0,255].
+-   If the image is 32-bit floating-point, the pixel values are multiplied by 255. That is, the
+    value range [0,1] is mapped to [0,255].
+
+If window was created with OpenGL support, imshow also support ogl::Buffer , ogl::Texture2D and
+cuda::GpuMat as input.
+
+If the window was not created before this function, it is assumed creating a window with CV_WINDOW_AUTOSIZE.
+
+If you need to show an image that is bigger than the screen resolution, you will need to call namedWindow("", WINDOW_NORMAL) before the imshow.
+
+@note This function should be followed by waitKey function which displays the image for specified
+milliseconds. Otherwise, it won't display the image. For example, waitKey(0) will display the window
+infinitely until any keypress (it is suitable for image display). waitKey(25) will display a frame
+for 25 ms, after which display will be automatically closed. (If you put it in a loop to read
+videos, it will display the video frame-by-frame)
+
+@note
+
+[Windows Backend Only] Pressing Ctrl+C will copy the image to the clipboard.
+
+ */
+CV_EXPORTS_W void imshow(const String& winname, InputArray mat);
+
+/** @brief Resizes window to the specified size
+
+@param winname Window name
+@param width The new window width
+@param height The new window height
+
+@note
+
+-   The specified window size is for the image area. Toolbars are not counted.
+-   Only windows created without CV_WINDOW_AUTOSIZE flag can be resized.
+ */
+CV_EXPORTS_W void resizeWindow(const String& winname, int width, int height);
+
+/** @brief Moves window to the specified position
+
+@param winname Window name
+@param x The new x-coordinate of the window
+@param y The new y-coordinate of the window
+ */
+CV_EXPORTS_W void moveWindow(const String& winname, int x, int y);
+
+/** @brief Changes parameters of a window dynamically.
+
+@param winname Name of the window.
+@param prop_id Window property to edit. The following operation flags are available:
+ -   **CV_WND_PROP_FULLSCREEN** Change if the window is fullscreen ( CV_WINDOW_NORMAL or
+     CV_WINDOW_FULLSCREEN ).
+ -   **CV_WND_PROP_AUTOSIZE** Change if the window is resizable (CV_WINDOW_NORMAL or
+     CV_WINDOW_AUTOSIZE ).
+ -   **CV_WND_PROP_ASPECTRATIO** Change if the aspect ratio of the image is preserved (
+     CV_WINDOW_FREERATIO or CV_WINDOW_KEEPRATIO ).
+@param prop_value New value of the window property. The following operation flags are available:
+ -   **CV_WINDOW_NORMAL** Change the window to normal size or make the window resizable.
+ -   **CV_WINDOW_AUTOSIZE** Constrain the size by the displayed image. The window is not
+     resizable.
+ -   **CV_WINDOW_FULLSCREEN** Change the window to fullscreen.
+ -   **CV_WINDOW_FREERATIO** Make the window resizable without any ratio constraints.
+ -   **CV_WINDOW_KEEPRATIO** Make the window resizable, but preserve the proportions of the
+     displayed image.
+
+The function setWindowProperty enables changing properties of a window.
+ */
+CV_EXPORTS_W void setWindowProperty(const String& winname, int prop_id, double prop_value);
+
+/** @brief Updates window title
+*/
+CV_EXPORTS_W void setWindowTitle(const String& winname, const String& title);
+
+/** @brief Provides parameters of a window.
+
+@param winname Name of the window.
+@param prop_id Window property to retrieve. The following operation flags are available:
+ -   **CV_WND_PROP_FULLSCREEN** Change if the window is fullscreen ( CV_WINDOW_NORMAL or
+     CV_WINDOW_FULLSCREEN ).
+ -   **CV_WND_PROP_AUTOSIZE** Change if the window is resizable (CV_WINDOW_NORMAL or
+     CV_WINDOW_AUTOSIZE ).
+ -   **CV_WND_PROP_ASPECTRATIO** Change if the aspect ratio of the image is preserved
+     (CV_WINDOW_FREERATIO or CV_WINDOW_KEEPRATIO ).
+
+See setWindowProperty to know the meaning of the returned values.
+
+The function getWindowProperty returns properties of a window.
+ */
+CV_EXPORTS_W double getWindowProperty(const String& winname, int prop_id);
+
+/** @brief Sets mouse handler for the specified window
+
+@param winname Window name
+@param onMouse Mouse callback. See OpenCV samples, such as
+<https://github.com/Itseez/opencv/tree/master/samples/cpp/ffilldemo.cpp>, on how to specify and
+use the callback.
+@param userdata The optional parameter passed to the callback.
+ */
+CV_EXPORTS void setMouseCallback(const String& winname, MouseCallback onMouse, void* userdata = 0);
+
+/** @brief Gets the mouse-wheel motion delta, when handling mouse-wheel events EVENT_MOUSEWHEEL and
+EVENT_MOUSEHWHEEL.
+
+@param flags The mouse callback flags parameter.
+
+For regular mice with a scroll-wheel, delta will be a multiple of 120. The value 120 corresponds to
+a one notch rotation of the wheel or the threshold for action to be taken and one such action should
+occur for each delta. Some high-precision mice with higher-resolution freely-rotating wheels may
+generate smaller values.
+
+For EVENT_MOUSEWHEEL positive and negative values mean forward and backward scrolling,
+respectively. For EVENT_MOUSEHWHEEL, where available, positive and negative values mean right and
+left scrolling, respectively.
+
+With the C API, the macro CV_GET_WHEEL_DELTA(flags) can be used alternatively.
+
+@note
+
+Mouse-wheel events are currently supported only on Windows.
+ */
+CV_EXPORTS int getMouseWheelDelta(int flags);
+
+/** @brief Creates a trackbar and attaches it to the specified window.
+
+@param trackbarname Name of the created trackbar.
+@param winname Name of the window that will be used as a parent of the created trackbar.
+@param value Optional pointer to an integer variable whose value reflects the position of the
+slider. Upon creation, the slider position is defined by this variable.
+@param count Maximal position of the slider. The minimal position is always 0.
+@param onChange Pointer to the function to be called every time the slider changes position. This
+function should be prototyped as void Foo(int,void\*); , where the first parameter is the trackbar
+position and the second parameter is the user data (see the next parameter). If the callback is
+the NULL pointer, no callbacks are called, but only value is updated.
+@param userdata User data that is passed as is to the callback. It can be used to handle trackbar
+events without using global variables.
+
+The function createTrackbar creates a trackbar (a slider or range control) with the specified name
+and range, assigns a variable value to be a position synchronized with the trackbar and specifies
+the callback function onChange to be called on the trackbar position change. The created trackbar is
+displayed in the specified window winname.
+
+@note
+
+**[Qt Backend Only]** winname can be empty (or NULL) if the trackbar should be attached to the
+control panel.
+
+Clicking the label of each trackbar enables editing the trackbar values manually.
+
+@note
+
+-   An example of using the trackbar functionality can be found at
+    opencv_source_code/samples/cpp/connected_components.cpp
+ */
+CV_EXPORTS int createTrackbar(const String& trackbarname, const String& winname,
+                              int* value, int count,
+                              TrackbarCallback onChange = 0,
+                              void* userdata = 0);
+
+/** @brief Returns the trackbar position.
+
+@param trackbarname Name of the trackbar.
+@param winname Name of the window that is the parent of the trackbar.
+
+The function returns the current position of the specified trackbar.
+
+@note
+
+**[Qt Backend Only]** winname can be empty (or NULL) if the trackbar is attached to the control
+panel.
+
+ */
+CV_EXPORTS_W int getTrackbarPos(const String& trackbarname, const String& winname);
+
+/** @brief Sets the trackbar position.
+
+@param trackbarname Name of the trackbar.
+@param winname Name of the window that is the parent of trackbar.
+@param pos New position.
+
+The function sets the position of the specified trackbar in the specified window.
+
+@note
+
+**[Qt Backend Only]** winname can be empty (or NULL) if the trackbar is attached to the control
+panel.
+ */
+CV_EXPORTS_W void setTrackbarPos(const String& trackbarname, const String& winname, int pos);
+
+/** @brief Sets the trackbar maximum position.
+
+@param trackbarname Name of the trackbar.
+@param winname Name of the window that is the parent of trackbar.
+@param maxval New maximum position.
+
+The function sets the maximum position of the specified trackbar in the specified window.
+
+@note
+
+**[Qt Backend Only]** winname can be empty (or NULL) if the trackbar is attached to the control
+panel.
+ */
+CV_EXPORTS_W void setTrackbarMax(const String& trackbarname, const String& winname, int maxval);
+
+//! @addtogroup highgui_opengl OpenGL support
+//! @{
+
+CV_EXPORTS void imshow(const String& winname, const ogl::Texture2D& tex);
+
+/** @brief Sets a callback function to be called to draw on top of displayed image.
+
+@param winname Name of the window.
+@param onOpenGlDraw Pointer to the function to be called every frame. This function should be
+prototyped as void Foo(void\*) .
+@param userdata Pointer passed to the callback function. *(Optional)*
+
+The function setOpenGlDrawCallback can be used to draw 3D data on the window. See the example of
+callback function below: :
+@code
+    void on_opengl(void* param)
+    {
+        glLoadIdentity();
+
+        glTranslated(0.0, 0.0, -1.0);
+
+        glRotatef( 55, 1, 0, 0 );
+        glRotatef( 45, 0, 1, 0 );
+        glRotatef( 0, 0, 0, 1 );
+
+        static const int coords[6][4][3] = {
+            { { +1, -1, -1 }, { -1, -1, -1 }, { -1, +1, -1 }, { +1, +1, -1 } },
+            { { +1, +1, -1 }, { -1, +1, -1 }, { -1, +1, +1 }, { +1, +1, +1 } },
+            { { +1, -1, +1 }, { +1, -1, -1 }, { +1, +1, -1 }, { +1, +1, +1 } },
+            { { -1, -1, -1 }, { -1, -1, +1 }, { -1, +1, +1 }, { -1, +1, -1 } },
+            { { +1, -1, +1 }, { -1, -1, +1 }, { -1, -1, -1 }, { +1, -1, -1 } },
+            { { -1, -1, +1 }, { +1, -1, +1 }, { +1, +1, +1 }, { -1, +1, +1 } }
+        };
+
+        for (int i = 0; i < 6; ++i) {
+                    glColor3ub( i*20, 100+i*10, i*42 );
+                    glBegin(GL_QUADS);
+                    for (int j = 0; j < 4; ++j) {
+                            glVertex3d(0.2 * coords[i][j][0], 0.2 * coords[i][j][1], 0.2 * coords[i][j][2]);
+                    }
+                    glEnd();
+        }
+    }
+@endcode
+ */
+CV_EXPORTS void setOpenGlDrawCallback(const String& winname, OpenGlDrawCallback onOpenGlDraw, void* userdata = 0);
+
+/** @brief Sets the specified window as current OpenGL context.
+
+@param winname Window name
+ */
+CV_EXPORTS void setOpenGlContext(const String& winname);
+
+/** @brief Force window to redraw its context and call draw callback ( setOpenGlDrawCallback ).
+
+@param winname Window name
+ */
+CV_EXPORTS void updateWindow(const String& winname);
+
+//! @} highgui_opengl
+
+//! @addtogroup highgui_qt
+//! @{
+// Only for Qt
+
+struct QtFont
+{
+    const char* nameFont;  // Qt: nameFont
+    Scalar      color;     // Qt: ColorFont -> cvScalar(blue_component, green_component, red_component[, alpha_component])
+    int         font_face; // Qt: bool italic
+    const int*  ascii;     // font data and metrics
+    const int*  greek;
+    const int*  cyrillic;
+    float       hscale, vscale;
+    float       shear;     // slope coefficient: 0 - normal, >0 - italic
+    int         thickness; // Qt: weight
+    float       dx;        // horizontal interval between letters
+    int         line_type; // Qt: PointSize
+};
+
+/** @brief Creates the font to draw a text on an image.
+
+@param nameFont Name of the font. The name should match the name of a system font (such as
+*Times*). If the font is not found, a default one is used.
+@param pointSize Size of the font. If not specified, equal zero or negative, the point size of the
+font is set to a system-dependent default value. Generally, this is 12 points.
+@param color Color of the font in BGRA where A = 255 is fully transparent. Use the macro CV _ RGB
+for simplicity.
+@param weight Font weight. The following operation flags are available:
+ -   **CV_FONT_LIGHT** Weight of 25
+ -   **CV_FONT_NORMAL** Weight of 50
+ -   **CV_FONT_DEMIBOLD** Weight of 63
+ -   **CV_FONT_BOLD** Weight of 75
+ -   **CV_FONT_BLACK** Weight of 87
+
+ You can also specify a positive integer for better control.
+@param style Font style. The following operation flags are available:
+ -   **CV_STYLE_NORMAL** Normal font
+ -   **CV_STYLE_ITALIC** Italic font
+ -   **CV_STYLE_OBLIQUE** Oblique font
+@param spacing Spacing between characters. It can be negative or positive.
+
+The function fontQt creates a CvFont object. This CvFont is not compatible with putText .
+
+A basic usage of this function is the following: :
+@code
+    CvFont font = fontQt(''Times'');
+    addText( img1, ``Hello World !'', Point(50,50), font);
+@endcode
+ */
+CV_EXPORTS QtFont fontQt(const String& nameFont, int pointSize = -1,
+                         Scalar color = Scalar::all(0), int weight = QT_FONT_NORMAL,
+                         int style = QT_STYLE_NORMAL, int spacing = 0);
+
+/** @brief Creates the font to draw a text on an image.
+
+@param img 8-bit 3-channel image where the text should be drawn.
+@param text Text to write on an image.
+@param org Point(x,y) where the text should start on an image.
+@param font Font to use to draw a text.
+
+The function addText draws *text* on an image *img* using a specific font *font* (see example fontQt
+)
+ */
+CV_EXPORTS void addText( const Mat& img, const String& text, Point org, const QtFont& font);
+
+/** @brief Displays a text on a window image as an overlay for a specified duration.
+
+@param winname Name of the window.
+@param text Overlay text to write on a window image.
+@param delayms The period (in milliseconds), during which the overlay text is displayed. If this
+function is called before the previous overlay text timed out, the timer is restarted and the text
+is updated. If this value is zero, the text never disappears.
+
+The function displayOverlay displays useful information/tips on top of the window for a certain
+amount of time *delayms*. The function does not modify the image, displayed in the window, that is,
+after the specified delay the original content of the window is restored.
+ */
+CV_EXPORTS void displayOverlay(const String& winname, const String& text, int delayms = 0);
+
+/** @brief Displays a text on the window statusbar during the specified period of time.
+
+@param winname Name of the window.
+@param text Text to write on the window statusbar.
+@param delayms Duration (in milliseconds) to display the text. If this function is called before
+the previous text timed out, the timer is restarted and the text is updated. If this value is
+zero, the text never disappears.
+
+The function displayOverlay displays useful information/tips on top of the window for a certain
+amount of time *delayms* . This information is displayed on the window statusbar (the window must be
+created with the CV_GUI_EXPANDED flags).
+ */
+CV_EXPORTS void displayStatusBar(const String& winname, const String& text, int delayms = 0);
+
+/** @brief Saves parameters of the specified window.
+
+@param windowName Name of the window.
+
+The function saveWindowParameters saves size, location, flags, trackbars value, zoom and panning
+location of the window window_name .
+ */
+CV_EXPORTS void saveWindowParameters(const String& windowName);
+
+/** @brief Loads parameters of the specified window.
+
+@param windowName Name of the window.
+
+The function loadWindowParameters loads size, location, flags, trackbars value, zoom and panning
+location of the window window_name .
+ */
+CV_EXPORTS void loadWindowParameters(const String& windowName);
+
+CV_EXPORTS  int startLoop(int (*pt2Func)(int argc, char *argv[]), int argc, char* argv[]);
+
+CV_EXPORTS  void stopLoop();
+
+/** @brief Attaches a button to the control panel.
+
+@param  bar_name
+   Name of the button.
+@param on_change Pointer to the function to be called every time the button changes its state.
+This function should be prototyped as void Foo(int state,\*void); . *state* is the current state
+of the button. It could be -1 for a push button, 0 or 1 for a check/radio box button.
+@param userdata Pointer passed to the callback function.
+@param type Optional type of the button.
+ -   **CV_PUSH_BUTTON** Push button
+ -   **CV_CHECKBOX** Checkbox button
+ -   **CV_RADIOBOX** Radiobox button. The radiobox on the same buttonbar (same line) are
+     exclusive, that is only one can be selected at a time.
+@param initial_button_state Default state of the button. Use for checkbox and radiobox. Its
+value could be 0 or 1. *(Optional)*
+
+The function createButton attaches a button to the control panel. Each button is added to a
+buttonbar to the right of the last button. A new buttonbar is created if nothing was attached to the
+control panel before, or if the last element attached to the control panel was a trackbar.
+
+See below various examples of the createButton function call: :
+@code
+    createButton(NULL,callbackButton);//create a push button "button 0", that will call callbackButton.
+    createButton("button2",callbackButton,NULL,CV_CHECKBOX,0);
+    createButton("button3",callbackButton,&value);
+    createButton("button5",callbackButton1,NULL,CV_RADIOBOX);
+    createButton("button6",callbackButton2,NULL,CV_PUSH_BUTTON,1);
+@endcode
+*/
+CV_EXPORTS int createButton( const String& bar_name, ButtonCallback on_change,
+                             void* userdata = 0, int type = QT_PUSH_BUTTON,
+                             bool initial_button_state = false);
+
+//! @} highgui_qt
+
+//! @} highgui
+
+} // cv
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/highgui/highgui_c.h"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/highgui/highgui.hpp b/3rdparty/include/opencv2/highgui/highgui.hpp
new file mode 100644
index 0000000..160c9cf
--- /dev/null
+++ b/3rdparty/include/opencv2/highgui/highgui.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/highgui.hpp"
diff --git a/3rdparty/include/opencv2/highgui/highgui_c.h b/3rdparty/include/opencv2/highgui/highgui_c.h
new file mode 100644
index 0000000..46d4c95
--- /dev/null
+++ b/3rdparty/include/opencv2/highgui/highgui_c.h
@@ -0,0 +1,251 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_HIGHGUI_H__
+#define __OPENCV_HIGHGUI_H__
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/imgcodecs/imgcodecs_c.h"
+#include "opencv2/videoio/videoio_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup highgui_c
+  @{
+  */
+
+/****************************************************************************************\
+*                                  Basic GUI functions                                   *
+\****************************************************************************************/
+//YV
+//-----------New for Qt
+/* For font */
+enum {  CV_FONT_LIGHT           = 25,//QFont::Light,
+        CV_FONT_NORMAL          = 50,//QFont::Normal,
+        CV_FONT_DEMIBOLD        = 63,//QFont::DemiBold,
+        CV_FONT_BOLD            = 75,//QFont::Bold,
+        CV_FONT_BLACK           = 87 //QFont::Black
+};
+
+enum {  CV_STYLE_NORMAL         = 0,//QFont::StyleNormal,
+        CV_STYLE_ITALIC         = 1,//QFont::StyleItalic,
+        CV_STYLE_OBLIQUE        = 2 //QFont::StyleOblique
+};
+/* ---------*/
+
+//for color cvScalar(blue_component, green_component, red_component[, alpha_component])
+//and alpha= 0 <-> 0xFF (not transparent <-> transparent)
+CVAPI(CvFont) cvFontQt(const char* nameFont, int pointSize CV_DEFAULT(-1), CvScalar color CV_DEFAULT(cvScalarAll(0)), int weight CV_DEFAULT(CV_FONT_NORMAL),  int style CV_DEFAULT(CV_STYLE_NORMAL), int spacing CV_DEFAULT(0));
+
+CVAPI(void) cvAddText(const CvArr* img, const char* text, CvPoint org, CvFont *arg2);
+
+CVAPI(void) cvDisplayOverlay(const char* name, const char* text, int delayms CV_DEFAULT(0));
+CVAPI(void) cvDisplayStatusBar(const char* name, const char* text, int delayms CV_DEFAULT(0));
+
+CVAPI(void) cvSaveWindowParameters(const char* name);
+CVAPI(void) cvLoadWindowParameters(const char* name);
+CVAPI(int) cvStartLoop(int (*pt2Func)(int argc, char *argv[]), int argc, char* argv[]);
+CVAPI(void) cvStopLoop( void );
+
+typedef void (CV_CDECL *CvButtonCallback)(int state, void* userdata);
+enum {CV_PUSH_BUTTON = 0, CV_CHECKBOX = 1, CV_RADIOBOX = 2};
+CVAPI(int) cvCreateButton( const char* button_name CV_DEFAULT(NULL),CvButtonCallback on_change CV_DEFAULT(NULL), void* userdata CV_DEFAULT(NULL) , int button_type CV_DEFAULT(CV_PUSH_BUTTON), int initial_button_state CV_DEFAULT(0));
+//----------------------
+
+
+/* this function is used to set some external parameters in case of X Window */
+CVAPI(int) cvInitSystem( int argc, char** argv );
+
+CVAPI(int) cvStartWindowThread( void );
+
+// ---------  YV ---------
+enum
+{
+    //These 3 flags are used by cvSet/GetWindowProperty
+    CV_WND_PROP_FULLSCREEN = 0, //to change/get window's fullscreen property
+    CV_WND_PROP_AUTOSIZE   = 1, //to change/get window's autosize property
+    CV_WND_PROP_ASPECTRATIO= 2, //to change/get window's aspectratio property
+    CV_WND_PROP_OPENGL     = 3, //to change/get window's opengl support
+
+    //These 2 flags are used by cvNamedWindow and cvSet/GetWindowProperty
+    CV_WINDOW_NORMAL       = 0x00000000, //the user can resize the window (no constraint)  / also use to switch a fullscreen window to a normal size
+    CV_WINDOW_AUTOSIZE     = 0x00000001, //the user cannot resize the window, the size is constrainted by the image displayed
+    CV_WINDOW_OPENGL       = 0x00001000, //window with opengl support
+
+    //Those flags are only for Qt
+    CV_GUI_EXPANDED         = 0x00000000, //status bar and tool bar
+    CV_GUI_NORMAL           = 0x00000010, //old fashious way
+
+    //These 3 flags are used by cvNamedWindow and cvSet/GetWindowProperty
+    CV_WINDOW_FULLSCREEN   = 1,//change the window to fullscreen
+    CV_WINDOW_FREERATIO    = 0x00000100,//the image expends as much as it can (no ratio constraint)
+    CV_WINDOW_KEEPRATIO    = 0x00000000//the ration image is respected.
+};
+
+/* create window */
+CVAPI(int) cvNamedWindow( const char* name, int flags CV_DEFAULT(CV_WINDOW_AUTOSIZE) );
+
+/* Set and Get Property of the window */
+CVAPI(void) cvSetWindowProperty(const char* name, int prop_id, double prop_value);
+CVAPI(double) cvGetWindowProperty(const char* name, int prop_id);
+
+/* display image within window (highgui windows remember their content) */
+CVAPI(void) cvShowImage( const char* name, const CvArr* image );
+
+/* resize/move window */
+CVAPI(void) cvResizeWindow( const char* name, int width, int height );
+CVAPI(void) cvMoveWindow( const char* name, int x, int y );
+
+
+/* destroy window and all the trackers associated with it */
+CVAPI(void) cvDestroyWindow( const char* name );
+
+CVAPI(void) cvDestroyAllWindows(void);
+
+/* get native window handle (HWND in case of Win32 and Widget in case of X Window) */
+CVAPI(void*) cvGetWindowHandle( const char* name );
+
+/* get name of highgui window given its native handle */
+CVAPI(const char*) cvGetWindowName( void* window_handle );
+
+
+typedef void (CV_CDECL *CvTrackbarCallback)(int pos);
+
+/* create trackbar and display it on top of given window, set callback */
+CVAPI(int) cvCreateTrackbar( const char* trackbar_name, const char* window_name,
+                             int* value, int count, CvTrackbarCallback on_change CV_DEFAULT(NULL));
+
+typedef void (CV_CDECL *CvTrackbarCallback2)(int pos, void* userdata);
+
+CVAPI(int) cvCreateTrackbar2( const char* trackbar_name, const char* window_name,
+                              int* value, int count, CvTrackbarCallback2 on_change,
+                              void* userdata CV_DEFAULT(0));
+
+/* retrieve or set trackbar position */
+CVAPI(int) cvGetTrackbarPos( const char* trackbar_name, const char* window_name );
+CVAPI(void) cvSetTrackbarPos( const char* trackbar_name, const char* window_name, int pos );
+CVAPI(void) cvSetTrackbarMax(const char* trackbar_name, const char* window_name, int maxval);
+
+enum
+{
+    CV_EVENT_MOUSEMOVE      =0,
+    CV_EVENT_LBUTTONDOWN    =1,
+    CV_EVENT_RBUTTONDOWN    =2,
+    CV_EVENT_MBUTTONDOWN    =3,
+    CV_EVENT_LBUTTONUP      =4,
+    CV_EVENT_RBUTTONUP      =5,
+    CV_EVENT_MBUTTONUP      =6,
+    CV_EVENT_LBUTTONDBLCLK  =7,
+    CV_EVENT_RBUTTONDBLCLK  =8,
+    CV_EVENT_MBUTTONDBLCLK  =9,
+    CV_EVENT_MOUSEWHEEL     =10,
+    CV_EVENT_MOUSEHWHEEL    =11
+};
+
+enum
+{
+    CV_EVENT_FLAG_LBUTTON   =1,
+    CV_EVENT_FLAG_RBUTTON   =2,
+    CV_EVENT_FLAG_MBUTTON   =4,
+    CV_EVENT_FLAG_CTRLKEY   =8,
+    CV_EVENT_FLAG_SHIFTKEY  =16,
+    CV_EVENT_FLAG_ALTKEY    =32
+};
+
+
+#define CV_GET_WHEEL_DELTA(flags) ((short)((flags >> 16) & 0xffff)) // upper 16 bits
+
+typedef void (CV_CDECL *CvMouseCallback )(int event, int x, int y, int flags, void* param);
+
+/* assign callback for mouse events */
+CVAPI(void) cvSetMouseCallback( const char* window_name, CvMouseCallback on_mouse,
+                                void* param CV_DEFAULT(NULL));
+
+/* wait for key event infinitely (delay<=0) or for "delay" milliseconds */
+CVAPI(int) cvWaitKey(int delay CV_DEFAULT(0));
+
+// OpenGL support
+
+typedef void (CV_CDECL *CvOpenGlDrawCallback)(void* userdata);
+CVAPI(void) cvSetOpenGlDrawCallback(const char* window_name, CvOpenGlDrawCallback callback, void* userdata CV_DEFAULT(NULL));
+
+CVAPI(void) cvSetOpenGlContext(const char* window_name);
+CVAPI(void) cvUpdateWindow(const char* window_name);
+
+
+/****************************************************************************************\
+
+*                              Obsolete functions/synonyms                               *
+\****************************************************************************************/
+
+#define cvAddSearchPath(path)
+#define cvvInitSystem cvInitSystem
+#define cvvNamedWindow cvNamedWindow
+#define cvvShowImage cvShowImage
+#define cvvResizeWindow cvResizeWindow
+#define cvvDestroyWindow cvDestroyWindow
+#define cvvCreateTrackbar cvCreateTrackbar
+#define cvvAddSearchPath cvAddSearchPath
+#define cvvWaitKey(name) cvWaitKey(0)
+#define cvvWaitKeyEx(name,delay) cvWaitKey(delay)
+#define HG_AUTOSIZE CV_WINDOW_AUTOSIZE
+#define set_preprocess_func cvSetPreprocessFuncWin32
+#define set_postprocess_func cvSetPostprocessFuncWin32
+
+#if defined WIN32 || defined _WIN32
+
+CVAPI(void) cvSetPreprocessFuncWin32_(const void* callback);
+CVAPI(void) cvSetPostprocessFuncWin32_(const void* callback);
+#define cvSetPreprocessFuncWin32(callback) cvSetPreprocessFuncWin32_((const void*)(callback))
+#define cvSetPostprocessFuncWin32(callback) cvSetPostprocessFuncWin32_((const void*)(callback))
+
+#endif
+
+/** @} highgui_c */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/imgcodecs.hpp b/3rdparty/include/opencv2/imgcodecs.hpp
new file mode 100644
index 0000000..91e44fb
--- /dev/null
+++ b/3rdparty/include/opencv2/imgcodecs.hpp
@@ -0,0 +1,250 @@
+/*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*/
+
+#ifndef __OPENCV_IMGCODECS_HPP__
+#define __OPENCV_IMGCODECS_HPP__
+
+#include "opencv2/core.hpp"
+
+/**
+  @defgroup imgcodecs Image file reading and writing
+  @{
+    @defgroup imgcodecs_c C API
+    @defgroup imgcodecs_ios iOS glue
+  @}
+*/
+
+//////////////////////////////// image codec ////////////////////////////////
+namespace cv
+{
+
+//! @addtogroup imgcodecs
+//! @{
+
+//! Imread flags
+enum ImreadModes {
+       IMREAD_UNCHANGED  = -1, //!< If set, return the loaded image as is (with alpha channel, otherwise it gets cropped).
+       IMREAD_GRAYSCALE  = 0,  //!< If set, always convert image to the single channel grayscale image.
+       IMREAD_COLOR      = 1,  //!< If set, always convert image to the 3 channel BGR color image.
+       IMREAD_ANYDEPTH   = 2,  //!< If set, return 16-bit/32-bit image when the input has the corresponding depth, otherwise convert it to 8-bit.
+       IMREAD_ANYCOLOR   = 4,  //!< If set, the image is read in any possible color format.
+       IMREAD_LOAD_GDAL  = 8   //!< If set, use the gdal driver for loading the image.
+     };
+
+//! Imwrite flags
+enum ImwriteFlags {
+       IMWRITE_JPEG_QUALITY        = 1,  //!< For JPEG, it can be a quality from 0 to 100 (the higher is the better). Default value is 95.
+       IMWRITE_JPEG_PROGRESSIVE    = 2,  //!< Enable JPEG features, 0 or 1, default is False.
+       IMWRITE_JPEG_OPTIMIZE       = 3,  //!< Enable JPEG features, 0 or 1, default is False.
+       IMWRITE_JPEG_RST_INTERVAL   = 4,  //!< JPEG restart interval, 0 - 65535, default is 0 - no restart.
+       IMWRITE_JPEG_LUMA_QUALITY   = 5,  //!< Separate luma quality level, 0 - 100, default is 0 - don't use.
+       IMWRITE_JPEG_CHROMA_QUALITY = 6,  //!< Separate chroma quality level, 0 - 100, default is 0 - don't use.
+       IMWRITE_PNG_COMPRESSION     = 16, //!< For PNG, it can be the compression level from 0 to 9. A higher value means a smaller size and longer compression time. Default value is 3.
+       IMWRITE_PNG_STRATEGY        = 17, //!< One of cv::ImwritePNGFlags, default is IMWRITE_PNG_STRATEGY_DEFAULT.
+       IMWRITE_PNG_BILEVEL         = 18, //!< Binary level PNG, 0 or 1, default is 0.
+       IMWRITE_PXM_BINARY          = 32, //!< For PPM, PGM, or PBM, it can be a binary format flag, 0 or 1. Default value is 1.
+       IMWRITE_WEBP_QUALITY        = 64  //!< For WEBP, it can be a quality from 1 to 100 (the higher is the better). By default (without any parameter) and for quality above 100 the lossless compression is used.
+     };
+
+//! Imwrite PNG specific flags
+enum ImwritePNGFlags {
+       IMWRITE_PNG_STRATEGY_DEFAULT      = 0,
+       IMWRITE_PNG_STRATEGY_FILTERED     = 1,
+       IMWRITE_PNG_STRATEGY_HUFFMAN_ONLY = 2,
+       IMWRITE_PNG_STRATEGY_RLE          = 3,
+       IMWRITE_PNG_STRATEGY_FIXED        = 4
+     };
+
+/** @brief Loads an image from a file.
+
+@anchor imread
+
+@param filename Name of file to be loaded.
+@param flags Flag that can take values of @ref cv::ImreadModes
+
+The function imread loads an image from the specified file and returns it. If the image cannot be
+read (because of missing file, improper permissions, unsupported or invalid format), the function
+returns an empty matrix ( Mat::data==NULL ). Currently, the following file formats are supported:
+
+-   Windows bitmaps - \*.bmp, \*.dib (always supported)
+-   JPEG files - \*.jpeg, \*.jpg, \*.jpe (see the *Notes* section)
+-   JPEG 2000 files - \*.jp2 (see the *Notes* section)
+-   Portable Network Graphics - \*.png (see the *Notes* section)
+-   WebP - \*.webp (see the *Notes* section)
+-   Portable image format - \*.pbm, \*.pgm, \*.ppm (always supported)
+-   Sun rasters - \*.sr, \*.ras (always supported)
+-   TIFF files - \*.tiff, \*.tif (see the *Notes* section)
+
+@note
+
+-   The function determines the type of an image by the content, not by the file extension.
+-   On Microsoft Windows\* OS and MacOSX\*, the codecs shipped with an OpenCV image (libjpeg,
+    libpng, libtiff, and libjasper) are used by default. So, OpenCV can always read JPEGs, PNGs,
+    and TIFFs. On MacOSX, there is also an option to use native MacOSX image readers. But beware
+    that currently these native image loaders give images with different pixel values because of
+    the color management embedded into MacOSX.
+-   On Linux\*, BSD flavors and other Unix-like open-source operating systems, OpenCV looks for
+    codecs supplied with an OS image. Install the relevant packages (do not forget the development
+    files, for example, "libjpeg-dev", in Debian\* and Ubuntu\*) to get the codec support or turn
+    on the OPENCV_BUILD_3RDPARTY_LIBS flag in CMake.
+
+@note In the case of color images, the decoded images will have the channels stored in B G R order.
+ */
+CV_EXPORTS_W Mat imread( const String& filename, int flags = IMREAD_COLOR );
+
+/** @brief Loads a multi-page image from a file. (see imread for details.)
+
+@param filename Name of file to be loaded.
+@param flags Flag that can take values of @ref cv::ImreadModes, default with IMREAD_ANYCOLOR.
+@param mats A vector of Mat objects holding each page, if more than one.
+
+*/
+CV_EXPORTS_W bool imreadmulti(const String& filename, std::vector<Mat>& mats, int flags = IMREAD_ANYCOLOR);
+
+/** @brief Saves an image to a specified file.
+
+@param filename Name of the file.
+@param img Image to be saved.
+@param params Format-specific save parameters encoded as pairs, see @ref cv::ImwriteFlags
+paramId_1, paramValue_1, paramId_2, paramValue_2, ... .
+
+The function imwrite saves the image to the specified file. The image format is chosen based on the
+filename extension (see imread for the list of extensions). Only 8-bit (or 16-bit unsigned (CV_16U)
+in case of PNG, JPEG 2000, and TIFF) single-channel or 3-channel (with 'BGR' channel order) images
+can be saved using this function. If the format, depth or channel order is different, use
+Mat::convertTo , and cvtColor to convert it before saving. Or, use the universal FileStorage I/O
+functions to save the image to XML or YAML format.
+
+It is possible to store PNG images with an alpha channel using this function. To do this, create
+8-bit (or 16-bit) 4-channel image BGRA, where the alpha channel goes last. Fully transparent pixels
+should have alpha set to 0, fully opaque pixels should have alpha set to 255/65535. The sample below
+shows how to create such a BGRA image and store to PNG file. It also demonstrates how to set custom
+compression parameters :
+@code
+    #include <vector>
+    #include <stdio.h>
+    #include <opencv2/opencv.hpp>
+
+    using namespace cv;
+    using namespace std;
+
+    void createAlphaMat(Mat &mat)
+    {
+        CV_Assert(mat.channels() == 4);
+        for (int i = 0; i < mat.rows; ++i) {
+            for (int j = 0; j < mat.cols; ++j) {
+                Vec4b& bgra = mat.at<Vec4b>(i, j);
+                bgra[0] = UCHAR_MAX; // Blue
+                bgra[1] = saturate_cast<uchar>((float (mat.cols - j)) / ((float)mat.cols) * UCHAR_MAX); // Green
+                bgra[2] = saturate_cast<uchar>((float (mat.rows - i)) / ((float)mat.rows) * UCHAR_MAX); // Red
+                bgra[3] = saturate_cast<uchar>(0.5 * (bgra[1] + bgra[2])); // Alpha
+            }
+        }
+    }
+
+    int main(int argv, char **argc)
+    {
+        // Create mat with alpha channel
+        Mat mat(480, 640, CV_8UC4);
+        createAlphaMat(mat);
+
+        vector<int> compression_params;
+        compression_params.push_back(IMWRITE_PNG_COMPRESSION);
+        compression_params.push_back(9);
+
+        try {
+            imwrite("alpha.png", mat, compression_params);
+        }
+        catch (runtime_error& ex) {
+            fprintf(stderr, "Exception converting image to PNG format: %s\n", ex.what());
+            return 1;
+        }
+
+        fprintf(stdout, "Saved PNG file with alpha data.\n");
+        return 0;
+    }
+@endcode
+ */
+CV_EXPORTS_W bool imwrite( const String& filename, InputArray img,
+              const std::vector<int>& params = std::vector<int>());
+
+/** @overload */
+CV_EXPORTS_W Mat imdecode( InputArray buf, int flags );
+
+/** @brief Reads an image from a buffer in memory.
+
+@param buf Input array or vector of bytes.
+@param flags The same flags as in imread, see @ref cv::ImreadModes.
+@param dst The optional output placeholder for the decoded matrix. It can save the image
+reallocations when the function is called repeatedly for images of the same size.
+
+The function reads an image from the specified buffer in the memory. If the buffer is too short or
+contains invalid data, the empty matrix/image is returned.
+
+See imread for the list of supported formats and flags description.
+
+@note In the case of color images, the decoded images will have the channels stored in B G R order.
+ */
+CV_EXPORTS Mat imdecode( InputArray buf, int flags, Mat* dst);
+
+/** @brief Encodes an image into a memory buffer.
+
+@param ext File extension that defines the output format.
+@param img Image to be written.
+@param buf Output buffer resized to fit the compressed image.
+@param params Format-specific parameters. See imwrite and @ref cv::ImwriteFlags.
+
+The function compresses the image and stores it in the memory buffer that is resized to fit the
+result. See imwrite for the list of supported formats and flags description.
+
+@note cvEncodeImage returns single-row matrix of type CV_8UC1 that contains encoded image as array
+of bytes.
+ */
+CV_EXPORTS_W bool imencode( const String& ext, InputArray img,
+                            CV_OUT std::vector<uchar>& buf,
+                            const std::vector<int>& params = std::vector<int>());
+
+//! @} imgcodecs
+
+} // cv
+
+#endif //__OPENCV_IMGCODECS_HPP__
diff --git a/3rdparty/include/opencv2/imgcodecs/imgcodecs.hpp b/3rdparty/include/opencv2/imgcodecs/imgcodecs.hpp
new file mode 100644
index 0000000..a3cd232
--- /dev/null
+++ b/3rdparty/include/opencv2/imgcodecs/imgcodecs.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/imgcodecs.hpp"
diff --git a/3rdparty/include/opencv2/imgcodecs/imgcodecs_c.h b/3rdparty/include/opencv2/imgcodecs/imgcodecs_c.h
new file mode 100644
index 0000000..ad793cc
--- /dev/null
+++ b/3rdparty/include/opencv2/imgcodecs/imgcodecs_c.h
@@ -0,0 +1,137 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_IMGCODECS_H__
+#define __OPENCV_IMGCODECS_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup imgcodecs_c
+  @{
+  */
+
+enum
+{
+/* 8bit, color or not */
+    CV_LOAD_IMAGE_UNCHANGED  =-1,
+/* 8bit, gray */
+    CV_LOAD_IMAGE_GRAYSCALE  =0,
+/* ?, color */
+    CV_LOAD_IMAGE_COLOR      =1,
+/* any depth, ? */
+    CV_LOAD_IMAGE_ANYDEPTH   =2,
+/* ?, any color */
+    CV_LOAD_IMAGE_ANYCOLOR   =4
+};
+
+/* load image from file
+  iscolor can be a combination of above flags where CV_LOAD_IMAGE_UNCHANGED
+  overrides the other flags
+  using CV_LOAD_IMAGE_ANYCOLOR alone is equivalent to CV_LOAD_IMAGE_UNCHANGED
+  unless CV_LOAD_IMAGE_ANYDEPTH is specified images are converted to 8bit
+*/
+CVAPI(IplImage*) cvLoadImage( const char* filename, int iscolor CV_DEFAULT(CV_LOAD_IMAGE_COLOR));
+CVAPI(CvMat*) cvLoadImageM( const char* filename, int iscolor CV_DEFAULT(CV_LOAD_IMAGE_COLOR));
+
+enum
+{
+    CV_IMWRITE_JPEG_QUALITY =1,
+    CV_IMWRITE_JPEG_PROGRESSIVE =2,
+    CV_IMWRITE_JPEG_OPTIMIZE =3,
+    CV_IMWRITE_JPEG_RST_INTERVAL =4,
+    CV_IMWRITE_JPEG_LUMA_QUALITY =5,
+    CV_IMWRITE_JPEG_CHROMA_QUALITY =6,
+    CV_IMWRITE_PNG_COMPRESSION =16,
+    CV_IMWRITE_PNG_STRATEGY =17,
+    CV_IMWRITE_PNG_BILEVEL =18,
+    CV_IMWRITE_PNG_STRATEGY_DEFAULT =0,
+    CV_IMWRITE_PNG_STRATEGY_FILTERED =1,
+    CV_IMWRITE_PNG_STRATEGY_HUFFMAN_ONLY =2,
+    CV_IMWRITE_PNG_STRATEGY_RLE =3,
+    CV_IMWRITE_PNG_STRATEGY_FIXED =4,
+    CV_IMWRITE_PXM_BINARY =32,
+    CV_IMWRITE_WEBP_QUALITY =64
+};
+
+/* save image to file */
+CVAPI(int) cvSaveImage( const char* filename, const CvArr* image,
+                        const int* params CV_DEFAULT(0) );
+
+/* decode image stored in the buffer */
+CVAPI(IplImage*) cvDecodeImage( const CvMat* buf, int iscolor CV_DEFAULT(CV_LOAD_IMAGE_COLOR));
+CVAPI(CvMat*) cvDecodeImageM( const CvMat* buf, int iscolor CV_DEFAULT(CV_LOAD_IMAGE_COLOR));
+
+/* encode image and store the result as a byte vector (single-row 8uC1 matrix) */
+CVAPI(CvMat*) cvEncodeImage( const char* ext, const CvArr* image,
+                             const int* params CV_DEFAULT(0) );
+
+enum
+{
+    CV_CVTIMG_FLIP      =1,
+    CV_CVTIMG_SWAP_RB   =2
+};
+
+/* utility function: convert one image to another with optional vertical flip */
+CVAPI(void) cvConvertImage( const CvArr* src, CvArr* dst, int flags CV_DEFAULT(0));
+
+CVAPI(int) cvHaveImageReader(const char* filename);
+CVAPI(int) cvHaveImageWriter(const char* filename);
+
+
+/****************************************************************************************\
+*                              Obsolete functions/synonyms                               *
+\****************************************************************************************/
+
+#define cvvLoadImage(name) cvLoadImage((name),1)
+#define cvvSaveImage cvSaveImage
+#define cvvConvertImage cvConvertImage
+
+/** @} imgcodecs_c */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __OPENCV_IMGCODECS_H__
diff --git a/3rdparty/include/opencv2/imgcodecs/ios.h b/3rdparty/include/opencv2/imgcodecs/ios.h
new file mode 100644
index 0000000..fbd6371
--- /dev/null
+++ b/3rdparty/include/opencv2/imgcodecs/ios.h
@@ -0,0 +1,57 @@
+
+/*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*/
+
+#import <UIKit/UIKit.h>
+#import <Accelerate/Accelerate.h>
+#import <AVFoundation/AVFoundation.h>
+#import <ImageIO/ImageIO.h>
+#include "opencv2/core/core.hpp"
+
+//! @addtogroup imgcodecs_ios
+//! @{
+
+UIImage* MatToUIImage(const cv::Mat& image);
+void UIImageToMat(const UIImage* image,
+                         cv::Mat& m, bool alphaExist = false);
+
+//! @}
diff --git a/3rdparty/include/opencv2/imgproc.hpp b/3rdparty/include/opencv2/imgproc.hpp
new file mode 100644
index 0000000..5c18545
--- /dev/null
+++ b/3rdparty/include/opencv2/imgproc.hpp
@@ -0,0 +1,4244 @@
+/*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*/
+
+#ifndef __OPENCV_IMGPROC_HPP__
+#define __OPENCV_IMGPROC_HPP__
+
+#include "opencv2/core.hpp"
+
+/**
+  @defgroup imgproc Image processing
+  @{
+    @defgroup imgproc_filter Image Filtering
+
+Functions and classes described in this section are used to perform various linear or non-linear
+filtering operations on 2D images (represented as Mat's). It means that for each pixel location
+\f$(x,y)\f$ in the source image (normally, rectangular), its neighborhood is considered and used to
+compute the response. In case of a linear filter, it is a weighted sum of pixel values. In case of
+morphological operations, it is the minimum or maximum values, and so on. The computed response is
+stored in the destination image at the same location \f$(x,y)\f$. It means that the output image
+will be of the same size as the input image. Normally, the functions support multi-channel arrays,
+in which case every channel is processed independently. Therefore, the output image will also have
+the same number of channels as the input one.
+
+Another common feature of the functions and classes described in this section is that, unlike
+simple arithmetic functions, they need to extrapolate values of some non-existing pixels. For
+example, if you want to smooth an image using a Gaussian \f$3 \times 3\f$ filter, then, when
+processing the left-most pixels in each row, you need pixels to the left of them, that is, outside
+of the image. You can let these pixels be the same as the left-most image pixels ("replicated
+border" extrapolation method), or assume that all the non-existing pixels are zeros ("constant
+border" extrapolation method), and so on. OpenCV enables you to specify the extrapolation method.
+For details, see cv::BorderTypes
+
+@anchor filter_depths
+### Depth combinations
+Input depth (src.depth()) | Output depth (ddepth)
+--------------------------|----------------------
+CV_8U                     | -1/CV_16S/CV_32F/CV_64F
+CV_16U/CV_16S             | -1/CV_32F/CV_64F
+CV_32F                    | -1/CV_32F/CV_64F
+CV_64F                    | -1/CV_64F
+
+@note when ddepth=-1, the output image will have the same depth as the source.
+
+    @defgroup imgproc_transform Geometric Image Transformations
+
+The functions in this section perform various geometrical transformations of 2D images. They do not
+change the image content but deform the pixel grid and map this deformed grid to the destination
+image. In fact, to avoid sampling artifacts, the mapping is done in the reverse order, from
+destination to the source. That is, for each pixel \f$(x, y)\f$ of the destination image, the
+functions compute coordinates of the corresponding "donor" pixel in the source image and copy the
+pixel value:
+
+\f[\texttt{dst} (x,y)= \texttt{src} (f_x(x,y), f_y(x,y))\f]
+
+In case when you specify the forward mapping \f$\left<g_x, g_y\right>: \texttt{src} \rightarrow
+\texttt{dst}\f$, the OpenCV functions first compute the corresponding inverse mapping
+\f$\left<f_x, f_y\right>: \texttt{dst} \rightarrow \texttt{src}\f$ and then use the above formula.
+
+The actual implementations of the geometrical transformations, from the most generic remap and to
+the simplest and the fastest resize, need to solve two main problems with the above formula:
+
+- Extrapolation of non-existing pixels. Similarly to the filtering functions described in the
+previous section, for some \f$(x,y)\f$, either one of \f$f_x(x,y)\f$, or \f$f_y(x,y)\f$, or both
+of them may fall outside of the image. In this case, an extrapolation method needs to be used.
+OpenCV provides the same selection of extrapolation methods as in the filtering functions. In
+addition, it provides the method BORDER_TRANSPARENT. This means that the corresponding pixels in
+the destination image will not be modified at all.
+
+- Interpolation of pixel values. Usually \f$f_x(x,y)\f$ and \f$f_y(x,y)\f$ are floating-point
+numbers. This means that \f$\left<f_x, f_y\right>\f$ can be either an affine or perspective
+transformation, or radial lens distortion correction, and so on. So, a pixel value at fractional
+coordinates needs to be retrieved. In the simplest case, the coordinates can be just rounded to the
+nearest integer coordinates and the corresponding pixel can be used. This is called a
+nearest-neighbor interpolation. However, a better result can be achieved by using more
+sophisticated [interpolation methods](http://en.wikipedia.org/wiki/Multivariate_interpolation) ,
+where a polynomial function is fit into some neighborhood of the computed pixel \f$(f_x(x,y),
+f_y(x,y))\f$, and then the value of the polynomial at \f$(f_x(x,y), f_y(x,y))\f$ is taken as the
+interpolated pixel value. In OpenCV, you can choose between several interpolation methods. See
+resize for details.
+
+    @defgroup imgproc_misc Miscellaneous Image Transformations
+    @defgroup imgproc_draw Drawing Functions
+
+Drawing functions work with matrices/images of arbitrary depth. The boundaries of the shapes can be
+rendered with antialiasing (implemented only for 8-bit images for now). All the functions include
+the parameter color that uses an RGB value (that may be constructed with the Scalar constructor )
+for color images and brightness for grayscale images. For color images, the channel ordering is
+normally *Blue, Green, Red*. This is what imshow, imread, and imwrite expect. So, if you form a
+color using the Scalar constructor, it should look like:
+
+\f[\texttt{Scalar} (blue \_ component, green \_ component, red \_ component[, alpha \_ component])\f]
+
+If you are using your own image rendering and I/O functions, you can use any channel ordering. The
+drawing functions process each channel independently and do not depend on the channel order or even
+on the used color space. The whole image can be converted from BGR to RGB or to a different color
+space using cvtColor .
+
+If a drawn figure is partially or completely outside the image, the drawing functions clip it. Also,
+many drawing functions can handle pixel coordinates specified with sub-pixel accuracy. This means
+that the coordinates can be passed as fixed-point numbers encoded as integers. The number of
+fractional bits is specified by the shift parameter and the real point coordinates are calculated as
+\f$\texttt{Point}(x,y)\rightarrow\texttt{Point2f}(x*2^{-shift},y*2^{-shift})\f$ . This feature is
+especially effective when rendering antialiased shapes.
+
+@note The functions do not support alpha-transparency when the target image is 4-channel. In this
+case, the color[3] is simply copied to the repainted pixels. Thus, if you want to paint
+semi-transparent shapes, you can paint them in a separate buffer and then blend it with the main
+image.
+
+    @defgroup imgproc_colormap ColorMaps in OpenCV
+
+The human perception isn't built for observing fine changes in grayscale images. Human eyes are more
+sensitive to observing changes between colors, so you often need to recolor your grayscale images to
+get a clue about them. OpenCV now comes with various colormaps to enhance the visualization in your
+computer vision application.
+
+In OpenCV you only need applyColorMap to apply a colormap on a given image. The following sample
+code reads the path to an image from command line, applies a Jet colormap on it and shows the
+result:
+
+@code
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/highgui.hpp>
+using namespace cv;
+
+#include <iostream>
+using namespace std;
+
+int main(int argc, const char *argv[])
+{
+    // We need an input image. (can be grayscale or color)
+    if (argc < 2)
+    {
+        cerr << "We need an image to process here. Please run: colorMap [path_to_image]" << endl;
+        return -1;
+    }
+    Mat img_in = imread(argv[1]);
+    if(img_in.empty())
+    {
+        cerr << "Sample image (" << argv[1] << ") is empty. Please adjust your path, so it points to a valid input image!" << endl;
+        return -1;
+    }
+    // Holds the colormap version of the image:
+    Mat img_color;
+    // Apply the colormap:
+    applyColorMap(img_in, img_color, COLORMAP_JET);
+    // Show the result:
+    imshow("colorMap", img_color);
+    waitKey(0);
+    return 0;
+}
+@endcode
+
+@see cv::ColormapTypes
+
+    @defgroup imgproc_hist Histograms
+    @defgroup imgproc_shape Structural Analysis and Shape Descriptors
+    @defgroup imgproc_motion Motion Analysis and Object Tracking
+    @defgroup imgproc_feature Feature Detection
+    @defgroup imgproc_object Object Detection
+    @defgroup imgproc_c C API
+  @}
+*/
+
+namespace cv
+{
+
+/** @addtogroup imgproc
+@{
+*/
+
+//! @addtogroup imgproc_filter
+//! @{
+
+//! type of morphological operation
+enum MorphTypes{
+    MORPH_ERODE    = 0, //!< see cv::erode
+    MORPH_DILATE   = 1, //!< see cv::dilate
+    MORPH_OPEN     = 2, //!< an opening operation
+                        //!< \f[\texttt{dst} = \mathrm{open} ( \texttt{src} , \texttt{element} )= \mathrm{dilate} ( \mathrm{erode} ( \texttt{src} , \texttt{element} ))\f]
+    MORPH_CLOSE    = 3, //!< a closing operation
+                        //!< \f[\texttt{dst} = \mathrm{close} ( \texttt{src} , \texttt{element} )= \mathrm{erode} ( \mathrm{dilate} ( \texttt{src} , \texttt{element} ))\f]
+    MORPH_GRADIENT = 4, //!< a morphological gradient
+                        //!< \f[\texttt{dst} = \mathrm{morph\_grad} ( \texttt{src} , \texttt{element} )= \mathrm{dilate} ( \texttt{src} , \texttt{element} )- \mathrm{erode} ( \texttt{src} , \texttt{element} )\f]
+    MORPH_TOPHAT   = 5, //!< "top hat"
+                        //!< \f[\texttt{dst} = \mathrm{tophat} ( \texttt{src} , \texttt{element} )= \texttt{src} - \mathrm{open} ( \texttt{src} , \texttt{element} )\f]
+    MORPH_BLACKHAT = 6  //!< "black hat"
+                        //!< \f[\texttt{dst} = \mathrm{blackhat} ( \texttt{src} , \texttt{element} )= \mathrm{close} ( \texttt{src} , \texttt{element} )- \texttt{src}\f]
+};
+
+//! shape of the structuring element
+enum MorphShapes {
+    MORPH_RECT    = 0, //!< a rectangular structuring element:  \f[E_{ij}=1\f]
+    MORPH_CROSS   = 1, //!< a cross-shaped structuring element:
+                       //!< \f[E_{ij} =  \fork{1}{if i=\texttt{anchor.y} or j=\texttt{anchor.x}}{0}{otherwise}\f]
+    MORPH_ELLIPSE = 2 //!< an elliptic structuring element, that is, a filled ellipse inscribed
+                      //!< into the rectangle Rect(0, 0, esize.width, 0.esize.height)
+};
+
+//! @} imgproc_filter
+
+//! @addtogroup imgproc_transform
+//! @{
+
+//! interpolation algorithm
+enum InterpolationFlags{
+    /** nearest neighbor interpolation */
+    INTER_NEAREST        = 0,
+    /** bilinear interpolation */
+    INTER_LINEAR         = 1,
+    /** bicubic interpolation */
+    INTER_CUBIC          = 2,
+    /** resampling using pixel area relation. It may be a preferred method for image decimation, as
+    it gives moire'-free results. But when the image is zoomed, it is similar to the INTER_NEAREST
+    method. */
+    INTER_AREA           = 3,
+    /** Lanczos interpolation over 8x8 neighborhood */
+    INTER_LANCZOS4       = 4,
+    /** mask for interpolation codes */
+    INTER_MAX            = 7,
+    /** flag, fills all of the destination image pixels. If some of them correspond to outliers in the
+    source image, they are set to zero */
+    WARP_FILL_OUTLIERS   = 8,
+    /** flag, inverse transformation
+
+    For example, polar transforms:
+    - flag is __not__ set: \f$dst( \phi , \rho ) = src(x,y)\f$
+    - flag is set: \f$dst(x,y) = src( \phi , \rho )\f$
+    */
+    WARP_INVERSE_MAP     = 16
+};
+
+enum InterpolationMasks {
+       INTER_BITS      = 5,
+       INTER_BITS2     = INTER_BITS * 2,
+       INTER_TAB_SIZE  = 1 << INTER_BITS,
+       INTER_TAB_SIZE2 = INTER_TAB_SIZE * INTER_TAB_SIZE
+     };
+
+//! @} imgproc_transform
+
+//! @addtogroup imgproc_misc
+//! @{
+
+//! Distance types for Distance Transform and M-estimators
+//! @see cv::distanceTransform, cv::fitLine
+enum DistanceTypes {
+    DIST_USER    = -1,  //!< User defined distance
+    DIST_L1      = 1,   //!< distance = |x1-x2| + |y1-y2|
+    DIST_L2      = 2,   //!< the simple euclidean distance
+    DIST_C       = 3,   //!< distance = max(|x1-x2|,|y1-y2|)
+    DIST_L12     = 4,   //!< L1-L2 metric: distance = 2(sqrt(1+x*x/2) - 1))
+    DIST_FAIR    = 5,   //!< distance = c^2(|x|/c-log(1+|x|/c)), c = 1.3998
+    DIST_WELSCH  = 6,   //!< distance = c^2/2(1-exp(-(x/c)^2)), c = 2.9846
+    DIST_HUBER   = 7    //!< distance = |x|<c ? x^2/2 : c(|x|-c/2), c=1.345
+};
+
+//! Mask size for distance transform
+enum DistanceTransformMasks {
+    DIST_MASK_3       = 3, //!< mask=3
+    DIST_MASK_5       = 5, //!< mask=5
+    DIST_MASK_PRECISE = 0  //!<
+};
+
+//! type of the threshold operation
+//! ![threshold types](pics/threshold.png)
+enum ThresholdTypes {
+    THRESH_BINARY     = 0, //!< \f[\texttt{dst} (x,y) =  \fork{\texttt{maxval}}{if \(\texttt{src}(x,y) > \texttt{thresh}\)}{0}{otherwise}\f]
+    THRESH_BINARY_INV = 1, //!< \f[\texttt{dst} (x,y) =  \fork{0}{if \(\texttt{src}(x,y) > \texttt{thresh}\)}{\texttt{maxval}}{otherwise}\f]
+    THRESH_TRUNC      = 2, //!< \f[\texttt{dst} (x,y) =  \fork{\texttt{threshold}}{if \(\texttt{src}(x,y) > \texttt{thresh}\)}{\texttt{src}(x,y)}{otherwise}\f]
+    THRESH_TOZERO     = 3, //!< \f[\texttt{dst} (x,y) =  \fork{\texttt{src}(x,y)}{if \(\texttt{src}(x,y) > \texttt{thresh}\)}{0}{otherwise}\f]
+    THRESH_TOZERO_INV = 4, //!< \f[\texttt{dst} (x,y) =  \fork{0}{if \(\texttt{src}(x,y) > \texttt{thresh}\)}{\texttt{src}(x,y)}{otherwise}\f]
+    THRESH_MASK       = 7,
+    THRESH_OTSU       = 8, //!< flag, use Otsu algorithm to choose the optimal threshold value
+    THRESH_TRIANGLE   = 16 //!< flag, use Triangle algorithm to choose the optimal threshold value
+};
+
+//! adaptive threshold algorithm
+//! see cv::adaptiveThreshold
+enum AdaptiveThresholdTypes {
+    /** the threshold value \f$T(x,y)\f$ is a mean of the \f$\texttt{blockSize} \times
+    \texttt{blockSize}\f$ neighborhood of \f$(x, y)\f$ minus C */
+    ADAPTIVE_THRESH_MEAN_C     = 0,
+    /** the threshold value \f$T(x, y)\f$ is a weighted sum (cross-correlation with a Gaussian
+    window) of the \f$\texttt{blockSize} \times \texttt{blockSize}\f$ neighborhood of \f$(x, y)\f$
+    minus C . The default sigma (standard deviation) is used for the specified blockSize . See
+    cv::getGaussianKernel*/
+    ADAPTIVE_THRESH_GAUSSIAN_C = 1
+};
+
+//! cv::undistort mode
+enum UndistortTypes {
+       PROJ_SPHERICAL_ORTHO  = 0,
+       PROJ_SPHERICAL_EQRECT = 1
+     };
+
+//! class of the pixel in GrabCut algorithm
+enum GrabCutClasses {
+    GC_BGD    = 0,  //!< an obvious background pixels
+    GC_FGD    = 1,  //!< an obvious foreground (object) pixel
+    GC_PR_BGD = 2,  //!< a possible background pixel
+    GC_PR_FGD = 3   //!< a possible foreground pixel
+};
+
+//! GrabCut algorithm flags
+enum GrabCutModes {
+    /** The function initializes the state and the mask using the provided rectangle. After that it
+    runs iterCount iterations of the algorithm. */
+    GC_INIT_WITH_RECT  = 0,
+    /** The function initializes the state using the provided mask. Note that GC_INIT_WITH_RECT
+    and GC_INIT_WITH_MASK can be combined. Then, all the pixels outside of the ROI are
+    automatically initialized with GC_BGD .*/
+    GC_INIT_WITH_MASK  = 1,
+    /** The value means that the algorithm should just resume. */
+    GC_EVAL            = 2
+};
+
+//! distanceTransform algorithm flags
+enum DistanceTransformLabelTypes {
+    /** each connected component of zeros in src (as well as all the non-zero pixels closest to the
+    connected component) will be assigned the same label */
+    DIST_LABEL_CCOMP = 0,
+    /** each zero pixel (and all the non-zero pixels closest to it) gets its own label. */
+    DIST_LABEL_PIXEL = 1
+};
+
+//! floodfill algorithm flags
+enum FloodFillFlags {
+    /** If set, the difference between the current pixel and seed pixel is considered. Otherwise,
+    the difference between neighbor pixels is considered (that is, the range is floating). */
+    FLOODFILL_FIXED_RANGE = 1 << 16,
+    /** If set, the function does not change the image ( newVal is ignored), and only fills the
+    mask with the value specified in bits 8-16 of flags as described above. This option only make
+    sense in function variants that have the mask parameter. */
+    FLOODFILL_MASK_ONLY   = 1 << 17
+};
+
+//! @} imgproc_misc
+
+//! @addtogroup imgproc_shape
+//! @{
+
+//! connected components algorithm output formats
+enum ConnectedComponentsTypes {
+    CC_STAT_LEFT   = 0, //!< The leftmost (x) coordinate which is the inclusive start of the bounding
+                        //!< box in the horizontal direction.
+    CC_STAT_TOP    = 1, //!< The topmost (y) coordinate which is the inclusive start of the bounding
+                        //!< box in the vertical direction.
+    CC_STAT_WIDTH  = 2, //!< The horizontal size of the bounding box
+    CC_STAT_HEIGHT = 3, //!< The vertical size of the bounding box
+    CC_STAT_AREA   = 4, //!< The total area (in pixels) of the connected component
+    CC_STAT_MAX    = 5
+};
+
+//! mode of the contour retrieval algorithm
+enum RetrievalModes {
+    /** retrieves only the extreme outer contours. It sets `hierarchy[i][2]=hierarchy[i][3]=-1` for
+    all the contours. */
+    RETR_EXTERNAL  = 0,
+    /** retrieves all of the contours without establishing any hierarchical relationships. */
+    RETR_LIST      = 1,
+    /** retrieves all of the contours and organizes them into a two-level hierarchy. At the top
+    level, there are external boundaries of the components. At the second level, there are
+    boundaries of the holes. If there is another contour inside a hole of a connected component, it
+    is still put at the top level. */
+    RETR_CCOMP     = 2,
+    /** retrieves all of the contours and reconstructs a full hierarchy of nested contours.*/
+    RETR_TREE      = 3,
+    RETR_FLOODFILL = 4 //!<
+};
+
+//! the contour approximation algorithm
+enum ContourApproximationModes {
+    /** stores absolutely all the contour points. That is, any 2 subsequent points (x1,y1) and
+    (x2,y2) of the contour will be either horizontal, vertical or diagonal neighbors, that is,
+    max(abs(x1-x2),abs(y2-y1))==1. */
+    CHAIN_APPROX_NONE      = 1,
+    /** compresses horizontal, vertical, and diagonal segments and leaves only their end points.
+    For example, an up-right rectangular contour is encoded with 4 points. */
+    CHAIN_APPROX_SIMPLE    = 2,
+    /** applies one of the flavors of the Teh-Chin chain approximation algorithm @cite TehChin89 */
+    CHAIN_APPROX_TC89_L1   = 3,
+    /** applies one of the flavors of the Teh-Chin chain approximation algorithm @cite TehChin89 */
+    CHAIN_APPROX_TC89_KCOS = 4
+};
+
+//! @} imgproc_shape
+
+//! Variants of a Hough transform
+enum HoughModes {
+
+    /** classical or standard Hough transform. Every line is represented by two floating-point
+    numbers \f$(\rho, \theta)\f$ , where \f$\rho\f$ is a distance between (0,0) point and the line,
+    and \f$\theta\f$ is the angle between x-axis and the normal to the line. Thus, the matrix must
+    be (the created sequence will be) of CV_32FC2 type */
+    HOUGH_STANDARD      = 0,
+    /** probabilistic Hough transform (more efficient in case if the picture contains a few long
+    linear segments). It returns line segments rather than the whole line. Each segment is
+    represented by starting and ending points, and the matrix must be (the created sequence will
+    be) of the CV_32SC4 type. */
+    HOUGH_PROBABILISTIC = 1,
+    /** multi-scale variant of the classical Hough transform. The lines are encoded the same way as
+    HOUGH_STANDARD. */
+    HOUGH_MULTI_SCALE   = 2,
+    HOUGH_GRADIENT      = 3 //!< basically *21HT*, described in @cite Yuen90
+};
+
+//! Variants of Line Segment %Detector
+//! @ingroup imgproc_feature
+enum LineSegmentDetectorModes {
+    LSD_REFINE_NONE = 0, //!< No refinement applied
+    LSD_REFINE_STD  = 1, //!< Standard refinement is applied. E.g. breaking arches into smaller straighter line approximations.
+    LSD_REFINE_ADV  = 2  //!< Advanced refinement. Number of false alarms is calculated, lines are
+                         //!< refined through increase of precision, decrement in size, etc.
+};
+
+/** Histogram comparison methods
+  @ingroup imgproc_hist
+*/
+enum HistCompMethods {
+    /** Correlation
+    \f[d(H_1,H_2) =  \frac{\sum_I (H_1(I) - \bar{H_1}) (H_2(I) - \bar{H_2})}{\sqrt{\sum_I(H_1(I) - \bar{H_1})^2 \sum_I(H_2(I) - \bar{H_2})^2}}\f]
+    where
+    \f[\bar{H_k} =  \frac{1}{N} \sum _J H_k(J)\f]
+    and \f$N\f$ is a total number of histogram bins. */
+    HISTCMP_CORREL        = 0,
+    /** Chi-Square
+    \f[d(H_1,H_2) =  \sum _I  \frac{\left(H_1(I)-H_2(I)\right)^2}{H_1(I)}\f] */
+    HISTCMP_CHISQR        = 1,
+    /** Intersection
+    \f[d(H_1,H_2) =  \sum _I  \min (H_1(I), H_2(I))\f] */
+    HISTCMP_INTERSECT     = 2,
+    /** Bhattacharyya distance
+    (In fact, OpenCV computes Hellinger distance, which is related to Bhattacharyya coefficient.)
+    \f[d(H_1,H_2) =  \sqrt{1 - \frac{1}{\sqrt{\bar{H_1} \bar{H_2} N^2}} \sum_I \sqrt{H_1(I) \cdot H_2(I)}}\f] */
+    HISTCMP_BHATTACHARYYA = 3,
+    HISTCMP_HELLINGER     = HISTCMP_BHATTACHARYYA, //!< Synonym for HISTCMP_BHATTACHARYYA
+    /** Alternative Chi-Square
+    \f[d(H_1,H_2) =  2 * \sum _I  \frac{\left(H_1(I)-H_2(I)\right)^2}{H_1(I)+H_2(I)}\f]
+    This alternative formula is regularly used for texture comparison. See e.g. @cite Puzicha1997 */
+    HISTCMP_CHISQR_ALT    = 4,
+    /** Kullback-Leibler divergence
+    \f[d(H_1,H_2) = \sum _I H_1(I) \log \left(\frac{H_1(I)}{H_2(I)}\right)\f] */
+    HISTCMP_KL_DIV        = 5
+};
+
+/** the color conversion code
+@see @ref imgproc_color_conversions
+@ingroup imgproc_misc
+ */
+enum ColorConversionCodes {
+    COLOR_BGR2BGRA     = 0, //!< add alpha channel to RGB or BGR image
+    COLOR_RGB2RGBA     = COLOR_BGR2BGRA,
+
+    COLOR_BGRA2BGR     = 1, //!< remove alpha channel from RGB or BGR image
+    COLOR_RGBA2RGB     = COLOR_BGRA2BGR,
+
+    COLOR_BGR2RGBA     = 2, //!< convert between RGB and BGR color spaces (with or without alpha channel)
+    COLOR_RGB2BGRA     = COLOR_BGR2RGBA,
+
+    COLOR_RGBA2BGR     = 3,
+    COLOR_BGRA2RGB     = COLOR_RGBA2BGR,
+
+    COLOR_BGR2RGB      = 4,
+    COLOR_RGB2BGR      = COLOR_BGR2RGB,
+
+    COLOR_BGRA2RGBA    = 5,
+    COLOR_RGBA2BGRA    = COLOR_BGRA2RGBA,
+
+    COLOR_BGR2GRAY     = 6, //!< convert between RGB/BGR and grayscale, @ref color_convert_rgb_gray "color conversions"
+    COLOR_RGB2GRAY     = 7,
+    COLOR_GRAY2BGR     = 8,
+    COLOR_GRAY2RGB     = COLOR_GRAY2BGR,
+    COLOR_GRAY2BGRA    = 9,
+    COLOR_GRAY2RGBA    = COLOR_GRAY2BGRA,
+    COLOR_BGRA2GRAY    = 10,
+    COLOR_RGBA2GRAY    = 11,
+
+    COLOR_BGR2BGR565   = 12, //!< convert between RGB/BGR and BGR565 (16-bit images)
+    COLOR_RGB2BGR565   = 13,
+    COLOR_BGR5652BGR   = 14,
+    COLOR_BGR5652RGB   = 15,
+    COLOR_BGRA2BGR565  = 16,
+    COLOR_RGBA2BGR565  = 17,
+    COLOR_BGR5652BGRA  = 18,
+    COLOR_BGR5652RGBA  = 19,
+
+    COLOR_GRAY2BGR565  = 20, //!< convert between grayscale to BGR565 (16-bit images)
+    COLOR_BGR5652GRAY  = 21,
+
+    COLOR_BGR2BGR555   = 22,  //!< convert between RGB/BGR and BGR555 (16-bit images)
+    COLOR_RGB2BGR555   = 23,
+    COLOR_BGR5552BGR   = 24,
+    COLOR_BGR5552RGB   = 25,
+    COLOR_BGRA2BGR555  = 26,
+    COLOR_RGBA2BGR555  = 27,
+    COLOR_BGR5552BGRA  = 28,
+    COLOR_BGR5552RGBA  = 29,
+
+    COLOR_GRAY2BGR555  = 30, //!< convert between grayscale and BGR555 (16-bit images)
+    COLOR_BGR5552GRAY  = 31,
+
+    COLOR_BGR2XYZ      = 32, //!< convert RGB/BGR to CIE XYZ, @ref color_convert_rgb_xyz "color conversions"
+    COLOR_RGB2XYZ      = 33,
+    COLOR_XYZ2BGR      = 34,
+    COLOR_XYZ2RGB      = 35,
+
+    COLOR_BGR2YCrCb    = 36, //!< convert RGB/BGR to luma-chroma (aka YCC), @ref color_convert_rgb_ycrcb "color conversions"
+    COLOR_RGB2YCrCb    = 37,
+    COLOR_YCrCb2BGR    = 38,
+    COLOR_YCrCb2RGB    = 39,
+
+    COLOR_BGR2HSV      = 40, //!< convert RGB/BGR to HSV (hue saturation value), @ref color_convert_rgb_hsv "color conversions"
+    COLOR_RGB2HSV      = 41,
+
+    COLOR_BGR2Lab      = 44, //!< convert RGB/BGR to CIE Lab, @ref color_convert_rgb_lab "color conversions"
+    COLOR_RGB2Lab      = 45,
+
+    COLOR_BGR2Luv      = 50, //!< convert RGB/BGR to CIE Luv, @ref color_convert_rgb_luv "color conversions"
+    COLOR_RGB2Luv      = 51,
+    COLOR_BGR2HLS      = 52, //!< convert RGB/BGR to HLS (hue lightness saturation), @ref color_convert_rgb_hls "color conversions"
+    COLOR_RGB2HLS      = 53,
+
+    COLOR_HSV2BGR      = 54, //!< backward conversions to RGB/BGR
+    COLOR_HSV2RGB      = 55,
+
+    COLOR_Lab2BGR      = 56,
+    COLOR_Lab2RGB      = 57,
+    COLOR_Luv2BGR      = 58,
+    COLOR_Luv2RGB      = 59,
+    COLOR_HLS2BGR      = 60,
+    COLOR_HLS2RGB      = 61,
+
+    COLOR_BGR2HSV_FULL = 66, //!<
+    COLOR_RGB2HSV_FULL = 67,
+    COLOR_BGR2HLS_FULL = 68,
+    COLOR_RGB2HLS_FULL = 69,
+
+    COLOR_HSV2BGR_FULL = 70,
+    COLOR_HSV2RGB_FULL = 71,
+    COLOR_HLS2BGR_FULL = 72,
+    COLOR_HLS2RGB_FULL = 73,
+
+    COLOR_LBGR2Lab     = 74,
+    COLOR_LRGB2Lab     = 75,
+    COLOR_LBGR2Luv     = 76,
+    COLOR_LRGB2Luv     = 77,
+
+    COLOR_Lab2LBGR     = 78,
+    COLOR_Lab2LRGB     = 79,
+    COLOR_Luv2LBGR     = 80,
+    COLOR_Luv2LRGB     = 81,
+
+    COLOR_BGR2YUV      = 82, //!< convert between RGB/BGR and YUV
+    COLOR_RGB2YUV      = 83,
+    COLOR_YUV2BGR      = 84,
+    COLOR_YUV2RGB      = 85,
+
+    //! YUV 4:2:0 family to RGB
+    COLOR_YUV2RGB_NV12  = 90,
+    COLOR_YUV2BGR_NV12  = 91,
+    COLOR_YUV2RGB_NV21  = 92,
+    COLOR_YUV2BGR_NV21  = 93,
+    COLOR_YUV420sp2RGB  = COLOR_YUV2RGB_NV21,
+    COLOR_YUV420sp2BGR  = COLOR_YUV2BGR_NV21,
+
+    COLOR_YUV2RGBA_NV12 = 94,
+    COLOR_YUV2BGRA_NV12 = 95,
+    COLOR_YUV2RGBA_NV21 = 96,
+    COLOR_YUV2BGRA_NV21 = 97,
+    COLOR_YUV420sp2RGBA = COLOR_YUV2RGBA_NV21,
+    COLOR_YUV420sp2BGRA = COLOR_YUV2BGRA_NV21,
+
+    COLOR_YUV2RGB_YV12  = 98,
+    COLOR_YUV2BGR_YV12  = 99,
+    COLOR_YUV2RGB_IYUV  = 100,
+    COLOR_YUV2BGR_IYUV  = 101,
+    COLOR_YUV2RGB_I420  = COLOR_YUV2RGB_IYUV,
+    COLOR_YUV2BGR_I420  = COLOR_YUV2BGR_IYUV,
+    COLOR_YUV420p2RGB   = COLOR_YUV2RGB_YV12,
+    COLOR_YUV420p2BGR   = COLOR_YUV2BGR_YV12,
+
+    COLOR_YUV2RGBA_YV12 = 102,
+    COLOR_YUV2BGRA_YV12 = 103,
+    COLOR_YUV2RGBA_IYUV = 104,
+    COLOR_YUV2BGRA_IYUV = 105,
+    COLOR_YUV2RGBA_I420 = COLOR_YUV2RGBA_IYUV,
+    COLOR_YUV2BGRA_I420 = COLOR_YUV2BGRA_IYUV,
+    COLOR_YUV420p2RGBA  = COLOR_YUV2RGBA_YV12,
+    COLOR_YUV420p2BGRA  = COLOR_YUV2BGRA_YV12,
+
+    COLOR_YUV2GRAY_420  = 106,
+    COLOR_YUV2GRAY_NV21 = COLOR_YUV2GRAY_420,
+    COLOR_YUV2GRAY_NV12 = COLOR_YUV2GRAY_420,
+    COLOR_YUV2GRAY_YV12 = COLOR_YUV2GRAY_420,
+    COLOR_YUV2GRAY_IYUV = COLOR_YUV2GRAY_420,
+    COLOR_YUV2GRAY_I420 = COLOR_YUV2GRAY_420,
+    COLOR_YUV420sp2GRAY = COLOR_YUV2GRAY_420,
+    COLOR_YUV420p2GRAY  = COLOR_YUV2GRAY_420,
+
+    //! YUV 4:2:2 family to RGB
+    COLOR_YUV2RGB_UYVY = 107,
+    COLOR_YUV2BGR_UYVY = 108,
+    //COLOR_YUV2RGB_VYUY = 109,
+    //COLOR_YUV2BGR_VYUY = 110,
+    COLOR_YUV2RGB_Y422 = COLOR_YUV2RGB_UYVY,
+    COLOR_YUV2BGR_Y422 = COLOR_YUV2BGR_UYVY,
+    COLOR_YUV2RGB_UYNV = COLOR_YUV2RGB_UYVY,
+    COLOR_YUV2BGR_UYNV = COLOR_YUV2BGR_UYVY,
+
+    COLOR_YUV2RGBA_UYVY = 111,
+    COLOR_YUV2BGRA_UYVY = 112,
+    //COLOR_YUV2RGBA_VYUY = 113,
+    //COLOR_YUV2BGRA_VYUY = 114,
+    COLOR_YUV2RGBA_Y422 = COLOR_YUV2RGBA_UYVY,
+    COLOR_YUV2BGRA_Y422 = COLOR_YUV2BGRA_UYVY,
+    COLOR_YUV2RGBA_UYNV = COLOR_YUV2RGBA_UYVY,
+    COLOR_YUV2BGRA_UYNV = COLOR_YUV2BGRA_UYVY,
+
+    COLOR_YUV2RGB_YUY2 = 115,
+    COLOR_YUV2BGR_YUY2 = 116,
+    COLOR_YUV2RGB_YVYU = 117,
+    COLOR_YUV2BGR_YVYU = 118,
+    COLOR_YUV2RGB_YUYV = COLOR_YUV2RGB_YUY2,
+    COLOR_YUV2BGR_YUYV = COLOR_YUV2BGR_YUY2,
+    COLOR_YUV2RGB_YUNV = COLOR_YUV2RGB_YUY2,
+    COLOR_YUV2BGR_YUNV = COLOR_YUV2BGR_YUY2,
+
+    COLOR_YUV2RGBA_YUY2 = 119,
+    COLOR_YUV2BGRA_YUY2 = 120,
+    COLOR_YUV2RGBA_YVYU = 121,
+    COLOR_YUV2BGRA_YVYU = 122,
+    COLOR_YUV2RGBA_YUYV = COLOR_YUV2RGBA_YUY2,
+    COLOR_YUV2BGRA_YUYV = COLOR_YUV2BGRA_YUY2,
+    COLOR_YUV2RGBA_YUNV = COLOR_YUV2RGBA_YUY2,
+    COLOR_YUV2BGRA_YUNV = COLOR_YUV2BGRA_YUY2,
+
+    COLOR_YUV2GRAY_UYVY = 123,
+    COLOR_YUV2GRAY_YUY2 = 124,
+    //CV_YUV2GRAY_VYUY    = CV_YUV2GRAY_UYVY,
+    COLOR_YUV2GRAY_Y422 = COLOR_YUV2GRAY_UYVY,
+    COLOR_YUV2GRAY_UYNV = COLOR_YUV2GRAY_UYVY,
+    COLOR_YUV2GRAY_YVYU = COLOR_YUV2GRAY_YUY2,
+    COLOR_YUV2GRAY_YUYV = COLOR_YUV2GRAY_YUY2,
+    COLOR_YUV2GRAY_YUNV = COLOR_YUV2GRAY_YUY2,
+
+    //! alpha premultiplication
+    COLOR_RGBA2mRGBA    = 125,
+    COLOR_mRGBA2RGBA    = 126,
+
+    //! RGB to YUV 4:2:0 family
+    COLOR_RGB2YUV_I420  = 127,
+    COLOR_BGR2YUV_I420  = 128,
+    COLOR_RGB2YUV_IYUV  = COLOR_RGB2YUV_I420,
+    COLOR_BGR2YUV_IYUV  = COLOR_BGR2YUV_I420,
+
+    COLOR_RGBA2YUV_I420 = 129,
+    COLOR_BGRA2YUV_I420 = 130,
+    COLOR_RGBA2YUV_IYUV = COLOR_RGBA2YUV_I420,
+    COLOR_BGRA2YUV_IYUV = COLOR_BGRA2YUV_I420,
+    COLOR_RGB2YUV_YV12  = 131,
+    COLOR_BGR2YUV_YV12  = 132,
+    COLOR_RGBA2YUV_YV12 = 133,
+    COLOR_BGRA2YUV_YV12 = 134,
+
+    //! Demosaicing
+    COLOR_BayerBG2BGR = 46,
+    COLOR_BayerGB2BGR = 47,
+    COLOR_BayerRG2BGR = 48,
+    COLOR_BayerGR2BGR = 49,
+
+    COLOR_BayerBG2RGB = COLOR_BayerRG2BGR,
+    COLOR_BayerGB2RGB = COLOR_BayerGR2BGR,
+    COLOR_BayerRG2RGB = COLOR_BayerBG2BGR,
+    COLOR_BayerGR2RGB = COLOR_BayerGB2BGR,
+
+    COLOR_BayerBG2GRAY = 86,
+    COLOR_BayerGB2GRAY = 87,
+    COLOR_BayerRG2GRAY = 88,
+    COLOR_BayerGR2GRAY = 89,
+
+    //! Demosaicing using Variable Number of Gradients
+    COLOR_BayerBG2BGR_VNG = 62,
+    COLOR_BayerGB2BGR_VNG = 63,
+    COLOR_BayerRG2BGR_VNG = 64,
+    COLOR_BayerGR2BGR_VNG = 65,
+
+    COLOR_BayerBG2RGB_VNG = COLOR_BayerRG2BGR_VNG,
+    COLOR_BayerGB2RGB_VNG = COLOR_BayerGR2BGR_VNG,
+    COLOR_BayerRG2RGB_VNG = COLOR_BayerBG2BGR_VNG,
+    COLOR_BayerGR2RGB_VNG = COLOR_BayerGB2BGR_VNG,
+
+    //! Edge-Aware Demosaicing
+    COLOR_BayerBG2BGR_EA  = 135,
+    COLOR_BayerGB2BGR_EA  = 136,
+    COLOR_BayerRG2BGR_EA  = 137,
+    COLOR_BayerGR2BGR_EA  = 138,
+
+    COLOR_BayerBG2RGB_EA  = COLOR_BayerRG2BGR_EA,
+    COLOR_BayerGB2RGB_EA  = COLOR_BayerGR2BGR_EA,
+    COLOR_BayerRG2RGB_EA  = COLOR_BayerBG2BGR_EA,
+    COLOR_BayerGR2RGB_EA  = COLOR_BayerGB2BGR_EA,
+
+
+    COLOR_COLORCVT_MAX  = 139
+};
+
+/** types of intersection between rectangles
+@ingroup imgproc_shape
+*/
+enum RectanglesIntersectTypes {
+    INTERSECT_NONE = 0, //!< No intersection
+    INTERSECT_PARTIAL  = 1, //!< There is a partial intersection
+    INTERSECT_FULL  = 2 //!< One of the rectangle is fully enclosed in the other
+};
+
+//! finds arbitrary template in the grayscale image using Generalized Hough Transform
+class CV_EXPORTS GeneralizedHough : public Algorithm
+{
+public:
+    //! set template to search
+    virtual void setTemplate(InputArray templ, Point templCenter = Point(-1, -1)) = 0;
+    virtual void setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1)) = 0;
+
+    //! find template on image
+    virtual void detect(InputArray image, OutputArray positions, OutputArray votes = noArray()) = 0;
+    virtual void detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions, OutputArray votes = noArray()) = 0;
+
+    //! Canny low threshold.
+    virtual void setCannyLowThresh(int cannyLowThresh) = 0;
+    virtual int getCannyLowThresh() const = 0;
+
+    //! Canny high threshold.
+    virtual void setCannyHighThresh(int cannyHighThresh) = 0;
+    virtual int getCannyHighThresh() const = 0;
+
+    //! Minimum distance between the centers of the detected objects.
+    virtual void setMinDist(double minDist) = 0;
+    virtual double getMinDist() const = 0;
+
+    //! Inverse ratio of the accumulator resolution to the image resolution.
+    virtual void setDp(double dp) = 0;
+    virtual double getDp() const = 0;
+
+    //! Maximal size of inner buffers.
+    virtual void setMaxBufferSize(int maxBufferSize) = 0;
+    virtual int getMaxBufferSize() const = 0;
+};
+
+//! Ballard, D.H. (1981). Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13 (2): 111-122.
+//! Detects position only without traslation and rotation
+class CV_EXPORTS GeneralizedHoughBallard : public GeneralizedHough
+{
+public:
+    //! R-Table levels.
+    virtual void setLevels(int levels) = 0;
+    virtual int getLevels() const = 0;
+
+    //! The accumulator threshold for the template centers at the detection stage. The smaller it is, the more false positions may be detected.
+    virtual void setVotesThreshold(int votesThreshold) = 0;
+    virtual int getVotesThreshold() const = 0;
+};
+
+//! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
+//! Detects position, traslation and rotation
+class CV_EXPORTS GeneralizedHoughGuil : public GeneralizedHough
+{
+public:
+    //! Angle difference in degrees between two points in feature.
+    virtual void setXi(double xi) = 0;
+    virtual double getXi() const = 0;
+
+    //! Feature table levels.
+    virtual void setLevels(int levels) = 0;
+    virtual int getLevels() const = 0;
+
+    //! Maximal difference between angles that treated as equal.
+    virtual void setAngleEpsilon(double angleEpsilon) = 0;
+    virtual double getAngleEpsilon() const = 0;
+
+    //! Minimal rotation angle to detect in degrees.
+    virtual void setMinAngle(double minAngle) = 0;
+    virtual double getMinAngle() const = 0;
+
+    //! Maximal rotation angle to detect in degrees.
+    virtual void setMaxAngle(double maxAngle) = 0;
+    virtual double getMaxAngle() const = 0;
+
+    //! Angle step in degrees.
+    virtual void setAngleStep(double angleStep) = 0;
+    virtual double getAngleStep() const = 0;
+
+    //! Angle votes threshold.
+    virtual void setAngleThresh(int angleThresh) = 0;
+    virtual int getAngleThresh() const = 0;
+
+    //! Minimal scale to detect.
+    virtual void setMinScale(double minScale) = 0;
+    virtual double getMinScale() const = 0;
+
+    //! Maximal scale to detect.
+    virtual void setMaxScale(double maxScale) = 0;
+    virtual double getMaxScale() const = 0;
+
+    //! Scale step.
+    virtual void setScaleStep(double scaleStep) = 0;
+    virtual double getScaleStep() const = 0;
+
+    //! Scale votes threshold.
+    virtual void setScaleThresh(int scaleThresh) = 0;
+    virtual int getScaleThresh() const = 0;
+
+    //! Position votes threshold.
+    virtual void setPosThresh(int posThresh) = 0;
+    virtual int getPosThresh() const = 0;
+};
+
+
+class CV_EXPORTS_W CLAHE : public Algorithm
+{
+public:
+    CV_WRAP virtual void apply(InputArray src, OutputArray dst) = 0;
+
+    CV_WRAP virtual void setClipLimit(double clipLimit) = 0;
+    CV_WRAP virtual double getClipLimit() const = 0;
+
+    CV_WRAP virtual void setTilesGridSize(Size tileGridSize) = 0;
+    CV_WRAP virtual Size getTilesGridSize() const = 0;
+
+    CV_WRAP virtual void collectGarbage() = 0;
+};
+
+
+class CV_EXPORTS_W Subdiv2D
+{
+public:
+    enum { PTLOC_ERROR        = -2,
+           PTLOC_OUTSIDE_RECT = -1,
+           PTLOC_INSIDE       = 0,
+           PTLOC_VERTEX       = 1,
+           PTLOC_ON_EDGE      = 2
+         };
+
+    enum { NEXT_AROUND_ORG   = 0x00,
+           NEXT_AROUND_DST   = 0x22,
+           PREV_AROUND_ORG   = 0x11,
+           PREV_AROUND_DST   = 0x33,
+           NEXT_AROUND_LEFT  = 0x13,
+           NEXT_AROUND_RIGHT = 0x31,
+           PREV_AROUND_LEFT  = 0x20,
+           PREV_AROUND_RIGHT = 0x02
+         };
+
+    CV_WRAP Subdiv2D();
+    CV_WRAP Subdiv2D(Rect rect);
+    CV_WRAP void initDelaunay(Rect rect);
+
+    CV_WRAP int insert(Point2f pt);
+    CV_WRAP void insert(const std::vector<Point2f>& ptvec);
+    CV_WRAP int locate(Point2f pt, CV_OUT int& edge, CV_OUT int& vertex);
+
+    CV_WRAP int findNearest(Point2f pt, CV_OUT Point2f* nearestPt = 0);
+    CV_WRAP void getEdgeList(CV_OUT std::vector<Vec4f>& edgeList) const;
+    CV_WRAP void getTriangleList(CV_OUT std::vector<Vec6f>& triangleList) const;
+    CV_WRAP void getVoronoiFacetList(const std::vector<int>& idx, CV_OUT std::vector<std::vector<Point2f> >& facetList,
+                                     CV_OUT std::vector<Point2f>& facetCenters);
+
+    CV_WRAP Point2f getVertex(int vertex, CV_OUT int* firstEdge = 0) const;
+
+    CV_WRAP int getEdge( int edge, int nextEdgeType ) const;
+    CV_WRAP int nextEdge(int edge) const;
+    CV_WRAP int rotateEdge(int edge, int rotate) const;
+    CV_WRAP int symEdge(int edge) const;
+    CV_WRAP int edgeOrg(int edge, CV_OUT Point2f* orgpt = 0) const;
+    CV_WRAP int edgeDst(int edge, CV_OUT Point2f* dstpt = 0) const;
+
+protected:
+    int newEdge();
+    void deleteEdge(int edge);
+    int newPoint(Point2f pt, bool isvirtual, int firstEdge = 0);
+    void deletePoint(int vtx);
+    void setEdgePoints( int edge, int orgPt, int dstPt );
+    void splice( int edgeA, int edgeB );
+    int connectEdges( int edgeA, int edgeB );
+    void swapEdges( int edge );
+    int isRightOf(Point2f pt, int edge) const;
+    void calcVoronoi();
+    void clearVoronoi();
+    void checkSubdiv() const;
+
+    struct CV_EXPORTS Vertex
+    {
+        Vertex();
+        Vertex(Point2f pt, bool _isvirtual, int _firstEdge=0);
+        bool isvirtual() const;
+        bool isfree() const;
+
+        int firstEdge;
+        int type;
+        Point2f pt;
+    };
+
+    struct CV_EXPORTS QuadEdge
+    {
+        QuadEdge();
+        QuadEdge(int edgeidx);
+        bool isfree() const;
+
+        int next[4];
+        int pt[4];
+    };
+
+    std::vector<Vertex> vtx;
+    std::vector<QuadEdge> qedges;
+    int freeQEdge;
+    int freePoint;
+    bool validGeometry;
+
+    int recentEdge;
+    Point2f topLeft;
+    Point2f bottomRight;
+};
+
+//! @addtogroup imgproc_feature
+//! @{
+
+/** @example lsd_lines.cpp
+An example using the LineSegmentDetector
+*/
+
+/** @brief Line segment detector class
+
+following the algorithm described at @cite Rafael12 .
+*/
+class CV_EXPORTS_W LineSegmentDetector : public Algorithm
+{
+public:
+
+    /** @brief Finds lines in the input image.
+
+    This is the output of the default parameters of the algorithm on the above shown image.
+
+    ![image](pics/building_lsd.png)
+
+    @param _image A grayscale (CV_8UC1) input image. If only a roi needs to be selected, use:
+    `lsd_ptr-\>detect(image(roi), lines, ...); lines += Scalar(roi.x, roi.y, roi.x, roi.y);`
+    @param _lines A vector of Vec4i or Vec4f elements specifying the beginning and ending point of a line. Where
+    Vec4i/Vec4f is (x1, y1, x2, y2), point 1 is the start, point 2 - end. Returned lines are strictly
+    oriented depending on the gradient.
+    @param width Vector of widths of the regions, where the lines are found. E.g. Width of line.
+    @param prec Vector of precisions with which the lines are found.
+    @param nfa Vector containing number of false alarms in the line region, with precision of 10%. The
+    bigger the value, logarithmically better the detection.
+    - -1 corresponds to 10 mean false alarms
+    - 0 corresponds to 1 mean false alarm
+    - 1 corresponds to 0.1 mean false alarms
+    This vector will be calculated only when the objects type is LSD_REFINE_ADV.
+    */
+    CV_WRAP virtual void detect(InputArray _image, OutputArray _lines,
+                        OutputArray width = noArray(), OutputArray prec = noArray(),
+                        OutputArray nfa = noArray()) = 0;
+
+    /** @brief Draws the line segments on a given image.
+    @param _image The image, where the liens will be drawn. Should be bigger or equal to the image,
+    where the lines were found.
+    @param lines A vector of the lines that needed to be drawn.
+     */
+    CV_WRAP virtual void drawSegments(InputOutputArray _image, InputArray lines) = 0;
+
+    /** @brief Draws two groups of lines in blue and red, counting the non overlapping (mismatching) pixels.
+
+    @param size The size of the image, where lines1 and lines2 were found.
+    @param lines1 The first group of lines that needs to be drawn. It is visualized in blue color.
+    @param lines2 The second group of lines. They visualized in red color.
+    @param _image Optional image, where the lines will be drawn. The image should be color(3-channel)
+    in order for lines1 and lines2 to be drawn in the above mentioned colors.
+     */
+    CV_WRAP virtual int compareSegments(const Size& size, InputArray lines1, InputArray lines2, InputOutputArray _image = noArray()) = 0;
+
+    virtual ~LineSegmentDetector() { }
+};
+
+/** @brief Creates a smart pointer to a LineSegmentDetector object and initializes it.
+
+The LineSegmentDetector algorithm is defined using the standard values. Only advanced users may want
+to edit those, as to tailor it for their own application.
+
+@param _refine The way found lines will be refined, see cv::LineSegmentDetectorModes
+@param _scale The scale of the image that will be used to find the lines. Range (0..1].
+@param _sigma_scale Sigma for Gaussian filter. It is computed as sigma = _sigma_scale/_scale.
+@param _quant Bound to the quantization error on the gradient norm.
+@param _ang_th Gradient angle tolerance in degrees.
+@param _log_eps Detection threshold: -log10(NFA) \> log_eps. Used only when advancent refinement
+is chosen.
+@param _density_th Minimal density of aligned region points in the enclosing rectangle.
+@param _n_bins Number of bins in pseudo-ordering of gradient modulus.
+ */
+CV_EXPORTS_W Ptr<LineSegmentDetector> createLineSegmentDetector(
+    int _refine = LSD_REFINE_STD, double _scale = 0.8,
+    double _sigma_scale = 0.6, double _quant = 2.0, double _ang_th = 22.5,
+    double _log_eps = 0, double _density_th = 0.7, int _n_bins = 1024);
+
+//! @} imgproc_feature
+
+//! @addtogroup imgproc_filter
+//! @{
+
+/** @brief Returns Gaussian filter coefficients.
+
+The function computes and returns the \f$\texttt{ksize} \times 1\f$ matrix of Gaussian filter
+coefficients:
+
+\f[G_i= \alpha *e^{-(i-( \texttt{ksize} -1)/2)^2/(2* \texttt{sigma}^2)},\f]
+
+where \f$i=0..\texttt{ksize}-1\f$ and \f$\alpha\f$ is the scale factor chosen so that \f$\sum_i G_i=1\f$.
+
+Two of such generated kernels can be passed to sepFilter2D. Those functions automatically recognize
+smoothing kernels (a symmetrical kernel with sum of weights equal to 1) and handle them accordingly.
+You may also use the higher-level GaussianBlur.
+@param ksize Aperture size. It should be odd ( \f$\texttt{ksize} \mod 2 = 1\f$ ) and positive.
+@param sigma Gaussian standard deviation. If it is non-positive, it is computed from ksize as
+`sigma = 0.3\*((ksize-1)\*0.5 - 1) + 0.8`.
+@param ktype Type of filter coefficients. It can be CV_32F or CV_64F .
+@sa  sepFilter2D, getDerivKernels, getStructuringElement, GaussianBlur
+ */
+CV_EXPORTS_W Mat getGaussianKernel( int ksize, double sigma, int ktype = CV_64F );
+
+/** @brief Returns filter coefficients for computing spatial image derivatives.
+
+The function computes and returns the filter coefficients for spatial image derivatives. When
+`ksize=CV_SCHARR`, the Scharr \f$3 \times 3\f$ kernels are generated (see cv::Scharr). Otherwise, Sobel
+kernels are generated (see cv::Sobel). The filters are normally passed to sepFilter2D or to
+
+@param kx Output matrix of row filter coefficients. It has the type ktype .
+@param ky Output matrix of column filter coefficients. It has the type ktype .
+@param dx Derivative order in respect of x.
+@param dy Derivative order in respect of y.
+@param ksize Aperture size. It can be CV_SCHARR, 1, 3, 5, or 7.
+@param normalize Flag indicating whether to normalize (scale down) the filter coefficients or not.
+Theoretically, the coefficients should have the denominator \f$=2^{ksize*2-dx-dy-2}\f$. If you are
+going to filter floating-point images, you are likely to use the normalized kernels. But if you
+compute derivatives of an 8-bit image, store the results in a 16-bit image, and wish to preserve
+all the fractional bits, you may want to set normalize=false .
+@param ktype Type of filter coefficients. It can be CV_32f or CV_64F .
+ */
+CV_EXPORTS_W void getDerivKernels( OutputArray kx, OutputArray ky,
+                                   int dx, int dy, int ksize,
+                                   bool normalize = false, int ktype = CV_32F );
+
+/** @brief Returns Gabor filter coefficients.
+
+For more details about gabor filter equations and parameters, see: [Gabor
+Filter](http://en.wikipedia.org/wiki/Gabor_filter).
+
+@param ksize Size of the filter returned.
+@param sigma Standard deviation of the gaussian envelope.
+@param theta Orientation of the normal to the parallel stripes of a Gabor function.
+@param lambd Wavelength of the sinusoidal factor.
+@param gamma Spatial aspect ratio.
+@param psi Phase offset.
+@param ktype Type of filter coefficients. It can be CV_32F or CV_64F .
+ */
+CV_EXPORTS_W Mat getGaborKernel( Size ksize, double sigma, double theta, double lambd,
+                                 double gamma, double psi = CV_PI*0.5, int ktype = CV_64F );
+
+//! returns "magic" border value for erosion and dilation. It is automatically transformed to Scalar::all(-DBL_MAX) for dilation.
+static inline Scalar morphologyDefaultBorderValue() { return Scalar::all(DBL_MAX); }
+
+/** @brief Returns a structuring element of the specified size and shape for morphological operations.
+
+The function constructs and returns the structuring element that can be further passed to cv::erode,
+cv::dilate or cv::morphologyEx. But you can also construct an arbitrary binary mask yourself and use it as
+the structuring element.
+
+@param shape Element shape that could be one of cv::MorphShapes
+@param ksize Size of the structuring element.
+@param anchor Anchor position within the element. The default value \f$(-1, -1)\f$ means that the
+anchor is at the center. Note that only the shape of a cross-shaped element depends on the anchor
+position. In other cases the anchor just regulates how much the result of the morphological
+operation is shifted.
+ */
+CV_EXPORTS_W Mat getStructuringElement(int shape, Size ksize, Point anchor = Point(-1,-1));
+
+/** @brief Blurs an image using the median filter.
+
+The function smoothes an image using the median filter with the \f$\texttt{ksize} \times
+\texttt{ksize}\f$ aperture. Each channel of a multi-channel image is processed independently.
+In-place operation is supported.
+
+@param src input 1-, 3-, or 4-channel image; when ksize is 3 or 5, the image depth should be
+CV_8U, CV_16U, or CV_32F, for larger aperture sizes, it can only be CV_8U.
+@param dst destination array of the same size and type as src.
+@param ksize aperture linear size; it must be odd and greater than 1, for example: 3, 5, 7 ...
+@sa  bilateralFilter, blur, boxFilter, GaussianBlur
+ */
+CV_EXPORTS_W void medianBlur( InputArray src, OutputArray dst, int ksize );
+
+/** @brief Blurs an image using a Gaussian filter.
+
+The function convolves the source image with the specified Gaussian kernel. In-place filtering is
+supported.
+
+@param src input image; the image can have any number of channels, which are processed
+independently, but the depth should be CV_8U, CV_16U, CV_16S, CV_32F or CV_64F.
+@param dst output image of the same size and type as src.
+@param ksize Gaussian kernel size. ksize.width and ksize.height can differ but they both must be
+positive and odd. Or, they can be zero's and then they are computed from sigma.
+@param sigmaX Gaussian kernel standard deviation in X direction.
+@param sigmaY Gaussian kernel standard deviation in Y direction; if sigmaY is zero, it is set to be
+equal to sigmaX, if both sigmas are zeros, they are computed from ksize.width and ksize.height,
+respectively (see cv::getGaussianKernel for details); to fully control the result regardless of
+possible future modifications of all this semantics, it is recommended to specify all of ksize,
+sigmaX, and sigmaY.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+
+@sa  sepFilter2D, filter2D, blur, boxFilter, bilateralFilter, medianBlur
+ */
+CV_EXPORTS_W void GaussianBlur( InputArray src, OutputArray dst, Size ksize,
+                                double sigmaX, double sigmaY = 0,
+                                int borderType = BORDER_DEFAULT );
+
+/** @brief Applies the bilateral filter to an image.
+
+The function applies bilateral filtering to the input image, as described in
+http://www.dai.ed.ac.uk/CVonline/LOCAL_COPIES/MANDUCHI1/Bilateral_Filtering.html
+bilateralFilter can reduce unwanted noise very well while keeping edges fairly sharp. However, it is
+very slow compared to most filters.
+
+_Sigma values_: For simplicity, you can set the 2 sigma values to be the same. If they are small (\<
+10), the filter will not have much effect, whereas if they are large (\> 150), they will have a very
+strong effect, making the image look "cartoonish".
+
+_Filter size_: Large filters (d \> 5) are very slow, so it is recommended to use d=5 for real-time
+applications, and perhaps d=9 for offline applications that need heavy noise filtering.
+
+This filter does not work inplace.
+@param src Source 8-bit or floating-point, 1-channel or 3-channel image.
+@param dst Destination image of the same size and type as src .
+@param d Diameter of each pixel neighborhood that is used during filtering. If it is non-positive,
+it is computed from sigmaSpace.
+@param sigmaColor Filter sigma in the color space. A larger value of the parameter means that
+farther colors within the pixel neighborhood (see sigmaSpace) will be mixed together, resulting
+in larger areas of semi-equal color.
+@param sigmaSpace Filter sigma in the coordinate space. A larger value of the parameter means that
+farther pixels will influence each other as long as their colors are close enough (see sigmaColor
+). When d\>0, it specifies the neighborhood size regardless of sigmaSpace. Otherwise, d is
+proportional to sigmaSpace.
+@param borderType border mode used to extrapolate pixels outside of the image, see cv::BorderTypes
+ */
+CV_EXPORTS_W void bilateralFilter( InputArray src, OutputArray dst, int d,
+                                   double sigmaColor, double sigmaSpace,
+                                   int borderType = BORDER_DEFAULT );
+
+/** @brief Blurs an image using the box filter.
+
+The function smoothes an image using the kernel:
+
+\f[\texttt{K} =  \alpha \begin{bmatrix} 1 & 1 & 1 &  \cdots & 1 & 1  \\ 1 & 1 & 1 &  \cdots & 1 & 1  \\ \hdotsfor{6} \\ 1 & 1 & 1 &  \cdots & 1 & 1 \end{bmatrix}\f]
+
+where
+
+\f[\alpha = \fork{\frac{1}{\texttt{ksize.width*ksize.height}}}{when \texttt{normalize=true}}{1}{otherwise}\f]
+
+Unnormalized box filter is useful for computing various integral characteristics over each pixel
+neighborhood, such as covariance matrices of image derivatives (used in dense optical flow
+algorithms, and so on). If you need to compute pixel sums over variable-size windows, use cv::integral.
+
+@param src input image.
+@param dst output image of the same size and type as src.
+@param ddepth the output image depth (-1 to use src.depth()).
+@param ksize blurring kernel size.
+@param anchor anchor point; default value Point(-1,-1) means that the anchor is at the kernel
+center.
+@param normalize flag, specifying whether the kernel is normalized by its area or not.
+@param borderType border mode used to extrapolate pixels outside of the image, see cv::BorderTypes
+@sa  blur, bilateralFilter, GaussianBlur, medianBlur, integral
+ */
+CV_EXPORTS_W void boxFilter( InputArray src, OutputArray dst, int ddepth,
+                             Size ksize, Point anchor = Point(-1,-1),
+                             bool normalize = true,
+                             int borderType = BORDER_DEFAULT );
+
+/** @brief Calculates the normalized sum of squares of the pixel values overlapping the filter.
+
+For every pixel \f$ (x, y) \f$ in the source image, the function calculates the sum of squares of those neighboring
+pixel values which overlap the filter placed over the pixel \f$ (x, y) \f$.
+
+The unnormalized square box filter can be useful in computing local image statistics such as the the local
+variance and standard deviation around the neighborhood of a pixel.
+
+@param _src input image
+@param _dst output image of the same size and type as _src
+@param ddepth the output image depth (-1 to use src.depth())
+@param ksize kernel size
+@param anchor kernel anchor point. The default value of Point(-1, -1) denotes that the anchor is at the kernel
+center.
+@param normalize flag, specifying whether the kernel is to be normalized by it's area or not.
+@param borderType border mode used to extrapolate pixels outside of the image, see cv::BorderTypes
+@sa boxFilter
+*/
+CV_EXPORTS_W void sqrBoxFilter( InputArray _src, OutputArray _dst, int ddepth,
+                                Size ksize, Point anchor = Point(-1, -1),
+                                bool normalize = true,
+                                int borderType = BORDER_DEFAULT );
+
+/** @brief Blurs an image using the normalized box filter.
+
+The function smoothes an image using the kernel:
+
+\f[\texttt{K} =  \frac{1}{\texttt{ksize.width*ksize.height}} \begin{bmatrix} 1 & 1 & 1 &  \cdots & 1 & 1  \\ 1 & 1 & 1 &  \cdots & 1 & 1  \\ \hdotsfor{6} \\ 1 & 1 & 1 &  \cdots & 1 & 1  \\ \end{bmatrix}\f]
+
+The call `blur(src, dst, ksize, anchor, borderType)` is equivalent to `boxFilter(src, dst, src.type(),
+anchor, true, borderType)`.
+
+@param src input image; it can have any number of channels, which are processed independently, but
+the depth should be CV_8U, CV_16U, CV_16S, CV_32F or CV_64F.
+@param dst output image of the same size and type as src.
+@param ksize blurring kernel size.
+@param anchor anchor point; default value Point(-1,-1) means that the anchor is at the kernel
+center.
+@param borderType border mode used to extrapolate pixels outside of the image, see cv::BorderTypes
+@sa  boxFilter, bilateralFilter, GaussianBlur, medianBlur
+ */
+CV_EXPORTS_W void blur( InputArray src, OutputArray dst,
+                        Size ksize, Point anchor = Point(-1,-1),
+                        int borderType = BORDER_DEFAULT );
+
+/** @brief Convolves an image with the kernel.
+
+The function applies an arbitrary linear filter to an image. In-place operation is supported. When
+the aperture is partially outside the image, the function interpolates outlier pixel values
+according to the specified border mode.
+
+The function does actually compute correlation, not the convolution:
+
+\f[\texttt{dst} (x,y) =  \sum _{ \stackrel{0\leq x' < \texttt{kernel.cols},}{0\leq y' < \texttt{kernel.rows}} }  \texttt{kernel} (x',y')* \texttt{src} (x+x'- \texttt{anchor.x} ,y+y'- \texttt{anchor.y} )\f]
+
+That is, the kernel is not mirrored around the anchor point. If you need a real convolution, flip
+the kernel using cv::flip and set the new anchor to `(kernel.cols - anchor.x - 1, kernel.rows -
+anchor.y - 1)`.
+
+The function uses the DFT-based algorithm in case of sufficiently large kernels (~`11 x 11` or
+larger) and the direct algorithm for small kernels.
+
+@param src input image.
+@param dst output image of the same size and the same number of channels as src.
+@param ddepth desired depth of the destination image, see @ref filter_depths "combinations"
+@param kernel convolution kernel (or rather a correlation kernel), a single-channel floating point
+matrix; if you want to apply different kernels to different channels, split the image into
+separate color planes using split and process them individually.
+@param anchor anchor of the kernel that indicates the relative position of a filtered point within
+the kernel; the anchor should lie within the kernel; default value (-1,-1) means that the anchor
+is at the kernel center.
+@param delta optional value added to the filtered pixels before storing them in dst.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+@sa  sepFilter2D, dft, matchTemplate
+ */
+CV_EXPORTS_W void filter2D( InputArray src, OutputArray dst, int ddepth,
+                            InputArray kernel, Point anchor = Point(-1,-1),
+                            double delta = 0, int borderType = BORDER_DEFAULT );
+
+/** @brief Applies a separable linear filter to an image.
+
+The function applies a separable linear filter to the image. That is, first, every row of src is
+filtered with the 1D kernel kernelX. Then, every column of the result is filtered with the 1D
+kernel kernelY. The final result shifted by delta is stored in dst .
+
+@param src Source image.
+@param dst Destination image of the same size and the same number of channels as src .
+@param ddepth Destination image depth, see @ref filter_depths "combinations"
+@param kernelX Coefficients for filtering each row.
+@param kernelY Coefficients for filtering each column.
+@param anchor Anchor position within the kernel. The default value \f$(-1,-1)\f$ means that the anchor
+is at the kernel center.
+@param delta Value added to the filtered results before storing them.
+@param borderType Pixel extrapolation method, see cv::BorderTypes
+@sa  filter2D, Sobel, GaussianBlur, boxFilter, blur
+ */
+CV_EXPORTS_W void sepFilter2D( InputArray src, OutputArray dst, int ddepth,
+                               InputArray kernelX, InputArray kernelY,
+                               Point anchor = Point(-1,-1),
+                               double delta = 0, int borderType = BORDER_DEFAULT );
+
+/** @brief Calculates the first, second, third, or mixed image derivatives using an extended Sobel operator.
+
+In all cases except one, the \f$\texttt{ksize} \times \texttt{ksize}\f$ separable kernel is used to
+calculate the derivative. When \f$\texttt{ksize = 1}\f$, the \f$3 \times 1\f$ or \f$1 \times 3\f$
+kernel is used (that is, no Gaussian smoothing is done). `ksize = 1` can only be used for the first
+or the second x- or y- derivatives.
+
+There is also the special value `ksize = CV_SCHARR (-1)` that corresponds to the \f$3\times3\f$ Scharr
+filter that may give more accurate results than the \f$3\times3\f$ Sobel. The Scharr aperture is
+
+\f[\vecthreethree{-3}{0}{3}{-10}{0}{10}{-3}{0}{3}\f]
+
+for the x-derivative, or transposed for the y-derivative.
+
+The function calculates an image derivative by convolving the image with the appropriate kernel:
+
+\f[\texttt{dst} =  \frac{\partial^{xorder+yorder} \texttt{src}}{\partial x^{xorder} \partial y^{yorder}}\f]
+
+The Sobel operators combine Gaussian smoothing and differentiation, so the result is more or less
+resistant to the noise. Most often, the function is called with ( xorder = 1, yorder = 0, ksize = 3)
+or ( xorder = 0, yorder = 1, ksize = 3) to calculate the first x- or y- image derivative. The first
+case corresponds to a kernel of:
+
+\f[\vecthreethree{-1}{0}{1}{-2}{0}{2}{-1}{0}{1}\f]
+
+The second case corresponds to a kernel of:
+
+\f[\vecthreethree{-1}{-2}{-1}{0}{0}{0}{1}{2}{1}\f]
+
+@param src input image.
+@param dst output image of the same size and the same number of channels as src .
+@param ddepth output image depth, see @ref filter_depths "combinations"; in the case of
+    8-bit input images it will result in truncated derivatives.
+@param dx order of the derivative x.
+@param dy order of the derivative y.
+@param ksize size of the extended Sobel kernel; it must be 1, 3, 5, or 7.
+@param scale optional scale factor for the computed derivative values; by default, no scaling is
+applied (see cv::getDerivKernels for details).
+@param delta optional delta value that is added to the results prior to storing them in dst.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+@sa  Scharr, Laplacian, sepFilter2D, filter2D, GaussianBlur, cartToPolar
+ */
+CV_EXPORTS_W void Sobel( InputArray src, OutputArray dst, int ddepth,
+                         int dx, int dy, int ksize = 3,
+                         double scale = 1, double delta = 0,
+                         int borderType = BORDER_DEFAULT );
+
+/** @brief Calculates the first x- or y- image derivative using Scharr operator.
+
+The function computes the first x- or y- spatial image derivative using the Scharr operator. The
+call
+
+\f[\texttt{Scharr(src, dst, ddepth, dx, dy, scale, delta, borderType)}\f]
+
+is equivalent to
+
+\f[\texttt{Sobel(src, dst, ddepth, dx, dy, CV\_SCHARR, scale, delta, borderType)} .\f]
+
+@param src input image.
+@param dst output image of the same size and the same number of channels as src.
+@param ddepth output image depth, see @ref filter_depths "combinations"
+@param dx order of the derivative x.
+@param dy order of the derivative y.
+@param scale optional scale factor for the computed derivative values; by default, no scaling is
+applied (see getDerivKernels for details).
+@param delta optional delta value that is added to the results prior to storing them in dst.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+@sa  cartToPolar
+ */
+CV_EXPORTS_W void Scharr( InputArray src, OutputArray dst, int ddepth,
+                          int dx, int dy, double scale = 1, double delta = 0,
+                          int borderType = BORDER_DEFAULT );
+
+/** @example laplace.cpp
+  An example using Laplace transformations for edge detection
+*/
+
+/** @brief Calculates the Laplacian of an image.
+
+The function calculates the Laplacian of the source image by adding up the second x and y
+derivatives calculated using the Sobel operator:
+
+\f[\texttt{dst} =  \Delta \texttt{src} =  \frac{\partial^2 \texttt{src}}{\partial x^2} +  \frac{\partial^2 \texttt{src}}{\partial y^2}\f]
+
+This is done when `ksize > 1`. When `ksize == 1`, the Laplacian is computed by filtering the image
+with the following \f$3 \times 3\f$ aperture:
+
+\f[\vecthreethree {0}{1}{0}{1}{-4}{1}{0}{1}{0}\f]
+
+@param src Source image.
+@param dst Destination image of the same size and the same number of channels as src .
+@param ddepth Desired depth of the destination image.
+@param ksize Aperture size used to compute the second-derivative filters. See getDerivKernels for
+details. The size must be positive and odd.
+@param scale Optional scale factor for the computed Laplacian values. By default, no scaling is
+applied. See getDerivKernels for details.
+@param delta Optional delta value that is added to the results prior to storing them in dst .
+@param borderType Pixel extrapolation method, see cv::BorderTypes
+@sa  Sobel, Scharr
+ */
+CV_EXPORTS_W void Laplacian( InputArray src, OutputArray dst, int ddepth,
+                             int ksize = 1, double scale = 1, double delta = 0,
+                             int borderType = BORDER_DEFAULT );
+
+//! @} imgproc_filter
+
+//! @addtogroup imgproc_feature
+//! @{
+
+/** @example edge.cpp
+  An example on using the canny edge detector
+*/
+
+/** @brief Finds edges in an image using the Canny algorithm @cite Canny86 .
+
+The function finds edges in the input image image and marks them in the output map edges using the
+Canny algorithm. The smallest value between threshold1 and threshold2 is used for edge linking. The
+largest value is used to find initial segments of strong edges. See
+<http://en.wikipedia.org/wiki/Canny_edge_detector>
+
+@param image 8-bit input image.
+@param edges output edge map; single channels 8-bit image, which has the same size as image .
+@param threshold1 first threshold for the hysteresis procedure.
+@param threshold2 second threshold for the hysteresis procedure.
+@param apertureSize aperture size for the Sobel operator.
+@param L2gradient a flag, indicating whether a more accurate \f$L_2\f$ norm
+\f$=\sqrt{(dI/dx)^2 + (dI/dy)^2}\f$ should be used to calculate the image gradient magnitude (
+L2gradient=true ), or whether the default \f$L_1\f$ norm \f$=|dI/dx|+|dI/dy|\f$ is enough (
+L2gradient=false ).
+ */
+CV_EXPORTS_W void Canny( InputArray image, OutputArray edges,
+                         double threshold1, double threshold2,
+                         int apertureSize = 3, bool L2gradient = false );
+
+/** @brief Calculates the minimal eigenvalue of gradient matrices for corner detection.
+
+The function is similar to cornerEigenValsAndVecs but it calculates and stores only the minimal
+eigenvalue of the covariance matrix of derivatives, that is, \f$\min(\lambda_1, \lambda_2)\f$ in terms
+of the formulae in the cornerEigenValsAndVecs description.
+
+@param src Input single-channel 8-bit or floating-point image.
+@param dst Image to store the minimal eigenvalues. It has the type CV_32FC1 and the same size as
+src .
+@param blockSize Neighborhood size (see the details on cornerEigenValsAndVecs ).
+@param ksize Aperture parameter for the Sobel operator.
+@param borderType Pixel extrapolation method. See cv::BorderTypes.
+ */
+CV_EXPORTS_W void cornerMinEigenVal( InputArray src, OutputArray dst,
+                                     int blockSize, int ksize = 3,
+                                     int borderType = BORDER_DEFAULT );
+
+/** @brief Harris corner detector.
+
+The function runs the Harris corner detector on the image. Similarly to cornerMinEigenVal and
+cornerEigenValsAndVecs , for each pixel \f$(x, y)\f$ it calculates a \f$2\times2\f$ gradient covariance
+matrix \f$M^{(x,y)}\f$ over a \f$\texttt{blockSize} \times \texttt{blockSize}\f$ neighborhood. Then, it
+computes the following characteristic:
+
+\f[\texttt{dst} (x,y) =  \mathrm{det} M^{(x,y)} - k  \cdot \left ( \mathrm{tr} M^{(x,y)} \right )^2\f]
+
+Corners in the image can be found as the local maxima of this response map.
+
+@param src Input single-channel 8-bit or floating-point image.
+@param dst Image to store the Harris detector responses. It has the type CV_32FC1 and the same
+size as src .
+@param blockSize Neighborhood size (see the details on cornerEigenValsAndVecs ).
+@param ksize Aperture parameter for the Sobel operator.
+@param k Harris detector free parameter. See the formula below.
+@param borderType Pixel extrapolation method. See cv::BorderTypes.
+ */
+CV_EXPORTS_W void cornerHarris( InputArray src, OutputArray dst, int blockSize,
+                                int ksize, double k,
+                                int borderType = BORDER_DEFAULT );
+
+/** @brief Calculates eigenvalues and eigenvectors of image blocks for corner detection.
+
+For every pixel \f$p\f$ , the function cornerEigenValsAndVecs considers a blockSize \f$\times\f$ blockSize
+neighborhood \f$S(p)\f$ . It calculates the covariation matrix of derivatives over the neighborhood as:
+
+\f[M =  \begin{bmatrix} \sum _{S(p)}(dI/dx)^2 &  \sum _{S(p)}dI/dx dI/dy  \\ \sum _{S(p)}dI/dx dI/dy &  \sum _{S(p)}(dI/dy)^2 \end{bmatrix}\f]
+
+where the derivatives are computed using the Sobel operator.
+
+After that, it finds eigenvectors and eigenvalues of \f$M\f$ and stores them in the destination image as
+\f$(\lambda_1, \lambda_2, x_1, y_1, x_2, y_2)\f$ where
+
+-   \f$\lambda_1, \lambda_2\f$ are the non-sorted eigenvalues of \f$M\f$
+-   \f$x_1, y_1\f$ are the eigenvectors corresponding to \f$\lambda_1\f$
+-   \f$x_2, y_2\f$ are the eigenvectors corresponding to \f$\lambda_2\f$
+
+The output of the function can be used for robust edge or corner detection.
+
+@param src Input single-channel 8-bit or floating-point image.
+@param dst Image to store the results. It has the same size as src and the type CV_32FC(6) .
+@param blockSize Neighborhood size (see details below).
+@param ksize Aperture parameter for the Sobel operator.
+@param borderType Pixel extrapolation method. See cv::BorderTypes.
+
+@sa  cornerMinEigenVal, cornerHarris, preCornerDetect
+ */
+CV_EXPORTS_W void cornerEigenValsAndVecs( InputArray src, OutputArray dst,
+                                          int blockSize, int ksize,
+                                          int borderType = BORDER_DEFAULT );
+
+/** @brief Calculates a feature map for corner detection.
+
+The function calculates the complex spatial derivative-based function of the source image
+
+\f[\texttt{dst} = (D_x  \texttt{src} )^2  \cdot D_{yy}  \texttt{src} + (D_y  \texttt{src} )^2  \cdot D_{xx}  \texttt{src} - 2 D_x  \texttt{src} \cdot D_y  \texttt{src} \cdot D_{xy}  \texttt{src}\f]
+
+where \f$D_x\f$,\f$D_y\f$ are the first image derivatives, \f$D_{xx}\f$,\f$D_{yy}\f$ are the second image
+derivatives, and \f$D_{xy}\f$ is the mixed derivative.
+
+The corners can be found as local maximums of the functions, as shown below:
+@code
+    Mat corners, dilated_corners;
+    preCornerDetect(image, corners, 3);
+    // dilation with 3x3 rectangular structuring element
+    dilate(corners, dilated_corners, Mat(), 1);
+    Mat corner_mask = corners == dilated_corners;
+@endcode
+
+@param src Source single-channel 8-bit of floating-point image.
+@param dst Output image that has the type CV_32F and the same size as src .
+@param ksize %Aperture size of the Sobel .
+@param borderType Pixel extrapolation method. See cv::BorderTypes.
+ */
+CV_EXPORTS_W void preCornerDetect( InputArray src, OutputArray dst, int ksize,
+                                   int borderType = BORDER_DEFAULT );
+
+/** @brief Refines the corner locations.
+
+The function iterates to find the sub-pixel accurate location of corners or radial saddle points, as
+shown on the figure below.
+
+![image](pics/cornersubpix.png)
+
+Sub-pixel accurate corner locator is based on the observation that every vector from the center \f$q\f$
+to a point \f$p\f$ located within a neighborhood of \f$q\f$ is orthogonal to the image gradient at \f$p\f$
+subject to image and measurement noise. Consider the expression:
+
+\f[\epsilon _i = {DI_{p_i}}^T  \cdot (q - p_i)\f]
+
+where \f${DI_{p_i}}\f$ is an image gradient at one of the points \f$p_i\f$ in a neighborhood of \f$q\f$ . The
+value of \f$q\f$ is to be found so that \f$\epsilon_i\f$ is minimized. A system of equations may be set up
+with \f$\epsilon_i\f$ set to zero:
+
+\f[\sum _i(DI_{p_i}  \cdot {DI_{p_i}}^T) -  \sum _i(DI_{p_i}  \cdot {DI_{p_i}}^T  \cdot p_i)\f]
+
+where the gradients are summed within a neighborhood ("search window") of \f$q\f$ . Calling the first
+gradient term \f$G\f$ and the second gradient term \f$b\f$ gives:
+
+\f[q = G^{-1}  \cdot b\f]
+
+The algorithm sets the center of the neighborhood window at this new center \f$q\f$ and then iterates
+until the center stays within a set threshold.
+
+@param image Input image.
+@param corners Initial coordinates of the input corners and refined coordinates provided for
+output.
+@param winSize Half of the side length of the search window. For example, if winSize=Size(5,5) ,
+then a \f$5*2+1 \times 5*2+1 = 11 \times 11\f$ search window is used.
+@param zeroZone Half of the size of the dead region in the middle of the search zone over which
+the summation in the formula below is not done. It is used sometimes to avoid possible
+singularities of the autocorrelation matrix. The value of (-1,-1) indicates that there is no such
+a size.
+@param criteria Criteria for termination of the iterative process of corner refinement. That is,
+the process of corner position refinement stops either after criteria.maxCount iterations or when
+the corner position moves by less than criteria.epsilon on some iteration.
+ */
+CV_EXPORTS_W void cornerSubPix( InputArray image, InputOutputArray corners,
+                                Size winSize, Size zeroZone,
+                                TermCriteria criteria );
+
+/** @brief Determines strong corners on an image.
+
+The function finds the most prominent corners in the image or in the specified image region, as
+described in @cite Shi94
+
+-   Function calculates the corner quality measure at every source image pixel using the
+    cornerMinEigenVal or cornerHarris .
+-   Function performs a non-maximum suppression (the local maximums in *3 x 3* neighborhood are
+    retained).
+-   The corners with the minimal eigenvalue less than
+    \f$\texttt{qualityLevel} \cdot \max_{x,y} qualityMeasureMap(x,y)\f$ are rejected.
+-   The remaining corners are sorted by the quality measure in the descending order.
+-   Function throws away each corner for which there is a stronger corner at a distance less than
+    maxDistance.
+
+The function can be used to initialize a point-based tracker of an object.
+
+@note If the function is called with different values A and B of the parameter qualityLevel , and
+A \> B, the vector of returned corners with qualityLevel=A will be the prefix of the output vector
+with qualityLevel=B .
+
+@param image Input 8-bit or floating-point 32-bit, single-channel image.
+@param corners Output vector of detected corners.
+@param maxCorners Maximum number of corners to return. If there are more corners than are found,
+the strongest of them is returned.
+@param qualityLevel Parameter characterizing the minimal accepted quality of image corners. The
+parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue
+(see cornerMinEigenVal ) or the Harris function response (see cornerHarris ). The corners with the
+quality measure less than the product are rejected. For example, if the best corner has the
+quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure
+less than 15 are rejected.
+@param minDistance Minimum possible Euclidean distance between the returned corners.
+@param mask Optional region of interest. If the image is not empty (it needs to have the type
+CV_8UC1 and the same size as image ), it specifies the region in which the corners are detected.
+@param blockSize Size of an average block for computing a derivative covariation matrix over each
+pixel neighborhood. See cornerEigenValsAndVecs .
+@param useHarrisDetector Parameter indicating whether to use a Harris detector (see cornerHarris)
+or cornerMinEigenVal.
+@param k Free parameter of the Harris detector.
+
+@sa  cornerMinEigenVal, cornerHarris, calcOpticalFlowPyrLK, estimateRigidTransform,
+ */
+CV_EXPORTS_W void goodFeaturesToTrack( InputArray image, OutputArray corners,
+                                     int maxCorners, double qualityLevel, double minDistance,
+                                     InputArray mask = noArray(), int blockSize = 3,
+                                     bool useHarrisDetector = false, double k = 0.04 );
+
+/** @example houghlines.cpp
+An example using the Hough line detector
+*/
+
+/** @brief Finds lines in a binary image using the standard Hough transform.
+
+The function implements the standard or standard multi-scale Hough transform algorithm for line
+detection. See <http://homepages.inf.ed.ac.uk/rbf/HIPR2/hough.htm> for a good explanation of Hough
+transform.
+
+@param image 8-bit, single-channel binary source image. The image may be modified by the function.
+@param lines Output vector of lines. Each line is represented by a two-element vector
+\f$(\rho, \theta)\f$ . \f$\rho\f$ is the distance from the coordinate origin \f$(0,0)\f$ (top-left corner of
+the image). \f$\theta\f$ is the line rotation angle in radians (
+\f$0 \sim \textrm{vertical line}, \pi/2 \sim \textrm{horizontal line}\f$ ).
+@param rho Distance resolution of the accumulator in pixels.
+@param theta Angle resolution of the accumulator in radians.
+@param threshold Accumulator threshold parameter. Only those lines are returned that get enough
+votes ( \f$>\texttt{threshold}\f$ ).
+@param srn For the multi-scale Hough transform, it is a divisor for the distance resolution rho .
+The coarse accumulator distance resolution is rho and the accurate accumulator resolution is
+rho/srn . If both srn=0 and stn=0 , the classical Hough transform is used. Otherwise, both these
+parameters should be positive.
+@param stn For the multi-scale Hough transform, it is a divisor for the distance resolution theta.
+@param min_theta For standard and multi-scale Hough transform, minimum angle to check for lines.
+Must fall between 0 and max_theta.
+@param max_theta For standard and multi-scale Hough transform, maximum angle to check for lines.
+Must fall between min_theta and CV_PI.
+ */
+CV_EXPORTS_W void HoughLines( InputArray image, OutputArray lines,
+                              double rho, double theta, int threshold,
+                              double srn = 0, double stn = 0,
+                              double min_theta = 0, double max_theta = CV_PI );
+
+/** @brief Finds line segments in a binary image using the probabilistic Hough transform.
+
+The function implements the probabilistic Hough transform algorithm for line detection, described
+in @cite Matas00
+
+See the line detection example below:
+
+@code
+    #include <opencv2/imgproc.hpp>
+    #include <opencv2/highgui.hpp>
+
+    using namespace cv;
+
+    int main(int argc, char** argv)
+    {
+        Mat src, dst, color_dst;
+        if( argc != 2 || !(src=imread(argv[1], 0)).data)
+            return -1;
+
+        Canny( src, dst, 50, 200, 3 );
+        cvtColor( dst, color_dst, COLOR_GRAY2BGR );
+
+    #if 0
+        vector<Vec2f> lines;
+        HoughLines( dst, lines, 1, CV_PI/180, 100 );
+
+        for( size_t i = 0; i < lines.size(); i++ )
+        {
+            float rho = lines[i][0];
+            float theta = lines[i][1];
+            double a = cos(theta), b = sin(theta);
+            double x0 = a*rho, y0 = b*rho;
+            Point pt1(cvRound(x0 + 1000*(-b)),
+                      cvRound(y0 + 1000*(a)));
+            Point pt2(cvRound(x0 - 1000*(-b)),
+                      cvRound(y0 - 1000*(a)));
+            line( color_dst, pt1, pt2, Scalar(0,0,255), 3, 8 );
+        }
+    #else
+        vector<Vec4i> lines;
+        HoughLinesP( dst, lines, 1, CV_PI/180, 80, 30, 10 );
+        for( size_t i = 0; i < lines.size(); i++ )
+        {
+            line( color_dst, Point(lines[i][0], lines[i][1]),
+                Point(lines[i][2], lines[i][3]), Scalar(0,0,255), 3, 8 );
+        }
+    #endif
+        namedWindow( "Source", 1 );
+        imshow( "Source", src );
+
+        namedWindow( "Detected Lines", 1 );
+        imshow( "Detected Lines", color_dst );
+
+        waitKey(0);
+        return 0;
+    }
+@endcode
+This is a sample picture the function parameters have been tuned for:
+
+![image](pics/building.jpg)
+
+And this is the output of the above program in case of the probabilistic Hough transform:
+
+![image](pics/houghp.png)
+
+@param image 8-bit, single-channel binary source image. The image may be modified by the function.
+@param lines Output vector of lines. Each line is represented by a 4-element vector
+\f$(x_1, y_1, x_2, y_2)\f$ , where \f$(x_1,y_1)\f$ and \f$(x_2, y_2)\f$ are the ending points of each detected
+line segment.
+@param rho Distance resolution of the accumulator in pixels.
+@param theta Angle resolution of the accumulator in radians.
+@param threshold Accumulator threshold parameter. Only those lines are returned that get enough
+votes ( \f$>\texttt{threshold}\f$ ).
+@param minLineLength Minimum line length. Line segments shorter than that are rejected.
+@param maxLineGap Maximum allowed gap between points on the same line to link them.
+
+@sa LineSegmentDetector
+ */
+CV_EXPORTS_W void HoughLinesP( InputArray image, OutputArray lines,
+                               double rho, double theta, int threshold,
+                               double minLineLength = 0, double maxLineGap = 0 );
+
+/** @example houghcircles.cpp
+An example using the Hough circle detector
+*/
+
+/** @brief Finds circles in a grayscale image using the Hough transform.
+
+The function finds circles in a grayscale image using a modification of the Hough transform.
+
+Example: :
+@code
+    #include <opencv2/imgproc.hpp>
+    #include <opencv2/highgui.hpp>
+    #include <math.h>
+
+    using namespace cv;
+
+    int main(int argc, char** argv)
+    {
+        Mat img, gray;
+        if( argc != 2 && !(img=imread(argv[1], 1)).data)
+            return -1;
+        cvtColor(img, gray, COLOR_BGR2GRAY);
+        // smooth it, otherwise a lot of false circles may be detected
+        GaussianBlur( gray, gray, Size(9, 9), 2, 2 );
+        vector<Vec3f> circles;
+        HoughCircles(gray, circles, HOUGH_GRADIENT,
+                     2, gray->rows/4, 200, 100 );
+        for( size_t i = 0; i < circles.size(); i++ )
+        {
+             Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
+             int radius = cvRound(circles[i][2]);
+             // draw the circle center
+             circle( img, center, 3, Scalar(0,255,0), -1, 8, 0 );
+             // draw the circle outline
+             circle( img, center, radius, Scalar(0,0,255), 3, 8, 0 );
+        }
+        namedWindow( "circles", 1 );
+        imshow( "circles", img );
+        return 0;
+    }
+@endcode
+
+@note Usually the function detects the centers of circles well. However, it may fail to find correct
+radii. You can assist to the function by specifying the radius range ( minRadius and maxRadius ) if
+you know it. Or, you may ignore the returned radius, use only the center, and find the correct
+radius using an additional procedure.
+
+@param image 8-bit, single-channel, grayscale input image.
+@param circles Output vector of found circles. Each vector is encoded as a 3-element
+floating-point vector \f$(x, y, radius)\f$ .
+@param method Detection method, see cv::HoughModes. Currently, the only implemented method is HOUGH_GRADIENT
+@param dp Inverse ratio of the accumulator resolution to the image resolution. For example, if
+dp=1 , the accumulator has the same resolution as the input image. If dp=2 , the accumulator has
+half as big width and height.
+@param minDist Minimum distance between the centers of the detected circles. If the parameter is
+too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is
+too large, some circles may be missed.
+@param param1 First method-specific parameter. In case of CV_HOUGH_GRADIENT , it is the higher
+threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
+@param param2 Second method-specific parameter. In case of CV_HOUGH_GRADIENT , it is the
+accumulator threshold for the circle centers at the detection stage. The smaller it is, the more
+false circles may be detected. Circles, corresponding to the larger accumulator values, will be
+returned first.
+@param minRadius Minimum circle radius.
+@param maxRadius Maximum circle radius.
+
+@sa fitEllipse, minEnclosingCircle
+ */
+CV_EXPORTS_W void HoughCircles( InputArray image, OutputArray circles,
+                               int method, double dp, double minDist,
+                               double param1 = 100, double param2 = 100,
+                               int minRadius = 0, int maxRadius = 0 );
+
+//! @} imgproc_feature
+
+//! @addtogroup imgproc_filter
+//! @{
+
+/** @example morphology2.cpp
+  An example using the morphological operations
+*/
+
+/** @brief Erodes an image by using a specific structuring element.
+
+The function erodes the source image using the specified structuring element that determines the
+shape of a pixel neighborhood over which the minimum is taken:
+
+\f[\texttt{dst} (x,y) =  \min _{(x',y'):  \, \texttt{element} (x',y') \ne0 } \texttt{src} (x+x',y+y')\f]
+
+The function supports the in-place mode. Erosion can be applied several ( iterations ) times. In
+case of multi-channel images, each channel is processed independently.
+
+@param src input image; the number of channels can be arbitrary, but the depth should be one of
+CV_8U, CV_16U, CV_16S, CV_32F or CV_64F.
+@param dst output image of the same size and type as src.
+@param kernel structuring element used for erosion; if `element=Mat()`, a `3 x 3` rectangular
+structuring element is used. Kernel can be created using getStructuringElement.
+@param anchor position of the anchor within the element; default value (-1, -1) means that the
+anchor is at the element center.
+@param iterations number of times erosion is applied.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+@param borderValue border value in case of a constant border
+@sa  dilate, morphologyEx, getStructuringElement
+ */
+CV_EXPORTS_W void erode( InputArray src, OutputArray dst, InputArray kernel,
+                         Point anchor = Point(-1,-1), int iterations = 1,
+                         int borderType = BORDER_CONSTANT,
+                         const Scalar& borderValue = morphologyDefaultBorderValue() );
+
+/** @brief Dilates an image by using a specific structuring element.
+
+The function dilates the source image using the specified structuring element that determines the
+shape of a pixel neighborhood over which the maximum is taken:
+\f[\texttt{dst} (x,y) =  \max _{(x',y'):  \, \texttt{element} (x',y') \ne0 } \texttt{src} (x+x',y+y')\f]
+
+The function supports the in-place mode. Dilation can be applied several ( iterations ) times. In
+case of multi-channel images, each channel is processed independently.
+
+@param src input image; the number of channels can be arbitrary, but the depth should be one of
+CV_8U, CV_16U, CV_16S, CV_32F or CV_64F.
+@param dst output image of the same size and type as src\`.
+@param kernel structuring element used for dilation; if elemenat=Mat(), a 3 x 3 rectangular
+structuring element is used. Kernel can be created using getStructuringElement
+@param anchor position of the anchor within the element; default value (-1, -1) means that the
+anchor is at the element center.
+@param iterations number of times dilation is applied.
+@param borderType pixel extrapolation method, see cv::BorderTypes
+@param borderValue border value in case of a constant border
+@sa  erode, morphologyEx, getStructuringElement
+ */
+CV_EXPORTS_W void dilate( InputArray src, OutputArray dst, InputArray kernel,
+                          Point anchor = Point(-1,-1), int iterations = 1,
+                          int borderType = BORDER_CONSTANT,
+                          const Scalar& borderValue = morphologyDefaultBorderValue() );
+
+/** @brief Performs advanced morphological transformations.
+
+The function can perform advanced morphological transformations using an erosion and dilation as
+basic operations.
+
+Any of the operations can be done in-place. In case of multi-channel images, each channel is
+processed independently.
+
+@param src Source image. The number of channels can be arbitrary. The depth should be one of
+CV_8U, CV_16U, CV_16S, CV_32F or CV_64F.
+@param dst Destination image of the same size and type as  src\` .
+@param kernel Structuring element. It can be created using getStructuringElement.
+@param anchor Anchor position with the kernel. Negative values mean that the anchor is at the
+kernel center.
+@param op Type of a morphological operation, see cv::MorphTypes
+@param iterations Number of times erosion and dilation are applied.
+@param borderType Pixel extrapolation method, see cv::BorderTypes
+@param borderValue Border value in case of a constant border. The default value has a special
+meaning.
+@sa  dilate, erode, getStructuringElement
+ */
+CV_EXPORTS_W void morphologyEx( InputArray src, OutputArray dst,
+                                int op, InputArray kernel,
+                                Point anchor = Point(-1,-1), int iterations = 1,
+                                int borderType = BORDER_CONSTANT,
+                                const Scalar& borderValue = morphologyDefaultBorderValue() );
+
+//! @} imgproc_filter
+
+//! @addtogroup imgproc_transform
+//! @{
+
+/** @brief Resizes an image.
+
+The function resize resizes the image src down to or up to the specified size. Note that the
+initial dst type or size are not taken into account. Instead, the size and type are derived from
+the `src`,`dsize`,`fx`, and `fy`. If you want to resize src so that it fits the pre-created dst,
+you may call the function as follows:
+@code
+    // explicitly specify dsize=dst.size(); fx and fy will be computed from that.
+    resize(src, dst, dst.size(), 0, 0, interpolation);
+@endcode
+If you want to decimate the image by factor of 2 in each direction, you can call the function this
+way:
+@code
+    // specify fx and fy and let the function compute the destination image size.
+    resize(src, dst, Size(), 0.5, 0.5, interpolation);
+@endcode
+To shrink an image, it will generally look best with CV_INTER_AREA interpolation, whereas to
+enlarge an image, it will generally look best with CV_INTER_CUBIC (slow) or CV_INTER_LINEAR
+(faster but still looks OK).
+
+@param src input image.
+@param dst output image; it has the size dsize (when it is non-zero) or the size computed from
+src.size(), fx, and fy; the type of dst is the same as of src.
+@param dsize output image size; if it equals zero, it is computed as:
+ \f[\texttt{dsize = Size(round(fx*src.cols), round(fy*src.rows))}\f]
+ Either dsize or both fx and fy must be non-zero.
+@param fx scale factor along the horizontal axis; when it equals 0, it is computed as
+\f[\texttt{(double)dsize.width/src.cols}\f]
+@param fy scale factor along the vertical axis; when it equals 0, it is computed as
+\f[\texttt{(double)dsize.height/src.rows}\f]
+@param interpolation interpolation method, see cv::InterpolationFlags
+
+@sa  warpAffine, warpPerspective, remap
+ */
+CV_EXPORTS_W void resize( InputArray src, OutputArray dst,
+                          Size dsize, double fx = 0, double fy = 0,
+                          int interpolation = INTER_LINEAR );
+
+/** @brief Applies an affine transformation to an image.
+
+The function warpAffine transforms the source image using the specified matrix:
+
+\f[\texttt{dst} (x,y) =  \texttt{src} ( \texttt{M} _{11} x +  \texttt{M} _{12} y +  \texttt{M} _{13}, \texttt{M} _{21} x +  \texttt{M} _{22} y +  \texttt{M} _{23})\f]
+
+when the flag WARP_INVERSE_MAP is set. Otherwise, the transformation is first inverted
+with cv::invertAffineTransform and then put in the formula above instead of M. The function cannot
+operate in-place.
+
+@param src input image.
+@param dst output image that has the size dsize and the same type as src .
+@param M \f$2\times 3\f$ transformation matrix.
+@param dsize size of the output image.
+@param flags combination of interpolation methods (see cv::InterpolationFlags) and the optional
+flag WARP_INVERSE_MAP that means that M is the inverse transformation (
+\f$\texttt{dst}\rightarrow\texttt{src}\f$ ).
+@param borderMode pixel extrapolation method (see cv::BorderTypes); when
+borderMode=BORDER_TRANSPARENT, it means that the pixels in the destination image corresponding to
+the "outliers" in the source image are not modified by the function.
+@param borderValue value used in case of a constant border; by default, it is 0.
+
+@sa  warpPerspective, resize, remap, getRectSubPix, transform
+ */
+CV_EXPORTS_W void warpAffine( InputArray src, OutputArray dst,
+                              InputArray M, Size dsize,
+                              int flags = INTER_LINEAR,
+                              int borderMode = BORDER_CONSTANT,
+                              const Scalar& borderValue = Scalar());
+
+/** @brief Applies a perspective transformation to an image.
+
+The function warpPerspective transforms the source image using the specified matrix:
+
+\f[\texttt{dst} (x,y) =  \texttt{src} \left ( \frac{M_{11} x + M_{12} y + M_{13}}{M_{31} x + M_{32} y + M_{33}} ,
+     \frac{M_{21} x + M_{22} y + M_{23}}{M_{31} x + M_{32} y + M_{33}} \right )\f]
+
+when the flag WARP_INVERSE_MAP is set. Otherwise, the transformation is first inverted with invert
+and then put in the formula above instead of M. The function cannot operate in-place.
+
+@param src input image.
+@param dst output image that has the size dsize and the same type as src .
+@param M \f$3\times 3\f$ transformation matrix.
+@param dsize size of the output image.
+@param flags combination of interpolation methods (INTER_LINEAR or INTER_NEAREST) and the
+optional flag WARP_INVERSE_MAP, that sets M as the inverse transformation (
+\f$\texttt{dst}\rightarrow\texttt{src}\f$ ).
+@param borderMode pixel extrapolation method (BORDER_CONSTANT or BORDER_REPLICATE).
+@param borderValue value used in case of a constant border; by default, it equals 0.
+
+@sa  warpAffine, resize, remap, getRectSubPix, perspectiveTransform
+ */
+CV_EXPORTS_W void warpPerspective( InputArray src, OutputArray dst,
+                                   InputArray M, Size dsize,
+                                   int flags = INTER_LINEAR,
+                                   int borderMode = BORDER_CONSTANT,
+                                   const Scalar& borderValue = Scalar());
+
+/** @brief Applies a generic geometrical transformation to an image.
+
+The function remap transforms the source image using the specified map:
+
+\f[\texttt{dst} (x,y) =  \texttt{src} (map_x(x,y),map_y(x,y))\f]
+
+where values of pixels with non-integer coordinates are computed using one of available
+interpolation methods. \f$map_x\f$ and \f$map_y\f$ can be encoded as separate floating-point maps
+in \f$map_1\f$ and \f$map_2\f$ respectively, or interleaved floating-point maps of \f$(x,y)\f$ in
+\f$map_1\f$, or fixed-point maps created by using convertMaps. The reason you might want to
+convert from floating to fixed-point representations of a map is that they can yield much faster
+(\~2x) remapping operations. In the converted case, \f$map_1\f$ contains pairs (cvFloor(x),
+cvFloor(y)) and \f$map_2\f$ contains indices in a table of interpolation coefficients.
+
+This function cannot operate in-place.
+
+@param src Source image.
+@param dst Destination image. It has the same size as map1 and the same type as src .
+@param map1 The first map of either (x,y) points or just x values having the type CV_16SC2 ,
+CV_32FC1, or CV_32FC2. See convertMaps for details on converting a floating point
+representation to fixed-point for speed.
+@param map2 The second map of y values having the type CV_16UC1, CV_32FC1, or none (empty map
+if map1 is (x,y) points), respectively.
+@param interpolation Interpolation method (see cv::InterpolationFlags). The method INTER_AREA is
+not supported by this function.
+@param borderMode Pixel extrapolation method (see cv::BorderTypes). When
+borderMode=BORDER_TRANSPARENT, it means that the pixels in the destination image that
+corresponds to the "outliers" in the source image are not modified by the function.
+@param borderValue Value used in case of a constant border. By default, it is 0.
+ */
+CV_EXPORTS_W void remap( InputArray src, OutputArray dst,
+                         InputArray map1, InputArray map2,
+                         int interpolation, int borderMode = BORDER_CONSTANT,
+                         const Scalar& borderValue = Scalar());
+
+/** @brief Converts image transformation maps from one representation to another.
+
+The function converts a pair of maps for remap from one representation to another. The following
+options ( (map1.type(), map2.type()) \f$\rightarrow\f$ (dstmap1.type(), dstmap2.type()) ) are
+supported:
+
+- \f$\texttt{(CV\_32FC1, CV\_32FC1)} \rightarrow \texttt{(CV\_16SC2, CV\_16UC1)}\f$. This is the
+most frequently used conversion operation, in which the original floating-point maps (see remap )
+are converted to a more compact and much faster fixed-point representation. The first output array
+contains the rounded coordinates and the second array (created only when nninterpolation=false )
+contains indices in the interpolation tables.
+
+- \f$\texttt{(CV\_32FC2)} \rightarrow \texttt{(CV\_16SC2, CV\_16UC1)}\f$. The same as above but
+the original maps are stored in one 2-channel matrix.
+
+- Reverse conversion. Obviously, the reconstructed floating-point maps will not be exactly the same
+as the originals.
+
+@param map1 The first input map of type CV_16SC2, CV_32FC1, or CV_32FC2 .
+@param map2 The second input map of type CV_16UC1, CV_32FC1, or none (empty matrix),
+respectively.
+@param dstmap1 The first output map that has the type dstmap1type and the same size as src .
+@param dstmap2 The second output map.
+@param dstmap1type Type of the first output map that should be CV_16SC2, CV_32FC1, or
+CV_32FC2 .
+@param nninterpolation Flag indicating whether the fixed-point maps are used for the
+nearest-neighbor or for a more complex interpolation.
+
+@sa  remap, undistort, initUndistortRectifyMap
+ */
+CV_EXPORTS_W void convertMaps( InputArray map1, InputArray map2,
+                               OutputArray dstmap1, OutputArray dstmap2,
+                               int dstmap1type, bool nninterpolation = false );
+
+/** @brief Calculates an affine matrix of 2D rotation.
+
+The function calculates the following matrix:
+
+\f[\begin{bmatrix} \alpha &  \beta & (1- \alpha )  \cdot \texttt{center.x} -  \beta \cdot \texttt{center.y} \\ - \beta &  \alpha &  \beta \cdot \texttt{center.x} + (1- \alpha )  \cdot \texttt{center.y} \end{bmatrix}\f]
+
+where
+
+\f[\begin{array}{l} \alpha =  \texttt{scale} \cdot \cos \texttt{angle} , \\ \beta =  \texttt{scale} \cdot \sin \texttt{angle} \end{array}\f]
+
+The transformation maps the rotation center to itself. If this is not the target, adjust the shift.
+
+@param center Center of the rotation in the source image.
+@param angle Rotation angle in degrees. Positive values mean counter-clockwise rotation (the
+coordinate origin is assumed to be the top-left corner).
+@param scale Isotropic scale factor.
+
+@sa  getAffineTransform, warpAffine, transform
+ */
+CV_EXPORTS_W Mat getRotationMatrix2D( Point2f center, double angle, double scale );
+
+//! returns 3x3 perspective transformation for the corresponding 4 point pairs.
+CV_EXPORTS Mat getPerspectiveTransform( const Point2f src[], const Point2f dst[] );
+
+/** @brief Calculates an affine transform from three pairs of the corresponding points.
+
+The function calculates the \f$2 \times 3\f$ matrix of an affine transform so that:
+
+\f[\begin{bmatrix} x'_i \\ y'_i \end{bmatrix} = \texttt{map\_matrix} \cdot \begin{bmatrix} x_i \\ y_i \\ 1 \end{bmatrix}\f]
+
+where
+
+\f[dst(i)=(x'_i,y'_i), src(i)=(x_i, y_i), i=0,1,2\f]
+
+@param src Coordinates of triangle vertices in the source image.
+@param dst Coordinates of the corresponding triangle vertices in the destination image.
+
+@sa  warpAffine, transform
+ */
+CV_EXPORTS Mat getAffineTransform( const Point2f src[], const Point2f dst[] );
+
+/** @brief Inverts an affine transformation.
+
+The function computes an inverse affine transformation represented by \f$2 \times 3\f$ matrix M:
+
+\f[\begin{bmatrix} a_{11} & a_{12} & b_1  \\ a_{21} & a_{22} & b_2 \end{bmatrix}\f]
+
+The result is also a \f$2 \times 3\f$ matrix of the same type as M.
+
+@param M Original affine transformation.
+@param iM Output reverse affine transformation.
+ */
+CV_EXPORTS_W void invertAffineTransform( InputArray M, OutputArray iM );
+
+/** @brief Calculates a perspective transform from four pairs of the corresponding points.
+
+The function calculates the \f$3 \times 3\f$ matrix of a perspective transform so that:
+
+\f[\begin{bmatrix} t_i x'_i \\ t_i y'_i \\ t_i \end{bmatrix} = \texttt{map\_matrix} \cdot \begin{bmatrix} x_i \\ y_i \\ 1 \end{bmatrix}\f]
+
+where
+
+\f[dst(i)=(x'_i,y'_i), src(i)=(x_i, y_i), i=0,1,2,3\f]
+
+@param src Coordinates of quadrangle vertices in the source image.
+@param dst Coordinates of the corresponding quadrangle vertices in the destination image.
+
+@sa  findHomography, warpPerspective, perspectiveTransform
+ */
+CV_EXPORTS_W Mat getPerspectiveTransform( InputArray src, InputArray dst );
+
+CV_EXPORTS_W Mat getAffineTransform( InputArray src, InputArray dst );
+
+/** @brief Retrieves a pixel rectangle from an image with sub-pixel accuracy.
+
+The function getRectSubPix extracts pixels from src:
+
+\f[dst(x, y) = src(x +  \texttt{center.x} - ( \texttt{dst.cols} -1)*0.5, y +  \texttt{center.y} - ( \texttt{dst.rows} -1)*0.5)\f]
+
+where the values of the pixels at non-integer coordinates are retrieved using bilinear
+interpolation. Every channel of multi-channel images is processed independently. While the center of
+the rectangle must be inside the image, parts of the rectangle may be outside. In this case, the
+replication border mode (see cv::BorderTypes) is used to extrapolate the pixel values outside of
+the image.
+
+@param image Source image.
+@param patchSize Size of the extracted patch.
+@param center Floating point coordinates of the center of the extracted rectangle within the
+source image. The center must be inside the image.
+@param patch Extracted patch that has the size patchSize and the same number of channels as src .
+@param patchType Depth of the extracted pixels. By default, they have the same depth as src .
+
+@sa  warpAffine, warpPerspective
+ */
+CV_EXPORTS_W void getRectSubPix( InputArray image, Size patchSize,
+                                 Point2f center, OutputArray patch, int patchType = -1 );
+
+/** @example polar_transforms.cpp
+An example using the cv::linearPolar and cv::logPolar operations
+*/
+
+/** @brief Remaps an image to log-polar space.
+
+transforms the source image using the following transformation:
+\f[dst( \phi , \rho ) = src(x,y)\f]
+where
+\f[\rho = M  \cdot \log{\sqrt{x^2 + y^2}} , \phi =atan(y/x)\f]
+
+The function emulates the human "foveal" vision and can be used for fast scale and
+rotation-invariant template matching, for object tracking and so forth. The function can not operate
+in-place.
+
+@param src Source image
+@param dst Destination image
+@param center The transformation center; where the output precision is maximal
+@param M Magnitude scale parameter.
+@param flags A combination of interpolation methods, see cv::InterpolationFlags
+ */
+CV_EXPORTS_W void logPolar( InputArray src, OutputArray dst,
+                            Point2f center, double M, int flags );
+
+/** @brief Remaps an image to polar space.
+
+transforms the source image using the following transformation:
+\f[dst( \phi , \rho ) = src(x,y)\f]
+where
+\f[\rho = (src.width/maxRadius)  \cdot \sqrt{x^2 + y^2} , \phi =atan(y/x)\f]
+
+The function can not operate in-place.
+
+@param src Source image
+@param dst Destination image
+@param center The transformation center;
+@param maxRadius Inverse magnitude scale parameter
+@param flags A combination of interpolation methods, see cv::InterpolationFlags
+ */
+CV_EXPORTS_W void linearPolar( InputArray src, OutputArray dst,
+                               Point2f center, double maxRadius, int flags );
+
+//! @} imgproc_transform
+
+//! @addtogroup imgproc_misc
+//! @{
+
+/** @overload */
+CV_EXPORTS_W void integral( InputArray src, OutputArray sum, int sdepth = -1 );
+
+/** @overload */
+CV_EXPORTS_AS(integral2) void integral( InputArray src, OutputArray sum,
+                                        OutputArray sqsum, int sdepth = -1, int sqdepth = -1 );
+
+/** @brief Calculates the integral of an image.
+
+The functions calculate one or more integral images for the source image as follows:
+
+\f[\texttt{sum} (X,Y) =  \sum _{x<X,y<Y}  \texttt{image} (x,y)\f]
+
+\f[\texttt{sqsum} (X,Y) =  \sum _{x<X,y<Y}  \texttt{image} (x,y)^2\f]
+
+\f[\texttt{tilted} (X,Y) =  \sum _{y<Y,abs(x-X+1) \leq Y-y-1}  \texttt{image} (x,y)\f]
+
+Using these integral images, you can calculate sum, mean, and standard deviation over a specific
+up-right or rotated rectangular region of the image in a constant time, for example:
+
+\f[\sum _{x_1 \leq x < x_2,  \, y_1  \leq y < y_2}  \texttt{image} (x,y) =  \texttt{sum} (x_2,y_2)- \texttt{sum} (x_1,y_2)- \texttt{sum} (x_2,y_1)+ \texttt{sum} (x_1,y_1)\f]
+
+It makes possible to do a fast blurring or fast block correlation with a variable window size, for
+example. In case of multi-channel images, sums for each channel are accumulated independently.
+
+As a practical example, the next figure shows the calculation of the integral of a straight
+rectangle Rect(3,3,3,2) and of a tilted rectangle Rect(5,1,2,3) . The selected pixels in the
+original image are shown, as well as the relative pixels in the integral images sum and tilted .
+
+![integral calculation example](pics/integral.png)
+
+@param src input image as \f$W \times H\f$, 8-bit or floating-point (32f or 64f).
+@param sum integral image as \f$(W+1)\times (H+1)\f$ , 32-bit integer or floating-point (32f or 64f).
+@param sqsum integral image for squared pixel values; it is \f$(W+1)\times (H+1)\f$, double-precision
+floating-point (64f) array.
+@param tilted integral for the image rotated by 45 degrees; it is \f$(W+1)\times (H+1)\f$ array with
+the same data type as sum.
+@param sdepth desired depth of the integral and the tilted integral images, CV_32S, CV_32F, or
+CV_64F.
+@param sqdepth desired depth of the integral image of squared pixel values, CV_32F or CV_64F.
+ */
+CV_EXPORTS_AS(integral3) void integral( InputArray src, OutputArray sum,
+                                        OutputArray sqsum, OutputArray tilted,
+                                        int sdepth = -1, int sqdepth = -1 );
+
+//! @} imgproc_misc
+
+//! @addtogroup imgproc_motion
+//! @{
+
+/** @brief Adds an image to the accumulator.
+
+The function adds src or some of its elements to dst :
+
+\f[\texttt{dst} (x,y)  \leftarrow \texttt{dst} (x,y) +  \texttt{src} (x,y)  \quad \text{if} \quad \texttt{mask} (x,y)  \ne 0\f]
+
+The function supports multi-channel images. Each channel is processed independently.
+
+The functions accumulate\* can be used, for example, to collect statistics of a scene background
+viewed by a still camera and for the further foreground-background segmentation.
+
+@param src Input image as 1- or 3-channel, 8-bit or 32-bit floating point.
+@param dst %Accumulator image with the same number of channels as input image, 32-bit or 64-bit
+floating-point.
+@param mask Optional operation mask.
+
+@sa  accumulateSquare, accumulateProduct, accumulateWeighted
+ */
+CV_EXPORTS_W void accumulate( InputArray src, InputOutputArray dst,
+                              InputArray mask = noArray() );
+
+/** @brief Adds the square of a source image to the accumulator.
+
+The function adds the input image src or its selected region, raised to a power of 2, to the
+accumulator dst :
+
+\f[\texttt{dst} (x,y)  \leftarrow \texttt{dst} (x,y) +  \texttt{src} (x,y)^2  \quad \text{if} \quad \texttt{mask} (x,y)  \ne 0\f]
+
+The function supports multi-channel images. Each channel is processed independently.
+
+@param src Input image as 1- or 3-channel, 8-bit or 32-bit floating point.
+@param dst %Accumulator image with the same number of channels as input image, 32-bit or 64-bit
+floating-point.
+@param mask Optional operation mask.
+
+@sa  accumulateSquare, accumulateProduct, accumulateWeighted
+ */
+CV_EXPORTS_W void accumulateSquare( InputArray src, InputOutputArray dst,
+                                    InputArray mask = noArray() );
+
+/** @brief Adds the per-element product of two input images to the accumulator.
+
+The function adds the product of two images or their selected regions to the accumulator dst :
+
+\f[\texttt{dst} (x,y)  \leftarrow \texttt{dst} (x,y) +  \texttt{src1} (x,y)  \cdot \texttt{src2} (x,y)  \quad \text{if} \quad \texttt{mask} (x,y)  \ne 0\f]
+
+The function supports multi-channel images. Each channel is processed independently.
+
+@param src1 First input image, 1- or 3-channel, 8-bit or 32-bit floating point.
+@param src2 Second input image of the same type and the same size as src1 .
+@param dst %Accumulator with the same number of channels as input images, 32-bit or 64-bit
+floating-point.
+@param mask Optional operation mask.
+
+@sa  accumulate, accumulateSquare, accumulateWeighted
+ */
+CV_EXPORTS_W void accumulateProduct( InputArray src1, InputArray src2,
+                                     InputOutputArray dst, InputArray mask=noArray() );
+
+/** @brief Updates a running average.
+
+The function calculates the weighted sum of the input image src and the accumulator dst so that dst
+becomes a running average of a frame sequence:
+
+\f[\texttt{dst} (x,y)  \leftarrow (1- \texttt{alpha} )  \cdot \texttt{dst} (x,y) +  \texttt{alpha} \cdot \texttt{src} (x,y)  \quad \text{if} \quad \texttt{mask} (x,y)  \ne 0\f]
+
+That is, alpha regulates the update speed (how fast the accumulator "forgets" about earlier images).
+The function supports multi-channel images. Each channel is processed independently.
+
+@param src Input image as 1- or 3-channel, 8-bit or 32-bit floating point.
+@param dst %Accumulator image with the same number of channels as input image, 32-bit or 64-bit
+floating-point.
+@param alpha Weight of the input image.
+@param mask Optional operation mask.
+
+@sa  accumulate, accumulateSquare, accumulateProduct
+ */
+CV_EXPORTS_W void accumulateWeighted( InputArray src, InputOutputArray dst,
+                                      double alpha, InputArray mask = noArray() );
+
+/** @brief The function is used to detect translational shifts that occur between two images.
+
+The operation takes advantage of the Fourier shift theorem for detecting the translational shift in
+the frequency domain. It can be used for fast image registration as well as motion estimation. For
+more information please see <http://en.wikipedia.org/wiki/Phase_correlation>
+
+Calculates the cross-power spectrum of two supplied source arrays. The arrays are padded if needed
+with getOptimalDFTSize.
+
+The function performs the following equations:
+- First it applies a Hanning window (see <http://en.wikipedia.org/wiki/Hann_function>) to each
+image to remove possible edge effects. This window is cached until the array size changes to speed
+up processing time.
+- Next it computes the forward DFTs of each source array:
+\f[\mathbf{G}_a = \mathcal{F}\{src_1\}, \; \mathbf{G}_b = \mathcal{F}\{src_2\}\f]
+where \f$\mathcal{F}\f$ is the forward DFT.
+- It then computes the cross-power spectrum of each frequency domain array:
+\f[R = \frac{ \mathbf{G}_a \mathbf{G}_b^*}{|\mathbf{G}_a \mathbf{G}_b^*|}\f]
+- Next the cross-correlation is converted back into the time domain via the inverse DFT:
+\f[r = \mathcal{F}^{-1}\{R\}\f]
+- Finally, it computes the peak location and computes a 5x5 weighted centroid around the peak to
+achieve sub-pixel accuracy.
+\f[(\Delta x, \Delta y) = \texttt{weightedCentroid} \{\arg \max_{(x, y)}\{r\}\}\f]
+- If non-zero, the response parameter is computed as the sum of the elements of r within the 5x5
+centroid around the peak location. It is normalized to a maximum of 1 (meaning there is a single
+peak) and will be smaller when there are multiple peaks.
+
+@param src1 Source floating point array (CV_32FC1 or CV_64FC1)
+@param src2 Source floating point array (CV_32FC1 or CV_64FC1)
+@param window Floating point array with windowing coefficients to reduce edge effects (optional).
+@param response Signal power within the 5x5 centroid around the peak, between 0 and 1 (optional).
+@returns detected phase shift (sub-pixel) between the two arrays.
+
+@sa dft, getOptimalDFTSize, idft, mulSpectrums createHanningWindow
+ */
+CV_EXPORTS_W Point2d phaseCorrelate(InputArray src1, InputArray src2,
+                                    InputArray window = noArray(), CV_OUT double* response = 0);
+
+/** @brief This function computes a Hanning window coefficients in two dimensions.
+
+See (http://en.wikipedia.org/wiki/Hann_function) and (http://en.wikipedia.org/wiki/Window_function)
+for more information.
+
+An example is shown below:
+@code
+    // create hanning window of size 100x100 and type CV_32F
+    Mat hann;
+    createHanningWindow(hann, Size(100, 100), CV_32F);
+@endcode
+@param dst Destination array to place Hann coefficients in
+@param winSize The window size specifications
+@param type Created array type
+ */
+CV_EXPORTS_W void createHanningWindow(OutputArray dst, Size winSize, int type);
+
+//! @} imgproc_motion
+
+//! @addtogroup imgproc_misc
+//! @{
+
+/** @brief Applies a fixed-level threshold to each array element.
+
+The function applies fixed-level thresholding to a single-channel array. The function is typically
+used to get a bi-level (binary) image out of a grayscale image ( cv::compare could be also used for
+this purpose) or for removing a noise, that is, filtering out pixels with too small or too large
+values. There are several types of thresholding supported by the function. They are determined by
+type parameter.
+
+Also, the special values cv::THRESH_OTSU or cv::THRESH_TRIANGLE may be combined with one of the
+above values. In these cases, the function determines the optimal threshold value using the Otsu's
+or Triangle algorithm and uses it instead of the specified thresh . The function returns the
+computed threshold value. Currently, the Otsu's and Triangle methods are implemented only for 8-bit
+images.
+
+@param src input array (single-channel, 8-bit or 32-bit floating point).
+@param dst output array of the same size and type as src.
+@param thresh threshold value.
+@param maxval maximum value to use with the THRESH_BINARY and THRESH_BINARY_INV thresholding
+types.
+@param type thresholding type (see the cv::ThresholdTypes).
+
+@sa  adaptiveThreshold, findContours, compare, min, max
+ */
+CV_EXPORTS_W double threshold( InputArray src, OutputArray dst,
+                               double thresh, double maxval, int type );
+
+
+/** @brief Applies an adaptive threshold to an array.
+
+The function transforms a grayscale image to a binary image according to the formulae:
+-   **THRESH_BINARY**
+    \f[dst(x,y) =  \fork{\texttt{maxValue}}{if \(src(x,y) > T(x,y)\)}{0}{otherwise}\f]
+-   **THRESH_BINARY_INV**
+    \f[dst(x,y) =  \fork{0}{if \(src(x,y) > T(x,y)\)}{\texttt{maxValue}}{otherwise}\f]
+where \f$T(x,y)\f$ is a threshold calculated individually for each pixel (see adaptiveMethod parameter).
+
+The function can process the image in-place.
+
+@param src Source 8-bit single-channel image.
+@param dst Destination image of the same size and the same type as src.
+@param maxValue Non-zero value assigned to the pixels for which the condition is satisfied
+@param adaptiveMethod Adaptive thresholding algorithm to use, see cv::AdaptiveThresholdTypes
+@param thresholdType Thresholding type that must be either THRESH_BINARY or THRESH_BINARY_INV,
+see cv::ThresholdTypes.
+@param blockSize Size of a pixel neighborhood that is used to calculate a threshold value for the
+pixel: 3, 5, 7, and so on.
+@param C Constant subtracted from the mean or weighted mean (see the details below). Normally, it
+is positive but may be zero or negative as well.
+
+@sa  threshold, blur, GaussianBlur
+ */
+CV_EXPORTS_W void adaptiveThreshold( InputArray src, OutputArray dst,
+                                     double maxValue, int adaptiveMethod,
+                                     int thresholdType, int blockSize, double C );
+
+//! @} imgproc_misc
+
+//! @addtogroup imgproc_filter
+//! @{
+
+/** @brief Blurs an image and downsamples it.
+
+By default, size of the output image is computed as `Size((src.cols+1)/2, (src.rows+1)/2)`, but in
+any case, the following conditions should be satisfied:
+
+\f[\begin{array}{l} | \texttt{dstsize.width} *2-src.cols| \leq 2 \\ | \texttt{dstsize.height} *2-src.rows| \leq 2 \end{array}\f]
+
+The function performs the downsampling step of the Gaussian pyramid construction. First, it
+convolves the source image with the kernel:
+
+\f[\frac{1}{256} \begin{bmatrix} 1 & 4 & 6 & 4 & 1  \\ 4 & 16 & 24 & 16 & 4  \\ 6 & 24 & 36 & 24 & 6  \\ 4 & 16 & 24 & 16 & 4  \\ 1 & 4 & 6 & 4 & 1 \end{bmatrix}\f]
+
+Then, it downsamples the image by rejecting even rows and columns.
+
+@param src input image.
+@param dst output image; it has the specified size and the same type as src.
+@param dstsize size of the output image.
+@param borderType Pixel extrapolation method, see cv::BorderTypes (BORDER_CONSTANT isn't supported)
+ */
+CV_EXPORTS_W void pyrDown( InputArray src, OutputArray dst,
+                           const Size& dstsize = Size(), int borderType = BORDER_DEFAULT );
+
+/** @brief Upsamples an image and then blurs it.
+
+By default, size of the output image is computed as `Size(src.cols\*2, (src.rows\*2)`, but in any
+case, the following conditions should be satisfied:
+
+\f[\begin{array}{l} | \texttt{dstsize.width} -src.cols*2| \leq  ( \texttt{dstsize.width}   \mod  2)  \\ | \texttt{dstsize.height} -src.rows*2| \leq  ( \texttt{dstsize.height}   \mod  2) \end{array}\f]
+
+The function performs the upsampling step of the Gaussian pyramid construction, though it can
+actually be used to construct the Laplacian pyramid. First, it upsamples the source image by
+injecting even zero rows and columns and then convolves the result with the same kernel as in
+pyrDown multiplied by 4.
+
+@param src input image.
+@param dst output image. It has the specified size and the same type as src .
+@param dstsize size of the output image.
+@param borderType Pixel extrapolation method, see cv::BorderTypes (only BORDER_DEFAULT is supported)
+ */
+CV_EXPORTS_W void pyrUp( InputArray src, OutputArray dst,
+                         const Size& dstsize = Size(), int borderType = BORDER_DEFAULT );
+
+/** @brief Constructs the Gaussian pyramid for an image.
+
+The function constructs a vector of images and builds the Gaussian pyramid by recursively applying
+pyrDown to the previously built pyramid layers, starting from `dst[0]==src`.
+
+@param src Source image. Check pyrDown for the list of supported types.
+@param dst Destination vector of maxlevel+1 images of the same type as src. dst[0] will be the
+same as src. dst[1] is the next pyramid layer, a smoothed and down-sized src, and so on.
+@param maxlevel 0-based index of the last (the smallest) pyramid layer. It must be non-negative.
+@param borderType Pixel extrapolation method, see cv::BorderTypes (BORDER_CONSTANT isn't supported)
+ */
+CV_EXPORTS void buildPyramid( InputArray src, OutputArrayOfArrays dst,
+                              int maxlevel, int borderType = BORDER_DEFAULT );
+
+//! @} imgproc_filter
+
+//! @addtogroup imgproc_transform
+//! @{
+
+/** @brief Transforms an image to compensate for lens distortion.
+
+The function transforms an image to compensate radial and tangential lens distortion.
+
+The function is simply a combination of cv::initUndistortRectifyMap (with unity R ) and cv::remap
+(with bilinear interpolation). See the former function for details of the transformation being
+performed.
+
+Those pixels in the destination image, for which there is no correspondent pixels in the source
+image, are filled with zeros (black color).
+
+A particular subset of the source image that will be visible in the corrected image can be regulated
+by newCameraMatrix. You can use cv::getOptimalNewCameraMatrix to compute the appropriate
+newCameraMatrix depending on your requirements.
+
+The camera matrix and the distortion parameters can be determined using cv::calibrateCamera. If
+the resolution of images is different from the resolution used at the calibration stage, \f$f_x,
+f_y, c_x\f$ and \f$c_y\f$ need to be scaled accordingly, while the distortion coefficients remain
+the same.
+
+@param src Input (distorted) image.
+@param dst Output (corrected) image that has the same size and type as src .
+@param cameraMatrix Input camera matrix \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])\f$ of 4, 5, or 8 elements. If the vector is
+NULL/empty, the zero distortion coefficients are assumed.
+@param newCameraMatrix Camera matrix of the distorted image. By default, it is the same as
+cameraMatrix but you may additionally scale and shift the result by using a different matrix.
+ */
+CV_EXPORTS_W void undistort( InputArray src, OutputArray dst,
+                             InputArray cameraMatrix,
+                             InputArray distCoeffs,
+                             InputArray newCameraMatrix = noArray() );
+
+/** @brief Computes the undistortion and rectification transformation map.
+
+The function computes the joint undistortion and rectification transformation and represents the
+result in the form of maps for remap. The undistorted image looks like original, as if it is
+captured with a camera using the camera matrix =newCameraMatrix and zero distortion. In case of a
+monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by
+cv::getOptimalNewCameraMatrix for a better control over scaling. In case of a stereo camera,
+newCameraMatrix is normally set to P1 or P2 computed by cv::stereoRectify .
+
+Also, this new camera is oriented differently in the coordinate space, according to R. That, for
+example, helps to align two heads of a stereo camera so that the epipolar lines on both images
+become horizontal and have the same y- coordinate (in case of a horizontally aligned stereo camera).
+
+The function actually builds the maps for the inverse mapping algorithm that is used by remap. That
+is, for each pixel \f$(u, v)\f$ in the destination (corrected and rectified) image, the function
+computes the corresponding coordinates in the source image (that is, in the original image from
+camera). The following process is applied:
+\f[\begin{array}{l} x  \leftarrow (u - {c'}_x)/{f'}_x  \\ y  \leftarrow (v - {c'}_y)/{f'}_y  \\{[X\,Y\,W]} ^T  \leftarrow R^{-1}*[x \, y \, 1]^T  \\ x'  \leftarrow X/W  \\ y'  \leftarrow Y/W  \\ x"  \leftarrow x' (1 + k_1 r^2 + k_2 r^4 + k_3 r^6) + 2p_1 x' y' + p_2(r^2 + 2 x'^2)  \\ y"  \leftarrow y' (1 + k_1 r^2 + k_2 r^4 + k_3 r^6) + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y'  \\ map_x(u,v)  \leftarrow x" f_x + c_x  \\ map_y(u,v)  \leftarrow y" f_y + c_y \end{array}\f]
+where \f$(k_1, k_2, p_1, p_2[, k_3])\f$ are the distortion coefficients.
+
+In case of a stereo camera, this function is called twice: once for each camera head, after
+stereoRectify, which in its turn is called after cv::stereoCalibrate. But if the stereo camera
+was not calibrated, it is still possible to compute the rectification transformations directly from
+the fundamental matrix using cv::stereoRectifyUncalibrated. For each camera, the function computes
+homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D
+space. R can be computed from H as
+\f[\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\f]
+where cameraMatrix can be chosen arbitrarily.
+
+@param cameraMatrix Input camera matrix \f$A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])\f$ of 4, 5, or 8 elements. If the vector is
+NULL/empty, the zero distortion coefficients are assumed.
+@param R Optional rectification transformation in the object space (3x3 matrix). R1 or R2 ,
+computed by stereoRectify can be passed here. If the matrix is empty, the identity transformation
+is assumed. In cvInitUndistortMap R assumed to be an identity matrix.
+@param newCameraMatrix New camera matrix \f$A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\f$.
+@param size Undistorted image size.
+@param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2, see cv::convertMaps
+@param map1 The first output map.
+@param map2 The second output map.
+ */
+CV_EXPORTS_W void initUndistortRectifyMap( InputArray cameraMatrix, InputArray distCoeffs,
+                           InputArray R, InputArray newCameraMatrix,
+                           Size size, int m1type, OutputArray map1, OutputArray map2 );
+
+//! initializes maps for cv::remap() for wide-angle
+CV_EXPORTS_W float initWideAngleProjMap( InputArray cameraMatrix, InputArray distCoeffs,
+                                         Size imageSize, int destImageWidth,
+                                         int m1type, OutputArray map1, OutputArray map2,
+                                         int projType = PROJ_SPHERICAL_EQRECT, double alpha = 0);
+
+/** @brief Returns the default new camera matrix.
+
+The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
+centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
+
+In the latter case, the new camera matrix will be:
+
+\f[\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5  \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5  \\ 0 && 0 && 1 \end{bmatrix} ,\f]
+
+where \f$f_x\f$ and \f$f_y\f$ are \f$(0,0)\f$ and \f$(1,1)\f$ elements of cameraMatrix, respectively.
+
+By default, the undistortion functions in OpenCV (see initUndistortRectifyMap, undistort) do not
+move the principal point. However, when you work with stereo, it is important to move the principal
+points in both views to the same y-coordinate (which is required by most of stereo correspondence
+algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for
+each view where the principal points are located at the center.
+
+@param cameraMatrix Input camera matrix.
+@param imgsize Camera view image size in pixels.
+@param centerPrincipalPoint Location of the principal point in the new camera matrix. The
+parameter indicates whether this location should be at the image center or not.
+ */
+CV_EXPORTS_W Mat getDefaultNewCameraMatrix( InputArray cameraMatrix, Size imgsize = Size(),
+                                            bool centerPrincipalPoint = false );
+
+/** @brief Computes the ideal point coordinates from the observed point coordinates.
+
+The function is similar to cv::undistort and cv::initUndistortRectifyMap but it operates on a
+sparse set of points instead of a raster image. Also the function performs a reverse transformation
+to projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a
+planar object, it does, up to a translation vector, if the proper R is specified.
+@code
+    // (u,v) is the input point, (u', v') is the output point
+    // camera_matrix=[fx 0 cx; 0 fy cy; 0 0 1]
+    // P=[fx' 0 cx' tx; 0 fy' cy' ty; 0 0 1 tz]
+    x" = (u - cx)/fx
+    y" = (v - cy)/fy
+    (x',y') = undistort(x",y",dist_coeffs)
+    [X,Y,W]T = R*[x' y' 1]T
+    x = X/W, y = Y/W
+    // only performed if P=[fx' 0 cx' [tx]; 0 fy' cy' [ty]; 0 0 1 [tz]] is specified
+    u' = x*fx' + cx'
+    v' = y*fy' + cy',
+@endcode
+where cv::undistort is an approximate iterative algorithm that estimates the normalized original
+point coordinates out of the normalized distorted point coordinates ("normalized" means that the
+coordinates do not depend on the camera matrix).
+
+The function can be used for both a stereo camera head or a monocular camera (when R is empty).
+
+@param src Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2).
+@param dst Output ideal point coordinates after undistortion and reverse perspective
+transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
+@param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])\f$ of 4, 5, or 8 elements. If the vector is
+NULL/empty, the zero distortion coefficients are assumed.
+@param R Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by
+cv::stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.
+@param P New camera matrix (3x3) or new projection matrix (3x4). P1 or P2 computed by
+cv::stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.
+ */
+CV_EXPORTS_W void undistortPoints( InputArray src, OutputArray dst,
+                                   InputArray cameraMatrix, InputArray distCoeffs,
+                                   InputArray R = noArray(), InputArray P = noArray());
+
+//! @} imgproc_transform
+
+//! @addtogroup imgproc_hist
+//! @{
+
+/** @example demhist.cpp
+An example for creating histograms of an image
+*/
+
+/** @brief Calculates a histogram of a set of arrays.
+
+The functions calcHist calculate the histogram of one or more arrays. The elements of a tuple used
+to increment a histogram bin are taken from the corresponding input arrays at the same location. The
+sample below shows how to compute a 2D Hue-Saturation histogram for a color image. :
+@code
+    #include <opencv2/imgproc.hpp>
+    #include <opencv2/highgui.hpp>
+
+    using namespace cv;
+
+    int main( int argc, char** argv )
+    {
+        Mat src, hsv;
+        if( argc != 2 || !(src=imread(argv[1], 1)).data )
+            return -1;
+
+        cvtColor(src, hsv, COLOR_BGR2HSV);
+
+        // Quantize the hue to 30 levels
+        // and the saturation to 32 levels
+        int hbins = 30, sbins = 32;
+        int histSize[] = {hbins, sbins};
+        // hue varies from 0 to 179, see cvtColor
+        float hranges[] = { 0, 180 };
+        // saturation varies from 0 (black-gray-white) to
+        // 255 (pure spectrum color)
+        float sranges[] = { 0, 256 };
+        const float* ranges[] = { hranges, sranges };
+        MatND hist;
+        // we compute the histogram from the 0-th and 1-st channels
+        int channels[] = {0, 1};
+
+        calcHist( &hsv, 1, channels, Mat(), // do not use mask
+                 hist, 2, histSize, ranges,
+                 true, // the histogram is uniform
+                 false );
+        double maxVal=0;
+        minMaxLoc(hist, 0, &maxVal, 0, 0);
+
+        int scale = 10;
+        Mat histImg = Mat::zeros(sbins*scale, hbins*10, CV_8UC3);
+
+        for( int h = 0; h < hbins; h++ )
+            for( int s = 0; s < sbins; s++ )
+            {
+                float binVal = hist.at<float>(h, s);
+                int intensity = cvRound(binVal*255/maxVal);
+                rectangle( histImg, Point(h*scale, s*scale),
+                            Point( (h+1)*scale - 1, (s+1)*scale - 1),
+                            Scalar::all(intensity),
+                            CV_FILLED );
+            }
+
+        namedWindow( "Source", 1 );
+        imshow( "Source", src );
+
+        namedWindow( "H-S Histogram", 1 );
+        imshow( "H-S Histogram", histImg );
+        waitKey();
+    }
+@endcode
+
+@param images Source arrays. They all should have the same depth, CV_8U or CV_32F , and the same
+size. Each of them can have an arbitrary number of channels.
+@param nimages Number of source images.
+@param channels List of the dims channels used to compute the histogram. The first array channels
+are numerated from 0 to images[0].channels()-1 , the second array channels are counted from
+images[0].channels() to images[0].channels() + images[1].channels()-1, and so on.
+@param mask Optional mask. If the matrix is not empty, it must be an 8-bit array of the same size
+as images[i] . The non-zero mask elements mark the array elements counted in the histogram.
+@param hist Output histogram, which is a dense or sparse dims -dimensional array.
+@param dims Histogram dimensionality that must be positive and not greater than CV_MAX_DIMS
+(equal to 32 in the current OpenCV version).
+@param histSize Array of histogram sizes in each dimension.
+@param ranges Array of the dims arrays of the histogram bin boundaries in each dimension. When the
+histogram is uniform ( uniform =true), then for each dimension i it is enough to specify the lower
+(inclusive) boundary \f$L_0\f$ of the 0-th histogram bin and the upper (exclusive) boundary
+\f$U_{\texttt{histSize}[i]-1}\f$ for the last histogram bin histSize[i]-1 . That is, in case of a
+uniform histogram each of ranges[i] is an array of 2 elements. When the histogram is not uniform (
+uniform=false ), then each of ranges[i] contains histSize[i]+1 elements:
+\f$L_0, U_0=L_1, U_1=L_2, ..., U_{\texttt{histSize[i]}-2}=L_{\texttt{histSize[i]}-1}, U_{\texttt{histSize[i]}-1}\f$
+. The array elements, that are not between \f$L_0\f$ and \f$U_{\texttt{histSize[i]}-1}\f$ , are not
+counted in the histogram.
+@param uniform Flag indicating whether the histogram is uniform or not (see above).
+@param accumulate Accumulation flag. If it is set, the histogram is not cleared in the beginning
+when it is allocated. This feature enables you to compute a single histogram from several sets of
+arrays, or to update the histogram in time.
+*/
+CV_EXPORTS void calcHist( const Mat* images, int nimages,
+                          const int* channels, InputArray mask,
+                          OutputArray hist, int dims, const int* histSize,
+                          const float** ranges, bool uniform = true, bool accumulate = false );
+
+/** @overload
+
+this variant uses cv::SparseMat for output
+*/
+CV_EXPORTS void calcHist( const Mat* images, int nimages,
+                          const int* channels, InputArray mask,
+                          SparseMat& hist, int dims,
+                          const int* histSize, const float** ranges,
+                          bool uniform = true, bool accumulate = false );
+
+/** @overload */
+CV_EXPORTS_W void calcHist( InputArrayOfArrays images,
+                            const std::vector<int>& channels,
+                            InputArray mask, OutputArray hist,
+                            const std::vector<int>& histSize,
+                            const std::vector<float>& ranges,
+                            bool accumulate = false );
+
+/** @brief Calculates the back projection of a histogram.
+
+The functions calcBackProject calculate the back project of the histogram. That is, similarly to
+cv::calcHist , at each location (x, y) the function collects the values from the selected channels
+in the input images and finds the corresponding histogram bin. But instead of incrementing it, the
+function reads the bin value, scales it by scale , and stores in backProject(x,y) . In terms of
+statistics, the function computes probability of each element value in respect with the empirical
+probability distribution represented by the histogram. See how, for example, you can find and track
+a bright-colored object in a scene:
+
+- Before tracking, show the object to the camera so that it covers almost the whole frame.
+Calculate a hue histogram. The histogram may have strong maximums, corresponding to the dominant
+colors in the object.
+
+- When tracking, calculate a back projection of a hue plane of each input video frame using that
+pre-computed histogram. Threshold the back projection to suppress weak colors. It may also make
+sense to suppress pixels with non-sufficient color saturation and too dark or too bright pixels.
+
+- Find connected components in the resulting picture and choose, for example, the largest
+component.
+
+This is an approximate algorithm of the CamShift color object tracker.
+
+@param images Source arrays. They all should have the same depth, CV_8U or CV_32F , and the same
+size. Each of them can have an arbitrary number of channels.
+@param nimages Number of source images.
+@param channels The list of channels used to compute the back projection. The number of channels
+must match the histogram dimensionality. The first array channels are numerated from 0 to
+images[0].channels()-1 , the second array channels are counted from images[0].channels() to
+images[0].channels() + images[1].channels()-1, and so on.
+@param hist Input histogram that can be dense or sparse.
+@param backProject Destination back projection array that is a single-channel array of the same
+size and depth as images[0] .
+@param ranges Array of arrays of the histogram bin boundaries in each dimension. See calcHist .
+@param scale Optional scale factor for the output back projection.
+@param uniform Flag indicating whether the histogram is uniform or not (see above).
+
+@sa cv::calcHist, cv::compareHist
+ */
+CV_EXPORTS void calcBackProject( const Mat* images, int nimages,
+                                 const int* channels, InputArray hist,
+                                 OutputArray backProject, const float** ranges,
+                                 double scale = 1, bool uniform = true );
+
+/** @overload */
+CV_EXPORTS void calcBackProject( const Mat* images, int nimages,
+                                 const int* channels, const SparseMat& hist,
+                                 OutputArray backProject, const float** ranges,
+                                 double scale = 1, bool uniform = true );
+
+/** @overload */
+CV_EXPORTS_W void calcBackProject( InputArrayOfArrays images, const std::vector<int>& channels,
+                                   InputArray hist, OutputArray dst,
+                                   const std::vector<float>& ranges,
+                                   double scale );
+
+/** @brief Compares two histograms.
+
+The function compare two dense or two sparse histograms using the specified method.
+
+The function returns \f$d(H_1, H_2)\f$ .
+
+While the function works well with 1-, 2-, 3-dimensional dense histograms, it may not be suitable
+for high-dimensional sparse histograms. In such histograms, because of aliasing and sampling
+problems, the coordinates of non-zero histogram bins can slightly shift. To compare such histograms
+or more general sparse configurations of weighted points, consider using the cv::EMD function.
+
+@param H1 First compared histogram.
+@param H2 Second compared histogram of the same size as H1 .
+@param method Comparison method, see cv::HistCompMethods
+ */
+CV_EXPORTS_W double compareHist( InputArray H1, InputArray H2, int method );
+
+/** @overload */
+CV_EXPORTS double compareHist( const SparseMat& H1, const SparseMat& H2, int method );
+
+/** @brief Equalizes the histogram of a grayscale image.
+
+The function equalizes the histogram of the input image using the following algorithm:
+
+- Calculate the histogram \f$H\f$ for src .
+- Normalize the histogram so that the sum of histogram bins is 255.
+- Compute the integral of the histogram:
+\f[H'_i =  \sum _{0  \le j < i} H(j)\f]
+- Transform the image using \f$H'\f$ as a look-up table: \f$\texttt{dst}(x,y) = H'(\texttt{src}(x,y))\f$
+
+The algorithm normalizes the brightness and increases the contrast of the image.
+
+@param src Source 8-bit single channel image.
+@param dst Destination image of the same size and type as src .
+ */
+CV_EXPORTS_W void equalizeHist( InputArray src, OutputArray dst );
+
+/** @brief Computes the "minimal work" distance between two weighted point configurations.
+
+The function computes the earth mover distance and/or a lower boundary of the distance between the
+two weighted point configurations. One of the applications described in @cite RubnerSept98,
+@cite Rubner2000 is multi-dimensional histogram comparison for image retrieval. EMD is a transportation
+problem that is solved using some modification of a simplex algorithm, thus the complexity is
+exponential in the worst case, though, on average it is much faster. In the case of a real metric
+the lower boundary can be calculated even faster (using linear-time algorithm) and it can be used
+to determine roughly whether the two signatures are far enough so that they cannot relate to the
+same object.
+
+@param signature1 First signature, a \f$\texttt{size1}\times \texttt{dims}+1\f$ floating-point matrix.
+Each row stores the point weight followed by the point coordinates. The matrix is allowed to have
+a single column (weights only) if the user-defined cost matrix is used.
+@param signature2 Second signature of the same format as signature1 , though the number of rows
+may be different. The total weights may be different. In this case an extra "dummy" point is added
+to either signature1 or signature2 .
+@param distType Used metric. See cv::DistanceTypes.
+@param cost User-defined \f$\texttt{size1}\times \texttt{size2}\f$ cost matrix. Also, if a cost matrix
+is used, lower boundary lowerBound cannot be calculated because it needs a metric function.
+@param lowerBound Optional input/output parameter: lower boundary of a distance between the two
+signatures that is a distance between mass centers. The lower boundary may not be calculated if
+the user-defined cost matrix is used, the total weights of point configurations are not equal, or
+if the signatures consist of weights only (the signature matrices have a single column). You
+**must** initialize \*lowerBound . If the calculated distance between mass centers is greater or
+equal to \*lowerBound (it means that the signatures are far enough), the function does not
+calculate EMD. In any case \*lowerBound is set to the calculated distance between mass centers on
+return. Thus, if you want to calculate both distance between mass centers and EMD, \*lowerBound
+should be set to 0.
+@param flow Resultant \f$\texttt{size1} \times \texttt{size2}\f$ flow matrix: \f$\texttt{flow}_{i,j}\f$ is
+a flow from \f$i\f$ -th point of signature1 to \f$j\f$ -th point of signature2 .
+ */
+CV_EXPORTS float EMD( InputArray signature1, InputArray signature2,
+                      int distType, InputArray cost=noArray(),
+                      float* lowerBound = 0, OutputArray flow = noArray() );
+
+//! @} imgproc_hist
+
+/** @example watershed.cpp
+An example using the watershed algorithm
+ */
+
+/** @brief Performs a marker-based image segmentation using the watershed algorithm.
+
+The function implements one of the variants of watershed, non-parametric marker-based segmentation
+algorithm, described in @cite Meyer92 .
+
+Before passing the image to the function, you have to roughly outline the desired regions in the
+image markers with positive (\>0) indices. So, every region is represented as one or more connected
+components with the pixel values 1, 2, 3, and so on. Such markers can be retrieved from a binary
+mask using findContours and drawContours (see the watershed.cpp demo). The markers are "seeds" of
+the future image regions. All the other pixels in markers , whose relation to the outlined regions
+is not known and should be defined by the algorithm, should be set to 0's. In the function output,
+each pixel in markers is set to a value of the "seed" components or to -1 at boundaries between the
+regions.
+
+@note Any two neighbor connected components are not necessarily separated by a watershed boundary
+(-1's pixels); for example, they can touch each other in the initial marker image passed to the
+function.
+
+@param image Input 8-bit 3-channel image.
+@param markers Input/output 32-bit single-channel image (map) of markers. It should have the same
+size as image .
+
+@sa findContours
+
+@ingroup imgproc_misc
+ */
+CV_EXPORTS_W void watershed( InputArray image, InputOutputArray markers );
+
+//! @addtogroup imgproc_filter
+//! @{
+
+/** @brief Performs initial step of meanshift segmentation of an image.
+
+The function implements the filtering stage of meanshift segmentation, that is, the output of the
+function is the filtered "posterized" image with color gradients and fine-grain texture flattened.
+At every pixel (X,Y) of the input image (or down-sized input image, see below) the function executes
+meanshift iterations, that is, the pixel (X,Y) neighborhood in the joint space-color hyperspace is
+considered:
+
+\f[(x,y): X- \texttt{sp} \le x  \le X+ \texttt{sp} , Y- \texttt{sp} \le y  \le Y+ \texttt{sp} , ||(R,G,B)-(r,g,b)||   \le \texttt{sr}\f]
+
+where (R,G,B) and (r,g,b) are the vectors of color components at (X,Y) and (x,y), respectively
+(though, the algorithm does not depend on the color space used, so any 3-component color space can
+be used instead). Over the neighborhood the average spatial value (X',Y') and average color vector
+(R',G',B') are found and they act as the neighborhood center on the next iteration:
+
+\f[(X,Y)~(X',Y'), (R,G,B)~(R',G',B').\f]
+
+After the iterations over, the color components of the initial pixel (that is, the pixel from where
+the iterations started) are set to the final value (average color at the last iteration):
+
+\f[I(X,Y) <- (R*,G*,B*)\f]
+
+When maxLevel \> 0, the gaussian pyramid of maxLevel+1 levels is built, and the above procedure is
+run on the smallest layer first. After that, the results are propagated to the larger layer and the
+iterations are run again only on those pixels where the layer colors differ by more than sr from the
+lower-resolution layer of the pyramid. That makes boundaries of color regions sharper. Note that the
+results will be actually different from the ones obtained by running the meanshift procedure on the
+whole original image (i.e. when maxLevel==0).
+
+@param src The source 8-bit, 3-channel image.
+@param dst The destination image of the same format and the same size as the source.
+@param sp The spatial window radius.
+@param sr The color window radius.
+@param maxLevel Maximum level of the pyramid for the segmentation.
+@param termcrit Termination criteria: when to stop meanshift iterations.
+ */
+CV_EXPORTS_W void pyrMeanShiftFiltering( InputArray src, OutputArray dst,
+                                         double sp, double sr, int maxLevel = 1,
+                                         TermCriteria termcrit=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS,5,1) );
+
+//! @}
+
+//! @addtogroup imgproc_misc
+//! @{
+
+/** @example grabcut.cpp
+An example using the GrabCut algorithm
+ */
+
+/** @brief Runs the GrabCut algorithm.
+
+The function implements the [GrabCut image segmentation algorithm](http://en.wikipedia.org/wiki/GrabCut).
+
+@param img Input 8-bit 3-channel image.
+@param mask Input/output 8-bit single-channel mask. The mask is initialized by the function when
+mode is set to GC_INIT_WITH_RECT. Its elements may have one of the cv::GrabCutClasses.
+@param rect ROI containing a segmented object. The pixels outside of the ROI are marked as
+"obvious background". The parameter is only used when mode==GC_INIT_WITH_RECT .
+@param bgdModel Temporary array for the background model. Do not modify it while you are
+processing the same image.
+@param fgdModel Temporary arrays for the foreground model. Do not modify it while you are
+processing the same image.
+@param iterCount Number of iterations the algorithm should make before returning the result. Note
+that the result can be refined with further calls with mode==GC_INIT_WITH_MASK or
+mode==GC_EVAL .
+@param mode Operation mode that could be one of the cv::GrabCutModes
+ */
+CV_EXPORTS_W void grabCut( InputArray img, InputOutputArray mask, Rect rect,
+                           InputOutputArray bgdModel, InputOutputArray fgdModel,
+                           int iterCount, int mode = GC_EVAL );
+
+/** @example distrans.cpp
+An example on using the distance transform\
+*/
+
+
+/** @brief Calculates the distance to the closest zero pixel for each pixel of the source image.
+
+The functions distanceTransform calculate the approximate or precise distance from every binary
+image pixel to the nearest zero pixel. For zero image pixels, the distance will obviously be zero.
+
+When maskSize == DIST_MASK_PRECISE and distanceType == DIST_L2 , the function runs the
+algorithm described in @cite Felzenszwalb04 . This algorithm is parallelized with the TBB library.
+
+In other cases, the algorithm @cite Borgefors86 is used. This means that for a pixel the function
+finds the shortest path to the nearest zero pixel consisting of basic shifts: horizontal, vertical,
+diagonal, or knight's move (the latest is available for a \f$5\times 5\f$ mask). The overall
+distance is calculated as a sum of these basic distances. Since the distance function should be
+symmetric, all of the horizontal and vertical shifts must have the same cost (denoted as a ), all
+the diagonal shifts must have the same cost (denoted as `b`), and all knight's moves must have the
+same cost (denoted as `c`). For the cv::DIST_C and cv::DIST_L1 types, the distance is calculated
+precisely, whereas for cv::DIST_L2 (Euclidean distance) the distance can be calculated only with a
+relative error (a \f$5\times 5\f$ mask gives more accurate results). For `a`,`b`, and `c`, OpenCV
+uses the values suggested in the original paper:
+- DIST_L1: `a = 1, b = 2`
+- DIST_L2:
+    - `3 x 3`: `a=0.955, b=1.3693`
+    - `5 x 5`: `a=1, b=1.4, c=2.1969`
+- DIST_C: `a = 1, b = 1`
+
+Typically, for a fast, coarse distance estimation DIST_L2, a \f$3\times 3\f$ mask is used. For a
+more accurate distance estimation DIST_L2, a \f$5\times 5\f$ mask or the precise algorithm is used.
+Note that both the precise and the approximate algorithms are linear on the number of pixels.
+
+This variant of the function does not only compute the minimum distance for each pixel \f$(x, y)\f$
+but also identifies the nearest connected component consisting of zero pixels
+(labelType==DIST_LABEL_CCOMP) or the nearest zero pixel (labelType==DIST_LABEL_PIXEL). Index of the
+component/pixel is stored in `labels(x, y)`. When labelType==DIST_LABEL_CCOMP, the function
+automatically finds connected components of zero pixels in the input image and marks them with
+distinct labels. When labelType==DIST_LABEL_CCOMP, the function scans through the input image and
+marks all the zero pixels with distinct labels.
+
+In this mode, the complexity is still linear. That is, the function provides a very fast way to
+compute the Voronoi diagram for a binary image. Currently, the second variant can use only the
+approximate distance transform algorithm, i.e. maskSize=DIST_MASK_PRECISE is not supported
+yet.
+
+@param src 8-bit, single-channel (binary) source image.
+@param dst Output image with calculated distances. It is a 8-bit or 32-bit floating-point,
+single-channel image of the same size as src.
+@param labels Output 2D array of labels (the discrete Voronoi diagram). It has the type
+CV_32SC1 and the same size as src.
+@param distanceType Type of distance, see cv::DistanceTypes
+@param maskSize Size of the distance transform mask, see cv::DistanceTransformMasks.
+DIST_MASK_PRECISE is not supported by this variant. In case of the DIST_L1 or DIST_C distance type,
+the parameter is forced to 3 because a \f$3\times 3\f$ mask gives the same result as \f$5\times
+5\f$ or any larger aperture.
+@param labelType Type of the label array to build, see cv::DistanceTransformLabelTypes.
+ */
+CV_EXPORTS_AS(distanceTransformWithLabels) void distanceTransform( InputArray src, OutputArray dst,
+                                     OutputArray labels, int distanceType, int maskSize,
+                                     int labelType = DIST_LABEL_CCOMP );
+
+/** @overload
+@param src 8-bit, single-channel (binary) source image.
+@param dst Output image with calculated distances. It is a 8-bit or 32-bit floating-point,
+single-channel image of the same size as src .
+@param distanceType Type of distance, see cv::DistanceTypes
+@param maskSize Size of the distance transform mask, see cv::DistanceTransformMasks. In case of the
+DIST_L1 or DIST_C distance type, the parameter is forced to 3 because a \f$3\times 3\f$ mask gives
+the same result as \f$5\times 5\f$ or any larger aperture.
+@param dstType Type of output image. It can be CV_8U or CV_32F. Type CV_8U can be used only for
+the first variant of the function and distanceType == DIST_L1.
+*/
+CV_EXPORTS_W void distanceTransform( InputArray src, OutputArray dst,
+                                     int distanceType, int maskSize, int dstType=CV_32F);
+
+/** @example ffilldemo.cpp
+  An example using the FloodFill technique
+*/
+
+/** @overload
+
+variant without `mask` parameter
+*/
+CV_EXPORTS int floodFill( InputOutputArray image,
+                          Point seedPoint, Scalar newVal, CV_OUT Rect* rect = 0,
+                          Scalar loDiff = Scalar(), Scalar upDiff = Scalar(),
+                          int flags = 4 );
+
+/** @brief Fills a connected component with the given color.
+
+The functions floodFill fill a connected component starting from the seed point with the specified
+color. The connectivity is determined by the color/brightness closeness of the neighbor pixels. The
+pixel at \f$(x,y)\f$ is considered to belong to the repainted domain if:
+
+- in case of a grayscale image and floating range
+\f[\texttt{src} (x',y')- \texttt{loDiff} \leq \texttt{src} (x,y)  \leq \texttt{src} (x',y')+ \texttt{upDiff}\f]
+
+
+- in case of a grayscale image and fixed range
+\f[\texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)- \texttt{loDiff} \leq \texttt{src} (x,y)  \leq \texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)+ \texttt{upDiff}\f]
+
+
+- in case of a color image and floating range
+\f[\texttt{src} (x',y')_r- \texttt{loDiff} _r \leq \texttt{src} (x,y)_r \leq \texttt{src} (x',y')_r+ \texttt{upDiff} _r,\f]
+\f[\texttt{src} (x',y')_g- \texttt{loDiff} _g \leq \texttt{src} (x,y)_g \leq \texttt{src} (x',y')_g+ \texttt{upDiff} _g\f]
+and
+\f[\texttt{src} (x',y')_b- \texttt{loDiff} _b \leq \texttt{src} (x,y)_b \leq \texttt{src} (x',y')_b+ \texttt{upDiff} _b\f]
+
+
+- in case of a color image and fixed range
+\f[\texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_r- \texttt{loDiff} _r \leq \texttt{src} (x,y)_r \leq \texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_r+ \texttt{upDiff} _r,\f]
+\f[\texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_g- \texttt{loDiff} _g \leq \texttt{src} (x,y)_g \leq \texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_g+ \texttt{upDiff} _g\f]
+and
+\f[\texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_b- \texttt{loDiff} _b \leq \texttt{src} (x,y)_b \leq \texttt{src} ( \texttt{seedPoint} .x, \texttt{seedPoint} .y)_b+ \texttt{upDiff} _b\f]
+
+
+where \f$src(x',y')\f$ is the value of one of pixel neighbors that is already known to belong to the
+component. That is, to be added to the connected component, a color/brightness of the pixel should
+be close enough to:
+- Color/brightness of one of its neighbors that already belong to the connected component in case
+of a floating range.
+- Color/brightness of the seed point in case of a fixed range.
+
+Use these functions to either mark a connected component with the specified color in-place, or build
+a mask and then extract the contour, or copy the region to another image, and so on.
+
+@param image Input/output 1- or 3-channel, 8-bit, or floating-point image. It is modified by the
+function unless the FLOODFILL_MASK_ONLY flag is set in the second variant of the function. See
+the details below.
+@param mask Operation mask that should be a single-channel 8-bit image, 2 pixels wider and 2 pixels
+taller than image. Since this is both an input and output parameter, you must take responsibility
+of initializing it. Flood-filling cannot go across non-zero pixels in the input mask. For example,
+an edge detector output can be used as a mask to stop filling at edges. On output, pixels in the
+mask corresponding to filled pixels in the image are set to 1 or to the a value specified in flags
+as described below. It is therefore possible to use the same mask in multiple calls to the function
+to make sure the filled areas do not overlap.
+@param seedPoint Starting point.
+@param newVal New value of the repainted domain pixels.
+@param loDiff Maximal lower brightness/color difference between the currently observed pixel and
+one of its neighbors belonging to the component, or a seed pixel being added to the component.
+@param upDiff Maximal upper brightness/color difference between the currently observed pixel and
+one of its neighbors belonging to the component, or a seed pixel being added to the component.
+@param rect Optional output parameter set by the function to the minimum bounding rectangle of the
+repainted domain.
+@param flags Operation flags. The first 8 bits contain a connectivity value. The default value of
+4 means that only the four nearest neighbor pixels (those that share an edge) are considered. A
+connectivity value of 8 means that the eight nearest neighbor pixels (those that share a corner)
+will be considered. The next 8 bits (8-16) contain a value between 1 and 255 with which to fill
+the mask (the default value is 1). For example, 4 | ( 255 \<\< 8 ) will consider 4 nearest
+neighbours and fill the mask with a value of 255. The following additional options occupy higher
+bits and therefore may be further combined with the connectivity and mask fill values using
+bit-wise or (|), see cv::FloodFillFlags.
+
+@note Since the mask is larger than the filled image, a pixel \f$(x, y)\f$ in image corresponds to the
+pixel \f$(x+1, y+1)\f$ in the mask .
+
+@sa findContours
+ */
+CV_EXPORTS_W int floodFill( InputOutputArray image, InputOutputArray mask,
+                            Point seedPoint, Scalar newVal, CV_OUT Rect* rect=0,
+                            Scalar loDiff = Scalar(), Scalar upDiff = Scalar(),
+                            int flags = 4 );
+
+/** @brief Converts an image from one color space to another.
+
+The function converts an input image from one color space to another. In case of a transformation
+to-from RGB color space, the order of the channels should be specified explicitly (RGB or BGR). Note
+that the default color format in OpenCV is often referred to as RGB but it is actually BGR (the
+bytes are reversed). So the first byte in a standard (24-bit) color image will be an 8-bit Blue
+component, the second byte will be Green, and the third byte will be Red. The fourth, fifth, and
+sixth bytes would then be the second pixel (Blue, then Green, then Red), and so on.
+
+The conventional ranges for R, G, and B channel values are:
+-   0 to 255 for CV_8U images
+-   0 to 65535 for CV_16U images
+-   0 to 1 for CV_32F images
+
+In case of linear transformations, the range does not matter. But in case of a non-linear
+transformation, an input RGB image should be normalized to the proper value range to get the correct
+results, for example, for RGB \f$\rightarrow\f$ L\*u\*v\* transformation. For example, if you have a
+32-bit floating-point image directly converted from an 8-bit image without any scaling, then it will
+have the 0..255 value range instead of 0..1 assumed by the function. So, before calling cvtColor ,
+you need first to scale the image down:
+@code
+    img *= 1./255;
+    cvtColor(img, img, COLOR_BGR2Luv);
+@endcode
+If you use cvtColor with 8-bit images, the conversion will have some information lost. For many
+applications, this will not be noticeable but it is recommended to use 32-bit images in applications
+that need the full range of colors or that convert an image before an operation and then convert
+back.
+
+If conversion adds the alpha channel, its value will set to the maximum of corresponding channel
+range: 255 for CV_8U, 65535 for CV_16U, 1 for CV_32F.
+
+@param src input image: 8-bit unsigned, 16-bit unsigned ( CV_16UC... ), or single-precision
+floating-point.
+@param dst output image of the same size and depth as src.
+@param code color space conversion code (see cv::ColorConversionCodes).
+@param dstCn number of channels in the destination image; if the parameter is 0, the number of the
+channels is derived automatically from src and code.
+
+@see @ref imgproc_color_conversions
+ */
+CV_EXPORTS_W void cvtColor( InputArray src, OutputArray dst, int code, int dstCn = 0 );
+
+//! @} imgproc_misc
+
+// main function for all demosaicing procceses
+CV_EXPORTS_W void demosaicing(InputArray _src, OutputArray _dst, int code, int dcn = 0);
+
+//! @addtogroup imgproc_shape
+//! @{
+
+/** @brief Calculates all of the moments up to the third order of a polygon or rasterized shape.
+
+The function computes moments, up to the 3rd order, of a vector shape or a rasterized shape. The
+results are returned in the structure cv::Moments.
+
+@param array Raster image (single-channel, 8-bit or floating-point 2D array) or an array (
+\f$1 \times N\f$ or \f$N \times 1\f$ ) of 2D points (Point or Point2f ).
+@param binaryImage If it is true, all non-zero image pixels are treated as 1's. The parameter is
+used for images only.
+@returns moments.
+
+@sa  contourArea, arcLength
+ */
+CV_EXPORTS_W Moments moments( InputArray array, bool binaryImage = false );
+
+/** @brief Calculates seven Hu invariants.
+
+The function calculates seven Hu invariants (introduced in @cite Hu62; see also
+<http://en.wikipedia.org/wiki/Image_moment>) defined as:
+
+\f[\begin{array}{l} hu[0]= \eta _{20}+ \eta _{02} \\ hu[1]=( \eta _{20}- \eta _{02})^{2}+4 \eta _{11}^{2} \\ hu[2]=( \eta _{30}-3 \eta _{12})^{2}+ (3 \eta _{21}- \eta _{03})^{2} \\ hu[3]=( \eta _{30}+ \eta _{12})^{2}+ ( \eta _{21}+ \eta _{03})^{2} \\ hu[4]=( \eta _{30}-3 \eta _{12})( \eta _{30}+ \eta _{12})[( \eta _{30}+ \eta _{12})^{2}-3( \eta _{21}+ \eta _{03})^{2}]+(3 \eta _{21}- \eta _{03})( \eta _{21}+ \eta _{03})[3( \eta _{30}+ \eta _{12})^{2}-( \eta _{21}+ \eta _{03})^{2}] \\ hu[5]=( \eta _{20}- \eta _{02})[( \eta _{30}+ \eta _{12})^{2}- ( \eta _{21}+ \eta _{03})^{2}]+4 \eta _{11}( \eta _{30}+ \eta _{12})( \eta _{21}+ \eta _{03}) \\ hu[6]=(3 \eta _{21}- \eta _{03})( \eta _{21}+ \eta _{03})[3( \eta _{30}+ \eta _{12})^{2}-( \eta _{21}+ \eta _{03})^{2}]-( \eta _{30}-3 \eta _{12})( \eta _{21}+ \eta _{03})[3( \eta _{30}+ \eta _{12})^{2}-( \eta _{21}+ \eta _{03})^{2}] \\ \end{array}\f]
+
+where \f$\eta_{ji}\f$ stands for \f$\texttt{Moments::nu}_{ji}\f$ .
+
+These values are proved to be invariants to the image scale, rotation, and reflection except the
+seventh one, whose sign is changed by reflection. This invariance is proved with the assumption of
+infinite image resolution. In case of raster images, the computed Hu invariants for the original and
+transformed images are a bit different.
+
+@param moments Input moments computed with moments .
+@param hu Output Hu invariants.
+
+@sa matchShapes
+ */
+CV_EXPORTS void HuMoments( const Moments& moments, double hu[7] );
+
+/** @overload */
+CV_EXPORTS_W void HuMoments( const Moments& m, OutputArray hu );
+
+//! @} imgproc_shape
+
+//! @addtogroup imgproc_object
+//! @{
+
+//! type of the template matching operation
+enum TemplateMatchModes {
+    TM_SQDIFF        = 0, //!< \f[R(x,y)= \sum _{x',y'} (T(x',y')-I(x+x',y+y'))^2\f]
+    TM_SQDIFF_NORMED = 1, //!< \f[R(x,y)= \frac{\sum_{x',y'} (T(x',y')-I(x+x',y+y'))^2}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}\f]
+    TM_CCORR         = 2, //!< \f[R(x,y)= \sum _{x',y'} (T(x',y')  \cdot I(x+x',y+y'))\f]
+    TM_CCORR_NORMED  = 3, //!< \f[R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}\f]
+    TM_CCOEFF        = 4, //!< \f[R(x,y)= \sum _{x',y'} (T'(x',y')  \cdot I'(x+x',y+y'))\f]
+                          //!< where
+                          //!< \f[\begin{array}{l} T'(x',y')=T(x',y') - 1/(w  \cdot h)  \cdot \sum _{x'',y''} T(x'',y'') \\ I'(x+x',y+y')=I(x+x',y+y') - 1/(w  \cdot h)  \cdot \sum _{x'',y''} I(x+x'',y+y'') \end{array}\f]
+    TM_CCOEFF_NORMED = 5  //!< \f[R(x,y)= \frac{ \sum_{x',y'} (T'(x',y') \cdot I'(x+x',y+y')) }{ \sqrt{\sum_{x',y'}T'(x',y')^2 \cdot \sum_{x',y'} I'(x+x',y+y')^2} }\f]
+};
+
+/** @brief Compares a template against overlapped image regions.
+
+The function slides through image , compares the overlapped patches of size \f$w \times h\f$ against
+templ using the specified method and stores the comparison results in result . Here are the formulae
+for the available comparison methods ( \f$I\f$ denotes image, \f$T\f$ template, \f$R\f$ result ). The summation
+is done over template and/or the image patch: \f$x' = 0...w-1, y' = 0...h-1\f$
+
+After the function finishes the comparison, the best matches can be found as global minimums (when
+TM_SQDIFF was used) or maximums (when TM_CCORR or TM_CCOEFF was used) using the
+minMaxLoc function. In case of a color image, template summation in the numerator and each sum in
+the denominator is done over all of the channels and separate mean values are used for each channel.
+That is, the function can take a color template and a color image. The result will still be a
+single-channel image, which is easier to analyze.
+
+@param image Image where the search is running. It must be 8-bit or 32-bit floating-point.
+@param templ Searched template. It must be not greater than the source image and have the same
+data type.
+@param result Map of comparison results. It must be single-channel 32-bit floating-point. If image
+is \f$W \times H\f$ and templ is \f$w \times h\f$ , then result is \f$(W-w+1) \times (H-h+1)\f$ .
+@param method Parameter specifying the comparison method, see cv::TemplateMatchModes
+@param mask Mask of searched template. It must have the same datatype and size with templ. It is
+not set by default.
+ */
+CV_EXPORTS_W void matchTemplate( InputArray image, InputArray templ,
+                                 OutputArray result, int method, InputArray mask = noArray() );
+
+//! @}
+
+//! @addtogroup imgproc_shape
+//! @{
+
+/** @brief computes the connected components labeled image of boolean image
+
+image with 4 or 8 way connectivity - returns N, the total number of labels [0, N-1] where 0
+represents the background label. ltype specifies the output label image type, an important
+consideration based on the total number of labels or alternatively the total number of pixels in
+the source image.
+
+@param image the image to be labeled
+@param labels destination labeled image
+@param connectivity 8 or 4 for 8-way or 4-way connectivity respectively
+@param ltype output image label type. Currently CV_32S and CV_16U are supported.
+ */
+CV_EXPORTS_W int connectedComponents(InputArray image, OutputArray labels,
+                                     int connectivity = 8, int ltype = CV_32S);
+
+/** @overload
+@param image the image to be labeled
+@param labels destination labeled image
+@param stats statistics output for each label, including the background label, see below for
+available statistics. Statistics are accessed via stats(label, COLUMN) where COLUMN is one of
+cv::ConnectedComponentsTypes
+@param centroids floating point centroid (x,y) output for each label, including the background label
+@param connectivity 8 or 4 for 8-way or 4-way connectivity respectively
+@param ltype output image label type. Currently CV_32S and CV_16U are supported.
+*/
+CV_EXPORTS_W int connectedComponentsWithStats(InputArray image, OutputArray labels,
+                                              OutputArray stats, OutputArray centroids,
+                                              int connectivity = 8, int ltype = CV_32S);
+
+
+/** @brief Finds contours in a binary image.
+
+The function retrieves contours from the binary image using the algorithm @cite Suzuki85 . The contours
+are a useful tool for shape analysis and object detection and recognition. See squares.c in the
+OpenCV sample directory.
+
+@note Source image is modified by this function. Also, the function does not take into account
+1-pixel border of the image (it's filled with 0's and used for neighbor analysis in the algorithm),
+therefore the contours touching the image border will be clipped.
+
+@param image Source, an 8-bit single-channel image. Non-zero pixels are treated as 1's. Zero
+pixels remain 0's, so the image is treated as binary . You can use compare , inRange , threshold ,
+adaptiveThreshold , Canny , and others to create a binary image out of a grayscale or color one.
+The function modifies the image while extracting the contours. If mode equals to RETR_CCOMP
+or RETR_FLOODFILL, the input can also be a 32-bit integer image of labels (CV_32SC1).
+@param contours Detected contours. Each contour is stored as a vector of points.
+@param hierarchy Optional output vector, containing information about the image topology. It has
+as many elements as the number of contours. For each i-th contour contours[i] , the elements
+hierarchy[i][0] , hiearchy[i][1] , hiearchy[i][2] , and hiearchy[i][3] are set to 0-based indices
+in contours of the next and previous contours at the same hierarchical level, the first child
+contour and the parent contour, respectively. If for the contour i there are no next, previous,
+parent, or nested contours, the corresponding elements of hierarchy[i] will be negative.
+@param mode Contour retrieval mode, see cv::RetrievalModes
+@param method Contour approximation method, see cv::ContourApproximationModes
+@param offset Optional offset by which every contour point is shifted. This is useful if the
+contours are extracted from the image ROI and then they should be analyzed in the whole image
+context.
+ */
+CV_EXPORTS_W void findContours( InputOutputArray image, OutputArrayOfArrays contours,
+                              OutputArray hierarchy, int mode,
+                              int method, Point offset = Point());
+
+/** @overload */
+CV_EXPORTS void findContours( InputOutputArray image, OutputArrayOfArrays contours,
+                              int mode, int method, Point offset = Point());
+
+/** @brief Approximates a polygonal curve(s) with the specified precision.
+
+The functions approxPolyDP approximate a curve or a polygon with another curve/polygon with less
+vertices so that the distance between them is less or equal to the specified precision. It uses the
+Douglas-Peucker algorithm <http://en.wikipedia.org/wiki/Ramer-Douglas-Peucker_algorithm>
+
+@param curve Input vector of a 2D point stored in std::vector or Mat
+@param approxCurve Result of the approximation. The type should match the type of the input curve.
+@param epsilon Parameter specifying the approximation accuracy. This is the maximum distance
+between the original curve and its approximation.
+@param closed If true, the approximated curve is closed (its first and last vertices are
+connected). Otherwise, it is not closed.
+ */
+CV_EXPORTS_W void approxPolyDP( InputArray curve,
+                                OutputArray approxCurve,
+                                double epsilon, bool closed );
+
+/** @brief Calculates a contour perimeter or a curve length.
+
+The function computes a curve length or a closed contour perimeter.
+
+@param curve Input vector of 2D points, stored in std::vector or Mat.
+@param closed Flag indicating whether the curve is closed or not.
+ */
+CV_EXPORTS_W double arcLength( InputArray curve, bool closed );
+
+/** @brief Calculates the up-right bounding rectangle of a point set.
+
+The function calculates and returns the minimal up-right bounding rectangle for the specified point set.
+
+@param points Input 2D point set, stored in std::vector or Mat.
+ */
+CV_EXPORTS_W Rect boundingRect( InputArray points );
+
+/** @brief Calculates a contour area.
+
+The function computes a contour area. Similarly to moments , the area is computed using the Green
+formula. Thus, the returned area and the number of non-zero pixels, if you draw the contour using
+drawContours or fillPoly , can be different. Also, the function will most certainly give a wrong
+results for contours with self-intersections.
+
+Example:
+@code
+    vector<Point> contour;
+    contour.push_back(Point2f(0, 0));
+    contour.push_back(Point2f(10, 0));
+    contour.push_back(Point2f(10, 10));
+    contour.push_back(Point2f(5, 4));
+
+    double area0 = contourArea(contour);
+    vector<Point> approx;
+    approxPolyDP(contour, approx, 5, true);
+    double area1 = contourArea(approx);
+
+    cout << "area0 =" << area0 << endl <<
+            "area1 =" << area1 << endl <<
+            "approx poly vertices" << approx.size() << endl;
+@endcode
+@param contour Input vector of 2D points (contour vertices), stored in std::vector or Mat.
+@param oriented Oriented area flag. If it is true, the function returns a signed area value,
+depending on the contour orientation (clockwise or counter-clockwise). Using this feature you can
+determine orientation of a contour by taking the sign of an area. By default, the parameter is
+false, which means that the absolute value is returned.
+ */
+CV_EXPORTS_W double contourArea( InputArray contour, bool oriented = false );
+
+/** @brief Finds a rotated rectangle of the minimum area enclosing the input 2D point set.
+
+The function calculates and returns the minimum-area bounding rectangle (possibly rotated) for a
+specified point set. See the OpenCV sample minarea.cpp . Developer should keep in mind that the
+returned rotatedRect can contain negative indices when data is close to the containing Mat element
+boundary.
+
+@param points Input vector of 2D points, stored in std::vector\<\> or Mat
+ */
+CV_EXPORTS_W RotatedRect minAreaRect( InputArray points );
+
+/** @brief Finds the four vertices of a rotated rect. Useful to draw the rotated rectangle.
+
+The function finds the four vertices of a rotated rectangle. This function is useful to draw the
+rectangle. In C++, instead of using this function, you can directly use box.points() method. Please
+visit the [tutorial on bounding
+rectangle](http://docs.opencv.org/doc/tutorials/imgproc/shapedescriptors/bounding_rects_circles/bounding_rects_circles.html#bounding-rects-circles)
+for more information.
+
+@param box The input rotated rectangle. It may be the output of
+@param points The output array of four vertices of rectangles.
+ */
+CV_EXPORTS_W void boxPoints(RotatedRect box, OutputArray points);
+
+/** @brief Finds a circle of the minimum area enclosing a 2D point set.
+
+The function finds the minimal enclosing circle of a 2D point set using an iterative algorithm. See
+the OpenCV sample minarea.cpp .
+
+@param points Input vector of 2D points, stored in std::vector\<\> or Mat
+@param center Output center of the circle.
+@param radius Output radius of the circle.
+ */
+CV_EXPORTS_W void minEnclosingCircle( InputArray points,
+                                      CV_OUT Point2f& center, CV_OUT float& radius );
+
+/** @example minarea.cpp
+  */
+
+/** @brief Finds a triangle of minimum area enclosing a 2D point set and returns its area.
+
+The function finds a triangle of minimum area enclosing the given set of 2D points and returns its
+area. The output for a given 2D point set is shown in the image below. 2D points are depicted in
+*red* and the enclosing triangle in *yellow*.
+
+![Sample output of the minimum enclosing triangle function](pics/minenclosingtriangle.png)
+
+The implementation of the algorithm is based on O'Rourke's @cite ORourke86 and Klee and Laskowski's
+@cite KleeLaskowski85 papers. O'Rourke provides a \f$\theta(n)\f$ algorithm for finding the minimal
+enclosing triangle of a 2D convex polygon with n vertices. Since the minEnclosingTriangle function
+takes a 2D point set as input an additional preprocessing step of computing the convex hull of the
+2D point set is required. The complexity of the convexHull function is \f$O(n log(n))\f$ which is higher
+than \f$\theta(n)\f$. Thus the overall complexity of the function is \f$O(n log(n))\f$.
+
+@param points Input vector of 2D points with depth CV_32S or CV_32F, stored in std::vector\<\> or Mat
+@param triangle Output vector of three 2D points defining the vertices of the triangle. The depth
+of the OutputArray must be CV_32F.
+ */
+CV_EXPORTS_W double minEnclosingTriangle( InputArray points, CV_OUT OutputArray triangle );
+
+/** @brief Compares two shapes.
+
+The function compares two shapes. All three implemented methods use the Hu invariants (see cv::HuMoments)
+
+@param contour1 First contour or grayscale image.
+@param contour2 Second contour or grayscale image.
+@param method Comparison method, see ::ShapeMatchModes
+@param parameter Method-specific parameter (not supported now).
+ */
+CV_EXPORTS_W double matchShapes( InputArray contour1, InputArray contour2,
+                                 int method, double parameter );
+
+/** @example convexhull.cpp
+An example using the convexHull functionality
+*/
+
+/** @brief Finds the convex hull of a point set.
+
+The functions find the convex hull of a 2D point set using the Sklansky's algorithm @cite Sklansky82
+that has *O(N logN)* complexity in the current implementation. See the OpenCV sample convexhull.cpp
+that demonstrates the usage of different function variants.
+
+@param points Input 2D point set, stored in std::vector or Mat.
+@param hull Output convex hull. It is either an integer vector of indices or vector of points. In
+the first case, the hull elements are 0-based indices of the convex hull points in the original
+array (since the set of convex hull points is a subset of the original point set). In the second
+case, hull elements are the convex hull points themselves.
+@param clockwise Orientation flag. If it is true, the output convex hull is oriented clockwise.
+Otherwise, it is oriented counter-clockwise. The assumed coordinate system has its X axis pointing
+to the right, and its Y axis pointing upwards.
+@param returnPoints Operation flag. In case of a matrix, when the flag is true, the function
+returns convex hull points. Otherwise, it returns indices of the convex hull points. When the
+output array is std::vector, the flag is ignored, and the output depends on the type of the
+vector: std::vector\<int\> implies returnPoints=true, std::vector\<Point\> implies
+returnPoints=false.
+ */
+CV_EXPORTS_W void convexHull( InputArray points, OutputArray hull,
+                              bool clockwise = false, bool returnPoints = true );
+
+/** @brief Finds the convexity defects of a contour.
+
+The figure below displays convexity defects of a hand contour:
+
+![image](pics/defects.png)
+
+@param contour Input contour.
+@param convexhull Convex hull obtained using convexHull that should contain indices of the contour
+points that make the hull.
+@param convexityDefects The output vector of convexity defects. In C++ and the new Python/Java
+interface each convexity defect is represented as 4-element integer vector (a.k.a. cv::Vec4i):
+(start_index, end_index, farthest_pt_index, fixpt_depth), where indices are 0-based indices
+in the original contour of the convexity defect beginning, end and the farthest point, and
+fixpt_depth is fixed-point approximation (with 8 fractional bits) of the distance between the
+farthest contour point and the hull. That is, to get the floating-point value of the depth will be
+fixpt_depth/256.0.
+ */
+CV_EXPORTS_W void convexityDefects( InputArray contour, InputArray convexhull, OutputArray convexityDefects );
+
+/** @brief Tests a contour convexity.
+
+The function tests whether the input contour is convex or not. The contour must be simple, that is,
+without self-intersections. Otherwise, the function output is undefined.
+
+@param contour Input vector of 2D points, stored in std::vector\<\> or Mat
+ */
+CV_EXPORTS_W bool isContourConvex( InputArray contour );
+
+//! finds intersection of two convex polygons
+CV_EXPORTS_W float intersectConvexConvex( InputArray _p1, InputArray _p2,
+                                          OutputArray _p12, bool handleNested = true );
+
+/** @example fitellipse.cpp
+  An example using the fitEllipse technique
+*/
+
+/** @brief Fits an ellipse around a set of 2D points.
+
+The function calculates the ellipse that fits (in a least-squares sense) a set of 2D points best of
+all. It returns the rotated rectangle in which the ellipse is inscribed. The first algorithm described by @cite Fitzgibbon95
+is used. Developer should keep in mind that it is possible that the returned
+ellipse/rotatedRect data contains negative indices, due to the data points being close to the
+border of the containing Mat element.
+
+@param points Input 2D point set, stored in std::vector\<\> or Mat
+ */
+CV_EXPORTS_W RotatedRect fitEllipse( InputArray points );
+
+/** @brief Fits a line to a 2D or 3D point set.
+
+The function fitLine fits a line to a 2D or 3D point set by minimizing \f$\sum_i \rho(r_i)\f$ where
+\f$r_i\f$ is a distance between the \f$i^{th}\f$ point, the line and \f$\rho(r)\f$ is a distance function, one
+of the following:
+-  DIST_L2
+\f[\rho (r) = r^2/2  \quad \text{(the simplest and the fastest least-squares method)}\f]
+- DIST_L1
+\f[\rho (r) = r\f]
+- DIST_L12
+\f[\rho (r) = 2  \cdot ( \sqrt{1 + \frac{r^2}{2}} - 1)\f]
+- DIST_FAIR
+\f[\rho \left (r \right ) = C^2  \cdot \left (  \frac{r}{C} -  \log{\left(1 + \frac{r}{C}\right)} \right )  \quad \text{where} \quad C=1.3998\f]
+- DIST_WELSCH
+\f[\rho \left (r \right ) =  \frac{C^2}{2} \cdot \left ( 1 -  \exp{\left(-\left(\frac{r}{C}\right)^2\right)} \right )  \quad \text{where} \quad C=2.9846\f]
+- DIST_HUBER
+\f[\rho (r) =  \fork{r^2/2}{if \(r < C\)}{C \cdot (r-C/2)}{otherwise} \quad \text{where} \quad C=1.345\f]
+
+The algorithm is based on the M-estimator ( <http://en.wikipedia.org/wiki/M-estimator> ) technique
+that iteratively fits the line using the weighted least-squares algorithm. After each iteration the
+weights \f$w_i\f$ are adjusted to be inversely proportional to \f$\rho(r_i)\f$ .
+
+@param points Input vector of 2D or 3D points, stored in std::vector\<\> or Mat.
+@param line Output line parameters. In case of 2D fitting, it should be a vector of 4 elements
+(like Vec4f) - (vx, vy, x0, y0), where (vx, vy) is a normalized vector collinear to the line and
+(x0, y0) is a point on the line. In case of 3D fitting, it should be a vector of 6 elements (like
+Vec6f) - (vx, vy, vz, x0, y0, z0), where (vx, vy, vz) is a normalized vector collinear to the line
+and (x0, y0, z0) is a point on the line.
+@param distType Distance used by the M-estimator, see cv::DistanceTypes
+@param param Numerical parameter ( C ) for some types of distances. If it is 0, an optimal value
+is chosen.
+@param reps Sufficient accuracy for the radius (distance between the coordinate origin and the line).
+@param aeps Sufficient accuracy for the angle. 0.01 would be a good default value for reps and aeps.
+ */
+CV_EXPORTS_W void fitLine( InputArray points, OutputArray line, int distType,
+                           double param, double reps, double aeps );
+
+/** @brief Performs a point-in-contour test.
+
+The function determines whether the point is inside a contour, outside, or lies on an edge (or
+coincides with a vertex). It returns positive (inside), negative (outside), or zero (on an edge)
+value, correspondingly. When measureDist=false , the return value is +1, -1, and 0, respectively.
+Otherwise, the return value is a signed distance between the point and the nearest contour edge.
+
+See below a sample output of the function where each image pixel is tested against the contour:
+
+![sample output](pics/pointpolygon.png)
+
+@param contour Input contour.
+@param pt Point tested against the contour.
+@param measureDist If true, the function estimates the signed distance from the point to the
+nearest contour edge. Otherwise, the function only checks if the point is inside a contour or not.
+ */
+CV_EXPORTS_W double pointPolygonTest( InputArray contour, Point2f pt, bool measureDist );
+
+/** @brief Finds out if there is any intersection between two rotated rectangles.
+
+If there is then the vertices of the interesecting region are returned as well.
+
+Below are some examples of intersection configurations. The hatched pattern indicates the
+intersecting region and the red vertices are returned by the function.
+
+![intersection examples](pics/intersection.png)
+
+@param rect1 First rectangle
+@param rect2 Second rectangle
+@param intersectingRegion The output array of the verticies of the intersecting region. It returns
+at most 8 vertices. Stored as std::vector\<cv::Point2f\> or cv::Mat as Mx1 of type CV_32FC2.
+@returns One of cv::RectanglesIntersectTypes
+ */
+CV_EXPORTS_W int rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& rect2, OutputArray intersectingRegion  );
+
+//! @} imgproc_shape
+
+CV_EXPORTS_W Ptr<CLAHE> createCLAHE(double clipLimit = 40.0, Size tileGridSize = Size(8, 8));
+
+//! Ballard, D.H. (1981). Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13 (2): 111-122.
+//! Detects position only without traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughBallard> createGeneralizedHoughBallard();
+
+//! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
+//! Detects position, traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughGuil> createGeneralizedHoughGuil();
+
+//! Performs linear blending of two images
+CV_EXPORTS void blendLinear(InputArray src1, InputArray src2, InputArray weights1, InputArray weights2, OutputArray dst);
+
+//! @addtogroup imgproc_colormap
+//! @{
+
+//! GNU Octave/MATLAB equivalent colormaps
+enum ColormapTypes
+{
+    COLORMAP_AUTUMN = 0, //!< ![autumn](pics/colormaps/colorscale_autumn.jpg)
+    COLORMAP_BONE = 1, //!< ![bone](pics/colormaps/colorscale_bone.jpg)
+    COLORMAP_JET = 2, //!< ![jet](pics/colormaps/colorscale_jet.jpg)
+    COLORMAP_WINTER = 3, //!< ![winter](pics/colormaps/colorscale_winter.jpg)
+    COLORMAP_RAINBOW = 4, //!< ![rainbow](pics/colormaps/colorscale_rainbow.jpg)
+    COLORMAP_OCEAN = 5, //!< ![ocean](pics/colormaps/colorscale_ocean.jpg)
+    COLORMAP_SUMMER = 6, //!< ![summer](pics/colormaps/colorscale_summer.jpg)
+    COLORMAP_SPRING = 7, //!< ![spring](pics/colormaps/colorscale_spring.jpg)
+    COLORMAP_COOL = 8, //!< ![cool](pics/colormaps/colorscale_cool.jpg)
+    COLORMAP_HSV = 9, //!< ![HSV](pics/colormaps/colorscale_hsv.jpg)
+    COLORMAP_PINK = 10, //!< ![pink](pics/colormaps/colorscale_pink.jpg)
+    COLORMAP_HOT = 11, //!< ![hot](pics/colormaps/colorscale_hot.jpg)
+    COLORMAP_PARULA = 12 //!< ![hot](pics/colormaps/colorscale_parula.jpg)
+};
+
+/** @brief Applies a GNU Octave/MATLAB equivalent colormap on a given image.
+
+@param src The source image, grayscale or colored does not matter.
+@param dst The result is the colormapped source image. Note: Mat::create is called on dst.
+@param colormap The colormap to apply, see cv::ColormapTypes
+ */
+CV_EXPORTS_W void applyColorMap(InputArray src, OutputArray dst, int colormap);
+
+//! @} imgproc_colormap
+
+//! @addtogroup imgproc_draw
+//! @{
+
+/** @brief Draws a line segment connecting two points.
+
+The function line draws the line segment between pt1 and pt2 points in the image. The line is
+clipped by the image boundaries. For non-antialiased lines with integer coordinates, the 8-connected
+or 4-connected Bresenham algorithm is used. Thick lines are drawn with rounding endings. Antialiased
+lines are drawn using Gaussian filtering.
+
+@param img Image.
+@param pt1 First point of the line segment.
+@param pt2 Second point of the line segment.
+@param color Line color.
+@param thickness Line thickness.
+@param lineType Type of the line, see cv::LineTypes.
+@param shift Number of fractional bits in the point coordinates.
+ */
+CV_EXPORTS_W void line(InputOutputArray img, Point pt1, Point pt2, const Scalar& color,
+                     int thickness = 1, int lineType = LINE_8, int shift = 0);
+
+/** @brief Draws a arrow segment pointing from the first point to the second one.
+
+The function arrowedLine draws an arrow between pt1 and pt2 points in the image. See also cv::line.
+
+@param img Image.
+@param pt1 The point the arrow starts from.
+@param pt2 The point the arrow points to.
+@param color Line color.
+@param thickness Line thickness.
+@param line_type Type of the line, see cv::LineTypes
+@param shift Number of fractional bits in the point coordinates.
+@param tipLength The length of the arrow tip in relation to the arrow length
+ */
+CV_EXPORTS_W void arrowedLine(InputOutputArray img, Point pt1, Point pt2, const Scalar& color,
+                     int thickness=1, int line_type=8, int shift=0, double tipLength=0.1);
+
+/** @brief Draws a simple, thick, or filled up-right rectangle.
+
+The function rectangle draws a rectangle outline or a filled rectangle whose two opposite corners
+are pt1 and pt2.
+
+@param img Image.
+@param pt1 Vertex of the rectangle.
+@param pt2 Vertex of the rectangle opposite to pt1 .
+@param color Rectangle color or brightness (grayscale image).
+@param thickness Thickness of lines that make up the rectangle. Negative values, like CV_FILLED ,
+mean that the function has to draw a filled rectangle.
+@param lineType Type of the line. See the line description.
+@param shift Number of fractional bits in the point coordinates.
+ */
+CV_EXPORTS_W void rectangle(InputOutputArray img, Point pt1, Point pt2,
+                          const Scalar& color, int thickness = 1,
+                          int lineType = LINE_8, int shift = 0);
+
+/** @overload
+
+use `rec` parameter as alternative specification of the drawn rectangle: `r.tl() and
+r.br()-Point(1,1)` are opposite corners
+*/
+CV_EXPORTS void rectangle(CV_IN_OUT Mat& img, Rect rec,
+                          const Scalar& color, int thickness = 1,
+                          int lineType = LINE_8, int shift = 0);
+
+/** @brief Draws a circle.
+
+The function circle draws a simple or filled circle with a given center and radius.
+@param img Image where the circle is drawn.
+@param center Center of the circle.
+@param radius Radius of the circle.
+@param color Circle color.
+@param thickness Thickness of the circle outline, if positive. Negative thickness means that a
+filled circle is to be drawn.
+@param lineType Type of the circle boundary. See the line description.
+@param shift Number of fractional bits in the coordinates of the center and in the radius value.
+ */
+CV_EXPORTS_W void circle(InputOutputArray img, Point center, int radius,
+                       const Scalar& color, int thickness = 1,
+                       int lineType = LINE_8, int shift = 0);
+
+/** @brief Draws a simple or thick elliptic arc or fills an ellipse sector.
+
+The functions ellipse with less parameters draw an ellipse outline, a filled ellipse, an elliptic
+arc, or a filled ellipse sector. A piecewise-linear curve is used to approximate the elliptic arc
+boundary. If you need more control of the ellipse rendering, you can retrieve the curve using
+ellipse2Poly and then render it with polylines or fill it with fillPoly . If you use the first
+variant of the function and want to draw the whole ellipse, not an arc, pass startAngle=0 and
+endAngle=360 . The figure below explains the meaning of the parameters.
+
+![Parameters of Elliptic Arc](pics/ellipse.png)
+
+@param img Image.
+@param center Center of the ellipse.
+@param axes Half of the size of the ellipse main axes.
+@param angle Ellipse rotation angle in degrees.
+@param startAngle Starting angle of the elliptic arc in degrees.
+@param endAngle Ending angle of the elliptic arc in degrees.
+@param color Ellipse color.
+@param thickness Thickness of the ellipse arc outline, if positive. Otherwise, this indicates that
+a filled ellipse sector is to be drawn.
+@param lineType Type of the ellipse boundary. See the line description.
+@param shift Number of fractional bits in the coordinates of the center and values of axes.
+ */
+CV_EXPORTS_W void ellipse(InputOutputArray img, Point center, Size axes,
+                        double angle, double startAngle, double endAngle,
+                        const Scalar& color, int thickness = 1,
+                        int lineType = LINE_8, int shift = 0);
+
+/** @overload
+@param img Image.
+@param box Alternative ellipse representation via RotatedRect. This means that the function draws
+an ellipse inscribed in the rotated rectangle.
+@param color Ellipse color.
+@param thickness Thickness of the ellipse arc outline, if positive. Otherwise, this indicates that
+a filled ellipse sector is to be drawn.
+@param lineType Type of the ellipse boundary. See the line description.
+*/
+CV_EXPORTS_W void ellipse(InputOutputArray img, const RotatedRect& box, const Scalar& color,
+                        int thickness = 1, int lineType = LINE_8);
+
+/** @overload */
+CV_EXPORTS void fillConvexPoly(Mat& img, const Point* pts, int npts,
+                               const Scalar& color, int lineType = LINE_8,
+                               int shift = 0);
+
+/** @brief Fills a convex polygon.
+
+The function fillConvexPoly draws a filled convex polygon. This function is much faster than the
+function cv::fillPoly . It can fill not only convex polygons but any monotonic polygon without
+self-intersections, that is, a polygon whose contour intersects every horizontal line (scan line)
+twice at the most (though, its top-most and/or the bottom edge could be horizontal).
+
+@param img Image.
+@param points Polygon vertices.
+@param color Polygon color.
+@param lineType Type of the polygon boundaries. See the line description.
+@param shift Number of fractional bits in the vertex coordinates.
+ */
+CV_EXPORTS_W void fillConvexPoly(InputOutputArray img, InputArray points,
+                                 const Scalar& color, int lineType = LINE_8,
+                                 int shift = 0);
+
+/** @overload */
+CV_EXPORTS void fillPoly(Mat& img, const Point** pts,
+                         const int* npts, int ncontours,
+                         const Scalar& color, int lineType = LINE_8, int shift = 0,
+                         Point offset = Point() );
+
+/** @brief Fills the area bounded by one or more polygons.
+
+The function fillPoly fills an area bounded by several polygonal contours. The function can fill
+complex areas, for example, areas with holes, contours with self-intersections (some of their
+parts), and so forth.
+
+@param img Image.
+@param pts Array of polygons where each polygon is represented as an array of points.
+@param color Polygon color.
+@param lineType Type of the polygon boundaries. See the line description.
+@param shift Number of fractional bits in the vertex coordinates.
+@param offset Optional offset of all points of the contours.
+ */
+CV_EXPORTS_W void fillPoly(InputOutputArray img, InputArrayOfArrays pts,
+                           const Scalar& color, int lineType = LINE_8, int shift = 0,
+                           Point offset = Point() );
+
+/** @overload */
+CV_EXPORTS void polylines(Mat& img, const Point* const* pts, const int* npts,
+                          int ncontours, bool isClosed, const Scalar& color,
+                          int thickness = 1, int lineType = LINE_8, int shift = 0 );
+
+/** @brief Draws several polygonal curves.
+
+@param img Image.
+@param pts Array of polygonal curves.
+@param isClosed Flag indicating whether the drawn polylines are closed or not. If they are closed,
+the function draws a line from the last vertex of each curve to its first vertex.
+@param color Polyline color.
+@param thickness Thickness of the polyline edges.
+@param lineType Type of the line segments. See the line description.
+@param shift Number of fractional bits in the vertex coordinates.
+
+The function polylines draws one or more polygonal curves.
+ */
+CV_EXPORTS_W void polylines(InputOutputArray img, InputArrayOfArrays pts,
+                            bool isClosed, const Scalar& color,
+                            int thickness = 1, int lineType = LINE_8, int shift = 0 );
+
+/** @example contours2.cpp
+  An example using the drawContour functionality
+*/
+
+/** @example segment_objects.cpp
+An example using drawContours to clean up a background segmentation result
+ */
+
+/** @brief Draws contours outlines or filled contours.
+
+The function draws contour outlines in the image if \f$\texttt{thickness} \ge 0\f$ or fills the area
+bounded by the contours if \f$\texttt{thickness}<0\f$ . The example below shows how to retrieve
+connected components from the binary image and label them: :
+@code
+    #include "opencv2/imgproc.hpp"
+    #include "opencv2/highgui.hpp"
+
+    using namespace cv;
+    using namespace std;
+
+    int main( int argc, char** argv )
+    {
+        Mat src;
+        // the first command-line parameter must be a filename of the binary
+        // (black-n-white) image
+        if( argc != 2 || !(src=imread(argv[1], 0)).data)
+            return -1;
+
+        Mat dst = Mat::zeros(src.rows, src.cols, CV_8UC3);
+
+        src = src > 1;
+        namedWindow( "Source", 1 );
+        imshow( "Source", src );
+
+        vector<vector<Point> > contours;
+        vector<Vec4i> hierarchy;
+
+        findContours( src, contours, hierarchy,
+            RETR_CCOMP, CHAIN_APPROX_SIMPLE );
+
+        // iterate through all the top-level contours,
+        // draw each connected component with its own random color
+        int idx = 0;
+        for( ; idx >= 0; idx = hierarchy[idx][0] )
+        {
+            Scalar color( rand()&255, rand()&255, rand()&255 );
+            drawContours( dst, contours, idx, color, FILLED, 8, hierarchy );
+        }
+
+        namedWindow( "Components", 1 );
+        imshow( "Components", dst );
+        waitKey(0);
+    }
+@endcode
+
+@param image Destination image.
+@param contours All the input contours. Each contour is stored as a point vector.
+@param contourIdx Parameter indicating a contour to draw. If it is negative, all the contours are drawn.
+@param color Color of the contours.
+@param thickness Thickness of lines the contours are drawn with. If it is negative (for example,
+thickness=CV_FILLED ), the contour interiors are drawn.
+@param lineType Line connectivity. See cv::LineTypes.
+@param hierarchy Optional information about hierarchy. It is only needed if you want to draw only
+some of the contours (see maxLevel ).
+@param maxLevel Maximal level for drawn contours. If it is 0, only the specified contour is drawn.
+If it is 1, the function draws the contour(s) and all the nested contours. If it is 2, the function
+draws the contours, all the nested contours, all the nested-to-nested contours, and so on. This
+parameter is only taken into account when there is hierarchy available.
+@param offset Optional contour shift parameter. Shift all the drawn contours by the specified
+\f$\texttt{offset}=(dx,dy)\f$ .
+ */
+CV_EXPORTS_W void drawContours( InputOutputArray image, InputArrayOfArrays contours,
+                              int contourIdx, const Scalar& color,
+                              int thickness = 1, int lineType = LINE_8,
+                              InputArray hierarchy = noArray(),
+                              int maxLevel = INT_MAX, Point offset = Point() );
+
+/** @brief Clips the line against the image rectangle.
+
+The functions clipLine calculate a part of the line segment that is entirely within the specified
+rectangle. They return false if the line segment is completely outside the rectangle. Otherwise,
+they return true .
+@param imgSize Image size. The image rectangle is Rect(0, 0, imgSize.width, imgSize.height) .
+@param pt1 First line point.
+@param pt2 Second line point.
+ */
+CV_EXPORTS bool clipLine(Size imgSize, CV_IN_OUT Point& pt1, CV_IN_OUT Point& pt2);
+
+/** @overload
+@param imgRect Image rectangle.
+@param pt1 First line point.
+@param pt2 Second line point.
+*/
+CV_EXPORTS_W bool clipLine(Rect imgRect, CV_OUT CV_IN_OUT Point& pt1, CV_OUT CV_IN_OUT Point& pt2);
+
+/** @brief Approximates an elliptic arc with a polyline.
+
+The function ellipse2Poly computes the vertices of a polyline that approximates the specified
+elliptic arc. It is used by cv::ellipse.
+
+@param center Center of the arc.
+@param axes Half of the size of the ellipse main axes. See the ellipse for details.
+@param angle Rotation angle of the ellipse in degrees. See the ellipse for details.
+@param arcStart Starting angle of the elliptic arc in degrees.
+@param arcEnd Ending angle of the elliptic arc in degrees.
+@param delta Angle between the subsequent polyline vertices. It defines the approximation
+accuracy.
+@param pts Output vector of polyline vertices.
+ */
+CV_EXPORTS_W void ellipse2Poly( Point center, Size axes, int angle,
+                                int arcStart, int arcEnd, int delta,
+                                CV_OUT std::vector<Point>& pts );
+
+/** @brief Draws a text string.
+
+The function putText renders the specified text string in the image. Symbols that cannot be rendered
+using the specified font are replaced by question marks. See getTextSize for a text rendering code
+example.
+
+@param img Image.
+@param text Text string to be drawn.
+@param org Bottom-left corner of the text string in the image.
+@param fontFace Font type, see cv::HersheyFonts.
+@param fontScale Font scale factor that is multiplied by the font-specific base size.
+@param color Text color.
+@param thickness Thickness of the lines used to draw a text.
+@param lineType Line type. See the line for details.
+@param bottomLeftOrigin When true, the image data origin is at the bottom-left corner. Otherwise,
+it is at the top-left corner.
+ */
+CV_EXPORTS_W void putText( InputOutputArray img, const String& text, Point org,
+                         int fontFace, double fontScale, Scalar color,
+                         int thickness = 1, int lineType = LINE_8,
+                         bool bottomLeftOrigin = false );
+
+/** @brief Calculates the width and height of a text string.
+
+The function getTextSize calculates and returns the size of a box that contains the specified text.
+That is, the following code renders some text, the tight box surrounding it, and the baseline: :
+@code
+    String text = "Funny text inside the box";
+    int fontFace = FONT_HERSHEY_SCRIPT_SIMPLEX;
+    double fontScale = 2;
+    int thickness = 3;
+
+    Mat img(600, 800, CV_8UC3, Scalar::all(0));
+
+    int baseline=0;
+    Size textSize = getTextSize(text, fontFace,
+                                fontScale, thickness, &baseline);
+    baseline += thickness;
+
+    // center the text
+    Point textOrg((img.cols - textSize.width)/2,
+                  (img.rows + textSize.height)/2);
+
+    // draw the box
+    rectangle(img, textOrg + Point(0, baseline),
+              textOrg + Point(textSize.width, -textSize.height),
+              Scalar(0,0,255));
+    // ... and the baseline first
+    line(img, textOrg + Point(0, thickness),
+         textOrg + Point(textSize.width, thickness),
+         Scalar(0, 0, 255));
+
+    // then put the text itself
+    putText(img, text, textOrg, fontFace, fontScale,
+            Scalar::all(255), thickness, 8);
+@endcode
+
+@param text Input text string.
+@param fontFace Font to use, see cv::HersheyFonts.
+@param fontScale Font scale factor that is multiplied by the font-specific base size.
+@param thickness Thickness of lines used to render the text. See putText for details.
+@param[out] baseLine y-coordinate of the baseline relative to the bottom-most text
+point.
+@return The size of a box that contains the specified text.
+
+@see cv::putText
+ */
+CV_EXPORTS_W Size getTextSize(const String& text, int fontFace,
+                            double fontScale, int thickness,
+                            CV_OUT int* baseLine);
+
+/** @brief Line iterator
+
+The class is used to iterate over all the pixels on the raster line
+segment connecting two specified points.
+
+The class LineIterator is used to get each pixel of a raster line. It
+can be treated as versatile implementation of the Bresenham algorithm
+where you can stop at each pixel and do some extra processing, for
+example, grab pixel values along the line or draw a line with an effect
+(for example, with XOR operation).
+
+The number of pixels along the line is stored in LineIterator::count.
+The method LineIterator::pos returns the current position in the image:
+
+@code{.cpp}
+// grabs pixels along the line (pt1, pt2)
+// from 8-bit 3-channel image to the buffer
+LineIterator it(img, pt1, pt2, 8);
+LineIterator it2 = it;
+vector<Vec3b> buf(it.count);
+
+for(int i = 0; i < it.count; i++, ++it)
+    buf[i] = *(const Vec3b)*it;
+
+// alternative way of iterating through the line
+for(int i = 0; i < it2.count; i++, ++it2)
+{
+    Vec3b val = img.at<Vec3b>(it2.pos());
+    CV_Assert(buf[i] == val);
+}
+@endcode
+*/
+class CV_EXPORTS LineIterator
+{
+public:
+    /** @brief intializes the iterator
+
+    creates iterators for the line connecting pt1 and pt2
+    the line will be clipped on the image boundaries
+    the line is 8-connected or 4-connected
+    If leftToRight=true, then the iteration is always done
+    from the left-most point to the right most,
+    not to depend on the ordering of pt1 and pt2 parameters
+    */
+    LineIterator( const Mat& img, Point pt1, Point pt2,
+                  int connectivity = 8, bool leftToRight = false );
+    /** @brief returns pointer to the current pixel
+    */
+    uchar* operator *();
+    /** @brief prefix increment operator (++it). shifts iterator to the next pixel
+    */
+    LineIterator& operator ++();
+    /** @brief postfix increment operator (it++). shifts iterator to the next pixel
+    */
+    LineIterator operator ++(int);
+    /** @brief returns coordinates of the current pixel
+    */
+    Point pos() const;
+
+    uchar* ptr;
+    const uchar* ptr0;
+    int step, elemSize;
+    int err, count;
+    int minusDelta, plusDelta;
+    int minusStep, plusStep;
+};
+
+//! @cond IGNORED
+
+// === LineIterator implementation ===
+
+inline
+uchar* LineIterator::operator *()
+{
+    return ptr;
+}
+
+inline
+LineIterator& LineIterator::operator ++()
+{
+    int mask = err < 0 ? -1 : 0;
+    err += minusDelta + (plusDelta & mask);
+    ptr += minusStep + (plusStep & mask);
+    return *this;
+}
+
+inline
+LineIterator LineIterator::operator ++(int)
+{
+    LineIterator it = *this;
+    ++(*this);
+    return it;
+}
+
+inline
+Point LineIterator::pos() const
+{
+    Point p;
+    p.y = (int)((ptr - ptr0)/step);
+    p.x = (int)(((ptr - ptr0) - p.y*step)/elemSize);
+    return p;
+}
+
+//! @endcond
+
+//! @} imgproc_draw
+
+//! @} imgproc
+
+} // cv
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/imgproc/imgproc_c.h"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/imgproc/imgproc.hpp b/3rdparty/include/opencv2/imgproc/imgproc.hpp
new file mode 100644
index 0000000..4175bd0
--- /dev/null
+++ b/3rdparty/include/opencv2/imgproc/imgproc.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/imgproc.hpp"
diff --git a/3rdparty/include/opencv2/imgproc/imgproc_c.h b/3rdparty/include/opencv2/imgproc/imgproc_c.h
new file mode 100644
index 0000000..87518d7
--- /dev/null
+++ b/3rdparty/include/opencv2/imgproc/imgproc_c.h
@@ -0,0 +1,1210 @@
+/*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*/
+
+#ifndef __OPENCV_IMGPROC_IMGPROC_C_H__
+#define __OPENCV_IMGPROC_IMGPROC_C_H__
+
+#include "opencv2/imgproc/types_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup imgproc_c
+@{
+*/
+
+/*********************** Background statistics accumulation *****************************/
+
+/** @brief Adds image to accumulator
+@see cv::accumulate
+*/
+CVAPI(void)  cvAcc( const CvArr* image, CvArr* sum,
+                   const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @brief Adds squared image to accumulator
+@see cv::accumulateSquare
+*/
+CVAPI(void)  cvSquareAcc( const CvArr* image, CvArr* sqsum,
+                         const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @brief Adds a product of two images to accumulator
+@see cv::accumulateProduct
+*/
+CVAPI(void)  cvMultiplyAcc( const CvArr* image1, const CvArr* image2, CvArr* acc,
+                           const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @brief Adds image to accumulator with weights: acc = acc*(1-alpha) + image*alpha
+@see cv::accumulateWeighted
+*/
+CVAPI(void)  cvRunningAvg( const CvArr* image, CvArr* acc, double alpha,
+                          const CvArr* mask CV_DEFAULT(NULL) );
+
+/****************************************************************************************\
+*                                    Image Processing                                    *
+\****************************************************************************************/
+
+/** Copies source 2D array inside of the larger destination array and
+   makes a border of the specified type (IPL_BORDER_*) around the copied area. */
+CVAPI(void) cvCopyMakeBorder( const CvArr* src, CvArr* dst, CvPoint offset,
+                              int bordertype, CvScalar value CV_DEFAULT(cvScalarAll(0)));
+
+/** @brief Smooths the image in one of several ways.
+
+@param src The source image
+@param dst The destination image
+@param smoothtype Type of the smoothing, see SmoothMethod_c
+@param size1 The first parameter of the smoothing operation, the aperture width. Must be a
+positive odd number (1, 3, 5, ...)
+@param size2 The second parameter of the smoothing operation, the aperture height. Ignored by
+CV_MEDIAN and CV_BILATERAL methods. In the case of simple scaled/non-scaled and Gaussian blur if
+size2 is zero, it is set to size1. Otherwise it must be a positive odd number.
+@param sigma1 In the case of a Gaussian parameter this parameter may specify Gaussian \f$\sigma\f$
+(standard deviation). If it is zero, it is calculated from the kernel size:
+\f[\sigma  = 0.3 (n/2 - 1) + 0.8  \quad   \text{where}   \quad  n= \begin{array}{l l} \mbox{\texttt{size1} for horizontal kernel} \\ \mbox{\texttt{size2} for vertical kernel} \end{array}\f]
+Using standard sigma for small kernels ( \f$3\times 3\f$ to \f$7\times 7\f$ ) gives better speed. If
+sigma1 is not zero, while size1 and size2 are zeros, the kernel size is calculated from the
+sigma (to provide accurate enough operation).
+@param sigma2 additional parameter for bilateral filtering
+
+@see cv::GaussianBlur, cv::blur, cv::medianBlur, cv::bilateralFilter.
+ */
+CVAPI(void) cvSmooth( const CvArr* src, CvArr* dst,
+                      int smoothtype CV_DEFAULT(CV_GAUSSIAN),
+                      int size1 CV_DEFAULT(3),
+                      int size2 CV_DEFAULT(0),
+                      double sigma1 CV_DEFAULT(0),
+                      double sigma2 CV_DEFAULT(0));
+
+/** @brief Convolves an image with the kernel.
+
+@param src input image.
+@param dst output image of the same size and the same number of channels as src.
+@param kernel convolution kernel (or rather a correlation kernel), a single-channel floating point
+matrix; if you want to apply different kernels to different channels, split the image into
+separate color planes using split and process them individually.
+@param anchor anchor of the kernel that indicates the relative position of a filtered point within
+the kernel; the anchor should lie within the kernel; default value (-1,-1) means that the anchor
+is at the kernel center.
+
+@see cv::filter2D
+ */
+CVAPI(void) cvFilter2D( const CvArr* src, CvArr* dst, const CvMat* kernel,
+                        CvPoint anchor CV_DEFAULT(cvPoint(-1,-1)));
+
+/** @brief Finds integral image: SUM(X,Y) = sum(x<X,y<Y)I(x,y)
+@see cv::integral
+*/
+CVAPI(void) cvIntegral( const CvArr* image, CvArr* sum,
+                       CvArr* sqsum CV_DEFAULT(NULL),
+                       CvArr* tilted_sum CV_DEFAULT(NULL));
+
+/** @brief Smoothes the input image with gaussian kernel and then down-samples it.
+
+   dst_width = floor(src_width/2)[+1],
+   dst_height = floor(src_height/2)[+1]
+   @see cv::pyrDown
+*/
+CVAPI(void)  cvPyrDown( const CvArr* src, CvArr* dst,
+                        int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
+
+/** @brief Up-samples image and smoothes the result with gaussian kernel.
+
+   dst_width = src_width*2,
+   dst_height = src_height*2
+   @see cv::pyrUp
+*/
+CVAPI(void)  cvPyrUp( const CvArr* src, CvArr* dst,
+                      int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
+
+/** @brief Builds pyramid for an image
+@see buildPyramid
+*/
+CVAPI(CvMat**) cvCreatePyramid( const CvArr* img, int extra_layers, double rate,
+                                const CvSize* layer_sizes CV_DEFAULT(0),
+                                CvArr* bufarr CV_DEFAULT(0),
+                                int calc CV_DEFAULT(1),
+                                int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
+
+/** @brief Releases pyramid */
+CVAPI(void)  cvReleasePyramid( CvMat*** pyramid, int extra_layers );
+
+
+/** @brief Filters image using meanshift algorithm
+@see cv::pyrMeanShiftFiltering
+*/
+CVAPI(void) cvPyrMeanShiftFiltering( const CvArr* src, CvArr* dst,
+    double sp, double sr, int max_level CV_DEFAULT(1),
+    CvTermCriteria termcrit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,5,1)));
+
+/** @brief Segments image using seed "markers"
+@see cv::watershed
+*/
+CVAPI(void) cvWatershed( const CvArr* image, CvArr* markers );
+
+/** @brief Calculates an image derivative using generalized Sobel
+
+   (aperture_size = 1,3,5,7) or Scharr (aperture_size = -1) operator.
+   Scharr can be used only for the first dx or dy derivative
+@see cv::Sobel
+*/
+CVAPI(void) cvSobel( const CvArr* src, CvArr* dst,
+                    int xorder, int yorder,
+                    int aperture_size CV_DEFAULT(3));
+
+/** @brief Calculates the image Laplacian: (d2/dx + d2/dy)I
+@see cv::Laplacian
+*/
+CVAPI(void) cvLaplace( const CvArr* src, CvArr* dst,
+                      int aperture_size CV_DEFAULT(3) );
+
+/** @brief Converts input array pixels from one color space to another
+@see cv::cvtColor
+*/
+CVAPI(void)  cvCvtColor( const CvArr* src, CvArr* dst, int code );
+
+
+/** @brief Resizes image (input array is resized to fit the destination array)
+@see cv::resize
+*/
+CVAPI(void)  cvResize( const CvArr* src, CvArr* dst,
+                       int interpolation CV_DEFAULT( CV_INTER_LINEAR ));
+
+/** @brief Warps image with affine transform
+@note ::cvGetQuadrangleSubPix is similar to ::cvWarpAffine, but the outliers are extrapolated using
+replication border mode.
+@see cv::warpAffine
+*/
+CVAPI(void)  cvWarpAffine( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
+                           int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
+                           CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
+
+/** @brief Computes affine transform matrix for mapping src[i] to dst[i] (i=0,1,2)
+@see cv::getAffineTransform
+*/
+CVAPI(CvMat*) cvGetAffineTransform( const CvPoint2D32f * src,
+                                    const CvPoint2D32f * dst,
+                                    CvMat * map_matrix );
+
+/** @brief Computes rotation_matrix matrix
+@see cv::getRotationMatrix2D
+*/
+CVAPI(CvMat*)  cv2DRotationMatrix( CvPoint2D32f center, double angle,
+                                   double scale, CvMat* map_matrix );
+
+/** @brief Warps image with perspective (projective) transform
+@see cv::warpPerspective
+*/
+CVAPI(void)  cvWarpPerspective( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
+                                int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
+                                CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
+
+/** @brief Computes perspective transform matrix for mapping src[i] to dst[i] (i=0,1,2,3)
+@see cv::getPerspectiveTransform
+*/
+CVAPI(CvMat*) cvGetPerspectiveTransform( const CvPoint2D32f* src,
+                                         const CvPoint2D32f* dst,
+                                         CvMat* map_matrix );
+
+/** @brief Performs generic geometric transformation using the specified coordinate maps
+@see cv::remap
+*/
+CVAPI(void)  cvRemap( const CvArr* src, CvArr* dst,
+                      const CvArr* mapx, const CvArr* mapy,
+                      int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
+                      CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
+
+/** @brief Converts mapx & mapy from floating-point to integer formats for cvRemap
+@see cv::convertMaps
+*/
+CVAPI(void)  cvConvertMaps( const CvArr* mapx, const CvArr* mapy,
+                            CvArr* mapxy, CvArr* mapalpha );
+
+/** @brief Performs forward or inverse log-polar image transform
+@see cv::logPolar
+*/
+CVAPI(void)  cvLogPolar( const CvArr* src, CvArr* dst,
+                         CvPoint2D32f center, double M,
+                         int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
+
+/** Performs forward or inverse linear-polar image transform
+@see cv::linearPolar
+*/
+CVAPI(void)  cvLinearPolar( const CvArr* src, CvArr* dst,
+                         CvPoint2D32f center, double maxRadius,
+                         int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
+
+/** @brief Transforms the input image to compensate lens distortion
+@see cv::undistort
+*/
+CVAPI(void) cvUndistort2( const CvArr* src, CvArr* dst,
+                          const CvMat* camera_matrix,
+                          const CvMat* distortion_coeffs,
+                          const CvMat* new_camera_matrix CV_DEFAULT(0) );
+
+/** @brief Computes transformation map from intrinsic camera parameters
+   that can used by cvRemap
+*/
+CVAPI(void) cvInitUndistortMap( const CvMat* camera_matrix,
+                                const CvMat* distortion_coeffs,
+                                CvArr* mapx, CvArr* mapy );
+
+/** @brief Computes undistortion+rectification map for a head of stereo camera
+@see cv::initUndistortRectifyMap
+*/
+CVAPI(void) cvInitUndistortRectifyMap( const CvMat* camera_matrix,
+                                       const CvMat* dist_coeffs,
+                                       const CvMat *R, const CvMat* new_camera_matrix,
+                                       CvArr* mapx, CvArr* mapy );
+
+/** @brief Computes the original (undistorted) feature coordinates
+   from the observed (distorted) coordinates
+@see cv::undistortPoints
+*/
+CVAPI(void) cvUndistortPoints( const CvMat* src, CvMat* dst,
+                               const CvMat* camera_matrix,
+                               const CvMat* dist_coeffs,
+                               const CvMat* R CV_DEFAULT(0),
+                               const CvMat* P CV_DEFAULT(0));
+
+/** @brief Returns a structuring element of the specified size and shape for morphological operations.
+
+@note the created structuring element IplConvKernel\* element must be released in the end using
+`cvReleaseStructuringElement(&element)`.
+
+@param cols Width of the structuring element
+@param rows Height of the structuring element
+@param anchor_x x-coordinate of the anchor
+@param anchor_y y-coordinate of the anchor
+@param shape element shape that could be one of the cv::MorphShapes_c
+@param values integer array of cols*rows elements that specifies the custom shape of the
+structuring element, when shape=CV_SHAPE_CUSTOM.
+
+@see cv::getStructuringElement
+ */
+ CVAPI(IplConvKernel*)  cvCreateStructuringElementEx(
+            int cols, int  rows, int  anchor_x, int  anchor_y,
+            int shape, int* values CV_DEFAULT(NULL) );
+
+/** @brief releases structuring element
+@see cvCreateStructuringElementEx
+*/
+CVAPI(void)  cvReleaseStructuringElement( IplConvKernel** element );
+
+/** @brief erodes input image (applies minimum filter) one or more times.
+   If element pointer is NULL, 3x3 rectangular element is used
+@see cv::erode
+*/
+CVAPI(void)  cvErode( const CvArr* src, CvArr* dst,
+                      IplConvKernel* element CV_DEFAULT(NULL),
+                      int iterations CV_DEFAULT(1) );
+
+/** @brief dilates input image (applies maximum filter) one or more times.
+
+   If element pointer is NULL, 3x3 rectangular element is used
+@see cv::dilate
+*/
+CVAPI(void)  cvDilate( const CvArr* src, CvArr* dst,
+                       IplConvKernel* element CV_DEFAULT(NULL),
+                       int iterations CV_DEFAULT(1) );
+
+/** @brief Performs complex morphological transformation
+@see cv::morphologyEx
+*/
+CVAPI(void)  cvMorphologyEx( const CvArr* src, CvArr* dst,
+                             CvArr* temp, IplConvKernel* element,
+                             int operation, int iterations CV_DEFAULT(1) );
+
+/** @brief Calculates all spatial and central moments up to the 3rd order
+@see cv::moments
+*/
+CVAPI(void) cvMoments( const CvArr* arr, CvMoments* moments, int binary CV_DEFAULT(0));
+
+/** @brief Retrieve spatial moments */
+CVAPI(double)  cvGetSpatialMoment( CvMoments* moments, int x_order, int y_order );
+/** @brief Retrieve central moments */
+CVAPI(double)  cvGetCentralMoment( CvMoments* moments, int x_order, int y_order );
+/** @brief Retrieve normalized central moments */
+CVAPI(double)  cvGetNormalizedCentralMoment( CvMoments* moments,
+                                             int x_order, int y_order );
+
+/** @brief Calculates 7 Hu's invariants from precalculated spatial and central moments
+@see cv::HuMoments
+*/
+CVAPI(void) cvGetHuMoments( CvMoments*  moments, CvHuMoments*  hu_moments );
+
+/*********************************** data sampling **************************************/
+
+/** @brief Fetches pixels that belong to the specified line segment and stores them to the buffer.
+
+   Returns the number of retrieved points.
+@see cv::LineSegmentDetector
+*/
+CVAPI(int)  cvSampleLine( const CvArr* image, CvPoint pt1, CvPoint pt2, void* buffer,
+                          int connectivity CV_DEFAULT(8));
+
+/** @brief Retrieves the rectangular image region with specified center from the input array.
+
+ dst(x,y) <- src(x + center.x - dst_width/2, y + center.y - dst_height/2).
+ Values of pixels with fractional coordinates are retrieved using bilinear interpolation
+@see cv::getRectSubPix
+*/
+CVAPI(void)  cvGetRectSubPix( const CvArr* src, CvArr* dst, CvPoint2D32f center );
+
+
+/** @brief Retrieves quadrangle from the input array.
+
+    matrixarr = ( a11  a12 | b1 )   dst(x,y) <- src(A[x y]' + b)
+                ( a21  a22 | b2 )   (bilinear interpolation is used to retrieve pixels
+                                     with fractional coordinates)
+@see cvWarpAffine
+*/
+CVAPI(void)  cvGetQuadrangleSubPix( const CvArr* src, CvArr* dst,
+                                    const CvMat* map_matrix );
+
+/** @brief Measures similarity between template and overlapped windows in the source image
+   and fills the resultant image with the measurements
+@see cv::matchTemplate
+*/
+CVAPI(void)  cvMatchTemplate( const CvArr* image, const CvArr* templ,
+                              CvArr* result, int method );
+
+/** @brief Computes earth mover distance between
+   two weighted point sets (called signatures)
+@see cv::EMD
+*/
+CVAPI(float)  cvCalcEMD2( const CvArr* signature1,
+                          const CvArr* signature2,
+                          int distance_type,
+                          CvDistanceFunction distance_func CV_DEFAULT(NULL),
+                          const CvArr* cost_matrix CV_DEFAULT(NULL),
+                          CvArr* flow CV_DEFAULT(NULL),
+                          float* lower_bound CV_DEFAULT(NULL),
+                          void* userdata CV_DEFAULT(NULL));
+
+/****************************************************************************************\
+*                              Contours retrieving                                       *
+\****************************************************************************************/
+
+/** @brief Retrieves outer and optionally inner boundaries of white (non-zero) connected
+   components in the black (zero) background
+@see cv::findContours, cvStartFindContours, cvFindNextContour, cvSubstituteContour, cvEndFindContours
+*/
+CVAPI(int)  cvFindContours( CvArr* image, CvMemStorage* storage, CvSeq** first_contour,
+                            int header_size CV_DEFAULT(sizeof(CvContour)),
+                            int mode CV_DEFAULT(CV_RETR_LIST),
+                            int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
+                            CvPoint offset CV_DEFAULT(cvPoint(0,0)));
+
+/** @brief Initializes contour retrieving process.
+
+   Calls cvStartFindContours.
+   Calls cvFindNextContour until null pointer is returned
+   or some other condition becomes true.
+   Calls cvEndFindContours at the end.
+@see cvFindContours
+*/
+CVAPI(CvContourScanner)  cvStartFindContours( CvArr* image, CvMemStorage* storage,
+                            int header_size CV_DEFAULT(sizeof(CvContour)),
+                            int mode CV_DEFAULT(CV_RETR_LIST),
+                            int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
+                            CvPoint offset CV_DEFAULT(cvPoint(0,0)));
+
+/** @brief Retrieves next contour
+@see cvFindContours
+*/
+CVAPI(CvSeq*)  cvFindNextContour( CvContourScanner scanner );
+
+
+/** @brief Substitutes the last retrieved contour with the new one
+
+   (if the substitutor is null, the last retrieved contour is removed from the tree)
+@see cvFindContours
+*/
+CVAPI(void)   cvSubstituteContour( CvContourScanner scanner, CvSeq* new_contour );
+
+
+/** @brief Releases contour scanner and returns pointer to the first outer contour
+@see cvFindContours
+*/
+CVAPI(CvSeq*)  cvEndFindContours( CvContourScanner* scanner );
+
+/** @brief Approximates Freeman chain(s) with a polygonal curve.
+
+This is a standalone contour approximation routine, not represented in the new interface. When
+cvFindContours retrieves contours as Freeman chains, it calls the function to get approximated
+contours, represented as polygons.
+
+@param src_seq Pointer to the approximated Freeman chain that can refer to other chains.
+@param storage Storage location for the resulting polylines.
+@param method Approximation method (see the description of the function :ocvFindContours ).
+@param parameter Method parameter (not used now).
+@param minimal_perimeter Approximates only those contours whose perimeters are not less than
+minimal_perimeter . Other chains are removed from the resulting structure.
+@param recursive Recursion flag. If it is non-zero, the function approximates all chains that can
+be obtained from chain by using the h_next or v_next links. Otherwise, the single input chain is
+approximated.
+@see cvStartReadChainPoints, cvReadChainPoint
+ */
+CVAPI(CvSeq*) cvApproxChains( CvSeq* src_seq, CvMemStorage* storage,
+                            int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
+                            double parameter CV_DEFAULT(0),
+                            int  minimal_perimeter CV_DEFAULT(0),
+                            int  recursive CV_DEFAULT(0));
+
+/** @brief Initializes Freeman chain reader.
+
+   The reader is used to iteratively get coordinates of all the chain points.
+   If the Freeman codes should be read as is, a simple sequence reader should be used
+@see cvApproxChains
+*/
+CVAPI(void) cvStartReadChainPoints( CvChain* chain, CvChainPtReader* reader );
+
+/** @brief Retrieves the next chain point
+@see cvApproxChains
+*/
+CVAPI(CvPoint) cvReadChainPoint( CvChainPtReader* reader );
+
+
+/****************************************************************************************\
+*                            Contour Processing and Shape Analysis                       *
+\****************************************************************************************/
+
+/** @brief Approximates a single polygonal curve (contour) or
+   a tree of polygonal curves (contours)
+@see cv::approxPolyDP
+*/
+CVAPI(CvSeq*)  cvApproxPoly( const void* src_seq,
+                             int header_size, CvMemStorage* storage,
+                             int method, double eps,
+                             int recursive CV_DEFAULT(0));
+
+/** @brief Calculates perimeter of a contour or length of a part of contour
+@see cv::arcLength
+*/
+CVAPI(double)  cvArcLength( const void* curve,
+                            CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ),
+                            int is_closed CV_DEFAULT(-1));
+
+/** same as cvArcLength for closed contour
+*/
+CV_INLINE double cvContourPerimeter( const void* contour )
+{
+    return cvArcLength( contour, CV_WHOLE_SEQ, 1 );
+}
+
+
+/** @brief Calculates contour bounding rectangle (update=1) or
+   just retrieves pre-calculated rectangle (update=0)
+@see cv::boundingRect
+*/
+CVAPI(CvRect)  cvBoundingRect( CvArr* points, int update CV_DEFAULT(0) );
+
+/** @brief Calculates area of a contour or contour segment
+@see cv::contourArea
+*/
+CVAPI(double)  cvContourArea( const CvArr* contour,
+                              CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ),
+                              int oriented CV_DEFAULT(0));
+
+/** @brief Finds minimum area rotated rectangle bounding a set of points
+@see cv::minAreaRect
+*/
+CVAPI(CvBox2D)  cvMinAreaRect2( const CvArr* points,
+                                CvMemStorage* storage CV_DEFAULT(NULL));
+
+/** @brief Finds minimum enclosing circle for a set of points
+@see cv::minEnclosingCircle
+*/
+CVAPI(int)  cvMinEnclosingCircle( const CvArr* points,
+                                  CvPoint2D32f* center, float* radius );
+
+/** @brief Compares two contours by matching their moments
+@see cv::matchShapes
+*/
+CVAPI(double)  cvMatchShapes( const void* object1, const void* object2,
+                              int method, double parameter CV_DEFAULT(0));
+
+/** @brief Calculates exact convex hull of 2d point set
+@see cv::convexHull
+*/
+CVAPI(CvSeq*) cvConvexHull2( const CvArr* input,
+                             void* hull_storage CV_DEFAULT(NULL),
+                             int orientation CV_DEFAULT(CV_CLOCKWISE),
+                             int return_points CV_DEFAULT(0));
+
+/** @brief Checks whether the contour is convex or not (returns 1 if convex, 0 if not)
+@see cv::isContourConvex
+*/
+CVAPI(int)  cvCheckContourConvexity( const CvArr* contour );
+
+
+/** @brief Finds convexity defects for the contour
+@see cv::convexityDefects
+*/
+CVAPI(CvSeq*)  cvConvexityDefects( const CvArr* contour, const CvArr* convexhull,
+                                   CvMemStorage* storage CV_DEFAULT(NULL));
+
+/** @brief Fits ellipse into a set of 2d points
+@see cv::fitEllipse
+*/
+CVAPI(CvBox2D) cvFitEllipse2( const CvArr* points );
+
+/** @brief Finds minimum rectangle containing two given rectangles */
+CVAPI(CvRect)  cvMaxRect( const CvRect* rect1, const CvRect* rect2 );
+
+/** @brief Finds coordinates of the box vertices */
+CVAPI(void) cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] );
+
+/** @brief Initializes sequence header for a matrix (column or row vector) of points
+
+   a wrapper for cvMakeSeqHeaderForArray (it does not initialize bounding rectangle!!!) */
+CVAPI(CvSeq*) cvPointSeqFromMat( int seq_kind, const CvArr* mat,
+                                 CvContour* contour_header,
+                                 CvSeqBlock* block );
+
+/** @brief Checks whether the point is inside polygon, outside, on an edge (at a vertex).
+
+   Returns positive, negative or zero value, correspondingly.
+   Optionally, measures a signed distance between
+   the point and the nearest polygon edge (measure_dist=1)
+@see cv::pointPolygonTest
+*/
+CVAPI(double) cvPointPolygonTest( const CvArr* contour,
+                                  CvPoint2D32f pt, int measure_dist );
+
+/****************************************************************************************\
+*                                  Histogram functions                                   *
+\****************************************************************************************/
+
+/** @brief Creates a histogram.
+
+The function creates a histogram of the specified size and returns a pointer to the created
+histogram. If the array ranges is 0, the histogram bin ranges must be specified later via the
+function cvSetHistBinRanges. Though cvCalcHist and cvCalcBackProject may process 8-bit images
+without setting bin ranges, they assume they are equally spaced in 0 to 255 bins.
+
+@param dims Number of histogram dimensions.
+@param sizes Array of the histogram dimension sizes.
+@param type Histogram representation format. CV_HIST_ARRAY means that the histogram data is
+represented as a multi-dimensional dense array CvMatND. CV_HIST_SPARSE means that histogram data
+is represented as a multi-dimensional sparse array CvSparseMat.
+@param ranges Array of ranges for the histogram bins. Its meaning depends on the uniform parameter
+value. The ranges are used when the histogram is calculated or backprojected to determine which
+histogram bin corresponds to which value/tuple of values from the input image(s).
+@param uniform Uniformity flag. If not zero, the histogram has evenly spaced bins and for every
+\f$0<=i<cDims\f$ ranges[i] is an array of two numbers: lower and upper boundaries for the i-th
+histogram dimension. The whole range [lower,upper] is then split into dims[i] equal parts to
+determine the i-th input tuple value ranges for every histogram bin. And if uniform=0 , then the
+i-th element of the ranges array contains dims[i]+1 elements: \f$\texttt{lower}_0,
+\texttt{upper}_0, \texttt{lower}_1, \texttt{upper}_1 = \texttt{lower}_2,
+...
+\texttt{upper}_{dims[i]-1}\f$ where \f$\texttt{lower}_j\f$ and \f$\texttt{upper}_j\f$ are lower
+and upper boundaries of the i-th input tuple value for the j-th bin, respectively. In either
+case, the input values that are beyond the specified range for a histogram bin are not counted
+by cvCalcHist and filled with 0 by cvCalcBackProject.
+ */
+CVAPI(CvHistogram*)  cvCreateHist( int dims, int* sizes, int type,
+                                   float** ranges CV_DEFAULT(NULL),
+                                   int uniform CV_DEFAULT(1));
+
+/** @brief Sets the bounds of the histogram bins.
+
+This is a standalone function for setting bin ranges in the histogram. For a more detailed
+description of the parameters ranges and uniform, see the :ocvCalcHist function that can initialize
+the ranges as well. Ranges for the histogram bins must be set before the histogram is calculated or
+the backproject of the histogram is calculated.
+
+@param hist Histogram.
+@param ranges Array of bin ranges arrays. See :ocvCreateHist for details.
+@param uniform Uniformity flag. See :ocvCreateHist for details.
+ */
+CVAPI(void)  cvSetHistBinRanges( CvHistogram* hist, float** ranges,
+                                int uniform CV_DEFAULT(1));
+
+/** @brief Makes a histogram out of an array.
+
+The function initializes the histogram, whose header and bins are allocated by the user.
+cvReleaseHist does not need to be called afterwards. Only dense histograms can be initialized this
+way. The function returns hist.
+
+@param dims Number of the histogram dimensions.
+@param sizes Array of the histogram dimension sizes.
+@param hist Histogram header initialized by the function.
+@param data Array used to store histogram bins.
+@param ranges Histogram bin ranges. See cvCreateHist for details.
+@param uniform Uniformity flag. See cvCreateHist for details.
+ */
+CVAPI(CvHistogram*)  cvMakeHistHeaderForArray(
+                            int  dims, int* sizes, CvHistogram* hist,
+                            float* data, float** ranges CV_DEFAULT(NULL),
+                            int uniform CV_DEFAULT(1));
+
+/** @brief Releases the histogram.
+
+The function releases the histogram (header and the data). The pointer to the histogram is cleared
+by the function. If \*hist pointer is already NULL, the function does nothing.
+
+@param hist Double pointer to the released histogram.
+ */
+CVAPI(void)  cvReleaseHist( CvHistogram** hist );
+
+/** @brief Clears the histogram.
+
+The function sets all of the histogram bins to 0 in case of a dense histogram and removes all
+histogram bins in case of a sparse array.
+
+@param hist Histogram.
+ */
+CVAPI(void)  cvClearHist( CvHistogram* hist );
+
+/** @brief Finds the minimum and maximum histogram bins.
+
+The function finds the minimum and maximum histogram bins and their positions. All of output
+arguments are optional. Among several extremas with the same value the ones with the minimum index
+(in the lexicographical order) are returned. In case of several maximums or minimums, the earliest
+in the lexicographical order (extrema locations) is returned.
+
+@param hist Histogram.
+@param min_value Pointer to the minimum value of the histogram.
+@param max_value Pointer to the maximum value of the histogram.
+@param min_idx Pointer to the array of coordinates for the minimum.
+@param max_idx Pointer to the array of coordinates for the maximum.
+ */
+CVAPI(void)  cvGetMinMaxHistValue( const CvHistogram* hist,
+                                   float* min_value, float* max_value,
+                                   int* min_idx CV_DEFAULT(NULL),
+                                   int* max_idx CV_DEFAULT(NULL));
+
+
+/** @brief Normalizes the histogram.
+
+The function normalizes the histogram bins by scaling them so that the sum of the bins becomes equal
+to factor.
+
+@param hist Pointer to the histogram.
+@param factor Normalization factor.
+ */
+CVAPI(void)  cvNormalizeHist( CvHistogram* hist, double factor );
+
+
+/** @brief Thresholds the histogram.
+
+The function clears histogram bins that are below the specified threshold.
+
+@param hist Pointer to the histogram.
+@param threshold Threshold level.
+ */
+CVAPI(void)  cvThreshHist( CvHistogram* hist, double threshold );
+
+
+/** Compares two histogram */
+CVAPI(double)  cvCompareHist( const CvHistogram* hist1,
+                              const CvHistogram* hist2,
+                              int method);
+
+/** @brief Copies a histogram.
+
+The function makes a copy of the histogram. If the second histogram pointer \*dst is NULL, a new
+histogram of the same size as src is created. Otherwise, both histograms must have equal types and
+sizes. Then the function copies the bin values of the source histogram to the destination histogram
+and sets the same bin value ranges as in src.
+
+@param src Source histogram.
+@param dst Pointer to the destination histogram.
+ */
+CVAPI(void)  cvCopyHist( const CvHistogram* src, CvHistogram** dst );
+
+
+/** @brief Calculates bayesian probabilistic histograms
+   (each or src and dst is an array of _number_ histograms */
+CVAPI(void)  cvCalcBayesianProb( CvHistogram** src, int number,
+                                CvHistogram** dst);
+
+/** @brief Calculates array histogram
+@see cv::calcHist
+*/
+CVAPI(void)  cvCalcArrHist( CvArr** arr, CvHistogram* hist,
+                            int accumulate CV_DEFAULT(0),
+                            const CvArr* mask CV_DEFAULT(NULL) );
+
+/** @overload */
+CV_INLINE  void  cvCalcHist( IplImage** image, CvHistogram* hist,
+                             int accumulate CV_DEFAULT(0),
+                             const CvArr* mask CV_DEFAULT(NULL) )
+{
+    cvCalcArrHist( (CvArr**)image, hist, accumulate, mask );
+}
+
+/** @brief Calculates back project
+@see cvCalcBackProject, cv::calcBackProject
+*/
+CVAPI(void)  cvCalcArrBackProject( CvArr** image, CvArr* dst,
+                                   const CvHistogram* hist );
+
+#define  cvCalcBackProject(image, dst, hist) cvCalcArrBackProject((CvArr**)image, dst, hist)
+
+
+/** @brief Locates a template within an image by using a histogram comparison.
+
+The function calculates the back projection by comparing histograms of the source image patches with
+the given histogram. The function is similar to matchTemplate, but instead of comparing the raster
+patch with all its possible positions within the search window, the function CalcBackProjectPatch
+compares histograms. See the algorithm diagram below:
+
+![image](pics/backprojectpatch.png)
+
+@param image Source images (though, you may pass CvMat\*\* as well).
+@param dst Destination image.
+@param range
+@param hist Histogram.
+@param method Comparison method passed to cvCompareHist (see the function description).
+@param factor Normalization factor for histograms that affects the normalization scale of the
+destination image. Pass 1 if not sure.
+
+@see cvCalcBackProjectPatch
+ */
+CVAPI(void)  cvCalcArrBackProjectPatch( CvArr** image, CvArr* dst, CvSize range,
+                                        CvHistogram* hist, int method,
+                                        double factor );
+
+#define  cvCalcBackProjectPatch( image, dst, range, hist, method, factor ) \
+     cvCalcArrBackProjectPatch( (CvArr**)image, dst, range, hist, method, factor )
+
+
+/** @brief Divides one histogram by another.
+
+The function calculates the object probability density from two histograms as:
+
+\f[\texttt{disthist} (I)= \forkthree{0}{if \(\texttt{hist1}(I)=0\)}{\texttt{scale}}{if \(\texttt{hist1}(I) \ne 0\) and \(\texttt{hist2}(I) > \texttt{hist1}(I)\)}{\frac{\texttt{hist2}(I) \cdot \texttt{scale}}{\texttt{hist1}(I)}}{if \(\texttt{hist1}(I) \ne 0\) and \(\texttt{hist2}(I) \le \texttt{hist1}(I)\)}\f]
+
+@param hist1 First histogram (the divisor).
+@param hist2 Second histogram.
+@param dst_hist Destination histogram.
+@param scale Scale factor for the destination histogram.
+ */
+CVAPI(void)  cvCalcProbDensity( const CvHistogram* hist1, const CvHistogram* hist2,
+                                CvHistogram* dst_hist, double scale CV_DEFAULT(255) );
+
+/** @brief equalizes histogram of 8-bit single-channel image
+@see cv::equalizeHist
+*/
+CVAPI(void)  cvEqualizeHist( const CvArr* src, CvArr* dst );
+
+
+/** @brief Applies distance transform to binary image
+@see cv::distanceTransform
+*/
+CVAPI(void)  cvDistTransform( const CvArr* src, CvArr* dst,
+                              int distance_type CV_DEFAULT(CV_DIST_L2),
+                              int mask_size CV_DEFAULT(3),
+                              const float* mask CV_DEFAULT(NULL),
+                              CvArr* labels CV_DEFAULT(NULL),
+                              int labelType CV_DEFAULT(CV_DIST_LABEL_CCOMP));
+
+
+/** @brief Applies fixed-level threshold to grayscale image.
+
+   This is a basic operation applied before retrieving contours
+@see cv::threshold
+*/
+CVAPI(double)  cvThreshold( const CvArr*  src, CvArr*  dst,
+                            double  threshold, double  max_value,
+                            int threshold_type );
+
+/** @brief Applies adaptive threshold to grayscale image.
+
+   The two parameters for methods CV_ADAPTIVE_THRESH_MEAN_C and
+   CV_ADAPTIVE_THRESH_GAUSSIAN_C are:
+   neighborhood size (3, 5, 7 etc.),
+   and a constant subtracted from mean (...,-3,-2,-1,0,1,2,3,...)
+@see cv::adaptiveThreshold
+*/
+CVAPI(void)  cvAdaptiveThreshold( const CvArr* src, CvArr* dst, double max_value,
+                                  int adaptive_method CV_DEFAULT(CV_ADAPTIVE_THRESH_MEAN_C),
+                                  int threshold_type CV_DEFAULT(CV_THRESH_BINARY),
+                                  int block_size CV_DEFAULT(3),
+                                  double param1 CV_DEFAULT(5));
+
+/** @brief Fills the connected component until the color difference gets large enough
+@see cv::floodFill
+*/
+CVAPI(void)  cvFloodFill( CvArr* image, CvPoint seed_point,
+                          CvScalar new_val, CvScalar lo_diff CV_DEFAULT(cvScalarAll(0)),
+                          CvScalar up_diff CV_DEFAULT(cvScalarAll(0)),
+                          CvConnectedComp* comp CV_DEFAULT(NULL),
+                          int flags CV_DEFAULT(4),
+                          CvArr* mask CV_DEFAULT(NULL));
+
+/****************************************************************************************\
+*                                  Feature detection                                     *
+\****************************************************************************************/
+
+/** @brief Runs canny edge detector
+@see cv::Canny
+*/
+CVAPI(void)  cvCanny( const CvArr* image, CvArr* edges, double threshold1,
+                      double threshold2, int  aperture_size CV_DEFAULT(3) );
+
+/** @brief Calculates constraint image for corner detection
+
+   Dx^2 * Dyy + Dxx * Dy^2 - 2 * Dx * Dy * Dxy.
+   Applying threshold to the result gives coordinates of corners
+@see cv::preCornerDetect
+*/
+CVAPI(void) cvPreCornerDetect( const CvArr* image, CvArr* corners,
+                               int aperture_size CV_DEFAULT(3) );
+
+/** @brief Calculates eigen values and vectors of 2x2
+   gradient covariation matrix at every image pixel
+@see cv::cornerEigenValsAndVecs
+*/
+CVAPI(void)  cvCornerEigenValsAndVecs( const CvArr* image, CvArr* eigenvv,
+                                       int block_size, int aperture_size CV_DEFAULT(3) );
+
+/** @brief Calculates minimal eigenvalue for 2x2 gradient covariation matrix at
+   every image pixel
+@see cv::cornerMinEigenVal
+*/
+CVAPI(void)  cvCornerMinEigenVal( const CvArr* image, CvArr* eigenval,
+                                  int block_size, int aperture_size CV_DEFAULT(3) );
+
+/** @brief Harris corner detector:
+
+   Calculates det(M) - k*(trace(M)^2), where M is 2x2 gradient covariation matrix for each pixel
+@see cv::cornerHarris
+*/
+CVAPI(void)  cvCornerHarris( const CvArr* image, CvArr* harris_response,
+                             int block_size, int aperture_size CV_DEFAULT(3),
+                             double k CV_DEFAULT(0.04) );
+
+/** @brief Adjust corner position using some sort of gradient search
+@see cv::cornerSubPix
+*/
+CVAPI(void)  cvFindCornerSubPix( const CvArr* image, CvPoint2D32f* corners,
+                                 int count, CvSize win, CvSize zero_zone,
+                                 CvTermCriteria  criteria );
+
+/** @brief Finds a sparse set of points within the selected region
+   that seem to be easy to track
+@see cv::goodFeaturesToTrack
+*/
+CVAPI(void)  cvGoodFeaturesToTrack( const CvArr* image, CvArr* eig_image,
+                                    CvArr* temp_image, CvPoint2D32f* corners,
+                                    int* corner_count, double  quality_level,
+                                    double  min_distance,
+                                    const CvArr* mask CV_DEFAULT(NULL),
+                                    int block_size CV_DEFAULT(3),
+                                    int use_harris CV_DEFAULT(0),
+                                    double k CV_DEFAULT(0.04) );
+
+/** @brief Finds lines on binary image using one of several methods.
+
+   line_storage is either memory storage or 1 x _max number of lines_ CvMat, its
+   number of columns is changed by the function.
+   method is one of CV_HOUGH_*;
+   rho, theta and threshold are used for each of those methods;
+   param1 ~ line length, param2 ~ line gap - for probabilistic,
+   param1 ~ srn, param2 ~ stn - for multi-scale
+@see cv::HoughLines
+*/
+CVAPI(CvSeq*)  cvHoughLines2( CvArr* image, void* line_storage, int method,
+                              double rho, double theta, int threshold,
+                              double param1 CV_DEFAULT(0), double param2 CV_DEFAULT(0),
+                              double min_theta CV_DEFAULT(0), double max_theta CV_DEFAULT(CV_PI));
+
+/** @brief Finds circles in the image
+@see cv::HoughCircles
+*/
+CVAPI(CvSeq*) cvHoughCircles( CvArr* image, void* circle_storage,
+                              int method, double dp, double min_dist,
+                              double param1 CV_DEFAULT(100),
+                              double param2 CV_DEFAULT(100),
+                              int min_radius CV_DEFAULT(0),
+                              int max_radius CV_DEFAULT(0));
+
+/** @brief Fits a line into set of 2d or 3d points in a robust way (M-estimator technique)
+@see cv::fitLine
+*/
+CVAPI(void)  cvFitLine( const CvArr* points, int dist_type, double param,
+                        double reps, double aeps, float* line );
+
+/****************************************************************************************\
+*                                     Drawing                                            *
+\****************************************************************************************/
+
+/****************************************************************************************\
+*       Drawing functions work with images/matrices of arbitrary type.                   *
+*       For color images the channel order is BGR[A]                                     *
+*       Antialiasing is supported only for 8-bit image now.                              *
+*       All the functions include parameter color that means rgb value (that may be      *
+*       constructed with CV_RGB macro) for color images and brightness                   *
+*       for grayscale images.                                                            *
+*       If a drawn figure is partially or completely outside of the image, it is clipped.*
+\****************************************************************************************/
+
+#define CV_RGB( r, g, b )  cvScalar( (b), (g), (r), 0 )
+#define CV_FILLED -1
+
+#define CV_AA 16
+
+/** @brief Draws 4-connected, 8-connected or antialiased line segment connecting two points
+@see cv::line
+*/
+CVAPI(void)  cvLine( CvArr* img, CvPoint pt1, CvPoint pt2,
+                     CvScalar color, int thickness CV_DEFAULT(1),
+                     int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0) );
+
+/** @brief Draws a rectangle given two opposite corners of the rectangle (pt1 & pt2)
+
+   if thickness<0 (e.g. thickness == CV_FILLED), the filled box is drawn
+@see cv::rectangle
+*/
+CVAPI(void)  cvRectangle( CvArr* img, CvPoint pt1, CvPoint pt2,
+                          CvScalar color, int thickness CV_DEFAULT(1),
+                          int line_type CV_DEFAULT(8),
+                          int shift CV_DEFAULT(0));
+
+/** @brief Draws a rectangle specified by a CvRect structure
+@see cv::rectangle
+*/
+CVAPI(void)  cvRectangleR( CvArr* img, CvRect r,
+                           CvScalar color, int thickness CV_DEFAULT(1),
+                           int line_type CV_DEFAULT(8),
+                           int shift CV_DEFAULT(0));
+
+
+/** @brief Draws a circle with specified center and radius.
+
+   Thickness works in the same way as with cvRectangle
+@see cv::circle
+*/
+CVAPI(void)  cvCircle( CvArr* img, CvPoint center, int radius,
+                       CvScalar color, int thickness CV_DEFAULT(1),
+                       int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0));
+
+/** @brief Draws ellipse outline, filled ellipse, elliptic arc or filled elliptic sector
+
+   depending on _thickness_, _start_angle_ and _end_angle_ parameters. The resultant figure
+   is rotated by _angle_. All the angles are in degrees
+@see cv::ellipse
+*/
+CVAPI(void)  cvEllipse( CvArr* img, CvPoint center, CvSize axes,
+                        double angle, double start_angle, double end_angle,
+                        CvScalar color, int thickness CV_DEFAULT(1),
+                        int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0));
+
+CV_INLINE  void  cvEllipseBox( CvArr* img, CvBox2D box, CvScalar color,
+                               int thickness CV_DEFAULT(1),
+                               int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0) )
+{
+    CvSize axes;
+    axes.width = cvRound(box.size.width*0.5);
+    axes.height = cvRound(box.size.height*0.5);
+
+    cvEllipse( img, cvPointFrom32f( box.center ), axes, box.angle,
+               0, 360, color, thickness, line_type, shift );
+}
+
+/** @brief Fills convex or monotonous polygon.
+@see cv::fillConvexPoly
+*/
+CVAPI(void)  cvFillConvexPoly( CvArr* img, const CvPoint* pts, int npts, CvScalar color,
+                               int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0));
+
+/** @brief Fills an area bounded by one or more arbitrary polygons
+@see cv::fillPoly
+*/
+CVAPI(void)  cvFillPoly( CvArr* img, CvPoint** pts, const int* npts,
+                         int contours, CvScalar color,
+                         int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0) );
+
+/** @brief Draws one or more polygonal curves
+@see cv::polylines
+*/
+CVAPI(void)  cvPolyLine( CvArr* img, CvPoint** pts, const int* npts, int contours,
+                         int is_closed, CvScalar color, int thickness CV_DEFAULT(1),
+                         int line_type CV_DEFAULT(8), int shift CV_DEFAULT(0) );
+
+#define cvDrawRect cvRectangle
+#define cvDrawLine cvLine
+#define cvDrawCircle cvCircle
+#define cvDrawEllipse cvEllipse
+#define cvDrawPolyLine cvPolyLine
+
+/** @brief Clips the line segment connecting *pt1 and *pt2
+   by the rectangular window
+
+   (0<=x<img_size.width, 0<=y<img_size.height).
+@see cv::clipLine
+*/
+CVAPI(int) cvClipLine( CvSize img_size, CvPoint* pt1, CvPoint* pt2 );
+
+/** @brief Initializes line iterator.
+
+Initially, line_iterator->ptr will point to pt1 (or pt2, see left_to_right description) location in
+the image. Returns the number of pixels on the line between the ending points.
+@see cv::LineIterator
+*/
+CVAPI(int)  cvInitLineIterator( const CvArr* image, CvPoint pt1, CvPoint pt2,
+                                CvLineIterator* line_iterator,
+                                int connectivity CV_DEFAULT(8),
+                                int left_to_right CV_DEFAULT(0));
+
+#define CV_NEXT_LINE_POINT( line_iterator )                     \
+{                                                               \
+    int _line_iterator_mask = (line_iterator).err < 0 ? -1 : 0; \
+    (line_iterator).err += (line_iterator).minus_delta +        \
+        ((line_iterator).plus_delta & _line_iterator_mask);     \
+    (line_iterator).ptr += (line_iterator).minus_step +         \
+        ((line_iterator).plus_step & _line_iterator_mask);      \
+}
+
+
+#define CV_FONT_HERSHEY_SIMPLEX         0
+#define CV_FONT_HERSHEY_PLAIN           1
+#define CV_FONT_HERSHEY_DUPLEX          2
+#define CV_FONT_HERSHEY_COMPLEX         3
+#define CV_FONT_HERSHEY_TRIPLEX         4
+#define CV_FONT_HERSHEY_COMPLEX_SMALL   5
+#define CV_FONT_HERSHEY_SCRIPT_SIMPLEX  6
+#define CV_FONT_HERSHEY_SCRIPT_COMPLEX  7
+
+#define CV_FONT_ITALIC                 16
+
+#define CV_FONT_VECTOR0    CV_FONT_HERSHEY_SIMPLEX
+
+
+/** Font structure */
+typedef struct CvFont
+{
+  const char* nameFont;   //Qt:nameFont
+  CvScalar color;       //Qt:ColorFont -> cvScalar(blue_component, green_component, red_component[, alpha_component])
+    int         font_face;    //Qt: bool italic         /** =CV_FONT_* */
+    const int*  ascii;      //!< font data and metrics
+    const int*  greek;
+    const int*  cyrillic;
+    float       hscale, vscale;
+    float       shear;      //!< slope coefficient: 0 - normal, >0 - italic
+    int         thickness;    //!< Qt: weight               /** letters thickness */
+    float       dx;       //!< horizontal interval between letters
+    int         line_type;    //!< Qt: PointSize
+}
+CvFont;
+
+/** @brief Initializes font structure (OpenCV 1.x API).
+
+The function initializes the font structure that can be passed to text rendering functions.
+
+@param font Pointer to the font structure initialized by the function
+@param font_face Font name identifier. See cv::HersheyFonts and corresponding old CV_* identifiers.
+@param hscale Horizontal scale. If equal to 1.0f , the characters have the original width
+depending on the font type. If equal to 0.5f , the characters are of half the original width.
+@param vscale Vertical scale. If equal to 1.0f , the characters have the original height depending
+on the font type. If equal to 0.5f , the characters are of half the original height.
+@param shear Approximate tangent of the character slope relative to the vertical line. A zero
+value means a non-italic font, 1.0f means about a 45 degree slope, etc.
+@param thickness Thickness of the text strokes
+@param line_type Type of the strokes, see line description
+
+@sa cvPutText
+ */
+CVAPI(void)  cvInitFont( CvFont* font, int font_face,
+                         double hscale, double vscale,
+                         double shear CV_DEFAULT(0),
+                         int thickness CV_DEFAULT(1),
+                         int line_type CV_DEFAULT(8));
+
+CV_INLINE CvFont cvFont( double scale, int thickness CV_DEFAULT(1) )
+{
+    CvFont font;
+    cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, scale, scale, 0, thickness, CV_AA );
+    return font;
+}
+
+/** @brief Renders text stroke with specified font and color at specified location.
+   CvFont should be initialized with cvInitFont
+@see cvInitFont, cvGetTextSize, cvFont, cv::putText
+*/
+CVAPI(void)  cvPutText( CvArr* img, const char* text, CvPoint org,
+                        const CvFont* font, CvScalar color );
+
+/** @brief Calculates bounding box of text stroke (useful for alignment)
+@see cv::getTextSize
+*/
+CVAPI(void)  cvGetTextSize( const char* text_string, const CvFont* font,
+                            CvSize* text_size, int* baseline );
+
+/** @brief Unpacks color value
+
+if arrtype is CV_8UC?, _color_ is treated as packed color value, otherwise the first channels
+(depending on arrtype) of destination scalar are set to the same value = _color_
+*/
+CVAPI(CvScalar)  cvColorToScalar( double packed_color, int arrtype );
+
+/** @brief Returns the polygon points which make up the given ellipse.
+
+The ellipse is define by the box of size 'axes' rotated 'angle' around the 'center'. A partial
+sweep of the ellipse arc can be done by spcifying arc_start and arc_end to be something other than
+0 and 360, respectively. The input array 'pts' must be large enough to hold the result. The total
+number of points stored into 'pts' is returned by this function.
+@see cv::ellipse2Poly
+*/
+CVAPI(int) cvEllipse2Poly( CvPoint center, CvSize axes,
+                 int angle, int arc_start, int arc_end, CvPoint * pts, int delta );
+
+/** @brief Draws contour outlines or filled interiors on the image
+@see cv::drawContours
+*/
+CVAPI(void)  cvDrawContours( CvArr *img, CvSeq* contour,
+                             CvScalar external_color, CvScalar hole_color,
+                             int max_level, int thickness CV_DEFAULT(1),
+                             int line_type CV_DEFAULT(8),
+                             CvPoint offset CV_DEFAULT(cvPoint(0,0)));
+
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/imgproc/types_c.h b/3rdparty/include/opencv2/imgproc/types_c.h
new file mode 100644
index 0000000..5ecb460
--- /dev/null
+++ b/3rdparty/include/opencv2/imgproc/types_c.h
@@ -0,0 +1,626 @@
+/*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*/
+
+#ifndef __OPENCV_IMGPROC_TYPES_C_H__
+#define __OPENCV_IMGPROC_TYPES_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup imgproc_c
+  @{
+*/
+
+/** Connected component structure */
+typedef struct CvConnectedComp
+{
+    double area;    /**<area of the connected component  */
+    CvScalar value; /**<average color of the connected component */
+    CvRect rect;    /**<ROI of the component  */
+    CvSeq* contour; /**<optional component boundary
+                      (the contour might have child contours corresponding to the holes)*/
+}
+CvConnectedComp;
+
+/** Image smooth methods */
+enum SmoothMethod_c
+{
+    /** linear convolution with \f$\texttt{size1}\times\texttt{size2}\f$ box kernel (all 1's). If
+    you want to smooth different pixels with different-size box kernels, you can use the integral
+    image that is computed using integral */
+    CV_BLUR_NO_SCALE =0,
+    /** linear convolution with \f$\texttt{size1}\times\texttt{size2}\f$ box kernel (all
+    1's) with subsequent scaling by \f$1/(\texttt{size1}\cdot\texttt{size2})\f$ */
+    CV_BLUR  =1,
+    /** linear convolution with a \f$\texttt{size1}\times\texttt{size2}\f$ Gaussian kernel */
+    CV_GAUSSIAN  =2,
+    /** median filter with a \f$\texttt{size1}\times\texttt{size1}\f$ square aperture */
+    CV_MEDIAN =3,
+    /** bilateral filter with a \f$\texttt{size1}\times\texttt{size1}\f$ square aperture, color
+    sigma= sigma1 and spatial sigma= sigma2. If size1=0, the aperture square side is set to
+    cvRound(sigma2\*1.5)\*2+1. See cv::bilateralFilter */
+    CV_BILATERAL =4
+};
+
+/** Filters used in pyramid decomposition */
+enum
+{
+    CV_GAUSSIAN_5x5 = 7
+};
+
+/** Special filters */
+enum
+{
+    CV_SCHARR =-1,
+    CV_MAX_SOBEL_KSIZE =7
+};
+
+/** Constants for color conversion */
+enum
+{
+    CV_BGR2BGRA    =0,
+    CV_RGB2RGBA    =CV_BGR2BGRA,
+
+    CV_BGRA2BGR    =1,
+    CV_RGBA2RGB    =CV_BGRA2BGR,
+
+    CV_BGR2RGBA    =2,
+    CV_RGB2BGRA    =CV_BGR2RGBA,
+
+    CV_RGBA2BGR    =3,
+    CV_BGRA2RGB    =CV_RGBA2BGR,
+
+    CV_BGR2RGB     =4,
+    CV_RGB2BGR     =CV_BGR2RGB,
+
+    CV_BGRA2RGBA   =5,
+    CV_RGBA2BGRA   =CV_BGRA2RGBA,
+
+    CV_BGR2GRAY    =6,
+    CV_RGB2GRAY    =7,
+    CV_GRAY2BGR    =8,
+    CV_GRAY2RGB    =CV_GRAY2BGR,
+    CV_GRAY2BGRA   =9,
+    CV_GRAY2RGBA   =CV_GRAY2BGRA,
+    CV_BGRA2GRAY   =10,
+    CV_RGBA2GRAY   =11,
+
+    CV_BGR2BGR565  =12,
+    CV_RGB2BGR565  =13,
+    CV_BGR5652BGR  =14,
+    CV_BGR5652RGB  =15,
+    CV_BGRA2BGR565 =16,
+    CV_RGBA2BGR565 =17,
+    CV_BGR5652BGRA =18,
+    CV_BGR5652RGBA =19,
+
+    CV_GRAY2BGR565 =20,
+    CV_BGR5652GRAY =21,
+
+    CV_BGR2BGR555  =22,
+    CV_RGB2BGR555  =23,
+    CV_BGR5552BGR  =24,
+    CV_BGR5552RGB  =25,
+    CV_BGRA2BGR555 =26,
+    CV_RGBA2BGR555 =27,
+    CV_BGR5552BGRA =28,
+    CV_BGR5552RGBA =29,
+
+    CV_GRAY2BGR555 =30,
+    CV_BGR5552GRAY =31,
+
+    CV_BGR2XYZ     =32,
+    CV_RGB2XYZ     =33,
+    CV_XYZ2BGR     =34,
+    CV_XYZ2RGB     =35,
+
+    CV_BGR2YCrCb   =36,
+    CV_RGB2YCrCb   =37,
+    CV_YCrCb2BGR   =38,
+    CV_YCrCb2RGB   =39,
+
+    CV_BGR2HSV     =40,
+    CV_RGB2HSV     =41,
+
+    CV_BGR2Lab     =44,
+    CV_RGB2Lab     =45,
+
+    CV_BayerBG2BGR =46,
+    CV_BayerGB2BGR =47,
+    CV_BayerRG2BGR =48,
+    CV_BayerGR2BGR =49,
+
+    CV_BayerBG2RGB =CV_BayerRG2BGR,
+    CV_BayerGB2RGB =CV_BayerGR2BGR,
+    CV_BayerRG2RGB =CV_BayerBG2BGR,
+    CV_BayerGR2RGB =CV_BayerGB2BGR,
+
+    CV_BGR2Luv     =50,
+    CV_RGB2Luv     =51,
+    CV_BGR2HLS     =52,
+    CV_RGB2HLS     =53,
+
+    CV_HSV2BGR     =54,
+    CV_HSV2RGB     =55,
+
+    CV_Lab2BGR     =56,
+    CV_Lab2RGB     =57,
+    CV_Luv2BGR     =58,
+    CV_Luv2RGB     =59,
+    CV_HLS2BGR     =60,
+    CV_HLS2RGB     =61,
+
+    CV_BayerBG2BGR_VNG =62,
+    CV_BayerGB2BGR_VNG =63,
+    CV_BayerRG2BGR_VNG =64,
+    CV_BayerGR2BGR_VNG =65,
+
+    CV_BayerBG2RGB_VNG =CV_BayerRG2BGR_VNG,
+    CV_BayerGB2RGB_VNG =CV_BayerGR2BGR_VNG,
+    CV_BayerRG2RGB_VNG =CV_BayerBG2BGR_VNG,
+    CV_BayerGR2RGB_VNG =CV_BayerGB2BGR_VNG,
+
+    CV_BGR2HSV_FULL = 66,
+    CV_RGB2HSV_FULL = 67,
+    CV_BGR2HLS_FULL = 68,
+    CV_RGB2HLS_FULL = 69,
+
+    CV_HSV2BGR_FULL = 70,
+    CV_HSV2RGB_FULL = 71,
+    CV_HLS2BGR_FULL = 72,
+    CV_HLS2RGB_FULL = 73,
+
+    CV_LBGR2Lab     = 74,
+    CV_LRGB2Lab     = 75,
+    CV_LBGR2Luv     = 76,
+    CV_LRGB2Luv     = 77,
+
+    CV_Lab2LBGR     = 78,
+    CV_Lab2LRGB     = 79,
+    CV_Luv2LBGR     = 80,
+    CV_Luv2LRGB     = 81,
+
+    CV_BGR2YUV      = 82,
+    CV_RGB2YUV      = 83,
+    CV_YUV2BGR      = 84,
+    CV_YUV2RGB      = 85,
+
+    CV_BayerBG2GRAY = 86,
+    CV_BayerGB2GRAY = 87,
+    CV_BayerRG2GRAY = 88,
+    CV_BayerGR2GRAY = 89,
+
+    //YUV 4:2:0 formats family
+    CV_YUV2RGB_NV12 = 90,
+    CV_YUV2BGR_NV12 = 91,
+    CV_YUV2RGB_NV21 = 92,
+    CV_YUV2BGR_NV21 = 93,
+    CV_YUV420sp2RGB = CV_YUV2RGB_NV21,
+    CV_YUV420sp2BGR = CV_YUV2BGR_NV21,
+
+    CV_YUV2RGBA_NV12 = 94,
+    CV_YUV2BGRA_NV12 = 95,
+    CV_YUV2RGBA_NV21 = 96,
+    CV_YUV2BGRA_NV21 = 97,
+    CV_YUV420sp2RGBA = CV_YUV2RGBA_NV21,
+    CV_YUV420sp2BGRA = CV_YUV2BGRA_NV21,
+
+    CV_YUV2RGB_YV12 = 98,
+    CV_YUV2BGR_YV12 = 99,
+    CV_YUV2RGB_IYUV = 100,
+    CV_YUV2BGR_IYUV = 101,
+    CV_YUV2RGB_I420 = CV_YUV2RGB_IYUV,
+    CV_YUV2BGR_I420 = CV_YUV2BGR_IYUV,
+    CV_YUV420p2RGB = CV_YUV2RGB_YV12,
+    CV_YUV420p2BGR = CV_YUV2BGR_YV12,
+
+    CV_YUV2RGBA_YV12 = 102,
+    CV_YUV2BGRA_YV12 = 103,
+    CV_YUV2RGBA_IYUV = 104,
+    CV_YUV2BGRA_IYUV = 105,
+    CV_YUV2RGBA_I420 = CV_YUV2RGBA_IYUV,
+    CV_YUV2BGRA_I420 = CV_YUV2BGRA_IYUV,
+    CV_YUV420p2RGBA = CV_YUV2RGBA_YV12,
+    CV_YUV420p2BGRA = CV_YUV2BGRA_YV12,
+
+    CV_YUV2GRAY_420 = 106,
+    CV_YUV2GRAY_NV21 = CV_YUV2GRAY_420,
+    CV_YUV2GRAY_NV12 = CV_YUV2GRAY_420,
+    CV_YUV2GRAY_YV12 = CV_YUV2GRAY_420,
+    CV_YUV2GRAY_IYUV = CV_YUV2GRAY_420,
+    CV_YUV2GRAY_I420 = CV_YUV2GRAY_420,
+    CV_YUV420sp2GRAY = CV_YUV2GRAY_420,
+    CV_YUV420p2GRAY = CV_YUV2GRAY_420,
+
+    //YUV 4:2:2 formats family
+    CV_YUV2RGB_UYVY = 107,
+    CV_YUV2BGR_UYVY = 108,
+    //CV_YUV2RGB_VYUY = 109,
+    //CV_YUV2BGR_VYUY = 110,
+    CV_YUV2RGB_Y422 = CV_YUV2RGB_UYVY,
+    CV_YUV2BGR_Y422 = CV_YUV2BGR_UYVY,
+    CV_YUV2RGB_UYNV = CV_YUV2RGB_UYVY,
+    CV_YUV2BGR_UYNV = CV_YUV2BGR_UYVY,
+
+    CV_YUV2RGBA_UYVY = 111,
+    CV_YUV2BGRA_UYVY = 112,
+    //CV_YUV2RGBA_VYUY = 113,
+    //CV_YUV2BGRA_VYUY = 114,
+    CV_YUV2RGBA_Y422 = CV_YUV2RGBA_UYVY,
+    CV_YUV2BGRA_Y422 = CV_YUV2BGRA_UYVY,
+    CV_YUV2RGBA_UYNV = CV_YUV2RGBA_UYVY,
+    CV_YUV2BGRA_UYNV = CV_YUV2BGRA_UYVY,
+
+    CV_YUV2RGB_YUY2 = 115,
+    CV_YUV2BGR_YUY2 = 116,
+    CV_YUV2RGB_YVYU = 117,
+    CV_YUV2BGR_YVYU = 118,
+    CV_YUV2RGB_YUYV = CV_YUV2RGB_YUY2,
+    CV_YUV2BGR_YUYV = CV_YUV2BGR_YUY2,
+    CV_YUV2RGB_YUNV = CV_YUV2RGB_YUY2,
+    CV_YUV2BGR_YUNV = CV_YUV2BGR_YUY2,
+
+    CV_YUV2RGBA_YUY2 = 119,
+    CV_YUV2BGRA_YUY2 = 120,
+    CV_YUV2RGBA_YVYU = 121,
+    CV_YUV2BGRA_YVYU = 122,
+    CV_YUV2RGBA_YUYV = CV_YUV2RGBA_YUY2,
+    CV_YUV2BGRA_YUYV = CV_YUV2BGRA_YUY2,
+    CV_YUV2RGBA_YUNV = CV_YUV2RGBA_YUY2,
+    CV_YUV2BGRA_YUNV = CV_YUV2BGRA_YUY2,
+
+    CV_YUV2GRAY_UYVY = 123,
+    CV_YUV2GRAY_YUY2 = 124,
+    //CV_YUV2GRAY_VYUY = CV_YUV2GRAY_UYVY,
+    CV_YUV2GRAY_Y422 = CV_YUV2GRAY_UYVY,
+    CV_YUV2GRAY_UYNV = CV_YUV2GRAY_UYVY,
+    CV_YUV2GRAY_YVYU = CV_YUV2GRAY_YUY2,
+    CV_YUV2GRAY_YUYV = CV_YUV2GRAY_YUY2,
+    CV_YUV2GRAY_YUNV = CV_YUV2GRAY_YUY2,
+
+    // alpha premultiplication
+    CV_RGBA2mRGBA = 125,
+    CV_mRGBA2RGBA = 126,
+
+    CV_RGB2YUV_I420 = 127,
+    CV_BGR2YUV_I420 = 128,
+    CV_RGB2YUV_IYUV = CV_RGB2YUV_I420,
+    CV_BGR2YUV_IYUV = CV_BGR2YUV_I420,
+
+    CV_RGBA2YUV_I420 = 129,
+    CV_BGRA2YUV_I420 = 130,
+    CV_RGBA2YUV_IYUV = CV_RGBA2YUV_I420,
+    CV_BGRA2YUV_IYUV = CV_BGRA2YUV_I420,
+    CV_RGB2YUV_YV12  = 131,
+    CV_BGR2YUV_YV12  = 132,
+    CV_RGBA2YUV_YV12 = 133,
+    CV_BGRA2YUV_YV12 = 134,
+
+    // Edge-Aware Demosaicing
+    CV_BayerBG2BGR_EA = 135,
+    CV_BayerGB2BGR_EA = 136,
+    CV_BayerRG2BGR_EA = 137,
+    CV_BayerGR2BGR_EA = 138,
+
+    CV_BayerBG2RGB_EA = CV_BayerRG2BGR_EA,
+    CV_BayerGB2RGB_EA = CV_BayerGR2BGR_EA,
+    CV_BayerRG2RGB_EA = CV_BayerBG2BGR_EA,
+    CV_BayerGR2RGB_EA = CV_BayerGB2BGR_EA,
+
+    CV_COLORCVT_MAX  = 139
+};
+
+
+/** Sub-pixel interpolation methods */
+enum
+{
+    CV_INTER_NN        =0,
+    CV_INTER_LINEAR    =1,
+    CV_INTER_CUBIC     =2,
+    CV_INTER_AREA      =3,
+    CV_INTER_LANCZOS4  =4
+};
+
+/** ... and other image warping flags */
+enum
+{
+    CV_WARP_FILL_OUTLIERS =8,
+    CV_WARP_INVERSE_MAP  =16
+};
+
+/** Shapes of a structuring element for morphological operations
+@see cv::MorphShapes, cv::getStructuringElement
+*/
+enum MorphShapes_c
+{
+    CV_SHAPE_RECT      =0,
+    CV_SHAPE_CROSS     =1,
+    CV_SHAPE_ELLIPSE   =2,
+    CV_SHAPE_CUSTOM    =100 //!< custom structuring element
+};
+
+/** Morphological operations */
+enum
+{
+    CV_MOP_ERODE        =0,
+    CV_MOP_DILATE       =1,
+    CV_MOP_OPEN         =2,
+    CV_MOP_CLOSE        =3,
+    CV_MOP_GRADIENT     =4,
+    CV_MOP_TOPHAT       =5,
+    CV_MOP_BLACKHAT     =6
+};
+
+/** Spatial and central moments */
+typedef struct CvMoments
+{
+    double  m00, m10, m01, m20, m11, m02, m30, m21, m12, m03; /**< spatial moments */
+    double  mu20, mu11, mu02, mu30, mu21, mu12, mu03; /**< central moments */
+    double  inv_sqrt_m00; /**< m00 != 0 ? 1/sqrt(m00) : 0 */
+
+#ifdef __cplusplus
+    CvMoments(){}
+    CvMoments(const cv::Moments& m)
+    {
+        m00 = m.m00; m10 = m.m10; m01 = m.m01;
+        m20 = m.m20; m11 = m.m11; m02 = m.m02;
+        m30 = m.m30; m21 = m.m21; m12 = m.m12; m03 = m.m03;
+        mu20 = m.mu20; mu11 = m.mu11; mu02 = m.mu02;
+        mu30 = m.mu30; mu21 = m.mu21; mu12 = m.mu12; mu03 = m.mu03;
+        double am00 = std::abs(m.m00);
+        inv_sqrt_m00 = am00 > DBL_EPSILON ? 1./std::sqrt(am00) : 0;
+    }
+    operator cv::Moments() const
+    {
+        return cv::Moments(m00, m10, m01, m20, m11, m02, m30, m21, m12, m03);
+    }
+#endif
+}
+CvMoments;
+
+/** Hu invariants */
+typedef struct CvHuMoments
+{
+    double hu1, hu2, hu3, hu4, hu5, hu6, hu7; /**< Hu invariants */
+}
+CvHuMoments;
+
+/** Template matching methods */
+enum
+{
+    CV_TM_SQDIFF        =0,
+    CV_TM_SQDIFF_NORMED =1,
+    CV_TM_CCORR         =2,
+    CV_TM_CCORR_NORMED  =3,
+    CV_TM_CCOEFF        =4,
+    CV_TM_CCOEFF_NORMED =5
+};
+
+typedef float (CV_CDECL * CvDistanceFunction)( const float* a, const float* b, void* user_param );
+
+/** Contour retrieval modes */
+enum
+{
+    CV_RETR_EXTERNAL=0,
+    CV_RETR_LIST=1,
+    CV_RETR_CCOMP=2,
+    CV_RETR_TREE=3,
+    CV_RETR_FLOODFILL=4
+};
+
+/** Contour approximation methods */
+enum
+{
+    CV_CHAIN_CODE=0,
+    CV_CHAIN_APPROX_NONE=1,
+    CV_CHAIN_APPROX_SIMPLE=2,
+    CV_CHAIN_APPROX_TC89_L1=3,
+    CV_CHAIN_APPROX_TC89_KCOS=4,
+    CV_LINK_RUNS=5
+};
+
+/*
+Internal structure that is used for sequential retrieving contours from the image.
+It supports both hierarchical and plane variants of Suzuki algorithm.
+*/
+typedef struct _CvContourScanner* CvContourScanner;
+
+/** Freeman chain reader state */
+typedef struct CvChainPtReader
+{
+    CV_SEQ_READER_FIELDS()
+    char      code;
+    CvPoint   pt;
+    schar     deltas[8][2];
+}
+CvChainPtReader;
+
+/** initializes 8-element array for fast access to 3x3 neighborhood of a pixel */
+#define  CV_INIT_3X3_DELTAS( deltas, step, nch )            \
+    ((deltas)[0] =  (nch),  (deltas)[1] = -(step) + (nch),  \
+     (deltas)[2] = -(step), (deltas)[3] = -(step) - (nch),  \
+     (deltas)[4] = -(nch),  (deltas)[5] =  (step) - (nch),  \
+     (deltas)[6] =  (step), (deltas)[7] =  (step) + (nch))
+
+
+/** Contour approximation algorithms */
+enum
+{
+    CV_POLY_APPROX_DP = 0
+};
+
+/** @brief Shape matching methods
+
+\f$A\f$ denotes object1,\f$B\f$ denotes object2
+
+\f$\begin{array}{l} m^A_i =  \mathrm{sign} (h^A_i)  \cdot \log{h^A_i} \\ m^B_i =  \mathrm{sign} (h^B_i)  \cdot \log{h^B_i} \end{array}\f$
+
+and \f$h^A_i, h^B_i\f$ are the Hu moments of \f$A\f$ and \f$B\f$ , respectively.
+*/
+enum ShapeMatchModes
+{
+    CV_CONTOURS_MATCH_I1  =1, //!< \f[I_1(A,B) =  \sum _{i=1...7}  \left |  \frac{1}{m^A_i} -  \frac{1}{m^B_i} \right |\f]
+    CV_CONTOURS_MATCH_I2  =2, //!< \f[I_2(A,B) =  \sum _{i=1...7}  \left | m^A_i - m^B_i  \right |\f]
+    CV_CONTOURS_MATCH_I3  =3  //!< \f[I_3(A,B) =  \max _{i=1...7}  \frac{ \left| m^A_i - m^B_i \right| }{ \left| m^A_i \right| }\f]
+};
+
+/** Shape orientation */
+enum
+{
+    CV_CLOCKWISE         =1,
+    CV_COUNTER_CLOCKWISE =2
+};
+
+
+/** Convexity defect */
+typedef struct CvConvexityDefect
+{
+    CvPoint* start; /**< point of the contour where the defect begins */
+    CvPoint* end; /**< point of the contour where the defect ends */
+    CvPoint* depth_point; /**< the farthest from the convex hull point within the defect */
+    float depth; /**< distance between the farthest point and the convex hull */
+} CvConvexityDefect;
+
+
+/** Histogram comparison methods */
+enum
+{
+    CV_COMP_CORREL        =0,
+    CV_COMP_CHISQR        =1,
+    CV_COMP_INTERSECT     =2,
+    CV_COMP_BHATTACHARYYA =3,
+    CV_COMP_HELLINGER     =CV_COMP_BHATTACHARYYA,
+    CV_COMP_CHISQR_ALT    =4,
+    CV_COMP_KL_DIV        =5
+};
+
+/** Mask size for distance transform */
+enum
+{
+    CV_DIST_MASK_3   =3,
+    CV_DIST_MASK_5   =5,
+    CV_DIST_MASK_PRECISE =0
+};
+
+/** Content of output label array: connected components or pixels */
+enum
+{
+  CV_DIST_LABEL_CCOMP = 0,
+  CV_DIST_LABEL_PIXEL = 1
+};
+
+/** Distance types for Distance Transform and M-estimators */
+enum
+{
+    CV_DIST_USER    =-1,  /**< User defined distance */
+    CV_DIST_L1      =1,   /**< distance = |x1-x2| + |y1-y2| */
+    CV_DIST_L2      =2,   /**< the simple euclidean distance */
+    CV_DIST_C       =3,   /**< distance = max(|x1-x2|,|y1-y2|) */
+    CV_DIST_L12     =4,   /**< L1-L2 metric: distance = 2(sqrt(1+x*x/2) - 1)) */
+    CV_DIST_FAIR    =5,   /**< distance = c^2(|x|/c-log(1+|x|/c)), c = 1.3998 */
+    CV_DIST_WELSCH  =6,   /**< distance = c^2/2(1-exp(-(x/c)^2)), c = 2.9846 */
+    CV_DIST_HUBER   =7    /**< distance = |x|<c ? x^2/2 : c(|x|-c/2), c=1.345 */
+};
+
+
+/** Threshold types */
+enum
+{
+    CV_THRESH_BINARY      =0,  /**< value = value > threshold ? max_value : 0       */
+    CV_THRESH_BINARY_INV  =1,  /**< value = value > threshold ? 0 : max_value       */
+    CV_THRESH_TRUNC       =2,  /**< value = value > threshold ? threshold : value   */
+    CV_THRESH_TOZERO      =3,  /**< value = value > threshold ? value : 0           */
+    CV_THRESH_TOZERO_INV  =4,  /**< value = value > threshold ? 0 : value           */
+    CV_THRESH_MASK        =7,
+    CV_THRESH_OTSU        =8, /**< use Otsu algorithm to choose the optimal threshold value;
+                                 combine the flag with one of the above CV_THRESH_* values */
+    CV_THRESH_TRIANGLE    =16  /**< use Triangle algorithm to choose the optimal threshold value;
+                                 combine the flag with one of the above CV_THRESH_* values, but not
+                                 with CV_THRESH_OTSU */
+};
+
+/** Adaptive threshold methods */
+enum
+{
+    CV_ADAPTIVE_THRESH_MEAN_C  =0,
+    CV_ADAPTIVE_THRESH_GAUSSIAN_C  =1
+};
+
+/** FloodFill flags */
+enum
+{
+    CV_FLOODFILL_FIXED_RANGE =(1 << 16),
+    CV_FLOODFILL_MASK_ONLY   =(1 << 17)
+};
+
+
+/** Canny edge detector flags */
+enum
+{
+    CV_CANNY_L2_GRADIENT  =(1 << 31)
+};
+
+/** Variants of a Hough transform */
+enum
+{
+    CV_HOUGH_STANDARD =0,
+    CV_HOUGH_PROBABILISTIC =1,
+    CV_HOUGH_MULTI_SCALE =2,
+    CV_HOUGH_GRADIENT =3
+};
+
+
+/* Fast search data structures  */
+struct CvFeatureTree;
+struct CvLSH;
+struct CvLSHOperations;
+
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/ml.hpp b/3rdparty/include/opencv2/ml.hpp
new file mode 100644
index 0000000..d0d2c33
--- /dev/null
+++ b/3rdparty/include/opencv2/ml.hpp
@@ -0,0 +1,1499 @@
+/*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, Intel Corporation, all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Copyright (C) 2014, Itseez 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*/
+
+#ifndef __OPENCV_ML_HPP__
+#define __OPENCV_ML_HPP__
+
+#ifdef __cplusplus
+#  include "opencv2/core.hpp"
+#endif
+
+#ifdef __cplusplus
+
+#include <float.h>
+#include <map>
+#include <iostream>
+
+/**
+  @defgroup ml Machine Learning
+
+  The Machine Learning Library (MLL) is a set of classes and functions for statistical
+  classification, regression, and clustering of data.
+
+  Most of the classification and regression algorithms are implemented as C++ classes. As the
+  algorithms have different sets of features (like an ability to handle missing measurements or
+  categorical input variables), there is a little common ground between the classes. This common
+  ground is defined by the class cv::ml::StatModel that all the other ML classes are derived from.
+
+  See detailed overview here: @ref ml_intro.
+ */
+
+namespace cv
+{
+
+namespace ml
+{
+
+//! @addtogroup ml
+//! @{
+
+/** @brief Variable types */
+enum VariableTypes
+{
+    VAR_NUMERICAL    =0, //!< same as VAR_ORDERED
+    VAR_ORDERED      =0, //!< ordered variables
+    VAR_CATEGORICAL  =1  //!< categorical variables
+};
+
+/** @brief %Error types */
+enum ErrorTypes
+{
+    TEST_ERROR = 0,
+    TRAIN_ERROR = 1
+};
+
+/** @brief Sample types */
+enum SampleTypes
+{
+    ROW_SAMPLE = 0, //!< each training sample is a row of samples
+    COL_SAMPLE = 1  //!< each training sample occupies a column of samples
+};
+
+/** @brief The structure represents the logarithmic grid range of statmodel parameters.
+
+It is used for optimizing statmodel accuracy by varying model parameters, the accuracy estimate
+being computed by cross-validation.
+ */
+class CV_EXPORTS ParamGrid
+{
+public:
+    /** @brief Default constructor */
+    ParamGrid();
+    /** @brief Constructor with parameters */
+    ParamGrid(double _minVal, double _maxVal, double _logStep);
+
+    double minVal; //!< Minimum value of the statmodel parameter. Default value is 0.
+    double maxVal; //!< Maximum value of the statmodel parameter. Default value is 0.
+    /** @brief Logarithmic step for iterating the statmodel parameter.
+
+    The grid determines the following iteration sequence of the statmodel parameter values:
+    \f[(minVal, minVal*step, minVal*{step}^2, \dots,  minVal*{logStep}^n),\f]
+    where \f$n\f$ is the maximal index satisfying
+    \f[\texttt{minVal} * \texttt{logStep} ^n <  \texttt{maxVal}\f]
+    The grid is logarithmic, so logStep must always be greater then 1. Default value is 1.
+    */
+    double logStep;
+};
+
+/** @brief Class encapsulating training data.
+
+Please note that the class only specifies the interface of training data, but not implementation.
+All the statistical model classes in _ml_ module accepts Ptr\<TrainData\> as parameter. In other
+words, you can create your own class derived from TrainData and pass smart pointer to the instance
+of this class into StatModel::train.
+
+@sa @ref ml_intro_data
+ */
+class CV_EXPORTS_W TrainData
+{
+public:
+    static inline float missingValue() { return FLT_MAX; }
+    virtual ~TrainData();
+
+    CV_WRAP virtual int getLayout() const = 0;
+    CV_WRAP virtual int getNTrainSamples() const = 0;
+    CV_WRAP virtual int getNTestSamples() const = 0;
+    CV_WRAP virtual int getNSamples() const = 0;
+    CV_WRAP virtual int getNVars() const = 0;
+    CV_WRAP virtual int getNAllVars() const = 0;
+
+    CV_WRAP virtual void getSample(InputArray varIdx, int sidx, float* buf) const = 0;
+    CV_WRAP virtual Mat getSamples() const = 0;
+    CV_WRAP virtual Mat getMissing() const = 0;
+
+    /** @brief Returns matrix of train samples
+
+    @param layout The requested layout. If it's different from the initial one, the matrix is
+        transposed. See ml::SampleTypes.
+    @param compressSamples if true, the function returns only the training samples (specified by
+        sampleIdx)
+    @param compressVars if true, the function returns the shorter training samples, containing only
+        the active variables.
+
+    In current implementation the function tries to avoid physical data copying and returns the
+    matrix stored inside TrainData (unless the transposition or compression is needed).
+     */
+    CV_WRAP virtual Mat getTrainSamples(int layout=ROW_SAMPLE,
+                                bool compressSamples=true,
+                                bool compressVars=true) const = 0;
+
+    /** @brief Returns the vector of responses
+
+    The function returns ordered or the original categorical responses. Usually it's used in
+    regression algorithms.
+     */
+    CV_WRAP virtual Mat getTrainResponses() const = 0;
+
+    /** @brief Returns the vector of normalized categorical responses
+
+    The function returns vector of responses. Each response is integer from `0` to `<number of
+    classes>-1`. The actual label value can be retrieved then from the class label vector, see
+    TrainData::getClassLabels.
+     */
+    CV_WRAP virtual Mat getTrainNormCatResponses() const = 0;
+    CV_WRAP virtual Mat getTestResponses() const = 0;
+    CV_WRAP virtual Mat getTestNormCatResponses() const = 0;
+    CV_WRAP virtual Mat getResponses() const = 0;
+    CV_WRAP virtual Mat getNormCatResponses() const = 0;
+    CV_WRAP virtual Mat getSampleWeights() const = 0;
+    CV_WRAP virtual Mat getTrainSampleWeights() const = 0;
+    CV_WRAP virtual Mat getTestSampleWeights() const = 0;
+    CV_WRAP virtual Mat getVarIdx() const = 0;
+    CV_WRAP virtual Mat getVarType() const = 0;
+    CV_WRAP virtual int getResponseType() const = 0;
+    CV_WRAP virtual Mat getTrainSampleIdx() const = 0;
+    CV_WRAP virtual Mat getTestSampleIdx() const = 0;
+    CV_WRAP virtual void getValues(int vi, InputArray sidx, float* values) const = 0;
+    virtual void getNormCatValues(int vi, InputArray sidx, int* values) const = 0;
+    CV_WRAP virtual Mat getDefaultSubstValues() const = 0;
+
+    CV_WRAP virtual int getCatCount(int vi) const = 0;
+
+    /** @brief Returns the vector of class labels
+
+    The function returns vector of unique labels occurred in the responses.
+     */
+    CV_WRAP virtual Mat getClassLabels() const = 0;
+
+    CV_WRAP virtual Mat getCatOfs() const = 0;
+    CV_WRAP virtual Mat getCatMap() const = 0;
+
+    /** @brief Splits the training data into the training and test parts
+    @sa TrainData::setTrainTestSplitRatio
+     */
+    CV_WRAP virtual void setTrainTestSplit(int count, bool shuffle=true) = 0;
+
+    /** @brief Splits the training data into the training and test parts
+
+    The function selects a subset of specified relative size and then returns it as the training
+    set. If the function is not called, all the data is used for training. Please, note that for
+    each of TrainData::getTrain\* there is corresponding TrainData::getTest\*, so that the test
+    subset can be retrieved and processed as well.
+    @sa TrainData::setTrainTestSplit
+     */
+    CV_WRAP virtual void setTrainTestSplitRatio(double ratio, bool shuffle=true) = 0;
+    CV_WRAP virtual void shuffleTrainTest() = 0;
+
+    CV_WRAP static Mat getSubVector(const Mat& vec, const Mat& idx);
+
+    /** @brief Reads the dataset from a .csv file and returns the ready-to-use training data.
+
+    @param filename The input file name
+    @param headerLineCount The number of lines in the beginning to skip; besides the header, the
+        function also skips empty lines and lines staring with `#`
+    @param responseStartIdx Index of the first output variable. If -1, the function considers the
+        last variable as the response
+    @param responseEndIdx Index of the last output variable + 1. If -1, then there is single
+        response variable at responseStartIdx.
+    @param varTypeSpec The optional text string that specifies the variables' types. It has the
+        format `ord[n1-n2,n3,n4-n5,...]cat[n6,n7-n8,...]`. That is, variables from `n1 to n2`
+        (inclusive range), `n3`, `n4 to n5` ... are considered ordered and `n6`, `n7 to n8` ... are
+        considered as categorical. The range `[n1..n2] + [n3] + [n4..n5] + ... + [n6] + [n7..n8]`
+        should cover all the variables. If varTypeSpec is not specified, then algorithm uses the
+        following rules:
+        - all input variables are considered ordered by default. If some column contains has non-
+          numerical values, e.g. 'apple', 'pear', 'apple', 'apple', 'mango', the corresponding
+          variable is considered categorical.
+        - if there are several output variables, they are all considered as ordered. Error is
+          reported when non-numerical values are used.
+        - if there is a single output variable, then if its values are non-numerical or are all
+          integers, then it's considered categorical. Otherwise, it's considered ordered.
+    @param delimiter The character used to separate values in each line.
+    @param missch The character used to specify missing measurements. It should not be a digit.
+        Although it's a non-numerical value, it surely does not affect the decision of whether the
+        variable ordered or categorical.
+     */
+    static Ptr<TrainData> loadFromCSV(const String& filename,
+                                      int headerLineCount,
+                                      int responseStartIdx=-1,
+                                      int responseEndIdx=-1,
+                                      const String& varTypeSpec=String(),
+                                      char delimiter=',',
+                                      char missch='?');
+
+    /** @brief Creates training data from in-memory arrays.
+
+    @param samples matrix of samples. It should have CV_32F type.
+    @param layout see ml::SampleTypes.
+    @param responses matrix of responses. If the responses are scalar, they should be stored as a
+        single row or as a single column. The matrix should have type CV_32F or CV_32S (in the
+        former case the responses are considered as ordered by default; in the latter case - as
+        categorical)
+    @param varIdx vector specifying which variables to use for training. It can be an integer vector
+        (CV_32S) containing 0-based variable indices or byte vector (CV_8U) containing a mask of
+        active variables.
+    @param sampleIdx vector specifying which samples to use for training. It can be an integer
+        vector (CV_32S) containing 0-based sample indices or byte vector (CV_8U) containing a mask
+        of training samples.
+    @param sampleWeights optional vector with weights for each sample. It should have CV_32F type.
+    @param varType optional vector of type CV_8U and size `<number_of_variables_in_samples> +
+        <number_of_variables_in_responses>`, containing types of each input and output variable. See
+        ml::VariableTypes.
+     */
+    CV_WRAP static Ptr<TrainData> create(InputArray samples, int layout, InputArray responses,
+                                 InputArray varIdx=noArray(), InputArray sampleIdx=noArray(),
+                                 InputArray sampleWeights=noArray(), InputArray varType=noArray());
+};
+
+/** @brief Base class for statistical models in OpenCV ML.
+ */
+class CV_EXPORTS_W StatModel : public Algorithm
+{
+public:
+    /** Predict options */
+    enum Flags {
+        UPDATE_MODEL = 1,
+        RAW_OUTPUT=1, //!< makes the method return the raw results (the sum), not the class label
+        COMPRESSED_INPUT=2,
+        PREPROCESSED_INPUT=4
+    };
+
+    /** @brief Returns the number of variables in training samples */
+    CV_WRAP virtual int getVarCount() const = 0;
+
+    CV_WRAP virtual bool empty() const;
+
+    /** @brief Returns true if the model is trained */
+    CV_WRAP virtual bool isTrained() const = 0;
+    /** @brief Returns true if the model is classifier */
+    CV_WRAP virtual bool isClassifier() const = 0;
+
+    /** @brief Trains the statistical model
+
+    @param trainData training data that can be loaded from file using TrainData::loadFromCSV or
+        created with TrainData::create.
+    @param flags optional flags, depending on the model. Some of the models can be updated with the
+        new training samples, not completely overwritten (such as NormalBayesClassifier or ANN_MLP).
+     */
+    CV_WRAP virtual bool train( const Ptr<TrainData>& trainData, int flags=0 );
+
+    /** @brief Trains the statistical model
+
+    @param samples training samples
+    @param layout See ml::SampleTypes.
+    @param responses vector of responses associated with the training samples.
+    */
+    CV_WRAP virtual bool train( InputArray samples, int layout, InputArray responses );
+
+    /** @brief Computes error on the training or test dataset
+
+    @param data the training data
+    @param test if true, the error is computed over the test subset of the data, otherwise it's
+        computed over the training subset of the data. Please note that if you loaded a completely
+        different dataset to evaluate already trained classifier, you will probably want not to set
+        the test subset at all with TrainData::setTrainTestSplitRatio and specify test=false, so
+        that the error is computed for the whole new set. Yes, this sounds a bit confusing.
+    @param resp the optional output responses.
+
+    The method uses StatModel::predict to compute the error. For regression models the error is
+    computed as RMS, for classifiers - as a percent of missclassified samples (0%-100%).
+     */
+    CV_WRAP virtual float calcError( const Ptr<TrainData>& data, bool test, OutputArray resp ) const;
+
+    /** @brief Predicts response(s) for the provided sample(s)
+
+    @param samples The input samples, floating-point matrix
+    @param results The optional output matrix of results.
+    @param flags The optional flags, model-dependent. See cv::ml::StatModel::Flags.
+     */
+    CV_WRAP virtual float predict( InputArray samples, OutputArray results=noArray(), int flags=0 ) const = 0;
+
+    /** @brief Create and train model with default parameters
+
+    The class must implement static `create()` method with no parameters or with all default parameter values
+    */
+    template<typename _Tp> static Ptr<_Tp> train(const Ptr<TrainData>& data, int flags=0)
+    {
+        Ptr<_Tp> model = _Tp::create();
+        return !model.empty() && model->train(data, flags) ? model : Ptr<_Tp>();
+    }
+};
+
+/****************************************************************************************\
+*                                 Normal Bayes Classifier                                *
+\****************************************************************************************/
+
+/** @brief Bayes classifier for normally distributed data.
+
+@sa @ref ml_intro_bayes
+ */
+class CV_EXPORTS_W NormalBayesClassifier : public StatModel
+{
+public:
+    /** @brief Predicts the response for sample(s).
+
+    The method estimates the most probable classes for input vectors. Input vectors (one or more)
+    are stored as rows of the matrix inputs. In case of multiple input vectors, there should be one
+    output vector outputs. The predicted class for a single input vector is returned by the method.
+    The vector outputProbs contains the output probabilities corresponding to each element of
+    result.
+     */
+    CV_WRAP virtual float predictProb( InputArray inputs, OutputArray outputs,
+                               OutputArray outputProbs, int flags=0 ) const = 0;
+
+    /** Creates empty model
+    Use StatModel::train to train the model after creation. */
+    CV_WRAP static Ptr<NormalBayesClassifier> create();
+};
+
+/****************************************************************************************\
+*                          K-Nearest Neighbour Classifier                                *
+\****************************************************************************************/
+
+/** @brief The class implements K-Nearest Neighbors model
+
+@sa @ref ml_intro_knn
+ */
+class CV_EXPORTS_W KNearest : public StatModel
+{
+public:
+
+    /** Default number of neighbors to use in predict method. */
+    /** @see setDefaultK */
+    CV_WRAP virtual int getDefaultK() const = 0;
+    /** @copybrief getDefaultK @see getDefaultK */
+    CV_WRAP virtual void setDefaultK(int val) = 0;
+
+    /** Whether classification or regression model should be trained. */
+    /** @see setIsClassifier */
+    CV_WRAP virtual bool getIsClassifier() const = 0;
+    /** @copybrief getIsClassifier @see getIsClassifier */
+    CV_WRAP virtual void setIsClassifier(bool val) = 0;
+
+    /** Parameter for KDTree implementation. */
+    /** @see setEmax */
+    CV_WRAP virtual int getEmax() const = 0;
+    /** @copybrief getEmax @see getEmax */
+    CV_WRAP virtual void setEmax(int val) = 0;
+
+    /** %Algorithm type, one of KNearest::Types. */
+    /** @see setAlgorithmType */
+    CV_WRAP virtual int getAlgorithmType() const = 0;
+    /** @copybrief getAlgorithmType @see getAlgorithmType */
+    CV_WRAP virtual void setAlgorithmType(int val) = 0;
+
+    /** @brief Finds the neighbors and predicts responses for input vectors.
+
+    @param samples Input samples stored by rows. It is a single-precision floating-point matrix of
+        `<number_of_samples> * k` size.
+    @param k Number of used nearest neighbors. Should be greater than 1.
+    @param results Vector with results of prediction (regression or classification) for each input
+        sample. It is a single-precision floating-point vector with `<number_of_samples>` elements.
+    @param neighborResponses Optional output values for corresponding neighbors. It is a single-
+        precision floating-point matrix of `<number_of_samples> * k` size.
+    @param dist Optional output distances from the input vectors to the corresponding neighbors. It
+        is a single-precision floating-point matrix of `<number_of_samples> * k` size.
+
+    For each input vector (a row of the matrix samples), the method finds the k nearest neighbors.
+    In case of regression, the predicted result is a mean value of the particular vector's neighbor
+    responses. In case of classification, the class is determined by voting.
+
+    For each input vector, the neighbors are sorted by their distances to the vector.
+
+    In case of C++ interface you can use output pointers to empty matrices and the function will
+    allocate memory itself.
+
+    If only a single input vector is passed, all output matrices are optional and the predicted
+    value is returned by the method.
+
+    The function is parallelized with the TBB library.
+     */
+    CV_WRAP virtual float findNearest( InputArray samples, int k,
+                               OutputArray results,
+                               OutputArray neighborResponses=noArray(),
+                               OutputArray dist=noArray() ) const = 0;
+
+    /** @brief Implementations of KNearest algorithm
+       */
+    enum Types
+    {
+        BRUTE_FORCE=1,
+        KDTREE=2
+    };
+
+    /** @brief Creates the empty model
+
+    The static method creates empty %KNearest classifier. It should be then trained using StatModel::train method.
+     */
+    CV_WRAP static Ptr<KNearest> create();
+};
+
+/****************************************************************************************\
+*                                   Support Vector Machines                              *
+\****************************************************************************************/
+
+/** @brief Support Vector Machines.
+
+@sa @ref ml_intro_svm
+ */
+class CV_EXPORTS_W SVM : public StatModel
+{
+public:
+
+    class CV_EXPORTS Kernel : public Algorithm
+    {
+    public:
+        virtual int getType() const = 0;
+        virtual void calc( int vcount, int n, const float* vecs, const float* another, float* results ) = 0;
+    };
+
+    /** Type of a %SVM formulation.
+    See SVM::Types. Default value is SVM::C_SVC. */
+    /** @see setType */
+    CV_WRAP virtual int getType() const = 0;
+    /** @copybrief getType @see getType */
+    CV_WRAP virtual void setType(int val) = 0;
+
+    /** Parameter \f$\gamma\f$ of a kernel function.
+    For SVM::POLY, SVM::RBF, SVM::SIGMOID or SVM::CHI2. Default value is 1. */
+    /** @see setGamma */
+    CV_WRAP virtual double getGamma() const = 0;
+    /** @copybrief getGamma @see getGamma */
+    CV_WRAP virtual void setGamma(double val) = 0;
+
+    /** Parameter _coef0_ of a kernel function.
+    For SVM::POLY or SVM::SIGMOID. Default value is 0.*/
+    /** @see setCoef0 */
+    CV_WRAP virtual double getCoef0() const = 0;
+    /** @copybrief getCoef0 @see getCoef0 */
+    CV_WRAP virtual void setCoef0(double val) = 0;
+
+    /** Parameter _degree_ of a kernel function.
+    For SVM::POLY. Default value is 0. */
+    /** @see setDegree */
+    CV_WRAP virtual double getDegree() const = 0;
+    /** @copybrief getDegree @see getDegree */
+    CV_WRAP virtual void setDegree(double val) = 0;
+
+    /** Parameter _C_ of a %SVM optimization problem.
+    For SVM::C_SVC, SVM::EPS_SVR or SVM::NU_SVR. Default value is 0. */
+    /** @see setC */
+    CV_WRAP virtual double getC() const = 0;
+    /** @copybrief getC @see getC */
+    CV_WRAP virtual void setC(double val) = 0;
+
+    /** Parameter \f$\nu\f$ of a %SVM optimization problem.
+    For SVM::NU_SVC, SVM::ONE_CLASS or SVM::NU_SVR. Default value is 0. */
+    /** @see setNu */
+    CV_WRAP virtual double getNu() const = 0;
+    /** @copybrief getNu @see getNu */
+    CV_WRAP virtual void setNu(double val) = 0;
+
+    /** Parameter \f$\epsilon\f$ of a %SVM optimization problem.
+    For SVM::EPS_SVR. Default value is 0. */
+    /** @see setP */
+    CV_WRAP virtual double getP() const = 0;
+    /** @copybrief getP @see getP */
+    CV_WRAP virtual void setP(double val) = 0;
+
+    /** Optional weights in the SVM::C_SVC problem, assigned to particular classes.
+    They are multiplied by _C_ so the parameter _C_ of class _i_ becomes `classWeights(i) * C`. Thus
+    these weights affect the misclassification penalty for different classes. The larger weight,
+    the larger penalty on misclassification of data from the corresponding class. Default value is
+    empty Mat. */
+    /** @see setClassWeights */
+    CV_WRAP virtual cv::Mat getClassWeights() const = 0;
+    /** @copybrief getClassWeights @see getClassWeights */
+    CV_WRAP virtual void setClassWeights(const cv::Mat &val) = 0;
+
+    /** Termination criteria of the iterative %SVM training procedure which solves a partial
+    case of constrained quadratic optimization problem.
+    You can specify tolerance and/or the maximum number of iterations. Default value is
+    `TermCriteria( TermCriteria::MAX_ITER + TermCriteria::EPS, 1000, FLT_EPSILON )`; */
+    /** @see setTermCriteria */
+    CV_WRAP virtual cv::TermCriteria getTermCriteria() const = 0;
+    /** @copybrief getTermCriteria @see getTermCriteria */
+    CV_WRAP virtual void setTermCriteria(const cv::TermCriteria &val) = 0;
+
+    /** Type of a %SVM kernel.
+    See SVM::KernelTypes. Default value is SVM::RBF. */
+    CV_WRAP virtual int getKernelType() const = 0;
+
+    /** Initialize with one of predefined kernels.
+    See SVM::KernelTypes. */
+    CV_WRAP virtual void setKernel(int kernelType) = 0;
+
+    /** Initialize with custom kernel.
+    See SVM::Kernel class for implementation details */
+    virtual void setCustomKernel(const Ptr<Kernel> &_kernel) = 0;
+
+    //! %SVM type
+    enum Types {
+        /** C-Support Vector Classification. n-class classification (n \f$\geq\f$ 2), allows
+        imperfect separation of classes with penalty multiplier C for outliers. */
+        C_SVC=100,
+        /** \f$\nu\f$-Support Vector Classification. n-class classification with possible
+        imperfect separation. Parameter \f$\nu\f$ (in the range 0..1, the larger the value, the smoother
+        the decision boundary) is used instead of C. */
+        NU_SVC=101,
+        /** Distribution Estimation (One-class %SVM). All the training data are from
+        the same class, %SVM builds a boundary that separates the class from the rest of the feature
+        space. */
+        ONE_CLASS=102,
+        /** \f$\epsilon\f$-Support Vector Regression. The distance between feature vectors
+        from the training set and the fitting hyper-plane must be less than p. For outliers the
+        penalty multiplier C is used. */
+        EPS_SVR=103,
+        /** \f$\nu\f$-Support Vector Regression. \f$\nu\f$ is used instead of p.
+        See @cite LibSVM for details. */
+        NU_SVR=104
+    };
+
+    /** @brief %SVM kernel type
+
+    A comparison of different kernels on the following 2D test case with four classes. Four
+    SVM::C_SVC SVMs have been trained (one against rest) with auto_train. Evaluation on three
+    different kernels (SVM::CHI2, SVM::INTER, SVM::RBF). The color depicts the class with max score.
+    Bright means max-score \> 0, dark means max-score \< 0.
+    ![image](pics/SVM_Comparison.png)
+    */
+    enum KernelTypes {
+        /** Returned by SVM::getKernelType in case when custom kernel has been set */
+        CUSTOM=-1,
+        /** Linear kernel. No mapping is done, linear discrimination (or regression) is
+        done in the original feature space. It is the fastest option. \f$K(x_i, x_j) = x_i^T x_j\f$. */
+        LINEAR=0,
+        /** Polynomial kernel:
+        \f$K(x_i, x_j) = (\gamma x_i^T x_j + coef0)^{degree}, \gamma > 0\f$. */
+        POLY=1,
+        /** Radial basis function (RBF), a good choice in most cases.
+        \f$K(x_i, x_j) = e^{-\gamma ||x_i - x_j||^2}, \gamma > 0\f$. */
+        RBF=2,
+        /** Sigmoid kernel: \f$K(x_i, x_j) = \tanh(\gamma x_i^T x_j + coef0)\f$. */
+        SIGMOID=3,
+        /** Exponential Chi2 kernel, similar to the RBF kernel:
+        \f$K(x_i, x_j) = e^{-\gamma \chi^2(x_i,x_j)}, \chi^2(x_i,x_j) = (x_i-x_j)^2/(x_i+x_j), \gamma > 0\f$. */
+        CHI2=4,
+        /** Histogram intersection kernel. A fast kernel. \f$K(x_i, x_j) = min(x_i,x_j)\f$. */
+        INTER=5
+    };
+
+    //! %SVM params type
+    enum ParamTypes {
+        C=0,
+        GAMMA=1,
+        P=2,
+        NU=3,
+        COEF=4,
+        DEGREE=5
+    };
+
+    /** @brief Trains an %SVM with optimal parameters.
+
+    @param data the training data that can be constructed using TrainData::create or
+        TrainData::loadFromCSV.
+    @param kFold Cross-validation parameter. The training set is divided into kFold subsets. One
+        subset is used to test the model, the others form the train set. So, the %SVM algorithm is
+        executed kFold times.
+    @param Cgrid grid for C
+    @param gammaGrid grid for gamma
+    @param pGrid grid for p
+    @param nuGrid grid for nu
+    @param coeffGrid grid for coeff
+    @param degreeGrid grid for degree
+    @param balanced If true and the problem is 2-class classification then the method creates more
+        balanced cross-validation subsets that is proportions between classes in subsets are close
+        to such proportion in the whole train dataset.
+
+    The method trains the %SVM model automatically by choosing the optimal parameters C, gamma, p,
+    nu, coef0, degree. Parameters are considered optimal when the cross-validation
+    estimate of the test set error is minimal.
+
+    If there is no need to optimize a parameter, the corresponding grid step should be set to any
+    value less than or equal to 1. For example, to avoid optimization in gamma, set `gammaGrid.step
+    = 0`, `gammaGrid.minVal`, `gamma_grid.maxVal` as arbitrary numbers. In this case, the value
+    `Gamma` is taken for gamma.
+
+    And, finally, if the optimization in a parameter is required but the corresponding grid is
+    unknown, you may call the function SVM::getDefaultGrid. To generate a grid, for example, for
+    gamma, call `SVM::getDefaultGrid(SVM::GAMMA)`.
+
+    This function works for the classification (SVM::C_SVC or SVM::NU_SVC) as well as for the
+    regression (SVM::EPS_SVR or SVM::NU_SVR). If it is SVM::ONE_CLASS, no optimization is made and
+    the usual %SVM with parameters specified in params is executed.
+     */
+    virtual bool trainAuto( const Ptr<TrainData>& data, int kFold = 10,
+                    ParamGrid Cgrid = SVM::getDefaultGrid(SVM::C),
+                    ParamGrid gammaGrid  = SVM::getDefaultGrid(SVM::GAMMA),
+                    ParamGrid pGrid      = SVM::getDefaultGrid(SVM::P),
+                    ParamGrid nuGrid     = SVM::getDefaultGrid(SVM::NU),
+                    ParamGrid coeffGrid  = SVM::getDefaultGrid(SVM::COEF),
+                    ParamGrid degreeGrid = SVM::getDefaultGrid(SVM::DEGREE),
+                    bool balanced=false) = 0;
+
+    /** @brief Retrieves all the support vectors
+
+    The method returns all the support vector as floating-point matrix, where support vectors are
+    stored as matrix rows.
+     */
+    CV_WRAP virtual Mat getSupportVectors() const = 0;
+
+    /** @brief Retrieves the decision function
+
+    @param i the index of the decision function. If the problem solved is regression, 1-class or
+        2-class classification, then there will be just one decision function and the index should
+        always be 0. Otherwise, in the case of N-class classification, there will be \f$N(N-1)/2\f$
+        decision functions.
+    @param alpha the optional output vector for weights, corresponding to different support vectors.
+        In the case of linear %SVM all the alpha's will be 1's.
+    @param svidx the optional output vector of indices of support vectors within the matrix of
+        support vectors (which can be retrieved by SVM::getSupportVectors). In the case of linear
+        %SVM each decision function consists of a single "compressed" support vector.
+
+    The method returns rho parameter of the decision function, a scalar subtracted from the weighted
+    sum of kernel responses.
+     */
+    CV_WRAP virtual double getDecisionFunction(int i, OutputArray alpha, OutputArray svidx) const = 0;
+
+    /** @brief Generates a grid for %SVM parameters.
+
+    @param param_id %SVM parameters IDs that must be one of the SVM::ParamTypes. The grid is
+    generated for the parameter with this ID.
+
+    The function generates a grid for the specified parameter of the %SVM algorithm. The grid may be
+    passed to the function SVM::trainAuto.
+     */
+    static ParamGrid getDefaultGrid( int param_id );
+
+    /** Creates empty model.
+    Use StatModel::train to train the model. Since %SVM has several parameters, you may want to
+    find the best parameters for your problem, it can be done with SVM::trainAuto. */
+    CV_WRAP static Ptr<SVM> create();
+};
+
+/****************************************************************************************\
+*                              Expectation - Maximization                                *
+\****************************************************************************************/
+
+/** @brief The class implements the Expectation Maximization algorithm.
+
+@sa @ref ml_intro_em
+ */
+class CV_EXPORTS_W EM : public StatModel
+{
+public:
+    //! Type of covariation matrices
+    enum Types {
+        /** A scaled identity matrix \f$\mu_k * I\f$. There is the only
+        parameter \f$\mu_k\f$ to be estimated for each matrix. The option may be used in special cases,
+        when the constraint is relevant, or as a first step in the optimization (for example in case
+        when the data is preprocessed with PCA). The results of such preliminary estimation may be
+        passed again to the optimization procedure, this time with
+        covMatType=EM::COV_MAT_DIAGONAL. */
+        COV_MAT_SPHERICAL=0,
+        /** A diagonal matrix with positive diagonal elements. The number of
+        free parameters is d for each matrix. This is most commonly used option yielding good
+        estimation results. */
+        COV_MAT_DIAGONAL=1,
+        /** A symmetric positively defined matrix. The number of free
+        parameters in each matrix is about \f$d^2/2\f$. It is not recommended to use this option, unless
+        there is pretty accurate initial estimation of the parameters and/or a huge number of
+        training samples. */
+        COV_MAT_GENERIC=2,
+        COV_MAT_DEFAULT=COV_MAT_DIAGONAL
+    };
+
+    //! Default parameters
+    enum {DEFAULT_NCLUSTERS=5, DEFAULT_MAX_ITERS=100};
+
+    //! The initial step
+    enum {START_E_STEP=1, START_M_STEP=2, START_AUTO_STEP=0};
+
+    /** The number of mixture components in the Gaussian mixture model.
+    Default value of the parameter is EM::DEFAULT_NCLUSTERS=5. Some of %EM implementation could
+    determine the optimal number of mixtures within a specified value range, but that is not the
+    case in ML yet. */
+    /** @see setClustersNumber */
+    CV_WRAP virtual int getClustersNumber() const = 0;
+    /** @copybrief getClustersNumber @see getClustersNumber */
+    CV_WRAP virtual void setClustersNumber(int val) = 0;
+
+    /** Constraint on covariance matrices which defines type of matrices.
+    See EM::Types. */
+    /** @see setCovarianceMatrixType */
+    CV_WRAP virtual int getCovarianceMatrixType() const = 0;
+    /** @copybrief getCovarianceMatrixType @see getCovarianceMatrixType */
+    CV_WRAP virtual void setCovarianceMatrixType(int val) = 0;
+
+    /** The termination criteria of the %EM algorithm.
+    The %EM algorithm can be terminated by the number of iterations termCrit.maxCount (number of
+    M-steps) or when relative change of likelihood logarithm is less than termCrit.epsilon. Default
+    maximum number of iterations is EM::DEFAULT_MAX_ITERS=100. */
+    /** @see setTermCriteria */
+    CV_WRAP virtual TermCriteria getTermCriteria() const = 0;
+    /** @copybrief getTermCriteria @see getTermCriteria */
+    CV_WRAP virtual void setTermCriteria(const TermCriteria &val) = 0;
+
+    /** @brief Returns weights of the mixtures
+
+    Returns vector with the number of elements equal to the number of mixtures.
+     */
+    CV_WRAP virtual Mat getWeights() const = 0;
+    /** @brief Returns the cluster centers (means of the Gaussian mixture)
+
+    Returns matrix with the number of rows equal to the number of mixtures and number of columns
+    equal to the space dimensionality.
+     */
+    CV_WRAP virtual Mat getMeans() const = 0;
+    /** @brief Returns covariation matrices
+
+    Returns vector of covariation matrices. Number of matrices is the number of gaussian mixtures,
+    each matrix is a square floating-point matrix NxN, where N is the space dimensionality.
+     */
+    virtual void getCovs(std::vector<Mat>& covs) const = 0;
+
+    /** @brief Returns a likelihood logarithm value and an index of the most probable mixture component
+    for the given sample.
+
+    @param sample A sample for classification. It should be a one-channel matrix of
+        \f$1 \times dims\f$ or \f$dims \times 1\f$ size.
+    @param probs Optional output matrix that contains posterior probabilities of each component
+        given the sample. It has \f$1 \times nclusters\f$ size and CV_64FC1 type.
+
+    The method returns a two-element double vector. Zero element is a likelihood logarithm value for
+    the sample. First element is an index of the most probable mixture component for the given
+    sample.
+     */
+    CV_WRAP CV_WRAP virtual Vec2d predict2(InputArray sample, OutputArray probs) const = 0;
+
+    /** @brief Estimate the Gaussian mixture parameters from a samples set.
+
+    This variation starts with Expectation step. Initial values of the model parameters will be
+    estimated by the k-means algorithm.
+
+    Unlike many of the ML models, %EM is an unsupervised learning algorithm and it does not take
+    responses (class labels or function values) as input. Instead, it computes the *Maximum
+    Likelihood Estimate* of the Gaussian mixture parameters from an input sample set, stores all the
+    parameters inside the structure: \f$p_{i,k}\f$ in probs, \f$a_k\f$ in means , \f$S_k\f$ in
+    covs[k], \f$\pi_k\f$ in weights , and optionally computes the output "class label" for each
+    sample: \f$\texttt{labels}_i=\texttt{arg max}_k(p_{i,k}), i=1..N\f$ (indices of the most
+    probable mixture component for each sample).
+
+    The trained model can be used further for prediction, just like any other classifier. The
+    trained model is similar to the NormalBayesClassifier.
+
+    @param samples Samples from which the Gaussian mixture model will be estimated. It should be a
+        one-channel matrix, each row of which is a sample. If the matrix does not have CV_64F type
+        it will be converted to the inner matrix of such type for the further computing.
+    @param logLikelihoods The optional output matrix that contains a likelihood logarithm value for
+        each sample. It has \f$nsamples \times 1\f$ size and CV_64FC1 type.
+    @param labels The optional output "class label" for each sample:
+        \f$\texttt{labels}_i=\texttt{arg max}_k(p_{i,k}), i=1..N\f$ (indices of the most probable
+        mixture component for each sample). It has \f$nsamples \times 1\f$ size and CV_32SC1 type.
+    @param probs The optional output matrix that contains posterior probabilities of each Gaussian
+        mixture component given the each sample. It has \f$nsamples \times nclusters\f$ size and
+        CV_64FC1 type.
+     */
+    CV_WRAP virtual bool trainEM(InputArray samples,
+                         OutputArray logLikelihoods=noArray(),
+                         OutputArray labels=noArray(),
+                         OutputArray probs=noArray()) = 0;
+
+    /** @brief Estimate the Gaussian mixture parameters from a samples set.
+
+    This variation starts with Expectation step. You need to provide initial means \f$a_k\f$ of
+    mixture components. Optionally you can pass initial weights \f$\pi_k\f$ and covariance matrices
+    \f$S_k\f$ of mixture components.
+
+    @param samples Samples from which the Gaussian mixture model will be estimated. It should be a
+        one-channel matrix, each row of which is a sample. If the matrix does not have CV_64F type
+        it will be converted to the inner matrix of such type for the further computing.
+    @param means0 Initial means \f$a_k\f$ of mixture components. It is a one-channel matrix of
+        \f$nclusters \times dims\f$ size. If the matrix does not have CV_64F type it will be
+        converted to the inner matrix of such type for the further computing.
+    @param covs0 The vector of initial covariance matrices \f$S_k\f$ of mixture components. Each of
+        covariance matrices is a one-channel matrix of \f$dims \times dims\f$ size. If the matrices
+        do not have CV_64F type they will be converted to the inner matrices of such type for the
+        further computing.
+    @param weights0 Initial weights \f$\pi_k\f$ of mixture components. It should be a one-channel
+        floating-point matrix with \f$1 \times nclusters\f$ or \f$nclusters \times 1\f$ size.
+    @param logLikelihoods The optional output matrix that contains a likelihood logarithm value for
+        each sample. It has \f$nsamples \times 1\f$ size and CV_64FC1 type.
+    @param labels The optional output "class label" for each sample:
+        \f$\texttt{labels}_i=\texttt{arg max}_k(p_{i,k}), i=1..N\f$ (indices of the most probable
+        mixture component for each sample). It has \f$nsamples \times 1\f$ size and CV_32SC1 type.
+    @param probs The optional output matrix that contains posterior probabilities of each Gaussian
+        mixture component given the each sample. It has \f$nsamples \times nclusters\f$ size and
+        CV_64FC1 type.
+    */
+    CV_WRAP virtual bool trainE(InputArray samples, InputArray means0,
+                        InputArray covs0=noArray(),
+                        InputArray weights0=noArray(),
+                        OutputArray logLikelihoods=noArray(),
+                        OutputArray labels=noArray(),
+                        OutputArray probs=noArray()) = 0;
+
+    /** @brief Estimate the Gaussian mixture parameters from a samples set.
+
+    This variation starts with Maximization step. You need to provide initial probabilities
+    \f$p_{i,k}\f$ to use this option.
+
+    @param samples Samples from which the Gaussian mixture model will be estimated. It should be a
+        one-channel matrix, each row of which is a sample. If the matrix does not have CV_64F type
+        it will be converted to the inner matrix of such type for the further computing.
+    @param probs0
+    @param logLikelihoods The optional output matrix that contains a likelihood logarithm value for
+        each sample. It has \f$nsamples \times 1\f$ size and CV_64FC1 type.
+    @param labels The optional output "class label" for each sample:
+        \f$\texttt{labels}_i=\texttt{arg max}_k(p_{i,k}), i=1..N\f$ (indices of the most probable
+        mixture component for each sample). It has \f$nsamples \times 1\f$ size and CV_32SC1 type.
+    @param probs The optional output matrix that contains posterior probabilities of each Gaussian
+        mixture component given the each sample. It has \f$nsamples \times nclusters\f$ size and
+        CV_64FC1 type.
+    */
+    CV_WRAP virtual bool trainM(InputArray samples, InputArray probs0,
+                        OutputArray logLikelihoods=noArray(),
+                        OutputArray labels=noArray(),
+                        OutputArray probs=noArray()) = 0;
+
+    /** Creates empty %EM model.
+    The model should be trained then using StatModel::train(traindata, flags) method. Alternatively, you
+    can use one of the EM::train\* methods or load it from file using Algorithm::load\<EM\>(filename).
+     */
+    CV_WRAP static Ptr<EM> create();
+};
+
+/****************************************************************************************\
+*                                      Decision Tree                                     *
+\****************************************************************************************/
+
+/** @brief The class represents a single decision tree or a collection of decision trees.
+
+The current public interface of the class allows user to train only a single decision tree, however
+the class is capable of storing multiple decision trees and using them for prediction (by summing
+responses or using a voting schemes), and the derived from DTrees classes (such as RTrees and Boost)
+use this capability to implement decision tree ensembles.
+
+@sa @ref ml_intro_trees
+*/
+class CV_EXPORTS_W DTrees : public StatModel
+{
+public:
+    /** Predict options */
+    enum Flags { PREDICT_AUTO=0, PREDICT_SUM=(1<<8), PREDICT_MAX_VOTE=(2<<8), PREDICT_MASK=(3<<8) };
+
+    /** Cluster possible values of a categorical variable into K\<=maxCategories clusters to
+    find a suboptimal split.
+    If a discrete variable, on which the training procedure tries to make a split, takes more than
+    maxCategories values, the precise best subset estimation may take a very long time because the
+    algorithm is exponential. Instead, many decision trees engines (including our implementation)
+    try to find sub-optimal split in this case by clustering all the samples into maxCategories
+    clusters that is some categories are merged together. The clustering is applied only in n \>
+    2-class classification problems for categorical variables with N \> max_categories possible
+    values. In case of regression and 2-class classification the optimal split can be found
+    efficiently without employing clustering, thus the parameter is not used in these cases.
+    Default value is 10.*/
+    /** @see setMaxCategories */
+    CV_WRAP virtual int getMaxCategories() const = 0;
+    /** @copybrief getMaxCategories @see getMaxCategories */
+    CV_WRAP virtual void setMaxCategories(int val) = 0;
+
+    /** The maximum possible depth of the tree.
+    That is the training algorithms attempts to split a node while its depth is less than maxDepth.
+    The root node has zero depth. The actual depth may be smaller if the other termination criteria
+    are met (see the outline of the training procedure @ref ml_intro_trees "here"), and/or if the
+    tree is pruned. Default value is INT_MAX.*/
+    /** @see setMaxDepth */
+    CV_WRAP virtual int getMaxDepth() const = 0;
+    /** @copybrief getMaxDepth @see getMaxDepth */
+    CV_WRAP virtual void setMaxDepth(int val) = 0;
+
+    /** If the number of samples in a node is less than this parameter then the node will not be split.
+
+    Default value is 10.*/
+    /** @see setMinSampleCount */
+    CV_WRAP virtual int getMinSampleCount() const = 0;
+    /** @copybrief getMinSampleCount @see getMinSampleCount */
+    CV_WRAP virtual void setMinSampleCount(int val) = 0;
+
+    /** If CVFolds \> 1 then algorithms prunes the built decision tree using K-fold
+    cross-validation procedure where K is equal to CVFolds.
+    Default value is 10.*/
+    /** @see setCVFolds */
+    CV_WRAP virtual int getCVFolds() const = 0;
+    /** @copybrief getCVFolds @see getCVFolds */
+    CV_WRAP virtual void setCVFolds(int val) = 0;
+
+    /** If true then surrogate splits will be built.
+    These splits allow to work with missing data and compute variable importance correctly.
+    Default value is false.
+    @note currently it's not implemented.*/
+    /** @see setUseSurrogates */
+    CV_WRAP virtual bool getUseSurrogates() const = 0;
+    /** @copybrief getUseSurrogates @see getUseSurrogates */
+    CV_WRAP virtual void setUseSurrogates(bool val) = 0;
+
+    /** If true then a pruning will be harsher.
+    This will make a tree more compact and more resistant to the training data noise but a bit less
+    accurate. Default value is true.*/
+    /** @see setUse1SERule */
+    CV_WRAP virtual bool getUse1SERule() const = 0;
+    /** @copybrief getUse1SERule @see getUse1SERule */
+    CV_WRAP virtual void setUse1SERule(bool val) = 0;
+
+    /** If true then pruned branches are physically removed from the tree.
+    Otherwise they are retained and it is possible to get results from the original unpruned (or
+    pruned less aggressively) tree. Default value is true.*/
+    /** @see setTruncatePrunedTree */
+    CV_WRAP virtual bool getTruncatePrunedTree() const = 0;
+    /** @copybrief getTruncatePrunedTree @see getTruncatePrunedTree */
+    CV_WRAP virtual void setTruncatePrunedTree(bool val) = 0;
+
+    /** Termination criteria for regression trees.
+    If all absolute differences between an estimated value in a node and values of train samples
+    in this node are less than this parameter then the node will not be split further. Default
+    value is 0.01f*/
+    /** @see setRegressionAccuracy */
+    CV_WRAP virtual float getRegressionAccuracy() const = 0;
+    /** @copybrief getRegressionAccuracy @see getRegressionAccuracy */
+    CV_WRAP virtual void setRegressionAccuracy(float val) = 0;
+
+    /** @brief The array of a priori class probabilities, sorted by the class label value.
+
+    The parameter can be used to tune the decision tree preferences toward a certain class. For
+    example, if you want to detect some rare anomaly occurrence, the training base will likely
+    contain much more normal cases than anomalies, so a very good classification performance
+    will be achieved just by considering every case as normal. To avoid this, the priors can be
+    specified, where the anomaly probability is artificially increased (up to 0.5 or even
+    greater), so the weight of the misclassified anomalies becomes much bigger, and the tree is
+    adjusted properly.
+
+    You can also think about this parameter as weights of prediction categories which determine
+    relative weights that you give to misclassification. That is, if the weight of the first
+    category is 1 and the weight of the second category is 10, then each mistake in predicting
+    the second category is equivalent to making 10 mistakes in predicting the first category.
+    Default value is empty Mat.*/
+    /** @see setPriors */
+    CV_WRAP virtual cv::Mat getPriors() const = 0;
+    /** @copybrief getPriors @see getPriors */
+    CV_WRAP virtual void setPriors(const cv::Mat &val) = 0;
+
+    /** @brief The class represents a decision tree node.
+     */
+    class CV_EXPORTS Node
+    {
+    public:
+        Node();
+        double value; //!< Value at the node: a class label in case of classification or estimated
+                      //!< function value in case of regression.
+        int classIdx; //!< Class index normalized to 0..class_count-1 range and assigned to the
+                      //!< node. It is used internally in classification trees and tree ensembles.
+        int parent; //!< Index of the parent node
+        int left; //!< Index of the left child node
+        int right; //!< Index of right child node
+        int defaultDir; //!< Default direction where to go (-1: left or +1: right). It helps in the
+                        //!< case of missing values.
+        int split; //!< Index of the first split
+    };
+
+    /** @brief The class represents split in a decision tree.
+     */
+    class CV_EXPORTS Split
+    {
+    public:
+        Split();
+        int varIdx; //!< Index of variable on which the split is created.
+        bool inversed; //!< If true, then the inverse split rule is used (i.e. left and right
+                       //!< branches are exchanged in the rule expressions below).
+        float quality; //!< The split quality, a positive number. It is used to choose the best split.
+        int next; //!< Index of the next split in the list of splits for the node
+        float c; /**< The threshold value in case of split on an ordered variable.
+                      The rule is:
+                      @code{.none}
+                      if var_value < c
+                        then next_node <- left
+                        else next_node <- right
+                      @endcode */
+        int subsetOfs; /**< Offset of the bitset used by the split on a categorical variable.
+                            The rule is:
+                            @code{.none}
+                            if bitset[var_value] == 1
+                                then next_node <- left
+                                else next_node <- right
+                            @endcode */
+    };
+
+    /** @brief Returns indices of root nodes
+    */
+    virtual const std::vector<int>& getRoots() const = 0;
+    /** @brief Returns all the nodes
+
+    all the node indices are indices in the returned vector
+     */
+    virtual const std::vector<Node>& getNodes() const = 0;
+    /** @brief Returns all the splits
+
+    all the split indices are indices in the returned vector
+     */
+    virtual const std::vector<Split>& getSplits() const = 0;
+    /** @brief Returns all the bitsets for categorical splits
+
+    Split::subsetOfs is an offset in the returned vector
+     */
+    virtual const std::vector<int>& getSubsets() const = 0;
+
+    /** @brief Creates the empty model
+
+    The static method creates empty decision tree with the specified parameters. It should be then
+    trained using train method (see StatModel::train). Alternatively, you can load the model from
+    file using Algorithm::load\<DTrees\>(filename).
+     */
+    CV_WRAP static Ptr<DTrees> create();
+};
+
+/****************************************************************************************\
+*                                   Random Trees Classifier                              *
+\****************************************************************************************/
+
+/** @brief The class implements the random forest predictor.
+
+@sa @ref ml_intro_rtrees
+ */
+class CV_EXPORTS_W RTrees : public DTrees
+{
+public:
+
+    /** If true then variable importance will be calculated and then it can be retrieved by RTrees::getVarImportance.
+    Default value is false.*/
+    /** @see setCalculateVarImportance */
+    CV_WRAP virtual bool getCalculateVarImportance() const = 0;
+    /** @copybrief getCalculateVarImportance @see getCalculateVarImportance */
+    CV_WRAP virtual void setCalculateVarImportance(bool val) = 0;
+
+    /** The size of the randomly selected subset of features at each tree node and that are used
+    to find the best split(s).
+    If you set it to 0 then the size will be set to the square root of the total number of
+    features. Default value is 0.*/
+    /** @see setActiveVarCount */
+    CV_WRAP virtual int getActiveVarCount() const = 0;
+    /** @copybrief getActiveVarCount @see getActiveVarCount */
+    CV_WRAP virtual void setActiveVarCount(int val) = 0;
+
+    /** The termination criteria that specifies when the training algorithm stops.
+    Either when the specified number of trees is trained and added to the ensemble or when
+    sufficient accuracy (measured as OOB error) is achieved. Typically the more trees you have the
+    better the accuracy. However, the improvement in accuracy generally diminishes and asymptotes
+    pass a certain number of trees. Also to keep in mind, the number of tree increases the
+    prediction time linearly. Default value is TermCriteria(TermCriteria::MAX_ITERS +
+    TermCriteria::EPS, 50, 0.1)*/
+    /** @see setTermCriteria */
+    CV_WRAP virtual TermCriteria getTermCriteria() const = 0;
+    /** @copybrief getTermCriteria @see getTermCriteria */
+    CV_WRAP virtual void setTermCriteria(const TermCriteria &val) = 0;
+
+    /** Returns the variable importance array.
+    The method returns the variable importance vector, computed at the training stage when
+    CalculateVarImportance is set to true. If this flag was set to false, the empty matrix is
+    returned.
+     */
+    CV_WRAP virtual Mat getVarImportance() const = 0;
+
+    /** Creates the empty model.
+    Use StatModel::train to train the model, StatModel::train to create and train the model,
+    Algorithm::load to load the pre-trained model.
+     */
+    CV_WRAP static Ptr<RTrees> create();
+};
+
+/****************************************************************************************\
+*                                   Boosted tree classifier                              *
+\****************************************************************************************/
+
+/** @brief Boosted tree classifier derived from DTrees
+
+@sa @ref ml_intro_boost
+ */
+class CV_EXPORTS_W Boost : public DTrees
+{
+public:
+    /** Type of the boosting algorithm.
+    See Boost::Types. Default value is Boost::REAL. */
+    /** @see setBoostType */
+    CV_WRAP virtual int getBoostType() const = 0;
+    /** @copybrief getBoostType @see getBoostType */
+    CV_WRAP virtual void setBoostType(int val) = 0;
+
+    /** The number of weak classifiers.
+    Default value is 100. */
+    /** @see setWeakCount */
+    CV_WRAP virtual int getWeakCount() const = 0;
+    /** @copybrief getWeakCount @see getWeakCount */
+    CV_WRAP virtual void setWeakCount(int val) = 0;
+
+    /** A threshold between 0 and 1 used to save computational time.
+    Samples with summary weight \f$\leq 1 - weight_trim_rate\f$ do not participate in the *next*
+    iteration of training. Set this parameter to 0 to turn off this functionality. Default value is 0.95.*/
+    /** @see setWeightTrimRate */
+    CV_WRAP virtual double getWeightTrimRate() const = 0;
+    /** @copybrief getWeightTrimRate @see getWeightTrimRate */
+    CV_WRAP virtual void setWeightTrimRate(double val) = 0;
+
+    /** Boosting type.
+    Gentle AdaBoost and Real AdaBoost are often the preferable choices. */
+    enum Types {
+        DISCRETE=0, //!< Discrete AdaBoost.
+        REAL=1, //!< Real AdaBoost. It is a technique that utilizes confidence-rated predictions
+                //!< and works well with categorical data.
+        LOGIT=2, //!< LogitBoost. It can produce good regression fits.
+        GENTLE=3 //!< Gentle AdaBoost. It puts less weight on outlier data points and for that
+                 //!<reason is often good with regression data.
+    };
+
+    /** Creates the empty model.
+    Use StatModel::train to train the model, Algorithm::load\<Boost\>(filename) to load the pre-trained model. */
+    CV_WRAP static Ptr<Boost> create();
+};
+
+/****************************************************************************************\
+*                                   Gradient Boosted Trees                               *
+\****************************************************************************************/
+
+/*class CV_EXPORTS_W GBTrees : public DTrees
+{
+public:
+    struct CV_EXPORTS_W_MAP Params : public DTrees::Params
+    {
+        CV_PROP_RW int weakCount;
+        CV_PROP_RW int lossFunctionType;
+        CV_PROP_RW float subsamplePortion;
+        CV_PROP_RW float shrinkage;
+
+        Params();
+        Params( int lossFunctionType, int weakCount, float shrinkage,
+                float subsamplePortion, int maxDepth, bool useSurrogates );
+    };
+
+    enum {SQUARED_LOSS=0, ABSOLUTE_LOSS, HUBER_LOSS=3, DEVIANCE_LOSS};
+
+    virtual void setK(int k) = 0;
+
+    virtual float predictSerial( InputArray samples,
+                                 OutputArray weakResponses, int flags) const = 0;
+
+    static Ptr<GBTrees> create(const Params& p);
+};*/
+
+/****************************************************************************************\
+*                              Artificial Neural Networks (ANN)                          *
+\****************************************************************************************/
+
+/////////////////////////////////// Multi-Layer Perceptrons //////////////////////////////
+
+/** @brief Artificial Neural Networks - Multi-Layer Perceptrons.
+
+Unlike many other models in ML that are constructed and trained at once, in the MLP model these
+steps are separated. First, a network with the specified topology is created using the non-default
+constructor or the method ANN_MLP::create. All the weights are set to zeros. Then, the network is
+trained using a set of input and output vectors. The training procedure can be repeated more than
+once, that is, the weights can be adjusted based on the new training data.
+
+Additional flags for StatModel::train are available: ANN_MLP::TrainFlags.
+
+@sa @ref ml_intro_ann
+ */
+class CV_EXPORTS_W ANN_MLP : public StatModel
+{
+public:
+    /** Available training methods */
+    enum TrainingMethods {
+        BACKPROP=0, //!< The back-propagation algorithm.
+        RPROP=1 //!< The RPROP algorithm. See @cite RPROP93 for details.
+    };
+
+    /** Sets training method and common parameters.
+    @param method Default value is ANN_MLP::RPROP. See ANN_MLP::TrainingMethods.
+    @param param1 passed to setRpropDW0 for ANN_MLP::RPROP and to setBackpropWeightScale for ANN_MLP::BACKPROP
+    @param param2 passed to setRpropDWMin for ANN_MLP::RPROP and to setBackpropMomentumScale for ANN_MLP::BACKPROP.
+    */
+    CV_WRAP virtual void setTrainMethod(int method, double param1 = 0, double param2 = 0) = 0;
+
+    /** Returns current training method */
+    CV_WRAP virtual int getTrainMethod() const = 0;
+
+    /** Initialize the activation function for each neuron.
+    Currently the default and the only fully supported activation function is ANN_MLP::SIGMOID_SYM.
+    @param type The type of activation function. See ANN_MLP::ActivationFunctions.
+    @param param1 The first parameter of the activation function, \f$\alpha\f$. Default value is 0.
+    @param param2 The second parameter of the activation function, \f$\beta\f$. Default value is 0.
+    */
+    CV_WRAP virtual void setActivationFunction(int type, double param1 = 0, double param2 = 0) = 0;
+
+    /**  Integer vector specifying the number of neurons in each layer including the input and output layers.
+    The very first element specifies the number of elements in the input layer.
+    The last element - number of elements in the output layer. Default value is empty Mat.
+    @sa getLayerSizes */
+    CV_WRAP virtual void setLayerSizes(InputArray _layer_sizes) = 0;
+
+    /**  Integer vector specifying the number of neurons in each layer including the input and output layers.
+    The very first element specifies the number of elements in the input layer.
+    The last element - number of elements in the output layer.
+    @sa setLayerSizes */
+    CV_WRAP virtual cv::Mat getLayerSizes() const = 0;
+
+    /** Termination criteria of the training algorithm.
+    You can specify the maximum number of iterations (maxCount) and/or how much the error could
+    change between the iterations to make the algorithm continue (epsilon). Default value is
+    TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 1000, 0.01).*/
+    /** @see setTermCriteria */
+    CV_WRAP virtual TermCriteria getTermCriteria() const = 0;
+    /** @copybrief getTermCriteria @see getTermCriteria */
+    CV_WRAP virtual void setTermCriteria(TermCriteria val) = 0;
+
+    /** BPROP: Strength of the weight gradient term.
+    The recommended value is about 0.1. Default value is 0.1.*/
+    /** @see setBackpropWeightScale */
+    CV_WRAP virtual double getBackpropWeightScale() const = 0;
+    /** @copybrief getBackpropWeightScale @see getBackpropWeightScale */
+    CV_WRAP virtual void setBackpropWeightScale(double val) = 0;
+
+    /** BPROP: Strength of the momentum term (the difference between weights on the 2 previous iterations).
+    This parameter provides some inertia to smooth the random fluctuations of the weights. It can
+    vary from 0 (the feature is disabled) to 1 and beyond. The value 0.1 or so is good enough.
+    Default value is 0.1.*/
+    /** @see setBackpropMomentumScale */
+    CV_WRAP virtual double getBackpropMomentumScale() const = 0;
+    /** @copybrief getBackpropMomentumScale @see getBackpropMomentumScale */
+    CV_WRAP virtual void setBackpropMomentumScale(double val) = 0;
+
+    /** RPROP: Initial value \f$\Delta_0\f$ of update-values \f$\Delta_{ij}\f$.
+    Default value is 0.1.*/
+    /** @see setRpropDW0 */
+    CV_WRAP virtual double getRpropDW0() const = 0;
+    /** @copybrief getRpropDW0 @see getRpropDW0 */
+    CV_WRAP virtual void setRpropDW0(double val) = 0;
+
+    /** RPROP: Increase factor \f$\eta^+\f$.
+    It must be \>1. Default value is 1.2.*/
+    /** @see setRpropDWPlus */
+    CV_WRAP virtual double getRpropDWPlus() const = 0;
+    /** @copybrief getRpropDWPlus @see getRpropDWPlus */
+    CV_WRAP virtual void setRpropDWPlus(double val) = 0;
+
+    /** RPROP: Decrease factor \f$\eta^-\f$.
+    It must be \<1. Default value is 0.5.*/
+    /** @see setRpropDWMinus */
+    CV_WRAP virtual double getRpropDWMinus() const = 0;
+    /** @copybrief getRpropDWMinus @see getRpropDWMinus */
+    CV_WRAP virtual void setRpropDWMinus(double val) = 0;
+
+    /** RPROP: Update-values lower limit \f$\Delta_{min}\f$.
+    It must be positive. Default value is FLT_EPSILON.*/
+    /** @see setRpropDWMin */
+    CV_WRAP virtual double getRpropDWMin() const = 0;
+    /** @copybrief getRpropDWMin @see getRpropDWMin */
+    CV_WRAP virtual void setRpropDWMin(double val) = 0;
+
+    /** RPROP: Update-values upper limit \f$\Delta_{max}\f$.
+    It must be \>1. Default value is 50.*/
+    /** @see setRpropDWMax */
+    CV_WRAP virtual double getRpropDWMax() const = 0;
+    /** @copybrief getRpropDWMax @see getRpropDWMax */
+    CV_WRAP virtual void setRpropDWMax(double val) = 0;
+
+    /** possible activation functions */
+    enum ActivationFunctions {
+        /** Identity function: \f$f(x)=x\f$ */
+        IDENTITY = 0,
+        /** Symmetrical sigmoid: \f$f(x)=\beta*(1-e^{-\alpha x})/(1+e^{-\alpha x}\f$
+        @note
+        If you are using the default sigmoid activation function with the default parameter values
+        fparam1=0 and fparam2=0 then the function used is y = 1.7159\*tanh(2/3 \* x), so the output
+        will range from [-1.7159, 1.7159], instead of [0,1].*/
+        SIGMOID_SYM = 1,
+        /** Gaussian function: \f$f(x)=\beta e^{-\alpha x*x}\f$ */
+        GAUSSIAN = 2
+    };
+
+    /** Train options */
+    enum TrainFlags {
+        /** Update the network weights, rather than compute them from scratch. In the latter case
+        the weights are initialized using the Nguyen-Widrow algorithm. */
+        UPDATE_WEIGHTS = 1,
+        /** Do not normalize the input vectors. If this flag is not set, the training algorithm
+        normalizes each input feature independently, shifting its mean value to 0 and making the
+        standard deviation equal to 1. If the network is assumed to be updated frequently, the new
+        training data could be much different from original one. In this case, you should take care
+        of proper normalization. */
+        NO_INPUT_SCALE = 2,
+        /** Do not normalize the output vectors. If the flag is not set, the training algorithm
+        normalizes each output feature independently, by transforming it to the certain range
+        depending on the used activation function. */
+        NO_OUTPUT_SCALE = 4
+    };
+
+    CV_WRAP virtual Mat getWeights(int layerIdx) const = 0;
+
+    /** @brief Creates empty model
+
+    Use StatModel::train to train the model, Algorithm::load\<ANN_MLP\>(filename) to load the pre-trained model.
+    Note that the train method has optional flags: ANN_MLP::TrainFlags.
+     */
+    CV_WRAP static Ptr<ANN_MLP> create();
+};
+
+/****************************************************************************************\
+*                           Logistic Regression                                          *
+\****************************************************************************************/
+
+/** @brief Implements Logistic Regression classifier.
+
+@sa @ref ml_intro_lr
+ */
+class CV_EXPORTS_W LogisticRegression : public StatModel
+{
+public:
+
+    /** Learning rate. */
+    /** @see setLearningRate */
+    CV_WRAP virtual double getLearningRate() const = 0;
+    /** @copybrief getLearningRate @see getLearningRate */
+    CV_WRAP virtual void setLearningRate(double val) = 0;
+
+    /** Number of iterations. */
+    /** @see setIterations */
+    CV_WRAP virtual int getIterations() const = 0;
+    /** @copybrief getIterations @see getIterations */
+    CV_WRAP virtual void setIterations(int val) = 0;
+
+    /** Kind of regularization to be applied. See LogisticRegression::RegKinds. */
+    /** @see setRegularization */
+    CV_WRAP virtual int getRegularization() const = 0;
+    /** @copybrief getRegularization @see getRegularization */
+    CV_WRAP virtual void setRegularization(int val) = 0;
+
+    /** Kind of training method used. See LogisticRegression::Methods. */
+    /** @see setTrainMethod */
+    CV_WRAP virtual int getTrainMethod() const = 0;
+    /** @copybrief getTrainMethod @see getTrainMethod */
+    CV_WRAP virtual void setTrainMethod(int val) = 0;
+
+    /** Specifies the number of training samples taken in each step of Mini-Batch Gradient
+    Descent. Will only be used if using LogisticRegression::MINI_BATCH training algorithm. It
+    has to take values less than the total number of training samples. */
+    /** @see setMiniBatchSize */
+    CV_WRAP virtual int getMiniBatchSize() const = 0;
+    /** @copybrief getMiniBatchSize @see getMiniBatchSize */
+    CV_WRAP virtual void setMiniBatchSize(int val) = 0;
+
+    /** Termination criteria of the algorithm. */
+    /** @see setTermCriteria */
+    CV_WRAP virtual TermCriteria getTermCriteria() const = 0;
+    /** @copybrief getTermCriteria @see getTermCriteria */
+    CV_WRAP virtual void setTermCriteria(TermCriteria val) = 0;
+
+    //! Regularization kinds
+    enum RegKinds {
+        REG_DISABLE = -1, //!< Regularization disabled
+        REG_L1 = 0, //!< %L1 norm
+        REG_L2 = 1 //!< %L2 norm
+    };
+
+    //! Training methods
+    enum Methods {
+        BATCH = 0,
+        MINI_BATCH = 1 //!< Set MiniBatchSize to a positive integer when using this method.
+    };
+
+    /** @brief Predicts responses for input samples and returns a float type.
+
+    @param samples The input data for the prediction algorithm. Matrix [m x n], where each row
+        contains variables (features) of one object being classified. Should have data type CV_32F.
+    @param results Predicted labels as a column matrix of type CV_32S.
+    @param flags Not used.
+     */
+    CV_WRAP virtual float predict( InputArray samples, OutputArray results=noArray(), int flags=0 ) const = 0;
+
+    /** @brief This function returns the trained paramters arranged across rows.
+
+    For a two class classifcation problem, it returns a row matrix. It returns learnt paramters of
+    the Logistic Regression as a matrix of type CV_32F.
+     */
+    CV_WRAP virtual Mat get_learnt_thetas() const = 0;
+
+    /** @brief Creates empty model.
+
+    Creates Logistic Regression model with parameters given.
+     */
+    CV_WRAP static Ptr<LogisticRegression> create();
+};
+
+/****************************************************************************************\
+*                           Auxilary functions declarations                              *
+\****************************************************************************************/
+
+/** @brief Generates _sample_ from multivariate normal distribution
+
+@param mean an average row vector
+@param cov symmetric covariation matrix
+@param nsamples returned samples count
+@param samples returned samples array
+*/
+CV_EXPORTS void randMVNormal( InputArray mean, InputArray cov, int nsamples, OutputArray samples);
+
+/** @brief Generates sample from gaussian mixture distribution */
+CV_EXPORTS void randGaussMixture( InputArray means, InputArray covs, InputArray weights,
+                                  int nsamples, OutputArray samples, OutputArray sampClasses );
+
+/** @brief Creates test set */
+CV_EXPORTS void createConcentricSpheresTestSet( int nsamples, int nfeatures, int nclasses,
+                                                OutputArray samples, OutputArray responses);
+
+//! @} ml
+
+}
+}
+
+#endif // __cplusplus
+#endif // __OPENCV_ML_HPP__
+
+/* End of file. */
diff --git a/3rdparty/include/opencv2/ml/ml.hpp b/3rdparty/include/opencv2/ml/ml.hpp
new file mode 100644
index 0000000..f6f9cd8
--- /dev/null
+++ b/3rdparty/include/opencv2/ml/ml.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/ml.hpp"
diff --git a/3rdparty/include/opencv2/objdetect.hpp b/3rdparty/include/opencv2/objdetect.hpp
new file mode 100644
index 0000000..bd932e6
--- /dev/null
+++ b/3rdparty/include/opencv2/objdetect.hpp
@@ -0,0 +1,466 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OBJDETECT_HPP__
+#define __OPENCV_OBJDETECT_HPP__
+
+#include "opencv2/core.hpp"
+
+/**
+@defgroup objdetect Object Detection
+
+Haar Feature-based Cascade Classifier for Object Detection
+----------------------------------------------------------
+
+The object detector described below has been initially proposed by Paul Viola @cite Viola01 and
+improved by Rainer Lienhart @cite Lienhart02 .
+
+First, a classifier (namely a *cascade of boosted classifiers working with haar-like features*) is
+trained with a few hundred sample views of a particular object (i.e., a face or a car), called
+positive examples, that are scaled to the same size (say, 20x20), and negative examples - arbitrary
+images of the same size.
+
+After a classifier is trained, it can be applied to a region of interest (of the same size as used
+during the training) in an input image. The classifier outputs a "1" if the region is likely to show
+the object (i.e., face/car), and "0" otherwise. To search for the object in the whole image one can
+move the search window across the image and check every location using the classifier. The
+classifier is designed so that it can be easily "resized" in order to be able to find the objects of
+interest at different sizes, which is more efficient than resizing the image itself. So, to find an
+object of an unknown size in the image the scan procedure should be done several times at different
+scales.
+
+The word "cascade" in the classifier name means that the resultant classifier consists of several
+simpler classifiers (*stages*) that are applied subsequently to a region of interest until at some
+stage the candidate is rejected or all the stages are passed. The word "boosted" means that the
+classifiers at every stage of the cascade are complex themselves and they are built out of basic
+classifiers using one of four different boosting techniques (weighted voting). Currently Discrete
+Adaboost, Real Adaboost, Gentle Adaboost and Logitboost are supported. The basic classifiers are
+decision-tree classifiers with at least 2 leaves. Haar-like features are the input to the basic
+classifiers, and are calculated as described below. The current algorithm uses the following
+Haar-like features:
+
+![image](pics/haarfeatures.png)
+
+The feature used in a particular classifier is specified by its shape (1a, 2b etc.), position within
+the region of interest and the scale (this scale is not the same as the scale used at the detection
+stage, though these two scales are multiplied). For example, in the case of the third line feature
+(2c) the response is calculated as the difference between the sum of image pixels under the
+rectangle covering the whole feature (including the two white stripes and the black stripe in the
+middle) and the sum of the image pixels under the black stripe multiplied by 3 in order to
+compensate for the differences in the size of areas. The sums of pixel values over a rectangular
+regions are calculated rapidly using integral images (see below and the integral description).
+
+To see the object detector at work, have a look at the facedetect demo:
+<https://github.com/Itseez/opencv/tree/master/samples/cpp/dbt_face_detection.cpp>
+
+The following reference is for the detection part only. There is a separate application called
+opencv_traincascade that can train a cascade of boosted classifiers from a set of samples.
+
+@note In the new C++ interface it is also possible to use LBP (local binary pattern) features in
+addition to Haar-like features. .. [Viola01] Paul Viola and Michael J. Jones. Rapid Object Detection
+using a Boosted Cascade of Simple Features. IEEE CVPR, 2001. The paper is available online at
+<http://research.microsoft.com/en-us/um/people/viola/Pubs/Detect/violaJones_CVPR2001.pdf>
+
+@{
+    @defgroup objdetect_c C API
+@}
+ */
+
+typedef struct CvHaarClassifierCascade CvHaarClassifierCascade;
+
+namespace cv
+{
+
+//! @addtogroup objdetect
+//! @{
+
+///////////////////////////// Object Detection ////////////////////////////
+
+//! class for grouping object candidates, detected by Cascade Classifier, HOG etc.
+//! instance of the class is to be passed to cv::partition (see cxoperations.hpp)
+class CV_EXPORTS SimilarRects
+{
+public:
+    SimilarRects(double _eps) : eps(_eps) {}
+    inline bool operator()(const Rect& r1, const Rect& r2) const
+    {
+        double delta = eps*(std::min(r1.width, r2.width) + std::min(r1.height, r2.height))*0.5;
+        return std::abs(r1.x - r2.x) <= delta &&
+            std::abs(r1.y - r2.y) <= delta &&
+            std::abs(r1.x + r1.width - r2.x - r2.width) <= delta &&
+            std::abs(r1.y + r1.height - r2.y - r2.height) <= delta;
+    }
+    double eps;
+};
+
+/** @brief Groups the object candidate rectangles.
+
+@param rectList Input/output vector of rectangles. Output vector includes retained and grouped
+rectangles. (The Python list is not modified in place.)
+@param groupThreshold Minimum possible number of rectangles minus 1. The threshold is used in a
+group of rectangles to retain it.
+@param eps Relative difference between sides of the rectangles to merge them into a group.
+
+The function is a wrapper for the generic function partition . It clusters all the input rectangles
+using the rectangle equivalence criteria that combines rectangles with similar sizes and similar
+locations. The similarity is defined by eps. When eps=0 , no clustering is done at all. If
+\f$\texttt{eps}\rightarrow +\inf\f$ , all the rectangles are put in one cluster. Then, the small
+clusters containing less than or equal to groupThreshold rectangles are rejected. In each other
+cluster, the average rectangle is computed and put into the output rectangle list.
+ */
+CV_EXPORTS   void groupRectangles(std::vector<Rect>& rectList, int groupThreshold, double eps = 0.2);
+/** @overload */
+CV_EXPORTS_W void groupRectangles(CV_IN_OUT std::vector<Rect>& rectList, CV_OUT std::vector<int>& weights,
+                                  int groupThreshold, double eps = 0.2);
+/** @overload */
+CV_EXPORTS   void groupRectangles(std::vector<Rect>& rectList, int groupThreshold,
+                                  double eps, std::vector<int>* weights, std::vector<double>* levelWeights );
+/** @overload */
+CV_EXPORTS   void groupRectangles(std::vector<Rect>& rectList, std::vector<int>& rejectLevels,
+                                  std::vector<double>& levelWeights, int groupThreshold, double eps = 0.2);
+/** @overload */
+CV_EXPORTS   void groupRectangles_meanshift(std::vector<Rect>& rectList, std::vector<double>& foundWeights,
+                                            std::vector<double>& foundScales,
+                                            double detectThreshold = 0.0, Size winDetSize = Size(64, 128));
+
+template<> CV_EXPORTS void DefaultDeleter<CvHaarClassifierCascade>::operator ()(CvHaarClassifierCascade* obj) const;
+
+enum { CASCADE_DO_CANNY_PRUNING    = 1,
+       CASCADE_SCALE_IMAGE         = 2,
+       CASCADE_FIND_BIGGEST_OBJECT = 4,
+       CASCADE_DO_ROUGH_SEARCH     = 8
+     };
+
+class CV_EXPORTS_W BaseCascadeClassifier : public Algorithm
+{
+public:
+    virtual ~BaseCascadeClassifier();
+    virtual bool empty() const = 0;
+    virtual bool load( const String& filename ) = 0;
+    virtual void detectMultiScale( InputArray image,
+                           CV_OUT std::vector<Rect>& objects,
+                           double scaleFactor,
+                           int minNeighbors, int flags,
+                           Size minSize, Size maxSize ) = 0;
+
+    virtual void detectMultiScale( InputArray image,
+                           CV_OUT std::vector<Rect>& objects,
+                           CV_OUT std::vector<int>& numDetections,
+                           double scaleFactor,
+                           int minNeighbors, int flags,
+                           Size minSize, Size maxSize ) = 0;
+
+    virtual void detectMultiScale( InputArray image,
+                                   CV_OUT std::vector<Rect>& objects,
+                                   CV_OUT std::vector<int>& rejectLevels,
+                                   CV_OUT std::vector<double>& levelWeights,
+                                   double scaleFactor,
+                                   int minNeighbors, int flags,
+                                   Size minSize, Size maxSize,
+                                   bool outputRejectLevels ) = 0;
+
+    virtual bool isOldFormatCascade() const = 0;
+    virtual Size getOriginalWindowSize() const = 0;
+    virtual int getFeatureType() const = 0;
+    virtual void* getOldCascade() = 0;
+
+    class CV_EXPORTS MaskGenerator
+    {
+    public:
+        virtual ~MaskGenerator() {}
+        virtual Mat generateMask(const Mat& src)=0;
+        virtual void initializeMask(const Mat& /*src*/) { }
+    };
+    virtual void setMaskGenerator(const Ptr<MaskGenerator>& maskGenerator) = 0;
+    virtual Ptr<MaskGenerator> getMaskGenerator() = 0;
+};
+
+/** @brief Cascade classifier class for object detection.
+ */
+class CV_EXPORTS_W CascadeClassifier
+{
+public:
+    CV_WRAP CascadeClassifier();
+    /** @brief Loads a classifier from a file.
+
+    @param filename Name of the file from which the classifier is loaded.
+     */
+    CV_WRAP CascadeClassifier(const String& filename);
+    ~CascadeClassifier();
+    /** @brief Checks whether the classifier has been loaded.
+    */
+    CV_WRAP bool empty() const;
+    /** @brief Loads a classifier from a file.
+
+    @param filename Name of the file from which the classifier is loaded. The file may contain an old
+    HAAR classifier trained by the haartraining application or a new cascade classifier trained by the
+    traincascade application.
+     */
+    CV_WRAP bool load( const String& filename );
+    /** @brief Reads a classifier from a FileStorage node.
+
+    @note The file may contain a new cascade classifier (trained traincascade application) only.
+     */
+    CV_WRAP bool read( const FileNode& node );
+
+    /** @brief Detects objects of different sizes in the input image. The detected objects are returned as a list
+    of rectangles.
+
+    @param image Matrix of the type CV_8U containing an image where objects are detected.
+    @param objects Vector of rectangles where each rectangle contains the detected object, the
+    rectangles may be partially outside the original image.
+    @param scaleFactor Parameter specifying how much the image size is reduced at each image scale.
+    @param minNeighbors Parameter specifying how many neighbors each candidate rectangle should have
+    to retain it.
+    @param flags Parameter with the same meaning for an old cascade as in the function
+    cvHaarDetectObjects. It is not used for a new cascade.
+    @param minSize Minimum possible object size. Objects smaller than that are ignored.
+    @param maxSize Maximum possible object size. Objects larger than that are ignored.
+
+    The function is parallelized with the TBB library.
+
+    @note
+       -   (Python) A face detection example using cascade classifiers can be found at
+            opencv_source_code/samples/python2/facedetect.py
+    */
+    CV_WRAP void detectMultiScale( InputArray image,
+                          CV_OUT std::vector<Rect>& objects,
+                          double scaleFactor = 1.1,
+                          int minNeighbors = 3, int flags = 0,
+                          Size minSize = Size(),
+                          Size maxSize = Size() );
+
+    /** @overload
+    @param image Matrix of the type CV_8U containing an image where objects are detected.
+    @param objects Vector of rectangles where each rectangle contains the detected object, the
+    rectangles may be partially outside the original image.
+    @param numDetections Vector of detection numbers for the corresponding objects. An object's number
+    of detections is the number of neighboring positively classified rectangles that were joined
+    together to form the object.
+    @param scaleFactor Parameter specifying how much the image size is reduced at each image scale.
+    @param minNeighbors Parameter specifying how many neighbors each candidate rectangle should have
+    to retain it.
+    @param flags Parameter with the same meaning for an old cascade as in the function
+    cvHaarDetectObjects. It is not used for a new cascade.
+    @param minSize Minimum possible object size. Objects smaller than that are ignored.
+    @param maxSize Maximum possible object size. Objects larger than that are ignored.
+    */
+    CV_WRAP_AS(detectMultiScale2) void detectMultiScale( InputArray image,
+                          CV_OUT std::vector<Rect>& objects,
+                          CV_OUT std::vector<int>& numDetections,
+                          double scaleFactor=1.1,
+                          int minNeighbors=3, int flags=0,
+                          Size minSize=Size(),
+                          Size maxSize=Size() );
+
+    /** @overload
+    if `outputRejectLevels` is `true` returns `rejectLevels` and `levelWeights`
+    */
+    CV_WRAP_AS(detectMultiScale3) void detectMultiScale( InputArray image,
+                                  CV_OUT std::vector<Rect>& objects,
+                                  CV_OUT std::vector<int>& rejectLevels,
+                                  CV_OUT std::vector<double>& levelWeights,
+                                  double scaleFactor = 1.1,
+                                  int minNeighbors = 3, int flags = 0,
+                                  Size minSize = Size(),
+                                  Size maxSize = Size(),
+                                  bool outputRejectLevels = false );
+
+    CV_WRAP bool isOldFormatCascade() const;
+    CV_WRAP Size getOriginalWindowSize() const;
+    CV_WRAP int getFeatureType() const;
+    void* getOldCascade();
+
+    CV_WRAP static bool convert(const String& oldcascade, const String& newcascade);
+
+    void setMaskGenerator(const Ptr<BaseCascadeClassifier::MaskGenerator>& maskGenerator);
+    Ptr<BaseCascadeClassifier::MaskGenerator> getMaskGenerator();
+
+    Ptr<BaseCascadeClassifier> cc;
+};
+
+CV_EXPORTS Ptr<BaseCascadeClassifier::MaskGenerator> createFaceDetectionMaskGenerator();
+
+//////////////// HOG (Histogram-of-Oriented-Gradients) Descriptor and Object Detector //////////////
+
+//! struct for detection region of interest (ROI)
+struct DetectionROI
+{
+   //! scale(size) of the bounding box
+   double scale;
+   //! set of requrested locations to be evaluated
+   std::vector<cv::Point> locations;
+   //! vector that will contain confidence values for each location
+   std::vector<double> confidences;
+};
+
+struct CV_EXPORTS_W HOGDescriptor
+{
+public:
+    enum { L2Hys = 0
+         };
+    enum { DEFAULT_NLEVELS = 64
+         };
+
+    CV_WRAP HOGDescriptor() : winSize(64,128), blockSize(16,16), blockStride(8,8),
+        cellSize(8,8), nbins(9), derivAperture(1), winSigma(-1),
+        histogramNormType(HOGDescriptor::L2Hys), L2HysThreshold(0.2), gammaCorrection(true),
+        free_coef(-1.f), nlevels(HOGDescriptor::DEFAULT_NLEVELS), signedGradient(false)
+    {}
+
+    CV_WRAP HOGDescriptor(Size _winSize, Size _blockSize, Size _blockStride,
+                  Size _cellSize, int _nbins, int _derivAperture=1, double _winSigma=-1,
+                  int _histogramNormType=HOGDescriptor::L2Hys,
+                  double _L2HysThreshold=0.2, bool _gammaCorrection=false,
+                  int _nlevels=HOGDescriptor::DEFAULT_NLEVELS, bool _signedGradient=false)
+    : winSize(_winSize), blockSize(_blockSize), blockStride(_blockStride), cellSize(_cellSize),
+    nbins(_nbins), derivAperture(_derivAperture), winSigma(_winSigma),
+    histogramNormType(_histogramNormType), L2HysThreshold(_L2HysThreshold),
+    gammaCorrection(_gammaCorrection), free_coef(-1.f), nlevels(_nlevels), signedGradient(_signedGradient)
+    {}
+
+    CV_WRAP HOGDescriptor(const String& filename)
+    {
+        load(filename);
+    }
+
+    HOGDescriptor(const HOGDescriptor& d)
+    {
+        d.copyTo(*this);
+    }
+
+    virtual ~HOGDescriptor() {}
+
+    CV_WRAP size_t getDescriptorSize() const;
+    CV_WRAP bool checkDetectorSize() const;
+    CV_WRAP double getWinSigma() const;
+
+    CV_WRAP virtual void setSVMDetector(InputArray _svmdetector);
+
+    virtual bool read(FileNode& fn);
+    virtual void write(FileStorage& fs, const String& objname) const;
+
+    CV_WRAP virtual bool load(const String& filename, const String& objname = String());
+    CV_WRAP virtual void save(const String& filename, const String& objname = String()) const;
+    virtual void copyTo(HOGDescriptor& c) const;
+
+    CV_WRAP virtual void compute(InputArray img,
+                         CV_OUT std::vector<float>& descriptors,
+                         Size winStride = Size(), Size padding = Size(),
+                         const std::vector<Point>& locations = std::vector<Point>()) const;
+
+    //! with found weights output
+    CV_WRAP virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations,
+                        CV_OUT std::vector<double>& weights,
+                        double hitThreshold = 0, Size winStride = Size(),
+                        Size padding = Size(),
+                        const std::vector<Point>& searchLocations = std::vector<Point>()) const;
+    //! without found weights output
+    virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations,
+                        double hitThreshold = 0, Size winStride = Size(),
+                        Size padding = Size(),
+                        const std::vector<Point>& searchLocations=std::vector<Point>()) const;
+
+    //! with result weights output
+    CV_WRAP virtual void detectMultiScale(InputArray img, CV_OUT std::vector<Rect>& foundLocations,
+                                  CV_OUT std::vector<double>& foundWeights, double hitThreshold = 0,
+                                  Size winStride = Size(), Size padding = Size(), double scale = 1.05,
+                                  double finalThreshold = 2.0,bool useMeanshiftGrouping = false) const;
+    //! without found weights output
+    virtual void detectMultiScale(InputArray img, CV_OUT std::vector<Rect>& foundLocations,
+                                  double hitThreshold = 0, Size winStride = Size(),
+                                  Size padding = Size(), double scale = 1.05,
+                                  double finalThreshold = 2.0, bool useMeanshiftGrouping = false) const;
+
+    CV_WRAP virtual void computeGradient(const Mat& img, CV_OUT Mat& grad, CV_OUT Mat& angleOfs,
+                                 Size paddingTL = Size(), Size paddingBR = Size()) const;
+
+    CV_WRAP static std::vector<float> getDefaultPeopleDetector();
+    CV_WRAP static std::vector<float> getDaimlerPeopleDetector();
+
+    CV_PROP Size winSize;
+    CV_PROP Size blockSize;
+    CV_PROP Size blockStride;
+    CV_PROP Size cellSize;
+    CV_PROP int nbins;
+    CV_PROP int derivAperture;
+    CV_PROP double winSigma;
+    CV_PROP int histogramNormType;
+    CV_PROP double L2HysThreshold;
+    CV_PROP bool gammaCorrection;
+    CV_PROP std::vector<float> svmDetector;
+    UMat oclSvmDetector;
+    float free_coef;
+    CV_PROP int nlevels;
+    CV_PROP bool signedGradient;
+
+
+    //! evaluate specified ROI and return confidence value for each location
+    virtual void detectROI(const cv::Mat& img, const std::vector<cv::Point> &locations,
+                                   CV_OUT std::vector<cv::Point>& foundLocations, CV_OUT std::vector<double>& confidences,
+                                   double hitThreshold = 0, cv::Size winStride = Size(),
+                                   cv::Size padding = Size()) const;
+
+    //! evaluate specified ROI and return confidence value for each location in multiple scales
+    virtual void detectMultiScaleROI(const cv::Mat& img,
+                                                       CV_OUT std::vector<cv::Rect>& foundLocations,
+                                                       std::vector<DetectionROI>& locations,
+                                                       double hitThreshold = 0,
+                                                       int groupThreshold = 0) const;
+
+    //! read/parse Dalal's alt model file
+    void readALTModel(String modelfile);
+    void groupRectangles(std::vector<cv::Rect>& rectList, std::vector<double>& weights, int groupThreshold, double eps) const;
+};
+
+//! @} objdetect
+
+}
+
+#include "opencv2/objdetect/detection_based_tracker.hpp"
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/objdetect/objdetect_c.h"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/objdetect/detection_based_tracker.hpp b/3rdparty/include/opencv2/objdetect/detection_based_tracker.hpp
new file mode 100644
index 0000000..54117fd
--- /dev/null
+++ b/3rdparty/include/opencv2/objdetect/detection_based_tracker.hpp
@@ -0,0 +1,224 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OBJDETECT_DBT_HPP__
+#define __OPENCV_OBJDETECT_DBT_HPP__
+
+#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(__ANDROID__) || \
+  (defined(__cplusplus) &&  __cplusplus > 201103L) || (defined(_MSC_VER) && _MSC_VER >= 1700)
+
+#include <vector>
+
+namespace cv
+{
+
+//! @addtogroup objdetect
+//! @{
+
+class CV_EXPORTS DetectionBasedTracker
+{
+    public:
+        struct Parameters
+        {
+            int maxTrackLifetime;
+            int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
+
+            Parameters();
+        };
+
+        class IDetector
+        {
+            public:
+                IDetector():
+                    minObjSize(96, 96),
+                    maxObjSize(INT_MAX, INT_MAX),
+                    minNeighbours(2),
+                    scaleFactor(1.1f)
+                {}
+
+                virtual void detect(const cv::Mat& image, std::vector<cv::Rect>& objects) = 0;
+
+                void setMinObjectSize(const cv::Size& min)
+                {
+                    minObjSize = min;
+                }
+                void setMaxObjectSize(const cv::Size& max)
+                {
+                    maxObjSize = max;
+                }
+                cv::Size getMinObjectSize() const
+                {
+                    return minObjSize;
+                }
+                cv::Size getMaxObjectSize() const
+                {
+                    return maxObjSize;
+                }
+                float getScaleFactor()
+                {
+                    return scaleFactor;
+                }
+                void setScaleFactor(float value)
+                {
+                    scaleFactor = value;
+                }
+                int getMinNeighbours()
+                {
+                    return minNeighbours;
+                }
+                void setMinNeighbours(int value)
+                {
+                    minNeighbours = value;
+                }
+                virtual ~IDetector() {}
+
+            protected:
+                cv::Size minObjSize;
+                cv::Size maxObjSize;
+                int minNeighbours;
+                float scaleFactor;
+        };
+
+        DetectionBasedTracker(cv::Ptr<IDetector> mainDetector, cv::Ptr<IDetector> trackingDetector, const Parameters& params);
+        virtual ~DetectionBasedTracker();
+
+        virtual bool run();
+        virtual void stop();
+        virtual void resetTracking();
+
+        virtual void process(const cv::Mat& imageGray);
+
+        bool setParameters(const Parameters& params);
+        const Parameters& getParameters() const;
+
+
+        typedef std::pair<cv::Rect, int> Object;
+        virtual void getObjects(std::vector<cv::Rect>& result) const;
+        virtual void getObjects(std::vector<Object>& result) const;
+
+        enum ObjectStatus
+        {
+            DETECTED_NOT_SHOWN_YET,
+            DETECTED,
+            DETECTED_TEMPORARY_LOST,
+            WRONG_OBJECT
+        };
+        struct ExtObject
+        {
+            int id;
+            cv::Rect location;
+            ObjectStatus status;
+            ExtObject(int _id, cv::Rect _location, ObjectStatus _status)
+                :id(_id), location(_location), status(_status)
+            {
+            }
+        };
+        virtual void getObjects(std::vector<ExtObject>& result) const;
+
+
+        virtual int addObject(const cv::Rect& location); //returns id of the new object
+
+    protected:
+        class SeparateDetectionWork;
+        cv::Ptr<SeparateDetectionWork> separateDetectionWork;
+        friend void* workcycleObjectDetectorFunction(void* p);
+
+        struct InnerParameters
+        {
+            int numLastPositionsToTrack;
+            int numStepsToWaitBeforeFirstShow;
+            int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
+            int numStepsToShowWithoutDetecting;
+
+            float coeffTrackingWindowSize;
+            float coeffObjectSizeToTrack;
+            float coeffObjectSpeedUsingInPrediction;
+
+            InnerParameters();
+        };
+        Parameters parameters;
+        InnerParameters innerParameters;
+
+        struct TrackedObject
+        {
+            typedef std::vector<cv::Rect> PositionsVector;
+
+            PositionsVector lastPositions;
+
+            int numDetectedFrames;
+            int numFramesNotDetected;
+            int id;
+
+            TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
+            {
+                lastPositions.push_back(rect);
+                id=getNextId();
+            };
+
+            static int getNextId()
+            {
+                static int _id=0;
+                return _id++;
+            }
+        };
+
+        int numTrackedSteps;
+        std::vector<TrackedObject> trackedObjects;
+
+        std::vector<float> weightsPositionsSmoothing;
+        std::vector<float> weightsSizesSmoothing;
+
+        cv::Ptr<IDetector> cascadeForTracking;
+
+        void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
+        cv::Rect calcTrackedObjectPositionToShow(int i) const;
+        cv::Rect calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const;
+        void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
+};
+
+//! @} objdetect
+
+} //end of cv namespace
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/objdetect/objdetect.hpp b/3rdparty/include/opencv2/objdetect/objdetect.hpp
new file mode 100644
index 0000000..3ee284f
--- /dev/null
+++ b/3rdparty/include/opencv2/objdetect/objdetect.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/objdetect.hpp"
diff --git a/3rdparty/include/opencv2/objdetect/objdetect_c.h b/3rdparty/include/opencv2/objdetect/objdetect_c.h
new file mode 100644
index 0000000..632a438
--- /dev/null
+++ b/3rdparty/include/opencv2/objdetect/objdetect_c.h
@@ -0,0 +1,165 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_OBJDETECT_C_H__
+#define __OPENCV_OBJDETECT_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+#include <deque>
+#include <vector>
+
+extern "C" {
+#endif
+
+/** @addtogroup objdetect_c
+  @{
+  */
+
+/****************************************************************************************\
+*                         Haar-like Object Detection functions                           *
+\****************************************************************************************/
+
+#define CV_HAAR_MAGIC_VAL    0x42500000
+#define CV_TYPE_NAME_HAAR    "opencv-haar-classifier"
+
+#define CV_IS_HAAR_CLASSIFIER( haar )                                                    \
+    ((haar) != NULL &&                                                                   \
+    (((const CvHaarClassifierCascade*)(haar))->flags & CV_MAGIC_MASK)==CV_HAAR_MAGIC_VAL)
+
+#define CV_HAAR_FEATURE_MAX  3
+
+typedef struct CvHaarFeature
+{
+    int tilted;
+    struct
+    {
+        CvRect r;
+        float weight;
+    } rect[CV_HAAR_FEATURE_MAX];
+} CvHaarFeature;
+
+typedef struct CvHaarClassifier
+{
+    int count;
+    CvHaarFeature* haar_feature;
+    float* threshold;
+    int* left;
+    int* right;
+    float* alpha;
+} CvHaarClassifier;
+
+typedef struct CvHaarStageClassifier
+{
+    int  count;
+    float threshold;
+    CvHaarClassifier* classifier;
+
+    int next;
+    int child;
+    int parent;
+} CvHaarStageClassifier;
+
+typedef struct CvHidHaarClassifierCascade CvHidHaarClassifierCascade;
+
+typedef struct CvHaarClassifierCascade
+{
+    int  flags;
+    int  count;
+    CvSize orig_window_size;
+    CvSize real_window_size;
+    double scale;
+    CvHaarStageClassifier* stage_classifier;
+    CvHidHaarClassifierCascade* hid_cascade;
+} CvHaarClassifierCascade;
+
+typedef struct CvAvgComp
+{
+    CvRect rect;
+    int neighbors;
+} CvAvgComp;
+
+/* Loads haar classifier cascade from a directory.
+   It is obsolete: convert your cascade to xml and use cvLoad instead */
+CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade(
+                    const char* directory, CvSize orig_window_size);
+
+CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade );
+
+#define CV_HAAR_DO_CANNY_PRUNING    1
+#define CV_HAAR_SCALE_IMAGE         2
+#define CV_HAAR_FIND_BIGGEST_OBJECT 4
+#define CV_HAAR_DO_ROUGH_SEARCH     8
+
+CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image,
+                     CvHaarClassifierCascade* cascade, CvMemStorage* storage,
+                     double scale_factor CV_DEFAULT(1.1),
+                     int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
+                     CvSize min_size CV_DEFAULT(cvSize(0,0)), CvSize max_size CV_DEFAULT(cvSize(0,0)));
+
+/* sets images for haar classifier cascade */
+CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade,
+                                                const CvArr* sum, const CvArr* sqsum,
+                                                const CvArr* tilted_sum, double scale );
+
+/* runs the cascade on the specified window */
+CVAPI(int) cvRunHaarClassifierCascade( const CvHaarClassifierCascade* cascade,
+                                       CvPoint pt, int start_stage CV_DEFAULT(0));
+
+/** @} objdetect_c */
+
+#ifdef __cplusplus
+}
+
+CV_EXPORTS CvSeq* cvHaarDetectObjectsForROC( const CvArr* image,
+                     CvHaarClassifierCascade* cascade, CvMemStorage* storage,
+                     std::vector<int>& rejectLevels, std::vector<double>& levelWeightds,
+                     double scale_factor = 1.1,
+                     int min_neighbors = 3, int flags = 0,
+                     CvSize min_size = cvSize(0, 0), CvSize max_size = cvSize(0, 0),
+                     bool outputRejectLevels = false );
+
+#endif
+
+#endif /* __OPENCV_OBJDETECT_C_H__ */
diff --git a/3rdparty/include/opencv2/opencv.hpp b/3rdparty/include/opencv2/opencv.hpp
new file mode 100644
index 0000000..fd9ca58
--- /dev/null
+++ b/3rdparty/include/opencv2/opencv.hpp
@@ -0,0 +1,58 @@
+/*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) 2009-2010, 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*/
+
+#ifndef __OPENCV_ALL_HPP__
+#define __OPENCV_ALL_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/photo.hpp"
+#include "opencv2/video.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/objdetect.hpp"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/videoio.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/ml.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv2/opencv_modules.hpp b/3rdparty/include/opencv2/opencv_modules.hpp
new file mode 100644
index 0000000..ebca30a
--- /dev/null
+++ b/3rdparty/include/opencv2/opencv_modules.hpp
@@ -0,0 +1,27 @@
+/*
+ *      ** File generated automatically, do not modify **
+ *
+ * This file defines the list of modules available in current build configuration
+ *
+ *
+*/
+
+#define HAVE_OPENCV_CALIB3D
+#define HAVE_OPENCV_CORE
+#define HAVE_OPENCV_FEATURES2D
+#define HAVE_OPENCV_FLANN
+#define HAVE_OPENCV_HAL
+#define HAVE_OPENCV_HIGHGUI
+#define HAVE_OPENCV_IMGCODECS
+#define HAVE_OPENCV_IMGPROC
+#define HAVE_OPENCV_ML
+#define HAVE_OPENCV_OBJDETECT
+#define HAVE_OPENCV_PHOTO
+#define HAVE_OPENCV_SHAPE
+#define HAVE_OPENCV_STITCHING
+#define HAVE_OPENCV_SUPERRES
+#define HAVE_OPENCV_VIDEO
+#define HAVE_OPENCV_VIDEOIO
+#define HAVE_OPENCV_VIDEOSTAB
+
+
diff --git a/3rdparty/include/opencv2/photo.hpp b/3rdparty/include/opencv2/photo.hpp
new file mode 100644
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@@ -0,0 +1,870 @@
+/*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) 2008-2012, 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*/
+
+#ifndef __OPENCV_PHOTO_HPP__
+#define __OPENCV_PHOTO_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+
+/**
+@defgroup photo Computational Photography
+@{
+    @defgroup photo_denoise Denoising
+    @defgroup photo_hdr HDR imaging
+
+This section describes high dynamic range imaging algorithms namely tonemapping, exposure alignment,
+camera calibration with multiple exposures and exposure fusion.
+
+    @defgroup photo_clone Seamless Cloning
+    @defgroup photo_render Non-Photorealistic Rendering
+    @defgroup photo_c C API
+@}
+  */
+
+namespace cv
+{
+
+//! @addtogroup photo
+//! @{
+
+//! the inpainting algorithm
+enum
+{
+    INPAINT_NS    = 0, // Navier-Stokes algorithm
+    INPAINT_TELEA = 1 // A. Telea algorithm
+};
+
+enum
+{
+    NORMAL_CLONE = 1,
+    MIXED_CLONE  = 2,
+    MONOCHROME_TRANSFER = 3
+};
+
+enum
+{
+    RECURS_FILTER = 1,
+    NORMCONV_FILTER = 2
+};
+
+/** @brief Restores the selected region in an image using the region neighborhood.
+
+@param src Input 8-bit 1-channel or 3-channel image.
+@param inpaintMask Inpainting mask, 8-bit 1-channel image. Non-zero pixels indicate the area that
+needs to be inpainted.
+@param dst Output image with the same size and type as src .
+@param inpaintRadius Radius of a circular neighborhood of each point inpainted that is considered
+by the algorithm.
+@param flags Inpainting method that could be one of the following:
+-   **INPAINT_NS** Navier-Stokes based method [Navier01]
+-   **INPAINT_TELEA** Method by Alexandru Telea @cite Telea04 .
+
+The function reconstructs the selected image area from the pixel near the area boundary. The
+function may be used to remove dust and scratches from a scanned photo, or to remove undesirable
+objects from still images or video. See <http://en.wikipedia.org/wiki/Inpainting> for more details.
+
+@note
+   -   An example using the inpainting technique can be found at
+        opencv_source_code/samples/cpp/inpaint.cpp
+    -   (Python) An example using the inpainting technique can be found at
+        opencv_source_code/samples/python2/inpaint.py
+ */
+CV_EXPORTS_W void inpaint( InputArray src, InputArray inpaintMask,
+        OutputArray dst, double inpaintRadius, int flags );
+
+//! @addtogroup photo_denoise
+//! @{
+
+/** @brief Perform image denoising using Non-local Means Denoising algorithm
+<http://www.ipol.im/pub/algo/bcm_non_local_means_denoising/> with several computational
+optimizations. Noise expected to be a gaussian white noise
+
+@param src Input 8-bit 1-channel, 2-channel, 3-channel or 4-channel image.
+@param dst Output image with the same size and type as src .
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Parameter regulating filter strength. Big h value perfectly removes noise but also
+removes image details, smaller h value preserves details but also preserves some noise
+
+This function expected to be applied to grayscale images. For colored images look at
+fastNlMeansDenoisingColored. Advanced usage of this functions can be manual denoising of colored
+image in different colorspaces. Such approach is used in fastNlMeansDenoisingColored by converting
+image to CIELAB colorspace and then separately denoise L and AB components with different h
+parameter.
+ */
+CV_EXPORTS_W void fastNlMeansDenoising( InputArray src, OutputArray dst, float h = 3,
+        int templateWindowSize = 7, int searchWindowSize = 21);
+
+/** @brief Perform image denoising using Non-local Means Denoising algorithm
+<http://www.ipol.im/pub/algo/bcm_non_local_means_denoising/> with several computational
+optimizations. Noise expected to be a gaussian white noise
+
+@param src Input 8-bit or 16-bit (only with NORM_L1) 1-channel,
+2-channel, 3-channel or 4-channel image.
+@param dst Output image with the same size and type as src .
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Array of parameters regulating filter strength, either one
+parameter applied to all channels or one per channel in dst. Big h value
+perfectly removes noise but also removes image details, smaller h
+value preserves details but also preserves some noise
+@param normType Type of norm used for weight calculation. Can be either NORM_L2 or NORM_L1
+
+This function expected to be applied to grayscale images. For colored images look at
+fastNlMeansDenoisingColored. Advanced usage of this functions can be manual denoising of colored
+image in different colorspaces. Such approach is used in fastNlMeansDenoisingColored by converting
+image to CIELAB colorspace and then separately denoise L and AB components with different h
+parameter.
+ */
+CV_EXPORTS_W void fastNlMeansDenoising( InputArray src, OutputArray dst,
+                                        const std::vector<float>& h,
+                                        int templateWindowSize = 7, int searchWindowSize = 21,
+                                        int normType = NORM_L2);
+
+/** @brief Modification of fastNlMeansDenoising function for colored images
+
+@param src Input 8-bit 3-channel image.
+@param dst Output image with the same size and type as src .
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Parameter regulating filter strength for luminance component. Bigger h value perfectly
+removes noise but also removes image details, smaller h value preserves details but also preserves
+some noise
+@param hColor The same as h but for color components. For most images value equals 10
+will be enough to remove colored noise and do not distort colors
+
+The function converts image to CIELAB colorspace and then separately denoise L and AB components
+with given h parameters using fastNlMeansDenoising function.
+ */
+CV_EXPORTS_W void fastNlMeansDenoisingColored( InputArray src, OutputArray dst,
+        float h = 3, float hColor = 3,
+        int templateWindowSize = 7, int searchWindowSize = 21);
+
+/** @brief Modification of fastNlMeansDenoising function for images sequence where consequtive images have been
+captured in small period of time. For example video. This version of the function is for grayscale
+images or for manual manipulation with colorspaces. For more details see
+<http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.131.6394>
+
+@param srcImgs Input 8-bit 1-channel, 2-channel, 3-channel or
+4-channel images sequence. All images should have the same type and
+size.
+@param imgToDenoiseIndex Target image to denoise index in srcImgs sequence
+@param temporalWindowSize Number of surrounding images to use for target image denoising. Should
+be odd. Images from imgToDenoiseIndex - temporalWindowSize / 2 to
+imgToDenoiseIndex - temporalWindowSize / 2 from srcImgs will be used to denoise
+srcImgs[imgToDenoiseIndex] image.
+@param dst Output image with the same size and type as srcImgs images.
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Parameter regulating filter strength. Bigger h value
+perfectly removes noise but also removes image details, smaller h
+value preserves details but also preserves some noise
+ */
+CV_EXPORTS_W void fastNlMeansDenoisingMulti( InputArrayOfArrays srcImgs, OutputArray dst,
+        int imgToDenoiseIndex, int temporalWindowSize,
+        float h = 3, int templateWindowSize = 7, int searchWindowSize = 21);
+
+/** @brief Modification of fastNlMeansDenoising function for images sequence where consequtive images have been
+captured in small period of time. For example video. This version of the function is for grayscale
+images or for manual manipulation with colorspaces. For more details see
+<http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.131.6394>
+
+@param srcImgs Input 8-bit or 16-bit (only with NORM_L1) 1-channel,
+2-channel, 3-channel or 4-channel images sequence. All images should
+have the same type and size.
+@param imgToDenoiseIndex Target image to denoise index in srcImgs sequence
+@param temporalWindowSize Number of surrounding images to use for target image denoising. Should
+be odd. Images from imgToDenoiseIndex - temporalWindowSize / 2 to
+imgToDenoiseIndex - temporalWindowSize / 2 from srcImgs will be used to denoise
+srcImgs[imgToDenoiseIndex] image.
+@param dst Output image with the same size and type as srcImgs images.
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Array of parameters regulating filter strength, either one
+parameter applied to all channels or one per channel in dst. Big h value
+perfectly removes noise but also removes image details, smaller h
+value preserves details but also preserves some noise
+@param normType Type of norm used for weight calculation. Can be either NORM_L2 or NORM_L1
+ */
+CV_EXPORTS_W void fastNlMeansDenoisingMulti( InputArrayOfArrays srcImgs, OutputArray dst,
+                                             int imgToDenoiseIndex, int temporalWindowSize,
+                                             const std::vector<float>& h,
+                                             int templateWindowSize = 7, int searchWindowSize = 21,
+                                             int normType = NORM_L2);
+
+/** @brief Modification of fastNlMeansDenoisingMulti function for colored images sequences
+
+@param srcImgs Input 8-bit 3-channel images sequence. All images should have the same type and
+size.
+@param imgToDenoiseIndex Target image to denoise index in srcImgs sequence
+@param temporalWindowSize Number of surrounding images to use for target image denoising. Should
+be odd. Images from imgToDenoiseIndex - temporalWindowSize / 2 to
+imgToDenoiseIndex - temporalWindowSize / 2 from srcImgs will be used to denoise
+srcImgs[imgToDenoiseIndex] image.
+@param dst Output image with the same size and type as srcImgs images.
+@param templateWindowSize Size in pixels of the template patch that is used to compute weights.
+Should be odd. Recommended value 7 pixels
+@param searchWindowSize Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater searchWindowsSize - greater
+denoising time. Recommended value 21 pixels
+@param h Parameter regulating filter strength for luminance component. Bigger h value perfectly
+removes noise but also removes image details, smaller h value preserves details but also preserves
+some noise.
+@param hColor The same as h but for color components.
+
+The function converts images to CIELAB colorspace and then separately denoise L and AB components
+with given h parameters using fastNlMeansDenoisingMulti function.
+ */
+CV_EXPORTS_W void fastNlMeansDenoisingColoredMulti( InputArrayOfArrays srcImgs, OutputArray dst,
+        int imgToDenoiseIndex, int temporalWindowSize,
+        float h = 3, float hColor = 3,
+        int templateWindowSize = 7, int searchWindowSize = 21);
+
+/** @brief Primal-dual algorithm is an algorithm for solving special types of variational problems (that is,
+finding a function to minimize some functional). As the image denoising, in particular, may be seen
+as the variational problem, primal-dual algorithm then can be used to perform denoising and this is
+exactly what is implemented.
+
+It should be noted, that this implementation was taken from the July 2013 blog entry
+@cite MA13 , which also contained (slightly more general) ready-to-use source code on Python.
+Subsequently, that code was rewritten on C++ with the usage of openCV by Vadim Pisarevsky at the end
+of July 2013 and finally it was slightly adapted by later authors.
+
+Although the thorough discussion and justification of the algorithm involved may be found in
+@cite ChambolleEtAl, it might make sense to skim over it here, following @cite MA13 . To begin
+with, we consider the 1-byte gray-level images as the functions from the rectangular domain of
+pixels (it may be seen as set
+\f$\left\{(x,y)\in\mathbb{N}\times\mathbb{N}\mid 1\leq x\leq n,\;1\leq y\leq m\right\}\f$ for some
+\f$m,\;n\in\mathbb{N}\f$) into \f$\{0,1,\dots,255\}\f$. We shall denote the noised images as \f$f_i\f$ and with
+this view, given some image \f$x\f$ of the same size, we may measure how bad it is by the formula
+
+\f[\left\|\left\|\nabla x\right\|\right\| + \lambda\sum_i\left\|\left\|x-f_i\right\|\right\|\f]
+
+\f$\|\|\cdot\|\|\f$ here denotes \f$L_2\f$-norm and as you see, the first addend states that we want our
+image to be smooth (ideally, having zero gradient, thus being constant) and the second states that
+we want our result to be close to the observations we've got. If we treat \f$x\f$ as a function, this is
+exactly the functional what we seek to minimize and here the Primal-Dual algorithm comes into play.
+
+@param observations This array should contain one or more noised versions of the image that is to
+be restored.
+@param result Here the denoised image will be stored. There is no need to do pre-allocation of
+storage space, as it will be automatically allocated, if necessary.
+@param lambda Corresponds to \f$\lambda\f$ in the formulas above. As it is enlarged, the smooth
+(blurred) images are treated more favorably than detailed (but maybe more noised) ones. Roughly
+speaking, as it becomes smaller, the result will be more blur but more sever outliers will be
+removed.
+@param niters Number of iterations that the algorithm will run. Of course, as more iterations as
+better, but it is hard to quantitatively refine this statement, so just use the default and
+increase it if the results are poor.
+ */
+CV_EXPORTS_W void denoise_TVL1(const std::vector<Mat>& observations,Mat& result, double lambda=1.0, int niters=30);
+
+//! @} photo_denoise
+
+//! @addtogroup photo_hdr
+//! @{
+
+enum { LDR_SIZE = 256 };
+
+/** @brief Base class for tonemapping algorithms - tools that are used to map HDR image to 8-bit range.
+ */
+class CV_EXPORTS_W Tonemap : public Algorithm
+{
+public:
+    /** @brief Tonemaps image
+
+    @param src source image - 32-bit 3-channel Mat
+    @param dst destination image - 32-bit 3-channel Mat with values in [0, 1] range
+     */
+    CV_WRAP virtual void process(InputArray src, OutputArray dst) = 0;
+
+    CV_WRAP virtual float getGamma() const = 0;
+    CV_WRAP virtual void setGamma(float gamma) = 0;
+};
+
+/** @brief Creates simple linear mapper with gamma correction
+
+@param gamma positive value for gamma correction. Gamma value of 1.0 implies no correction, gamma
+equal to 2.2f is suitable for most displays.
+Generally gamma \> 1 brightens the image and gamma \< 1 darkens it.
+ */
+CV_EXPORTS_W Ptr<Tonemap> createTonemap(float gamma = 1.0f);
+
+/** @brief Adaptive logarithmic mapping is a fast global tonemapping algorithm that scales the image in
+logarithmic domain.
+
+Since it's a global operator the same function is applied to all the pixels, it is controlled by the
+bias parameter.
+
+Optional saturation enhancement is possible as described in @cite FL02 .
+
+For more information see @cite DM03 .
+ */
+class CV_EXPORTS_W TonemapDrago : public Tonemap
+{
+public:
+
+    CV_WRAP virtual float getSaturation() const = 0;
+    CV_WRAP virtual void setSaturation(float saturation) = 0;
+
+    CV_WRAP virtual float getBias() const = 0;
+    CV_WRAP virtual void setBias(float bias) = 0;
+};
+
+/** @brief Creates TonemapDrago object
+
+@param gamma gamma value for gamma correction. See createTonemap
+@param saturation positive saturation enhancement value. 1.0 preserves saturation, values greater
+than 1 increase saturation and values less than 1 decrease it.
+@param bias value for bias function in [0, 1] range. Values from 0.7 to 0.9 usually give best
+results, default value is 0.85.
+ */
+CV_EXPORTS_W Ptr<TonemapDrago> createTonemapDrago(float gamma = 1.0f, float saturation = 1.0f, float bias = 0.85f);
+
+/** @brief This algorithm decomposes image into two layers: base layer and detail layer using bilateral filter
+and compresses contrast of the base layer thus preserving all the details.
+
+This implementation uses regular bilateral filter from opencv.
+
+Saturation enhancement is possible as in ocvTonemapDrago.
+
+For more information see @cite DD02 .
+ */
+class CV_EXPORTS_W TonemapDurand : public Tonemap
+{
+public:
+
+    CV_WRAP virtual float getSaturation() const = 0;
+    CV_WRAP virtual void setSaturation(float saturation) = 0;
+
+    CV_WRAP virtual float getContrast() const = 0;
+    CV_WRAP virtual void setContrast(float contrast) = 0;
+
+    CV_WRAP virtual float getSigmaSpace() const = 0;
+    CV_WRAP virtual void setSigmaSpace(float sigma_space) = 0;
+
+    CV_WRAP virtual float getSigmaColor() const = 0;
+    CV_WRAP virtual void setSigmaColor(float sigma_color) = 0;
+};
+
+/** @brief Creates TonemapDurand object
+
+@param gamma gamma value for gamma correction. See createTonemap
+@param contrast resulting contrast on logarithmic scale, i. e. log(max / min), where max and min
+are maximum and minimum luminance values of the resulting image.
+@param saturation saturation enhancement value. See createTonemapDrago
+@param sigma_space bilateral filter sigma in color space
+@param sigma_color bilateral filter sigma in coordinate space
+ */
+CV_EXPORTS_W Ptr<TonemapDurand>
+createTonemapDurand(float gamma = 1.0f, float contrast = 4.0f, float saturation = 1.0f, float sigma_space = 2.0f, float sigma_color = 2.0f);
+
+/** @brief This is a global tonemapping operator that models human visual system.
+
+Mapping function is controlled by adaptation parameter, that is computed using light adaptation and
+color adaptation.
+
+For more information see @cite RD05 .
+ */
+class CV_EXPORTS_W TonemapReinhard : public Tonemap
+{
+public:
+    CV_WRAP virtual float getIntensity() const = 0;
+    CV_WRAP virtual void setIntensity(float intensity) = 0;
+
+    CV_WRAP virtual float getLightAdaptation() const = 0;
+    CV_WRAP virtual void setLightAdaptation(float light_adapt) = 0;
+
+    CV_WRAP virtual float getColorAdaptation() const = 0;
+    CV_WRAP virtual void setColorAdaptation(float color_adapt) = 0;
+};
+
+/** @brief Creates TonemapReinhard object
+
+@param gamma gamma value for gamma correction. See createTonemap
+@param intensity result intensity in [-8, 8] range. Greater intensity produces brighter results.
+@param light_adapt light adaptation in [0, 1] range. If 1 adaptation is based only on pixel
+value, if 0 it's global, otherwise it's a weighted mean of this two cases.
+@param color_adapt chromatic adaptation in [0, 1] range. If 1 channels are treated independently,
+if 0 adaptation level is the same for each channel.
+ */
+CV_EXPORTS_W Ptr<TonemapReinhard>
+createTonemapReinhard(float gamma = 1.0f, float intensity = 0.0f, float light_adapt = 1.0f, float color_adapt = 0.0f);
+
+/** @brief This algorithm transforms image to contrast using gradients on all levels of gaussian pyramid,
+transforms contrast values to HVS response and scales the response. After this the image is
+reconstructed from new contrast values.
+
+For more information see @cite MM06 .
+ */
+class CV_EXPORTS_W TonemapMantiuk : public Tonemap
+{
+public:
+    CV_WRAP virtual float getScale() const = 0;
+    CV_WRAP virtual void setScale(float scale) = 0;
+
+    CV_WRAP virtual float getSaturation() const = 0;
+    CV_WRAP virtual void setSaturation(float saturation) = 0;
+};
+
+/** @brief Creates TonemapMantiuk object
+
+@param gamma gamma value for gamma correction. See createTonemap
+@param scale contrast scale factor. HVS response is multiplied by this parameter, thus compressing
+dynamic range. Values from 0.6 to 0.9 produce best results.
+@param saturation saturation enhancement value. See createTonemapDrago
+ */
+CV_EXPORTS_W Ptr<TonemapMantiuk>
+createTonemapMantiuk(float gamma = 1.0f, float scale = 0.7f, float saturation = 1.0f);
+
+/** @brief The base class for algorithms that align images of the same scene with different exposures
+ */
+class CV_EXPORTS_W AlignExposures : public Algorithm
+{
+public:
+    /** @brief Aligns images
+
+    @param src vector of input images
+    @param dst vector of aligned images
+    @param times vector of exposure time values for each image
+    @param response 256x1 matrix with inverse camera response function for each pixel value, it should
+    have the same number of channels as images.
+     */
+    CV_WRAP virtual void process(InputArrayOfArrays src, std::vector<Mat>& dst,
+                                 InputArray times, InputArray response) = 0;
+};
+
+/** @brief This algorithm converts images to median threshold bitmaps (1 for pixels brighter than median
+luminance and 0 otherwise) and than aligns the resulting bitmaps using bit operations.
+
+It is invariant to exposure, so exposure values and camera response are not necessary.
+
+In this implementation new image regions are filled with zeros.
+
+For more information see @cite GW03 .
+ */
+class CV_EXPORTS_W AlignMTB : public AlignExposures
+{
+public:
+    CV_WRAP virtual void process(InputArrayOfArrays src, std::vector<Mat>& dst,
+                                 InputArray times, InputArray response) = 0;
+
+    /** @brief Short version of process, that doesn't take extra arguments.
+
+    @param src vector of input images
+    @param dst vector of aligned images
+     */
+    CV_WRAP virtual void process(InputArrayOfArrays src, std::vector<Mat>& dst) = 0;
+
+    /** @brief Calculates shift between two images, i. e. how to shift the second image to correspond it with the
+    first.
+
+    @param img0 first image
+    @param img1 second image
+     */
+    CV_WRAP virtual Point calculateShift(InputArray img0, InputArray img1) = 0;
+    /** @brief Helper function, that shift Mat filling new regions with zeros.
+
+    @param src input image
+    @param dst result image
+    @param shift shift value
+     */
+    CV_WRAP virtual void shiftMat(InputArray src, OutputArray dst, const Point shift) = 0;
+    /** @brief Computes median threshold and exclude bitmaps of given image.
+
+    @param img input image
+    @param tb median threshold bitmap
+    @param eb exclude bitmap
+     */
+    CV_WRAP virtual void computeBitmaps(InputArray img, OutputArray tb, OutputArray eb) = 0;
+
+    CV_WRAP virtual int getMaxBits() const = 0;
+    CV_WRAP virtual void setMaxBits(int max_bits) = 0;
+
+    CV_WRAP virtual int getExcludeRange() const = 0;
+    CV_WRAP virtual void setExcludeRange(int exclude_range) = 0;
+
+    CV_WRAP virtual bool getCut() const = 0;
+    CV_WRAP virtual void setCut(bool value) = 0;
+};
+
+/** @brief Creates AlignMTB object
+
+@param max_bits logarithm to the base 2 of maximal shift in each dimension. Values of 5 and 6 are
+usually good enough (31 and 63 pixels shift respectively).
+@param exclude_range range for exclusion bitmap that is constructed to suppress noise around the
+median value.
+@param cut if true cuts images, otherwise fills the new regions with zeros.
+ */
+CV_EXPORTS_W Ptr<AlignMTB> createAlignMTB(int max_bits = 6, int exclude_range = 4, bool cut = true);
+
+/** @brief The base class for camera response calibration algorithms.
+ */
+class CV_EXPORTS_W CalibrateCRF : public Algorithm
+{
+public:
+    /** @brief Recovers inverse camera response.
+
+    @param src vector of input images
+    @param dst 256x1 matrix with inverse camera response function
+    @param times vector of exposure time values for each image
+     */
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst, InputArray times) = 0;
+};
+
+/** @brief Inverse camera response function is extracted for each brightness value by minimizing an objective
+function as linear system. Objective function is constructed using pixel values on the same position
+in all images, extra term is added to make the result smoother.
+
+For more information see @cite DM97 .
+ */
+class CV_EXPORTS_W CalibrateDebevec : public CalibrateCRF
+{
+public:
+    CV_WRAP virtual float getLambda() const = 0;
+    CV_WRAP virtual void setLambda(float lambda) = 0;
+
+    CV_WRAP virtual int getSamples() const = 0;
+    CV_WRAP virtual void setSamples(int samples) = 0;
+
+    CV_WRAP virtual bool getRandom() const = 0;
+    CV_WRAP virtual void setRandom(bool random) = 0;
+};
+
+/** @brief Creates CalibrateDebevec object
+
+@param samples number of pixel locations to use
+@param lambda smoothness term weight. Greater values produce smoother results, but can alter the
+response.
+@param random if true sample pixel locations are chosen at random, otherwise the form a
+rectangular grid.
+ */
+CV_EXPORTS_W Ptr<CalibrateDebevec> createCalibrateDebevec(int samples = 70, float lambda = 10.0f, bool random = false);
+
+/** @brief Inverse camera response function is extracted for each brightness value by minimizing an objective
+function as linear system. This algorithm uses all image pixels.
+
+For more information see @cite RB99 .
+ */
+class CV_EXPORTS_W CalibrateRobertson : public CalibrateCRF
+{
+public:
+    CV_WRAP virtual int getMaxIter() const = 0;
+    CV_WRAP virtual void setMaxIter(int max_iter) = 0;
+
+    CV_WRAP virtual float getThreshold() const = 0;
+    CV_WRAP virtual void setThreshold(float threshold) = 0;
+
+    CV_WRAP virtual Mat getRadiance() const = 0;
+};
+
+/** @brief Creates CalibrateRobertson object
+
+@param max_iter maximal number of Gauss-Seidel solver iterations.
+@param threshold target difference between results of two successive steps of the minimization.
+ */
+CV_EXPORTS_W Ptr<CalibrateRobertson> createCalibrateRobertson(int max_iter = 30, float threshold = 0.01f);
+
+/** @brief The base class algorithms that can merge exposure sequence to a single image.
+ */
+class CV_EXPORTS_W MergeExposures : public Algorithm
+{
+public:
+    /** @brief Merges images.
+
+    @param src vector of input images
+    @param dst result image
+    @param times vector of exposure time values for each image
+    @param response 256x1 matrix with inverse camera response function for each pixel value, it should
+    have the same number of channels as images.
+     */
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst,
+                                 InputArray times, InputArray response) = 0;
+};
+
+/** @brief The resulting HDR image is calculated as weighted average of the exposures considering exposure
+values and camera response.
+
+For more information see @cite DM97 .
+ */
+class CV_EXPORTS_W MergeDebevec : public MergeExposures
+{
+public:
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst,
+                                 InputArray times, InputArray response) = 0;
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst, InputArray times) = 0;
+};
+
+/** @brief Creates MergeDebevec object
+ */
+CV_EXPORTS_W Ptr<MergeDebevec> createMergeDebevec();
+
+/** @brief Pixels are weighted using contrast, saturation and well-exposedness measures, than images are
+combined using laplacian pyramids.
+
+The resulting image weight is constructed as weighted average of contrast, saturation and
+well-exposedness measures.
+
+The resulting image doesn't require tonemapping and can be converted to 8-bit image by multiplying
+by 255, but it's recommended to apply gamma correction and/or linear tonemapping.
+
+For more information see @cite MK07 .
+ */
+class CV_EXPORTS_W MergeMertens : public MergeExposures
+{
+public:
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst,
+                                 InputArray times, InputArray response) = 0;
+    /** @brief Short version of process, that doesn't take extra arguments.
+
+    @param src vector of input images
+    @param dst result image
+     */
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst) = 0;
+
+    CV_WRAP virtual float getContrastWeight() const = 0;
+    CV_WRAP virtual void setContrastWeight(float contrast_weiht) = 0;
+
+    CV_WRAP virtual float getSaturationWeight() const = 0;
+    CV_WRAP virtual void setSaturationWeight(float saturation_weight) = 0;
+
+    CV_WRAP virtual float getExposureWeight() const = 0;
+    CV_WRAP virtual void setExposureWeight(float exposure_weight) = 0;
+};
+
+/** @brief Creates MergeMertens object
+
+@param contrast_weight contrast measure weight. See MergeMertens.
+@param saturation_weight saturation measure weight
+@param exposure_weight well-exposedness measure weight
+ */
+CV_EXPORTS_W Ptr<MergeMertens>
+createMergeMertens(float contrast_weight = 1.0f, float saturation_weight = 1.0f, float exposure_weight = 0.0f);
+
+/** @brief The resulting HDR image is calculated as weighted average of the exposures considering exposure
+values and camera response.
+
+For more information see @cite RB99 .
+ */
+class CV_EXPORTS_W MergeRobertson : public MergeExposures
+{
+public:
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst,
+                                 InputArray times, InputArray response) = 0;
+    CV_WRAP virtual void process(InputArrayOfArrays src, OutputArray dst, InputArray times) = 0;
+};
+
+/** @brief Creates MergeRobertson object
+ */
+CV_EXPORTS_W Ptr<MergeRobertson> createMergeRobertson();
+
+//! @} photo_hdr
+
+/** @brief Transforms a color image to a grayscale image. It is a basic tool in digital printing, stylized
+black-and-white photograph rendering, and in many single channel image processing applications
+@cite CL12 .
+
+@param src Input 8-bit 3-channel image.
+@param grayscale Output 8-bit 1-channel image.
+@param color_boost Output 8-bit 3-channel image.
+
+This function is to be applied on color images.
+ */
+CV_EXPORTS_W void decolor( InputArray src, OutputArray grayscale, OutputArray color_boost);
+
+//! @addtogroup photo_clone
+//! @{
+
+/** @brief Image editing tasks concern either global changes (color/intensity corrections, filters,
+deformations) or local changes concerned to a selection. Here we are interested in achieving local
+changes, ones that are restricted to a region manually selected (ROI), in a seamless and effortless
+manner. The extent of the changes ranges from slight distortions to complete replacement by novel
+content @cite PM03 .
+
+@param src Input 8-bit 3-channel image.
+@param dst Input 8-bit 3-channel image.
+@param mask Input 8-bit 1 or 3-channel image.
+@param p Point in dst image where object is placed.
+@param blend Output image with the same size and type as dst.
+@param flags Cloning method that could be one of the following:
+-   **NORMAL_CLONE** The power of the method is fully expressed when inserting objects with
+complex outlines into a new background
+-   **MIXED_CLONE** The classic method, color-based selection and alpha masking might be time
+consuming and often leaves an undesirable halo. Seamless cloning, even averaged with the
+original image, is not effective. Mixed seamless cloning based on a loose selection proves
+effective.
+-   **FEATURE_EXCHANGE** Feature exchange allows the user to easily replace certain features of
+one object by alternative features.
+ */
+CV_EXPORTS_W void seamlessClone( InputArray src, InputArray dst, InputArray mask, Point p,
+        OutputArray blend, int flags);
+
+/** @brief Given an original color image, two differently colored versions of this image can be mixed
+seamlessly.
+
+@param src Input 8-bit 3-channel image.
+@param mask Input 8-bit 1 or 3-channel image.
+@param dst Output image with the same size and type as src .
+@param red_mul R-channel multiply factor.
+@param green_mul G-channel multiply factor.
+@param blue_mul B-channel multiply factor.
+
+Multiplication factor is between .5 to 2.5.
+ */
+CV_EXPORTS_W void colorChange(InputArray src, InputArray mask, OutputArray dst, float red_mul = 1.0f,
+        float green_mul = 1.0f, float blue_mul = 1.0f);
+
+/** @brief Applying an appropriate non-linear transformation to the gradient field inside the selection and
+then integrating back with a Poisson solver, modifies locally the apparent illumination of an image.
+
+@param src Input 8-bit 3-channel image.
+@param mask Input 8-bit 1 or 3-channel image.
+@param dst Output image with the same size and type as src.
+@param alpha Value ranges between 0-2.
+@param beta Value ranges between 0-2.
+
+This is useful to highlight under-exposed foreground objects or to reduce specular reflections.
+ */
+CV_EXPORTS_W void illuminationChange(InputArray src, InputArray mask, OutputArray dst,
+        float alpha = 0.2f, float beta = 0.4f);
+
+/** @brief By retaining only the gradients at edge locations, before integrating with the Poisson solver, one
+washes out the texture of the selected region, giving its contents a flat aspect. Here Canny Edge
+Detector is used.
+
+@param src Input 8-bit 3-channel image.
+@param mask Input 8-bit 1 or 3-channel image.
+@param dst Output image with the same size and type as src.
+@param low_threshold Range from 0 to 100.
+@param high_threshold Value \> 100.
+@param kernel_size The size of the Sobel kernel to be used.
+
+**NOTE:**
+
+The algorithm assumes that the color of the source image is close to that of the destination. This
+assumption means that when the colors don't match, the source image color gets tinted toward the
+color of the destination image.
+ */
+CV_EXPORTS_W void textureFlattening(InputArray src, InputArray mask, OutputArray dst,
+        float low_threshold = 30, float high_threshold = 45,
+        int kernel_size = 3);
+
+//! @} photo_clone
+
+//! @addtogroup photo_render
+//! @{
+
+/** @brief Filtering is the fundamental operation in image and video processing. Edge-preserving smoothing
+filters are used in many different applications @cite EM11 .
+
+@param src Input 8-bit 3-channel image.
+@param dst Output 8-bit 3-channel image.
+@param flags Edge preserving filters:
+-   **RECURS_FILTER** = 1
+-   **NORMCONV_FILTER** = 2
+@param sigma_s Range between 0 to 200.
+@param sigma_r Range between 0 to 1.
+ */
+CV_EXPORTS_W void edgePreservingFilter(InputArray src, OutputArray dst, int flags = 1,
+        float sigma_s = 60, float sigma_r = 0.4f);
+
+/** @brief This filter enhances the details of a particular image.
+
+@param src Input 8-bit 3-channel image.
+@param dst Output image with the same size and type as src.
+@param sigma_s Range between 0 to 200.
+@param sigma_r Range between 0 to 1.
+ */
+CV_EXPORTS_W void detailEnhance(InputArray src, OutputArray dst, float sigma_s = 10,
+        float sigma_r = 0.15f);
+
+/** @brief Pencil-like non-photorealistic line drawing
+
+@param src Input 8-bit 3-channel image.
+@param dst1 Output 8-bit 1-channel image.
+@param dst2 Output image with the same size and type as src.
+@param sigma_s Range between 0 to 200.
+@param sigma_r Range between 0 to 1.
+@param shade_factor Range between 0 to 0.1.
+ */
+CV_EXPORTS_W void pencilSketch(InputArray src, OutputArray dst1, OutputArray dst2,
+        float sigma_s = 60, float sigma_r = 0.07f, float shade_factor = 0.02f);
+
+/** @brief Stylization aims to produce digital imagery with a wide variety of effects not focused on
+photorealism. Edge-aware filters are ideal for stylization, as they can abstract regions of low
+contrast while preserving, or enhancing, high-contrast features.
+
+@param src Input 8-bit 3-channel image.
+@param dst Output image with the same size and type as src.
+@param sigma_s Range between 0 to 200.
+@param sigma_r Range between 0 to 1.
+ */
+CV_EXPORTS_W void stylization(InputArray src, OutputArray dst, float sigma_s = 60,
+        float sigma_r = 0.45f);
+
+//! @} photo_render
+
+//! @} photo
+
+} // cv
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/photo/photo_c.h"
+#endif
+
+#endif
diff --git a/3rdparty/include/opencv2/photo/cuda.hpp b/3rdparty/include/opencv2/photo/cuda.hpp
new file mode 100644
index 0000000..aeac1fa
--- /dev/null
+++ b/3rdparty/include/opencv2/photo/cuda.hpp
@@ -0,0 +1,132 @@
+/*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) 2008-2012, 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*/
+
+#ifndef __OPENCV_PHOTO_CUDA_HPP__
+#define __OPENCV_PHOTO_CUDA_HPP__
+
+#include "opencv2/core/cuda.hpp"
+
+namespace cv { namespace cuda {
+
+//! @addtogroup photo_denoise
+//! @{
+
+/** @brief Performs pure non local means denoising without any simplification, and thus it is not fast.
+
+@param src Source image. Supports only CV_8UC1, CV_8UC2 and CV_8UC3.
+@param dst Destination image.
+@param h Filter sigma regulating filter strength for color.
+@param search_window Size of search window.
+@param block_size Size of block used for computing weights.
+@param borderMode Border type. See borderInterpolate for details. BORDER_REFLECT101 ,
+BORDER_REPLICATE , BORDER_CONSTANT , BORDER_REFLECT and BORDER_WRAP are supported for now.
+@param stream Stream for the asynchronous version.
+
+@sa
+   fastNlMeansDenoising
+ */
+CV_EXPORTS void nonLocalMeans(InputArray src, OutputArray dst,
+                              float h,
+                              int search_window = 21,
+                              int block_size = 7,
+                              int borderMode = BORDER_DEFAULT,
+                              Stream& stream = Stream::Null());
+
+/** @brief Perform image denoising using Non-local Means Denoising algorithm
+<http://www.ipol.im/pub/algo/bcm_non_local_means_denoising> with several computational
+optimizations. Noise expected to be a gaussian white noise
+
+@param src Input 8-bit 1-channel, 2-channel or 3-channel image.
+@param dst Output image with the same size and type as src .
+@param h Parameter regulating filter strength. Big h value perfectly removes noise but also
+removes image details, smaller h value preserves details but also preserves some noise
+@param search_window Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater search_window - greater
+denoising time. Recommended value 21 pixels
+@param block_size Size in pixels of the template patch that is used to compute weights. Should be
+odd. Recommended value 7 pixels
+@param stream Stream for the asynchronous invocations.
+
+This function expected to be applied to grayscale images. For colored images look at
+FastNonLocalMeansDenoising::labMethod.
+
+@sa
+   fastNlMeansDenoising
+ */
+CV_EXPORTS void fastNlMeansDenoising(InputArray src, OutputArray dst,
+                                     float h,
+                                     int search_window = 21,
+                                     int block_size = 7,
+                                     Stream& stream = Stream::Null());
+
+/** @brief Modification of fastNlMeansDenoising function for colored images
+
+@param src Input 8-bit 3-channel image.
+@param dst Output image with the same size and type as src .
+@param h_luminance Parameter regulating filter strength. Big h value perfectly removes noise but
+also removes image details, smaller h value preserves details but also preserves some noise
+@param photo_render float The same as h but for color components. For most images value equals 10 will be
+enough to remove colored noise and do not distort colors
+@param search_window Size in pixels of the window that is used to compute weighted average for
+given pixel. Should be odd. Affect performance linearly: greater search_window - greater
+denoising time. Recommended value 21 pixels
+@param block_size Size in pixels of the template patch that is used to compute weights. Should be
+odd. Recommended value 7 pixels
+@param stream Stream for the asynchronous invocations.
+
+The function converts image to CIELAB colorspace and then separately denoise L and AB components
+with given h parameters using FastNonLocalMeansDenoising::simpleMethod function.
+
+@sa
+   fastNlMeansDenoisingColored
+ */
+CV_EXPORTS void fastNlMeansDenoisingColored(InputArray src, OutputArray dst,
+                                            float h_luminance, float photo_render,
+                                            int search_window = 21,
+                                            int block_size = 7,
+                                            Stream& stream = Stream::Null());
+
+//! @} photo
+
+}} // namespace cv { namespace cuda {
+
+#endif /* __OPENCV_PHOTO_CUDA_HPP__ */
diff --git a/3rdparty/include/opencv2/photo/photo.hpp b/3rdparty/include/opencv2/photo/photo.hpp
new file mode 100644
index 0000000..8af5e9f
--- /dev/null
+++ b/3rdparty/include/opencv2/photo/photo.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/photo.hpp"
diff --git a/3rdparty/include/opencv2/photo/photo_c.h b/3rdparty/include/opencv2/photo/photo_c.h
new file mode 100644
index 0000000..07ca9b3
--- /dev/null
+++ b/3rdparty/include/opencv2/photo/photo_c.h
@@ -0,0 +1,74 @@
+/*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) 2008-2012, 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*/
+
+#ifndef __OPENCV_PHOTO_C_H__
+#define __OPENCV_PHOTO_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup photo_c
+  @{
+  */
+
+/* Inpainting algorithms */
+enum InpaintingModes
+{
+    CV_INPAINT_NS      =0,
+    CV_INPAINT_TELEA   =1
+};
+
+
+/* Inpaints the selected region in the image */
+CVAPI(void) cvInpaint( const CvArr* src, const CvArr* inpaint_mask,
+                       CvArr* dst, double inpaintRange, int flags );
+
+/** @} */
+
+#ifdef __cplusplus
+} //extern "C"
+#endif
+
+#endif //__OPENCV_PHOTO_C_H__
diff --git a/3rdparty/include/opencv2/shape.hpp b/3rdparty/include/opencv2/shape.hpp
new file mode 100644
index 0000000..6999476
--- /dev/null
+++ b/3rdparty/include/opencv2/shape.hpp
@@ -0,0 +1,57 @@
+/*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) 2009-2012, 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*/
+
+#ifndef __OPENCV_SHAPE_HPP__
+#define __OPENCV_SHAPE_HPP__
+
+#include "opencv2/shape/emdL1.hpp"
+#include "opencv2/shape/shape_transformer.hpp"
+#include "opencv2/shape/hist_cost.hpp"
+#include "opencv2/shape/shape_distance.hpp"
+
+/**
+  @defgroup shape Shape Distance and Matching
+ */
+
+#endif
+
+/* End of file. */
diff --git a/3rdparty/include/opencv2/shape/emdL1.hpp b/3rdparty/include/opencv2/shape/emdL1.hpp
new file mode 100644
index 0000000..1dfa758
--- /dev/null
+++ b/3rdparty/include/opencv2/shape/emdL1.hpp
@@ -0,0 +1,72 @@
+/*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) 2009-2012, 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*/
+
+#ifndef __OPENCV_EMD_L1_HPP__
+#define __OPENCV_EMD_L1_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+/****************************************************************************************\
+*                                   EMDL1 Function                                      *
+\****************************************************************************************/
+
+//! @addtogroup shape
+//! @{
+
+/** @brief Computes the "minimal work" distance between two weighted point configurations base on the papers
+"EMD-L1: An efficient and Robust Algorithm for comparing histogram-based descriptors", by Haibin
+Ling and Kazunori Okuda; and "The Earth Mover's Distance is the Mallows Distance: Some Insights from
+Statistics", by Elizaveta Levina and Peter Bickel.
+
+@param signature1 First signature, a single column floating-point matrix. Each row is the value of
+the histogram in each bin.
+@param signature2 Second signature of the same format and size as signature1.
+ */
+CV_EXPORTS float EMDL1(InputArray signature1, InputArray signature2);
+
+//! @}
+
+}//namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/shape/hist_cost.hpp b/3rdparty/include/opencv2/shape/hist_cost.hpp
new file mode 100644
index 0000000..15c0a87
--- /dev/null
+++ b/3rdparty/include/opencv2/shape/hist_cost.hpp
@@ -0,0 +1,111 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_HIST_COST_HPP__
+#define __OPENCV_HIST_COST_HPP__
+
+#include "opencv2/imgproc.hpp"
+
+namespace cv
+{
+
+//! @addtogroup shape
+//! @{
+
+/** @brief Abstract base class for histogram cost algorithms.
+ */
+class CV_EXPORTS_W HistogramCostExtractor : public Algorithm
+{
+public:
+    CV_WRAP virtual void buildCostMatrix(InputArray descriptors1, InputArray descriptors2, OutputArray costMatrix) = 0;
+
+    CV_WRAP virtual void setNDummies(int nDummies) = 0;
+    CV_WRAP virtual int getNDummies() const = 0;
+
+    CV_WRAP virtual void setDefaultCost(float defaultCost) = 0;
+    CV_WRAP virtual float getDefaultCost() const = 0;
+};
+
+/** @brief A norm based cost extraction. :
+ */
+class CV_EXPORTS_W NormHistogramCostExtractor : public HistogramCostExtractor
+{
+public:
+    CV_WRAP virtual void setNormFlag(int flag) = 0;
+    CV_WRAP virtual int getNormFlag() const = 0;
+};
+
+CV_EXPORTS_W Ptr<HistogramCostExtractor>
+    createNormHistogramCostExtractor(int flag=DIST_L2, int nDummies=25, float defaultCost=0.2f);
+
+/** @brief An EMD based cost extraction. :
+ */
+class CV_EXPORTS_W EMDHistogramCostExtractor : public HistogramCostExtractor
+{
+public:
+    CV_WRAP virtual void setNormFlag(int flag) = 0;
+    CV_WRAP virtual int getNormFlag() const = 0;
+};
+
+CV_EXPORTS_W Ptr<HistogramCostExtractor>
+    createEMDHistogramCostExtractor(int flag=DIST_L2, int nDummies=25, float defaultCost=0.2f);
+
+/** @brief An Chi based cost extraction. :
+ */
+class CV_EXPORTS_W ChiHistogramCostExtractor : public HistogramCostExtractor
+{};
+
+CV_EXPORTS_W Ptr<HistogramCostExtractor> createChiHistogramCostExtractor(int nDummies=25, float defaultCost=0.2f);
+
+/** @brief An EMD-L1 based cost extraction. :
+ */
+class CV_EXPORTS_W EMDL1HistogramCostExtractor : public HistogramCostExtractor
+{};
+
+CV_EXPORTS_W Ptr<HistogramCostExtractor>
+    createEMDL1HistogramCostExtractor(int nDummies=25, float defaultCost=0.2f);
+
+//! @}
+
+} // cv
+#endif
diff --git a/3rdparty/include/opencv2/shape/shape.hpp b/3rdparty/include/opencv2/shape/shape.hpp
new file mode 100644
index 0000000..5c4da3c
--- /dev/null
+++ b/3rdparty/include/opencv2/shape/shape.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/shape.hpp"
diff --git a/3rdparty/include/opencv2/shape/shape_distance.hpp b/3rdparty/include/opencv2/shape/shape_distance.hpp
new file mode 100644
index 0000000..4b0c3b5
--- /dev/null
+++ b/3rdparty/include/opencv2/shape/shape_distance.hpp
@@ -0,0 +1,224 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_SHAPE_SHAPE_DISTANCE_HPP__
+#define __OPENCV_SHAPE_SHAPE_DISTANCE_HPP__
+#include "opencv2/core.hpp"
+#include "opencv2/shape/hist_cost.hpp"
+#include "opencv2/shape/shape_transformer.hpp"
+
+namespace cv
+{
+
+//! @addtogroup shape
+//! @{
+
+/** @brief Abstract base class for shape distance algorithms.
+ */
+class CV_EXPORTS_W ShapeDistanceExtractor : public Algorithm
+{
+public:
+    /** @brief Compute the shape distance between two shapes defined by its contours.
+
+    @param contour1 Contour defining first shape.
+    @param contour2 Contour defining second shape.
+     */
+    CV_WRAP virtual float computeDistance(InputArray contour1, InputArray contour2) = 0;
+};
+
+/***********************************************************************************/
+/***********************************************************************************/
+/***********************************************************************************/
+/** @brief Implementation of the Shape Context descriptor and matching algorithm
+
+proposed by Belongie et al. in "Shape Matching and Object Recognition Using Shape Contexts" (PAMI
+2002). This implementation is packaged in a generic scheme, in order to allow you the
+implementation of the common variations of the original pipeline.
+*/
+class CV_EXPORTS_W ShapeContextDistanceExtractor : public ShapeDistanceExtractor
+{
+public:
+    /** @brief Establish the number of angular bins for the Shape Context Descriptor used in the shape matching
+    pipeline.
+
+    @param nAngularBins The number of angular bins in the shape context descriptor.
+     */
+    CV_WRAP virtual void setAngularBins(int nAngularBins) = 0;
+    CV_WRAP virtual int getAngularBins() const = 0;
+
+    /** @brief Establish the number of radial bins for the Shape Context Descriptor used in the shape matching
+    pipeline.
+
+    @param nRadialBins The number of radial bins in the shape context descriptor.
+     */
+    CV_WRAP virtual void setRadialBins(int nRadialBins) = 0;
+    CV_WRAP virtual int getRadialBins() const = 0;
+
+    /** @brief Set the inner radius of the shape context descriptor.
+
+    @param innerRadius The value of the inner radius.
+     */
+    CV_WRAP virtual void setInnerRadius(float innerRadius) = 0;
+    CV_WRAP virtual float getInnerRadius() const = 0;
+
+    /** @brief Set the outer radius of the shape context descriptor.
+
+    @param outerRadius The value of the outer radius.
+     */
+    CV_WRAP virtual void setOuterRadius(float outerRadius) = 0;
+    CV_WRAP virtual float getOuterRadius() const = 0;
+
+    CV_WRAP virtual void setRotationInvariant(bool rotationInvariant) = 0;
+    CV_WRAP virtual bool getRotationInvariant() const = 0;
+
+    /** @brief Set the weight of the shape context distance in the final value of the shape distance. The shape
+    context distance between two shapes is defined as the symmetric sum of shape context matching costs
+    over best matching points. The final value of the shape distance is a user-defined linear
+    combination of the shape context distance, an image appearance distance, and a bending energy.
+
+    @param shapeContextWeight The weight of the shape context distance in the final distance value.
+     */
+    CV_WRAP virtual void setShapeContextWeight(float shapeContextWeight) = 0;
+    CV_WRAP virtual float getShapeContextWeight() const = 0;
+
+    /** @brief Set the weight of the Image Appearance cost in the final value of the shape distance. The image
+    appearance cost is defined as the sum of squared brightness differences in Gaussian windows around
+    corresponding image points. The final value of the shape distance is a user-defined linear
+    combination of the shape context distance, an image appearance distance, and a bending energy. If
+    this value is set to a number different from 0, is mandatory to set the images that correspond to
+    each shape.
+
+    @param imageAppearanceWeight The weight of the appearance cost in the final distance value.
+     */
+    CV_WRAP virtual void setImageAppearanceWeight(float imageAppearanceWeight) = 0;
+    CV_WRAP virtual float getImageAppearanceWeight() const = 0;
+
+    /** @brief Set the weight of the Bending Energy in the final value of the shape distance. The bending energy
+    definition depends on what transformation is being used to align the shapes. The final value of the
+    shape distance is a user-defined linear combination of the shape context distance, an image
+    appearance distance, and a bending energy.
+
+    @param bendingEnergyWeight The weight of the Bending Energy in the final distance value.
+     */
+    CV_WRAP virtual void setBendingEnergyWeight(float bendingEnergyWeight) = 0;
+    CV_WRAP virtual float getBendingEnergyWeight() const = 0;
+
+    /** @brief Set the images that correspond to each shape. This images are used in the calculation of the Image
+    Appearance cost.
+
+    @param image1 Image corresponding to the shape defined by contours1.
+    @param image2 Image corresponding to the shape defined by contours2.
+     */
+    CV_WRAP virtual void setImages(InputArray image1, InputArray image2) = 0;
+    CV_WRAP virtual void getImages(OutputArray image1, OutputArray image2) const = 0;
+
+    CV_WRAP virtual void setIterations(int iterations) = 0;
+    CV_WRAP virtual int getIterations() const = 0;
+
+    /** @brief Set the algorithm used for building the shape context descriptor cost matrix.
+
+    @param comparer Smart pointer to a HistogramCostExtractor, an algorithm that defines the cost
+    matrix between descriptors.
+     */
+    CV_WRAP virtual void setCostExtractor(Ptr<HistogramCostExtractor> comparer) = 0;
+    CV_WRAP virtual Ptr<HistogramCostExtractor> getCostExtractor() const = 0;
+
+    /** @brief Set the value of the standard deviation for the Gaussian window for the image appearance cost.
+
+    @param sigma Standard Deviation.
+     */
+    CV_WRAP virtual void setStdDev(float sigma) = 0;
+    CV_WRAP virtual float getStdDev() const = 0;
+
+    /** @brief Set the algorithm used for aligning the shapes.
+
+    @param transformer Smart pointer to a ShapeTransformer, an algorithm that defines the aligning
+    transformation.
+     */
+    CV_WRAP virtual void setTransformAlgorithm(Ptr<ShapeTransformer> transformer) = 0;
+    CV_WRAP virtual Ptr<ShapeTransformer> getTransformAlgorithm() const = 0;
+};
+
+/* Complete constructor */
+CV_EXPORTS_W Ptr<ShapeContextDistanceExtractor>
+    createShapeContextDistanceExtractor(int nAngularBins=12, int nRadialBins=4,
+                                        float innerRadius=0.2f, float outerRadius=2, int iterations=3,
+                                        const Ptr<HistogramCostExtractor> &comparer = createChiHistogramCostExtractor(),
+                                        const Ptr<ShapeTransformer> &transformer = createThinPlateSplineShapeTransformer());
+
+/***********************************************************************************/
+/***********************************************************************************/
+/***********************************************************************************/
+/** @brief A simple Hausdorff distance measure between shapes defined by contours
+
+according to the paper "Comparing Images using the Hausdorff distance." by D.P. Huttenlocher, G.A.
+Klanderman, and W.J. Rucklidge. (PAMI 1993). :
+ */
+class CV_EXPORTS_W HausdorffDistanceExtractor : public ShapeDistanceExtractor
+{
+public:
+    /** @brief Set the norm used to compute the Hausdorff value between two shapes. It can be L1 or L2 norm.
+
+    @param distanceFlag Flag indicating which norm is used to compute the Hausdorff distance
+    (NORM_L1, NORM_L2).
+     */
+    CV_WRAP virtual void setDistanceFlag(int distanceFlag) = 0;
+    CV_WRAP virtual int getDistanceFlag() const = 0;
+
+    /** @brief This method sets the rank proportion (or fractional value) that establish the Kth ranked value of
+    the partial Hausdorff distance. Experimentally had been shown that 0.6 is a good value to compare
+    shapes.
+
+    @param rankProportion fractional value (between 0 and 1).
+     */
+    CV_WRAP virtual void setRankProportion(float rankProportion) = 0;
+    CV_WRAP virtual float getRankProportion() const = 0;
+};
+
+/* Constructor */
+CV_EXPORTS_W Ptr<HausdorffDistanceExtractor> createHausdorffDistanceExtractor(int distanceFlag=cv::NORM_L2, float rankProp=0.6f);
+
+//! @}
+
+} // cv
+#endif
diff --git a/3rdparty/include/opencv2/shape/shape_transformer.hpp b/3rdparty/include/opencv2/shape/shape_transformer.hpp
new file mode 100644
index 0000000..2180613
--- /dev/null
+++ b/3rdparty/include/opencv2/shape/shape_transformer.hpp
@@ -0,0 +1,132 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_SHAPE_SHAPE_TRANSFORM_HPP__
+#define __OPENCV_SHAPE_SHAPE_TRANSFORM_HPP__
+#include <vector>
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+
+namespace cv
+{
+
+//! @addtogroup shape
+//! @{
+
+/** @brief Abstract base class for shape transformation algorithms.
+ */
+class CV_EXPORTS_W ShapeTransformer : public Algorithm
+{
+public:
+    /** @brief Estimate the transformation parameters of the current transformer algorithm, based on point matches.
+
+    @param transformingShape Contour defining first shape.
+    @param targetShape Contour defining second shape (Target).
+    @param matches Standard vector of Matches between points.
+     */
+    CV_WRAP virtual void estimateTransformation(InputArray transformingShape, InputArray targetShape,
+                                                 std::vector<DMatch>& matches) = 0;
+
+    /** @brief Apply a transformation, given a pre-estimated transformation parameters.
+
+    @param input Contour (set of points) to apply the transformation.
+    @param output Output contour.
+     */
+    CV_WRAP virtual float applyTransformation(InputArray input, OutputArray output=noArray()) = 0;
+
+    /** @brief Apply a transformation, given a pre-estimated transformation parameters, to an Image.
+
+    @param transformingImage Input image.
+    @param output Output image.
+    @param flags Image interpolation method.
+    @param borderMode border style.
+    @param borderValue border value.
+     */
+    CV_WRAP virtual void warpImage(InputArray transformingImage, OutputArray output,
+                                   int flags=INTER_LINEAR, int borderMode=BORDER_CONSTANT,
+                                   const Scalar& borderValue=Scalar()) const = 0;
+};
+
+/***********************************************************************************/
+/***********************************************************************************/
+
+/** @brief Definition of the transformation
+
+ocupied in the paper "Principal Warps: Thin-Plate Splines and Decomposition of Deformations", by
+F.L. Bookstein (PAMI 1989). :
+ */
+class CV_EXPORTS_W ThinPlateSplineShapeTransformer : public ShapeTransformer
+{
+public:
+    /** @brief Set the regularization parameter for relaxing the exact interpolation requirements of the TPS
+    algorithm.
+
+    @param beta value of the regularization parameter.
+     */
+    CV_WRAP virtual void setRegularizationParameter(double beta) = 0;
+    CV_WRAP virtual double getRegularizationParameter() const = 0;
+};
+
+/** Complete constructor */
+CV_EXPORTS_W Ptr<ThinPlateSplineShapeTransformer>
+    createThinPlateSplineShapeTransformer(double regularizationParameter=0);
+
+/***********************************************************************************/
+/***********************************************************************************/
+
+/** @brief Wrapper class for the OpenCV Affine Transformation algorithm. :
+ */
+class CV_EXPORTS_W AffineTransformer : public ShapeTransformer
+{
+public:
+    CV_WRAP virtual void setFullAffine(bool fullAffine) = 0;
+    CV_WRAP virtual bool getFullAffine() const = 0;
+};
+
+/** Complete constructor */
+CV_EXPORTS_W Ptr<AffineTransformer> createAffineTransformer(bool fullAffine);
+
+//! @}
+
+} // cv
+#endif
diff --git a/3rdparty/include/opencv2/stitching.hpp b/3rdparty/include/opencv2/stitching.hpp
new file mode 100644
index 0000000..96cde14
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching.hpp
@@ -0,0 +1,257 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_STITCHER_HPP__
+#define __OPENCV_STITCHING_STITCHER_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/stitching/warpers.hpp"
+#include "opencv2/stitching/detail/matchers.hpp"
+#include "opencv2/stitching/detail/motion_estimators.hpp"
+#include "opencv2/stitching/detail/exposure_compensate.hpp"
+#include "opencv2/stitching/detail/seam_finders.hpp"
+#include "opencv2/stitching/detail/blenders.hpp"
+#include "opencv2/stitching/detail/camera.hpp"
+
+/**
+@defgroup stitching Images stitching
+
+This figure illustrates the stitching module pipeline implemented in the Stitcher class. Using that
+class it's possible to configure/remove some steps, i.e. adjust the stitching pipeline according to
+the particular needs. All building blocks from the pipeline are available in the detail namespace,
+one can combine and use them separately.
+
+The implemented stitching pipeline is very similar to the one proposed in @cite BL07 .
+
+![image](StitchingPipeline.jpg)
+
+@{
+    @defgroup stitching_match Features Finding and Images Matching
+    @defgroup stitching_rotation Rotation Estimation
+    @defgroup stitching_autocalib Autocalibration
+    @defgroup stitching_warp Images Warping
+    @defgroup stitching_seam Seam Estimation
+    @defgroup stitching_exposure Exposure Compensation
+    @defgroup stitching_blend Image Blenders
+@}
+  */
+
+namespace cv {
+
+//! @addtogroup stitching
+//! @{
+
+/** @brief High level image stitcher.
+
+It's possible to use this class without being aware of the entire stitching pipeline. However, to
+be able to achieve higher stitching stability and quality of the final images at least being
+familiar with the theory is recommended.
+
+@note
+   -   A basic example on image stitching can be found at
+        opencv_source_code/samples/cpp/stitching.cpp
+    -   A detailed example on image stitching can be found at
+        opencv_source_code/samples/cpp/stitching_detailed.cpp
+ */
+class CV_EXPORTS_W Stitcher
+{
+public:
+    enum { ORIG_RESOL = -1 };
+    enum Status
+    {
+        OK = 0,
+        ERR_NEED_MORE_IMGS = 1,
+        ERR_HOMOGRAPHY_EST_FAIL = 2,
+        ERR_CAMERA_PARAMS_ADJUST_FAIL = 3
+    };
+
+   // Stitcher() {}
+    /** @brief Creates a stitcher with the default parameters.
+
+    @param try_use_gpu Flag indicating whether GPU should be used whenever it's possible.
+    @return Stitcher class instance.
+     */
+    static Stitcher createDefault(bool try_use_gpu = false);
+
+    CV_WRAP double registrationResol() const { return registr_resol_; }
+    CV_WRAP void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
+
+    CV_WRAP double seamEstimationResol() const { return seam_est_resol_; }
+    CV_WRAP void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; }
+
+    CV_WRAP double compositingResol() const { return compose_resol_; }
+    CV_WRAP void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; }
+
+    CV_WRAP double panoConfidenceThresh() const { return conf_thresh_; }
+    CV_WRAP void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
+
+    CV_WRAP bool waveCorrection() const { return do_wave_correct_; }
+    CV_WRAP void setWaveCorrection(bool flag) { do_wave_correct_ = flag; }
+
+    detail::WaveCorrectKind waveCorrectKind() const { return wave_correct_kind_; }
+    void setWaveCorrectKind(detail::WaveCorrectKind kind) { wave_correct_kind_ = kind; }
+
+    Ptr<detail::FeaturesFinder> featuresFinder() { return features_finder_; }
+    const Ptr<detail::FeaturesFinder> featuresFinder() const { return features_finder_; }
+    void setFeaturesFinder(Ptr<detail::FeaturesFinder> features_finder)
+        { features_finder_ = features_finder; }
+
+    Ptr<detail::FeaturesMatcher> featuresMatcher() { return features_matcher_; }
+    const Ptr<detail::FeaturesMatcher> featuresMatcher() const { return features_matcher_; }
+    void setFeaturesMatcher(Ptr<detail::FeaturesMatcher> features_matcher)
+        { features_matcher_ = features_matcher; }
+
+    const cv::UMat& matchingMask() const { return matching_mask_; }
+    void setMatchingMask(const cv::UMat &mask)
+    {
+        CV_Assert(mask.type() == CV_8U && mask.cols == mask.rows);
+        matching_mask_ = mask.clone();
+    }
+
+    Ptr<detail::BundleAdjusterBase> bundleAdjuster() { return bundle_adjuster_; }
+    const Ptr<detail::BundleAdjusterBase> bundleAdjuster() const { return bundle_adjuster_; }
+    void setBundleAdjuster(Ptr<detail::BundleAdjusterBase> bundle_adjuster)
+        { bundle_adjuster_ = bundle_adjuster; }
+
+    Ptr<WarperCreator> warper() { return warper_; }
+    const Ptr<WarperCreator> warper() const { return warper_; }
+    void setWarper(Ptr<WarperCreator> creator) { warper_ = creator; }
+
+    Ptr<detail::ExposureCompensator> exposureCompensator() { return exposure_comp_; }
+    const Ptr<detail::ExposureCompensator> exposureCompensator() const { return exposure_comp_; }
+    void setExposureCompensator(Ptr<detail::ExposureCompensator> exposure_comp)
+        { exposure_comp_ = exposure_comp; }
+
+    Ptr<detail::SeamFinder> seamFinder() { return seam_finder_; }
+    const Ptr<detail::SeamFinder> seamFinder() const { return seam_finder_; }
+    void setSeamFinder(Ptr<detail::SeamFinder> seam_finder) { seam_finder_ = seam_finder; }
+
+    Ptr<detail::Blender> blender() { return blender_; }
+    const Ptr<detail::Blender> blender() const { return blender_; }
+    void setBlender(Ptr<detail::Blender> b) { blender_ = b; }
+
+    /** @overload */
+    CV_WRAP Status estimateTransform(InputArrayOfArrays images);
+    /** @brief These functions try to match the given images and to estimate rotations of each camera.
+
+    @note Use the functions only if you're aware of the stitching pipeline, otherwise use
+    Stitcher::stitch.
+
+    @param images Input images.
+    @param rois Region of interest rectangles.
+    @return Status code.
+     */
+    Status estimateTransform(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois);
+
+    /** @overload */
+    CV_WRAP Status composePanorama(OutputArray pano);
+    /** @brief These functions try to compose the given images (or images stored internally from the other function
+    calls) into the final pano under the assumption that the image transformations were estimated
+    before.
+
+    @note Use the functions only if you're aware of the stitching pipeline, otherwise use
+    Stitcher::stitch.
+
+    @param images Input images.
+    @param pano Final pano.
+    @return Status code.
+     */
+    Status composePanorama(InputArrayOfArrays images, OutputArray pano);
+
+    /** @overload */
+    CV_WRAP Status stitch(InputArrayOfArrays images, OutputArray pano);
+    /** @brief These functions try to stitch the given images.
+
+    @param images Input images.
+    @param rois Region of interest rectangles.
+    @param pano Final pano.
+    @return Status code.
+     */
+    Status stitch(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois, OutputArray pano);
+
+    std::vector<int> component() const { return indices_; }
+    std::vector<detail::CameraParams> cameras() const { return cameras_; }
+    CV_WRAP double workScale() const { return work_scale_; }
+
+private:
+    //Stitcher() {}
+
+    Status matchImages();
+    Status estimateCameraParams();
+
+    double registr_resol_;
+    double seam_est_resol_;
+    double compose_resol_;
+    double conf_thresh_;
+    Ptr<detail::FeaturesFinder> features_finder_;
+    Ptr<detail::FeaturesMatcher> features_matcher_;
+    cv::UMat matching_mask_;
+    Ptr<detail::BundleAdjusterBase> bundle_adjuster_;
+    bool do_wave_correct_;
+    detail::WaveCorrectKind wave_correct_kind_;
+    Ptr<WarperCreator> warper_;
+    Ptr<detail::ExposureCompensator> exposure_comp_;
+    Ptr<detail::SeamFinder> seam_finder_;
+    Ptr<detail::Blender> blender_;
+
+    std::vector<cv::UMat> imgs_;
+    std::vector<std::vector<cv::Rect> > rois_;
+    std::vector<cv::Size> full_img_sizes_;
+    std::vector<detail::ImageFeatures> features_;
+    std::vector<detail::MatchesInfo> pairwise_matches_;
+    std::vector<cv::UMat> seam_est_imgs_;
+    std::vector<int> indices_;
+    std::vector<detail::CameraParams> cameras_;
+    double work_scale_;
+    double seam_scale_;
+    double seam_work_aspect_;
+    double warped_image_scale_;
+};
+
+CV_EXPORTS_W Ptr<Stitcher> createStitcher(bool try_use_gpu = false);
+
+//! @} stitching
+
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_STITCHER_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/autocalib.hpp b/3rdparty/include/opencv2/stitching/detail/autocalib.hpp
new file mode 100644
index 0000000..ccc0aa1
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/autocalib.hpp
@@ -0,0 +1,86 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_AUTOCALIB_HPP__
+#define __OPENCV_STITCHING_AUTOCALIB_HPP__
+
+#include "opencv2/core.hpp"
+#include "matchers.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_autocalib
+//! @{
+
+/** @brief Tries to estimate focal lengths from the given homography under the assumption that the camera
+undergoes rotations around its centre only.
+
+@param H Homography.
+@param f0 Estimated focal length along X axis.
+@param f1 Estimated focal length along Y axis.
+@param f0_ok True, if f0 was estimated successfully, false otherwise.
+@param f1_ok True, if f1 was estimated successfully, false otherwise.
+
+See "Construction of Panoramic Image Mosaics with Global and Local Alignment"
+by Heung-Yeung Shum and Richard Szeliski.
+ */
+void CV_EXPORTS focalsFromHomography(const Mat &H, double &f0, double &f1, bool &f0_ok, bool &f1_ok);
+
+/** @brief Estimates focal lengths for each given camera.
+
+@param features Features of images.
+@param pairwise_matches Matches between all image pairs.
+@param focals Estimated focal lengths for each camera.
+ */
+void CV_EXPORTS estimateFocal(const std::vector<ImageFeatures> &features,
+                              const std::vector<MatchesInfo> &pairwise_matches,
+                              std::vector<double> &focals);
+
+bool CV_EXPORTS calibrateRotatingCamera(const std::vector<Mat> &Hs, Mat &K);
+
+//! @} stitching_autocalib
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_AUTOCALIB_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/blenders.hpp b/3rdparty/include/opencv2/stitching/detail/blenders.hpp
new file mode 100644
index 0000000..0e60725
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/blenders.hpp
@@ -0,0 +1,163 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_BLENDERS_HPP__
+#define __OPENCV_STITCHING_BLENDERS_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_blend
+//! @{
+
+/** @brief Base class for all blenders.
+
+Simple blender which puts one image over another
+*/
+class CV_EXPORTS Blender
+{
+public:
+    virtual ~Blender() {}
+
+    enum { NO, FEATHER, MULTI_BAND };
+    static Ptr<Blender> createDefault(int type, bool try_gpu = false);
+
+    /** @brief Prepares the blender for blending.
+
+    @param corners Source images top-left corners
+    @param sizes Source image sizes
+     */
+    void prepare(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+    /** @overload */
+    virtual void prepare(Rect dst_roi);
+    /** @brief Processes the image.
+
+    @param img Source image
+    @param mask Source image mask
+    @param tl Source image top-left corners
+     */
+    virtual void feed(InputArray img, InputArray mask, Point tl);
+    /** @brief Blends and returns the final pano.
+
+    @param dst Final pano
+    @param dst_mask Final pano mask
+     */
+    virtual void blend(InputOutputArray dst, InputOutputArray dst_mask);
+
+protected:
+    UMat dst_, dst_mask_;
+    Rect dst_roi_;
+};
+
+/** @brief Simple blender which mixes images at its borders.
+ */
+class CV_EXPORTS FeatherBlender : public Blender
+{
+public:
+    FeatherBlender(float sharpness = 0.02f);
+
+    float sharpness() const { return sharpness_; }
+    void setSharpness(float val) { sharpness_ = val; }
+
+    void prepare(Rect dst_roi);
+    void feed(InputArray img, InputArray mask, Point tl);
+    void blend(InputOutputArray dst, InputOutputArray dst_mask);
+
+    //! Creates weight maps for fixed set of source images by their masks and top-left corners.
+    //! Final image can be obtained by simple weighting of the source images.
+    Rect createWeightMaps(const std::vector<UMat> &masks, const std::vector<Point> &corners,
+                          std::vector<UMat> &weight_maps);
+
+private:
+    float sharpness_;
+    UMat weight_map_;
+    UMat dst_weight_map_;
+};
+
+inline FeatherBlender::FeatherBlender(float _sharpness) { setSharpness(_sharpness); }
+
+/** @brief Blender which uses multi-band blending algorithm (see @cite BA83).
+ */
+class CV_EXPORTS MultiBandBlender : public Blender
+{
+public:
+    MultiBandBlender(int try_gpu = false, int num_bands = 5, int weight_type = CV_32F);
+
+    int numBands() const { return actual_num_bands_; }
+    void setNumBands(int val) { actual_num_bands_ = val; }
+
+    void prepare(Rect dst_roi);
+    void feed(InputArray img, InputArray mask, Point tl);
+    void blend(InputOutputArray dst, InputOutputArray dst_mask);
+
+private:
+    int actual_num_bands_, num_bands_;
+    std::vector<UMat> dst_pyr_laplace_;
+    std::vector<UMat> dst_band_weights_;
+    Rect dst_roi_final_;
+    bool can_use_gpu_;
+    int weight_type_; //CV_32F or CV_16S
+};
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Auxiliary functions
+
+void CV_EXPORTS normalizeUsingWeightMap(InputArray weight, InputOutputArray src);
+
+void CV_EXPORTS createWeightMap(InputArray mask, float sharpness, InputOutputArray weight);
+
+void CV_EXPORTS createLaplacePyr(InputArray img, int num_levels, std::vector<UMat>& pyr);
+void CV_EXPORTS createLaplacePyrGpu(InputArray img, int num_levels, std::vector<UMat>& pyr);
+
+// Restores source image
+void CV_EXPORTS restoreImageFromLaplacePyr(std::vector<UMat>& pyr);
+void CV_EXPORTS restoreImageFromLaplacePyrGpu(std::vector<UMat>& pyr);
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_BLENDERS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/camera.hpp b/3rdparty/include/opencv2/stitching/detail/camera.hpp
new file mode 100644
index 0000000..c231ba5
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/camera.hpp
@@ -0,0 +1,78 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_CAMERA_HPP__
+#define __OPENCV_STITCHING_CAMERA_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching
+//! @{
+
+/** @brief Describes camera parameters.
+
+@note Translation is assumed to be zero during the whole stitching pipeline. :
+ */
+struct CV_EXPORTS CameraParams
+{
+    CameraParams();
+    CameraParams(const CameraParams& other);
+    const CameraParams& operator =(const CameraParams& other);
+    Mat K() const;
+
+    double focal; // Focal length
+    double aspect; // Aspect ratio
+    double ppx; // Principal point X
+    double ppy; // Principal point Y
+    Mat R; // Rotation
+    Mat t; // Translation
+};
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#endif // #ifndef __OPENCV_STITCHING_CAMERA_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/exposure_compensate.hpp b/3rdparty/include/opencv2/stitching/detail/exposure_compensate.hpp
new file mode 100644
index 0000000..ef64e12
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/exposure_compensate.hpp
@@ -0,0 +1,132 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__
+#define __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_exposure
+//! @{
+
+/** @brief Base class for all exposure compensators.
+ */
+class CV_EXPORTS ExposureCompensator
+{
+public:
+    virtual ~ExposureCompensator() {}
+
+    enum { NO, GAIN, GAIN_BLOCKS };
+    static Ptr<ExposureCompensator> createDefault(int type);
+
+    /**
+    @param corners Source image top-left corners
+    @param images Source images
+    @param masks Image masks to update (second value in pair specifies the value which should be used
+    to detect where image is)
+     */
+    void feed(const std::vector<Point> &corners, const std::vector<UMat> &images,
+              const std::vector<UMat> &masks);
+    /** @overload */
+    virtual void feed(const std::vector<Point> &corners, const std::vector<UMat> &images,
+                      const std::vector<std::pair<UMat,uchar> > &masks) = 0;
+    /** @brief Compensate exposure in the specified image.
+
+    @param index Image index
+    @param corner Image top-left corner
+    @param image Image to process
+    @param mask Image mask
+     */
+    virtual void apply(int index, Point corner, InputOutputArray image, InputArray mask) = 0;
+};
+
+/** @brief Stub exposure compensator which does nothing.
+ */
+class CV_EXPORTS NoExposureCompensator : public ExposureCompensator
+{
+public:
+    void feed(const std::vector<Point> &/*corners*/, const std::vector<UMat> &/*images*/,
+              const std::vector<std::pair<UMat,uchar> > &/*masks*/) { }
+    void apply(int /*index*/, Point /*corner*/, InputOutputArray /*image*/, InputArray /*mask*/) { }
+};
+
+/** @brief Exposure compensator which tries to remove exposure related artifacts by adjusting image
+intensities, see @cite BL07 and @cite WJ10 for details.
+ */
+class CV_EXPORTS GainCompensator : public ExposureCompensator
+{
+public:
+    void feed(const std::vector<Point> &corners, const std::vector<UMat> &images,
+              const std::vector<std::pair<UMat,uchar> > &masks);
+    void apply(int index, Point corner, InputOutputArray image, InputArray mask);
+    std::vector<double> gains() const;
+
+private:
+    Mat_<double> gains_;
+};
+
+/** @brief Exposure compensator which tries to remove exposure related artifacts by adjusting image block
+intensities, see @cite UES01 for details.
+ */
+class CV_EXPORTS BlocksGainCompensator : public ExposureCompensator
+{
+public:
+    BlocksGainCompensator(int bl_width = 32, int bl_height = 32)
+            : bl_width_(bl_width), bl_height_(bl_height) {}
+    void feed(const std::vector<Point> &corners, const std::vector<UMat> &images,
+              const std::vector<std::pair<UMat,uchar> > &masks);
+    void apply(int index, Point corner, InputOutputArray image, InputArray mask);
+
+private:
+    int bl_width_, bl_height_;
+    std::vector<UMat> gain_maps_;
+};
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/matchers.hpp b/3rdparty/include/opencv2/stitching/detail/matchers.hpp
new file mode 100644
index 0000000..8f34bd2
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/matchers.hpp
@@ -0,0 +1,275 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_MATCHERS_HPP__
+#define __OPENCV_STITCHING_MATCHERS_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/features2d.hpp"
+
+#include "opencv2/opencv_modules.hpp"
+
+#ifdef HAVE_OPENCV_XFEATURES2D
+#  include "opencv2/xfeatures2d/cuda.hpp"
+#endif
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_match
+//! @{
+
+/** @brief Structure containing image keypoints and descriptors. */
+struct CV_EXPORTS ImageFeatures
+{
+    int img_idx;
+    Size img_size;
+    std::vector<KeyPoint> keypoints;
+    UMat descriptors;
+};
+
+/** @brief Feature finders base class */
+class CV_EXPORTS FeaturesFinder
+{
+public:
+    virtual ~FeaturesFinder() {}
+    /** @overload */
+    void operator ()(InputArray image, ImageFeatures &features);
+    /** @brief Finds features in the given image.
+
+    @param image Source image
+    @param features Found features
+    @param rois Regions of interest
+
+    @sa detail::ImageFeatures, Rect_
+    */
+    void operator ()(InputArray image, ImageFeatures &features, const std::vector<cv::Rect> &rois);
+    /** @brief Frees unused memory allocated before if there is any. */
+    virtual void collectGarbage() {}
+
+protected:
+    /** @brief This method must implement features finding logic in order to make the wrappers
+    detail::FeaturesFinder::operator()_ work.
+
+    @param image Source image
+    @param features Found features
+
+    @sa detail::ImageFeatures */
+    virtual void find(InputArray image, ImageFeatures &features) = 0;
+};
+
+/** @brief SURF features finder.
+
+@sa detail::FeaturesFinder, SURF
+*/
+class CV_EXPORTS SurfFeaturesFinder : public FeaturesFinder
+{
+public:
+    SurfFeaturesFinder(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
+                       int num_octaves_descr = /*4*/3, int num_layers_descr = /*2*/4);
+
+private:
+    void find(InputArray image, ImageFeatures &features);
+
+    Ptr<FeatureDetector> detector_;
+    Ptr<DescriptorExtractor> extractor_;
+    Ptr<Feature2D> surf;
+};
+
+/** @brief ORB features finder. :
+
+@sa detail::FeaturesFinder, ORB
+*/
+class CV_EXPORTS OrbFeaturesFinder : public FeaturesFinder
+{
+public:
+    OrbFeaturesFinder(Size _grid_size = Size(3,1), int nfeatures=1500, float scaleFactor=1.3f, int nlevels=5);
+
+private:
+    void find(InputArray image, ImageFeatures &features);
+
+    Ptr<ORB> orb;
+    Size grid_size;
+};
+
+
+#ifdef HAVE_OPENCV_XFEATURES2D
+class CV_EXPORTS SurfFeaturesFinderGpu : public FeaturesFinder
+{
+public:
+    SurfFeaturesFinderGpu(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
+                          int num_octaves_descr = 4, int num_layers_descr = 2);
+
+    void collectGarbage();
+
+private:
+    void find(InputArray image, ImageFeatures &features);
+
+    cuda::GpuMat image_;
+    cuda::GpuMat gray_image_;
+    cuda::SURF_CUDA surf_;
+    cuda::GpuMat keypoints_;
+    cuda::GpuMat descriptors_;
+    int num_octaves_, num_layers_;
+    int num_octaves_descr_, num_layers_descr_;
+};
+#endif
+
+/** @brief Structure containing information about matches between two images.
+
+It's assumed that there is a homography between those images.
+*/
+struct CV_EXPORTS MatchesInfo
+{
+    MatchesInfo();
+    MatchesInfo(const MatchesInfo &other);
+    const MatchesInfo& operator =(const MatchesInfo &other);
+
+    int src_img_idx, dst_img_idx;       //!< Images indices (optional)
+    std::vector<DMatch> matches;
+    std::vector<uchar> inliers_mask;    //!< Geometrically consistent matches mask
+    int num_inliers;                    //!< Number of geometrically consistent matches
+    Mat H;                              //!< Estimated homography
+    double confidence;                  //!< Confidence two images are from the same panorama
+};
+
+/** @brief Feature matchers base class. */
+class CV_EXPORTS FeaturesMatcher
+{
+public:
+    virtual ~FeaturesMatcher() {}
+
+    /** @overload
+    @param features1 First image features
+    @param features2 Second image features
+    @param matches_info Found matches
+    */
+    void operator ()(const ImageFeatures &features1, const ImageFeatures &features2,
+                     MatchesInfo& matches_info) { match(features1, features2, matches_info); }
+
+    /** @brief Performs images matching.
+
+    @param features Features of the source images
+    @param pairwise_matches Found pairwise matches
+    @param mask Mask indicating which image pairs must be matched
+
+    The function is parallelized with the TBB library.
+
+    @sa detail::MatchesInfo
+    */
+    void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                     const cv::UMat &mask = cv::UMat());
+
+    /** @return True, if it's possible to use the same matcher instance in parallel, false otherwise
+    */
+    bool isThreadSafe() const { return is_thread_safe_; }
+
+    /** @brief Frees unused memory allocated before if there is any.
+    */
+    virtual void collectGarbage() {}
+
+protected:
+    FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
+
+    /** @brief This method must implement matching logic in order to make the wrappers
+    detail::FeaturesMatcher::operator()_ work.
+
+    @param features1 first image features
+    @param features2 second image features
+    @param matches_info found matches
+     */
+    virtual void match(const ImageFeatures &features1, const ImageFeatures &features2,
+                       MatchesInfo& matches_info) = 0;
+
+    bool is_thread_safe_;
+};
+
+/** @brief Features matcher which finds two best matches for each feature and leaves the best one only if the
+ratio between descriptor distances is greater than the threshold match_conf
+
+@sa detail::FeaturesMatcher
+ */
+class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher
+{
+public:
+    /** @brief Constructs a "best of 2 nearest" matcher.
+
+    @param try_use_gpu Should try to use GPU or not
+    @param match_conf Match distances ration threshold
+    @param num_matches_thresh1 Minimum number of matches required for the 2D projective transform
+    estimation used in the inliers classification step
+    @param num_matches_thresh2 Minimum number of matches required for the 2D projective transform
+    re-estimation on inliers
+     */
+    BestOf2NearestMatcher(bool try_use_gpu = false, float match_conf = 0.3f, int num_matches_thresh1 = 6,
+                          int num_matches_thresh2 = 6);
+
+    void collectGarbage();
+
+protected:
+    void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
+
+    int num_matches_thresh1_;
+    int num_matches_thresh2_;
+    Ptr<FeaturesMatcher> impl_;
+};
+
+class CV_EXPORTS BestOf2NearestRangeMatcher : public BestOf2NearestMatcher
+{
+public:
+    BestOf2NearestRangeMatcher(int range_width = 5, bool try_use_gpu = false, float match_conf = 0.3f,
+                            int num_matches_thresh1 = 6, int num_matches_thresh2 = 6);
+
+    void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                     const cv::UMat &mask = cv::UMat());
+
+
+protected:
+    int range_width_;
+};
+
+//! @} stitching_match
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_MATCHERS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/motion_estimators.hpp b/3rdparty/include/opencv2/stitching/detail/motion_estimators.hpp
new file mode 100644
index 0000000..2c86e63
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/motion_estimators.hpp
@@ -0,0 +1,274 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
+#define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
+
+#include "opencv2/core.hpp"
+#include "matchers.hpp"
+#include "util.hpp"
+#include "camera.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_rotation
+//! @{
+
+/** @brief Rotation estimator base class.
+
+It takes features of all images, pairwise matches between all images and estimates rotations of all
+cameras.
+
+@note The coordinate system origin is implementation-dependent, but you can always normalize the
+rotations in respect to the first camera, for instance. :
+ */
+class CV_EXPORTS Estimator
+{
+public:
+    virtual ~Estimator() {}
+
+    /** @brief Estimates camera parameters.
+
+    @param features Features of images
+    @param pairwise_matches Pairwise matches of images
+    @param cameras Estimated camera parameters
+    @return True in case of success, false otherwise
+     */
+    bool operator ()(const std::vector<ImageFeatures> &features,
+                     const std::vector<MatchesInfo> &pairwise_matches,
+                     std::vector<CameraParams> &cameras)
+        { return estimate(features, pairwise_matches, cameras); }
+
+protected:
+    /** @brief This method must implement camera parameters estimation logic in order to make the wrapper
+    detail::Estimator::operator()_ work.
+
+    @param features Features of images
+    @param pairwise_matches Pairwise matches of images
+    @param cameras Estimated camera parameters
+    @return True in case of success, false otherwise
+     */
+    virtual bool estimate(const std::vector<ImageFeatures> &features,
+                          const std::vector<MatchesInfo> &pairwise_matches,
+                          std::vector<CameraParams> &cameras) = 0;
+};
+
+/** @brief Homography based rotation estimator.
+ */
+class CV_EXPORTS HomographyBasedEstimator : public Estimator
+{
+public:
+    HomographyBasedEstimator(bool is_focals_estimated = false)
+        : is_focals_estimated_(is_focals_estimated) {}
+
+private:
+    virtual bool estimate(const std::vector<ImageFeatures> &features,
+                          const std::vector<MatchesInfo> &pairwise_matches,
+                          std::vector<CameraParams> &cameras);
+
+    bool is_focals_estimated_;
+};
+
+/** @brief Base class for all camera parameters refinement methods.
+ */
+class CV_EXPORTS BundleAdjusterBase : public Estimator
+{
+public:
+    const Mat refinementMask() const { return refinement_mask_.clone(); }
+    void setRefinementMask(const Mat &mask)
+    {
+        CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3));
+        refinement_mask_ = mask.clone();
+    }
+
+    double confThresh() const { return conf_thresh_; }
+    void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
+
+    TermCriteria termCriteria() { return term_criteria_; }
+    void setTermCriteria(const TermCriteria& term_criteria) { term_criteria_ = term_criteria; }
+
+protected:
+    /** @brief Construct a bundle adjuster base instance.
+
+    @param num_params_per_cam Number of parameters per camera
+    @param num_errs_per_measurement Number of error terms (components) per match
+     */
+    BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
+        : num_params_per_cam_(num_params_per_cam),
+          num_errs_per_measurement_(num_errs_per_measurement)
+    {
+        setRefinementMask(Mat::ones(3, 3, CV_8U));
+        setConfThresh(1.);
+        setTermCriteria(TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 1000, DBL_EPSILON));
+    }
+
+    // Runs bundle adjustment
+    virtual bool estimate(const std::vector<ImageFeatures> &features,
+                          const std::vector<MatchesInfo> &pairwise_matches,
+                          std::vector<CameraParams> &cameras);
+
+    /** @brief Sets initial camera parameter to refine.
+
+    @param cameras Camera parameters
+     */
+    virtual void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
+    /** @brief Gets the refined camera parameters.
+
+    @param cameras Refined camera parameters
+     */
+    virtual void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
+    /** @brief Calculates error vector.
+
+    @param err Error column-vector of length total_num_matches \* num_errs_per_measurement
+     */
+    virtual void calcError(Mat &err) = 0;
+    /** @brief Calculates the cost function jacobian.
+
+    @param jac Jacobian matrix of dimensions
+    (total_num_matches \* num_errs_per_measurement) x (num_images \* num_params_per_cam)
+     */
+    virtual void calcJacobian(Mat &jac) = 0;
+
+    // 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine
+    Mat refinement_mask_;
+
+    int num_images_;
+    int total_num_matches_;
+
+    int num_params_per_cam_;
+    int num_errs_per_measurement_;
+
+    const ImageFeatures *features_;
+    const MatchesInfo *pairwise_matches_;
+
+    // Threshold to filter out poorly matched image pairs
+    double conf_thresh_;
+
+    //Levenberg–Marquardt algorithm termination criteria
+    TermCriteria term_criteria_;
+
+    // Camera parameters matrix (CV_64F)
+    Mat cam_params_;
+
+    // Connected images pairs
+    std::vector<std::pair<int,int> > edges_;
+};
+
+
+/** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection
+error squares
+
+It can estimate focal length, aspect ratio, principal point.
+You can affect only on them via the refinement mask.
+ */
+class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
+{
+public:
+    BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
+
+private:
+    void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
+    void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
+    void calcError(Mat &err);
+    void calcJacobian(Mat &jac);
+
+    Mat err1_, err2_;
+};
+
+
+/** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the distances
+between the rays passing through the camera center and a feature. :
+
+It can estimate focal length. It ignores the refinement mask for now.
+ */
+class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase
+{
+public:
+    BundleAdjusterRay() : BundleAdjusterBase(4, 3) {}
+
+private:
+    void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
+    void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
+    void calcError(Mat &err);
+    void calcJacobian(Mat &jac);
+
+    Mat err1_, err2_;
+};
+
+
+enum WaveCorrectKind
+{
+    WAVE_CORRECT_HORIZ,
+    WAVE_CORRECT_VERT
+};
+
+/** @brief Tries to make panorama more horizontal (or vertical).
+
+@param rmats Camera rotation matrices.
+@param kind Correction kind, see detail::WaveCorrectKind.
+ */
+void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind);
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Auxiliary functions
+
+// Returns matches graph representation in DOT language
+String CV_EXPORTS matchesGraphAsString(std::vector<String> &pathes, std::vector<MatchesInfo> &pairwise_matches,
+                                            float conf_threshold);
+
+std::vector<int> CV_EXPORTS leaveBiggestComponent(
+        std::vector<ImageFeatures> &features,
+        std::vector<MatchesInfo> &pairwise_matches,
+        float conf_threshold);
+
+void CV_EXPORTS findMaxSpanningTree(
+        int num_images, const std::vector<MatchesInfo> &pairwise_matches,
+        Graph &span_tree, std::vector<int> &centers);
+
+//! @} stitching_rotation
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/seam_finders.hpp b/3rdparty/include/opencv2/stitching/detail/seam_finders.hpp
new file mode 100644
index 0000000..4ff22c4
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/seam_finders.hpp
@@ -0,0 +1,285 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_SEAM_FINDERS_HPP__
+#define __OPENCV_STITCHING_SEAM_FINDERS_HPP__
+
+#include <set>
+#include "opencv2/core.hpp"
+#include "opencv2/opencv_modules.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_seam
+//! @{
+
+/** @brief Base class for a seam estimator.
+ */
+class CV_EXPORTS SeamFinder
+{
+public:
+    virtual ~SeamFinder() {}
+    /** @brief Estimates seams.
+
+    @param src Source images
+    @param corners Source image top-left corners
+    @param masks Source image masks to update
+     */
+    virtual void find(const std::vector<UMat> &src, const std::vector<Point> &corners,
+                      std::vector<UMat> &masks) = 0;
+};
+
+/** @brief Stub seam estimator which does nothing.
+ */
+class CV_EXPORTS NoSeamFinder : public SeamFinder
+{
+public:
+    void find(const std::vector<UMat>&, const std::vector<Point>&, std::vector<UMat>&) {}
+};
+
+/** @brief Base class for all pairwise seam estimators.
+ */
+class CV_EXPORTS PairwiseSeamFinder : public SeamFinder
+{
+public:
+    virtual void find(const std::vector<UMat> &src, const std::vector<Point> &corners,
+                      std::vector<UMat> &masks);
+
+protected:
+    void run();
+    /** @brief Resolves masks intersection of two specified images in the given ROI.
+
+    @param first First image index
+    @param second Second image index
+    @param roi Region of interest
+     */
+    virtual void findInPair(size_t first, size_t second, Rect roi) = 0;
+
+    std::vector<UMat> images_;
+    std::vector<Size> sizes_;
+    std::vector<Point> corners_;
+    std::vector<UMat> masks_;
+};
+
+/** @brief Voronoi diagram-based seam estimator.
+ */
+class CV_EXPORTS VoronoiSeamFinder : public PairwiseSeamFinder
+{
+public:
+    virtual void find(const std::vector<UMat> &src, const std::vector<Point> &corners,
+                      std::vector<UMat> &masks);
+    virtual void find(const std::vector<Size> &size, const std::vector<Point> &corners,
+                      std::vector<UMat> &masks);
+private:
+    void findInPair(size_t first, size_t second, Rect roi);
+};
+
+
+class CV_EXPORTS DpSeamFinder : public SeamFinder
+{
+public:
+    enum CostFunction { COLOR, COLOR_GRAD };
+
+    DpSeamFinder(CostFunction costFunc = COLOR);
+
+    CostFunction costFunction() const { return costFunc_; }
+    void setCostFunction(CostFunction val) { costFunc_ = val; }
+
+    virtual void find(const std::vector<UMat> &src, const std::vector<Point> &corners,
+                      std::vector<UMat> &masks);
+
+private:
+    enum ComponentState
+    {
+        FIRST = 1, SECOND = 2, INTERS = 4,
+        INTERS_FIRST = INTERS | FIRST,
+        INTERS_SECOND = INTERS | SECOND
+    };
+
+    class ImagePairLess
+    {
+    public:
+        ImagePairLess(const std::vector<Mat> &images, const std::vector<Point> &corners)
+            : src_(&images[0]), corners_(&corners[0]) {}
+
+        bool operator() (const std::pair<size_t, size_t> &l, const std::pair<size_t, size_t> &r) const
+        {
+            Point c1 = corners_[l.first] + Point(src_[l.first].cols / 2, src_[l.first].rows / 2);
+            Point c2 = corners_[l.second] + Point(src_[l.second].cols / 2, src_[l.second].rows / 2);
+            int d1 = (c1 - c2).dot(c1 - c2);
+
+            c1 = corners_[r.first] + Point(src_[r.first].cols / 2, src_[r.first].rows / 2);
+            c2 = corners_[r.second] + Point(src_[r.second].cols / 2, src_[r.second].rows / 2);
+            int d2 = (c1 - c2).dot(c1 - c2);
+
+            return d1 < d2;
+        }
+
+    private:
+        const Mat *src_;
+        const Point *corners_;
+    };
+
+    class ClosePoints
+    {
+    public:
+        ClosePoints(int minDist) : minDist_(minDist) {}
+
+        bool operator() (const Point &p1, const Point &p2) const
+        {
+            int dist2 = (p1.x-p2.x) * (p1.x-p2.x) + (p1.y-p2.y) * (p1.y-p2.y);
+            return dist2 < minDist_ * minDist_;
+        }
+
+    private:
+        int minDist_;
+    };
+
+    void process(
+            const Mat &image1, const Mat &image2, Point tl1, Point tl2,  Mat &mask1, Mat &mask2);
+
+    void findComponents();
+
+    void findEdges();
+
+    void resolveConflicts(
+            const Mat &image1, const Mat &image2, Point tl1, Point tl2, Mat &mask1, Mat &mask2);
+
+    void computeGradients(const Mat &image1, const Mat &image2);
+
+    bool hasOnlyOneNeighbor(int comp);
+
+    bool closeToContour(int y, int x, const Mat_<uchar> &contourMask);
+
+    bool getSeamTips(int comp1, int comp2, Point &p1, Point &p2);
+
+    void computeCosts(
+            const Mat &image1, const Mat &image2, Point tl1, Point tl2,
+            int comp, Mat_<float> &costV, Mat_<float> &costH);
+
+    bool estimateSeam(
+            const Mat &image1, const Mat &image2, Point tl1, Point tl2, int comp,
+            Point p1, Point p2, std::vector<Point> &seam, bool &isHorizontal);
+
+    void updateLabelsUsingSeam(
+            int comp1, int comp2, const std::vector<Point> &seam, bool isHorizontalSeam);
+
+    CostFunction costFunc_;
+
+    // processing images pair data
+    Point unionTl_, unionBr_;
+    Size unionSize_;
+    Mat_<uchar> mask1_, mask2_;
+    Mat_<uchar> contour1mask_, contour2mask_;
+    Mat_<float> gradx1_, grady1_;
+    Mat_<float> gradx2_, grady2_;
+
+    // components data
+    int ncomps_;
+    Mat_<int> labels_;
+    std::vector<ComponentState> states_;
+    std::vector<Point> tls_, brs_;
+    std::vector<std::vector<Point> > contours_;
+    std::set<std::pair<int, int> > edges_;
+};
+
+/** @brief Base class for all minimum graph-cut-based seam estimators.
+ */
+class CV_EXPORTS GraphCutSeamFinderBase
+{
+public:
+    enum CostType { COST_COLOR, COST_COLOR_GRAD };
+};
+
+/** @brief Minimum graph cut-based seam estimator. See details in @cite V03 .
+ */
+class CV_EXPORTS GraphCutSeamFinder : public GraphCutSeamFinderBase, public SeamFinder
+{
+public:
+    GraphCutSeamFinder(int cost_type = COST_COLOR_GRAD, float terminal_cost = 10000.f,
+                       float bad_region_penalty = 1000.f);
+
+    ~GraphCutSeamFinder();
+
+    void find(const std::vector<UMat> &src, const std::vector<Point> &corners,
+              std::vector<UMat> &masks);
+
+private:
+    // To avoid GCGraph dependency
+    class Impl;
+    Ptr<PairwiseSeamFinder> impl_;
+};
+
+
+#ifdef HAVE_OPENCV_CUDALEGACY
+class CV_EXPORTS GraphCutSeamFinderGpu : public GraphCutSeamFinderBase, public PairwiseSeamFinder
+{
+public:
+    GraphCutSeamFinderGpu(int cost_type = COST_COLOR_GRAD, float terminal_cost = 10000.f,
+                          float bad_region_penalty = 1000.f)
+                          : cost_type_(cost_type), terminal_cost_(terminal_cost),
+                            bad_region_penalty_(bad_region_penalty) {}
+
+    void find(const std::vector<cv::UMat> &src, const std::vector<cv::Point> &corners,
+              std::vector<cv::UMat> &masks);
+    void findInPair(size_t first, size_t second, Rect roi);
+
+private:
+    void setGraphWeightsColor(const cv::Mat &img1, const cv::Mat &img2, const cv::Mat &mask1, const cv::Mat &mask2,
+                              cv::Mat &terminals, cv::Mat &leftT, cv::Mat &rightT, cv::Mat &top, cv::Mat &bottom);
+    void setGraphWeightsColorGrad(const cv::Mat &img1, const cv::Mat &img2, const cv::Mat &dx1, const cv::Mat &dx2,
+                                  const cv::Mat &dy1, const cv::Mat &dy2, const cv::Mat &mask1, const cv::Mat &mask2,
+                                  cv::Mat &terminals, cv::Mat &leftT, cv::Mat &rightT, cv::Mat &top, cv::Mat &bottom);
+    std::vector<Mat> dx_, dy_;
+    int cost_type_;
+    float terminal_cost_;
+    float bad_region_penalty_;
+};
+#endif
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_SEAM_FINDERS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/timelapsers.hpp b/3rdparty/include/opencv2/stitching/detail/timelapsers.hpp
new file mode 100644
index 0000000..d64c03c
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/timelapsers.hpp
@@ -0,0 +1,91 @@
+/*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*/
+
+
+#ifndef __OPENCV_STITCHING_TIMELAPSERS_HPP__
+#define __OPENCV_STITCHING_TIMELAPSERS_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching
+//! @{
+
+//  Base Timelapser class, takes a sequence of images, applies appropriate shift, stores result in dst_.
+
+class CV_EXPORTS Timelapser
+{
+public:
+
+    enum {AS_IS, CROP};
+
+    virtual ~Timelapser() {}
+
+    static Ptr<Timelapser> createDefault(int type);
+
+    virtual void initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+    virtual void process(InputArray img, InputArray mask, Point tl);
+    virtual const UMat& getDst() {return dst_;}
+
+protected:
+
+    virtual bool test_point(Point pt);
+
+    UMat dst_;
+    Rect dst_roi_;
+};
+
+
+class CV_EXPORTS TimelapserCrop : public Timelapser
+{
+public:
+    virtual void initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+};
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_TIMELAPSERS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/util.hpp b/3rdparty/include/opencv2/stitching/detail/util.hpp
new file mode 100644
index 0000000..3845ba5
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/util.hpp
@@ -0,0 +1,171 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_UTIL_HPP__
+#define __OPENCV_STITCHING_UTIL_HPP__
+
+#include <list>
+#include "opencv2/core.hpp"
+
+#ifndef ENABLE_LOG
+#define ENABLE_LOG 0
+#endif
+
+// TODO remove LOG macros, add logging class
+#if ENABLE_LOG
+#ifdef ANDROID
+  #include <iostream>
+  #include <sstream>
+  #include <android/log.h>
+  #define LOG_STITCHING_MSG(msg) \
+    do { \
+        Stringstream _os; \
+        _os << msg; \
+       __android_log_print(ANDROID_LOG_DEBUG, "STITCHING", "%s", _os.str().c_str()); \
+    } while(0);
+#else
+  #include <iostream>
+  #define LOG_STITCHING_MSG(msg) for(;;) { std::cout << msg; std::cout.flush(); break; }
+#endif
+#else
+  #define LOG_STITCHING_MSG(msg)
+#endif
+
+#define LOG_(_level, _msg)                     \
+    for(;;)                                    \
+    {                                          \
+        using namespace std;                   \
+        if ((_level) >= ::cv::detail::stitchingLogLevel()) \
+        {                                      \
+            LOG_STITCHING_MSG(_msg);           \
+        }                                      \
+    break;                                 \
+    }
+
+
+#define LOG(msg) LOG_(1, msg)
+#define LOG_CHAT(msg) LOG_(0, msg)
+
+#define LOGLN(msg) LOG(msg << std::endl)
+#define LOGLN_CHAT(msg) LOG_CHAT(msg << std::endl)
+
+//#if DEBUG_LOG_CHAT
+//  #define LOG_CHAT(msg) LOG(msg)
+//  #define LOGLN_CHAT(msg) LOGLN(msg)
+//#else
+//  #define LOG_CHAT(msg) do{}while(0)
+//  #define LOGLN_CHAT(msg) do{}while(0)
+//#endif
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching
+//! @{
+
+class CV_EXPORTS DisjointSets
+{
+public:
+    DisjointSets(int elem_count = 0) { createOneElemSets(elem_count); }
+
+    void createOneElemSets(int elem_count);
+    int findSetByElem(int elem);
+    int mergeSets(int set1, int set2);
+
+    std::vector<int> parent;
+    std::vector<int> size;
+
+private:
+    std::vector<int> rank_;
+};
+
+
+struct CV_EXPORTS GraphEdge
+{
+    GraphEdge(int from, int to, float weight);
+    bool operator <(const GraphEdge& other) const { return weight < other.weight; }
+    bool operator >(const GraphEdge& other) const { return weight > other.weight; }
+
+    int from, to;
+    float weight;
+};
+
+inline GraphEdge::GraphEdge(int _from, int _to, float _weight) : from(_from), to(_to), weight(_weight) {}
+
+
+class CV_EXPORTS Graph
+{
+public:
+    Graph(int num_vertices = 0) { create(num_vertices); }
+    void create(int num_vertices) { edges_.assign(num_vertices, std::list<GraphEdge>()); }
+    int numVertices() const { return static_cast<int>(edges_.size()); }
+    void addEdge(int from, int to, float weight);
+    template <typename B> B forEach(B body) const;
+    template <typename B> B walkBreadthFirst(int from, B body) const;
+
+private:
+    std::vector< std::list<GraphEdge> > edges_;
+};
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Auxiliary functions
+
+CV_EXPORTS bool overlapRoi(Point tl1, Point tl2, Size sz1, Size sz2, Rect &roi);
+CV_EXPORTS Rect resultRoi(const std::vector<Point> &corners, const std::vector<UMat> &images);
+CV_EXPORTS Rect resultRoi(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+CV_EXPORTS Rect resultRoiIntersection(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+CV_EXPORTS Point resultTl(const std::vector<Point> &corners);
+
+// Returns random 'count' element subset of the {0,1,...,size-1} set
+CV_EXPORTS void selectRandomSubset(int count, int size, std::vector<int> &subset);
+
+CV_EXPORTS int& stitchingLogLevel();
+
+//! @}
+
+} // namespace detail
+} // namespace cv
+
+#include "util_inl.hpp"
+
+#endif // __OPENCV_STITCHING_UTIL_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/util_inl.hpp b/3rdparty/include/opencv2/stitching/detail/util_inl.hpp
new file mode 100644
index 0000000..6ac6f8e
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/util_inl.hpp
@@ -0,0 +1,131 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_UTIL_INL_HPP__
+#define __OPENCV_STITCHING_UTIL_INL_HPP__
+
+#include <queue>
+#include "opencv2/core.hpp"
+#include "util.hpp" // Make your IDE see declarations
+
+//! @cond IGNORED
+
+namespace cv {
+namespace detail {
+
+template <typename B>
+B Graph::forEach(B body) const
+{
+    for (int i = 0; i < numVertices(); ++i)
+    {
+        std::list<GraphEdge>::const_iterator edge = edges_[i].begin();
+        for (; edge != edges_[i].end(); ++edge)
+            body(*edge);
+    }
+    return body;
+}
+
+
+template <typename B>
+B Graph::walkBreadthFirst(int from, B body) const
+{
+    std::vector<bool> was(numVertices(), false);
+    std::queue<int> vertices;
+
+    was[from] = true;
+    vertices.push(from);
+
+    while (!vertices.empty())
+    {
+        int vertex = vertices.front();
+        vertices.pop();
+
+        std::list<GraphEdge>::const_iterator edge = edges_[vertex].begin();
+        for (; edge != edges_[vertex].end(); ++edge)
+        {
+            if (!was[edge->to])
+            {
+                body(*edge);
+                was[edge->to] = true;
+                vertices.push(edge->to);
+            }
+        }
+    }
+
+    return body;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Some auxiliary math functions
+
+static inline
+float normL2(const Point3f& a)
+{
+    return a.x * a.x + a.y * a.y + a.z * a.z;
+}
+
+
+static inline
+float normL2(const Point3f& a, const Point3f& b)
+{
+    return normL2(a - b);
+}
+
+
+static inline
+double normL2sq(const Mat &r)
+{
+    return r.dot(r);
+}
+
+
+static inline int sqr(int x) { return x * x; }
+static inline float sqr(float x) { return x * x; }
+static inline double sqr(double x) { return x * x; }
+
+} // namespace detail
+} // namespace cv
+
+//! @endcond
+
+#endif // __OPENCV_STITCHING_UTIL_INL_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/warpers.hpp b/3rdparty/include/opencv2/stitching/detail/warpers.hpp
new file mode 100644
index 0000000..ee8e824
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/warpers.hpp
@@ -0,0 +1,586 @@
+ /*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*/
+
+#ifndef __OPENCV_STITCHING_WARPERS_HPP__
+#define __OPENCV_STITCHING_WARPERS_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/core/cuda.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/opencv_modules.hpp"
+
+namespace cv {
+namespace detail {
+
+//! @addtogroup stitching_warp
+//! @{
+
+/** @brief Rotation-only model image warper interface.
+ */
+class CV_EXPORTS RotationWarper
+{
+public:
+    virtual ~RotationWarper() {}
+
+    /** @brief Projects the image point.
+
+    @param pt Source point
+    @param K Camera intrinsic parameters
+    @param R Camera rotation matrix
+    @return Projected point
+     */
+    virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
+
+    /** @brief Builds the projection maps according to the given camera data.
+
+    @param src_size Source image size
+    @param K Camera intrinsic parameters
+    @param R Camera rotation matrix
+    @param xmap Projection map for the x axis
+    @param ymap Projection map for the y axis
+    @return Projected image minimum bounding box
+     */
+    virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
+
+    /** @brief Projects the image.
+
+    @param src Source image
+    @param K Camera intrinsic parameters
+    @param R Camera rotation matrix
+    @param interp_mode Interpolation mode
+    @param border_mode Border extrapolation mode
+    @param dst Projected image
+    @return Project image top-left corner
+     */
+    virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                       OutputArray dst) = 0;
+
+    /** @brief Projects the image backward.
+
+    @param src Projected image
+    @param K Camera intrinsic parameters
+    @param R Camera rotation matrix
+    @param interp_mode Interpolation mode
+    @param border_mode Border extrapolation mode
+    @param dst_size Backward-projected image size
+    @param dst Backward-projected image
+     */
+    virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                              Size dst_size, OutputArray dst) = 0;
+
+    /**
+    @param src_size Source image bounding box
+    @param K Camera intrinsic parameters
+    @param R Camera rotation matrix
+    @return Projected image minimum bounding box
+     */
+    virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
+
+    virtual float getScale() const { return 1.f; }
+    virtual void setScale(float) {}
+};
+
+/** @brief Base class for warping logic implementation.
+ */
+struct CV_EXPORTS ProjectorBase
+{
+    void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
+                         InputArray R = Mat::eye(3, 3, CV_32F),
+                         InputArray T = Mat::zeros(3, 1, CV_32F));
+
+    float scale;
+    float k[9];
+    float rinv[9];
+    float r_kinv[9];
+    float k_rinv[9];
+    float t[3];
+};
+
+/** @brief Base class for rotation-based warper using a detail::ProjectorBase_ derived class.
+ */
+template <class P>
+class CV_EXPORTS RotationWarperBase : public RotationWarper
+{
+public:
+    Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
+
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               OutputArray dst);
+
+    void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                      Size dst_size, OutputArray dst);
+
+    Rect warpRoi(Size src_size, InputArray K, InputArray R);
+
+    float getScale() const { return projector_.scale; }
+    void setScale(float val) { projector_.scale = val; }
+
+protected:
+
+    // Detects ROI of the destination image. It's correct for any projection.
+    virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+
+    // Detects ROI of the destination image by walking over image border.
+    // Correctness for any projection isn't guaranteed.
+    void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
+
+    P projector_;
+};
+
+
+struct CV_EXPORTS PlaneProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+/** @brief Warper that maps an image onto the z = 1 plane.
+ */
+class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
+{
+public:
+    /** @brief Construct an instance of the plane warper class.
+
+    @param scale Projected image scale multiplier
+     */
+    PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
+
+    Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
+    Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
+
+    virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
+
+    Point warp(InputArray src, InputArray K, InputArray R,
+               int interp_mode, int border_mode, OutputArray dst);
+    virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+               OutputArray dst);
+
+    Rect warpRoi(Size src_size, InputArray K, InputArray R);
+    Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+};
+
+
+struct CV_EXPORTS SphericalProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+/** @brief Warper that maps an image onto the unit sphere located at the origin.
+
+ Projects image onto unit sphere with origin at (0, 0, 0).
+ Poles are located at (0, -1, 0) and (0, 1, 0) points.
+*/
+class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
+{
+public:
+    /** @brief Construct an instance of the spherical warper class.
+
+    @param scale Projected image scale multiplier
+     */
+    SphericalWarper(float scale) { projector_.scale = scale; }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+};
+
+
+struct CV_EXPORTS CylindricalProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+/** @brief Warper that maps an image onto the x\*x + z\*z = 1 cylinder.
+ */
+class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
+{
+public:
+    /** @brief Construct an instance of the cylindrical warper class.
+
+    @param scale Projected image scale multiplier
+     */
+    CylindricalWarper(float scale) { projector_.scale = scale; }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+    {
+        RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
+    }
+};
+
+
+struct CV_EXPORTS FisheyeProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS FisheyeWarper : public RotationWarperBase<FisheyeProjector>
+{
+public:
+    FisheyeWarper(float scale) { projector_.scale = scale; }
+};
+
+
+struct CV_EXPORTS StereographicProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS StereographicWarper : public RotationWarperBase<StereographicProjector>
+{
+public:
+    StereographicWarper(float scale) { projector_.scale = scale; }
+};
+
+
+struct CV_EXPORTS CompressedRectilinearProjector : ProjectorBase
+{
+    float a, b;
+
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS CompressedRectilinearWarper : public RotationWarperBase<CompressedRectilinearProjector>
+{
+public:
+    CompressedRectilinearWarper(float scale, float A = 1, float B = 1)
+    {
+        projector_.a = A;
+        projector_.b = B;
+        projector_.scale = scale;
+    }
+};
+
+
+struct CV_EXPORTS CompressedRectilinearPortraitProjector : ProjectorBase
+{
+    float a, b;
+
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS CompressedRectilinearPortraitWarper : public RotationWarperBase<CompressedRectilinearPortraitProjector>
+{
+public:
+   CompressedRectilinearPortraitWarper(float scale, float A = 1, float B = 1)
+   {
+       projector_.a = A;
+       projector_.b = B;
+       projector_.scale = scale;
+   }
+};
+
+
+struct CV_EXPORTS PaniniProjector : ProjectorBase
+{
+    float a, b;
+
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS PaniniWarper : public RotationWarperBase<PaniniProjector>
+{
+public:
+   PaniniWarper(float scale, float A = 1, float B = 1)
+   {
+       projector_.a = A;
+       projector_.b = B;
+       projector_.scale = scale;
+   }
+};
+
+
+struct CV_EXPORTS PaniniPortraitProjector : ProjectorBase
+{
+    float a, b;
+
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS PaniniPortraitWarper : public RotationWarperBase<PaniniPortraitProjector>
+{
+public:
+   PaniniPortraitWarper(float scale, float A = 1, float B = 1)
+   {
+       projector_.a = A;
+       projector_.b = B;
+       projector_.scale = scale;
+   }
+
+};
+
+
+struct CV_EXPORTS MercatorProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS MercatorWarper : public RotationWarperBase<MercatorProjector>
+{
+public:
+    MercatorWarper(float scale) { projector_.scale = scale; }
+};
+
+
+struct CV_EXPORTS TransverseMercatorProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS TransverseMercatorWarper : public RotationWarperBase<TransverseMercatorProjector>
+{
+public:
+    TransverseMercatorWarper(float scale) { projector_.scale = scale; }
+};
+
+
+class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
+{
+public:
+    PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
+    {
+        Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
+        d_xmap_.download(xmap);
+        d_ymap_.download(ymap);
+        return result;
+    }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap)
+    {
+        Rect result = buildMaps(src_size, K, R, T, d_xmap_, d_ymap_);
+        d_xmap_.download(xmap);
+        d_ymap_.download(ymap);
+        return result;
+    }
+
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               OutputArray dst)
+    {
+        d_src_.upload(src);
+        Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
+        d_dst_.download(dst);
+        return result;
+    }
+
+    Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+               OutputArray dst)
+    {
+        d_src_.upload(src);
+        Point result = warp(d_src_, K, R, T, interp_mode, border_mode, d_dst_);
+        d_dst_.download(dst);
+        return result;
+    }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
+
+    Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               cuda::GpuMat & dst);
+
+    Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+               cuda::GpuMat & dst);
+
+private:
+    cuda::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
+};
+
+
+class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
+{
+public:
+    SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
+    {
+        Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
+        d_xmap_.download(xmap);
+        d_ymap_.download(ymap);
+        return result;
+    }
+
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               OutputArray dst)
+    {
+        d_src_.upload(src);
+        Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
+        d_dst_.download(dst);
+        return result;
+    }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
+
+    Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               cuda::GpuMat & dst);
+
+private:
+    cuda::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
+};
+
+
+class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
+{
+public:
+    CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
+    {
+        Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
+        d_xmap_.download(xmap);
+        d_ymap_.download(ymap);
+        return result;
+    }
+
+    Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               OutputArray dst)
+    {
+        d_src_.upload(src);
+        Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
+        d_dst_.download(dst);
+        return result;
+    }
+
+    Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
+
+    Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+               cuda::GpuMat & dst);
+
+private:
+    cuda::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
+};
+
+
+struct SphericalPortraitProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+// Projects image onto unit sphere with origin at (0, 0, 0).
+// Poles are located NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.
+class CV_EXPORTS SphericalPortraitWarper : public RotationWarperBase<SphericalPortraitProjector>
+{
+public:
+    SphericalPortraitWarper(float scale) { projector_.scale = scale; }
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+};
+
+struct CylindricalPortraitProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS CylindricalPortraitWarper : public RotationWarperBase<CylindricalPortraitProjector>
+{
+public:
+    CylindricalPortraitWarper(float scale) { projector_.scale = scale; }
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+    {
+        RotationWarperBase<CylindricalPortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
+    }
+};
+
+struct PlanePortraitProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CV_EXPORTS PlanePortraitWarper : public RotationWarperBase<PlanePortraitProjector>
+{
+public:
+    PlanePortraitWarper(float scale) { projector_.scale = scale; }
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+    {
+        RotationWarperBase<PlanePortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
+    }
+};
+
+//! @} stitching_warp
+
+} // namespace detail
+} // namespace cv
+
+#include "warpers_inl.hpp"
+
+#endif // __OPENCV_STITCHING_WARPERS_HPP__
diff --git a/3rdparty/include/opencv2/stitching/detail/warpers_inl.hpp b/3rdparty/include/opencv2/stitching/detail/warpers_inl.hpp
new file mode 100644
index 0000000..0416ecb
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/detail/warpers_inl.hpp
@@ -0,0 +1,774 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_WARPERS_INL_HPP__
+#define __OPENCV_STITCHING_WARPERS_INL_HPP__
+
+#include "opencv2/core.hpp"
+#include "warpers.hpp" // Make your IDE see declarations
+#include <limits>
+
+//! @cond IGNORED
+
+namespace cv {
+namespace detail {
+
+template <class P>
+Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputArray R)
+{
+    projector_.setCameraParams(K, R);
+    Point2f uv;
+    projector_.mapForward(pt.x, pt.y, uv.x, uv.y);
+    return uv;
+}
+
+
+template <class P>
+Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
+{
+    projector_.setCameraParams(K, R);
+
+    Point dst_tl, dst_br;
+    detectResultRoi(src_size, dst_tl, dst_br);
+
+    _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+    _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+
+    Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
+
+    float x, y;
+    for (int v = dst_tl.y; v <= dst_br.y; ++v)
+    {
+        for (int u = dst_tl.x; u <= dst_br.x; ++u)
+        {
+            projector_.mapBackward(static_cast<float>(u), static_cast<float>(v), x, y);
+            xmap.at<float>(v - dst_tl.y, u - dst_tl.x) = x;
+            ymap.at<float>(v - dst_tl.y, u - dst_tl.x) = y;
+        }
+    }
+
+    return Rect(dst_tl, dst_br);
+}
+
+
+template <class P>
+Point RotationWarperBase<P>::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                  OutputArray dst)
+{
+    UMat xmap, ymap;
+    Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
+
+    dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
+    remap(src, dst, xmap, ymap, interp_mode, border_mode);
+
+    return dst_roi.tl();
+}
+
+
+template <class P>
+void RotationWarperBase<P>::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                         Size dst_size, OutputArray dst)
+{
+    projector_.setCameraParams(K, R);
+
+    Point src_tl, src_br;
+    detectResultRoi(dst_size, src_tl, src_br);
+
+    Size size = src.size();
+    CV_Assert(src_br.x - src_tl.x + 1 == size.width && src_br.y - src_tl.y + 1 == size.height);
+
+    Mat xmap(dst_size, CV_32F);
+    Mat ymap(dst_size, CV_32F);
+
+    float u, v;
+    for (int y = 0; y < dst_size.height; ++y)
+    {
+        for (int x = 0; x < dst_size.width; ++x)
+        {
+            projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
+            xmap.at<float>(y, x) = u - src_tl.x;
+            ymap.at<float>(y, x) = v - src_tl.y;
+        }
+    }
+
+    dst.create(dst_size, src.type());
+    remap(src, dst, xmap, ymap, interp_mode, border_mode);
+}
+
+
+template <class P>
+Rect RotationWarperBase<P>::warpRoi(Size src_size, InputArray K, InputArray R)
+{
+    projector_.setCameraParams(K, R);
+
+    Point dst_tl, dst_br;
+    detectResultRoi(src_size, dst_tl, dst_br);
+
+    return Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1));
+}
+
+
+template <class P>
+void RotationWarperBase<P>::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+{
+    float tl_uf = std::numeric_limits<float>::max();
+    float tl_vf = std::numeric_limits<float>::max();
+    float br_uf = -std::numeric_limits<float>::max();
+    float br_vf = -std::numeric_limits<float>::max();
+
+    float u, v;
+    for (int y = 0; y < src_size.height; ++y)
+    {
+        for (int x = 0; x < src_size.width; ++x)
+        {
+            projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
+            tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
+            br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
+        }
+    }
+
+    dst_tl.x = static_cast<int>(tl_uf);
+    dst_tl.y = static_cast<int>(tl_vf);
+    dst_br.x = static_cast<int>(br_uf);
+    dst_br.y = static_cast<int>(br_vf);
+}
+
+
+template <class P>
+void RotationWarperBase<P>::detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br)
+{
+    float tl_uf = std::numeric_limits<float>::max();
+    float tl_vf = std::numeric_limits<float>::max();
+    float br_uf = -std::numeric_limits<float>::max();
+    float br_vf = -std::numeric_limits<float>::max();
+
+    float u, v;
+    for (float x = 0; x < src_size.width; ++x)
+    {
+        projector_.mapForward(static_cast<float>(x), 0, u, v);
+        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
+        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
+
+        projector_.mapForward(static_cast<float>(x), static_cast<float>(src_size.height - 1), u, v);
+        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
+        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
+    }
+    for (int y = 0; y < src_size.height; ++y)
+    {
+        projector_.mapForward(0, static_cast<float>(y), u, v);
+        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
+        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
+
+        projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(y), u, v);
+        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
+        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
+    }
+
+    dst_tl.x = static_cast<int>(tl_uf);
+    dst_tl.y = static_cast<int>(tl_vf);
+    dst_br.x = static_cast<int>(br_uf);
+    dst_br.y = static_cast<int>(br_vf);
+}
+
+
+inline
+void PlaneProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    x_ = t[0] + x_ / z_ * (1 - t[2]);
+    y_ = t[1] + y_ / z_ * (1 - t[2]);
+
+    u = scale * x_;
+    v = scale * y_;
+}
+
+
+inline
+void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u = u / scale - t[0];
+    v = v / scale - t[1];
+
+    float z;
+    x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2] * (1 - t[2]);
+    y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5] * (1 - t[2]);
+    z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8] * (1 - t[2]);
+
+    x /= z;
+    y /= z;
+}
+
+
+inline
+void SphericalProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    u = scale * atan2f(x_, z_);
+    float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);
+    v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));
+}
+
+
+inline
+void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float sinv = sinf(static_cast<float>(CV_PI) - v);
+    float x_ = sinv * sinf(u);
+    float y_ = cosf(static_cast<float>(CV_PI) - v);
+    float z_ = sinv * cosf(u);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+
+inline
+void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    u = scale * atan2f(x_, z_);
+    v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
+}
+
+
+inline
+void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float x_ = sinf(u);
+    float y_ = v;
+    float z_ = cosf(u);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void FisheyeProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    u = scale * v_ * cosf(u_);
+    v = scale * v_ * sinf(u_);
+}
+
+inline
+void FisheyeProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float u_ = atan2f(v, u);
+    float v_ = sqrtf(u*u + v*v);
+
+    float sinv = sinf((float)CV_PI - v_);
+    float x_ = sinv * sinf(u_);
+    float y_ = cosf((float)CV_PI - v_);
+    float z_ = sinv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void StereographicProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    float r = sinf(v_) / (1 - cosf(v_));
+
+    u = scale * r * cos(u_);
+    v = scale * r * sin(u_);
+}
+
+inline
+void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float u_ = atan2f(v, u);
+    float r = sqrtf(u*u + v*v);
+    float v_ = 2 * atanf(1.f / r);
+
+    float sinv = sinf((float)CV_PI - v_);
+    float x_ = sinv * sinf(u_);
+    float y_ = cosf((float)CV_PI - v_);
+    float z_ = sinv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    u = scale * a * tanf(u_ / a);
+    v = scale * b * tanf(v_) / cosf(u_);
+}
+
+inline
+void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float aatg = a * atanf(u / a);
+    float u_ = aatg;
+    float v_ = atanf(v * cosf(aatg) / b);
+
+    float cosv = cosf(v_);
+    float x_ = cosv * sinf(u_);
+    float y_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    u = - scale * a * tanf(u_ / a);
+    v = scale * b * tanf(v_) / cosf(u_);
+}
+
+inline
+void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= - scale;
+    v /= scale;
+
+    float aatg = a * atanf(u / a);
+    float u_ = aatg;
+    float v_ = atanf(v * cosf( aatg ) / b);
+
+    float cosv = cosf(v_);
+    float y_ = cosv * sinf(u_);
+    float x_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void PaniniProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    float tg = a * tanf(u_ / a);
+    u = scale * tg;
+
+    float sinu = sinf(u_);
+    if ( fabs(sinu) < 1E-7 )
+        v = scale * b * tanf(v_);
+    else
+        v = scale * b * tg * tanf(v_) / sinu;
+}
+
+inline
+void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float lamda = a * atanf(u / a);
+    float u_ = lamda;
+
+    float v_;
+    if ( fabs(lamda) > 1E-7)
+        v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));
+    else
+        v_ = atanf(v / b);
+
+    float cosv = cosf(v_);
+    float x_ = cosv * sinf(u_);
+    float y_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    float tg = a * tanf(u_ / a);
+    u = - scale * tg;
+
+    float sinu = sinf( u_ );
+    if ( fabs(sinu) < 1E-7 )
+        v = scale * b * tanf(v_);
+    else
+        v = scale * b * tg * tanf(v_) / sinu;
+}
+
+inline
+void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= - scale;
+    v /= scale;
+
+    float lamda = a * atanf(u / a);
+    float u_ = lamda;
+
+    float v_;
+    if ( fabs(lamda) > 1E-7)
+        v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));
+    else
+        v_ = atanf(v / b);
+
+    float cosv = cosf(v_);
+    float y_ = cosv * sinf(u_);
+    float x_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void MercatorProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    u = scale * u_;
+    v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );
+}
+
+inline
+void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float v_ = atanf( sinhf(v) );
+    float u_ = u;
+
+    float cosv = cosf(v_);
+    float x_ = cosv * sinf(u_);
+    float y_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)
+{
+    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float u_ = atan2f(x_, z_);
+    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
+
+    float B = cosf(v_) * sinf(u_);
+
+    u = scale / 2 * logf( (1+B) / (1-B) );
+    v = scale * atan2f(tanf(v_), cosf(u_));
+}
+
+inline
+void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float &y)
+{
+    u /= scale;
+    v /= scale;
+
+    float v_ = asinf( sinf(v) / coshf(u) );
+    float u_ = atan2f( sinhf(u), cos(v) );
+
+    float cosv = cosf(v_);
+    float x_ = cosv * sinf(u_);
+    float y_ = sinf(v_);
+    float z_ = cosv * cosf(u_);
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
+{
+    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float x_ = y0_;
+    float y_ = x0_;
+    float u, v;
+
+    u = scale * atan2f(x_, z_);
+    v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
+
+    u0 = -u;//v;
+    v0 = v;//u;
+}
+
+
+inline
+void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
+{
+    float u, v;
+    u = -u0;//v0;
+    v = v0;//u0;
+
+    u /= scale;
+    v /= scale;
+
+    float sinv = sinf(static_cast<float>(CV_PI) - v);
+    float x0_ = sinv * sinf(u);
+    float y0_ = cosf(static_cast<float>(CV_PI) - v);
+    float z_ = sinv * cosf(u);
+
+    float x_ = y0_;
+    float y_ = x0_;
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
+{
+    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_  = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float x_ = y0_;
+    float y_ = x0_;
+    float u, v;
+
+    u = scale * atan2f(x_, z_);
+    v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
+
+    u0 = -u;//v;
+    v0 = v;//u;
+}
+
+
+inline
+void CylindricalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
+{
+    float u, v;
+    u = -u0;//v0;
+    v = v0;//u0;
+
+    u /= scale;
+    v /= scale;
+
+    float x0_ = sinf(u);
+    float y0_ = v;
+    float z_  = cosf(u);
+
+    float x_ = y0_;
+    float y_ = x0_;
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+void PlanePortraitProjector::mapForward(float x, float y, float &u0, float &v0)
+{
+    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
+    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
+    float z_  = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
+
+    float x_ = y0_;
+    float y_ = x0_;
+
+    x_ = t[0] + x_ / z_ * (1 - t[2]);
+    y_ = t[1] + y_ / z_ * (1 - t[2]);
+
+    float u,v;
+    u = scale * x_;
+    v = scale * y_;
+
+    u0 = -u;
+    v0 = v;
+}
+
+
+inline
+void PlanePortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
+{
+    float u, v;
+    u = -u0;
+    v = v0;
+
+    u = u / scale - t[0];
+    v = v / scale - t[1];
+
+    float z;
+    x = k_rinv[0] * v + k_rinv[1] * u + k_rinv[2] * (1 - t[2]);
+    y = k_rinv[3] * v + k_rinv[4] * u + k_rinv[5] * (1 - t[2]);
+    z = k_rinv[6] * v + k_rinv[7] * u + k_rinv[8] * (1 - t[2]);
+
+    x /= z;
+    y /= z;
+}
+
+
+} // namespace detail
+} // namespace cv
+
+//! @endcond
+
+#endif // __OPENCV_STITCHING_WARPERS_INL_HPP__
diff --git a/3rdparty/include/opencv2/stitching/warpers.hpp b/3rdparty/include/opencv2/stitching/warpers.hpp
new file mode 100644
index 0000000..7e570d3
--- /dev/null
+++ b/3rdparty/include/opencv2/stitching/warpers.hpp
@@ -0,0 +1,183 @@
+/*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*/
+
+#ifndef __OPENCV_STITCHING_WARPER_CREATORS_HPP__
+#define __OPENCV_STITCHING_WARPER_CREATORS_HPP__
+
+#include "opencv2/stitching/detail/warpers.hpp"
+
+namespace cv {
+
+//! @addtogroup stitching_warp
+//! @{
+
+/** @brief Image warper factories base class.
+ */
+class WarperCreator
+{
+public:
+    virtual ~WarperCreator() {}
+    virtual Ptr<detail::RotationWarper> create(float scale) const = 0;
+};
+
+/** @brief Plane warper factory class.
+  @sa detail::PlaneWarper
+ */
+class PlaneWarper : public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PlaneWarper>(scale); }
+};
+
+/** @brief Cylindrical warper factory class.
+@sa detail::CylindricalWarper
+*/
+class CylindricalWarper: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CylindricalWarper>(scale); }
+};
+
+/** @brief Spherical warper factory class */
+class SphericalWarper: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::SphericalWarper>(scale); }
+};
+
+class FisheyeWarper : public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::FisheyeWarper>(scale); }
+};
+
+class StereographicWarper: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::StereographicWarper>(scale); }
+};
+
+class CompressedRectilinearWarper: public WarperCreator
+{
+    float a, b;
+public:
+    CompressedRectilinearWarper(float A = 1, float B = 1)
+    {
+        a = A; b = B;
+    }
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CompressedRectilinearWarper>(scale, a, b); }
+};
+
+class CompressedRectilinearPortraitWarper: public WarperCreator
+{
+    float a, b;
+public:
+    CompressedRectilinearPortraitWarper(float A = 1, float B = 1)
+    {
+        a = A; b = B;
+    }
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CompressedRectilinearPortraitWarper>(scale, a, b); }
+};
+
+class PaniniWarper: public WarperCreator
+{
+    float a, b;
+public:
+    PaniniWarper(float A = 1, float B = 1)
+    {
+        a = A; b = B;
+    }
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PaniniWarper>(scale, a, b); }
+};
+
+class PaniniPortraitWarper: public WarperCreator
+{
+    float a, b;
+public:
+    PaniniPortraitWarper(float A = 1, float B = 1)
+    {
+        a = A; b = B;
+    }
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PaniniPortraitWarper>(scale, a, b); }
+};
+
+class MercatorWarper: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::MercatorWarper>(scale); }
+};
+
+class TransverseMercatorWarper: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::TransverseMercatorWarper>(scale); }
+};
+
+
+
+#ifdef HAVE_OPENCV_CUDAWARPING
+class PlaneWarperGpu: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PlaneWarperGpu>(scale); }
+};
+
+
+class CylindricalWarperGpu: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CylindricalWarperGpu>(scale); }
+};
+
+
+class SphericalWarperGpu: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::SphericalWarperGpu>(scale); }
+};
+#endif
+
+//! @} stitching_warp
+
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_WARPER_CREATORS_HPP__
diff --git a/3rdparty/include/opencv2/superres.hpp b/3rdparty/include/opencv2/superres.hpp
new file mode 100644
index 0000000..dec8e4e
--- /dev/null
+++ b/3rdparty/include/opencv2/superres.hpp
@@ -0,0 +1,207 @@
+/*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*/
+
+#ifndef __OPENCV_SUPERRES_HPP__
+#define __OPENCV_SUPERRES_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/superres/optical_flow.hpp"
+
+/**
+  @defgroup superres Super Resolution
+
+The Super Resolution module contains a set of functions and classes that can be used to solve the
+problem of resolution enhancement. There are a few methods implemented, most of them are descibed in
+the papers @cite Farsiu03 and @cite Mitzel09 .
+
+ */
+
+namespace cv
+{
+    namespace superres
+    {
+
+//! @addtogroup superres
+//! @{
+
+        class CV_EXPORTS FrameSource
+        {
+        public:
+            virtual ~FrameSource();
+
+            virtual void nextFrame(OutputArray frame) = 0;
+            virtual void reset() = 0;
+        };
+
+        CV_EXPORTS Ptr<FrameSource> createFrameSource_Empty();
+
+        CV_EXPORTS Ptr<FrameSource> createFrameSource_Video(const String& fileName);
+        CV_EXPORTS Ptr<FrameSource> createFrameSource_Video_CUDA(const String& fileName);
+
+        CV_EXPORTS Ptr<FrameSource> createFrameSource_Camera(int deviceId = 0);
+
+        /** @brief Base class for Super Resolution algorithms.
+
+        The class is only used to define the common interface for the whole family of Super Resolution
+        algorithms.
+         */
+        class CV_EXPORTS SuperResolution : public cv::Algorithm, public FrameSource
+        {
+        public:
+            /** @brief Set input frame source for Super Resolution algorithm.
+
+            @param frameSource Input frame source
+             */
+            void setInput(const Ptr<FrameSource>& frameSource);
+
+            /** @brief Process next frame from input and return output result.
+
+            @param frame Output result
+             */
+            void nextFrame(OutputArray frame);
+            void reset();
+
+            /** @brief Clear all inner buffers.
+            */
+            virtual void collectGarbage();
+
+            //! @brief Scale factor
+            /** @see setScale */
+            virtual int getScale() const = 0;
+            /** @copybrief getScale @see getScale */
+            virtual void setScale(int val) = 0;
+
+            //! @brief Iterations count
+            /** @see setIterations */
+            virtual int getIterations() const = 0;
+            /** @copybrief getIterations @see getIterations */
+            virtual void setIterations(int val) = 0;
+
+            //! @brief Asymptotic value of steepest descent method
+            /** @see setTau */
+            virtual double getTau() const = 0;
+            /** @copybrief getTau @see getTau */
+            virtual void setTau(double val) = 0;
+
+            //! @brief Weight parameter to balance data term and smoothness term
+            /** @see setLabmda */
+            virtual double getLabmda() const = 0;
+            /** @copybrief getLabmda @see getLabmda */
+            virtual void setLabmda(double val) = 0;
+
+            //! @brief Parameter of spacial distribution in Bilateral-TV
+            /** @see setAlpha */
+            virtual double getAlpha() const = 0;
+            /** @copybrief getAlpha @see getAlpha */
+            virtual void setAlpha(double val) = 0;
+
+            //! @brief Kernel size of Bilateral-TV filter
+            /** @see setKernelSize */
+            virtual int getKernelSize() const = 0;
+            /** @copybrief getKernelSize @see getKernelSize */
+            virtual void setKernelSize(int val) = 0;
+
+            //! @brief Gaussian blur kernel size
+            /** @see setBlurKernelSize */
+            virtual int getBlurKernelSize() const = 0;
+            /** @copybrief getBlurKernelSize @see getBlurKernelSize */
+            virtual void setBlurKernelSize(int val) = 0;
+
+            //! @brief Gaussian blur sigma
+            /** @see setBlurSigma */
+            virtual double getBlurSigma() const = 0;
+            /** @copybrief getBlurSigma @see getBlurSigma */
+            virtual void setBlurSigma(double val) = 0;
+
+            //! @brief Radius of the temporal search area
+            /** @see setTemporalAreaRadius */
+            virtual int getTemporalAreaRadius() const = 0;
+            /** @copybrief getTemporalAreaRadius @see getTemporalAreaRadius */
+            virtual void setTemporalAreaRadius(int val) = 0;
+
+            //! @brief Dense optical flow algorithm
+            /** @see setOpticalFlow */
+            virtual Ptr<cv::superres::DenseOpticalFlowExt> getOpticalFlow() const = 0;
+            /** @copybrief getOpticalFlow @see getOpticalFlow */
+            virtual void setOpticalFlow(const Ptr<cv::superres::DenseOpticalFlowExt> &val) = 0;
+
+        protected:
+            SuperResolution();
+
+            virtual void initImpl(Ptr<FrameSource>& frameSource) = 0;
+            virtual void processImpl(Ptr<FrameSource>& frameSource, OutputArray output) = 0;
+
+            bool isUmat_;
+
+        private:
+            Ptr<FrameSource> frameSource_;
+            bool firstCall_;
+        };
+
+        /** @brief Create Bilateral TV-L1 Super Resolution.
+
+        This class implements Super Resolution algorithm described in the papers @cite Farsiu03 and
+        @cite Mitzel09 .
+
+        Here are important members of the class that control the algorithm, which you can set after
+        constructing the class instance:
+
+        -   **int scale** Scale factor.
+        -   **int iterations** Iteration count.
+        -   **double tau** Asymptotic value of steepest descent method.
+        -   **double lambda** Weight parameter to balance data term and smoothness term.
+        -   **double alpha** Parameter of spacial distribution in Bilateral-TV.
+        -   **int btvKernelSize** Kernel size of Bilateral-TV filter.
+        -   **int blurKernelSize** Gaussian blur kernel size.
+        -   **double blurSigma** Gaussian blur sigma.
+        -   **int temporalAreaRadius** Radius of the temporal search area.
+        -   **Ptr\<DenseOpticalFlowExt\> opticalFlow** Dense optical flow algorithm.
+         */
+        CV_EXPORTS Ptr<SuperResolution> createSuperResolution_BTVL1();
+        CV_EXPORTS Ptr<SuperResolution> createSuperResolution_BTVL1_CUDA();
+
+//! @} superres
+
+    }
+}
+
+#endif // __OPENCV_SUPERRES_HPP__
diff --git a/3rdparty/include/opencv2/superres/optical_flow.hpp b/3rdparty/include/opencv2/superres/optical_flow.hpp
new file mode 100644
index 0000000..d2f29a3
--- /dev/null
+++ b/3rdparty/include/opencv2/superres/optical_flow.hpp
@@ -0,0 +1,203 @@
+/*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*/
+
+#ifndef __OPENCV_SUPERRES_OPTICAL_FLOW_HPP__
+#define __OPENCV_SUPERRES_OPTICAL_FLOW_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+    namespace superres
+    {
+
+//! @addtogroup superres
+//! @{
+
+        class CV_EXPORTS DenseOpticalFlowExt : public cv::Algorithm
+        {
+        public:
+            virtual void calc(InputArray frame0, InputArray frame1, OutputArray flow1, OutputArray flow2 = noArray()) = 0;
+            virtual void collectGarbage() = 0;
+        };
+
+
+        class CV_EXPORTS FarnebackOpticalFlow : public virtual DenseOpticalFlowExt
+        {
+        public:
+            /** @see setPyrScale */
+            virtual double getPyrScale() const = 0;
+            /** @copybrief getPyrScale @see getPyrScale */
+            virtual void setPyrScale(double val) = 0;
+            /** @see setLevelsNumber */
+            virtual int getLevelsNumber() const = 0;
+            /** @copybrief getLevelsNumber @see getLevelsNumber */
+            virtual void setLevelsNumber(int val) = 0;
+            /** @see setWindowSize */
+            virtual int getWindowSize() const = 0;
+            /** @copybrief getWindowSize @see getWindowSize */
+            virtual void setWindowSize(int val) = 0;
+            /** @see setIterations */
+            virtual int getIterations() const = 0;
+            /** @copybrief getIterations @see getIterations */
+            virtual void setIterations(int val) = 0;
+            /** @see setPolyN */
+            virtual int getPolyN() const = 0;
+            /** @copybrief getPolyN @see getPolyN */
+            virtual void setPolyN(int val) = 0;
+            /** @see setPolySigma */
+            virtual double getPolySigma() const = 0;
+            /** @copybrief getPolySigma @see getPolySigma */
+            virtual void setPolySigma(double val) = 0;
+            /** @see setFlags */
+            virtual int getFlags() const = 0;
+            /** @copybrief getFlags @see getFlags */
+            virtual void setFlags(int val) = 0;
+        };
+        CV_EXPORTS Ptr<FarnebackOpticalFlow> createOptFlow_Farneback();
+        CV_EXPORTS Ptr<FarnebackOpticalFlow> createOptFlow_Farneback_CUDA();
+
+
+//        CV_EXPORTS Ptr<DenseOpticalFlowExt> createOptFlow_Simple();
+
+
+        class CV_EXPORTS DualTVL1OpticalFlow : public virtual DenseOpticalFlowExt
+        {
+        public:
+            /** @see setTau */
+            virtual double getTau() const = 0;
+            /** @copybrief getTau @see getTau */
+            virtual void setTau(double val) = 0;
+            /** @see setLambda */
+            virtual double getLambda() const = 0;
+            /** @copybrief getLambda @see getLambda */
+            virtual void setLambda(double val) = 0;
+            /** @see setTheta */
+            virtual double getTheta() const = 0;
+            /** @copybrief getTheta @see getTheta */
+            virtual void setTheta(double val) = 0;
+            /** @see setScalesNumber */
+            virtual int getScalesNumber() const = 0;
+            /** @copybrief getScalesNumber @see getScalesNumber */
+            virtual void setScalesNumber(int val) = 0;
+            /** @see setWarpingsNumber */
+            virtual int getWarpingsNumber() const = 0;
+            /** @copybrief getWarpingsNumber @see getWarpingsNumber */
+            virtual void setWarpingsNumber(int val) = 0;
+            /** @see setEpsilon */
+            virtual double getEpsilon() const = 0;
+            /** @copybrief getEpsilon @see getEpsilon */
+            virtual void setEpsilon(double val) = 0;
+            /** @see setIterations */
+            virtual int getIterations() const = 0;
+            /** @copybrief getIterations @see getIterations */
+            virtual void setIterations(int val) = 0;
+            /** @see setUseInitialFlow */
+            virtual bool getUseInitialFlow() const = 0;
+            /** @copybrief getUseInitialFlow @see getUseInitialFlow */
+            virtual void setUseInitialFlow(bool val) = 0;
+        };
+        CV_EXPORTS Ptr<DualTVL1OpticalFlow> createOptFlow_DualTVL1();
+        CV_EXPORTS Ptr<DualTVL1OpticalFlow> createOptFlow_DualTVL1_CUDA();
+
+
+        class CV_EXPORTS BroxOpticalFlow : public virtual DenseOpticalFlowExt
+        {
+        public:
+            //! @brief Flow smoothness
+            /** @see setAlpha */
+            virtual double getAlpha() const = 0;
+            /** @copybrief getAlpha @see getAlpha */
+            virtual void setAlpha(double val) = 0;
+            //! @brief Gradient constancy importance
+            /** @see setGamma */
+            virtual double getGamma() const = 0;
+            /** @copybrief getGamma @see getGamma */
+            virtual void setGamma(double val) = 0;
+            //! @brief Pyramid scale factor
+            /** @see setScaleFactor */
+            virtual double getScaleFactor() const = 0;
+            /** @copybrief getScaleFactor @see getScaleFactor */
+            virtual void setScaleFactor(double val) = 0;
+            //! @brief Number of lagged non-linearity iterations (inner loop)
+            /** @see setInnerIterations */
+            virtual int getInnerIterations() const = 0;
+            /** @copybrief getInnerIterations @see getInnerIterations */
+            virtual void setInnerIterations(int val) = 0;
+            //! @brief Number of warping iterations (number of pyramid levels)
+            /** @see setOuterIterations */
+            virtual int getOuterIterations() const = 0;
+            /** @copybrief getOuterIterations @see getOuterIterations */
+            virtual void setOuterIterations(int val) = 0;
+            //! @brief Number of linear system solver iterations
+            /** @see setSolverIterations */
+            virtual int getSolverIterations() const = 0;
+            /** @copybrief getSolverIterations @see getSolverIterations */
+            virtual void setSolverIterations(int val) = 0;
+        };
+        CV_EXPORTS Ptr<BroxOpticalFlow> createOptFlow_Brox_CUDA();
+
+
+        class PyrLKOpticalFlow : public virtual DenseOpticalFlowExt
+        {
+        public:
+            /** @see setWindowSize */
+            virtual int getWindowSize() const = 0;
+            /** @copybrief getWindowSize @see getWindowSize */
+            virtual void setWindowSize(int val) = 0;
+            /** @see setMaxLevel */
+            virtual int getMaxLevel() const = 0;
+            /** @copybrief getMaxLevel @see getMaxLevel */
+            virtual void setMaxLevel(int val) = 0;
+            /** @see setIterations */
+            virtual int getIterations() const = 0;
+            /** @copybrief getIterations @see getIterations */
+            virtual void setIterations(int val) = 0;
+        };
+        CV_EXPORTS Ptr<PyrLKOpticalFlow> createOptFlow_PyrLK_CUDA();
+
+//! @}
+
+    }
+}
+
+#endif // __OPENCV_SUPERRES_OPTICAL_FLOW_HPP__
diff --git a/3rdparty/include/opencv2/video.hpp b/3rdparty/include/opencv2/video.hpp
new file mode 100644
index 0000000..a593815
--- /dev/null
+++ b/3rdparty/include/opencv2/video.hpp
@@ -0,0 +1,63 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_VIDEO_HPP__
+#define __OPENCV_VIDEO_HPP__
+
+/**
+  @defgroup video Video Analysis
+  @{
+    @defgroup video_motion Motion Analysis
+    @defgroup video_track Object Tracking
+    @defgroup video_c C API
+  @}
+*/
+
+#include "opencv2/video/tracking.hpp"
+#include "opencv2/video/background_segm.hpp"
+
+#ifndef DISABLE_OPENCV_24_COMPATIBILITY
+#include "opencv2/video/tracking_c.h"
+#endif
+
+#endif //__OPENCV_VIDEO_HPP__
diff --git a/3rdparty/include/opencv2/video/background_segm.hpp b/3rdparty/include/opencv2/video/background_segm.hpp
new file mode 100644
index 0000000..dbeccbd
--- /dev/null
+++ b/3rdparty/include/opencv2/video/background_segm.hpp
@@ -0,0 +1,306 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_BACKGROUND_SEGM_HPP__
+#define __OPENCV_BACKGROUND_SEGM_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+
+//! @addtogroup video_motion
+//! @{
+
+/** @brief Base class for background/foreground segmentation. :
+
+The class is only used to define the common interface for the whole family of background/foreground
+segmentation algorithms.
+ */
+class CV_EXPORTS_W BackgroundSubtractor : public Algorithm
+{
+public:
+    /** @brief Computes a foreground mask.
+
+    @param image Next video frame.
+    @param fgmask The output foreground mask as an 8-bit binary image.
+    @param learningRate The value between 0 and 1 that indicates how fast the background model is
+    learnt. Negative parameter value makes the algorithm to use some automatically chosen learning
+    rate. 0 means that the background model is not updated at all, 1 means that the background model
+    is completely reinitialized from the last frame.
+     */
+    CV_WRAP virtual void apply(InputArray image, OutputArray fgmask, double learningRate=-1) = 0;
+
+    /** @brief Computes a background image.
+
+    @param backgroundImage The output background image.
+
+    @note Sometimes the background image can be very blurry, as it contain the average background
+    statistics.
+     */
+    CV_WRAP virtual void getBackgroundImage(OutputArray backgroundImage) const = 0;
+};
+
+
+/** @brief Gaussian Mixture-based Background/Foreground Segmentation Algorithm.
+
+The class implements the Gaussian mixture model background subtraction described in @cite Zivkovic2004
+and @cite Zivkovic2006 .
+ */
+class CV_EXPORTS_W BackgroundSubtractorMOG2 : public BackgroundSubtractor
+{
+public:
+    /** @brief Returns the number of last frames that affect the background model
+    */
+    CV_WRAP virtual int getHistory() const = 0;
+    /** @brief Sets the number of last frames that affect the background model
+    */
+    CV_WRAP virtual void setHistory(int history) = 0;
+
+    /** @brief Returns the number of gaussian components in the background model
+    */
+    CV_WRAP virtual int getNMixtures() const = 0;
+    /** @brief Sets the number of gaussian components in the background model.
+
+    The model needs to be reinitalized to reserve memory.
+    */
+    CV_WRAP virtual void setNMixtures(int nmixtures) = 0;//needs reinitialization!
+
+    /** @brief Returns the "background ratio" parameter of the algorithm
+
+    If a foreground pixel keeps semi-constant value for about backgroundRatio\*history frames, it's
+    considered background and added to the model as a center of a new component. It corresponds to TB
+    parameter in the paper.
+     */
+    CV_WRAP virtual double getBackgroundRatio() const = 0;
+    /** @brief Sets the "background ratio" parameter of the algorithm
+    */
+    CV_WRAP virtual void setBackgroundRatio(double ratio) = 0;
+
+    /** @brief Returns the variance threshold for the pixel-model match
+
+    The main threshold on the squared Mahalanobis distance to decide if the sample is well described by
+    the background model or not. Related to Cthr from the paper.
+     */
+    CV_WRAP virtual double getVarThreshold() const = 0;
+    /** @brief Sets the variance threshold for the pixel-model match
+    */
+    CV_WRAP virtual void setVarThreshold(double varThreshold) = 0;
+
+    /** @brief Returns the variance threshold for the pixel-model match used for new mixture component generation
+
+    Threshold for the squared Mahalanobis distance that helps decide when a sample is close to the
+    existing components (corresponds to Tg in the paper). If a pixel is not close to any component, it
+    is considered foreground or added as a new component. 3 sigma =\> Tg=3\*3=9 is default. A smaller Tg
+    value generates more components. A higher Tg value may result in a small number of components but
+    they can grow too large.
+     */
+    CV_WRAP virtual double getVarThresholdGen() const = 0;
+    /** @brief Sets the variance threshold for the pixel-model match used for new mixture component generation
+    */
+    CV_WRAP virtual void setVarThresholdGen(double varThresholdGen) = 0;
+
+    /** @brief Returns the initial variance of each gaussian component
+    */
+    CV_WRAP virtual double getVarInit() const = 0;
+    /** @brief Sets the initial variance of each gaussian component
+    */
+    CV_WRAP virtual void setVarInit(double varInit) = 0;
+
+    CV_WRAP virtual double getVarMin() const = 0;
+    CV_WRAP virtual void setVarMin(double varMin) = 0;
+
+    CV_WRAP virtual double getVarMax() const = 0;
+    CV_WRAP virtual void setVarMax(double varMax) = 0;
+
+    /** @brief Returns the complexity reduction threshold
+
+    This parameter defines the number of samples needed to accept to prove the component exists. CT=0.05
+    is a default value for all the samples. By setting CT=0 you get an algorithm very similar to the
+    standard Stauffer&Grimson algorithm.
+     */
+    CV_WRAP virtual double getComplexityReductionThreshold() const = 0;
+    /** @brief Sets the complexity reduction threshold
+    */
+    CV_WRAP virtual void setComplexityReductionThreshold(double ct) = 0;
+
+    /** @brief Returns the shadow detection flag
+
+    If true, the algorithm detects shadows and marks them. See createBackgroundSubtractorMOG2 for
+    details.
+     */
+    CV_WRAP virtual bool getDetectShadows() const = 0;
+    /** @brief Enables or disables shadow detection
+    */
+    CV_WRAP virtual void setDetectShadows(bool detectShadows) = 0;
+
+    /** @brief Returns the shadow value
+
+    Shadow value is the value used to mark shadows in the foreground mask. Default value is 127. Value 0
+    in the mask always means background, 255 means foreground.
+     */
+    CV_WRAP virtual int getShadowValue() const = 0;
+    /** @brief Sets the shadow value
+    */
+    CV_WRAP virtual void setShadowValue(int value) = 0;
+
+    /** @brief Returns the shadow threshold
+
+    A shadow is detected if pixel is a darker version of the background. The shadow threshold (Tau in
+    the paper) is a threshold defining how much darker the shadow can be. Tau= 0.5 means that if a pixel
+    is more than twice darker then it is not shadow. See Prati, Mikic, Trivedi and Cucchiarra,
+    *Detecting Moving Shadows...*, IEEE PAMI,2003.
+     */
+    CV_WRAP virtual double getShadowThreshold() const = 0;
+    /** @brief Sets the shadow threshold
+    */
+    CV_WRAP virtual void setShadowThreshold(double threshold) = 0;
+};
+
+/** @brief Creates MOG2 Background Subtractor
+
+@param history Length of the history.
+@param varThreshold Threshold on the squared Mahalanobis distance between the pixel and the model
+to decide whether a pixel is well described by the background model. This parameter does not
+affect the background update.
+@param detectShadows If true, the algorithm will detect shadows and mark them. It decreases the
+speed a bit, so if you do not need this feature, set the parameter to false.
+ */
+CV_EXPORTS_W Ptr<BackgroundSubtractorMOG2>
+    createBackgroundSubtractorMOG2(int history=500, double varThreshold=16,
+                                   bool detectShadows=true);
+
+/** @brief K-nearest neigbours - based Background/Foreground Segmentation Algorithm.
+
+The class implements the K-nearest neigbours background subtraction described in @cite Zivkovic2006 .
+Very efficient if number of foreground pixels is low.
+ */
+class CV_EXPORTS_W BackgroundSubtractorKNN : public BackgroundSubtractor
+{
+public:
+    /** @brief Returns the number of last frames that affect the background model
+    */
+    CV_WRAP virtual int getHistory() const = 0;
+    /** @brief Sets the number of last frames that affect the background model
+    */
+    CV_WRAP virtual void setHistory(int history) = 0;
+
+    /** @brief Returns the number of data samples in the background model
+    */
+    CV_WRAP virtual int getNSamples() const = 0;
+    /** @brief Sets the number of data samples in the background model.
+
+    The model needs to be reinitalized to reserve memory.
+    */
+    CV_WRAP virtual void setNSamples(int _nN) = 0;//needs reinitialization!
+
+    /** @brief Returns the threshold on the squared distance between the pixel and the sample
+
+    The threshold on the squared distance between the pixel and the sample to decide whether a pixel is
+    close to a data sample.
+     */
+    CV_WRAP virtual double getDist2Threshold() const = 0;
+    /** @brief Sets the threshold on the squared distance
+    */
+    CV_WRAP virtual void setDist2Threshold(double _dist2Threshold) = 0;
+
+    /** @brief Returns the number of neighbours, the k in the kNN.
+
+    K is the number of samples that need to be within dist2Threshold in order to decide that that
+    pixel is matching the kNN background model.
+     */
+    CV_WRAP virtual int getkNNSamples() const = 0;
+    /** @brief Sets the k in the kNN. How many nearest neigbours need to match.
+    */
+    CV_WRAP virtual void setkNNSamples(int _nkNN) = 0;
+
+    /** @brief Returns the shadow detection flag
+
+    If true, the algorithm detects shadows and marks them. See createBackgroundSubtractorKNN for
+    details.
+     */
+    CV_WRAP virtual bool getDetectShadows() const = 0;
+    /** @brief Enables or disables shadow detection
+    */
+    CV_WRAP virtual void setDetectShadows(bool detectShadows) = 0;
+
+    /** @brief Returns the shadow value
+
+    Shadow value is the value used to mark shadows in the foreground mask. Default value is 127. Value 0
+    in the mask always means background, 255 means foreground.
+     */
+    CV_WRAP virtual int getShadowValue() const = 0;
+    /** @brief Sets the shadow value
+    */
+    CV_WRAP virtual void setShadowValue(int value) = 0;
+
+    /** @brief Returns the shadow threshold
+
+    A shadow is detected if pixel is a darker version of the background. The shadow threshold (Tau in
+    the paper) is a threshold defining how much darker the shadow can be. Tau= 0.5 means that if a pixel
+    is more than twice darker then it is not shadow. See Prati, Mikic, Trivedi and Cucchiarra,
+    *Detecting Moving Shadows...*, IEEE PAMI,2003.
+     */
+    CV_WRAP virtual double getShadowThreshold() const = 0;
+    /** @brief Sets the shadow threshold
+     */
+    CV_WRAP virtual void setShadowThreshold(double threshold) = 0;
+};
+
+/** @brief Creates KNN Background Subtractor
+
+@param history Length of the history.
+@param dist2Threshold Threshold on the squared distance between the pixel and the sample to decide
+whether a pixel is close to that sample. This parameter does not affect the background update.
+@param detectShadows If true, the algorithm will detect shadows and mark them. It decreases the
+speed a bit, so if you do not need this feature, set the parameter to false.
+ */
+CV_EXPORTS_W Ptr<BackgroundSubtractorKNN>
+    createBackgroundSubtractorKNN(int history=500, double dist2Threshold=400.0,
+                                   bool detectShadows=true);
+
+//! @} video_motion
+
+} // cv
+
+#endif
diff --git a/3rdparty/include/opencv2/video/tracking.hpp b/3rdparty/include/opencv2/video/tracking.hpp
new file mode 100644
index 0000000..217a26a
--- /dev/null
+++ b/3rdparty/include/opencv2/video/tracking.hpp
@@ -0,0 +1,515 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_TRACKING_HPP__
+#define __OPENCV_TRACKING_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+
+namespace cv
+{
+
+//! @addtogroup video_track
+//! @{
+
+enum { OPTFLOW_USE_INITIAL_FLOW     = 4,
+       OPTFLOW_LK_GET_MIN_EIGENVALS = 8,
+       OPTFLOW_FARNEBACK_GAUSSIAN   = 256
+     };
+
+/** @brief Finds an object center, size, and orientation.
+
+@param probImage Back projection of the object histogram. See calcBackProject.
+@param window Initial search window.
+@param criteria Stop criteria for the underlying meanShift.
+returns
+(in old interfaces) Number of iterations CAMSHIFT took to converge
+The function implements the CAMSHIFT object tracking algorithm @cite Bradski98 . First, it finds an
+object center using meanShift and then adjusts the window size and finds the optimal rotation. The
+function returns the rotated rectangle structure that includes the object position, size, and
+orientation. The next position of the search window can be obtained with RotatedRect::boundingRect()
+
+See the OpenCV sample camshiftdemo.c that tracks colored objects.
+
+@note
+-   (Python) A sample explaining the camshift tracking algorithm can be found at
+    opencv_source_code/samples/python2/camshift.py
+ */
+CV_EXPORTS_W RotatedRect CamShift( InputArray probImage, CV_IN_OUT Rect& window,
+                                   TermCriteria criteria );
+
+/** @brief Finds an object on a back projection image.
+
+@param probImage Back projection of the object histogram. See calcBackProject for details.
+@param window Initial search window.
+@param criteria Stop criteria for the iterative search algorithm.
+returns
+:   Number of iterations CAMSHIFT took to converge.
+The function implements the iterative object search algorithm. It takes the input back projection of
+an object and the initial position. The mass center in window of the back projection image is
+computed and the search window center shifts to the mass center. The procedure is repeated until the
+specified number of iterations criteria.maxCount is done or until the window center shifts by less
+than criteria.epsilon. The algorithm is used inside CamShift and, unlike CamShift , the search
+window size or orientation do not change during the search. You can simply pass the output of
+calcBackProject to this function. But better results can be obtained if you pre-filter the back
+projection and remove the noise. For example, you can do this by retrieving connected components
+with findContours , throwing away contours with small area ( contourArea ), and rendering the
+remaining contours with drawContours.
+
+@note
+-   A mean-shift tracking sample can be found at opencv_source_code/samples/cpp/camshiftdemo.cpp
+ */
+CV_EXPORTS_W int meanShift( InputArray probImage, CV_IN_OUT Rect& window, TermCriteria criteria );
+
+/** @brief Constructs the image pyramid which can be passed to calcOpticalFlowPyrLK.
+
+@param img 8-bit input image.
+@param pyramid output pyramid.
+@param winSize window size of optical flow algorithm. Must be not less than winSize argument of
+calcOpticalFlowPyrLK. It is needed to calculate required padding for pyramid levels.
+@param maxLevel 0-based maximal pyramid level number.
+@param withDerivatives set to precompute gradients for the every pyramid level. If pyramid is
+constructed without the gradients then calcOpticalFlowPyrLK will calculate them internally.
+@param pyrBorder the border mode for pyramid layers.
+@param derivBorder the border mode for gradients.
+@param tryReuseInputImage put ROI of input image into the pyramid if possible. You can pass false
+to force data copying.
+@return number of levels in constructed pyramid. Can be less than maxLevel.
+ */
+CV_EXPORTS_W int buildOpticalFlowPyramid( InputArray img, OutputArrayOfArrays pyramid,
+                                          Size winSize, int maxLevel, bool withDerivatives = true,
+                                          int pyrBorder = BORDER_REFLECT_101,
+                                          int derivBorder = BORDER_CONSTANT,
+                                          bool tryReuseInputImage = true );
+
+/** @brief Calculates an optical flow for a sparse feature set using the iterative Lucas-Kanade method with
+pyramids.
+
+@param prevImg first 8-bit input image or pyramid constructed by buildOpticalFlowPyramid.
+@param nextImg second input image or pyramid of the same size and the same type as prevImg.
+@param prevPts vector of 2D points for which the flow needs to be found; point coordinates must be
+single-precision floating-point numbers.
+@param nextPts output vector of 2D points (with single-precision floating-point coordinates)
+containing the calculated new positions of input features in the second image; when
+OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
+@param status output status vector (of unsigned chars); each element of the vector is set to 1 if
+the flow for the corresponding features has been found, otherwise, it is set to 0.
+@param err output vector of errors; each element of the vector is set to an error for the
+corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't
+found then the error is not defined (use the status parameter to find such cases).
+@param winSize size of the search window at each pyramid level.
+@param maxLevel 0-based maximal pyramid level number; if set to 0, pyramids are not used (single
+level), if set to 1, two levels are used, and so on; if pyramids are passed to input then
+algorithm will use as many levels as pyramids have but no more than maxLevel.
+@param criteria parameter, specifying the termination criteria of the iterative search algorithm
+(after the specified maximum number of iterations criteria.maxCount or when the search window
+moves by less than criteria.epsilon.
+@param flags operation flags:
+ -   **OPTFLOW_USE_INITIAL_FLOW** uses initial estimations, stored in nextPts; if the flag is
+     not set, then prevPts is copied to nextPts and is considered the initial estimate.
+ -   **OPTFLOW_LK_GET_MIN_EIGENVALS** use minimum eigen values as an error measure (see
+     minEigThreshold description); if the flag is not set, then L1 distance between patches
+     around the original and a moved point, divided by number of pixels in a window, is used as a
+     error measure.
+@param minEigThreshold the algorithm calculates the minimum eigen value of a 2x2 normal matrix of
+optical flow equations (this matrix is called a spatial gradient matrix in @cite Bouguet00), divided
+by number of pixels in a window; if this value is less than minEigThreshold, then a corresponding
+feature is filtered out and its flow is not processed, so it allows to remove bad points and get a
+performance boost.
+
+The function implements a sparse iterative version of the Lucas-Kanade optical flow in pyramids. See
+@cite Bouguet00 . The function is parallelized with the TBB library.
+
+@note
+
+-   An example using the Lucas-Kanade optical flow algorithm can be found at
+    opencv_source_code/samples/cpp/lkdemo.cpp
+-   (Python) An example using the Lucas-Kanade optical flow algorithm can be found at
+    opencv_source_code/samples/python2/lk_track.py
+-   (Python) An example using the Lucas-Kanade tracker for homography matching can be found at
+    opencv_source_code/samples/python2/lk_homography.py
+ */
+CV_EXPORTS_W void calcOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg,
+                                        InputArray prevPts, InputOutputArray nextPts,
+                                        OutputArray status, OutputArray err,
+                                        Size winSize = Size(21,21), int maxLevel = 3,
+                                        TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
+                                        int flags = 0, double minEigThreshold = 1e-4 );
+
+/** @brief Computes a dense optical flow using the Gunnar Farneback's algorithm.
+
+@param prev first 8-bit single-channel input image.
+@param next second input image of the same size and the same type as prev.
+@param flow computed flow image that has the same size as prev and type CV_32FC2.
+@param pyr_scale parameter, specifying the image scale (\<1) to build pyramids for each image;
+pyr_scale=0.5 means a classical pyramid, where each next layer is twice smaller than the previous
+one.
+@param levels number of pyramid layers including the initial image; levels=1 means that no extra
+layers are created and only the original images are used.
+@param winsize averaging window size; larger values increase the algorithm robustness to image
+noise and give more chances for fast motion detection, but yield more blurred motion field.
+@param iterations number of iterations the algorithm does at each pyramid level.
+@param poly_n size of the pixel neighborhood used to find polynomial expansion in each pixel;
+larger values mean that the image will be approximated with smoother surfaces, yielding more
+robust algorithm and more blurred motion field, typically poly_n =5 or 7.
+@param poly_sigma standard deviation of the Gaussian that is used to smooth derivatives used as a
+basis for the polynomial expansion; for poly_n=5, you can set poly_sigma=1.1, for poly_n=7, a
+good value would be poly_sigma=1.5.
+@param flags operation flags that can be a combination of the following:
+ -   **OPTFLOW_USE_INITIAL_FLOW** uses the input flow as an initial flow approximation.
+ -   **OPTFLOW_FARNEBACK_GAUSSIAN** uses the Gaussian \f$\texttt{winsize}\times\texttt{winsize}\f$
+     filter instead of a box filter of the same size for optical flow estimation; usually, this
+     option gives z more accurate flow than with a box filter, at the cost of lower speed;
+     normally, winsize for a Gaussian window should be set to a larger value to achieve the same
+     level of robustness.
+
+The function finds an optical flow for each prev pixel using the @cite Farneback2003 algorithm so that
+
+\f[\texttt{prev} (y,x)  \sim \texttt{next} ( y + \texttt{flow} (y,x)[1],  x + \texttt{flow} (y,x)[0])\f]
+
+@note
+
+-   An example using the optical flow algorithm described by Gunnar Farneback can be found at
+    opencv_source_code/samples/cpp/fback.cpp
+-   (Python) An example using the optical flow algorithm described by Gunnar Farneback can be
+    found at opencv_source_code/samples/python2/opt_flow.py
+ */
+CV_EXPORTS_W void calcOpticalFlowFarneback( InputArray prev, InputArray next, InputOutputArray flow,
+                                            double pyr_scale, int levels, int winsize,
+                                            int iterations, int poly_n, double poly_sigma,
+                                            int flags );
+
+/** @brief Computes an optimal affine transformation between two 2D point sets.
+
+@param src First input 2D point set stored in std::vector or Mat, or an image stored in Mat.
+@param dst Second input 2D point set of the same size and the same type as A, or another image.
+@param fullAffine If true, the function finds an optimal affine transformation with no additional
+restrictions (6 degrees of freedom). Otherwise, the class of transformations to choose from is
+limited to combinations of translation, rotation, and uniform scaling (5 degrees of freedom).
+
+The function finds an optimal affine transform *[A|b]* (a 2 x 3 floating-point matrix) that
+approximates best the affine transformation between:
+
+*   Two point sets
+*   Two raster images. In this case, the function first finds some features in the src image and
+    finds the corresponding features in dst image. After that, the problem is reduced to the first
+    case.
+In case of point sets, the problem is formulated as follows: you need to find a 2x2 matrix *A* and
+2x1 vector *b* so that:
+
+\f[[A^*|b^*] = arg  \min _{[A|b]}  \sum _i  \| \texttt{dst}[i] - A { \texttt{src}[i]}^T - b  \| ^2\f]
+where src[i] and dst[i] are the i-th points in src and dst, respectively
+\f$[A|b]\f$ can be either arbitrary (when fullAffine=true ) or have a form of
+\f[\begin{bmatrix} a_{11} & a_{12} & b_1  \\ -a_{12} & a_{11} & b_2  \end{bmatrix}\f]
+when fullAffine=false.
+
+@sa
+getAffineTransform, getPerspectiveTransform, findHomography
+ */
+CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst, bool fullAffine );
+
+
+enum
+{
+    MOTION_TRANSLATION = 0,
+    MOTION_EUCLIDEAN   = 1,
+    MOTION_AFFINE      = 2,
+    MOTION_HOMOGRAPHY  = 3
+};
+
+/** @brief Finds the geometric transform (warp) between two images in terms of the ECC criterion @cite EP08 .
+
+@param templateImage single-channel template image; CV_8U or CV_32F array.
+@param inputImage single-channel input image which should be warped with the final warpMatrix in
+order to provide an image similar to templateImage, same type as temlateImage.
+@param warpMatrix floating-point \f$2\times 3\f$ or \f$3\times 3\f$ mapping matrix (warp).
+@param motionType parameter, specifying the type of motion:
+ -   **MOTION_TRANSLATION** sets a translational motion model; warpMatrix is \f$2\times 3\f$ with
+     the first \f$2\times 2\f$ part being the unity matrix and the rest two parameters being
+     estimated.
+ -   **MOTION_EUCLIDEAN** sets a Euclidean (rigid) transformation as motion model; three
+     parameters are estimated; warpMatrix is \f$2\times 3\f$.
+ -   **MOTION_AFFINE** sets an affine motion model (DEFAULT); six parameters are estimated;
+     warpMatrix is \f$2\times 3\f$.
+ -   **MOTION_HOMOGRAPHY** sets a homography as a motion model; eight parameters are
+     estimated;\`warpMatrix\` is \f$3\times 3\f$.
+@param criteria parameter, specifying the termination criteria of the ECC algorithm;
+criteria.epsilon defines the threshold of the increment in the correlation coefficient between two
+iterations (a negative criteria.epsilon makes criteria.maxcount the only termination criterion).
+Default values are shown in the declaration above.
+@param inputMask An optional mask to indicate valid values of inputImage.
+
+The function estimates the optimum transformation (warpMatrix) with respect to ECC criterion
+(@cite EP08), that is
+
+\f[\texttt{warpMatrix} = \texttt{warpMatrix} = \arg\max_{W} \texttt{ECC}(\texttt{templateImage}(x,y),\texttt{inputImage}(x',y'))\f]
+
+where
+
+\f[\begin{bmatrix} x' \\ y' \end{bmatrix} = W \cdot \begin{bmatrix} x \\ y \\ 1 \end{bmatrix}\f]
+
+(the equation holds with homogeneous coordinates for homography). It returns the final enhanced
+correlation coefficient, that is the correlation coefficient between the template image and the
+final warped input image. When a \f$3\times 3\f$ matrix is given with motionType =0, 1 or 2, the third
+row is ignored.
+
+Unlike findHomography and estimateRigidTransform, the function findTransformECC implements an
+area-based alignment that builds on intensity similarities. In essence, the function updates the
+initial transformation that roughly aligns the images. If this information is missing, the identity
+warp (unity matrix) should be given as input. Note that if images undergo strong
+displacements/rotations, an initial transformation that roughly aligns the images is necessary
+(e.g., a simple euclidean/similarity transform that allows for the images showing the same image
+content approximately). Use inverse warping in the second image to take an image close to the first
+one, i.e. use the flag WARP_INVERSE_MAP with warpAffine or warpPerspective. See also the OpenCV
+sample image_alignment.cpp that demonstrates the use of the function. Note that the function throws
+an exception if algorithm does not converges.
+
+@sa
+estimateRigidTransform, findHomography
+ */
+CV_EXPORTS_W double findTransformECC( InputArray templateImage, InputArray inputImage,
+                                      InputOutputArray warpMatrix, int motionType = MOTION_AFFINE,
+                                      TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 50, 0.001),
+                                      InputArray inputMask = noArray());
+
+/** @brief Kalman filter class.
+
+The class implements a standard Kalman filter <http://en.wikipedia.org/wiki/Kalman_filter>,
+@cite Welch95 . However, you can modify transitionMatrix, controlMatrix, and measurementMatrix to get
+an extended Kalman filter functionality. See the OpenCV sample kalman.cpp.
+
+@note
+
+-   An example using the standard Kalman filter can be found at
+    opencv_source_code/samples/cpp/kalman.cpp
+ */
+class CV_EXPORTS_W KalmanFilter
+{
+public:
+    /** @brief The constructors.
+
+    @note In C API when CvKalman\* kalmanFilter structure is not needed anymore, it should be released
+    with cvReleaseKalman(&kalmanFilter)
+     */
+    CV_WRAP KalmanFilter();
+    /** @overload
+    @param dynamParams Dimensionality of the state.
+    @param measureParams Dimensionality of the measurement.
+    @param controlParams Dimensionality of the control vector.
+    @param type Type of the created matrices that should be CV_32F or CV_64F.
+    */
+    CV_WRAP KalmanFilter( int dynamParams, int measureParams, int controlParams = 0, int type = CV_32F );
+
+    /** @brief Re-initializes Kalman filter. The previous content is destroyed.
+
+    @param dynamParams Dimensionality of the state.
+    @param measureParams Dimensionality of the measurement.
+    @param controlParams Dimensionality of the control vector.
+    @param type Type of the created matrices that should be CV_32F or CV_64F.
+     */
+    void init( int dynamParams, int measureParams, int controlParams = 0, int type = CV_32F );
+
+    /** @brief Computes a predicted state.
+
+    @param control The optional input control
+     */
+    CV_WRAP const Mat& predict( const Mat& control = Mat() );
+
+    /** @brief Updates the predicted state from the measurement.
+
+    @param measurement The measured system parameters
+     */
+    CV_WRAP const Mat& correct( const Mat& measurement );
+
+    CV_PROP_RW Mat statePre;           //!< predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
+    CV_PROP_RW Mat statePost;          //!< corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
+    CV_PROP_RW Mat transitionMatrix;   //!< state transition matrix (A)
+    CV_PROP_RW Mat controlMatrix;      //!< control matrix (B) (not used if there is no control)
+    CV_PROP_RW Mat measurementMatrix;  //!< measurement matrix (H)
+    CV_PROP_RW Mat processNoiseCov;    //!< process noise covariance matrix (Q)
+    CV_PROP_RW Mat measurementNoiseCov;//!< measurement noise covariance matrix (R)
+    CV_PROP_RW Mat errorCovPre;        //!< priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/
+    CV_PROP_RW Mat gain;               //!< Kalman gain matrix (K(k)): K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
+    CV_PROP_RW Mat errorCovPost;       //!< posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P'(k)
+
+    // temporary matrices
+    Mat temp1;
+    Mat temp2;
+    Mat temp3;
+    Mat temp4;
+    Mat temp5;
+};
+
+
+class CV_EXPORTS_W DenseOpticalFlow : public Algorithm
+{
+public:
+    /** @brief Calculates an optical flow.
+
+    @param I0 first 8-bit single-channel input image.
+    @param I1 second input image of the same size and the same type as prev.
+    @param flow computed flow image that has the same size as prev and type CV_32FC2.
+     */
+    CV_WRAP virtual void calc( InputArray I0, InputArray I1, InputOutputArray flow ) = 0;
+    /** @brief Releases all inner buffers.
+    */
+    CV_WRAP virtual void collectGarbage() = 0;
+};
+
+/** @brief "Dual TV L1" Optical Flow Algorithm.
+
+The class implements the "Dual TV L1" optical flow algorithm described in @cite Zach2007 and
+@cite Javier2012 .
+Here are important members of the class that control the algorithm, which you can set after
+constructing the class instance:
+
+-   member double tau
+    Time step of the numerical scheme.
+
+-   member double lambda
+    Weight parameter for the data term, attachment parameter. This is the most relevant
+    parameter, which determines the smoothness of the output. The smaller this parameter is,
+    the smoother the solutions we obtain. It depends on the range of motions of the images, so
+    its value should be adapted to each image sequence.
+
+-   member double theta
+    Weight parameter for (u - v)\^2, tightness parameter. It serves as a link between the
+    attachment and the regularization terms. In theory, it should have a small value in order
+    to maintain both parts in correspondence. The method is stable for a large range of values
+    of this parameter.
+
+-   member int nscales
+    Number of scales used to create the pyramid of images.
+
+-   member int warps
+    Number of warpings per scale. Represents the number of times that I1(x+u0) and grad(
+    I1(x+u0) ) are computed per scale. This is a parameter that assures the stability of the
+    method. It also affects the running time, so it is a compromise between speed and
+    accuracy.
+
+-   member double epsilon
+    Stopping criterion threshold used in the numerical scheme, which is a trade-off between
+    precision and running time. A small value will yield more accurate solutions at the
+    expense of a slower convergence.
+
+-   member int iterations
+    Stopping criterion iterations number used in the numerical scheme.
+
+C. Zach, T. Pock and H. Bischof, "A Duality Based Approach for Realtime TV-L1 Optical Flow".
+Javier Sanchez, Enric Meinhardt-Llopis and Gabriele Facciolo. "TV-L1 Optical Flow Estimation".
+*/
+class CV_EXPORTS_W DualTVL1OpticalFlow : public DenseOpticalFlow
+{
+public:
+    //! @brief Time step of the numerical scheme
+    /** @see setTau */
+    virtual double getTau() const = 0;
+    /** @copybrief getTau @see getTau */
+    virtual void setTau(double val) = 0;
+    //! @brief Weight parameter for the data term, attachment parameter
+    /** @see setLambda */
+    virtual double getLambda() const = 0;
+    /** @copybrief getLambda @see getLambda */
+    virtual void setLambda(double val) = 0;
+    //! @brief Weight parameter for (u - v)^2, tightness parameter
+    /** @see setTheta */
+    virtual double getTheta() const = 0;
+    /** @copybrief getTheta @see getTheta */
+    virtual void setTheta(double val) = 0;
+    //! @brief coefficient for additional illumination variation term
+    /** @see setGamma */
+    virtual double getGamma() const = 0;
+    /** @copybrief getGamma @see getGamma */
+    virtual void setGamma(double val) = 0;
+    //! @brief Number of scales used to create the pyramid of images
+    /** @see setScalesNumber */
+    virtual int getScalesNumber() const = 0;
+    /** @copybrief getScalesNumber @see getScalesNumber */
+    virtual void setScalesNumber(int val) = 0;
+    //! @brief Number of warpings per scale
+    /** @see setWarpingsNumber */
+    virtual int getWarpingsNumber() const = 0;
+    /** @copybrief getWarpingsNumber @see getWarpingsNumber */
+    virtual void setWarpingsNumber(int val) = 0;
+    //! @brief Stopping criterion threshold used in the numerical scheme, which is a trade-off between precision and running time
+    /** @see setEpsilon */
+    virtual double getEpsilon() const = 0;
+    /** @copybrief getEpsilon @see getEpsilon */
+    virtual void setEpsilon(double val) = 0;
+    //! @brief Inner iterations (between outlier filtering) used in the numerical scheme
+    /** @see setInnerIterations */
+    virtual int getInnerIterations() const = 0;
+    /** @copybrief getInnerIterations @see getInnerIterations */
+    virtual void setInnerIterations(int val) = 0;
+    //! @brief Outer iterations (number of inner loops) used in the numerical scheme
+    /** @see setOuterIterations */
+    virtual int getOuterIterations() const = 0;
+    /** @copybrief getOuterIterations @see getOuterIterations */
+    virtual void setOuterIterations(int val) = 0;
+    //! @brief Use initial flow
+    /** @see setUseInitialFlow */
+    virtual bool getUseInitialFlow() const = 0;
+    /** @copybrief getUseInitialFlow @see getUseInitialFlow */
+    virtual void setUseInitialFlow(bool val) = 0;
+    //! @brief Step between scales (<1)
+    /** @see setScaleStep */
+    virtual double getScaleStep() const = 0;
+    /** @copybrief getScaleStep @see getScaleStep */
+    virtual void setScaleStep(double val) = 0;
+    //! @brief Median filter kernel size (1 = no filter) (3 or 5)
+    /** @see setMedianFiltering */
+    virtual int getMedianFiltering() const = 0;
+    /** @copybrief getMedianFiltering @see getMedianFiltering */
+    virtual void setMedianFiltering(int val) = 0;
+};
+
+/** @brief Creates instance of cv::DenseOpticalFlow
+*/
+CV_EXPORTS_W Ptr<DualTVL1OpticalFlow> createOptFlow_DualTVL1();
+
+//! @} video_track
+
+} // cv
+
+#endif
diff --git a/3rdparty/include/opencv2/video/tracking_c.h b/3rdparty/include/opencv2/video/tracking_c.h
new file mode 100644
index 0000000..b355352
--- /dev/null
+++ b/3rdparty/include/opencv2/video/tracking_c.h
@@ -0,0 +1,232 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_TRACKING_C_H__
+#define __OPENCV_TRACKING_C_H__
+
+#include "opencv2/imgproc/types_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup video_c
+  @{
+*/
+
+/****************************************************************************************\
+*                                  Motion Analysis                                       *
+\****************************************************************************************/
+
+/************************************ optical flow ***************************************/
+
+#define CV_LKFLOW_PYR_A_READY       1
+#define CV_LKFLOW_PYR_B_READY       2
+#define CV_LKFLOW_INITIAL_GUESSES   4
+#define CV_LKFLOW_GET_MIN_EIGENVALS 8
+
+/* It is Lucas & Kanade method, modified to use pyramids.
+   Also it does several iterations to get optical flow for
+   every point at every pyramid level.
+   Calculates optical flow between two images for certain set of points (i.e.
+   it is a "sparse" optical flow, which is opposite to the previous 3 methods) */
+CVAPI(void)  cvCalcOpticalFlowPyrLK( const CvArr*  prev, const CvArr*  curr,
+                                     CvArr*  prev_pyr, CvArr*  curr_pyr,
+                                     const CvPoint2D32f* prev_features,
+                                     CvPoint2D32f* curr_features,
+                                     int       count,
+                                     CvSize    win_size,
+                                     int       level,
+                                     char*     status,
+                                     float*    track_error,
+                                     CvTermCriteria criteria,
+                                     int       flags );
+
+
+/* Modification of a previous sparse optical flow algorithm to calculate
+   affine flow */
+CVAPI(void)  cvCalcAffineFlowPyrLK( const CvArr*  prev, const CvArr*  curr,
+                                    CvArr*  prev_pyr, CvArr*  curr_pyr,
+                                    const CvPoint2D32f* prev_features,
+                                    CvPoint2D32f* curr_features,
+                                    float* matrices, int  count,
+                                    CvSize win_size, int  level,
+                                    char* status, float* track_error,
+                                    CvTermCriteria criteria, int flags );
+
+/* Estimate rigid transformation between 2 images or 2 point sets */
+CVAPI(int)  cvEstimateRigidTransform( const CvArr* A, const CvArr* B,
+                                      CvMat* M, int full_affine );
+
+/* Estimate optical flow for each pixel using the two-frame G. Farneback algorithm */
+CVAPI(void) cvCalcOpticalFlowFarneback( const CvArr* prev, const CvArr* next,
+                                        CvArr* flow, double pyr_scale, int levels,
+                                        int winsize, int iterations, int poly_n,
+                                        double poly_sigma, int flags );
+
+/********************************* motion templates *************************************/
+
+/****************************************************************************************\
+*        All the motion template functions work only with single channel images.         *
+*        Silhouette image must have depth IPL_DEPTH_8U or IPL_DEPTH_8S                   *
+*        Motion history image must have depth IPL_DEPTH_32F,                             *
+*        Gradient mask - IPL_DEPTH_8U or IPL_DEPTH_8S,                                   *
+*        Motion orientation image - IPL_DEPTH_32F                                        *
+*        Segmentation mask - IPL_DEPTH_32F                                               *
+*        All the angles are in degrees, all the times are in milliseconds                *
+\****************************************************************************************/
+
+/* Updates motion history image given motion silhouette */
+CVAPI(void)    cvUpdateMotionHistory( const CvArr* silhouette, CvArr* mhi,
+                                      double timestamp, double duration );
+
+/* Calculates gradient of the motion history image and fills
+   a mask indicating where the gradient is valid */
+CVAPI(void)    cvCalcMotionGradient( const CvArr* mhi, CvArr* mask, CvArr* orientation,
+                                     double delta1, double delta2,
+                                     int aperture_size CV_DEFAULT(3));
+
+/* Calculates average motion direction within a selected motion region
+   (region can be selected by setting ROIs and/or by composing a valid gradient mask
+   with the region mask) */
+CVAPI(double)  cvCalcGlobalOrientation( const CvArr* orientation, const CvArr* mask,
+                                        const CvArr* mhi, double timestamp,
+                                        double duration );
+
+/* Splits a motion history image into a few parts corresponding to separate independent motions
+   (e.g. left hand, right hand) */
+CVAPI(CvSeq*)  cvSegmentMotion( const CvArr* mhi, CvArr* seg_mask,
+                                CvMemStorage* storage,
+                                double timestamp, double seg_thresh );
+
+/****************************************************************************************\
+*                                       Tracking                                         *
+\****************************************************************************************/
+
+/* Implements CAMSHIFT algorithm - determines object position, size and orientation
+   from the object histogram back project (extension of meanshift) */
+CVAPI(int)  cvCamShift( const CvArr* prob_image, CvRect  window,
+                        CvTermCriteria criteria, CvConnectedComp* comp,
+                        CvBox2D* box CV_DEFAULT(NULL) );
+
+/* Implements MeanShift algorithm - determines object position
+   from the object histogram back project */
+CVAPI(int)  cvMeanShift( const CvArr* prob_image, CvRect  window,
+                         CvTermCriteria criteria, CvConnectedComp* comp );
+
+/*
+standard Kalman filter (in G. Welch' and G. Bishop's notation):
+
+  x(k)=A*x(k-1)+B*u(k)+w(k)  p(w)~N(0,Q)
+  z(k)=H*x(k)+v(k),   p(v)~N(0,R)
+*/
+typedef struct CvKalman
+{
+    int MP;                     /* number of measurement vector dimensions */
+    int DP;                     /* number of state vector dimensions */
+    int CP;                     /* number of control vector dimensions */
+
+    /* backward compatibility fields */
+#if 1
+    float* PosterState;         /* =state_pre->data.fl */
+    float* PriorState;          /* =state_post->data.fl */
+    float* DynamMatr;           /* =transition_matrix->data.fl */
+    float* MeasurementMatr;     /* =measurement_matrix->data.fl */
+    float* MNCovariance;        /* =measurement_noise_cov->data.fl */
+    float* PNCovariance;        /* =process_noise_cov->data.fl */
+    float* KalmGainMatr;        /* =gain->data.fl */
+    float* PriorErrorCovariance;/* =error_cov_pre->data.fl */
+    float* PosterErrorCovariance;/* =error_cov_post->data.fl */
+    float* Temp1;               /* temp1->data.fl */
+    float* Temp2;               /* temp2->data.fl */
+#endif
+
+    CvMat* state_pre;           /* predicted state (x'(k)):
+                                    x(k)=A*x(k-1)+B*u(k) */
+    CvMat* state_post;          /* corrected state (x(k)):
+                                    x(k)=x'(k)+K(k)*(z(k)-H*x'(k)) */
+    CvMat* transition_matrix;   /* state transition matrix (A) */
+    CvMat* control_matrix;      /* control matrix (B)
+                                   (it is not used if there is no control)*/
+    CvMat* measurement_matrix;  /* measurement matrix (H) */
+    CvMat* process_noise_cov;   /* process noise covariance matrix (Q) */
+    CvMat* measurement_noise_cov; /* measurement noise covariance matrix (R) */
+    CvMat* error_cov_pre;       /* priori error estimate covariance matrix (P'(k)):
+                                    P'(k)=A*P(k-1)*At + Q)*/
+    CvMat* gain;                /* Kalman gain matrix (K(k)):
+                                    K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)*/
+    CvMat* error_cov_post;      /* posteriori error estimate covariance matrix (P(k)):
+                                    P(k)=(I-K(k)*H)*P'(k) */
+    CvMat* temp1;               /* temporary matrices */
+    CvMat* temp2;
+    CvMat* temp3;
+    CvMat* temp4;
+    CvMat* temp5;
+} CvKalman;
+
+/* Creates Kalman filter and sets A, B, Q, R and state to some initial values */
+CVAPI(CvKalman*) cvCreateKalman( int dynam_params, int measure_params,
+                                 int control_params CV_DEFAULT(0));
+
+/* Releases Kalman filter state */
+CVAPI(void)  cvReleaseKalman( CvKalman** kalman);
+
+/* Updates Kalman filter by time (predicts future state of the system) */
+CVAPI(const CvMat*)  cvKalmanPredict( CvKalman* kalman,
+                                      const CvMat* control CV_DEFAULT(NULL));
+
+/* Updates Kalman filter by measurement
+   (corrects state of the system and internal matrices) */
+CVAPI(const CvMat*)  cvKalmanCorrect( CvKalman* kalman, const CvMat* measurement );
+
+#define cvKalmanUpdateByTime  cvKalmanPredict
+#define cvKalmanUpdateByMeasurement cvKalmanCorrect
+
+/** @} video_c */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+
+#endif // __OPENCV_TRACKING_C_H__
diff --git a/3rdparty/include/opencv2/video/video.hpp b/3rdparty/include/opencv2/video/video.hpp
new file mode 100644
index 0000000..8267b85
--- /dev/null
+++ b/3rdparty/include/opencv2/video/video.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/video.hpp"
diff --git a/3rdparty/include/opencv2/videoio.hpp b/3rdparty/include/opencv2/videoio.hpp
new file mode 100644
index 0000000..2547e4c
--- /dev/null
+++ b/3rdparty/include/opencv2/videoio.hpp
@@ -0,0 +1,648 @@
+/*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*/
+
+#ifndef __OPENCV_VIDEOIO_HPP__
+#define __OPENCV_VIDEOIO_HPP__
+
+#include "opencv2/core.hpp"
+
+/**
+  @defgroup videoio Media I/O
+  @{
+    @defgroup videoio_c C API
+    @defgroup videoio_ios iOS glue
+    @defgroup videoio_winrt WinRT glue
+  @}
+*/
+
+////////////////////////////////// video io /////////////////////////////////
+
+typedef struct CvCapture CvCapture;
+typedef struct CvVideoWriter CvVideoWriter;
+
+namespace cv
+{
+
+//! @addtogroup videoio
+//! @{
+
+// Camera API
+enum { CAP_ANY          = 0,     // autodetect
+       CAP_VFW          = 200,   // platform native
+       CAP_V4L          = 200,
+       CAP_V4L2         = CAP_V4L,
+       CAP_FIREWARE     = 300,   // IEEE 1394 drivers
+       CAP_FIREWIRE     = CAP_FIREWARE,
+       CAP_IEEE1394     = CAP_FIREWARE,
+       CAP_DC1394       = CAP_FIREWARE,
+       CAP_CMU1394      = CAP_FIREWARE,
+       CAP_QT           = 500,   // QuickTime
+       CAP_UNICAP       = 600,   // Unicap drivers
+       CAP_DSHOW        = 700,   // DirectShow (via videoInput)
+       CAP_PVAPI        = 800,   // PvAPI, Prosilica GigE SDK
+       CAP_OPENNI       = 900,   // OpenNI (for Kinect)
+       CAP_OPENNI_ASUS  = 910,   // OpenNI (for Asus Xtion)
+       CAP_ANDROID      = 1000,  // Android - not used
+       CAP_XIAPI        = 1100,  // XIMEA Camera API
+       CAP_AVFOUNDATION = 1200,  // AVFoundation framework for iOS (OS X Lion will have the same API)
+       CAP_GIGANETIX    = 1300,  // Smartek Giganetix GigEVisionSDK
+       CAP_MSMF         = 1400,  // Microsoft Media Foundation (via videoInput)
+       CAP_WINRT        = 1410,  // Microsoft Windows Runtime using Media Foundation
+       CAP_INTELPERC    = 1500,  // Intel Perceptual Computing SDK
+       CAP_OPENNI2      = 1600,  // OpenNI2 (for Kinect)
+       CAP_OPENNI2_ASUS = 1610,  // OpenNI2 (for Asus Xtion and Occipital Structure sensors)
+       CAP_GPHOTO2      = 1700   // gPhoto2 connection
+     };
+
+// generic properties (based on DC1394 properties)
+enum { CAP_PROP_POS_MSEC       =0,
+       CAP_PROP_POS_FRAMES     =1,
+       CAP_PROP_POS_AVI_RATIO  =2,
+       CAP_PROP_FRAME_WIDTH    =3,
+       CAP_PROP_FRAME_HEIGHT   =4,
+       CAP_PROP_FPS            =5,
+       CAP_PROP_FOURCC         =6,
+       CAP_PROP_FRAME_COUNT    =7,
+       CAP_PROP_FORMAT         =8,
+       CAP_PROP_MODE           =9,
+       CAP_PROP_BRIGHTNESS    =10,
+       CAP_PROP_CONTRAST      =11,
+       CAP_PROP_SATURATION    =12,
+       CAP_PROP_HUE           =13,
+       CAP_PROP_GAIN          =14,
+       CAP_PROP_EXPOSURE      =15,
+       CAP_PROP_CONVERT_RGB   =16,
+       CAP_PROP_WHITE_BALANCE_BLUE_U =17,
+       CAP_PROP_RECTIFICATION =18,
+       CAP_PROP_MONOCHROME    =19,
+       CAP_PROP_SHARPNESS     =20,
+       CAP_PROP_AUTO_EXPOSURE =21, // DC1394: exposure control done by camera, user can adjust refernce level using this feature
+       CAP_PROP_GAMMA         =22,
+       CAP_PROP_TEMPERATURE   =23,
+       CAP_PROP_TRIGGER       =24,
+       CAP_PROP_TRIGGER_DELAY =25,
+       CAP_PROP_WHITE_BALANCE_RED_V =26,
+       CAP_PROP_ZOOM          =27,
+       CAP_PROP_FOCUS         =28,
+       CAP_PROP_GUID          =29,
+       CAP_PROP_ISO_SPEED     =30,
+       CAP_PROP_BACKLIGHT     =32,
+       CAP_PROP_PAN           =33,
+       CAP_PROP_TILT          =34,
+       CAP_PROP_ROLL          =35,
+       CAP_PROP_IRIS          =36,
+       CAP_PROP_SETTINGS      =37
+     };
+
+
+// Generic camera output modes.
+// Currently, these are supported through the libv4l interface only.
+enum { CAP_MODE_BGR  = 0, // BGR24 (default)
+       CAP_MODE_RGB  = 1, // RGB24
+       CAP_MODE_GRAY = 2, // Y8
+       CAP_MODE_YUYV = 3  // YUYV
+     };
+
+
+// DC1394 only
+// modes of the controlling registers (can be: auto, manual, auto single push, absolute Latter allowed with any other mode)
+// every feature can have only one mode turned on at a time
+enum { CAP_PROP_DC1394_OFF                = -4, //turn the feature off (not controlled manually nor automatically)
+       CAP_PROP_DC1394_MODE_MANUAL        = -3, //set automatically when a value of the feature is set by the user
+       CAP_PROP_DC1394_MODE_AUTO          = -2,
+       CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO = -1,
+       CAP_PROP_DC1394_MAX                = 31
+     };
+
+
+// OpenNI map generators
+enum { CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
+       CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
+       CAP_OPENNI_GENERATORS_MASK = CAP_OPENNI_DEPTH_GENERATOR + CAP_OPENNI_IMAGE_GENERATOR
+     };
+
+// Properties of cameras available through OpenNI interfaces
+enum { CAP_PROP_OPENNI_OUTPUT_MODE       = 100,
+       CAP_PROP_OPENNI_FRAME_MAX_DEPTH   = 101, // in mm
+       CAP_PROP_OPENNI_BASELINE          = 102, // in mm
+       CAP_PROP_OPENNI_FOCAL_LENGTH      = 103, // in pixels
+       CAP_PROP_OPENNI_REGISTRATION      = 104, // flag that synchronizes the remapping depth map to image map
+                                                // by changing depth generator's view point (if the flag is "on") or
+                                                // sets this view point to its normal one (if the flag is "off").
+       CAP_PROP_OPENNI_REGISTRATION_ON   = CAP_PROP_OPENNI_REGISTRATION,
+       CAP_PROP_OPENNI_APPROX_FRAME_SYNC = 105,
+       CAP_PROP_OPENNI_MAX_BUFFER_SIZE   = 106,
+       CAP_PROP_OPENNI_CIRCLE_BUFFER     = 107,
+       CAP_PROP_OPENNI_MAX_TIME_DURATION = 108,
+       CAP_PROP_OPENNI_GENERATOR_PRESENT = 109,
+       CAP_PROP_OPENNI2_SYNC             = 110,
+       CAP_PROP_OPENNI2_MIRROR           = 111
+     };
+
+// OpenNI shortcats
+enum { CAP_OPENNI_IMAGE_GENERATOR_PRESENT         = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
+       CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE     = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_OUTPUT_MODE,
+       CAP_OPENNI_DEPTH_GENERATOR_BASELINE        = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_BASELINE,
+       CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH    = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_FOCAL_LENGTH,
+       CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION    = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION,
+       CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION
+     };
+
+// OpenNI data given from depth generator
+enum { CAP_OPENNI_DEPTH_MAP         = 0, // Depth values in mm (CV_16UC1)
+       CAP_OPENNI_POINT_CLOUD_MAP   = 1, // XYZ in meters (CV_32FC3)
+       CAP_OPENNI_DISPARITY_MAP     = 2, // Disparity in pixels (CV_8UC1)
+       CAP_OPENNI_DISPARITY_MAP_32F = 3, // Disparity in pixels (CV_32FC1)
+       CAP_OPENNI_VALID_DEPTH_MASK  = 4, // CV_8UC1
+
+       // Data given from RGB image generator
+       CAP_OPENNI_BGR_IMAGE         = 5,
+       CAP_OPENNI_GRAY_IMAGE        = 6
+     };
+
+// Supported output modes of OpenNI image generator
+enum { CAP_OPENNI_VGA_30HZ  = 0,
+       CAP_OPENNI_SXGA_15HZ = 1,
+       CAP_OPENNI_SXGA_30HZ = 2,
+       CAP_OPENNI_QVGA_30HZ = 3,
+       CAP_OPENNI_QVGA_60HZ = 4
+     };
+
+
+// GStreamer
+enum { CAP_PROP_GSTREAMER_QUEUE_LENGTH = 200 // default is 1
+     };
+
+
+// PVAPI
+enum { CAP_PROP_PVAPI_MULTICASTIP           = 300, // ip for anable multicast master mode. 0 for disable multicast
+       CAP_PROP_PVAPI_FRAMESTARTTRIGGERMODE = 301, // FrameStartTriggerMode: Determines how a frame is initiated
+       CAP_PROP_PVAPI_DECIMATIONHORIZONTAL  = 302, // Horizontal sub-sampling of the image
+       CAP_PROP_PVAPI_DECIMATIONVERTICAL    = 303, // Vertical sub-sampling of the image
+       CAP_PROP_PVAPI_BINNINGX              = 304, // Horizontal binning factor
+       CAP_PROP_PVAPI_BINNINGY              = 305, // Vertical binning factor
+       CAP_PROP_PVAPI_PIXELFORMAT           = 306  // Pixel format
+     };
+
+// PVAPI: FrameStartTriggerMode
+enum { CAP_PVAPI_FSTRIGMODE_FREERUN     = 0,    // Freerun
+       CAP_PVAPI_FSTRIGMODE_SYNCIN1     = 1,    // SyncIn1
+       CAP_PVAPI_FSTRIGMODE_SYNCIN2     = 2,    // SyncIn2
+       CAP_PVAPI_FSTRIGMODE_FIXEDRATE   = 3,    // FixedRate
+       CAP_PVAPI_FSTRIGMODE_SOFTWARE    = 4     // Software
+     };
+
+// PVAPI: DecimationHorizontal, DecimationVertical
+enum { CAP_PVAPI_DECIMATION_OFF       = 1,    // Off
+       CAP_PVAPI_DECIMATION_2OUTOF4   = 2,    // 2 out of 4 decimation
+       CAP_PVAPI_DECIMATION_2OUTOF8   = 4,    // 2 out of 8 decimation
+       CAP_PVAPI_DECIMATION_2OUTOF16  = 8     // 2 out of 16 decimation
+     };
+
+// PVAPI: PixelFormat
+enum { CAP_PVAPI_PIXELFORMAT_MONO8    = 1,    // Mono8
+       CAP_PVAPI_PIXELFORMAT_MONO16   = 2,    // Mono16
+       CAP_PVAPI_PIXELFORMAT_BAYER8   = 3,    // Bayer8
+       CAP_PVAPI_PIXELFORMAT_BAYER16  = 4,    // Bayer16
+       CAP_PVAPI_PIXELFORMAT_RGB24    = 5,    // Rgb24
+       CAP_PVAPI_PIXELFORMAT_BGR24    = 6,    // Bgr24
+       CAP_PVAPI_PIXELFORMAT_RGBA32   = 7,    // Rgba32
+       CAP_PVAPI_PIXELFORMAT_BGRA32   = 8,    // Bgra32
+     };
+
+// Properties of cameras available through XIMEA SDK interface
+enum { CAP_PROP_XI_DOWNSAMPLING  = 400, // Change image resolution by binning or skipping.
+       CAP_PROP_XI_DATA_FORMAT   = 401, // Output data format.
+       CAP_PROP_XI_OFFSET_X      = 402, // Horizontal offset from the origin to the area of interest (in pixels).
+       CAP_PROP_XI_OFFSET_Y      = 403, // Vertical offset from the origin to the area of interest (in pixels).
+       CAP_PROP_XI_TRG_SOURCE    = 404, // Defines source of trigger.
+       CAP_PROP_XI_TRG_SOFTWARE  = 405, // Generates an internal trigger. PRM_TRG_SOURCE must be set to TRG_SOFTWARE.
+       CAP_PROP_XI_GPI_SELECTOR  = 406, // Selects general purpose input
+       CAP_PROP_XI_GPI_MODE      = 407, // Set general purpose input mode
+       CAP_PROP_XI_GPI_LEVEL     = 408, // Get general purpose level
+       CAP_PROP_XI_GPO_SELECTOR  = 409, // Selects general purpose output
+       CAP_PROP_XI_GPO_MODE      = 410, // Set general purpose output mode
+       CAP_PROP_XI_LED_SELECTOR  = 411, // Selects camera signalling LED
+       CAP_PROP_XI_LED_MODE      = 412, // Define camera signalling LED functionality
+       CAP_PROP_XI_MANUAL_WB     = 413, // Calculates White Balance(must be called during acquisition)
+       CAP_PROP_XI_AUTO_WB       = 414, // Automatic white balance
+       CAP_PROP_XI_AEAG          = 415, // Automatic exposure/gain
+       CAP_PROP_XI_EXP_PRIORITY  = 416, // Exposure priority (0.5 - exposure 50%, gain 50%).
+       CAP_PROP_XI_AE_MAX_LIMIT  = 417, // Maximum limit of exposure in AEAG procedure
+       CAP_PROP_XI_AG_MAX_LIMIT  = 418, // Maximum limit of gain in AEAG procedure
+       CAP_PROP_XI_AEAG_LEVEL    = 419, // Average intensity of output signal AEAG should achieve(in %)
+       CAP_PROP_XI_TIMEOUT       = 420  // Image capture timeout in milliseconds
+     };
+
+// Properties of cameras available through AVFOUNDATION interface
+enum { CAP_PROP_IOS_DEVICE_FOCUS        = 9001,
+       CAP_PROP_IOS_DEVICE_EXPOSURE     = 9002,
+       CAP_PROP_IOS_DEVICE_FLASH        = 9003,
+       CAP_PROP_IOS_DEVICE_WHITEBALANCE = 9004,
+       CAP_PROP_IOS_DEVICE_TORCH        = 9005
+     };
+
+
+// Properties of cameras available through Smartek Giganetix Ethernet Vision interface
+/* --- Vladimir Litvinenko (litvinenko.vladimir@gmail.com) --- */
+enum { CAP_PROP_GIGA_FRAME_OFFSET_X   = 10001,
+       CAP_PROP_GIGA_FRAME_OFFSET_Y   = 10002,
+       CAP_PROP_GIGA_FRAME_WIDTH_MAX  = 10003,
+       CAP_PROP_GIGA_FRAME_HEIGH_MAX  = 10004,
+       CAP_PROP_GIGA_FRAME_SENS_WIDTH = 10005,
+       CAP_PROP_GIGA_FRAME_SENS_HEIGH = 10006
+     };
+
+enum { CAP_PROP_INTELPERC_PROFILE_COUNT               = 11001,
+       CAP_PROP_INTELPERC_PROFILE_IDX                 = 11002,
+       CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE  = 11003,
+       CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE      = 11004,
+       CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD  = 11005,
+       CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ     = 11006,
+       CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT     = 11007
+     };
+
+// Intel PerC streams
+enum { CAP_INTELPERC_DEPTH_GENERATOR = 1 << 29,
+       CAP_INTELPERC_IMAGE_GENERATOR = 1 << 28,
+       CAP_INTELPERC_GENERATORS_MASK = CAP_INTELPERC_DEPTH_GENERATOR + CAP_INTELPERC_IMAGE_GENERATOR
+     };
+
+enum { CAP_INTELPERC_DEPTH_MAP              = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth.
+       CAP_INTELPERC_UVDEPTH_MAP            = 1, // Each pixel contains two 32-bit floating point values in the range of 0-1, representing the mapping of depth coordinates to the color coordinates.
+       CAP_INTELPERC_IR_MAP                 = 2, // Each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam.
+       CAP_INTELPERC_IMAGE                  = 3
+     };
+
+enum { VIDEOWRITER_PROP_QUALITY = 1,    // Quality (0..100%) of the videostream encoded
+       VIDEOWRITER_PROP_FRAMEBYTES = 2, // (Read-only): Size of just encoded video frame
+     };
+
+// gPhoto2 properties, if propertyId is less than 0 then work on widget with that __additive inversed__ camera setting ID
+// Get IDs by using CAP_PROP_GPHOTO2_WIDGET_ENUMERATE.
+// @see CvCaptureCAM_GPHOTO2 for more info
+enum { CAP_PROP_GPHOTO2_PREVIEW           = 17001, // Capture only preview from liveview mode.
+       CAP_PROP_GPHOTO2_WIDGET_ENUMERATE  = 17002, // Readonly, returns (const char *).
+       CAP_PROP_GPHOTO2_RELOAD_CONFIG     = 17003, // Trigger, only by set. Reload camera settings.
+       CAP_PROP_GPHOTO2_RELOAD_ON_CHANGE  = 17004, // Reload all settings on set.
+       CAP_PROP_GPHOTO2_COLLECT_MSGS      = 17005, // Collect messages with details.
+       CAP_PROP_GPHOTO2_FLUSH_MSGS        = 17006, // Readonly, returns (const char *).
+       CAP_PROP_SPEED                     = 17007, // Exposure speed. Can be readonly, depends on camera program.
+       CAP_PROP_APERTURE                  = 17008, // Aperture. Can be readonly, depends on camera program.
+       CAP_PROP_EXPOSUREPROGRAM           = 17009, // Camera exposure program.
+       CAP_PROP_VIEWFINDER                = 17010  // Enter liveview mode.
+     };
+
+//enum {
+
+class IVideoCapture;
+
+/** @brief Class for video capturing from video files, image sequences or cameras. The class provides C++ API
+for capturing video from cameras or for reading video files and image sequences. Here is how the
+class can be used: :
+@code
+    #include "opencv2/opencv.hpp"
+
+    using namespace cv;
+
+    int main(int, char**)
+    {
+        VideoCapture cap(0); // open the default camera
+        if(!cap.isOpened())  // check if we succeeded
+            return -1;
+
+        Mat edges;
+        namedWindow("edges",1);
+        for(;;)
+        {
+            Mat frame;
+            cap >> frame; // get a new frame from camera
+            cvtColor(frame, edges, COLOR_BGR2GRAY);
+            GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5);
+            Canny(edges, edges, 0, 30, 3);
+            imshow("edges", edges);
+            if(waitKey(30) >= 0) break;
+        }
+        // the camera will be deinitialized automatically in VideoCapture destructor
+        return 0;
+    }
+@endcode
+@note In C API the black-box structure CvCapture is used instead of VideoCapture.
+
+@note
+-   A basic sample on using the VideoCapture interface can be found at
+    opencv_source_code/samples/cpp/starter_video.cpp
+-   Another basic video processing sample can be found at
+    opencv_source_code/samples/cpp/video_dmtx.cpp
+-   (Python) A basic sample on using the VideoCapture interface can be found at
+    opencv_source_code/samples/python2/video.py
+-   (Python) Another basic video processing sample can be found at
+    opencv_source_code/samples/python2/video_dmtx.py
+-   (Python) A multi threaded video processing sample can be found at
+    opencv_source_code/samples/python2/video_threaded.py
+ */
+class CV_EXPORTS_W VideoCapture
+{
+public:
+    /** @brief
+    @note In C API, when you finished working with video, release CvCapture structure with
+    cvReleaseCapture(), or use Ptr\<CvCapture\> that calls cvReleaseCapture() automatically in the
+    destructor.
+     */
+    CV_WRAP VideoCapture();
+
+    /** @overload
+    @param filename name of the opened video file (eg. video.avi) or image sequence (eg.
+    img_%02d.jpg, which will read samples like img_00.jpg, img_01.jpg, img_02.jpg, ...)
+    */
+    CV_WRAP VideoCapture(const String& filename);
+
+    /** @overload
+    @param device id of the opened video capturing device (i.e. a camera index). If there is a single
+    camera connected, just pass 0.
+    */
+    CV_WRAP VideoCapture(int device);
+
+    virtual ~VideoCapture();
+
+    /** @brief Open video file or a capturing device for video capturing
+
+    @param filename name of the opened video file (eg. video.avi) or image sequence (eg.
+    img_%02d.jpg, which will read samples like img_00.jpg, img_01.jpg, img_02.jpg, ...)
+
+    The methods first call VideoCapture::release to close the already opened file or camera.
+     */
+    CV_WRAP virtual bool open(const String& filename);
+
+    /** @overload
+    @param device id of the opened video capturing device (i.e. a camera index).
+    */
+    CV_WRAP virtual bool open(int device);
+
+    /** @brief Returns true if video capturing has been initialized already.
+
+    If the previous call to VideoCapture constructor or VideoCapture::open succeeded, the method returns
+    true.
+     */
+    CV_WRAP virtual bool isOpened() const;
+
+    /** @brief Closes video file or capturing device.
+
+    The methods are automatically called by subsequent VideoCapture::open and by VideoCapture
+    destructor.
+
+    The C function also deallocates memory and clears \*capture pointer.
+     */
+    CV_WRAP virtual void release();
+
+    /** @brief Grabs the next frame from video file or capturing device.
+
+    The methods/functions grab the next frame from video file or camera and return true (non-zero) in
+    the case of success.
+
+    The primary use of the function is in multi-camera environments, especially when the cameras do not
+    have hardware synchronization. That is, you call VideoCapture::grab() for each camera and after that
+    call the slower method VideoCapture::retrieve() to decode and get frame from each camera. This way
+    the overhead on demosaicing or motion jpeg decompression etc. is eliminated and the retrieved frames
+    from different cameras will be closer in time.
+
+    Also, when a connected camera is multi-head (for example, a stereo camera or a Kinect device), the
+    correct way of retrieving data from it is to call VideoCapture::grab first and then call
+    VideoCapture::retrieve one or more times with different values of the channel parameter. See
+    <https://github.com/Itseez/opencv/tree/master/samples/cpp/openni_capture.cpp>
+     */
+    CV_WRAP virtual bool grab();
+
+    /** @brief Decodes and returns the grabbed video frame.
+
+    The methods/functions decode and return the just grabbed frame. If no frames has been grabbed
+    (camera has been disconnected, or there are no more frames in video file), the methods return false
+    and the functions return NULL pointer.
+
+    @note OpenCV 1.x functions cvRetrieveFrame and cv.RetrieveFrame return image stored inside the video
+    capturing structure. It is not allowed to modify or release the image! You can copy the frame using
+    :ocvcvCloneImage and then do whatever you want with the copy.
+     */
+    CV_WRAP virtual bool retrieve(OutputArray image, int flag = 0);
+    virtual VideoCapture& operator >> (CV_OUT Mat& image);
+    virtual VideoCapture& operator >> (CV_OUT UMat& image);
+
+    /** @brief Grabs, decodes and returns the next video frame.
+
+    The methods/functions combine VideoCapture::grab and VideoCapture::retrieve in one call. This is the
+    most convenient method for reading video files or capturing data from decode and return the just
+    grabbed frame. If no frames has been grabbed (camera has been disconnected, or there are no more
+    frames in video file), the methods return false and the functions return NULL pointer.
+
+    @note OpenCV 1.x functions cvRetrieveFrame and cv.RetrieveFrame return image stored inside the video
+    capturing structure. It is not allowed to modify or release the image! You can copy the frame using
+    :ocvcvCloneImage and then do whatever you want with the copy.
+     */
+    CV_WRAP virtual bool read(OutputArray image);
+
+    /** @brief Sets a property in the VideoCapture.
+
+    @param propId Property identifier. It can be one of the following:
+     -   **CAP_PROP_POS_MSEC** Current position of the video file in milliseconds.
+     -   **CAP_PROP_POS_FRAMES** 0-based index of the frame to be decoded/captured next.
+     -   **CAP_PROP_POS_AVI_RATIO** Relative position of the video file: 0 - start of the
+         film, 1 - end of the film.
+     -   **CAP_PROP_FRAME_WIDTH** Width of the frames in the video stream.
+     -   **CAP_PROP_FRAME_HEIGHT** Height of the frames in the video stream.
+     -   **CAP_PROP_FPS** Frame rate.
+     -   **CAP_PROP_FOURCC** 4-character code of codec.
+     -   **CAP_PROP_FRAME_COUNT** Number of frames in the video file.
+     -   **CAP_PROP_FORMAT** Format of the Mat objects returned by retrieve() .
+     -   **CAP_PROP_MODE** Backend-specific value indicating the current capture mode.
+     -   **CAP_PROP_BRIGHTNESS** Brightness of the image (only for cameras).
+     -   **CAP_PROP_CONTRAST** Contrast of the image (only for cameras).
+     -   **CAP_PROP_SATURATION** Saturation of the image (only for cameras).
+     -   **CAP_PROP_HUE** Hue of the image (only for cameras).
+     -   **CAP_PROP_GAIN** Gain of the image (only for cameras).
+     -   **CAP_PROP_EXPOSURE** Exposure (only for cameras).
+     -   **CAP_PROP_CONVERT_RGB** Boolean flags indicating whether images should be converted
+         to RGB.
+     -   **CAP_PROP_WHITE_BALANCE** Currently unsupported
+     -   **CAP_PROP_RECTIFICATION** Rectification flag for stereo cameras (note: only supported
+         by DC1394 v 2.x backend currently)
+    @param value Value of the property.
+     */
+    CV_WRAP virtual bool set(int propId, double value);
+
+    /** @brief Returns the specified VideoCapture property
+
+    @param propId Property identifier. It can be one of the following:
+     -   **CAP_PROP_POS_MSEC** Current position of the video file in milliseconds or video
+         capture timestamp.
+     -   **CAP_PROP_POS_FRAMES** 0-based index of the frame to be decoded/captured next.
+     -   **CAP_PROP_POS_AVI_RATIO** Relative position of the video file: 0 - start of the
+         film, 1 - end of the film.
+     -   **CAP_PROP_FRAME_WIDTH** Width of the frames in the video stream.
+     -   **CAP_PROP_FRAME_HEIGHT** Height of the frames in the video stream.
+     -   **CAP_PROP_FPS** Frame rate.
+     -   **CAP_PROP_FOURCC** 4-character code of codec.
+     -   **CAP_PROP_FRAME_COUNT** Number of frames in the video file.
+     -   **CAP_PROP_FORMAT** Format of the Mat objects returned by retrieve() .
+     -   **CAP_PROP_MODE** Backend-specific value indicating the current capture mode.
+     -   **CAP_PROP_BRIGHTNESS** Brightness of the image (only for cameras).
+     -   **CAP_PROP_CONTRAST** Contrast of the image (only for cameras).
+     -   **CAP_PROP_SATURATION** Saturation of the image (only for cameras).
+     -   **CAP_PROP_HUE** Hue of the image (only for cameras).
+     -   **CAP_PROP_GAIN** Gain of the image (only for cameras).
+     -   **CAP_PROP_EXPOSURE** Exposure (only for cameras).
+     -   **CAP_PROP_CONVERT_RGB** Boolean flags indicating whether images should be converted
+         to RGB.
+     -   **CAP_PROP_WHITE_BALANCE** Currently not supported
+     -   **CAP_PROP_RECTIFICATION** Rectification flag for stereo cameras (note: only supported
+         by DC1394 v 2.x backend currently)
+
+    @note When querying a property that is not supported by the backend used by the VideoCapture
+    class, value 0 is returned.
+     */
+    CV_WRAP virtual double get(int propId) const;
+
+protected:
+    Ptr<CvCapture> cap;
+    Ptr<IVideoCapture> icap;
+};
+
+class IVideoWriter;
+
+/** @brief Video writer class.
+ */
+class CV_EXPORTS_W VideoWriter
+{
+public:
+    /** @brief VideoWriter constructors
+
+    The constructors/functions initialize video writers. On Linux FFMPEG is used to write videos; on
+    Windows FFMPEG or VFW is used; on MacOSX QTKit is used.
+     */
+    CV_WRAP VideoWriter();
+
+    /** @overload
+    @param filename Name of the output video file.
+    @param fourcc 4-character code of codec used to compress the frames. For example,
+    VideoWriter::fourcc('P','I','M','1') is a MPEG-1 codec, VideoWriter::fourcc('M','J','P','G') is a
+    motion-jpeg codec etc. List of codes can be obtained at [Video Codecs by
+    FOURCC](http://www.fourcc.org/codecs.php) page.
+    @param fps Framerate of the created video stream.
+    @param frameSize Size of the video frames.
+    @param isColor If it is not zero, the encoder will expect and encode color frames, otherwise it
+    will work with grayscale frames (the flag is currently supported on Windows only).
+    */
+    CV_WRAP VideoWriter(const String& filename, int fourcc, double fps,
+                Size frameSize, bool isColor = true);
+
+    virtual ~VideoWriter();
+
+    /** @brief Initializes or reinitializes video writer.
+
+    The method opens video writer. Parameters are the same as in the constructor
+    VideoWriter::VideoWriter.
+     */
+    CV_WRAP virtual bool open(const String& filename, int fourcc, double fps,
+                      Size frameSize, bool isColor = true);
+
+    /** @brief Returns true if video writer has been successfully initialized.
+    */
+    CV_WRAP virtual bool isOpened() const;
+
+    /** @brief Closes the video writer.
+
+    The methods are automatically called by subsequent VideoWriter::open and by the VideoWriter
+    destructor.
+     */
+    CV_WRAP virtual void release();
+    virtual VideoWriter& operator << (const Mat& image);
+
+    /** @brief Writes the next video frame
+
+    @param image The written frame
+
+    The functions/methods write the specified image to video file. It must have the same size as has
+    been specified when opening the video writer.
+     */
+    CV_WRAP virtual void write(const Mat& image);
+
+    /** @brief Sets a property in the VideoWriter.
+
+     @param propId Property identifier. It can be one of the following:
+     -   **VIDEOWRITER_PROP_QUALITY** Quality (0..100%) of the videostream encoded. Can be adjusted dynamically in some codecs.
+     @param value Value of the property.
+     */
+    CV_WRAP virtual bool set(int propId, double value);
+
+    /** @brief Returns the specified VideoWriter property
+
+     @param propId Property identifier. It can be one of the following:
+     -   **VIDEOWRITER_PROP_QUALITY** Current quality of the encoded videostream.
+     -   **VIDEOWRITER_PROP_FRAMEBYTES** (Read-only) Size of just encoded video frame; note that the encoding order may be different from representation order.
+
+     @note When querying a property that is not supported by the backend used by the VideoWriter
+     class, value 0 is returned.
+     */
+    CV_WRAP virtual double get(int propId) const;
+
+    /** @brief Concatenates 4 chars to a fourcc code
+
+    This static method constructs the fourcc code of the codec to be used in the constructor
+    VideoWriter::VideoWriter or VideoWriter::open.
+     */
+    CV_WRAP static int fourcc(char c1, char c2, char c3, char c4);
+
+protected:
+    Ptr<CvVideoWriter> writer;
+    Ptr<IVideoWriter> iwriter;
+
+    static Ptr<IVideoWriter> create(const String& filename, int fourcc, double fps,
+                                    Size frameSize, bool isColor = true);
+};
+
+template<> CV_EXPORTS void DefaultDeleter<CvCapture>::operator ()(CvCapture* obj) const;
+template<> CV_EXPORTS void DefaultDeleter<CvVideoWriter>::operator ()(CvVideoWriter* obj) const;
+
+//! @} videoio
+
+} // cv
+
+#endif //__OPENCV_VIDEOIO_HPP__
diff --git a/3rdparty/include/opencv2/videoio/cap_ios.h b/3rdparty/include/opencv2/videoio/cap_ios.h
new file mode 100644
index 0000000..cf7f2e4
--- /dev/null
+++ b/3rdparty/include/opencv2/videoio/cap_ios.h
@@ -0,0 +1,174 @@
+/*  For iOS video I/O
+ *  by Eduard Feicho on 29/07/12
+ *  Copyright 2012. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions 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.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "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 AUTHOR 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.
+ *
+ */
+
+#import <UIKit/UIKit.h>
+#import <Accelerate/Accelerate.h>
+#import <AVFoundation/AVFoundation.h>
+#import <ImageIO/ImageIO.h>
+#include "opencv2/core.hpp"
+
+//! @addtogroup videoio_ios
+//! @{
+
+/////////////////////////////////////// CvAbstractCamera /////////////////////////////////////
+
+@class CvAbstractCamera;
+
+@interface CvAbstractCamera : NSObject
+{
+    AVCaptureSession* captureSession;
+    AVCaptureConnection* videoCaptureConnection;
+    AVCaptureVideoPreviewLayer *captureVideoPreviewLayer;
+
+    UIDeviceOrientation currentDeviceOrientation;
+
+    BOOL cameraAvailable;
+    BOOL captureSessionLoaded;
+    BOOL running;
+    BOOL useAVCaptureVideoPreviewLayer;
+
+    AVCaptureDevicePosition defaultAVCaptureDevicePosition;
+    AVCaptureVideoOrientation defaultAVCaptureVideoOrientation;
+    NSString *const defaultAVCaptureSessionPreset;
+
+    int defaultFPS;
+
+    UIView* parentView;
+
+    int imageWidth;
+    int imageHeight;
+}
+
+@property (nonatomic, retain) AVCaptureSession* captureSession;
+@property (nonatomic, retain) AVCaptureConnection* videoCaptureConnection;
+
+@property (nonatomic, readonly) BOOL running;
+@property (nonatomic, readonly) BOOL captureSessionLoaded;
+
+@property (nonatomic, assign) int defaultFPS;
+@property (nonatomic, assign) AVCaptureDevicePosition defaultAVCaptureDevicePosition;
+@property (nonatomic, assign) AVCaptureVideoOrientation defaultAVCaptureVideoOrientation;
+@property (nonatomic, assign) BOOL useAVCaptureVideoPreviewLayer;
+@property (nonatomic, strong) NSString *const defaultAVCaptureSessionPreset;
+
+@property (nonatomic, assign) int imageWidth;
+@property (nonatomic, assign) int imageHeight;
+
+@property (nonatomic, retain) UIView* parentView;
+
+- (void)start;
+- (void)stop;
+- (void)switchCameras;
+
+- (id)initWithParentView:(UIView*)parent;
+
+- (void)createCaptureOutput;
+- (void)createVideoPreviewLayer;
+- (void)updateOrientation;
+
+- (void)lockFocus;
+- (void)unlockFocus;
+- (void)lockExposure;
+- (void)unlockExposure;
+- (void)lockBalance;
+- (void)unlockBalance;
+
+@end
+
+///////////////////////////////// CvVideoCamera ///////////////////////////////////////////
+
+@class CvVideoCamera;
+
+@protocol CvVideoCameraDelegate <NSObject>
+
+#ifdef __cplusplus
+// delegate method for processing image frames
+- (void)processImage:(cv::Mat&)image;
+#endif
+
+@end
+
+@interface CvVideoCamera : CvAbstractCamera<AVCaptureVideoDataOutputSampleBufferDelegate>
+{
+    AVCaptureVideoDataOutput *videoDataOutput;
+
+    dispatch_queue_t videoDataOutputQueue;
+    CALayer *customPreviewLayer;
+
+    BOOL grayscaleMode;
+
+    BOOL recordVideo;
+    BOOL rotateVideo;
+    AVAssetWriterInput* recordAssetWriterInput;
+    AVAssetWriterInputPixelBufferAdaptor* recordPixelBufferAdaptor;
+    AVAssetWriter* recordAssetWriter;
+
+    CMTime lastSampleTime;
+
+}
+
+@property (nonatomic, assign) id<CvVideoCameraDelegate> delegate;
+@property (nonatomic, assign) BOOL grayscaleMode;
+
+@property (nonatomic, assign) BOOL recordVideo;
+@property (nonatomic, assign) BOOL rotateVideo;
+@property (nonatomic, retain) AVAssetWriterInput* recordAssetWriterInput;
+@property (nonatomic, retain) AVAssetWriterInputPixelBufferAdaptor* recordPixelBufferAdaptor;
+@property (nonatomic, retain) AVAssetWriter* recordAssetWriter;
+
+- (void)adjustLayoutToInterfaceOrientation:(UIInterfaceOrientation)interfaceOrientation;
+- (void)layoutPreviewLayer;
+- (void)saveVideo;
+- (NSURL *)videoFileURL;
+
+
+@end
+
+///////////////////////////////// CvPhotoCamera ///////////////////////////////////////////
+
+@class CvPhotoCamera;
+
+@protocol CvPhotoCameraDelegate <NSObject>
+
+- (void)photoCamera:(CvPhotoCamera*)photoCamera capturedImage:(UIImage *)image;
+- (void)photoCameraCancel:(CvPhotoCamera*)photoCamera;
+
+@end
+
+@interface CvPhotoCamera : CvAbstractCamera
+{
+    AVCaptureStillImageOutput *stillImageOutput;
+}
+
+@property (nonatomic, assign) id<CvPhotoCameraDelegate> delegate;
+
+- (void)takePicture;
+
+@end
+
+//! @} videoio_ios
diff --git a/3rdparty/include/opencv2/videoio/videoio.hpp b/3rdparty/include/opencv2/videoio/videoio.hpp
new file mode 100644
index 0000000..ec84cf7
--- /dev/null
+++ b/3rdparty/include/opencv2/videoio/videoio.hpp
@@ -0,0 +1,48 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/videoio.hpp"
diff --git a/3rdparty/include/opencv2/videoio/videoio_c.h b/3rdparty/include/opencv2/videoio/videoio_c.h
new file mode 100644
index 0000000..b897385
--- /dev/null
+++ b/3rdparty/include/opencv2/videoio/videoio_c.h
@@ -0,0 +1,405 @@
+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_VIDEOIO_H__
+#define __OPENCV_VIDEOIO_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+  @addtogroup videoio_c
+  @{
+*/
+
+/****************************************************************************************\
+*                         Working with Video Files and Cameras                           *
+\****************************************************************************************/
+
+/* "black box" capture structure */
+typedef struct CvCapture CvCapture;
+
+/* start capturing frames from video file */
+CVAPI(CvCapture*) cvCreateFileCapture( const char* filename );
+
+enum
+{
+    CV_CAP_ANY      =0,     // autodetect
+
+    CV_CAP_MIL      =100,   // MIL proprietary drivers
+
+    CV_CAP_VFW      =200,   // platform native
+    CV_CAP_V4L      =200,
+    CV_CAP_V4L2     =200,
+
+    CV_CAP_FIREWARE =300,   // IEEE 1394 drivers
+    CV_CAP_FIREWIRE =300,
+    CV_CAP_IEEE1394 =300,
+    CV_CAP_DC1394   =300,
+    CV_CAP_CMU1394  =300,
+
+    CV_CAP_STEREO   =400,   // TYZX proprietary drivers
+    CV_CAP_TYZX     =400,
+    CV_TYZX_LEFT    =400,
+    CV_TYZX_RIGHT   =401,
+    CV_TYZX_COLOR   =402,
+    CV_TYZX_Z       =403,
+
+    CV_CAP_QT       =500,   // QuickTime
+
+    CV_CAP_UNICAP   =600,   // Unicap drivers
+
+    CV_CAP_DSHOW    =700,   // DirectShow (via videoInput)
+    CV_CAP_MSMF     =1400,  // Microsoft Media Foundation (via videoInput)
+
+    CV_CAP_PVAPI    =800,   // PvAPI, Prosilica GigE SDK
+
+    CV_CAP_OPENNI   =900,   // OpenNI (for Kinect)
+    CV_CAP_OPENNI_ASUS =910,   // OpenNI (for Asus Xtion)
+
+    CV_CAP_ANDROID  =1000,  // Android - not used
+    CV_CAP_ANDROID_BACK =CV_CAP_ANDROID+99, // Android back camera - not used
+    CV_CAP_ANDROID_FRONT =CV_CAP_ANDROID+98, // Android front camera - not used
+
+    CV_CAP_XIAPI    =1100,   // XIMEA Camera API
+
+    CV_CAP_AVFOUNDATION = 1200,  // AVFoundation framework for iOS (OS X Lion will have the same API)
+
+    CV_CAP_GIGANETIX = 1300,  // Smartek Giganetix GigEVisionSDK
+
+    CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing
+
+    CV_CAP_OPENNI2 = 1600,   // OpenNI2 (for Kinect)
+
+    CV_CAP_GPHOTO2 = 1700
+};
+
+/* start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) */
+CVAPI(CvCapture*) cvCreateCameraCapture( int index );
+
+/* grab a frame, return 1 on success, 0 on fail.
+  this function is thought to be fast               */
+CVAPI(int) cvGrabFrame( CvCapture* capture );
+
+/* get the frame grabbed with cvGrabFrame(..)
+  This function may apply some frame processing like
+  frame decompression, flipping etc.
+  !!!DO NOT RELEASE or MODIFY the retrieved frame!!! */
+CVAPI(IplImage*) cvRetrieveFrame( CvCapture* capture, int streamIdx CV_DEFAULT(0) );
+
+/* Just a combination of cvGrabFrame and cvRetrieveFrame
+   !!!DO NOT RELEASE or MODIFY the retrieved frame!!!      */
+CVAPI(IplImage*) cvQueryFrame( CvCapture* capture );
+
+/* stop capturing/reading and free resources */
+CVAPI(void) cvReleaseCapture( CvCapture** capture );
+
+enum
+{
+    // modes of the controlling registers (can be: auto, manual, auto single push, absolute Latter allowed with any other mode)
+    // every feature can have only one mode turned on at a time
+    CV_CAP_PROP_DC1394_OFF         = -4,  //turn the feature off (not controlled manually nor automatically)
+    CV_CAP_PROP_DC1394_MODE_MANUAL = -3, //set automatically when a value of the feature is set by the user
+    CV_CAP_PROP_DC1394_MODE_AUTO = -2,
+    CV_CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO = -1,
+    CV_CAP_PROP_POS_MSEC       =0,
+    CV_CAP_PROP_POS_FRAMES     =1,
+    CV_CAP_PROP_POS_AVI_RATIO  =2,
+    CV_CAP_PROP_FRAME_WIDTH    =3,
+    CV_CAP_PROP_FRAME_HEIGHT   =4,
+    CV_CAP_PROP_FPS            =5,
+    CV_CAP_PROP_FOURCC         =6,
+    CV_CAP_PROP_FRAME_COUNT    =7,
+    CV_CAP_PROP_FORMAT         =8,
+    CV_CAP_PROP_MODE           =9,
+    CV_CAP_PROP_BRIGHTNESS    =10,
+    CV_CAP_PROP_CONTRAST      =11,
+    CV_CAP_PROP_SATURATION    =12,
+    CV_CAP_PROP_HUE           =13,
+    CV_CAP_PROP_GAIN          =14,
+    CV_CAP_PROP_EXPOSURE      =15,
+    CV_CAP_PROP_CONVERT_RGB   =16,
+    CV_CAP_PROP_WHITE_BALANCE_BLUE_U =17,
+    CV_CAP_PROP_RECTIFICATION =18,
+    CV_CAP_PROP_MONOCHROME    =19,
+    CV_CAP_PROP_SHARPNESS     =20,
+    CV_CAP_PROP_AUTO_EXPOSURE =21, // exposure control done by camera,
+                                   // user can adjust refernce level
+                                   // using this feature
+    CV_CAP_PROP_GAMMA         =22,
+    CV_CAP_PROP_TEMPERATURE   =23,
+    CV_CAP_PROP_TRIGGER       =24,
+    CV_CAP_PROP_TRIGGER_DELAY =25,
+    CV_CAP_PROP_WHITE_BALANCE_RED_V =26,
+    CV_CAP_PROP_ZOOM          =27,
+    CV_CAP_PROP_FOCUS         =28,
+    CV_CAP_PROP_GUID          =29,
+    CV_CAP_PROP_ISO_SPEED     =30,
+    CV_CAP_PROP_MAX_DC1394    =31,
+    CV_CAP_PROP_BACKLIGHT     =32,
+    CV_CAP_PROP_PAN           =33,
+    CV_CAP_PROP_TILT          =34,
+    CV_CAP_PROP_ROLL          =35,
+    CV_CAP_PROP_IRIS          =36,
+    CV_CAP_PROP_SETTINGS      =37,
+    CV_CAP_PROP_BUFFERSIZE    =38,
+
+    CV_CAP_PROP_AUTOGRAB      =1024, // property for videoio class CvCapture_Android only
+    CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed
+    CV_CAP_PROP_PREVIEW_FORMAT=1026, // readonly, tricky property, returns cpnst char* indeed
+
+    // OpenNI map generators
+    CV_CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
+    CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
+    CV_CAP_OPENNI_GENERATORS_MASK = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_OPENNI_IMAGE_GENERATOR,
+
+    // Properties of cameras available through OpenNI interfaces
+    CV_CAP_PROP_OPENNI_OUTPUT_MODE     = 100,
+    CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH = 101, // in mm
+    CV_CAP_PROP_OPENNI_BASELINE        = 102, // in mm
+    CV_CAP_PROP_OPENNI_FOCAL_LENGTH    = 103, // in pixels
+    CV_CAP_PROP_OPENNI_REGISTRATION    = 104, // flag
+    CV_CAP_PROP_OPENNI_REGISTRATION_ON = CV_CAP_PROP_OPENNI_REGISTRATION, // flag that synchronizes the remapping depth map to image map
+                                                                          // by changing depth generator's view point (if the flag is "on") or
+                                                                          // sets this view point to its normal one (if the flag is "off").
+    CV_CAP_PROP_OPENNI_APPROX_FRAME_SYNC = 105,
+    CV_CAP_PROP_OPENNI_MAX_BUFFER_SIZE   = 106,
+    CV_CAP_PROP_OPENNI_CIRCLE_BUFFER     = 107,
+    CV_CAP_PROP_OPENNI_MAX_TIME_DURATION = 108,
+
+    CV_CAP_PROP_OPENNI_GENERATOR_PRESENT = 109,
+    CV_CAP_PROP_OPENNI2_SYNC = 110,
+    CV_CAP_PROP_OPENNI2_MIRROR = 111,
+
+    CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT         = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
+    CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE     = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE        = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH    = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION    = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_REGISTRATION,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION,
+
+    // Properties of cameras available through GStreamer interface
+    CV_CAP_GSTREAMER_QUEUE_LENGTH           = 200, // default is 1
+
+    // PVAPI
+    CV_CAP_PROP_PVAPI_MULTICASTIP           = 300, // ip for anable multicast master mode. 0 for disable multicast
+    CV_CAP_PROP_PVAPI_FRAMESTARTTRIGGERMODE = 301, // FrameStartTriggerMode: Determines how a frame is initiated
+    CV_CAP_PROP_PVAPI_DECIMATIONHORIZONTAL  = 302, // Horizontal sub-sampling of the image
+    CV_CAP_PROP_PVAPI_DECIMATIONVERTICAL    = 303, // Vertical sub-sampling of the image
+    CV_CAP_PROP_PVAPI_BINNINGX              = 304, // Horizontal binning factor
+    CV_CAP_PROP_PVAPI_BINNINGY              = 305, // Vertical binning factor
+    CV_CAP_PROP_PVAPI_PIXELFORMAT           = 306, // Pixel format
+
+    // Properties of cameras available through XIMEA SDK interface
+    CV_CAP_PROP_XI_DOWNSAMPLING  = 400,      // Change image resolution by binning or skipping.
+    CV_CAP_PROP_XI_DATA_FORMAT   = 401,       // Output data format.
+    CV_CAP_PROP_XI_OFFSET_X      = 402,      // Horizontal offset from the origin to the area of interest (in pixels).
+    CV_CAP_PROP_XI_OFFSET_Y      = 403,      // Vertical offset from the origin to the area of interest (in pixels).
+    CV_CAP_PROP_XI_TRG_SOURCE    = 404,      // Defines source of trigger.
+    CV_CAP_PROP_XI_TRG_SOFTWARE  = 405,      // Generates an internal trigger. PRM_TRG_SOURCE must be set to TRG_SOFTWARE.
+    CV_CAP_PROP_XI_GPI_SELECTOR  = 406,      // Selects general purpose input
+    CV_CAP_PROP_XI_GPI_MODE      = 407,      // Set general purpose input mode
+    CV_CAP_PROP_XI_GPI_LEVEL     = 408,      // Get general purpose level
+    CV_CAP_PROP_XI_GPO_SELECTOR  = 409,      // Selects general purpose output
+    CV_CAP_PROP_XI_GPO_MODE      = 410,      // Set general purpose output mode
+    CV_CAP_PROP_XI_LED_SELECTOR  = 411,      // Selects camera signalling LED
+    CV_CAP_PROP_XI_LED_MODE      = 412,      // Define camera signalling LED functionality
+    CV_CAP_PROP_XI_MANUAL_WB     = 413,      // Calculates White Balance(must be called during acquisition)
+    CV_CAP_PROP_XI_AUTO_WB       = 414,      // Automatic white balance
+    CV_CAP_PROP_XI_AEAG          = 415,      // Automatic exposure/gain
+    CV_CAP_PROP_XI_EXP_PRIORITY  = 416,      // Exposure priority (0.5 - exposure 50%, gain 50%).
+    CV_CAP_PROP_XI_AE_MAX_LIMIT  = 417,      // Maximum limit of exposure in AEAG procedure
+    CV_CAP_PROP_XI_AG_MAX_LIMIT  = 418,      // Maximum limit of gain in AEAG procedure
+    CV_CAP_PROP_XI_AEAG_LEVEL    = 419,       // Average intensity of output signal AEAG should achieve(in %)
+    CV_CAP_PROP_XI_TIMEOUT       = 420,       // Image capture timeout in milliseconds
+
+    // Properties for Android cameras
+    CV_CAP_PROP_ANDROID_FLASH_MODE = 8001,
+    CV_CAP_PROP_ANDROID_FOCUS_MODE = 8002,
+    CV_CAP_PROP_ANDROID_WHITE_BALANCE = 8003,
+    CV_CAP_PROP_ANDROID_ANTIBANDING = 8004,
+    CV_CAP_PROP_ANDROID_FOCAL_LENGTH = 8005,
+    CV_CAP_PROP_ANDROID_FOCUS_DISTANCE_NEAR = 8006,
+    CV_CAP_PROP_ANDROID_FOCUS_DISTANCE_OPTIMAL = 8007,
+    CV_CAP_PROP_ANDROID_FOCUS_DISTANCE_FAR = 8008,
+    CV_CAP_PROP_ANDROID_EXPOSE_LOCK = 8009,
+    CV_CAP_PROP_ANDROID_WHITEBALANCE_LOCK = 8010,
+
+    // Properties of cameras available through AVFOUNDATION interface
+    CV_CAP_PROP_IOS_DEVICE_FOCUS = 9001,
+    CV_CAP_PROP_IOS_DEVICE_EXPOSURE = 9002,
+    CV_CAP_PROP_IOS_DEVICE_FLASH = 9003,
+    CV_CAP_PROP_IOS_DEVICE_WHITEBALANCE = 9004,
+    CV_CAP_PROP_IOS_DEVICE_TORCH = 9005,
+
+    // Properties of cameras available through Smartek Giganetix Ethernet Vision interface
+    /* --- Vladimir Litvinenko (litvinenko.vladimir@gmail.com) --- */
+    CV_CAP_PROP_GIGA_FRAME_OFFSET_X = 10001,
+    CV_CAP_PROP_GIGA_FRAME_OFFSET_Y = 10002,
+    CV_CAP_PROP_GIGA_FRAME_WIDTH_MAX = 10003,
+    CV_CAP_PROP_GIGA_FRAME_HEIGH_MAX = 10004,
+    CV_CAP_PROP_GIGA_FRAME_SENS_WIDTH = 10005,
+    CV_CAP_PROP_GIGA_FRAME_SENS_HEIGH = 10006,
+
+    CV_CAP_PROP_INTELPERC_PROFILE_COUNT               = 11001,
+    CV_CAP_PROP_INTELPERC_PROFILE_IDX                 = 11002,
+    CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE  = 11003,
+    CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE      = 11004,
+    CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD  = 11005,
+    CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ     = 11006,
+    CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT     = 11007,
+
+    // Intel PerC streams
+    CV_CAP_INTELPERC_DEPTH_GENERATOR = 1 << 29,
+    CV_CAP_INTELPERC_IMAGE_GENERATOR = 1 << 28,
+    CV_CAP_INTELPERC_GENERATORS_MASK = CV_CAP_INTELPERC_DEPTH_GENERATOR + CV_CAP_INTELPERC_IMAGE_GENERATOR
+};
+
+// Generic camera output modes.
+// Currently, these are supported through the libv4l interface only.
+enum
+{
+    CV_CAP_MODE_BGR  = 0, // BGR24 (default)
+    CV_CAP_MODE_RGB  = 1, // RGB24
+    CV_CAP_MODE_GRAY = 2, // Y8
+    CV_CAP_MODE_YUYV = 3  // YUYV
+};
+
+enum
+{
+    // Data given from depth generator.
+    CV_CAP_OPENNI_DEPTH_MAP                 = 0, // Depth values in mm (CV_16UC1)
+    CV_CAP_OPENNI_POINT_CLOUD_MAP           = 1, // XYZ in meters (CV_32FC3)
+    CV_CAP_OPENNI_DISPARITY_MAP             = 2, // Disparity in pixels (CV_8UC1)
+    CV_CAP_OPENNI_DISPARITY_MAP_32F         = 3, // Disparity in pixels (CV_32FC1)
+    CV_CAP_OPENNI_VALID_DEPTH_MASK          = 4, // CV_8UC1
+
+    // Data given from RGB image generator.
+    CV_CAP_OPENNI_BGR_IMAGE                 = 5,
+    CV_CAP_OPENNI_GRAY_IMAGE                = 6
+};
+
+// Supported output modes of OpenNI image generator
+enum
+{
+    CV_CAP_OPENNI_VGA_30HZ     = 0,
+    CV_CAP_OPENNI_SXGA_15HZ    = 1,
+    CV_CAP_OPENNI_SXGA_30HZ    = 2,
+    CV_CAP_OPENNI_QVGA_30HZ    = 3,
+    CV_CAP_OPENNI_QVGA_60HZ    = 4
+};
+
+enum
+{
+    CV_CAP_INTELPERC_DEPTH_MAP              = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth.
+    CV_CAP_INTELPERC_UVDEPTH_MAP            = 1, // Each pixel contains two 32-bit floating point values in the range of 0-1, representing the mapping of depth coordinates to the color coordinates.
+    CV_CAP_INTELPERC_IR_MAP                 = 2, // Each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam.
+    CV_CAP_INTELPERC_IMAGE                  = 3
+};
+
+// gPhoto2 properties, if propertyId is less than 0 then work on widget with that __additive inversed__ camera setting ID
+// Get IDs by using CAP_PROP_GPHOTO2_WIDGET_ENUMERATE.
+// @see CvCaptureCAM_GPHOTO2 for more info
+enum
+{
+    CV_CAP_PROP_GPHOTO2_PREVIEW           = 17001, // Capture only preview from liveview mode.
+    CV_CAP_PROP_GPHOTO2_WIDGET_ENUMERATE  = 17002, // Readonly, returns (const char *).
+    CV_CAP_PROP_GPHOTO2_RELOAD_CONFIG     = 17003, // Trigger, only by set. Reload camera settings.
+    CV_CAP_PROP_GPHOTO2_RELOAD_ON_CHANGE  = 17004, // Reload all settings on set.
+    CV_CAP_PROP_GPHOTO2_COLLECT_MSGS      = 17005, // Collect messages with details.
+    CV_CAP_PROP_GPHOTO2_FLUSH_MSGS        = 17006, // Readonly, returns (const char *).
+    CV_CAP_PROP_SPEED                     = 17007, // Exposure speed. Can be readonly, depends on camera program.
+    CV_CAP_PROP_APERTURE                  = 17008, // Aperture. Can be readonly, depends on camera program.
+    CV_CAP_PROP_EXPOSUREPROGRAM           = 17009, // Camera exposure program.
+    CV_CAP_PROP_VIEWFINDER                = 17010  // Enter liveview mode.
+};
+
+/* retrieve or set capture properties */
+CVAPI(double) cvGetCaptureProperty( CvCapture* capture, int property_id );
+CVAPI(int)    cvSetCaptureProperty( CvCapture* capture, int property_id, double value );
+
+// Return the type of the capturer (eg, CV_CAP_V4W, CV_CAP_UNICAP), which is unknown if created with CV_CAP_ANY
+CVAPI(int)    cvGetCaptureDomain( CvCapture* capture);
+
+/* "black box" video file writer structure */
+typedef struct CvVideoWriter CvVideoWriter;
+
+#define CV_FOURCC_MACRO(c1, c2, c3, c4) (((c1) & 255) + (((c2) & 255) << 8) + (((c3) & 255) << 16) + (((c4) & 255) << 24))
+
+CV_INLINE int CV_FOURCC(char c1, char c2, char c3, char c4)
+{
+    return CV_FOURCC_MACRO(c1, c2, c3, c4);
+}
+
+#define CV_FOURCC_PROMPT -1  /* Open Codec Selection Dialog (Windows only) */
+#define CV_FOURCC_DEFAULT CV_FOURCC('I', 'Y', 'U', 'V') /* Use default codec for specified filename (Linux only) */
+
+/* initialize video file writer */
+CVAPI(CvVideoWriter*) cvCreateVideoWriter( const char* filename, int fourcc,
+                                           double fps, CvSize frame_size,
+                                           int is_color CV_DEFAULT(1));
+
+/* write frame to video file */
+CVAPI(int) cvWriteFrame( CvVideoWriter* writer, const IplImage* image );
+
+/* close video file writer */
+CVAPI(void) cvReleaseVideoWriter( CvVideoWriter** writer );
+
+/****************************************************************************************\
+*                              Obsolete functions/synonyms                               *
+\****************************************************************************************/
+
+#define cvCaptureFromFile cvCreateFileCapture
+#define cvCaptureFromCAM cvCreateCameraCapture
+#define cvCaptureFromAVI cvCaptureFromFile
+#define cvCreateAVIWriter cvCreateVideoWriter
+#define cvWriteToAVI cvWriteFrame
+
+/** @} videoio_c */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //__OPENCV_VIDEOIO_H__
diff --git a/3rdparty/include/opencv2/videostab.hpp b/3rdparty/include/opencv2/videostab.hpp
new file mode 100644
index 0000000..17b061f
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab.hpp
@@ -0,0 +1,81 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_HPP__
+#define __OPENCV_VIDEOSTAB_HPP__
+
+/**
+  @defgroup videostab Video Stabilization
+
+The video stabilization module contains a set of functions and classes that can be used to solve the
+problem of video stabilization. There are a few methods implemented, most of them are descibed in
+the papers @cite OF06 and @cite G11 . However, there are some extensions and deviations from the orginal
+paper methods.
+
+### References
+
+ 1. "Full-Frame Video Stabilization with Motion Inpainting"
+     Yasuyuki Matsushita, Eyal Ofek, Weina Ge, Xiaoou Tang, Senior Member, and Heung-Yeung Shum
+ 2. "Auto-Directed Video Stabilization with Robust L1 Optimal Camera Paths"
+     Matthias Grundmann, Vivek Kwatra, Irfan Essa
+
+     @{
+         @defgroup videostab_motion Global Motion Estimation
+
+The video stabilization module contains a set of functions and classes for global motion estimation
+between point clouds or between images. In the last case features are extracted and matched
+internally. For the sake of convenience the motion estimation functions are wrapped into classes.
+Both the functions and the classes are available.
+
+         @defgroup videostab_marching Fast Marching Method
+
+The Fast Marching Method @cite Telea04 is used in of the video stabilization routines to do motion and
+color inpainting. The method is implemented is a flexible way and it's made public for other users.
+
+     @}
+
+*/
+
+#include "opencv2/videostab/stabilizer.hpp"
+#include "opencv2/videostab/ring_buffer.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/deblurring.hpp b/3rdparty/include/opencv2/videostab/deblurring.hpp
new file mode 100644
index 0000000..8028c1d
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/deblurring.hpp
@@ -0,0 +1,116 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_DEBLURRING_HPP__
+#define __OPENCV_VIDEOSTAB_DEBLURRING_HPP__
+
+#include <vector>
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+CV_EXPORTS float calcBlurriness(const Mat &frame);
+
+class CV_EXPORTS DeblurerBase
+{
+public:
+    DeblurerBase() : radius_(0), frames_(0), motions_(0), blurrinessRates_(0) {}
+
+    virtual ~DeblurerBase() {}
+
+    virtual void setRadius(int val) { radius_ = val; }
+    virtual int radius() const { return radius_; }
+
+    virtual void deblur(int idx, Mat &frame) = 0;
+
+
+    // data from stabilizer
+
+    virtual void setFrames(const std::vector<Mat> &val) { frames_ = &val; }
+    virtual const std::vector<Mat>& frames() const { return *frames_; }
+
+    virtual void setMotions(const std::vector<Mat> &val) { motions_ = &val; }
+    virtual const std::vector<Mat>& motions() const { return *motions_; }
+
+    virtual void setBlurrinessRates(const std::vector<float> &val) { blurrinessRates_ = &val; }
+    virtual const std::vector<float>& blurrinessRates() const { return *blurrinessRates_; }
+
+protected:
+    int radius_;
+    const std::vector<Mat> *frames_;
+    const std::vector<Mat> *motions_;
+    const std::vector<float> *blurrinessRates_;
+};
+
+class CV_EXPORTS NullDeblurer : public DeblurerBase
+{
+public:
+    virtual void deblur(int /*idx*/, Mat &/*frame*/) {}
+};
+
+class CV_EXPORTS WeightingDeblurer : public DeblurerBase
+{
+public:
+    WeightingDeblurer();
+
+    void setSensitivity(float val) { sensitivity_ = val; }
+    float sensitivity() const { return sensitivity_; }
+
+    virtual void deblur(int idx, Mat &frame);
+
+private:
+    float sensitivity_;
+    Mat_<float> bSum_, gSum_, rSum_, wSum_;
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/fast_marching.hpp b/3rdparty/include/opencv2/videostab/fast_marching.hpp
new file mode 100644
index 0000000..c0c7985
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/fast_marching.hpp
@@ -0,0 +1,121 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_FAST_MARCHING_HPP__
+#define __OPENCV_VIDEOSTAB_FAST_MARCHING_HPP__
+
+#include <cmath>
+#include <queue>
+#include <algorithm>
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab_marching
+//! @{
+
+/** @brief Describes the Fast Marching Method implementation.
+
+  See http://iwi.eldoc.ub.rug.nl/FILES/root/2004/JGraphToolsTelea/2004JGraphToolsTelea.pdf
+ */
+class CV_EXPORTS FastMarchingMethod
+{
+public:
+    FastMarchingMethod() : inf_(1e6f) {}
+
+    /** @brief Template method that runs the Fast Marching Method.
+
+    @param mask Image mask. 0 value indicates that the pixel value must be inpainted, 255 indicates
+    that the pixel value is known, other values aren't acceptable.
+    @param inpaint Inpainting functor that overloads void operator ()(int x, int y).
+    @return Inpainting functor.
+     */
+    template <typename Inpaint>
+    Inpaint run(const Mat &mask, Inpaint inpaint);
+
+    /**
+    @return Distance map that's created during working of the method.
+    */
+    Mat distanceMap() const { return dist_; }
+
+private:
+    enum { INSIDE = 0, BAND = 1, KNOWN = 255 };
+
+    struct DXY
+    {
+        float dist;
+        int x, y;
+
+        DXY() : dist(0), x(0), y(0) {}
+        DXY(float _dist, int _x, int _y) : dist(_dist), x(_x), y(_y) {}
+        bool operator <(const DXY &dxy) const { return dist < dxy.dist; }
+    };
+
+    float solve(int x1, int y1, int x2, int y2) const;
+    int& indexOf(const DXY &dxy) { return index_(dxy.y, dxy.x); }
+
+    void heapUp(int idx);
+    void heapDown(int idx);
+    void heapAdd(const DXY &dxy);
+    void heapRemoveMin();
+
+    float inf_;
+
+    cv::Mat_<uchar> flag_; // flag map
+    cv::Mat_<float> dist_; // distance map
+
+    cv::Mat_<int> index_; // index of point in the narrow band
+    std::vector<DXY> narrowBand_; // narrow band heap
+    int size_; // narrow band size
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#include "fast_marching_inl.hpp"
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/fast_marching_inl.hpp b/3rdparty/include/opencv2/videostab/fast_marching_inl.hpp
new file mode 100644
index 0000000..6388e69
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/fast_marching_inl.hpp
@@ -0,0 +1,165 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP__
+#define __OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP__
+
+#include "opencv2/videostab/fast_marching.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+template <typename Inpaint>
+Inpaint FastMarchingMethod::run(const cv::Mat &mask, Inpaint inpaint)
+{
+    using namespace cv;
+
+    CV_Assert(mask.type() == CV_8U);
+
+    static const int lut[4][2] = {{-1,0}, {0,-1}, {1,0}, {0,1}};
+
+    mask.copyTo(flag_);
+    flag_.create(mask.size());
+    dist_.create(mask.size());
+    index_.create(mask.size());
+    narrowBand_.clear();
+    size_ = 0;
+
+    // init
+    for (int y = 0; y < flag_.rows; ++y)
+    {
+        for (int x = 0; x < flag_.cols; ++x)
+        {
+            if (flag_(y,x) == KNOWN)
+                dist_(y,x) = 0.f;
+            else
+            {
+                int n = 0;
+                int nunknown = 0;
+
+                for (int i = 0; i < 4; ++i)
+                {
+                    int xn = x + lut[i][0];
+                    int yn = y + lut[i][1];
+
+                    if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows)
+                    {
+                        n++;
+                        if (flag_(yn,xn) != KNOWN)
+                            nunknown++;
+                    }
+                }
+
+                if (n>0 && nunknown == n)
+                {
+                    dist_(y,x) = inf_;
+                    flag_(y,x) = INSIDE;
+                }
+                else
+                {
+                    dist_(y,x) = 0.f;
+                    flag_(y,x) = BAND;
+                    inpaint(x, y);
+
+                    narrowBand_.push_back(DXY(0.f,x,y));
+                    index_(y,x) = size_++;
+                }
+            }
+        }
+    }
+
+    // make heap
+    for (int i = size_/2-1; i >= 0; --i)
+        heapDown(i);
+
+    // main cycle
+    while (size_ > 0)
+    {
+        int x = narrowBand_[0].x;
+        int y = narrowBand_[0].y;
+        heapRemoveMin();
+
+        flag_(y,x) = KNOWN;
+        for (int n = 0; n < 4; ++n)
+        {
+            int xn = x + lut[n][0];
+            int yn = y + lut[n][1];
+
+            if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows && flag_(yn,xn) != KNOWN)
+            {
+                dist_(yn,xn) = std::min(std::min(solve(xn-1, yn, xn, yn-1), solve(xn+1, yn, xn, yn-1)),
+                                        std::min(solve(xn-1, yn, xn, yn+1), solve(xn+1, yn, xn, yn+1)));
+
+                if (flag_(yn,xn) == INSIDE)
+                {
+                    flag_(yn,xn) = BAND;
+                    inpaint(xn, yn);
+                    heapAdd(DXY(dist_(yn,xn),xn,yn));
+                }
+                else
+                {
+                    int i = index_(yn,xn);
+                    if (dist_(yn,xn) < narrowBand_[i].dist)
+                    {
+                        narrowBand_[i].dist = dist_(yn,xn);
+                        heapUp(i);
+                    }
+                    // works better if it's commented out
+                    /*else if (dist(yn,xn) > narrowBand[i].dist)
+                    {
+                        narrowBand[i].dist = dist(yn,xn);
+                        heapDown(i);
+                    }*/
+                }
+            }
+        }
+    }
+
+    return inpaint;
+}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/frame_source.hpp b/3rdparty/include/opencv2/videostab/frame_source.hpp
new file mode 100644
index 0000000..612fbdb
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/frame_source.hpp
@@ -0,0 +1,94 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_FRAME_SOURCE_HPP__
+#define __OPENCV_VIDEOSTAB_FRAME_SOURCE_HPP__
+
+#include <vector>
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS IFrameSource
+{
+public:
+    virtual ~IFrameSource() {}
+    virtual void reset() = 0;
+    virtual Mat nextFrame() = 0;
+};
+
+class CV_EXPORTS NullFrameSource : public IFrameSource
+{
+public:
+    virtual void reset() {}
+    virtual Mat nextFrame() { return Mat(); }
+};
+
+class CV_EXPORTS VideoFileSource : public IFrameSource
+{
+public:
+    VideoFileSource(const String &path, bool volatileFrame = false);
+
+    virtual void reset();
+    virtual Mat nextFrame();
+
+    int width();
+    int height();
+    int count();
+    double fps();
+
+private:
+    Ptr<IFrameSource> impl;
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/global_motion.hpp b/3rdparty/include/opencv2/videostab/global_motion.hpp
new file mode 100644
index 0000000..5d51e42
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/global_motion.hpp
@@ -0,0 +1,299 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP__
+#define __OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP__
+
+#include <vector>
+#include <fstream>
+#include "opencv2/core.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/opencv_modules.hpp"
+#include "opencv2/videostab/optical_flow.hpp"
+#include "opencv2/videostab/motion_core.hpp"
+#include "opencv2/videostab/outlier_rejection.hpp"
+
+#ifdef HAVE_OPENCV_CUDAIMGPROC
+#  include "opencv2/cudaimgproc.hpp"
+#endif
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab_motion
+//! @{
+
+/** @brief Estimates best global motion between two 2D point clouds in the least-squares sense.
+
+@note Works in-place and changes input point arrays.
+
+@param points0 Source set of 2D points (32F).
+@param points1 Destination set of 2D points (32F).
+@param model Motion model (up to MM_AFFINE).
+@param rmse Final root-mean-square error.
+@return 3x3 2D transformation matrix (32F).
+ */
+CV_EXPORTS Mat estimateGlobalMotionLeastSquares(
+        InputOutputArray points0, InputOutputArray points1, int model = MM_AFFINE,
+        float *rmse = 0);
+
+/** @brief Estimates best global motion between two 2D point clouds robustly (using RANSAC method).
+
+@param points0 Source set of 2D points (32F).
+@param points1 Destination set of 2D points (32F).
+@param model Motion model. See cv::videostab::MotionModel.
+@param params RANSAC method parameters. See videostab::RansacParams.
+@param rmse Final root-mean-square error.
+@param ninliers Final number of inliers.
+ */
+CV_EXPORTS Mat estimateGlobalMotionRansac(
+        InputArray points0, InputArray points1, int model = MM_AFFINE,
+        const RansacParams &params = RansacParams::default2dMotion(MM_AFFINE),
+        float *rmse = 0, int *ninliers = 0);
+
+/** @brief Base class for all global motion estimation methods.
+ */
+class CV_EXPORTS MotionEstimatorBase
+{
+public:
+    virtual ~MotionEstimatorBase() {}
+
+    /** @brief Sets motion model.
+
+    @param val Motion model. See cv::videostab::MotionModel.
+     */
+    virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
+
+    /**
+    @return Motion model. See cv::videostab::MotionModel.
+    */
+    virtual MotionModel motionModel() const { return motionModel_; }
+
+    /** @brief Estimates global motion between two 2D point clouds.
+
+    @param points0 Source set of 2D points (32F).
+    @param points1 Destination set of 2D points (32F).
+    @param ok Indicates whether motion was estimated successfully.
+    @return 3x3 2D transformation matrix (32F).
+     */
+    virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) = 0;
+
+protected:
+    MotionEstimatorBase(MotionModel model) { setMotionModel(model); }
+
+private:
+    MotionModel motionModel_;
+};
+
+/** @brief Describes a robust RANSAC-based global 2D motion estimation method which minimizes L2 error.
+ */
+class CV_EXPORTS MotionEstimatorRansacL2 : public MotionEstimatorBase
+{
+public:
+    MotionEstimatorRansacL2(MotionModel model = MM_AFFINE);
+
+    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
+    RansacParams ransacParams() const { return ransacParams_; }
+
+    void setMinInlierRatio(float val) { minInlierRatio_ = val; }
+    float minInlierRatio() const { return minInlierRatio_; }
+
+    virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0);
+
+private:
+    RansacParams ransacParams_;
+    float minInlierRatio_;
+};
+
+/** @brief Describes a global 2D motion estimation method which minimizes L1 error.
+
+@note To be able to use this method you must build OpenCV with CLP library support. :
+ */
+class CV_EXPORTS MotionEstimatorL1 : public MotionEstimatorBase
+{
+public:
+    MotionEstimatorL1(MotionModel model = MM_AFFINE);
+
+    virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0);
+
+private:
+    std::vector<double> obj_, collb_, colub_;
+    std::vector<double> elems_, rowlb_, rowub_;
+    std::vector<int> rows_, cols_;
+
+    void set(int row, int col, double coef)
+    {
+        rows_.push_back(row);
+        cols_.push_back(col);
+        elems_.push_back(coef);
+    }
+};
+
+/** @brief Base class for global 2D motion estimation methods which take frames as input.
+ */
+class CV_EXPORTS ImageMotionEstimatorBase
+{
+public:
+    virtual ~ImageMotionEstimatorBase() {}
+
+    virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
+    virtual MotionModel motionModel() const { return motionModel_; }
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) = 0;
+
+protected:
+    ImageMotionEstimatorBase(MotionModel model) { setMotionModel(model); }
+
+private:
+    MotionModel motionModel_;
+};
+
+class CV_EXPORTS FromFileMotionReader : public ImageMotionEstimatorBase
+{
+public:
+    FromFileMotionReader(const String &path);
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
+
+private:
+    std::ifstream file_;
+};
+
+class CV_EXPORTS ToFileMotionWriter : public ImageMotionEstimatorBase
+{
+public:
+    ToFileMotionWriter(const String &path, Ptr<ImageMotionEstimatorBase> estimator);
+
+    virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); }
+    virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); }
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
+
+private:
+    std::ofstream file_;
+    Ptr<ImageMotionEstimatorBase> motionEstimator_;
+};
+
+/** @brief Describes a global 2D motion estimation method which uses keypoints detection and optical flow for
+matching.
+ */
+class CV_EXPORTS KeypointBasedMotionEstimator : public ImageMotionEstimatorBase
+{
+public:
+    KeypointBasedMotionEstimator(Ptr<MotionEstimatorBase> estimator);
+
+    virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); }
+    virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); }
+
+    void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
+    Ptr<FeatureDetector> detector() const { return detector_; }
+
+    void setOpticalFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; }
+    Ptr<ISparseOptFlowEstimator> opticalFlowEstimator() const { return optFlowEstimator_; }
+
+    void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
+    Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
+
+private:
+    Ptr<MotionEstimatorBase> motionEstimator_;
+    Ptr<FeatureDetector> detector_;
+    Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
+    Ptr<IOutlierRejector> outlierRejector_;
+
+    std::vector<uchar> status_;
+    std::vector<KeyPoint> keypointsPrev_;
+    std::vector<Point2f> pointsPrev_, points_;
+    std::vector<Point2f> pointsPrevGood_, pointsGood_;
+};
+
+#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW)
+
+class CV_EXPORTS KeypointBasedMotionEstimatorGpu : public ImageMotionEstimatorBase
+{
+public:
+    KeypointBasedMotionEstimatorGpu(Ptr<MotionEstimatorBase> estimator);
+
+    virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); }
+    virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); }
+
+    void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
+    Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
+    Mat estimate(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, bool *ok = 0);
+
+private:
+    Ptr<MotionEstimatorBase> motionEstimator_;
+    Ptr<cuda::CornersDetector> detector_;
+    SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_;
+    Ptr<IOutlierRejector> outlierRejector_;
+
+    cuda::GpuMat frame0_, grayFrame0_, frame1_;
+    cuda::GpuMat pointsPrev_, points_;
+    cuda::GpuMat status_;
+
+    Mat hostPointsPrev_, hostPoints_;
+    std::vector<Point2f> hostPointsPrevTmp_, hostPointsTmp_;
+    std::vector<uchar> rejectionStatus_;
+};
+
+#endif // defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW)
+
+/** @brief Computes motion between two frames assuming that all the intermediate motions are known.
+
+@param from Source frame index.
+@param to Destination frame index.
+@param motions Pair-wise motions. motions[i] denotes motion from the frame i to the frame i+1
+@return Motion from the frame from to the frame to.
+ */
+CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/inpainting.hpp b/3rdparty/include/opencv2/videostab/inpainting.hpp
new file mode 100644
index 0000000..844c68c
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/inpainting.hpp
@@ -0,0 +1,212 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_INPAINTINT_HPP__
+#define __OPENCV_VIDEOSTAB_INPAINTINT_HPP__
+
+#include <vector>
+#include "opencv2/core.hpp"
+#include "opencv2/videostab/optical_flow.hpp"
+#include "opencv2/videostab/fast_marching.hpp"
+#include "opencv2/videostab/global_motion.hpp"
+#include "opencv2/photo.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS InpainterBase
+{
+public:
+    InpainterBase()
+        : radius_(0), motionModel_(MM_UNKNOWN), frames_(0), motions_(0),
+          stabilizedFrames_(0), stabilizationMotions_(0) {}
+
+    virtual ~InpainterBase() {}
+
+    virtual void setRadius(int val) { radius_ = val; }
+    virtual int radius() const { return radius_; }
+
+    virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
+    virtual MotionModel motionModel() const { return motionModel_; }
+
+    virtual void inpaint(int idx, Mat &frame, Mat &mask) = 0;
+
+
+    // data from stabilizer
+
+    virtual void setFrames(const std::vector<Mat> &val) { frames_ = &val; }
+    virtual const std::vector<Mat>& frames() const { return *frames_; }
+
+    virtual void setMotions(const std::vector<Mat> &val) { motions_ = &val; }
+    virtual const std::vector<Mat>& motions() const { return *motions_; }
+
+    virtual void setStabilizedFrames(const std::vector<Mat> &val) { stabilizedFrames_ = &val; }
+    virtual const std::vector<Mat>& stabilizedFrames() const { return *stabilizedFrames_; }
+
+    virtual void setStabilizationMotions(const std::vector<Mat> &val) { stabilizationMotions_ = &val; }
+    virtual const std::vector<Mat>& stabilizationMotions() const { return *stabilizationMotions_; }
+
+protected:
+    int radius_;
+    MotionModel motionModel_;
+    const std::vector<Mat> *frames_;
+    const std::vector<Mat> *motions_;
+    const std::vector<Mat> *stabilizedFrames_;
+    const std::vector<Mat> *stabilizationMotions_;
+};
+
+class CV_EXPORTS NullInpainter : public InpainterBase
+{
+public:
+    virtual void inpaint(int /*idx*/, Mat &/*frame*/, Mat &/*mask*/) {}
+};
+
+class CV_EXPORTS InpaintingPipeline : public InpainterBase
+{
+public:
+    void pushBack(Ptr<InpainterBase> inpainter) { inpainters_.push_back(inpainter); }
+    bool empty() const { return inpainters_.empty(); }
+
+    virtual void setRadius(int val);
+    virtual void setMotionModel(MotionModel val);
+    virtual void setFrames(const std::vector<Mat> &val);
+    virtual void setMotions(const std::vector<Mat> &val);
+    virtual void setStabilizedFrames(const std::vector<Mat> &val);
+    virtual void setStabilizationMotions(const std::vector<Mat> &val);
+
+    virtual void inpaint(int idx, Mat &frame, Mat &mask);
+
+private:
+    std::vector<Ptr<InpainterBase> > inpainters_;
+};
+
+class CV_EXPORTS ConsistentMosaicInpainter : public InpainterBase
+{
+public:
+    ConsistentMosaicInpainter();
+
+    void setStdevThresh(float val) { stdevThresh_ = val; }
+    float stdevThresh() const { return stdevThresh_; }
+
+    virtual void inpaint(int idx, Mat &frame, Mat &mask);
+
+private:
+    float stdevThresh_;
+};
+
+class CV_EXPORTS MotionInpainter : public InpainterBase
+{
+public:
+    MotionInpainter();
+
+    void setOptFlowEstimator(Ptr<IDenseOptFlowEstimator> val) { optFlowEstimator_ = val; }
+    Ptr<IDenseOptFlowEstimator> optFlowEstimator() const { return optFlowEstimator_; }
+
+    void setFlowErrorThreshold(float val) { flowErrorThreshold_ = val; }
+    float flowErrorThreshold() const { return flowErrorThreshold_; }
+
+    void setDistThreshold(float val) { distThresh_ = val; }
+    float distThresh() const { return distThresh_; }
+
+    void setBorderMode(int val) { borderMode_ = val; }
+    int borderMode() const { return borderMode_; }
+
+    virtual void inpaint(int idx, Mat &frame, Mat &mask);
+
+private:
+    FastMarchingMethod fmm_;
+    Ptr<IDenseOptFlowEstimator> optFlowEstimator_;
+    float flowErrorThreshold_;
+    float distThresh_;
+    int borderMode_;
+
+    Mat frame1_, transformedFrame1_;
+    Mat_<uchar> grayFrame_, transformedGrayFrame1_;
+    Mat_<uchar> mask1_, transformedMask1_;
+    Mat_<float> flowX_, flowY_, flowErrors_;
+    Mat_<uchar> flowMask_;
+};
+
+class CV_EXPORTS ColorAverageInpainter : public InpainterBase
+{
+public:
+    virtual void inpaint(int idx, Mat &frame, Mat &mask);
+
+private:
+    FastMarchingMethod fmm_;
+};
+
+class CV_EXPORTS ColorInpainter : public InpainterBase
+{
+public:
+    ColorInpainter(int method = INPAINT_TELEA, double radius = 2.);
+
+    virtual void inpaint(int idx, Mat &frame, Mat &mask);
+
+private:
+    int method_;
+    double radius_;
+    Mat invMask_;
+};
+
+inline ColorInpainter::ColorInpainter(int _method, double _radius)
+        : method_(_method), radius_(_radius) {}
+
+CV_EXPORTS void calcFlowMask(
+        const Mat &flowX, const Mat &flowY, const Mat &errors, float maxError,
+        const Mat &mask0, const Mat &mask1, Mat &flowMask);
+
+CV_EXPORTS void completeFrameAccordingToFlow(
+        const Mat &flowMask, const Mat &flowX, const Mat &flowY, const Mat &frame1, const Mat &mask1,
+        float distThresh, Mat& frame0, Mat &mask0);
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/log.hpp b/3rdparty/include/opencv2/videostab/log.hpp
new file mode 100644
index 0000000..28625ed
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/log.hpp
@@ -0,0 +1,80 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_LOG_HPP__
+#define __OPENCV_VIDEOSTAB_LOG_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS ILog
+{
+public:
+    virtual ~ILog() {}
+    virtual void print(const char *format, ...) = 0;
+};
+
+class CV_EXPORTS NullLog : public ILog
+{
+public:
+    virtual void print(const char * /*format*/, ...) {}
+};
+
+class CV_EXPORTS LogToStdout : public ILog
+{
+public:
+    virtual void print(const char *format, ...);
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/motion_core.hpp b/3rdparty/include/opencv2/videostab/motion_core.hpp
new file mode 100644
index 0000000..17448e3
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/motion_core.hpp
@@ -0,0 +1,129 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
+#define __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
+
+#include <cmath>
+#include "opencv2/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab_motion
+//! @{
+
+/** @brief Describes motion model between two point clouds.
+ */
+enum MotionModel
+{
+    MM_TRANSLATION = 0,
+    MM_TRANSLATION_AND_SCALE = 1,
+    MM_ROTATION = 2,
+    MM_RIGID = 3,
+    MM_SIMILARITY = 4,
+    MM_AFFINE = 5,
+    MM_HOMOGRAPHY = 6,
+    MM_UNKNOWN = 7
+};
+
+/** @brief Describes RANSAC method parameters.
+ */
+struct CV_EXPORTS RansacParams
+{
+    int size; //!< subset size
+    float thresh; //!< max error to classify as inlier
+    float eps; //!< max outliers ratio
+    float prob; //!< probability of success
+
+    RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
+    /** @brief Constructor
+    @param size Subset size.
+    @param thresh Maximum re-projection error value to classify as inlier.
+    @param eps Maximum ratio of incorrect correspondences.
+    @param prob Required success probability.
+     */
+    RansacParams(int size, float thresh, float eps, float prob);
+
+    /**
+    @return Number of iterations that'll be performed by RANSAC method.
+    */
+    int niters() const
+    {
+        return static_cast<int>(
+                std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
+    }
+
+    /**
+    @param model Motion model. See cv::videostab::MotionModel.
+    @return Default RANSAC method parameters for the given motion model.
+    */
+    static RansacParams default2dMotion(MotionModel model)
+    {
+        CV_Assert(model < MM_UNKNOWN);
+        if (model == MM_TRANSLATION)
+            return RansacParams(1, 0.5f, 0.5f, 0.99f);
+        if (model == MM_TRANSLATION_AND_SCALE)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_ROTATION)
+            return RansacParams(1, 0.5f, 0.5f, 0.99f);
+        if (model == MM_RIGID)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_SIMILARITY)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_AFFINE)
+            return RansacParams(3, 0.5f, 0.5f, 0.99f);
+        return RansacParams(4, 0.5f, 0.5f, 0.99f);
+    }
+};
+
+inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
+    : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/motion_stabilizing.hpp b/3rdparty/include/opencv2/videostab/motion_stabilizing.hpp
new file mode 100644
index 0000000..3bdbfbd
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/motion_stabilizing.hpp
@@ -0,0 +1,174 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__
+#define __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__
+
+#include <vector>
+#include <utility>
+#include "opencv2/core.hpp"
+#include "opencv2/videostab/global_motion.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab_motion
+//! @{
+
+class CV_EXPORTS IMotionStabilizer
+{
+public:
+    virtual ~IMotionStabilizer() {}
+
+    //! assumes that [0, size-1) is in or equals to [range.first, range.second)
+    virtual void stabilize(
+            int size, const std::vector<Mat> &motions, std::pair<int,int> range,
+            Mat *stabilizationMotions) = 0;
+};
+
+class CV_EXPORTS MotionStabilizationPipeline : public IMotionStabilizer
+{
+public:
+    void pushBack(Ptr<IMotionStabilizer> stabilizer) { stabilizers_.push_back(stabilizer); }
+    bool empty() const { return stabilizers_.empty(); }
+
+    virtual void stabilize(
+            int size, const std::vector<Mat> &motions, std::pair<int,int> range,
+            Mat *stabilizationMotions);
+
+private:
+    std::vector<Ptr<IMotionStabilizer> > stabilizers_;
+};
+
+class CV_EXPORTS MotionFilterBase : public IMotionStabilizer
+{
+public:
+    virtual ~MotionFilterBase() {}
+
+    virtual Mat stabilize(
+            int idx, const std::vector<Mat> &motions, std::pair<int,int> range) = 0;
+
+    virtual void stabilize(
+            int size, const std::vector<Mat> &motions, std::pair<int,int> range,
+            Mat *stabilizationMotions);
+};
+
+class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase
+{
+public:
+    GaussianMotionFilter(int radius = 15, float stdev = -1.f);
+
+    void setParams(int radius, float stdev = -1.f);
+    int radius() const { return radius_; }
+    float stdev() const { return stdev_; }
+
+    virtual Mat stabilize(
+            int idx, const std::vector<Mat> &motions, std::pair<int,int> range);
+
+private:
+    int radius_;
+    float stdev_;
+    std::vector<float> weight_;
+};
+
+inline GaussianMotionFilter::GaussianMotionFilter(int _radius, float _stdev) { setParams(_radius, _stdev); }
+
+class CV_EXPORTS LpMotionStabilizer : public IMotionStabilizer
+{
+public:
+    LpMotionStabilizer(MotionModel model = MM_SIMILARITY);
+
+    void setMotionModel(MotionModel val) { model_ = val; }
+    MotionModel motionModel() const { return model_; }
+
+    void setFrameSize(Size val) { frameSize_ = val; }
+    Size frameSize() const { return frameSize_; }
+
+    void setTrimRatio(float val) { trimRatio_ = val; }
+    float trimRatio() const { return trimRatio_; }
+
+    void setWeight1(float val) { w1_ = val; }
+    float weight1() const { return w1_; }
+
+    void setWeight2(float val) { w2_ = val; }
+    float weight2() const { return w2_; }
+
+    void setWeight3(float val) { w3_ = val; }
+    float weight3() const { return w3_; }
+
+    void setWeight4(float val) { w4_ = val; }
+    float weight4() const { return w4_; }
+
+    virtual void stabilize(
+            int size, const std::vector<Mat> &motions, std::pair<int,int> range,
+            Mat *stabilizationMotions);
+
+private:
+    MotionModel model_;
+    Size frameSize_;
+    float trimRatio_;
+    float w1_, w2_, w3_, w4_;
+
+    std::vector<double> obj_, collb_, colub_;
+    std::vector<int> rows_, cols_;
+    std::vector<double> elems_, rowlb_, rowub_;
+
+    void set(int row, int col, double coef)
+    {
+        rows_.push_back(row);
+        cols_.push_back(col);
+        elems_.push_back(coef);
+    }
+};
+
+CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio);
+
+CV_EXPORTS float estimateOptimalTrimRatio(const Mat &M, Size size);
+
+//! @}
+
+} // namespace videostab
+} // namespace
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/optical_flow.hpp b/3rdparty/include/opencv2/videostab/optical_flow.hpp
new file mode 100644
index 0000000..41d1953
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/optical_flow.hpp
@@ -0,0 +1,150 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_OPTICAL_FLOW_HPP__
+#define __OPENCV_VIDEOSTAB_OPTICAL_FLOW_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/opencv_modules.hpp"
+
+#ifdef HAVE_OPENCV_CUDAOPTFLOW
+  #include "opencv2/cudaoptflow.hpp"
+#endif
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS ISparseOptFlowEstimator
+{
+public:
+    virtual ~ISparseOptFlowEstimator() {}
+    virtual void run(
+            InputArray frame0, InputArray frame1, InputArray points0, InputOutputArray points1,
+            OutputArray status, OutputArray errors) = 0;
+};
+
+class CV_EXPORTS IDenseOptFlowEstimator
+{
+public:
+    virtual ~IDenseOptFlowEstimator() {}
+    virtual void run(
+            InputArray frame0, InputArray frame1, InputOutputArray flowX, InputOutputArray flowY,
+            OutputArray errors) = 0;
+};
+
+class CV_EXPORTS PyrLkOptFlowEstimatorBase
+{
+public:
+    PyrLkOptFlowEstimatorBase() { setWinSize(Size(21, 21)); setMaxLevel(3); }
+
+    virtual void setWinSize(Size val) { winSize_ = val; }
+    virtual Size winSize() const { return winSize_; }
+
+    virtual void setMaxLevel(int val) { maxLevel_ = val; }
+    virtual int maxLevel() const { return maxLevel_; }
+    virtual ~PyrLkOptFlowEstimatorBase() {}
+
+protected:
+    Size winSize_;
+    int maxLevel_;
+};
+
+class CV_EXPORTS SparsePyrLkOptFlowEstimator
+        : public PyrLkOptFlowEstimatorBase, public ISparseOptFlowEstimator
+{
+public:
+    virtual void run(
+            InputArray frame0, InputArray frame1, InputArray points0, InputOutputArray points1,
+            OutputArray status, OutputArray errors);
+};
+
+#ifdef HAVE_OPENCV_CUDAOPTFLOW
+
+class CV_EXPORTS SparsePyrLkOptFlowEstimatorGpu
+        : public PyrLkOptFlowEstimatorBase, public ISparseOptFlowEstimator
+{
+public:
+    SparsePyrLkOptFlowEstimatorGpu();
+
+    virtual void run(
+            InputArray frame0, InputArray frame1, InputArray points0, InputOutputArray points1,
+            OutputArray status, OutputArray errors);
+
+    void run(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, const cuda::GpuMat &points0, cuda::GpuMat &points1,
+             cuda::GpuMat &status, cuda::GpuMat &errors);
+
+    void run(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, const cuda::GpuMat &points0, cuda::GpuMat &points1,
+             cuda::GpuMat &status);
+
+private:
+    Ptr<cuda::SparsePyrLKOpticalFlow> optFlowEstimator_;
+    cuda::GpuMat frame0_, frame1_, points0_, points1_, status_, errors_;
+};
+
+class CV_EXPORTS DensePyrLkOptFlowEstimatorGpu
+        : public PyrLkOptFlowEstimatorBase, public IDenseOptFlowEstimator
+{
+public:
+    DensePyrLkOptFlowEstimatorGpu();
+
+    virtual void run(
+            InputArray frame0, InputArray frame1, InputOutputArray flowX, InputOutputArray flowY,
+            OutputArray errors);
+
+private:
+    Ptr<cuda::DensePyrLKOpticalFlow> optFlowEstimator_;
+    cuda::GpuMat frame0_, frame1_, flowX_, flowY_, errors_;
+};
+
+#endif
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/outlier_rejection.hpp b/3rdparty/include/opencv2/videostab/outlier_rejection.hpp
new file mode 100644
index 0000000..9e40f85
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/outlier_rejection.hpp
@@ -0,0 +1,101 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__
+#define __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__
+
+#include <vector>
+#include "opencv2/core.hpp"
+#include "opencv2/videostab/motion_core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS IOutlierRejector
+{
+public:
+    virtual ~IOutlierRejector() {}
+
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask) = 0;
+};
+
+class CV_EXPORTS NullOutlierRejector : public IOutlierRejector
+{
+public:
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask);
+};
+
+class CV_EXPORTS TranslationBasedLocalOutlierRejector : public IOutlierRejector
+{
+public:
+    TranslationBasedLocalOutlierRejector();
+
+    void setCellSize(Size val) { cellSize_ = val; }
+    Size cellSize() const { return cellSize_; }
+
+    void setRansacParams(RansacParams val) { ransacParams_ = val; }
+    RansacParams ransacParams() const { return ransacParams_; }
+
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask);
+
+private:
+    Size cellSize_;
+    RansacParams ransacParams_;
+
+    typedef std::vector<int> Cell;
+    std::vector<Cell> grid_;
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/ring_buffer.hpp b/3rdparty/include/opencv2/videostab/ring_buffer.hpp
new file mode 100644
index 0000000..7cc3f03
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/ring_buffer.hpp
@@ -0,0 +1,72 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_RING_BUFFER_HPP__
+#define __OPENCV_VIDEOSTAB_RING_BUFFER_HPP__
+
+#include <vector>
+#include "opencv2/imgproc.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+template <typename T> inline T& at(int idx, std::vector<T> &items)
+{
+    return items[cv::borderInterpolate(idx, static_cast<int>(items.size()), cv::BORDER_WRAP)];
+}
+
+template <typename T> inline const T& at(int idx, const std::vector<T> &items)
+{
+    return items[cv::borderInterpolate(idx, static_cast<int>(items.size()), cv::BORDER_WRAP)];
+}
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/stabilizer.hpp b/3rdparty/include/opencv2/videostab/stabilizer.hpp
new file mode 100644
index 0000000..c18d314
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/stabilizer.hpp
@@ -0,0 +1,200 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_STABILIZER_HPP__
+#define __OPENCV_VIDEOSTAB_STABILIZER_HPP__
+
+#include <vector>
+#include <ctime>
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/videostab/global_motion.hpp"
+#include "opencv2/videostab/motion_stabilizing.hpp"
+#include "opencv2/videostab/frame_source.hpp"
+#include "opencv2/videostab/log.hpp"
+#include "opencv2/videostab/inpainting.hpp"
+#include "opencv2/videostab/deblurring.hpp"
+#include "opencv2/videostab/wobble_suppression.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS StabilizerBase
+{
+public:
+    virtual ~StabilizerBase() {}
+
+    void setLog(Ptr<ILog> ilog) { log_ = ilog; }
+    Ptr<ILog> log() const { return log_; }
+
+    void setRadius(int val) { radius_ = val; }
+    int radius() const { return radius_; }
+
+    void setFrameSource(Ptr<IFrameSource> val) { frameSource_ = val; }
+    Ptr<IFrameSource> frameSource() const { return frameSource_; }
+
+    void setMotionEstimator(Ptr<ImageMotionEstimatorBase> val) { motionEstimator_ = val; }
+    Ptr<ImageMotionEstimatorBase> motionEstimator() const { return motionEstimator_; }
+
+    void setDeblurer(Ptr<DeblurerBase> val) { deblurer_ = val; }
+    Ptr<DeblurerBase> deblurrer() const { return deblurer_; }
+
+    void setTrimRatio(float val) { trimRatio_ = val; }
+    float trimRatio() const { return trimRatio_; }
+
+    void setCorrectionForInclusion(bool val) { doCorrectionForInclusion_ = val; }
+    bool doCorrectionForInclusion() const { return doCorrectionForInclusion_; }
+
+    void setBorderMode(int val) { borderMode_ = val; }
+    int borderMode() const { return borderMode_; }
+
+    void setInpainter(Ptr<InpainterBase> val) { inpainter_ = val; }
+    Ptr<InpainterBase> inpainter() const { return inpainter_; }
+
+protected:
+    StabilizerBase();
+
+    void reset();
+    Mat nextStabilizedFrame();
+    bool doOneIteration();
+    virtual void setUp(const Mat &firstFrame);
+    virtual Mat estimateMotion() = 0;
+    virtual Mat estimateStabilizationMotion() = 0;
+    void stabilizeFrame();
+    virtual Mat postProcessFrame(const Mat &frame);
+    void logProcessingTime();
+
+    Ptr<ILog> log_;
+    Ptr<IFrameSource> frameSource_;
+    Ptr<ImageMotionEstimatorBase> motionEstimator_;
+    Ptr<DeblurerBase> deblurer_;
+    Ptr<InpainterBase> inpainter_;
+    int radius_;
+    float trimRatio_;
+    bool doCorrectionForInclusion_;
+    int borderMode_;
+
+    Size frameSize_;
+    Mat frameMask_;
+    int curPos_;
+    int curStabilizedPos_;
+    bool doDeblurring_;
+    Mat preProcessedFrame_;
+    bool doInpainting_;
+    Mat inpaintingMask_;
+    Mat finalFrame_;
+    std::vector<Mat> frames_;
+    std::vector<Mat> motions_; // motions_[i] is the motion from i-th to i+1-th frame
+    std::vector<float> blurrinessRates_;
+    std::vector<Mat> stabilizedFrames_;
+    std::vector<Mat> stabilizedMasks_;
+    std::vector<Mat> stabilizationMotions_;
+    clock_t processingStartTime_;
+};
+
+class CV_EXPORTS OnePassStabilizer : public StabilizerBase, public IFrameSource
+{
+public:
+    OnePassStabilizer();
+
+    void setMotionFilter(Ptr<MotionFilterBase> val) { motionFilter_ = val; }
+    Ptr<MotionFilterBase> motionFilter() const { return motionFilter_; }
+
+    virtual void reset();
+    virtual Mat nextFrame() { return nextStabilizedFrame(); }
+
+protected:
+    virtual void setUp(const Mat &firstFrame);
+    virtual Mat estimateMotion();
+    virtual Mat estimateStabilizationMotion();
+    virtual Mat postProcessFrame(const Mat &frame);
+
+    Ptr<MotionFilterBase> motionFilter_;
+};
+
+class CV_EXPORTS TwoPassStabilizer : public StabilizerBase, public IFrameSource
+{
+public:
+    TwoPassStabilizer();
+
+    void setMotionStabilizer(Ptr<IMotionStabilizer> val) { motionStabilizer_ = val; }
+    Ptr<IMotionStabilizer> motionStabilizer() const { return motionStabilizer_; }
+
+    void setWobbleSuppressor(Ptr<WobbleSuppressorBase> val) { wobbleSuppressor_ = val; }
+    Ptr<WobbleSuppressorBase> wobbleSuppressor() const { return wobbleSuppressor_; }
+
+    void setEstimateTrimRatio(bool val) { mustEstTrimRatio_ = val; }
+    bool mustEstimateTrimaRatio() const { return mustEstTrimRatio_; }
+
+    virtual void reset();
+    virtual Mat nextFrame();
+
+protected:
+    void runPrePassIfNecessary();
+
+    virtual void setUp(const Mat &firstFrame);
+    virtual Mat estimateMotion();
+    virtual Mat estimateStabilizationMotion();
+    virtual Mat postProcessFrame(const Mat &frame);
+
+    Ptr<IMotionStabilizer> motionStabilizer_;
+    Ptr<WobbleSuppressorBase> wobbleSuppressor_;
+    bool mustEstTrimRatio_;
+
+    int frameCount_;
+    bool isPrePassDone_;
+    bool doWobbleSuppression_;
+    std::vector<Mat> motions2_;
+    Mat suppressedFrame_;
+};
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/videostab/wobble_suppression.hpp b/3rdparty/include/opencv2/videostab/wobble_suppression.hpp
new file mode 100644
index 0000000..3f0a943
--- /dev/null
+++ b/3rdparty/include/opencv2/videostab/wobble_suppression.hpp
@@ -0,0 +1,140 @@
+/*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) 2009-2011, 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*/
+
+#ifndef __OPENCV_VIDEOSTAB_WOBBLE_SUPPRESSION_HPP__
+#define __OPENCV_VIDEOSTAB_WOBBLE_SUPPRESSION_HPP__
+
+#include <vector>
+#include "opencv2/core.hpp"
+#include "opencv2/core/cuda.hpp"
+#include "opencv2/videostab/global_motion.hpp"
+#include "opencv2/videostab/log.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+//! @addtogroup videostab
+//! @{
+
+class CV_EXPORTS WobbleSuppressorBase
+{
+public:
+    WobbleSuppressorBase();
+
+    virtual ~WobbleSuppressorBase() {}
+
+    void setMotionEstimator(Ptr<ImageMotionEstimatorBase> val) { motionEstimator_ = val; }
+    Ptr<ImageMotionEstimatorBase> motionEstimator() const { return motionEstimator_; }
+
+    virtual void suppress(int idx, const Mat &frame, Mat &result) = 0;
+
+
+    // data from stabilizer
+
+    virtual void setFrameCount(int val) { frameCount_ = val; }
+    virtual int frameCount() const { return frameCount_; }
+
+    virtual void setMotions(const std::vector<Mat> &val) { motions_ = &val; }
+    virtual const std::vector<Mat>& motions() const { return *motions_; }
+
+    virtual void setMotions2(const std::vector<Mat> &val) { motions2_ = &val; }
+    virtual const std::vector<Mat>& motions2() const { return *motions2_; }
+
+    virtual void setStabilizationMotions(const std::vector<Mat> &val) { stabilizationMotions_ = &val; }
+    virtual const std::vector<Mat>& stabilizationMotions() const { return *stabilizationMotions_; }
+
+protected:
+    Ptr<ImageMotionEstimatorBase> motionEstimator_;
+    int frameCount_;
+    const std::vector<Mat> *motions_;
+    const std::vector<Mat> *motions2_;
+    const std::vector<Mat> *stabilizationMotions_;
+};
+
+class CV_EXPORTS NullWobbleSuppressor : public WobbleSuppressorBase
+{
+public:
+    virtual void suppress(int idx, const Mat &frame, Mat &result);
+};
+
+class CV_EXPORTS MoreAccurateMotionWobbleSuppressorBase : public WobbleSuppressorBase
+{
+public:
+    virtual void setPeriod(int val) { period_ = val; }
+    virtual int period() const { return period_; }
+
+protected:
+    MoreAccurateMotionWobbleSuppressorBase() { setPeriod(30); }
+
+    int period_;
+};
+
+class CV_EXPORTS MoreAccurateMotionWobbleSuppressor : public MoreAccurateMotionWobbleSuppressorBase
+{
+public:
+    virtual void suppress(int idx, const Mat &frame, Mat &result);
+
+private:
+    Mat_<float> mapx_, mapy_;
+};
+
+#if defined(HAVE_OPENCV_CUDAWARPING)
+class CV_EXPORTS MoreAccurateMotionWobbleSuppressorGpu : public MoreAccurateMotionWobbleSuppressorBase
+{
+public:
+    void suppress(int idx, const cuda::GpuMat &frame, cuda::GpuMat &result);
+    virtual void suppress(int idx, const Mat &frame, Mat &result);
+
+private:
+    cuda::GpuMat frameDevice_, resultDevice_;
+    cuda::GpuMat mapx_, mapy_;
+};
+#endif
+
+//! @}
+
+} // namespace videostab
+} // namespace cv
+
+#endif
diff --git a/3rdparty/include/opencv2/world.hpp b/3rdparty/include/opencv2/world.hpp
new file mode 100644
index 0000000..2442f2c
--- /dev/null
+++ b/3rdparty/include/opencv2/world.hpp
@@ -0,0 +1,58 @@
+/*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) 2009-2010, 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*/
+
+#ifndef __OPENCV_WORLD_HPP__
+#define __OPENCV_WORLD_HPP__
+
+#include "opencv2/core.hpp"
+
+#ifdef __cplusplus
+namespace cv
+{
+
+CV_EXPORTS_W bool initAll();
+
+}
+
+#endif
+
+#endif
diff --git a/3rdparty/include/opencvx/cvanglemean.h b/3rdparty/include/opencvx/cvanglemean.h
new file mode 100644
index 0000000..d7fdd6c
--- /dev/null
+++ b/3rdparty/include/opencvx/cvanglemean.h
@@ -0,0 +1,116 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_ANGLEMEAN_INCLUDED
+#define CV_ANGLEMEAN_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+/**
+ * Compute mean of angle elements of an array (each channel independently). 
+ *
+ * There is a fact that 0 degrees and 360 degrees are identical angles, 
+ * so that for example 180 degrees is not a sensible mean of 2 degrees and 
+ * 358 degrees, but 0 degree is the mean. 
+ * Algorithm works as 1. compute means of cosine and sine 
+ * 2. take arc tangent of the mean consine and sine. 
+ *
+ * @param  arr     array
+ * @param  weight  Weight to compute mean. The deafult is 1/num (uniform).
+ *                 The size must be same with arr. 
+ * @param  wrap    The unit of wrapping around.
+ *                 The defeault is 360 as angle.
+ * @return angle mean for each channel
+ */
+CVAPI(CvScalar) cvAngleMean( const CvArr *arr, 
+                             const CvArr *weight CV_DEFAULT(NULL), 
+                             double wrap CV_DEFAULT(360) )
+{
+    CvMat* mat, matstub;
+    CvMat* wmat = NULL, wmatstub;
+    CvScalar mean = cvScalar(0,0,0,0);
+    int row, col, ch;
+    int nChannels;
+    CvScalar elem;
+    CvScalar mean_cos = cvScalar(0,0,0,0);
+    CvScalar mean_sin = cvScalar(0,0,0,0);
+    CvScalar welem;
+    CV_FUNCNAME( "cvAngleMean" );
+    __CV_BEGIN__;
+
+    mat = (CvMat*)arr;
+    if( !CV_IS_MAT(mat) )
+    {
+        CV_CALL( mat = cvGetMat( mat, &matstub ) );
+    }
+    if( weight != NULL )
+    {
+        wmat = (CvMat*)weight;
+        if( !CV_IS_MAT(wmat) )
+        {
+            CV_CALL( wmat = cvGetMat( wmat, &wmatstub ) );
+        }
+        CV_ASSERT( 
+            mat->rows == wmat->rows && 
+            mat->cols == wmat->cols &&
+            CV_MAT_CN(mat->type) == CV_MAT_CN(wmat->type) 
+        );
+    }
+    nChannels = CV_MAT_CN(mat->type);
+    if( wmat == NULL ) // uniform
+    {
+        double w = 1.0 / (double)mat->rows * (double)mat->cols;
+        welem = cvScalar( w, w, w, w );
+    }
+    for( row = 0; row < mat->rows; row++ )
+    {
+        for( col = 0; col < mat->cols; col++ )
+        {
+            elem = cvGet2D( mat, row, col );
+            if( wmat != NULL ) welem = cvGet2D( wmat, row, col );
+            for( ch = 0; ch < nChannels; ch++ )
+            {
+                mean_cos.val[ch] += 
+                    cos( elem.val[ch] * 2*M_PI / wrap ) * welem.val[ch];
+                mean_sin.val[ch] += 
+                    sin( elem.val[ch] * 2*M_PI / wrap ) * welem.val[ch];
+            }
+        }
+    }
+    for( ch = 0; ch < nChannels; ch++ )
+    {
+        mean.val[ch] = 
+            atan( mean_sin.val[ch] / mean_cos.val[ch] ) * wrap / (2*M_PI);
+    }
+    __CV_END__;
+    return mean;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvbackground.h b/3rdparty/include/opencvx/cvbackground.h
new file mode 100644
index 0000000..65518e6
--- /dev/null
+++ b/3rdparty/include/opencvx/cvbackground.h
@@ -0,0 +1,134 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_BACKGROUND_INCLUDED
+#define CV_BACKGROUND_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Obtain non-background pixels using reference image (such as previous frame in video )
+ *
+ * @param _img   The target image
+ * @param _ref   The reference image. Usually the previous frame of video
+ * @param _mask  The generated mask image where 0 is for bg and 1 is for non-bg.
+ *               Must be 8U and 1 channel
+ * @param thresh The threshold. [0 - 255^2] for single channel image. 
+ *               [0 - 255^2 * 3] for 3 channel image.
+ * @return 
+*/
+CVAPI(void) cvBackground( const IplImage* _img, 
+                          const IplImage* _ref, 
+                          IplImage* _mask, 
+                          int thresh CV_DEFAULT(100) )
+{
+    IplImage *img;
+    IplImage *ref;
+    IplImage *mask;
+    CV_FUNCNAME( "cvBackground" ); // error handling
+    __CV_BEGIN__;
+    CV_ASSERT( _img->width == _ref->width );
+    CV_ASSERT( _img->width == _mask->width );
+    CV_ASSERT( _img->height == _ref->height );
+    CV_ASSERT( _img->height == _ref->height );
+    CV_ASSERT( _img->nChannels == _ref->nChannels );
+    CV_ASSERT( _mask->nChannels == 1 );
+    CV_ASSERT( _mask->depth == IPL_DEPTH_8U );
+
+    img = cvCreateImage( cvGetSize(_img), IPL_DEPTH_32F, _img->nChannels );
+    ref = cvCreateImage( cvGetSize(_img), IPL_DEPTH_32F, _img->nChannels );
+    mask = cvCreateImage( cvGetSize(_img), IPL_DEPTH_32F, 1 );
+    cvConvert( _img, img );
+    cvConvert( _ref, ref );
+    cvSub( img, ref, img );
+    cvMul( img, img, img ); // square
+
+    if( img->nChannels > 1 )
+    {        
+        IplImage* imgB = cvCreateImage( cvGetSize(img), img->depth, 1 );
+        IplImage* imgG = cvCreateImage( cvGetSize(img), img->depth, 1 );
+        IplImage* imgR = cvCreateImage( cvGetSize(img), img->depth, 1 );
+        cvSplit( img, imgB, imgG, imgR, NULL );
+        cvAdd( imgB, imgG, mask );
+        cvAdd( mask, imgR, mask );
+        cvReleaseImage( &imgB );
+        cvReleaseImage( &imgG );
+        cvReleaseImage( &imgR );
+    }
+    else
+    {
+        cvCopy( img, mask );
+    }
+    cvThreshold( mask, _mask, thresh, 1, CV_THRESH_BINARY );
+
+    cvReleaseImage( &img );
+    cvReleaseImage( &ref );
+    cvReleaseImage( &mask );
+    __CV_END__;
+}
+
+/*
+//this is a sample for foreground detection functions
+//this is not training, but using pre-determined params
+//See cvCreateGaussainBGModel in ./cvaux/src/cvbgfg_gaussmix.cpp
+//This is setting paramets such as CV_BGFG_MOG_BACKGROUND_THRESHOLD (cvaux.h)
+//cvUpdateBGStatModel means just setting bg_model->foreground, background
+int main(int argc, char** argv)
+{
+    IplImage*       tmp_frame = NULL;
+    CvCapture*      video = NULL;
+
+    video = cvCaptureFromFile(argv[1]);
+    tmp_frame = cvQueryFrame(video);
+    if(!tmp_frame)
+    {
+        printf("bad video \n");
+        exit(0);
+    }
+
+    cvNamedWindow("BG", 1);
+    cvNamedWindow("FG", 1);
+
+    //create BG model   
+    CvBGStatModel* bg_model = cvCreateGaussianBGModel( tmp_frame );
+     
+    for( int fr = 1;tmp_frame; tmp_frame = cvQueryFrame(video), fr++ )
+    {
+        cvUpdateBGStatModel( tmp_frame, bg_model );
+        cvShowImage("BG", bg_model->background);
+        cvShowImage("FG", bg_model->foreground);
+        int k = cvWaitKey(5);
+        if( k == 27 ) break;
+        //printf("frame# %d \r", fr);
+    }
+
+
+    cvReleaseBGStatModel( &bg_model );
+    cvReleaseCapture(&video);
+
+    return 0;
+}*/
+
+#endif
diff --git a/3rdparty/include/opencvx/cvcat.h b/3rdparty/include/opencvx/cvcat.h
new file mode 100644
index 0000000..ac1bb6a
--- /dev/null
+++ b/3rdparty/include/opencvx/cvcat.h
@@ -0,0 +1,142 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CAT_INCLUDED
+#define CV_CAT_INCLUDED
+
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cvsetrow.h"
+#include "cvsetcol.h"
+
+/**
+ * Concatinate arrays horizontally
+ *
+ * @param src1 Input array 1
+ * @param src2 Input array 2
+ * @param dst Target array
+ * @see cvCat, cvVcat
+ */
+#define cvHcat( src1, src2, dst ) cvCat( (src1), (src2), (dst), 0 )
+
+/**
+ * Concatinate arrays vertically
+ *
+ * @param src1 Input array 1
+ * @param src2 Input array 2
+ * @param dst Target array
+ * @see cvCat, cvHcat
+ */
+#define cvVcat( src1, src2, dst ) cvCat( (src1), (src2), (dst), 1 )
+
+/**
+* Concatinate arrays
+*
+* Example)
+* @code
+*    IplImage* img    = cvCreateImage( cvSize(4,4), IPL_DEPTH_8U, 1 ); // width(cols), height(rows)
+*    IplImage* subimg = cvCreateImage( cvSize(1,4), IPL_DEPTH_8U, 1 );
+*    IplImage* catimg = cvCreateImage( cvSize(5,4), IPL_DEPTH_8U, 1 );
+*    cvSet( img, cvScalar(1) );
+*    cvSet( subimg, cvScalar(0) );
+*    cvHcat( img, subimg, catimg ); // 4x4 + 4x1 = 4x5
+*    cvMatPrint( catimg );
+* @endcode
+*
+* @param src1 Input array 1
+* @param src2 Input array 2
+* @param dst Target array
+* @param dim 0 horizontally, 1 vertically, -1 flexibly
+* @see cvHcat( src1, src2, dst ) // cvCat( src1, src2, dst, 0 )
+* @see cvVcat( src1, src2, dst ) // cvCat( src1, src2, dst, 1 )
+*/
+CVAPI(void) cvCat( const CvArr* src1arr, const CvArr* src2arr, CvArr* dstarr, int dim CV_DEFAULT(-1) )
+{
+    int coi = 0;
+    CvMat *src1 = (CvMat*)src1arr, src1stub;
+    CvMat *src2 = (CvMat*)src2arr, src2stub;
+    CvMat *dst  = (CvMat*)dstarr, dststub;
+    CV_FUNCNAME( "cvCat" );
+    __CV_BEGIN__;
+    if( !CV_IS_MAT(src1) )
+    {
+        src1 = cvGetMat( src1, &src1stub, &coi );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(src2) )
+    {
+        src2 = cvGetMat( src2, &src2stub, &coi );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(dst) )
+    {
+        dst = cvGetMat( dst, &dststub, &coi );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( dim == -1 )
+    {
+        if( src1->rows == src2->rows && src1->rows == dst->rows )
+        {
+            dim = 0;
+        }
+        else if( src1->cols == src2->cols && src1->cols == dst->cols )
+        {
+            dim = 1;
+        }
+        else
+        {
+            CV_ERROR( CV_StsBadArg, "The size of matrices does not fit to concatinate." );
+        }
+    }
+    if( dim == 0 ) // horizontal cat
+    {
+        CV_ASSERT( src1->rows == src2->rows && src1->rows == dst->rows );
+        CV_ASSERT( src1->cols + src2->cols == dst->cols );
+    }
+    else if( dim == 1 ) // vertical cat
+    {
+        CV_ASSERT( src1->cols == src2->cols && src1->cols == dst->cols );
+        CV_ASSERT( src1->rows + src2->rows == dst->rows );
+    }
+    else
+    {
+        CV_ERROR( CV_StsBadArg, "The dim is 0 (horizontal) or 1 (vertical) or -1 (flexible)." );
+    }
+
+    if( dim == 0 ) // horizontal cat
+    {
+        cvSetCols( src1, dst, 0, src1->cols );
+        cvSetCols( src2, dst, src1->cols, src1->cols + src2->cols );
+    }
+    else // vertical cat
+    {
+        cvSetRows( src1, dst, 0, src1->rows );
+        cvSetRows( src2, dst, src1->rows, src1->rows + src2->rows );
+    }
+    __CV_END__;
+}
+
+
+#endif
+
diff --git a/3rdparty/include/opencvx/cvclosing.h b/3rdparty/include/opencvx/cvclosing.h
new file mode 100644
index 0000000..b5f16ff
--- /dev/null
+++ b/3rdparty/include/opencvx/cvclosing.h
@@ -0,0 +1,54 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CLOSING_INCLUDED
+#define CV_CLOSING_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Closing morphological operation
+ *
+ * closing operation would help to fill disconnected contour
+ *
+ * @param src        Input Array
+ * @param dst        Output Array
+ * @param element    Kernel shape. see cvErode or cvDilate
+ * @param iterations
+ * @return CVAPI(void)
+ *
+ * References)
+ *  R. Gonzalez, R. Woods, "Digital Image Processing," chapter 9
+ */
+CVAPI(void) cvClosing( const CvArr* src, CvArr* dst, 
+                       IplConvKernel* element CV_DEFAULT(NULL), 
+                       int iterations CV_DEFAULT(1) )
+{
+    cvDilate( dst, dst, element, iterations );
+    cvErode( src, dst, element, iterations );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvcreateaffine.h b/3rdparty/include/opencvx/cvcreateaffine.h
new file mode 100644
index 0000000..f64f7de
--- /dev/null
+++ b/3rdparty/include/opencvx/cvcreateaffine.h
@@ -0,0 +1,99 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CREATEAFFINE_INCLUDED
+#define CV_CREATEAFFINE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvrect32f.h"
+
+/**
+ * Create an affine transform matrix from parameters.
+ *
+ * @param affine    The 2 x 3 CV_32FC1|CV_64FC1 affine matrix to be created
+ * @param rect      The translation (x, y) and scaling (width, height) and
+ *                  rotation (angle) paramenter in degree
+ * @param shear     The shear deformation parameter shx and shy
+ * @return CVAPI(void)
+ *
+ * References)
+ * @verbatim
+ @Book{Hartley2004,
+    author = "Hartley, R.~I. and Zisserman, A.",
+    title = "Multiple View Geometry in Computer Vision",
+    edition = "Second",
+    year = "2004",
+    publisher = "Cambridge University Press, ISBN: 0521540518"
+ } @endverbatim
+ */
+CVAPI(void) cvCreateAffine( CvMat* affine, 
+                            CvRect32f rect CV_DEFAULT(cvRect32f(0,0,1,1,0)), 
+                            CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)) )
+{
+    double c, s;
+    CvMat *R, *S, *A, hdr;
+    CV_FUNCNAME( "cvCreateAffine" );
+    __CV_BEGIN__;
+    CV_ASSERT( rect.width > 0 && rect.height > 0 );
+    CV_ASSERT( affine->rows == 2 && affine->cols == 3 );
+
+    // affine = [ A T ]
+    // A = [ a b; c d ]
+    // Translation T = [ tx; ty ]
+    // (1) A = Rotation * Shear(-phi) * [sx 0; 0 sy] * Shear(phi)
+    // (2) A = Rotation * [sx shx; shy sy]
+    // Use (2)
+
+    // T = [tx; ty]
+    cvmSet( affine, 0, 2, rect.x ); cvmSet( affine, 1, 2, rect.y );
+
+    // R = [cos -sin; sin cos]
+    R = cvCreateMat( 2, 2, affine->type );
+    /*CvMat* R = cvCreateMat( 2, 3, CV_32FC1 );
+      cv2DRotationMatrix( cvPoint2D32f( 0, 0 ), rect.angle, 1.0, R ); */
+    c = cos( -M_PI / 180 * rect.angle );
+    s = sin( -M_PI / 180 * rect.angle );
+    cvmSet( R, 0, 0, c ); cvmSet( R, 0, 1, -s );
+    cvmSet( R, 1, 0, s ); cvmSet( R, 1, 1, c );
+
+    // S = [sx shx; shy sy]
+    S = cvCreateMat( 2, 2, affine->type );
+    cvmSet( S, 0, 0, rect.width ); cvmSet( S, 0, 1, shear.x );
+    cvmSet( S, 1, 0, shear.y );    cvmSet( S, 1, 1, rect.height );
+    
+    // A = R * S
+    A = cvGetCols( affine, &hdr, 0, 2 );
+    cvMatMul ( R, S, A );
+
+    cvReleaseMat( &R );
+    cvReleaseMat( &S );
+    __CV_END__;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvcreateaffineimage.h b/3rdparty/include/opencvx/cvcreateaffineimage.h
new file mode 100644
index 0000000..5f3eb93
--- /dev/null
+++ b/3rdparty/include/opencvx/cvcreateaffineimage.h
@@ -0,0 +1,186 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CREATEAFFINEIMAGE_INCLUDED
+#define CV_CREATEAFFINEIMAGE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <limits.h>
+
+#include "cvinvaffine.h"
+
+#define CV_AFFINE_SAME 0
+#define CV_AFFINE_FULL 1
+
+//CV_INLINE IplImage* 
+//cvCreateAffineMask( const IplImage* src, const CvMat* affine, 
+//                    int flags = CV_AFFINE_SAME, CvPoint* origin = NULL );
+//IplImage* 
+//cvCreateAffineImage( const IplImage* src, const CvMat* affine, 
+//                     int flags = CV_AFFINE_SAME, CvPoint* origin = NULL,
+//                     CvScalar bgcolor = CV_RGB(0,0,0) );
+
+/**
+ * Affine transform of an image. 
+ *
+ * Memory is allocated. Do not forget cvReleaseImage( &ret );
+ *
+ * @param src       Image
+ * @param affine    2 x 3 Affine transform matrix
+ * @param flags     CV_AFFINE_SAME - Outside image coordinates are cut off. 
+ *                  CV_AFFINE_FULL - Fully contain the original image pixel values
+ * @param origin    The coordinate of origin is returned. The origin is the 
+ *                  coordinate in original image respective to the transformed 
+ *                  image origin. Useful when CV_AFFINE_FULL is used.
+ * @param bgcolor   The color used when corresponding coordinate is not 
+ *                  available in the original image. 
+ * @return
+ * @see cvWarpAffine
+ *  this does not support CV_AFFINE_FULL, but supports
+ *  everal interpolation methods and so on.
+ */
+IplImage* 
+cvCreateAffineImage( const IplImage* src, const CvMat* affine, 
+                     int flags = CV_AFFINE_SAME, CvPoint* origin = NULL,
+                     CvScalar bgcolor = CV_RGB(0,0,0) )
+{
+    IplImage* dst;
+    int minx = INT_MAX;
+    int miny = INT_MAX;
+    int maxx = INT_MIN;
+    int maxy = INT_MIN;
+    int i, x, y, xx, yy, xp, yp;
+    int ch, width, height;
+    CvPoint pt[4];
+    CvMat* invaffine;
+    CV_FUNCNAME( "cvAffineImage" );
+    __CV_BEGIN__;
+    CV_ASSERT( src->depth == IPL_DEPTH_8U );
+    CV_ASSERT( affine->rows == 2 && affine->cols == 3 );
+
+    // cvBoxPoints supports only rotation (no shear deform)
+    // original 4 corner
+    pt[0].x = 0;              pt[0].y = 0;
+    pt[1].x = src->width - 1; pt[1].y = 0;
+    pt[2].x = 0;              pt[2].y = src->height - 1;
+    pt[3].x = src->width - 1; pt[3].y = src->height - 1;
+    // 4 corner after transformed
+    for( i = 0; i < 4; i++ )
+    {
+        x = cvRound( pt[i].x * cvmGet( affine, 0, 0 ) + 
+                     pt[i].y * cvmGet( affine, 0, 1 ) + 
+                     cvmGet( affine, 0, 2 ) );
+        y = cvRound( pt[i].x * cvmGet( affine, 1, 0 ) + 
+                     pt[i].y * cvmGet( affine, 1, 1 ) + 
+                     cvmGet( affine, 1, 2 ) );
+        pt[i].x = x; pt[i].y = y;
+    }
+    // min, max
+    for( i = 0; i < 4; i++ )
+    {
+        minx = MIN( pt[i].x, minx );
+        miny = MIN( pt[i].y, miny );
+        maxx = MAX( pt[i].x, maxx );
+        maxy = MAX( pt[i].y, maxy );
+    }
+    // target image width and height
+    if( flags == CV_AFFINE_FULL )
+    {
+        width = maxx - minx + 1;
+        height = maxy - miny + 1;
+    }
+    else if( flags == CV_AFFINE_SAME )
+    {
+        width = src->width;
+        height = src->height;
+        minx = miny = 0;
+        maxx = src->width - 1;
+        maxy = src->height - 1;
+    }
+    //cvPrintMat( affine );
+    //printf( "%d %d %d %d\n", minx, miny, maxx, maxy );
+    if( origin != NULL )
+    {
+        origin->x = minx;
+        origin->y = miny;
+    }
+    dst = cvCreateImage( cvSize(width, height), src->depth, src->nChannels );
+    cvSet( dst, bgcolor );
+
+    // inverse affine
+    invaffine = cvCreateMat( 2, 3, affine->type );
+    cvInvAffine( affine, invaffine );
+    
+    // loop based on image coordinates of transformed image
+    for( x = 0; x < width; x++ )
+    {
+        xx = x + minx;
+        for( y = 0; y < height; y++ )
+        {
+            yy = y + miny;
+            xp = cvRound( xx * cvmGet( invaffine, 0, 0 ) + 
+                              yy * cvmGet( invaffine, 0, 1 ) + 
+                              cvmGet( invaffine, 0, 2 ) );
+            yp = cvRound( xx * cvmGet( invaffine, 1, 0 ) + 
+                              yy * cvmGet( invaffine, 1, 1 ) + 
+                              cvmGet( invaffine, 1, 2 ) );
+            if( xp < 0 || xp >= src->width || yp < 0 || yp >= src->height ) continue;
+            for( ch = 0; ch < src->nChannels; ch++ )
+            {
+                dst->imageData[dst->widthStep * y + x * dst->nChannels + ch]
+                    = src->imageData[src->widthStep * yp + xp * src->nChannels + ch];
+            }
+        }
+    }
+    cvReleaseMat( &invaffine );
+    __CV_END__;
+    return dst;
+}
+
+/**
+ * Create a mask image for cvCreateAffineImage
+ *
+ * @param src       Image. Used to get image size.
+ * @param affine    2 x 3 Affine transform matrix
+ * @param flags     CV_AFFINE_SAME - Outside image coordinates are cut off
+ *                  CV_AFFINE_FULL - Fully contain the original image pixel values
+ * @param origin    The coordinate of origin (the coordinate in original image respective to 
+ *                  the transformed image origin). 
+ *                  Useful when CV_AFFINE_FULL is used.
+ */
+CV_INLINE IplImage* 
+cvCreateAffineMask( const IplImage* src, const CvMat* affine, 
+                    int flags = CV_AFFINE_SAME, CvPoint* origin = NULL )
+{
+    IplImage* orig = cvCreateImage( cvGetSize(src), IPL_DEPTH_8U, 1 );
+    cvSet( orig, cvScalar(1) );
+    IplImage* mask = cvCreateAffineImage( orig, affine, flags, origin, cvScalar(0) );
+    cvReleaseImage( &orig );
+    return mask;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvcropimageroi.h b/3rdparty/include/opencvx/cvcropimageroi.h
new file mode 100644
index 0000000..f82b5af
--- /dev/null
+++ b/3rdparty/include/opencvx/cvcropimageroi.h
@@ -0,0 +1,187 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CROPIMAGEROI_INCLUDED
+#define CV_CROPIMAGEROI_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvcreateaffine.h"
+#include "cvrect32f.h"
+#include "cvget2dinter.h"
+
+//CVAPI(void) 
+//cvCropImageROI( const IplImage* img, IplImage* dst, 
+//                CvRect32f rect32f = cvRect32f(0,0,1,1,0),
+//                CvPoint2D32f shear = cvPoint2D32f(0,0) );
+//CV_INLINE void 
+//cvShowCroppedImage( const char* w_name, IplImage* img,
+//                    CvRect32f rect32f = cvRect32f(0,0,1,1,0),
+//                    CvPoint2D32f shear = cvPoint2D32f(0,0) );
+
+/**
+ * Crop image with rotated and sheared rectangle
+ *
+ * @code
+ * IplImage* dst = cvCreateImage( cvSize( rect.width, rect.height ), img->depth, img->nChannels );
+ * @endcode
+ * If you want define rotation center as the center of the rectangle,
+ * use CvBox32f and use cvRect32fBox32( box32f ) for the rect32f argument. 
+ *
+ * @param img          The target image
+ * @param dst          The cropped image
+ * @param rect32f      The rectangle region (x,y,width,height) to crop and 
+ *                     the rotation angle in degree where the rotation center is (x,y)
+ * @param shear        The shear deformation parameter shx and shy
+ * @param interpolation The interpolation method. 
+ *                     CV_INTER_NN - Nearest Neighborhood method
+ *                     CV_INTER_LINEAR - Bilinear interpolation
+ * @return CVAPI(void)
+ */
+CVAPI(void) 
+cvCropImageROI( const IplImage* img, IplImage* dst, 
+                CvRect32f rect32f CV_DEFAULT(cvRect32f(0,0,1,1,0)),
+                CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)),
+                int interpolation CV_DEFAULT(CV_INTER_LINEAR) )
+{
+    CvRect rect = cvRectFromRect32f( rect32f );
+    float angle = rect32f.angle;
+    CV_FUNCNAME( "cvCropImageROI" );
+    __CV_BEGIN__;
+    CV_ASSERT( rect.width > 0 && rect.height > 0 );
+    CV_ASSERT( dst->width == rect.width );
+    CV_ASSERT( dst->height == rect.height );
+
+    if( angle == 0 && shear.x == 0 && shear.y == 0 && 
+        rect.x >= 0 && rect.y >= 0 && 
+        rect.x + rect.width < img->width && rect.y + rect.height < img->height )
+    {
+        CvMat subimg;
+        cvGetSubRect( img, &subimg, rect );
+        cvConvert( &subimg, dst );
+    }
+    else if( shear.x == 0 && shear.y == 0 )
+    {
+        int x, y;
+        float xp, yp;
+        double c = cos( -M_PI / 180 * angle );
+        double s = sin( -M_PI / 180 * angle );
+        CvScalar color;
+        /*CvMat* R = cvCreateMat( 2, 3, CV_32FC1 );
+        cv2DRotationMatrix( cvPoint2D32f( 0, 0 ), angle, 1.0, R );
+        double c = cvmGet( R, 0, 0 );
+        double s = cvmGet( R, 1, 0 );
+        cvReleaseMat( &R );*/
+        cvZero( dst );
+
+        for( x = 0; x < rect.width; x++ )
+        {
+            for( y = 0; y < rect.height; y++ )
+            {
+                xp = ( c * x + -s * y ) + rect.x;
+                yp = ( s * x + c * y ) + rect.y;
+                if( xp <= -0.5 || xp >= img->width - 0.5 || yp <= -0.5 || yp >= img->height - 0.5 ) continue;
+                color = cvGet2DInter( img, yp, xp, interpolation );
+                cvSet2D( dst, y, x, color );
+                //xp = cvRound( c * x + -s * y ) + rect.x;
+                //yp = cvRound( s * x + c * y ) + rect.y;
+                //if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                //for( ch = 0; ch < img->nChannels; ch++ )
+                //{
+                //    dst->imageData[dst->widthStep * y + x * dst->nChannels + ch]
+                //        = img->imageData[img->widthStep * yp + xp * img->nChannels + ch];
+                //}
+            }
+        }
+    }
+    else
+    {
+        int x, y;
+        float xp, yp;
+        CvScalar color;
+        CvMat* affine = cvCreateMat( 2, 3, CV_32FC1 );
+        CvMat* xy     = cvCreateMat( 3, 1, CV_32FC1 );
+        CvMat* xyp    = cvCreateMat( 2, 1, CV_32FC1 );
+        cvCreateAffine( affine, rect32f, shear );
+        cvmSet( xy, 2, 0, 1.0 );
+        cvZero( dst );
+
+        for( x = 0; x < rect.width; x++ )
+        {
+            cvmSet( xy, 0, 0, x / rect32f.width );
+            for( y = 0; y < rect.height; y++ )
+            {
+                cvmSet( xy, 1, 0, y / rect32f.height );
+                cvMatMul( affine, xy, xyp );
+                xp = cvmGet( xyp, 0, 0 );
+                yp = cvmGet( xyp, 1, 0 );
+                if( xp <= -0.5 || xp >= img->width - 0.5 || yp <= -0.5 || yp >= img->height - 0.5 ) continue;
+                color = cvGet2DInter( img, yp, xp, interpolation );
+                cvSet2D( dst, y, x, color );
+                //xp = cvRound( cvmGet( xyp, 0, 0 ) );
+                //yp = cvRound( cvmGet( xyp, 1, 0 ) );
+                //if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                //for( ch = 0; ch < img->nChannels; ch++ )
+                //{
+                //    dst->imageData[dst->widthStep * y + x * dst->nChannels + ch]
+                //        = img->imageData[img->widthStep * yp + xp * img->nChannels + ch];
+                //}
+            }
+        }
+        cvReleaseMat( &affine );
+        cvReleaseMat( &xy );
+        cvReleaseMat( &xyp );
+    }
+    __CV_END__;
+}
+
+/**
+ * Crop and show the Cropped Image
+ *
+ * @param w_name       Window name
+ * @param img          Image to be cropped
+ * @param rect32f      The rectangle region (x,y,width,height) to crop and 
+ *                     the rotation angle in degree
+ * @param shear        The shear deformation parameter shx and shy
+ * @return CVAPI(void)
+ * @uses cvCropImageROI
+ */
+CV_INLINE void 
+cvShowCroppedImage( const char* w_name, IplImage* img, 
+                    CvRect32f rect32f CV_DEFAULT(cvRect32f(0,0,1,1,0)),
+                    CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)) )
+{
+    CvRect rect = cvRectFromRect32f( rect32f );
+    if( rect.width <= 0 || rect.height <= 0 ) return;
+    IplImage* crop = cvCreateImage( cvSize( rect.width, rect.height ), img->depth, img->nChannels );
+    cvCropImageROI( img, crop, rect32f, shear );
+    cvShowImage( w_name, crop );
+    cvReleaseImage( &crop );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvdrawrectangle.h b/3rdparty/include/opencvx/cvdrawrectangle.h
new file mode 100644
index 0000000..30b6ca7
--- /dev/null
+++ b/3rdparty/include/opencvx/cvdrawrectangle.h
@@ -0,0 +1,216 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_DRAWRECTANGLE_INCLUDED
+#define CV_DRAWRECTANGLE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvcreateaffine.h"
+#include "cvrect32f.h"
+
+//CVAPI(void) 
+//cvDrawRectangle( IplImage* img, 
+//                 CvRect32f rect32f = cvRect32f(0,0,1,1,0),
+//                 CvPoint2D32f shear = cvPoint2D32f(0,0), 
+//                 CvScalar color = CV_RGB(255, 255, 255), 
+//                 int thickness = 1, 
+//                 int line_type = 8,
+//                int shift = 0 );
+//CV_INLINE void 
+//cvShowImageAndRectangle( const char* w_name, const IplImage* img, 
+//                         CvRect32f rect32f = cvRect32f(0,0,1,1,0),
+//                         CvPoint2D32f shear = cvPoint2D32f(0,0),
+//                         CvScalar color = CV_RGB(255, 255, 0), 
+//                         int thickness = 1, int line_type = 8, 
+//                         int shift = 0 );
+
+/**
+ * Draw an rotated and sheared rectangle
+ *
+ * If you want define rotation center as the center of the rectangle,
+ * use CvBox32f and use cvRect32fBox32( box32f ) for the rect32f argument. 
+ *
+ * @param img             The image to be drawn rectangle
+ * @param rect32f         The rectangle (x,y,width,height) to be shown and
+ *                        the rotation angle in degree where the rotation center is (x,y)
+ * @param shear           The shear deformation parameter shx and shy
+ * @param color           Line color (RGB) or brightness (grayscale image). 
+ * @param thickness       Thickness of lines that make up the rectangle. 
+ *                        Negative values, e.g. CV_FILLED, make the function 
+ *                        to draw a filled rectangle. 
+ * @param line_type       Type of the line, see cvLine description. 
+ * @param shift           Number of fractional bits in the point coordinates. 
+ * @todo thickness, line_type, and shift are available only when rotate == 0 && shear == 0 currently. 
+ * @return CVAPI(void)
+ * @uses cvRectangle
+ */
+CVAPI(void) 
+cvDrawRectangle( IplImage* img, 
+                 CvRect32f rect32f CV_DEFAULT(cvRect32f(0,0,1,1,0)),
+                 CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)), 
+                 CvScalar color CV_DEFAULT(CV_RGB(255, 255, 255)), 
+                 int thickness CV_DEFAULT(1), 
+                 int line_type CV_DEFAULT(8),
+                 int shift CV_DEFAULT(0) )
+{
+    CvRect rect = cvRectFromRect32f( rect32f );
+    float angle = rect32f.angle;
+    CV_FUNCNAME( "cvDrawRectangle" );
+    __CV_BEGIN__;
+    CV_ASSERT( rect.width > 0 && rect.height > 0 );
+
+    if( angle == 0 && shear.x == 0 && shear.y == 0 )
+    {
+        CvPoint pt1 = cvPoint( rect.x, rect.y );
+        CvPoint pt2 = cvPoint( rect.x + rect.width - 1, rect.y + rect.height - 1 );
+        cvRectangle( img, pt1, pt2, color, thickness, line_type, shift );
+    }
+    else if( shear.x == 0 && shear.y == 0 )
+    {
+        int x, y, ch, xp, yp;
+        double c = cos( -M_PI / 180 * angle );
+        double s = sin( -M_PI / 180 * angle );
+        /*CvMat* R = cvCreateMat( 2, 3, CV_32FC1 );
+        cv2DRotationMatrix( cvPoint2D32f( 0, 0 ), angle, 1.0, R );
+        double c = cvmGet( R, 0, 0 );
+        double s = cvmGet( R, 1, 0 );
+        cvReleaseMat( &R );*/
+
+        for( x = 0; x < rect.width; x++ )
+        {
+            for( y = 0; y < rect.height; y += MAX(1, rect.height - 1) )
+            {
+                xp = cvRound( c * x + -s * y ) + rect.x;
+                yp = cvRound( s * x + c * y ) + rect.y;
+                if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                for( ch = 0; ch < img->nChannels; ch++ )
+                {
+                    img->imageData[img->widthStep * yp + xp * img->nChannels + ch] = (char)color.val[ch];
+                }
+            }
+        }
+
+        for( y = 0; y < rect.height; y++ )
+        {
+            for( x = 0; x < rect.width; x += MAX( 1, rect.width - 1) )
+            {
+                xp = cvRound( c * x + -s * y ) + rect.x;
+                yp = cvRound( s * x + c * y ) + rect.y;
+                if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                for( ch = 0; ch < img->nChannels; ch++ )
+                {
+                    img->imageData[img->widthStep * yp + xp * img->nChannels + ch] = (char)color.val[ch];
+                }
+            }
+        }
+    }
+    else
+    {
+        int x, y, ch, xp, yp;
+        CvMat* affine = cvCreateMat( 2, 3, CV_32FC1 );
+        CvMat* xy     = cvCreateMat( 3, 1, CV_32FC1 );
+        CvMat* xyp    = cvCreateMat( 2, 1, CV_32FC1 );
+        cvmSet( xy, 2, 0, 1.0 );
+        cvCreateAffine( affine, rect32f, shear );
+
+        for( x = 0; x < rect.width; x++ )
+        {
+            cvmSet( xy, 0, 0, x / rect32f.width );
+            for( y = 0; y < rect.height; y += MAX(1, rect.height - 1) )
+            {
+                cvmSet( xy, 1, 0, y / rect32f.height );
+                cvMatMul( affine, xy, xyp );
+                xp = cvRound( cvmGet( xyp, 0, 0 ) );
+                yp = cvRound( cvmGet( xyp, 1, 0 ) );
+                if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                for( ch = 0; ch < img->nChannels; ch++ )
+                {
+                    img->imageData[img->widthStep * yp + xp * img->nChannels + ch] = (char)color.val[ch];
+                }
+            }
+        }
+        for( y = 0; y < rect.height; y++ )
+        {
+            cvmSet( xy, 1, 0, y / rect32f.height );
+            for( x = 0; x < rect.width; x += MAX( 1, rect.width - 1) )
+            {
+                cvmSet( xy, 0, 0, x / rect32f.width );
+                cvMatMul( affine, xy, xyp );
+                xp = cvRound( cvmGet( xyp, 0, 0 ) );
+                yp = cvRound( cvmGet( xyp, 1, 0 ) );
+                if( xp < 0 || xp >= img->width || yp < 0 || yp >= img->height ) continue;
+                for( ch = 0; ch < img->nChannels; ch++ )
+                {
+                    img->imageData[img->widthStep * yp + xp * img->nChannels + ch] = (char)color.val[ch];
+                }
+            }
+        }
+        cvReleaseMat( &affine );
+        cvReleaseMat( &xy );
+        cvReleaseMat( &xyp );
+    }
+    __CV_END__;
+}
+
+/**
+ * Show Image and Rectangle
+ *
+ * @param w_name          Window name
+ * @param img             Image to be shown
+ * @param rect32f         The rectangle (x,y,width,height) to be shown and
+ *                        the rotation angle in degree where the rotation center is (x,y)
+ * @param shear           The shear deformation parameter shx and shy
+ * @param color           Line color (RGB) or brightness (grayscale image). 
+ * @param thickness       Thickness of lines that make up the rectangle. 
+ *                        Negative values, e.g. CV_FILLED, make the function 
+ *                        to draw a filled rectangle. 
+ * @param line_type       Type of the line, see cvLine description. 
+ * @param shift           Number of fractional bits in the point coordinates. 
+ * @todo thickness, line_type, and shift are available only when angle == 0 && shear == 0 currently. 
+ * @return CVAPI(void)
+ * @uses cvDrawRectangle
+ */
+CV_INLINE void 
+cvShowImageAndRectangle( const char* w_name, const IplImage* img, 
+                         CvRect32f rect32f CV_DEFAULT(cvRect32f(0,0,1,1,0)),
+                         CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)),
+                         CvScalar color CV_DEFAULT(CV_RGB(255, 255, 0)), 
+                         int thickness CV_DEFAULT(1), 
+                         int line_type CV_DEFAULT(8), 
+                         int shift CV_DEFAULT(0) )
+{
+    CvRect rect  = cvRectFromRect32f( rect32f );
+    if( rect.width <= 0 || rect.height <= 0 ) { cvShowImage( w_name, img ); return; }
+    IplImage* clone = cvCloneImage( img );
+    cvDrawRectangle( clone, rect32f, shear, color, thickness, line_type, shift );
+    cvShowImage( w_name, clone );
+    cvReleaseImage( &clone );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvgaussnorm.h b/3rdparty/include/opencvx/cvgaussnorm.h
new file mode 100644
index 0000000..f81475d
--- /dev/null
+++ b/3rdparty/include/opencvx/cvgaussnorm.h
@@ -0,0 +1,112 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_GAUSSNORM_INCLUDED
+#define CV_GAUSSNORM_INCLUDED
+
+
+#include "cv.h"
+#include "cvaux.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvmatelemcn.h"
+
+// @todo
+// CVAPI(void) cvMatGaussNorm( const CvMat* samples, CvMat* dst );
+// #define cvGaussNorm( sample, dst ) cvMatGaussNorm( sample, dst )
+// CVAPI(void) cvImgGaussNorm( const IplImage* img, IplImage* normed ) {
+//    IplImage* sample, samplehdr;
+//    IplImage* dst, dsthdr;
+//    sample = cvReshape( img, &samplehdr, 1, img->nChannels );
+//    dst = cvReshape( normed, &dsthdr, 1, dst->nChannels );
+//    // make sure how it is reshaped
+//    cvMatGaussNorm( sample, dst );
+// }
+
+/**
+ * Zero mean and unit covariance normalization of an image
+ * Each channel is processed independently
+ *
+ * @param src       input image
+ * @param dst       normalized image. 32F or 64F should be preferred.
+*/
+CVAPI(void) cvGaussNormImage( const CvArr* src, CvArr* dst )
+{
+    CvMat instub, *in = (CvMat*)src;
+    CvMat outstub, *out = (CvMat*)dst;
+    int coi = 0;
+    CvScalar mean, std;
+    int rows, cols, nChannels;
+    int ch, row, col;
+    CvScalar inval;
+    CvMat *tmp_in;
+    CvMat *sub_in;
+    CV_FUNCNAME( "cvGaussNormImage" );
+    __CV_BEGIN__;
+    if( !CV_IS_MAT(in) )
+    {
+        CV_CALL( in = cvGetMat( in, &instub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(out) )
+    {
+        CV_CALL( out = cvGetMat( out, &outstub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    CV_ASSERT( in->rows == out->rows && in->cols == out->cols );
+    CV_ASSERT( CV_MAT_CN(in->type) == CV_MAT_CN(out->type) );
+
+    if( in->type != out->type ) {
+        tmp_in = cvCreateMat( out->rows, out->cols, out->type );
+        cvConvert( in, tmp_in );
+    } else {
+        tmp_in = in;
+    }
+    sub_in = cvCreateMat( out->rows, out->cols, out->type );
+    
+    cvAvgSdv( tmp_in, &mean, &std );
+    cvSubS( tmp_in, mean, sub_in );
+    //cvScale( sub_in, out, 1.0/std.val[0] ); // do channel
+    rows = out->rows;
+    cols = out->cols;
+    nChannels = CV_MAT_CN(out->type);
+    for( row = 0; row < rows; row++ ) {
+        for( col = 0; col < cols; col++ ) {
+            inval = cvGet2D( sub_in, row, col );
+            for( ch = 0; ch < nChannels; ch++ ) {
+                inval.val[ch] /= std.val[ch];
+            }
+            cvSet2D( out, row, col, inval );
+        }
+    }        
+
+    if( in->type != out->type ) {
+        cvReleaseMat( &tmp_in );
+    }
+    cvReleaseMat( &sub_in );
+    __CV_END__;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvgausspdf.h b/3rdparty/include/opencvx/cvgausspdf.h
new file mode 100644
index 0000000..8641fa2
--- /dev/null
+++ b/3rdparty/include/opencvx/cvgausspdf.h
@@ -0,0 +1,175 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_GAUSSPDF_INCLUDED
+#define CV_GAUSSPDF_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+//CVAPI(void) 
+//cvMatGaussPdf( const CvMat* samples, const CvMat* mean, const CvMat* cov, 
+//               CvMat* probs, bool normalize = false, bool logprob = false );
+//CV_INLINE double 
+//cvGaussPdf( const CvMat* sample, const CvMat* mean, const CvMat* cov, 
+//            bool normalize = false, bool logprob = false );
+
+/**
+ * Compute multivariate gaussian pdf for a set of sample vectors
+ *
+ * Example)
+ * @code
+ *    double vs[] = { 3, 4, 5,
+ *                    3, 4, 5 };  // col vectors
+ *    double m[] = { 5, 
+ *                   5 };
+ *    double a[] = { 1, 0,
+ *                   0, 1 };
+ *    CvMat vecs = cvMat(2, 3, CV_64FC1, vs);
+ *    CvMat mean = cvMat(2, 1, CV_64FC1, m);
+ *    CvMat cov  = cvMat(2, 2, CV_64FC1, a);
+ *    CvMat *probs = cvCreateMat(1, 3, CV_64FC1);
+ *    cvMatGaussPdf( &vecs, &mean, &cov, probs, false, false);
+ *    cvMatPrint( probs ); // 0.018316 0.367879 1.000000
+ *    cvMatGaussPdf( &vecs, &mean, &cov, probs, true, false);
+ *    cvMatPrint( probs ); // 0.002915 0.058550 0.159155
+ *    cvMatGaussPdf( &vecs, &mean, &cov, probs, false, true);
+ *    cvMatPrint( probs ); // -4.000000 -1.000000 -0.000000
+ *    cvMatGaussPdf( &vecs, &mean, &cov, probs, true, true);
+ *    cvMatPrint( probs ); // -5.837877 -2.837877 -1.837877
+ *    cvReleaseMat( &probs );
+ * @endcode
+ *
+ * @param samples   D x N data vectors where D is the number of
+ *                  dimensions and N is the number of data
+ *                  (Note: not N x D for clearness of matrix operation)
+ * @param mean      D x 1 mean vector
+ * @param cov       D x D covariance matrix
+ * @param probs     1 x N computed probabilites
+ * @param normalize Compute normalization term or not
+ * @param logprob   Log probability or not
+ * @return CVAPI(void)
+ * @see cvCalcCovarMatrix, cvAvg
+*/
+CVAPI(void) 
+cvMatGaussPdf( const CvMat* samples, 
+               const CvMat* mean, 
+               const CvMat* cov, 
+               CvMat* probs, 
+               bool normalize CV_DEFAULT(true), 
+               bool logprob CV_DEFAULT(false) )
+{
+    int D = samples->rows;
+    int N = samples->cols;
+    int type = samples->type;
+    CV_FUNCNAME( "cvMatGaussPdf" ); // error handling
+    __CV_BEGIN__;
+    CV_ASSERT( CV_IS_MAT(samples) );
+    CV_ASSERT( CV_IS_MAT(mean) );
+    CV_ASSERT( CV_IS_MAT(cov) );
+    CV_ASSERT( CV_IS_MAT(probs) );
+    CV_ASSERT( D == mean->rows && 1 == mean->cols );
+    CV_ASSERT( D == cov->rows && D == cov->cols );
+    CV_ASSERT( 1 == probs->rows && N == probs->cols );
+
+    CvMat *invcov = cvCreateMat( D, D, type );
+    cvInvert( cov, invcov, CV_SVD );
+
+    CvMat *sample = cvCreateMat( D, 1, type );
+    CvMat *subsample   = cvCreateMat( D, 1, type );
+    CvMat *subsample_T = cvCreateMat( 1, D, type );
+    CvMat *value       = cvCreateMat( 1, 1, type );
+    double prob;
+    for( int n = 0; n < N; n++ )
+    {
+        cvGetCol( samples, sample, n );
+
+        cvSub( sample, mean, subsample );
+        cvTranspose( subsample, subsample_T );
+        cvMatMul( subsample_T, invcov, subsample_T );
+        cvMatMul( subsample_T, subsample, value );
+        prob = -0.5 * cvmGet(value, 0, 0);
+        if( !logprob ) prob = exp( prob );
+
+        cvmSet( probs, 0, n, prob );
+    }
+    if( normalize )
+    {
+        double norm = pow( 2* M_PI, D/2.0 ) * sqrt( cvDet( cov ) );
+        if( logprob ) cvSubS( probs, cvScalar( log( norm ) ), probs );
+        else cvConvertScale( probs, probs, 1.0 / norm );
+    }
+    
+    cvReleaseMat( &invcov );
+    cvReleaseMat( &sample );
+    cvReleaseMat( &subsample );
+    cvReleaseMat( &subsample_T );
+    cvReleaseMat( &value );
+
+    __CV_END__;
+}
+
+/**
+ * Compute multivariate gaussian pdf
+ *
+ * Example)
+ * @code
+ *    double v[] = { 3, 
+ *                   3 };
+ *    double m[] = { 5, 
+ *                   5 };
+ *    double a[] = { 1, 0,
+ *                   0, 1 };
+ *    CvMat vec  = cvMat(2, 1, CV_64FC1, v);
+ *    CvMat mean = cvMat(2, 1, CV_64FC1, m);
+ *    CvMat cov  = cvMat(2, 2, CV_64FC1, a);
+ *    std::cout << cvGaussPdf( &vec, &mean, &cov, false ) << std::endl;
+ * @endcode
+ *
+ * @param sample    D x 1 data vector
+ * @param mean      D x 1 mean vector
+ * @param cov       D x D covariance matrix
+ * @param normalize Compute normalization term or not
+ * @param logprob   Log probability or not
+ * @return double   probability
+ * @see cvCalcCovarMatrix, cvAvg
+ * @see cvMatGaussPdf
+*/
+CV_INLINE double 
+cvGaussPdf( const CvMat* sample, const CvMat* mean, const CvMat* cov, 
+            bool normalize CV_DEFAULT(true), bool logprob CV_DEFAULT(false) )
+{
+    double prob;
+    CvMat *_probs  = cvCreateMat( 1, 1, sample->type );
+
+    cvMatGaussPdf( sample, mean, cov, _probs, normalize, logprob );
+    prob = cvmGet(_probs, 0, 0);
+
+    cvReleaseMat( &_probs );
+    return prob;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvget2dinter.h b/3rdparty/include/opencvx/cvget2dinter.h
new file mode 100644
index 0000000..b62dfd4
--- /dev/null
+++ b/3rdparty/include/opencvx/cvget2dinter.h
@@ -0,0 +1,161 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_GET2D_INTER_INCLUDED
+#define CV_GET2D_LINEAR_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Nearest Neighbor Interpolation
+ *
+ * Get a color at a floating position using nearest neighbor (round) method.
+ *
+ * @param  arr     array
+ * @param  row
+ * @param  col
+ * @return color
+ * @see cvInterLinear
+ */
+CVAPI(CvScalar) 
+icvGet2DInterNn( const CvArr *arr, float row, float col )
+{
+    IplImage* img, imgstub;
+    int ix, iy;
+    CvScalar color;
+    CV_FUNCNAME( "cvInterNn" );
+    __CV_BEGIN__;
+    img = (IplImage*)arr;
+    if( !CV_IS_IMAGE(img) )
+    {
+        CV_CALL( img = cvGetImage( img, &imgstub ) );
+    }
+    ix = cvRound( col );
+    iy = cvRound( row );
+    color = cvGet2D( img, iy, ix );
+    __CV_END__;
+    return color;
+}
+
+/**
+ * Bilinear Interpolation
+ *
+ * Get a color at a floating position using bilinear interpolation method
+ * Floating origin is the center of (0,0) pixel.
+ *
+ * @param  arr     array
+ * @param  row
+ * @param  col
+ * @return color
+ */
+CVAPI(CvScalar)
+icvGet2DInterLinear( const CvArr *arr, float row, float col )
+{
+    IplImage* img, imgstub;
+    int ix, iy;
+    float dx, dy;
+    CvPoint pt[4];
+    CvScalar c[4];
+    CvScalar color;
+    int i, ch;
+    CV_FUNCNAME( "cvInterLinear" );
+    __CV_BEGIN__;
+    img = (IplImage*)arr;
+    if( !CV_IS_IMAGE(img) )
+    {
+        CV_CALL( img = cvGetImage( img, &imgstub ) );
+    }
+    ix = cvFloor( col );
+    iy = cvFloor( row );
+    dx = col - ix;
+    dy = row - iy;
+    if( ix < 0 ) { // out of left
+        pt[0].x = pt[1].x = pt[2].x = pt[3].x = 0;
+    } else if( ix > img->width - 2 ) { // out of right
+        pt[0].x = pt[1].x = pt[2].x = pt[3].x = img->width - 2;
+    } else { // inside
+        pt[0].x = pt[2].x = ix;
+        pt[1].x = pt[3].x = ix + 1;
+    }
+    if( iy < 0 ) { // out of top
+        pt[0].y = pt[1].y = pt[2].y = pt[3].y = 0;
+    } else if( iy > img->height - 2 ) { // out of bottom
+        pt[0].y = pt[1].y = pt[2].y = pt[3].y = img->height - 2;
+    } else { // inside
+        pt[0].y = pt[1].y = iy;
+        pt[2].y = pt[3].y = iy + 1;
+    }
+    for( i = 0; i < 4; i++ )
+        c[i] = cvGet2D( img, pt[i].y, pt[i].x );
+
+    for( ch = 0; ch < img->nChannels; ch++ )
+    {
+        color.val[ch] = ( c[0].val[ch] * dx + c[1].val[ch] * (1 - dx) ) * dy
+            + ( c[2].val[ch] * dx + c[3].val[ch] * (1 - dx) ) * (1 - dy);
+    }
+    __CV_END__;
+    return color;
+}
+
+/**
+ * Get an element of array with interpolation method
+ *
+ * Get a color at a floating position using an interpolation method.
+ * Floating origin is the center of (0,0) pixel.
+ *
+ * @param  arr     array
+ * @param  row     floating row position
+ * @param  col     floating col position
+ * @param  inter   The interpolation method. 
+ *   - CV_INTER_NN - Nearest Neighborhood method
+ *   - CV_INTER_LINEAR - Bilinear interpolation
+ * @return color
+ * @see cvResize has "interpolation" method, 
+ *      but it was not reusable. 
+ */
+CVAPI(CvScalar)
+cvGet2DInter( const CvArr *arr, float row, float col,
+              int inter CV_DEFAULT(CV_INTER_LINEAR) )
+{
+    CvScalar color;
+    CV_FUNCNAME( "cvGet2DInter" );
+    __CV_BEGIN__;
+    switch( inter )
+    {
+    case CV_INTER_NN:
+        color = icvGet2DInterNn( arr, row, col );
+        break;
+    case CV_INTER_LINEAR:
+        color = icvGet2DInterLinear( arr, row, col );
+        break;
+    default:
+        CV_ERROR( 0, "No such interpolation method is available." );
+        break;
+    }
+    __CV_END__;
+    return color;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvgmmpdf.h b/3rdparty/include/opencvx/cvgmmpdf.h
new file mode 100644
index 0000000..01bbf8f
--- /dev/null
+++ b/3rdparty/include/opencvx/cvgmmpdf.h
@@ -0,0 +1,167 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_GMMPDF_INCLUDED
+#define CV_GMMPDF_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvgausspdf.h"
+
+//CVAPI(void) 
+//cvMatGmmPdf( const CvMat* samples, const CvMat* means, CvMat** covs, 
+//             const CvMat* weights, CvMat* probs, bool normalize = false );
+//CV_INLINE double 
+//cvGmmPdf( const CvMat* sample, const CvMat* means, CvMat** covs, 
+//          const CvMat* weights, CvMat* probs = NULL, bool normalize = false );
+
+/**
+ * Compute gaussian mixture pdf for a set of sample vectors
+ *
+ * Example)
+ * @code
+ *    const int D = 2;
+ *    const int N = 3;
+ *    const int K = 2;
+ *
+ *    double vs[] = { 3, 4, 5,
+ *                    3, 4, 5 };  * col vectors
+ *    double ms[] = { 3, 5, 
+ *                    3, 5 };  * col vectors
+ *    double cs0[] = { 1, 0,
+ *                     0, 1 };
+ *    double cs1[] = { 1, 0.1,
+ *                     0.1, 1 };
+ *    double ws[] = { 0.5, 0.5 };
+ *
+ *    CvMat vecs = cvMat(D, N, CV_64FC1, vs);
+ *    CvMat means = cvMat(D, K, CV_64FC1, ms);
+ *    CvMat **covs = (CvMat**)cvAlloc( K * sizeof(*covs) );
+ *    covs[0] = &cvMat(D, D, CV_64FC1, cs0);
+ *    covs[1] = &cvMat(D, D, CV_64FC1, cs0);
+ *    CvMat weights = cvMat( 1, K, CV_64FC1, ws);
+ *    CvMat *probs = cvCreateMat(K, N, CV_64FC1);
+ *    cvMatGmmPdf( &vecs, &means, covs, &weights, probs, false);
+ *    cvMatPrint( probs );
+ *    cvReleaseMat( &probs );
+ *    cvFree( &covs );
+ * @endcode
+ *
+ * @param samples   D x N data vector (Note: not N x D for clearness of matrix operation)
+ * @param means     D x K mean vector
+ * @param covs      (D x D) x K covariance matrix for each cluster
+ * @param weights   1 x K weights
+ * @param probs     K x N or 1 x N computed probabilites
+ * @param normalize Compute normalization term or not
+ * @see cvGaussPdf
+*/
+CVAPI(void) 
+cvMatGmmPdf( const CvMat* samples, const CvMat* means, CvMat** covs, 
+             const CvMat* weights, CvMat* probs, bool normalize CV_DEFAULT(true) )
+{
+    int D = samples->rows;
+    int N = samples->cols;
+    int K = means->cols;
+    int type = samples->type;
+    CV_FUNCNAME( "cvMatGmmPdf" ); // error handling
+    __CV_BEGIN__;
+    CV_ASSERT( CV_IS_MAT(samples) );
+    CV_ASSERT( CV_IS_MAT(means) );
+    for( int k = 0; k < K; k++ )
+        CV_ASSERT( CV_IS_MAT(covs[k]) );
+    CV_ASSERT( CV_IS_MAT(weights) );
+    CV_ASSERT( CV_IS_MAT(probs) );
+    CV_ASSERT( D == means->rows ); 
+    for( int k = 0; k < K; k++ )
+        CV_ASSERT( D == covs[k]->rows && D == covs[k]->cols ); // D x D
+    CV_ASSERT( 1 == weights->rows && K == weights->cols ); // 1 x K
+    CV_ASSERT( ( 1 == probs->rows || K == probs->rows ) && N == probs->cols ); // 1 x N or K x N
+
+    CvMat *mean = cvCreateMat( D, 1, type );
+    const CvMat *cov;
+    CvMat *_probs = cvCreateMat( 1, N, type );
+    cvZero( probs );
+    for( int k = 0; k < K; k++ )
+    {
+        cvGetCol( means, mean, k );
+        cov = covs[k];
+        cvMatGaussPdf( samples, mean, cov, _probs, normalize );
+        cvConvertScale( _probs, _probs, cvmGet( weights, 0, k ) );
+        if( 1 == probs->rows )
+        {
+            cvAdd( probs, _probs, probs );
+        }
+        else
+        {
+            for( int n = 0; n < N; n++ )
+            {
+                cvmSet( probs, k, n, cvmGet( _probs, 0, n ) );
+            }
+        }
+    }
+
+    cvReleaseMat( &mean );
+    cvReleaseMat( &_probs );
+
+    __CV_END__;
+}
+
+/**
+ * Compute gaussian mixture pdf
+ *
+ * @param sample    D x 1 sample vector
+ * @param means     D x K mean vector for each cluster
+ * @param covs      (D x D) x K covariance matrix for each cluster
+ * @param weights   1 x K weights
+ * @param probs     K x 1 probabilities for each cluster if want
+ * @param normalize use normalization term or not
+ * @return double prob
+ * @see cvMatGmmPdf
+ */
+CV_INLINE double 
+cvGmmPdf( const CvMat* sample, const CvMat* means, CvMat** covs, 
+          const CvMat* weights, CvMat* probs CV_DEFAULT(NULL), bool normalize CV_DEFAULT(true) )
+{
+    double prob;
+    CvMat* _probs;
+    int K = means->cols;
+    if( probs ) 
+        _probs = probs;
+    else
+        _probs = cvCreateMat( K, 1, sample->type );
+
+    cvMatGmmPdf( sample, means, covs, weights, _probs, normalize );
+    prob = cvSum( _probs ).val[0];
+
+    if( !probs )
+        cvReleaseMat( &probs );
+    return prob;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvhaarlike.h b/3rdparty/include/opencvx/cvhaarlike.h
new file mode 100644
index 0000000..b0828aa
--- /dev/null
+++ b/3rdparty/include/opencvx/cvhaarlike.h
@@ -0,0 +1,80 @@
+/** @file 
+ * Haar-like features
+ *
+ * You need to set include path to opencvx/HaarTraining such as
+ * g++ -Iopencvx/HaarTraining
+ *
+ * @see samples/cvhaarlike.cpp
+ **/
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_HAARLIKE_INCLUDED
+#define CV_HAARLIKE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+// cvIntegral( img, sum )
+
+// @see HaarTraining/cvhaartraing.h/cpp
+// CvIntHaarFeatures* haar = icvCreateIntHaarFeatures( cvGetSize(sum), 0, 0 );
+
+// @see HaarTraining/_cvhaartraining.h
+// typedef struct CvTHaarFeature
+// {
+//     char desc[CV_HAAR_FEATURE_DESC_MAX];
+//     int  tilted;
+//     struct
+//     {
+//         CvRect r;
+//         float weight;
+//     } rect[CV_HAAR_FEATURE_MAX];
+// } CvTHaarFeature;
+//
+// typedef struct CvFastHaarFeature
+// {
+//     int tilted;
+//     struct
+//     {
+//         int p0, p1, p2, p3;
+//         float weight;
+//     } rect[CV_HAAR_FEATURE_MAX];
+// } CvFastHaarFeature;
+//
+// typedef struct CvIntHaarFeatures
+// {
+//     CvSize winsize;
+//     int count;
+//     CvTHaarFeature* feature;
+//     CvFastHaarFeature* fastfeature;
+// } CvIntHaarFeatures;
+
+#include "HaarTraining/cvhaartraining.h"
+#include "HaarTraining/cvhaartraining.cpp"
+#include "HaarTraining/cvboost.cpp"
+#include "HaarTraining/cvhaarclassifier.cpp"
+#include "HaarTraining/cvcommon.cpp"
+#include "HaarTraining/cvsamples.cpp"
+
+#endif
diff --git a/3rdparty/include/opencvx/cvinvaffine.h b/3rdparty/include/opencvx/cvinvaffine.h
new file mode 100644
index 0000000..9ac372b
--- /dev/null
+++ b/3rdparty/include/opencvx/cvinvaffine.h
@@ -0,0 +1,60 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_INVAFFINE_INCLUDED
+#define CV_INVAFFINE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include "cvsetrow.h"
+
+/**
+ * Create an inv affine transform matrix from an affine transform matrix
+ *
+ * @param affine    The 2 x 3 CV_32FC1|CV_64FC1 affine matrix
+ * @param invaffine The 2 x 3 CV_32FC1|CV_64FC1 affine matrix to be created
+ */
+CVAPI(void) cvInvAffine( const CvMat* affine, CvMat* invaffine )
+{
+    CvMat* Affine;
+    CvMat* InvAffine;
+    CV_FUNCNAME( "cvCreateAffine" );
+    __CV_BEGIN__;
+    CV_ASSERT( affine->rows == 2 && affine->cols == 3 );
+    CV_ASSERT( invaffine->rows == 2 && invaffine->cols == 3 );
+    CV_ASSERT( affine->type == invaffine->type );
+    
+    Affine = cvCreateMat( 3, 3, affine->type );
+    InvAffine = cvCreateMat( 3, 3, affine->type );
+    cvSetIdentity( Affine );
+    cvSetRows( affine, Affine, 0, 2 );
+    cvInv( Affine, InvAffine );
+    cvSetRows( InvAffine, invaffine, 0, 2 );
+    cvReleaseMat( &Affine );
+    cvReleaseMat( &InvAffine );
+    __CV_END__;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvipltocvdepth.h b/3rdparty/include/opencvx/cvipltocvdepth.h
new file mode 100644
index 0000000..9807ce3
--- /dev/null
+++ b/3rdparty/include/opencvx/cvipltocvdepth.h
@@ -0,0 +1,82 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_IPLTOCVDEPTH_INCLUDED
+#define CV_IPLTOCVDEPTH_INCLUDED
+
+
+#include "cv.h"
+
+/**
+ * Convert IplImage depth to CvMat depth
+ *
+ * Below codes would be useful as a reference:
+ * @code
+ * int depth, nChannels, type;
+ * depth     = CV_MAT_DEPTH(mat->type);
+ * depth     = img->depth;
+ * nChannels = CV_MAT_CN(mat->type);
+ * nChannels = img->nChannels;
+ * type      = CV_MAKETYPE(depth, nChannels);
+ * type      = mat->type;
+ * type      = cvElemType(mat);
+ * type      = cvElemType(img);
+ * @endcode
+ *
+ * @param int IplImage depth
+ * @return int cvMat depth
+ * @reference cxcore/src/_cxcore.h#icvIplToCvDepth
+ * @reference ./cxcore/src/cxtables.cpp
+ * @see cvCvToIplDepth(mat->type)
+ */
+CVAPI(int) cvIplToCvDepth( int depth )
+{
+    /*
+    #define CV_8U   0
+    #define CV_8S   1
+    #define CV_16U  2
+    #define CV_16S  3
+    #define CV_32S  4
+    #define CV_32F  5
+    #define CV_64F  6
+    #define CV_USRTYPE1 7 */
+    /*
+    #define IPL_DEPTH_SIGN 0x80000000
+    #define IPL_DEPTH_1U     1
+    #define IPL_DEPTH_8U     8
+    #define IPL_DEPTH_16U   16
+    #define IPL_DEPTH_32F   32
+    #define IPL_DEPTH_64F   64
+    #define IPL_DEPTH_8S  (IPL_DEPTH_SIGN| 8)
+    #define IPL_DEPTH_16S (IPL_DEPTH_SIGN|16)
+    #define IPL_DEPTH_32S (IPL_DEPTH_SIGN|32) */
+    static const signed char IplToCvDepth[] =
+    {
+        -1, -1, CV_8U, CV_8S, CV_16U, CV_16S, -1, -1,
+        CV_32F, CV_32S, -1, -1, -1, -1, -1, -1, CV_64F, -1
+    };
+    return IplToCvDepth[(((depth) & 255) >> 2) + ((depth) < 0)];
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvipltocvtype.h b/3rdparty/include/opencvx/cvipltocvtype.h
new file mode 100644
index 0000000..615813b
--- /dev/null
+++ b/3rdparty/include/opencvx/cvipltocvtype.h
@@ -0,0 +1,44 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_IPLTOCVDEPTH_INCLUDED
+#define CV_IPLTOCVDEPTH_INCLUDED
+
+#include "cv.h"
+#include "cvipltocvdepth.h"
+
+/**
+ * Convert IplImage depth and nChannels to CvMat type
+ *
+ * @param depth     IplImage depth. img->depth
+ * @param nChannels Number of channels. img->nChannels
+ * @return int      CvMat type. mat->type
+ */
+CV_INLINE int cvIplToCvType( int ipl_depth, int nChannels )
+{
+    int cvmat_depth = cvIplToCvDepth( ipl_depth );
+    return CV_MAKETYPE( cvmat_depth, nChannels );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvlogsum.h b/3rdparty/include/opencvx/cvlogsum.h
new file mode 100644
index 0000000..f7381ea
--- /dev/null
+++ b/3rdparty/include/opencvx/cvlogsum.h
@@ -0,0 +1,84 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_LOGSUM_INCLUDED
+#define CV_LOGSUM_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include <float.h>
+#include <math.h>
+
+/**
+ * Compute log(sum) of log values
+ *
+ * Get log(a + b + c) from log(a), log(b), log(c)
+ * Useful to take sum of probabilities from log probabilities
+ * Useful to avoid loss of precision caused by taking exp
+ *
+ * @param  arr       array having log values. 32F or 64F
+ * @return CvScalar  log sum for each channel
+ */
+CVAPI(CvScalar) cvLogSum( const CvArr *arr )
+{
+    IplImage* img = (IplImage*)arr, imgstub;
+    IplImage *tmp, *tmp2;
+    int ch;
+    CvScalar sumval;
+    CvScalar minval, maxval;
+    CV_FUNCNAME( "cvLogSum" );
+    __CV_BEGIN__;
+
+    if( !CV_IS_IMAGE(img) )
+    {
+        CV_CALL( img = cvGetImage( img, &imgstub ) );
+    }
+    tmp = cvCreateImage( cvGetSize(img), img->depth, img->nChannels );
+    tmp2 = cvCreateImage( cvGetSize(img), img->depth, img->nChannels );
+
+    // to avoid loss of precision caused by taking exp as much as possible
+    // if this trick is not required, cvExp -> cvSum are enough
+    for( ch = 0; ch < img->nChannels; ch++ )
+    {
+        cvSetImageCOI( img, ch + 1 );
+        cvMinMaxLoc( img, &minval.val[ch], &maxval.val[ch] );
+    }
+    cvSetImageCOI( img, 0 );
+    cvSubS( img, maxval, tmp );
+
+    cvExp( tmp, tmp2 );
+    sumval = cvSum( tmp2 );
+    for( ch = 0; ch < img->nChannels; ch++ )
+    {
+        sumval.val[ch] = log( sumval.val[ch] ) + maxval.val[ch];
+    }
+    cvReleaseImage( &tmp );
+    cvReleaseImage( &tmp2 );
+    __CV_END__;
+    return sumval;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvmatelemcn.h b/3rdparty/include/opencvx/cvmatelemcn.h
new file mode 100644
index 0000000..c74dc78
--- /dev/null
+++ b/3rdparty/include/opencvx/cvmatelemcn.h
@@ -0,0 +1,30 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_MATELEMCN_INCLUDED
+#define CV_MATELEMCN_INCLUDED
+
+#define CV_MAT_ELEM_CN( mat, elemtype, row, chcol ) \
+    (*(elemtype*)((mat).data.ptr + (size_t)(mat).step*(row) + sizeof(elemtype)*(chcol)))
+
+#endif
diff --git a/3rdparty/include/opencvx/cvmuls.h b/3rdparty/include/opencvx/cvmuls.h
new file mode 100644
index 0000000..7bf789d
--- /dev/null
+++ b/3rdparty/include/opencvx/cvmuls.h
@@ -0,0 +1,77 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_MULS_INCLUDED
+#define CV_MULS_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Multiply a scalar to an array
+ *
+ * @param  src       source array
+ * @param  scalar    scalar to multiply
+ * @param  dst       destination array
+ */
+CVAPI(void) cvMulS( const CvArr *src, const CvScalar scalar, CvArr *dst )
+{
+    IplImage* _src = (IplImage*)src, _srchdr;
+    IplImage* _dst = (IplImage*)dst, _dsthdr;
+    int ch, row, col;
+    CV_FUNCNAME( "cvMulS" );
+    __CV_BEGIN__;
+    if( !CV_IS_IMAGE(_src) )
+    {
+        CV_CALL( _src = cvGetImage( _src, &_srchdr ) );
+    }
+    if( !CV_IS_IMAGE(_dst) )
+    {
+        CV_CALL( _dst = cvGetImage( _dst, &_dsthdr ) );
+    }
+    CV_ASSERT( _src->width == _dst->width );
+    CV_ASSERT( _src->height == _dst->height );
+    CV_ASSERT( _src->nChannels == _dst->nChannels );
+
+    // cvScale does not support COI
+//     for( ch = 0; ch < _src->nChannels; ch++ )
+//     {
+//         cvSetImageCOI( _src, ch + 1 ); 
+//         cvScale( _src, _dst, scalar.val[ch] );
+//     }
+
+    for( row = 0; row < _src->height; row++ )
+    {
+        for( col = 0; col < _src->width; col++ )
+        {
+            CvScalar value = cvGet2D( _src, row, col );
+            for( ch = 0; ch < _src->nChannels; ch++ )
+                value.val[ch] *= scalar.val[ch];
+            cvSet2D( _dst, row, col, value );
+        }
+    }
+    __CV_END__;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvmx.h b/3rdparty/include/opencvx/cvmx.h
new file mode 100644
index 0000000..079e62e
--- /dev/null
+++ b/3rdparty/include/opencvx/cvmx.h
@@ -0,0 +1,33 @@
+/** @file
+* OpenCV versus Matlab C Library (MEX) interfaces
+*     verified under OpenCV 1.00 and Matlab 2007b
+*/
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CVMX_INCLUDED
+#define CVMX_INCLUDED
+
+#include "cvmxtypeconv.h"
+#include "cvmxmatconv.h"
+
+#endif
diff --git a/3rdparty/include/opencvx/cvmxmatconv.h b/3rdparty/include/opencvx/cvmxmatconv.h
new file mode 100644
index 0000000..38dd7fb
--- /dev/null
+++ b/3rdparty/include/opencvx/cvmxmatconv.h
@@ -0,0 +1,214 @@
+/** @file
+* OpenCV versus Matlab C Library (MEX) interfaces
+*     verified under OpenCV 1.00 and Matlab 2007b
+*
+* Matrix conversion
+*/
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CVMX_MATCONV_INCLUDED
+#define CVMX_MATCONV_INCLUDED
+
+
+#include "cv.h"
+#include "mat.h"
+#include "matrix.h"
+#include "cvmxtypeconv.h"
+
+/**
+ * Convert IplImage to mxArray. Allocate memory too
+ *
+ * Currently support only uint8, float, double
+ * Currently support only 1 channel (grayscale) and 3 channels (rgb etc)
+ *
+ * @param  img
+ * @return mxArray*
+ */
+#define cvmxArrayFromIplImage(img) (cvmxArrayFromCvArr(img))
+
+/**
+ * Convert CvMat to mxArray. Allocate memory too
+ *
+ * Currently support only uint8, float, double
+ * Currently support only 1 channel (grayscale) and 3 channels (rgb etc)
+ *
+ * @param  mat
+ * @return mxArray*
+ */
+#define cvmxArrayFromCvMat(mat) (cvmxArrayFromCvArr(mat))
+
+/**
+* Convert CvArr to mxArray. Allocate memory too
+*
+* Currently support only uint8, float, double
+* Currently support only 1 channel (grayscale) and 3 channels (rgb etc)
+*
+* @param  arr
+* @return mxArray*
+*/
+CVAPI(mxArray*) cvmxArrayFromCvArr(const CvArr* arr)
+{
+    CV_FUNCNAME( "cvmxArraFromCvArr" );
+    IplImage imghdr, *img = (IplImage*)arr;
+    int nChannel, nRow, nCol, nDim;
+    mwSize dims[3];
+    mxClassID classid; mxArray* mxarr = NULL;
+    int row, col, ch;
+
+    __CV_BEGIN__;
+    if (!CV_IS_IMAGE(img)) {
+        CV_CALL(img = cvGetImage(img, &imghdr));
+    }
+    nChannel = img->nChannels;
+    nRow     = img->height;
+    nCol     = img->width;
+    nDim     = 2;
+    classid  = cvmxClassIDFromIplDepth(img->depth);
+    dims[0]  = nRow; dims[1] = nCol; dims[2] = nChannel;
+    if (nChannel > 1) nDim = 3;
+    mxarr    = mxCreateNumericArray(nDim, dims, classid, mxREAL);
+
+    if (classid == mxUINT8_CLASS) {
+        unsigned char *mxData = (unsigned char*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    mxData[dims[0] * dims[1] * ch + dims[0] * col + row]
+                        = CV_IMAGE_ELEM(img, unsigned char, row, nChannel * col + ch);
+                }
+            }
+        }
+    } else if (classid == mxDOUBLE_CLASS) {
+        double *mxData = (double*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    mxData[dims[0] * dims[1] * ch + dims[0] * col + row]
+                        = CV_IMAGE_ELEM(img, double, row, nChannel * col + ch);
+                }
+            }
+        }
+    } else if (classid == mxSINGLE_CLASS) {
+        float *mxData = (float*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    mxData[dims[0] * dims[1] * ch + dims[0] * col + row]
+                        = CV_IMAGE_ELEM(img, float, row, nChannel * col + ch);
+                }
+            }
+        }
+    }
+    __CV_END__;
+    return mxarr;
+}
+
+/**
+* Convert mxArray to IplImage. Allocate memory too
+*
+* Currently support only uint8, float, double
+* Currently support only 1 channel (grayscale) and 3 channels (rgb etc)
+*
+* @param  mxarr
+* @return IplImage*
+*/
+CVAPI(IplImage*) cvmxArrayToIplImage(const mxArray* mxarr)
+{
+    CV_FUNCNAME( "cvmxArrayToCvArr" );
+    IplImage *img = NULL;
+    int depth;
+    mwSize nChannel = 1;
+    mwSize nDim;
+    const mwSize *dims;
+    mxClassID classid;
+    int row, col, ch;
+
+    __CV_BEGIN__;
+    classid = mxGetClassID(mxarr);
+    nDim = mxGetNumberOfDimensions(mxarr);
+    dims = mxGetDimensions(mxarr);
+    if (nDim >= 3) nChannel = dims[2];
+    depth = cvmxClassIDToIplDepth(mxGetClassID(mxarr));
+    img   = cvCreateImage(cvSize(dims[1], dims[0]), depth, nChannel);
+
+    if (classid == mxUINT8_CLASS) {
+        unsigned char *mxData = (unsigned char*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    CV_IMAGE_ELEM(img, unsigned char, row, nChannel * col + ch)
+                        = mxData[dims[0] * dims[1] * ch + dims[0] * col + row];
+                }
+            }
+        }
+    } else if (classid == mxDOUBLE_CLASS) {
+        double *mxData = (double*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    CV_IMAGE_ELEM(img, double, row, nChannel * col + ch)
+                        = mxData[dims[0] * dims[1] * ch + dims[0] * col + row];
+                }
+            }
+        }
+    } else if (classid == mxSINGLE_CLASS) {
+        float *mxData = (float*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    CV_IMAGE_ELEM(img, float, row, nChannel * col + ch)
+                        = mxData[dims[0] * dims[1] * ch + dims[0] * col + row];
+                }
+            }
+        }
+    }
+    __CV_END__;
+    return img;
+}
+
+/**
+* Convert mxArray to CvMat. Allocate memory too
+*
+* Currently support only uint8, float, double
+* Currently support only 1 channel (grayscale) and 3 channels (rgb etc)
+*
+* @param  mxarr
+* @return CvMat*
+*/
+CVAPI(CvMat*) cvmxArrayToCvMat(const mxArray* mxarr)
+{
+    IplImage* img = cvmxArrayToIplImage(mxarr);
+    CvMat *mat = cvCreateMat(img->height, img->width, CV_MAKETYPE(cvmxIplToCvDepth(img->depth), img->nChannels));
+    cvConvert(img, mat);
+    cvReleaseImage(&img);
+    // @todo: why cvGetMat results in error?
+    //int coi = 0;
+    //IplImage *img = cvmxArrayToIplImage(mxarr);
+    //CvMat *mat, mathdr;
+    //mat = cvGetMat(mat, &mathdr, &coi, 0);
+    return mat;
+}
+
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvmxtypeconv.h b/3rdparty/include/opencvx/cvmxtypeconv.h
new file mode 100644
index 0000000..ef884d6
--- /dev/null
+++ b/3rdparty/include/opencvx/cvmxtypeconv.h
@@ -0,0 +1,190 @@
+/** @file
+* OpenCV versus Matlab C Library (MEX) interfaces
+*     verified under OpenCV 1.00 and Matlab 2007b
+*
+* Type conversion
+*/
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CVMX_TYPECONV_INCLUDED
+#define CVMX_TYPECONV_INCLUDED
+
+
+#include "cv.h"
+#include "mat.h"
+#include "matrix.h"
+#include "cvipltocvdepth.h"
+
+/************** Definitions *******************************/
+#define cvmxCvToIplDepth(type) (cvCvToIplDepth(type))
+#define cvmxIplToCvDepth(depth) (cvIplToCvDepth(depth))
+//mxClassID cvmxClassIDFromIplDepth(int depth)
+//int cvmxClassIDToIplDepth(mxClassID classid)
+//CV_INLINE mxClassID cvmxClassIDFromCvDepth(int type)
+//CV_INLINE int cvmxClassIDToCvDepth(mxClassID classid)
+
+/********************* Memo *******************************/
+/*
+ * @reference cxcore/src/_cxcore.h#icvIplToCvDepth
+ * @reference ./cxcore/src/cxtables.cpp
+ */
+/*
+  #define CV_8U   0
+  #define CV_8S   1
+  #define CV_16U  2
+  #define CV_16S  3
+  #define CV_32S  4
+  #define CV_32F  5
+  #define CV_64F  6
+  #define CV_USRTYPE1 7 */
+/*
+  #define IPL_DEPTH_SIGN 0x80000000
+  #define IPL_DEPTH_1U     1
+  #define IPL_DEPTH_8U     8
+  #define IPL_DEPTH_16U   16
+  #define IPL_DEPTH_32F   32
+  #define IPL_DEPTH_64F   64
+  #define IPL_DEPTH_8S  (IPL_DEPTH_SIGN| 8)
+  #define IPL_DEPTH_16S (IPL_DEPTH_SIGN|16)
+  #define IPL_DEPTH_32S (IPL_DEPTH_SIGN|32) */
+/*
+  typedef enum {
+  mxUNKNOWN_CLASS,
+  mxCELL_CLASS,
+  mxSTRUCT_CLASS,
+  mxLOGICAL_CLASS,
+  mxCHAR_CLASS,
+  mxDOUBLE_CLASS,
+  mxSINGLE_CLASS,
+  mxINT8_CLASS,
+  mxUINT8_CLASS,
+  mxINT16_CLASS,
+  mxUINT16_CLASS,
+  mxINT32_CLASS,
+  mxUINT32_CLASS,
+  mxINT64_CLASS,
+  mxUINT64_CLASS,
+  mxFUNCTION_CLASS
+  } mxClassID; */
+
+/************** Functions *********************************/
+
+/**
+* Get mxClassID from IplImage depth
+* 
+* @param int depth IplImage depth
+* @return mxClassID
+* @see cvmxClassIDFromCvDepth
+* @see cvmxClassIDToCvDepth
+* @see cvmxClassIDFromIplDepth
+* @see cvmxClassIDToIplDepth
+* @see cvmxIplToCvDepth
+* @see cvCvToIplDepth
+*/
+CVAPI(mxClassID) cvmxClassIDFromIplDepth(int depth)
+{
+    static const unsigned char ClassIDFromIplDepth[] =
+    {
+        0, 0, mxUINT8_CLASS, mxINT8_CLASS, mxUINT16_CLASS, mxINT16_CLASS, 0, 0,
+        mxSINGLE_CLASS, mxINT32_CLASS, 0, 0, 0, 0, 0, 0, mxDOUBLE_CLASS, 0
+    };
+    if (depth == IPL_DEPTH_1U) {
+        return mxLOGICAL_CLASS;
+    } else {
+        return (mxClassID)ClassIDFromIplDepth[(((depth) & 255) >> 2) + ((depth) < 0)];
+    }
+}
+
+/**
+* Convert mxClassID to IplImage depth 
+* 
+* @param classid mxClassID of a mxArr
+* @return IplImage depth
+* @see cvmxClassIDFromCvDepth
+* @see cvmxClassIDToCvDepth
+* @see cvmxClassIDFromIplDepth
+* @see cvmxClassIDToIplDepth
+* @see cvmxIplToCvDepth
+* @see cvCvToIplDepth
+*/
+CVAPI(int) cvmxClassIDToIplDepth(mxClassID classid)
+{
+    static const signed int ClassIDToIplDepth[] = {
+        0,
+        0,
+        0,
+        IPL_DEPTH_1U,
+        0,
+        IPL_DEPTH_32F,
+        IPL_DEPTH_64F,
+        IPL_DEPTH_8S,
+        IPL_DEPTH_8U,
+        IPL_DEPTH_16S,
+        IPL_DEPTH_16U,
+        IPL_DEPTH_32S,
+        0,
+        0,
+        0,
+        0
+    };
+    return ClassIDToIplDepth[classid];
+}
+
+/**
+* Get mxClassID from cvMat type
+*
+* @param int cvMat type
+* @return mxClassID
+* @see cvmxClassIDFromCvDepth
+* @see cvmxClassIDToCvDepth
+* @see cvmxClassIDFromIplDepth
+* @see cvmxClassIDToIplDepth
+* @see cvmxIplToCvDepth
+* @see cvCvToIplDepth
+*/
+CV_INLINE mxClassID cvmxClassIDFromCvDepth(int type)
+{
+    return cvmxClassIDFromIplDepth(cvCvToIplDepth(type));
+}
+
+/**
+* Convert mxClassID to cvMat depth
+*
+* One may use CV_MAKETYPE(depth, nChannel) to create cvMat type
+*
+* @param mxClassID classid
+* @return int cvMat depth
+* @see cvmxClassIDFromCvDepth
+* @see cvmxClassIDToCvDepth
+* @see cvmxClassIDFromIplDepth
+* @see cvmxClassIDToIplDepth
+* @see cvmxIplToCvDepth
+* @see cvCvToIplDepth
+*/
+CV_INLINE int cvmxClassIDToCvDepth(mxClassID classid)
+{
+    return cvmxIplToCvDepth(cvmxClassIDToIplDepth(classid));
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvopening.h b/3rdparty/include/opencvx/cvopening.h
new file mode 100644
index 0000000..f8cb191
--- /dev/null
+++ b/3rdparty/include/opencvx/cvopening.h
@@ -0,0 +1,54 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_OPENING_INCLUDED
+#define CV_OPENING_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Opening morphological operation
+ *
+ * opening operation would help to remove noise
+ *
+ * @param src         Input Array
+ * @param dst         Output Array
+ * @param element     Kernel shape. see cvErode or cvDilate
+ * @param iterations
+ * @return void
+ *
+ * References)
+ *  R. Gonzalez, R. Woods, "Digital Image Processing," chapter 9
+*/
+CV_INLINE void cvOpening( const CvArr* src, CvArr* dst, 
+                          IplConvKernel* element CV_DEFAULT(NULL), 
+                          int iterations CV_DEFAULT(1) )
+{
+    cvErode( src, dst, element, iterations );
+    cvDilate( dst, dst, element, iterations );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvparticle.h b/3rdparty/include/opencvx/cvparticle.h
new file mode 100644
index 0000000..138698c
--- /dev/null
+++ b/3rdparty/include/opencvx/cvparticle.h
@@ -0,0 +1,565 @@
+/*
+************************** SLEDOVANIE OBJEKTU VO VIDEU *************************
+********************************* Peter Betko **********************************
+
+autor: Peter Betko
+datum: 11.10.2011
+
+Program na sledovanie objektu vo videu, s vyuzitim algoritmov zalozenych na baze
+Casticoveho filtra (Particle filter).
+
+subor cvparticle.h - systemovy model, praca s casticami
+*/
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ */
+#ifndef CV_PARTICLE_INCLUDED
+#define CV_PARTICLE_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include <time.h>
+#include "cvsetrow.h"
+#include "cvsetcol.h"
+#include "cvlogsum.h"
+#include "cvanglemean.h"
+#include "cvrandgauss.h"
+
+/******************************* Structures **********************************/
+/**
+ * Particle Filter structure
+ */
+typedef struct CvParticle {
+    // config
+    int num_states;    /**< Number of tracking states, e.g.,
+                          4 if x, y, width, height */
+    int num_particles; /**< Number of particles */
+    bool logweight;    /**< log weights are stored in "weights". */
+    // transition
+    CvMat* dynamics;   /**< num_states x num_states. Dynamics model. */
+    CvRNG  rng;        /**< Random seed */
+    CvMat* std;        /**< num_states x 1. Standard deviation for gaussian noise
+                          Set standard deviation == 0 for no noise */
+    CvMat* stds;       /**< num_states x num_particles. 
+                          Std for each particle so that you could be varying 
+                          noise variance for each particle.
+                          "std" is used if "stds" is not set. */
+    CvMat* bound;      /**< num_states x 3 (lowerbound, upperbound, 
+                          wrap_around (like angle) flag 0 or 1)
+                          Set lowerbound == upperbound to express no bound */
+    // particle states
+    CvMat* particles;  /**< num_states x num_particles. The particles. 
+                          The transition states values of all particles. */
+    CvMat* weights;    /**< 1 x num_particles. The weights of 
+                          each particle respect to the particle id in "particles". 
+                          "weights" are used to approximated the posterior pdf. */
+} CvParticle;
+
+/**************************** Function Prototypes ****************************/
+
+#ifndef NO_DOXYGEN
+CVAPI(CvParticle*) cvCreateParticle( int num_states, int num_particles, bool logweight );
+CVAPI(void) cvReleaseParticle( CvParticle** p );
+
+CVAPI(void) cvParticleSetDynamics( CvParticle* p, const CvMat* dynamics );
+CVAPI(void) cvParticleSetNoise( CvParticle* p, CvRNG rng, const CvMat* std );
+CVAPI(void) cvParticleSetBound( CvParticle* p, const CvMat* bound );
+
+CVAPI(int)  cvParticleGetMax( const CvParticle* p );
+CVAPI(void) cvParticleGetMean( const CvParticle* p, CvMat* meanp );
+CVAPI(void) cvParticlePrint( const CvParticle* p, int p_id );
+
+CVAPI(void) cvParticleBound( CvParticle* p );
+CVAPI(void) cvParticleNormalize( CvParticle* p );
+
+CVAPI(void) cvParticleInit( CvParticle* p, const CvParticle* init );
+CVAPI(void) cvParticleTransition( CvParticle* p );
+CVAPI(void) cvParticleResample( CvParticle* p );
+#endif
+
+/*************************** Constructor / Destructor *************************/
+
+/**
+ * Allocate Particle filter structure
+ *
+ * @param num_states    Number of tracking states, e.g., 4 if x, y, width, height
+ * @param num_particles Number of particles
+ * @param logweight     The weights parameter is log  or not
+ * @return CvParticle*
+ */
+CVAPI(CvParticle*) cvCreateParticle( int num_states, 
+                                     int num_particles, 
+                                     bool logweight CV_DEFAULT(false) )
+{
+    CvParticle *p = NULL;
+    CV_FUNCNAME( "cvCreateParticle" );
+    __CV_BEGIN__;
+    CV_ASSERT( num_states > 0 );
+    CV_ASSERT( num_particles > 0 );
+    p = (CvParticle *) cvAlloc( sizeof( CvParticle ) );
+    p->num_particles = num_particles;
+    p->num_states    = num_states;
+    p->dynamics      = cvCreateMat( num_states, num_states, CV_32FC1 );
+    p->rng           = 1;
+    p->std           = cvCreateMat( num_states, 1, CV_32FC1 );
+    p->bound         = cvCreateMat( num_states, 3, CV_32FC1 );
+    p->particles     = cvCreateMat( num_states, num_particles, CV_32FC1 );
+    p->weights       = cvCreateMat( 1, num_particles, CV_64FC1 );
+    p->logweight     = logweight;
+    p->stds          = NULL;
+
+    // Default dynamics: next state = curr state + noise
+    cvSetIdentity( p->dynamics, cvScalar(1.0) );
+    cvSet( p->std, cvScalar(1.0) );
+
+    cvZero( p->bound );
+
+    __CV_END__;
+    return p;
+}
+
+/**
+ * Release Particle filter structure
+ *
+ * @param particle
+ */
+CVAPI(void) cvReleaseParticle( CvParticle** particle )
+{
+    CvParticle *p = NULL;
+    CV_FUNCNAME( "cvReleaseParticle" );
+    __CV_BEGIN__;
+    p = *particle;
+    if( !p ) __CV_EXIT__;
+    
+    CV_CALL( cvReleaseMat( &p->dynamics ) );
+    CV_CALL( cvReleaseMat( &p->std ) );
+    CV_CALL( cvReleaseMat( &p->bound ) );
+    CV_CALL( cvReleaseMat( &p->particles ) );
+    CV_CALL( cvReleaseMat( &p->weights ) );
+    if( p->stds != NULL )
+        CV_CALL( cvReleaseMat( &p->stds ) );
+
+    CV_CALL( cvFree( &p ) );
+    __CV_END__;
+}
+
+/***************************** Setter ***************************************/
+
+/**
+ * Set dynamics model
+ *
+ * @param particle
+ * @param dynamics (num_states) x (num_states). dynamics model
+ *    new_state = dynamics * curr_state + noise
+ */
+CVAPI(void) cvParticleSetDynamics( CvParticle* p, const CvMat* dynamics )
+{
+    CV_FUNCNAME( "cvParticleSetDynamics" );
+    __CV_BEGIN__;
+    CV_ASSERT( p->num_states == dynamics->rows );
+    CV_ASSERT( p->num_states == dynamics->cols );
+    //cvCopy( dynamics, p->dynamics );
+    cvConvert( dynamics, p->dynamics );
+    __CV_END__;
+}
+
+/**
+ * Set noise model
+ *
+ * @param particle
+ * @param rng      random seed. refer cvRNG(time(NULL))
+ * @param std      num_states x 1. standard deviation for gaussian noise
+ *                 Set standard deviation == 0 for no noise
+ */
+CVAPI(void) cvParticleSetNoise( CvParticle* p, CvRNG rng, const CvMat* std )
+{
+    CV_FUNCNAME( "cvParticleSetNoise" );
+    __CV_BEGIN__;
+    CV_ASSERT( p->num_states == std->rows );
+    p->rng = rng;
+    //cvCopy( std, p->std );
+    cvConvert( std, p->std );
+    __CV_END__;
+}
+
+/**
+ * Set lowerbound and upperbound used for bounding tracking state transition
+ *
+ * @param particle
+ * @param bound    num_states x 3 (lowerbound, upperbound, circular flag 0 or 1)
+ *                 Set lowerbound == upperbound to express no bound
+ */
+CVAPI(void) cvParticleSetBound( CvParticle* p, const CvMat* bound )
+{
+    CV_FUNCNAME( "cvParticleSetBound" );
+    __CV_BEGIN__;
+    CV_ASSERT( p->num_states == bound->rows );
+    CV_ASSERT( 3 == bound->cols );
+    //cvCopy( bound, p->bound );
+    cvConvert( bound, p->bound );
+    __CV_END__;
+}
+
+/************************ Utility ******************************************/
+
+/**
+ * Get id of the most probable particle
+ *
+ * @param particle
+ * @return int
+ */
+CVAPI(int) cvParticleGetMax( const CvParticle* p )
+{
+    double minval, maxval;
+    CvPoint min_loc, max_loc;
+    cvMinMaxLoc( p->weights, &minval, &maxval, &min_loc, &max_loc );
+    return max_loc.x;
+}
+
+/**
+ * Get evaluation of the most probable particle
+ *
+ * @param particle
+ * @return double
+ */
+CVAPI(double) cvParticleGetMaxVal( const CvParticle* p )
+{
+    double minval, maxval;
+    CvPoint min_loc, max_loc;
+    cvMinMaxLoc( p->weights, &minval, &maxval, &min_loc, &max_loc );
+    return maxval;
+}
+
+/**
+ * Get the mean state (particle)
+ *
+ * @param particle
+ * @param meanp     num_states x 1, CV_32FC1 or CV_64FC1
+ * @return CVAPI(void)
+ */
+CVAPI(void) cvParticleGetMean( const CvParticle* p, CvMat* meanp )
+{
+    CvMat* weights = NULL;
+    CvMat* particles_i, hdr;
+    int i, j;
+    CV_FUNCNAME( "cvParticleGetMean" );
+    __CV_BEGIN__;
+    CV_ASSERT( meanp->rows == p->num_states && meanp->cols == 1 );
+    if( !p->logweight )
+    {
+        weights = p->weights;
+    }
+    else
+    {
+        weights = cvCreateMat( 1, p->num_particles, p->weights->type );
+        cvExp( p->weights, weights );
+    }
+
+    for( i = 0; i < p->num_states; i++ )
+    {
+        int circular = (int) cvmGet( p->bound, i, 2 );
+        if( !circular ) // usual mean
+        {
+            particles_i = cvGetRow( p->particles, &hdr, i );
+            double mean = 0;
+            for( j = 0; j < p->num_particles; j++ )
+            {
+                mean += cvmGet( particles_i, 0, j ) * cvmGet( weights, 0, j );
+            }
+            cvmSet( meanp, i, 0, mean );
+        }
+        else // wrapped mean (angle)
+        {
+            double wrap = cvmGet( p->bound, i, 1 ) - cvmGet( p->bound, i, 0 );
+            particles_i = cvGetRow( p->particles, &hdr, i );
+            CvScalar mean = cvAngleMean( particles_i, weights, wrap );
+            cvmSet( meanp, i, 0, mean.val[0] );
+        }
+    }
+
+    if( weights != p->weights )
+        cvReleaseMat( &weights );
+    __CV_END__;
+}
+
+
+/**
+ * Print states of a particle
+ *
+ * @param particle
+ * @param p_id      particle id
+ */
+CVAPI(void) cvParticlePrint( const CvParticle*p, int p_id CV_DEFAULT(-1) )
+{
+    if( p_id == -1 ) // print all
+    {
+        int n;
+        for( n = 0; n < p->num_particles; n++ )
+        {
+            cvParticlePrint( p, n );
+        }
+    }
+    else {
+        int i;
+        for( i = 0; i < p->num_states; i++ )
+        {
+            printf( "%6.1f ", cvmGet( p->particles, i, p_id ) );
+        }
+        printf( "\n" );
+        fflush( stdout );
+    }
+}
+
+/****************************** Helper functions ******************************/
+/*
+ * Do normalization of weights
+ *
+ * @param particle
+ * @see cvParticleResample
+ */
+CVAPI(void) cvParticleNormalize( CvParticle* p )
+{
+    if( !p->logweight )
+    {
+        CvScalar normterm = cvSum( p->weights );
+        cvScale( p->weights, p->weights, 1.0 / normterm.val[0] );
+    }
+    else // log version
+    {
+        CvScalar normterm = cvLogSum( p->weights );
+		//printf("%.3f %.3f %.3f %.3f\n", normterm.val[0],normterm.val[1],normterm.val[2],normterm.val[3]);
+        cvSubS( p->weights, normterm, p->weights );
+    }
+}
+
+/**
+ * Apply lower bound and upper bound for particle states.
+ *
+ * @param particle
+ * @note Used by See also functions
+ * @see cvParticleTransition
+ */
+CVAPI(void) cvParticleBound( CvParticle* p )
+{
+    int row, col;
+    double lower, upper;
+    int circular;
+    CvMat* stateparticles, hdr;
+    float state;
+    // @todo:     np.width   = (double)MAX( 2.0, MIN( maxX - 1 - x, width ) );
+    for( row = 0; row < p->num_states; row++ )
+    {
+        lower = cvmGet( p->bound, row, 0 );
+        upper = cvmGet( p->bound, row, 1 );
+        circular = (int) cvmGet( p->bound, row, 2 );
+        if( lower == upper ) continue; // no bound flag
+        if( circular ) {
+            for( col = 0; col < p->num_particles; col++ ) {
+                state = cvmGet( p->particles, row, col );
+                state = state < lower ? state + upper : ( state >= upper ? state - upper : state );
+                cvmSet( p->particles, row, col, state );
+            }
+        } else {
+            stateparticles = cvGetRow( p->particles, &hdr, row );
+            cvMinS( stateparticles, upper, stateparticles );
+            cvMaxS( stateparticles, lower, stateparticles );
+        }
+    }
+}
+
+/******************* Main (Related to Algorithm) *****************************/
+
+/**
+ * Initialize states
+ *
+ * If initial states are given, these states are uniformly copied.
+ * If not given, states are uniform randomly sampled within lowerbound 
+ * and upperbound regions.
+ *
+ * @param particle
+ * @param init       initial states.
+ */
+CVAPI(void) cvParticleInit( CvParticle* p, const CvParticle* init = NULL )
+{
+    int i, c, n, s;
+    if( init ) // copy
+    {
+        int *num_copy;
+        CvMat init_particle;
+
+        int divide = p->num_particles / init->num_particles;
+        int remain = p->num_particles - divide * init->num_particles;
+        num_copy = (int*) malloc( init->num_particles * sizeof(int) );
+        for( i = 0; i < init->num_particles; i++ )
+        {
+            num_copy[i] = divide + ( i < remain ? 1 : 0 );
+        }
+        
+        n = 0; // copy all states once
+        for( i = 0; i < init->num_particles; i++ )
+        {
+            cvGetCol( init->particles, &init_particle, i );
+            for( c = 0; c < num_copy[i]; c++ )
+            {
+                cvSetCol( &init_particle, p->particles, n++ );
+            }
+        }
+        // randomize partial states if necessary
+        for( s = 0; s < init->num_states; s++ )
+        {
+            n = 0;
+            for( i = 0; i < init->num_particles; i++ )
+            {
+                if( FLT_MAX - cvmGet( init->particles, s, i ) < FLT_EPSILON ) // randomize flag
+                {
+                    CvScalar lower, upper;
+                    CvMat* statenoiseT = cvCreateMat( num_copy[i], 1, p->particles->type );
+                    lower = cvScalar( cvmGet( p->bound, s, 0 ) );
+                    upper = cvScalar( cvmGet( p->bound, s, 1 ) );
+                    cvRandArr( &p->rng, statenoiseT, CV_RAND_UNI, lower, upper );
+                    for( c = 0; c < num_copy[i]; c++ )
+                    {
+                        cvmSet( p->particles, s, n++, cvmGet( statenoiseT, c, 0 ) );
+                    }
+                    cvReleaseMat( &statenoiseT );
+                }
+            }
+        }
+
+        free( num_copy );
+    } 
+    else // randomize all states
+    {
+        CvScalar lower, upper;
+        CvMat* statenoiseT = cvCreateMat( p->num_particles, 1, p->particles->type );
+        CvMat* statenoise  = cvCreateMat( 1, p->num_particles, p->particles->type );
+        for( s = 0; s < p->num_states; s++ )
+        {
+            lower = cvScalar( cvmGet( p->bound, s, 0 ) );
+            upper = cvScalar( cvmGet( p->bound, s, 1 ) );
+            cvRandArr( &p->rng, statenoiseT, CV_RAND_UNI, lower, upper );
+            cvT( statenoiseT, statenoise );
+            cvSetRow( statenoise, p->particles, s );
+        }
+        cvReleaseMat( &statenoise );
+        cvReleaseMat( &statenoiseT );
+    }
+}
+
+/**
+ * Samples new particles from given particles
+ *
+ * Currently suppports only linear combination of states transition model. 
+ * Write up a function by yourself to supports nonlinear dynamics
+ * such as Taylor series model and call your function instead of this function. 
+ * Other functions should not necessary be modified.
+ *
+ * @param particle
+ * @note Uses See also functions inside.
+ * @see cvParticleBound
+ */
+CVAPI(void) cvParticleTransition( CvParticle* p )
+{
+    int i, j;
+    CvMat* transits = cvCreateMat( p->num_states, p->num_particles, p->particles->type );
+    CvMat* noises   = cvCreateMat( p->num_states, p->num_particles, p->particles->type );
+    CvMat* noise, noisehdr;
+    double std;
+    
+    // dynamics
+    cvMatMul( p->dynamics, p->particles, transits );
+    
+    // noise generation
+    if( p->stds == NULL ) //sum je pre vsetky particles rovnaky
+    {
+        for( i = 0; i < p->num_states; i++ ) //pre kazdy state (x,y,w,h,r)
+        {
+            std = cvmGet( p->std, i, 0 );
+            noise = cvGetRow( noises, &noisehdr, i );
+            if( std == 0.0 )
+                cvZero( noise );
+            else
+                cvRandArr( &p->rng, noise, CV_RAND_NORMAL, cvScalar(0), cvScalar( std ) );
+        }
+    }
+    else
+    {
+        for( i = 0; i < p->num_states; i++ )
+        {
+            for( j = 0; j < p->num_particles; j++ )
+            {
+                std = cvmGet( p->stds, i, j );
+                if( std == 0.0 )
+                    cvmSet( noises, i, j, 0.0 );
+                else
+                    cvmSet( noises, i, j, cvRandGauss( &p->rng, std ) );
+            }
+        }
+    }
+
+    // dynamics + noise
+    cvAdd( transits, noises, p->particles );
+
+    cvReleaseMat( &transits );
+    cvReleaseMat( &noises );
+
+    cvParticleBound( p );
+}
+
+/**
+ * Re-samples a set of particles according to their weights to produce a
+ * new set of unweighted particles
+ *
+ * Simply copy, not uniform randomly selects
+ *
+ * @param particle
+ * @note Uses See also functions inside.
+ */
+CVAPI(void) cvParticleResample( CvParticle* p )
+{
+    int i, j, np, k = 0;
+    CvMat* particle, hdr;
+    CvMat* new_particles = cvCreateMat( p->num_states, p->num_particles, p->particles->type );
+    double weight;
+    int max_loc;
+
+    k = 0;
+    for( i = 0; i < p->num_particles; i++ ) //weights su uz normalizovane (ich suma je 1)
+    {
+        particle = cvGetCol( p->particles, &hdr, i ); //ulozi sa x,y,w,h,r o particle
+        weight = cvmGet( p->weights, 0, i ); //ulozi sa weight particlu
+        weight = p->logweight ? exp( weight ) : weight; //ak su vahy ulozene vo weights -> weight = e^weight
+        np = cvRound( weight * p->num_particles ); //particle s vyssim ohodnotenim sa skopiruje do viacerych novych particles
+        for( j = 0; j < np; j++ )
+        {
+            cvSetCol( particle, new_particles, k++ );
+            if( k == p->num_particles )
+                goto exit;
+        }
+    }
+
+	//pokial sme este neskopirovali vsekty particles, zvysne skopirujeme podla najlepsie ohodnotenej particle
+    max_loc = cvParticleGetMax( p );
+    particle = cvGetCol( p->particles, &hdr, max_loc );
+    while( k < p->num_particles )  //kym sa nenastavia vsetky particles
+        cvSetCol( particle, new_particles, k++ ); //nastav zostavajucim particles maximalne ohodnotenie?
+
+exit:
+    cvReleaseMat( &p->particles );
+    p->particles = new_particles;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvpcadiffs.h b/3rdparty/include/opencvx/cvpcadiffs.h
new file mode 100644
index 0000000..90fb90f
--- /dev/null
+++ b/3rdparty/include/opencvx/cvpcadiffs.h
@@ -0,0 +1,234 @@
+/** @file */
+/* Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+ *
+ * The program is free to use for non-commercial academic purposes,
+ * but for course works, you must understand what is going inside to 
+ * use. The program can be used, modified, or re-distributed for any 
+ * purposes only if you or one of your group understand not only 
+ * programming codes but also theory and math behind (if any). 
+ * Please contact the authors if you are interested in using the 
+ * program without meeting the above conditions.
+*/
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#ifndef CV_PCADIFFS_INCLUDED
+#define CV_PCADIFFS_INCLUDED
+
+#ifndef NO_DOXYGEN
+CVAPI(void) 
+cvMatPcaDiffs( const CvMat* samples, const CvMat* avg, const CvMat* eigenvalues, 
+               const CvMat* eigenvectors, CvMat* probs, 
+               int normalize, bool logprob );
+CV_INLINE double 
+cvPcaDiffs( const CvMat* sample, const CvMat* avg, const CvMat* eigenvalues, 
+            const CvMat* eigenvectors, int normalize, bool logprob );
+#endif
+
+/**
+ * PCA Distance "in" and "from" feature space [1]
+ *
+ *   This computes a distance between a point to a PCA subspace as sum of
+ *   distance-from-feature space (DFFS) and distance-in-feature-space
+ *   (DIFS). The DFFS is essentially a reconstruction error and the
+ *   DIFS measures (mahalanobis) distance between projected point and 
+ *   origin of PCA subpsace. DFFS and DIFS can be used to measure 
+ *   approximated likelihood Gaussian density distribution. 
+ *   See [1] for more details. 
+ *
+ * @param samples             D x N sample vectors
+ * @param avg                 D x 1 mean vector
+ * @param eigenvalues         nEig x 1 eigen values
+ * @param eigenvectors        M x D or D x M (automatically adjusted) eigen vectors
+ * @param probs               1 x N computed likelihood probabilities
+ * @param normalize           Compute normalization term or not
+ *                            0 - nothing
+ *                            1 - normalization term
+ *                            2 - normalize so that sum becomes 1.0
+ * @param logprob             Log probability or not
+ * @see CVAPI(void) cvCalcPCA( const CvArr* data, CvArr* avg, CvArr* eigenvalues, CvArr* eigenvectors, int flags );
+ * @see CVAPI(void) cvProjectPCA( const CvArr* data, const CvArr* avg, const CvArr* eigenvectors, CvArr* result );
+ * @see CVAPI(void) cvBackProjectPCA( const CvArr* proj, const CvArr* avg,const CvArr* eigenvects, CvArr* result );
+ *
+ * References
+ * @verbatim
+ *   [1] @INPROCEEDINGS{Moghaddam95probabilisticvisual,
+ *     author = {Baback Moghaddam and Alex Pentl},
+ *     title = {Probabilistic visual learning for object detection},
+ *     booktitle = {},
+ *     year = {1995},
+ *     pages = {786--793}
+ *   }
+ *   [2] @ARTICLE{Moghaddam02principalmanifolds,
+ *     author = {Baback Moghaddam},
+ *     title = {Principal manifolds and probabilistic subspaces for visual recognition},
+ *     journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
+ *     year = {2002},
+ *     volume = {24},
+ *     pages = {780--788}
+ * @endverbatim
+ */
+CVAPI(void) 
+cvMatPcaDiffs( const CvMat* samples, const CvMat* avg, const CvMat* eigenvalues, 
+               const CvMat* eigenvectors, CvMat* probs, 
+               int normalize CV_DEFAULT(1), bool logprob CV_DEFAULT(false) )
+{
+    int D = samples->rows;
+    int N = samples->cols;
+    int M = (eigenvectors->rows == D) ? eigenvectors->cols : eigenvectors->rows;
+    int type = samples->type;
+    int nEig = eigenvalues->rows;
+    int d, n;
+    double normterm = 0;
+    CvMat *_eigenvectors; // cvProjectPCA requires M x D vec
+    CvMat *proj = cvCreateMat( N, M, type );
+    CvMat *subproj, subprojhdr;
+    CvMat *sclsubproj = cvCreateMat( 1, M, type );
+    CvMat *pLambda, pLambdaHdr;
+    CvMat *rLambda, rLambdaHdr;
+    CvMat *sqrt_pLambda = cvCreateMat( M, 1, type );
+    CvMat *DIFS = cvCreateMat( 1, N, type );
+    CvMat *DFFS = cvCreateMat( 1, N, type );
+    CvMat *samples0 = cvCreateMat( D, N, type ); // mean subtracted samples
+    CvMat *subsamples0, subsamples0hdr;
+    CvScalar rho;
+    CvMat *_proj;
+    CV_FUNCNAME( "cvMatPcaDiffs" );
+    __CV_BEGIN__;
+    CV_ASSERT( CV_IS_MAT(samples) );
+    CV_ASSERT( CV_IS_MAT(avg) );
+    CV_ASSERT( CV_IS_MAT(eigenvalues) );
+    CV_ASSERT( CV_IS_MAT(eigenvectors) );
+    CV_ASSERT( D == eigenvectors->rows || D == eigenvectors->cols );
+    CV_ASSERT( D == avg->rows && 1 == avg->cols );
+    CV_ASSERT( 1 == probs->rows && N == probs->cols );
+    
+    cvZero( DIFS );
+    cvZero( DFFS );
+
+    if( D == eigenvectors->rows ) {
+        _eigenvectors = cvCreateMat( M, D, type );
+        cvT( eigenvectors, _eigenvectors );
+    } else {
+        _eigenvectors = (CvMat*)eigenvectors;
+    }
+    //cvProjectPCA( samples, avg, _eigenvectors, proj );
+    for( n = 0; n < N; n++ ) { // want mean subtracted samples for laster too
+        for( d = 0; d < D; d++ ) {
+            cvmSet( samples0, d, n, cvmGet( samples, d, n ) - cvmGet( avg, d, 0 ) );
+        }
+    }
+    _proj = cvCreateMat( M, N, type );
+    cvMatMul( _eigenvectors, samples0, _proj );
+    cvT( _proj, proj );
+    cvReleaseMat( &_proj );
+
+    // distance in feature space
+    if( M > 0 ) {
+        pLambda = cvGetRows( eigenvalues, &pLambdaHdr, 0, M );
+        cvPow( pLambda, sqrt_pLambda, 0.5 );
+        for( n = 0; n < N; n++ ) {
+            subproj = cvGetRow( proj, &subprojhdr, n );
+            for( d = 0; d < M; d++ ) {
+                cvmSet( sclsubproj, 0, d, cvmGet( subproj, 0, d ) / cvmGet( sqrt_pLambda, d, 0 ) );
+            }
+            cvmSet( DIFS, 0, n, pow(cvNorm( sclsubproj, NULL, CV_L2 ), 2) );
+        }
+        if( normalize == 1 ) {
+            //cvLog( sqrt_pLambda, sqrt_pLambda );
+            //cvSum( sqrt_pLambda );
+            for( d = 0; d < M; d++ ) {
+                normterm += log( cvmGet( sqrt_pLambda, d, 0 ) );
+            }
+            normterm += log(2*M_PI)*(M/2.0);
+        }
+    }
+
+    // distance from feature space
+    if( nEig > M ) {
+        rLambda = cvGetRows( eigenvalues, &rLambdaHdr, M, nEig );
+        rho = cvAvg( rLambda );
+        for( n = 0; n < N; n++ ) {
+            subsamples0 = cvGetCol( samples0, &subsamples0hdr, n );
+            subproj = cvGetRow( proj, &subprojhdr, n );
+            cvmSet( DFFS, 0, n, pow(cvNorm( subsamples0, NULL, CV_L2 ),2) - pow(cvNorm( subproj, NULL, CV_L2 ),2) );
+        }
+        cvScale( DFFS, DFFS, 1.0/rho.val[0] );
+        if( normalize == 1 ) {
+            normterm += log(2*M_PI*rho.val[0]) * ((nEig - M)/2.0);
+        }
+    }
+    
+    // sum DIFS and DFFS in log form
+    for( n = 0; n < N; n++ ) {
+        cvmSet( probs, 0, n, cvmGet( DIFS, 0, n ) / (-2) + cvmGet( DFFS, 0, n) / (-2) - normterm );
+    }
+
+    // normalization and so on
+    if( normalize == 2 ) {
+        double minval, maxval;
+        cvMinMaxLoc( probs, &minval, &maxval );
+        cvSubS( probs, cvScalar( maxval ), probs );
+    }
+    if( !logprob || normalize == 2 ) {
+        for( n = 0; n < N; n++ ) {
+            cvmSet( probs, 0, n, exp(cvmGet( probs, 0, n )) );
+        }
+        if( normalize == 2 ) {
+            CvScalar sumprob = cvSum( probs );
+            cvScale( probs, probs, 1.0 / sumprob.val[0] );
+        }
+    }
+    if( logprob && normalize == 2 ) {
+        for( n = 0; n < N; n++ ) {
+            cvmSet( probs, 0, n, log(cvmGet( probs, 0, n )) );
+        }
+    }
+    cvReleaseMat( &proj );
+    cvReleaseMat( &sclsubproj );
+    cvReleaseMat( &sqrt_pLambda );
+    cvReleaseMat( &DIFS );
+    cvReleaseMat( &DFFS );
+    cvReleaseMat( &samples0 );
+    if( D == eigenvectors->rows ) {
+        cvReleaseMat( &_eigenvectors );
+    }
+    __CV_END__;
+}
+
+/**
+ * PCA Distance "in" and "from" feature space
+ *
+ * @param sample              D x 1 feature vector
+ * @param avg                 D x 1 mean vector
+ * @param eigenvalues         nEig x 1 eigen values
+ * @param eigenvectors        M x D eigen vectors
+ * @param normalize           Compute normalization term or not
+ *                            0 - nothing
+ *                            1 - normalization term
+ *                            2 - normalize so that sum becomes 1.0
+ * @param logprob             Log probability or not
+ * @return double likelihood
+*/
+CV_INLINE double 
+cvPcaDiffs( const CvMat* sample, const CvMat* avg, const CvMat* eigenvalues, 
+            const CvMat* eigenvectors, 
+            int normalize CV_DEFAULT(1), bool logprob CV_DEFAULT(false) )
+{
+    double prob;
+    CvMat *_probs  = cvCreateMat( 1, 1, sample->type );
+
+    cvMatPcaDiffs( sample, avg, eigenvalues, eigenvectors, _probs, normalize, logprob );
+    prob = cvmGet(_probs, 0, 0);
+
+    cvReleaseMat( &_probs );
+    return prob;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvpcadist.h b/3rdparty/include/opencvx/cvpcadist.h
new file mode 100644
index 0000000..2aaa423
--- /dev/null
+++ b/3rdparty/include/opencvx/cvpcadist.h
@@ -0,0 +1,122 @@
+/** @file */
+/* Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+ *
+ * The program is free to use for non-commercial academic purposes,
+ * but for course works, you must understand what is going inside to 
+ * use. The program can be used, modified, or re-distributed for any 
+ * purposes only if you or one of your group understand not only 
+ * programming codes but also theory and math behind (if any). 
+ * Please contact the authors if you are interested in using the 
+ * program without meeting the above conditions.
+*/
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#ifndef CV_PCADIST_INCLUDED
+#define CV_PCADIST_INCLUDED
+
+#ifndef NO_DOXYGEN
+CVAPI(void) 
+cvMatPcaDist( const CvMat* samples, const CvMat* avg, 
+              const CvMat* eigenvectors, CvMat* dists );
+CV_INLINE double 
+cvPcaDist( const CvMat* sample, const CvMat* avg, 
+           const CvMat* eigenvectors );
+#endif
+
+/**
+ * Distance between sample and PCA subspace, i.e, reconstruction error
+ *
+ * @param samples             D x N sample vectors
+ * @param avg                 D x 1 mean vector
+ * @param eigenvectors        M x D or D x M (automatically adjusted) eigen vectors
+ * @param dists               1 x N computed distances
+ *
+ * @see CVAPI(void) cvCalcPCA( const CvArr* data, CvArr* avg, CvArr* eigenvalues, CvArr* eigenvectors, int flags );
+ * @see CVAPI(void) cvProjectPCA( const CvArr* data, const CvArr* avg, const CvArr* eigenvectors, CvArr* result );
+ * @see CVAPI(void) cvBackProjectPCA( const CvArr* proj, const CvArr* avg,const CvArr* eigenvects, CvArr* result );
+ */
+CVAPI(void) 
+cvMatPcaDist( const CvMat* samples, const CvMat* avg, 
+              const CvMat* eigenvectors, CvMat* dists )
+{
+    int D = samples->rows;
+    int N = samples->cols;
+    int M = (eigenvectors->rows == D) ? eigenvectors->cols : eigenvectors->rows;
+    int type = samples->type;
+    int d, n;
+    CvMat *_eigenvectors; // cvProjectPCA requires M x D vec
+    CvMat *proj = cvCreateMat( N, M, type );
+    CvMat *subproj, subprojhdr;
+    CvMat *samples0 = cvCreateMat( D, N, type ); // mean subtracted samples
+    CvMat *subsamples0, subsamples0hdr;
+    CvMat *_proj;
+    CV_FUNCNAME( "cvMatPcaDist" );
+    __CV_BEGIN__;
+    CV_ASSERT( CV_IS_MAT(samples) );
+    CV_ASSERT( CV_IS_MAT(avg) );
+    CV_ASSERT( CV_IS_MAT(eigenvectors) );
+    CV_ASSERT( D == eigenvectors->rows || D == eigenvectors->cols );
+    CV_ASSERT( D == avg->rows && 1 == avg->cols );
+    CV_ASSERT( 1 == dists->rows && N == dists->cols );
+    if( D == eigenvectors->rows ) { // support transpose
+        _eigenvectors = cvCreateMat( M, D, type );
+        cvT( eigenvectors, _eigenvectors );
+    } else {
+        _eigenvectors = (CvMat*)eigenvectors;
+    }
+    
+    //cvProjectPCA( samples, avg, _eigenvectors, proj );
+    for( n = 0; n < N; n++ ) { // want mean subtracted samples for laster too
+        for( d = 0; d < D; d++ ) {
+            cvmSet( samples0, d, n, cvmGet( samples, d, n ) - cvmGet( avg, d, 0 ) );
+        }
+    }
+    _proj = cvCreateMat( M, N, type );
+    cvMatMul( _eigenvectors, samples0, _proj );
+    cvT( _proj, proj );
+    cvReleaseMat( &_proj );
+
+    // distance from feature space
+    for( n = 0; n < N; n++ ) {
+        subsamples0 = cvGetCol( samples0, &subsamples0hdr, n );
+        subproj = cvGetRow( proj, &subprojhdr, n );
+        cvmSet( dists, 0, n, pow(cvNorm( subsamples0, NULL, CV_L2 ),2) - pow(cvNorm( subproj, NULL, CV_L2 ),2) );
+    }
+
+    cvReleaseMat( &proj );
+    cvReleaseMat( &samples0 );
+    if( D == eigenvectors->rows ) {
+        cvReleaseMat( &_eigenvectors );
+    }
+    __CV_END__;
+}
+
+/**
+ * Distance between sample and PCA subspace, i.e, reconstruction error
+ *
+ * @param sample              D x 1 feature vector
+ * @param avg                 D x 1 mean vector
+ * @param eigenvectors        M x D eigen vectors
+ * @return double
+*/
+CV_INLINE double 
+cvPcaDist( const CvMat* sample, const CvMat* avg, const CvMat* eigenvectors )
+{
+    double prob;
+    CvMat *_dists  = cvCreateMat( 1, 1, sample->type );
+
+    cvMatPcaDist( sample, avg, eigenvectors, _dists );
+    prob = cvmGet(_dists, 0, 0);
+
+    cvReleaseMat( &_dists );
+    return prob;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvpcaprobdist.h b/3rdparty/include/opencvx/cvpcaprobdist.h
new file mode 100644
index 0000000..25ca41c
--- /dev/null
+++ b/3rdparty/include/opencvx/cvpcaprobdist.h
@@ -0,0 +1,130 @@
+/** @file */
+/* Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+ *
+ * The program is free to use for non-commercial academic purposes,
+ * but for course works, you must understand what is going inside to 
+ * use. The program can be used, modified, or re-distributed for any 
+ * purposes only if you or one of your group understand not only 
+ * programming codes but also theory and math behind (if any). 
+ * Please contact the authors if you are interested in using the 
+ * program without meeting the above conditions.
+*/
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#ifndef CV_PCAPROBDIST_INCLUDED
+#define CV_PCAPROBDIST_INCLUDED
+#include "cvpcadist.h"
+#include "cvlogsum.h"
+
+#ifndef NO_DOXYGEN
+CVAPI(void) 
+cvMatPcaProbDist( const CvMat* samples, const CvMat* avg, 
+                  const CvMat* eigenvectors, double sqsigma, CvMat* probs,
+                  int normalize, bool logprob );
+CV_INLINE double 
+cvPcaProbDist( const CvMat* sample, const CvMat* avg, 
+               const CvMat* eigenvectors, double sqsigma, 
+               int normalize, bool logprob );
+#endif
+
+/**
+ * Probabilistic model of Distance from PCA subspace with Gaussian
+ *
+ * @param samples             D x N sample vectors
+ * @param avg                 D x 1 mean vector
+ * @param eigenvectors        M x D or D x M (automatically adjusted) eigen vectors
+ * @param sqsigma             A scalar representing sigma^2, i.e, variances
+ *                            of distribution of reconstruction errors.
+ *                            Estimate in training data. 
+ * @param probs               1 x N computed likelihood probabilities
+ * @param normalize           Compute normalization term or not
+ *                            0 - nothing
+ *                            1 - normalization term
+ *                            2 - normalize so that sum becomes 1.0
+ * @param logprob             Log probability or not
+ *
+ * @see CVAPI(void) cvCalcPCA( const CvArr* data, CvArr* avg, CvArr* eigenvalues, CvArr* eigenvectors, int flags );
+ * @see CVAPI(void) cvProjectPCA( const CvArr* data, const CvArr* avg, const CvArr* eigenvectors, CvArr* result );
+ * @see CVAPI(void) cvBackProjectPCA( const CvArr* proj, const CvArr* avg,const CvArr* eigenvects, CvArr* result );
+ * @see cvMatPcaDist
+ */
+CVAPI(void) 
+cvMatPcaProbDist( const CvMat* samples, const CvMat* avg, 
+                  const CvMat* eigenvectors, double sqsigma, CvMat* probs,
+                  int normalize CV_DEFAULT(1), bool logprob CV_DEFAULT(false) )
+{
+    int D = samples->rows;
+    int N = samples->cols;
+    int type = samples->type;
+    CvMat *dists = cvCreateMat( 1, N, type );
+    CV_FUNCNAME( "cvMatPcaProbDist" );
+    __CV_BEGIN__;
+    CV_ASSERT( CV_IS_MAT(samples) );
+    CV_ASSERT( CV_IS_MAT(avg) );
+    CV_ASSERT( CV_IS_MAT(eigenvectors) );
+    CV_ASSERT( D == eigenvectors->rows || D == eigenvectors->cols );
+    CV_ASSERT( D == avg->rows && 1 == avg->cols );
+    CV_ASSERT( 1 == probs->rows && N == probs->cols );
+
+    cvMatPcaDist( samples, avg, eigenvectors, dists );
+    cvScale( dists, probs, -1/(2*sqsigma) );
+
+    if( normalize == 1 )
+    {
+        cvSubS( probs, cvScalar(log(sqrt(2*M_PI*sqsigma))), probs );
+    }
+    else if( normalize == 2 )
+    {
+        CvScalar logsum = cvLogSum( probs );
+        cvSubS( probs, logsum, probs );
+    }
+
+    if( !logprob ) // finally make exp
+    {
+        cvExp( probs, probs );
+    }
+    
+    cvReleaseMat( &dists );
+    __CV_END__;
+}
+
+/**
+ * Distance between sample and PCA subspace, i.e, reconstruction error
+ * Probabiliticlly model with Gaussian
+ *
+ * @param sample              D x 1 feature vector
+ * @param avg                 D x 1 mean vector
+ * @param eigenvectors        M x D eigen vectors
+ * @param sqsigma             A scalar representing sigma^2, i.e, variances
+ *                            of distribution of reconstruction errors.
+ *                            Estimate in training data. 
+ * @param normalize           Compute normalization term or not
+ *                            0 - nothing
+ *                            1 - normalization term
+ *                            2 - normalize so that sum becomes 1.0
+ * @param logprob             Log probability or not
+ * @return double
+*/
+CV_INLINE double 
+cvPcaProbDist( const CvMat* sample, const CvMat* avg, 
+               const CvMat* eigenvectors, double sqsigma, 
+               int normalize CV_DEFAULT(1), bool logprob CV_DEFAULT(false) )
+{
+    double prob;
+    CvMat *_probs  = cvCreateMat( 1, 1, sample->type );
+
+    cvMatPcaProbDist( sample, avg, eigenvectors, sqsigma, _probs, normalize, logprob );
+    prob = cvmGet( _probs, 0, 0);
+
+    cvReleaseMat( &_probs );
+    return prob;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvpointnorm.h b/3rdparty/include/opencvx/cvpointnorm.h
new file mode 100644
index 0000000..1963d37
--- /dev/null
+++ b/3rdparty/include/opencvx/cvpointnorm.h
@@ -0,0 +1,51 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_POINTNORM_INCLUDED
+#define CV_POINTNORM_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#include <math.h>
+using namespace std;
+
+/**
+ * Compute Norm between two points
+ *
+ * @param p1        A point 1
+ * @param p2        A point 2
+ * @param norm_type CV_L2 to compute L2 norm (euclidean distance)
+ *                  CV_L1 to compute L1 norm (abs)
+ * @return double
+ */
+CV_INLINE double cvPointNorm( CvPoint p1, CvPoint p2, int norm_type CV_DEFAULT(CV_L2) )
+{
+    if( norm_type == CV_L1 )
+        return abs( p2.x - p1.x ) + abs( p2.y - p1.y );
+    else
+        return sqrt( pow( (double)p2.x - p1.x, 2 ) + pow( (double)p2.y - p1.y, 2 ) );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvpointrecttest.h b/3rdparty/include/opencvx/cvpointrecttest.h
new file mode 100644
index 0000000..ef08460
--- /dev/null
+++ b/3rdparty/include/opencvx/cvpointrecttest.h
@@ -0,0 +1,106 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_POINTRECTTEST_INCLUDED
+#define CV_POINTRECTTEST_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include "cvrect32f.h"
+#include "cvcreateaffine.h"
+#include "cvrectpoints.h"
+
+// double
+// cvPointRect32fTest( const CvRect32f& rect, CvPoint2D32f pt, 
+//                     int measure_dist = 0, CvPoint2D32f shear = cvPoint2D32f(0,0) );
+// CV_INLINE double 
+// cvPointRectTest( const CvRect& rect, CvPoint2D32f pt, int measure_dist = 0 );
+
+/**
+ * Point in rectangle test (Check whether point is in rectangle)
+ *
+ * @param rect           Rectangle (x,y,width,height), and angle if want.
+ * @param pt             The point tested against the contour. 
+ * @param measure_dist   0 - return positive, negative, 0 
+ *                       if inside, outside, on the rectangle boundary 
+ *                       respectively. 
+ *                       1 - return singned distance between the point 
+ *                       and the nearest rectangle edge. 
+ * @param shear          shear deformation parameter (of affine transform)
+ * @return               result of test
+ * @see cvPointPolygonTest, cvPointRectTest
+ */
+CVAPI(double)
+cvPointRect32fTest( const CvRect32f& rect, CvPoint2D32f pt, 
+                    int measure_dist CV_DEFAULT(0), 
+                    CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)) )
+{
+    CvPoint2D32f points[4];
+    CvMat *contour = cvCreateMat( 1, 4, CV_32FC2 );
+
+    cvRect32fPoints( rect, points, shear );
+    for( int i = 0; i < 4; i++ )
+    {
+        CV_MAT_ELEM( *contour, CvPoint2D32f, 0, i ) = points[i];
+    } // cvPointSeqFromMat
+
+    /* // CV_32FC2 is not possible 
+    CvPoint point;
+    CvSeq *contour = cvCreateSeq( CV_32SC2, sizeof( CvSeq ), sizeof( CvPoint2D32f ), cvCreateMemStorage( 0 ) );
+    for( int i = 0; i < 4; i++ )
+    {
+        point = cvPointFrom32f( points[i] );
+        cvSeqPush( contour, &point );
+        }*/
+
+    double test = cvPointPolygonTest( contour, pt, measure_dist );
+
+    cvReleaseMat( &contour );
+    //cvClearMemStorage( contour->storage );
+    return test;
+}
+
+/**
+ * Point in rectangle test (Check whether point is in rectangle)
+ * 
+ * @param rect           Rectangle (x,y,width,height)
+ * @param pt             The point tested against the contour. 
+ * @param measure_dist   0 - return positive, negative, 0 
+ *                       if inside, outside, on the rectangle boundary 
+ *                       respectively. 
+ *                       1 - return singned distance between the point 
+ *                       and the nearest rectangle edge. 
+ * @return               result of test
+ * @return double
+ * @see cvPointPolygonTest, cvPointRect32fTest
+ */
+CV_INLINE double 
+cvPointRectTest( const CvRect& rect, CvPoint2D32f pt, 
+                 int measure_dist CV_DEFAULT(0) )
+{
+    return cvPointRect32fTest( cvRect32fFromRect( rect ), pt, measure_dist );
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvprintmat.h b/3rdparty/include/opencvx/cvprintmat.h
new file mode 100644
index 0000000..fdeb2e7
--- /dev/null
+++ b/3rdparty/include/opencvx/cvprintmat.h
@@ -0,0 +1,120 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_PRINTMAT_INCLUDED
+#define CV_PRINTMAT_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+
+//CV_INLINE void cvPrintMatProperty( const CvMat* mat );
+//CV_INLINE void cvPrintImageProperty( const IplImage* img );
+//CVAPI(void) cvPrintMat( const CvArr* arr, bool transpose = false );
+
+/**
+* Print CvMat Property
+*
+* @param mat
+* @return CVAPI(void)
+*/
+CV_INLINE void cvPrintMatProperty( const CvMat* mat )
+{
+    printf("CvMat Property\n");
+    printf(" rows: %d\n", mat->rows);
+    printf(" cols: %d\n", mat->cols);
+    printf(" type: %d\n", mat->type);
+    printf(" step: %d\n", mat->step);
+    fflush( stdout );
+}
+
+/**
+* Print IplImage Property
+*
+* @param img
+* @return CVAPI(void)
+*/
+CV_INLINE void cvPrintImageProperty( const IplImage* img )
+{
+    printf("IplImage Property\n");
+    printf(" width: %d\n", img->width);
+    printf(" height: %d\n", img->height);
+    printf(" depth: %d\n", img->depth);
+    printf(" nChannels: %d\n", img->nChannels);
+    fflush( stdout );
+}
+
+/**
+* Print array
+*
+* @param arr array
+* @return CVAPI(void)
+*/
+CVAPI(void) cvPrintMat( const CvArr* arr, bool transpose CV_DEFAULT(false) )
+{
+    CV_FUNCNAME( "cvPrintMat" );
+    __CV_BEGIN__;
+    int row, col, ch;
+    int coi = 0;
+    CvMat matstub, *mat = (CvMat*)arr;
+    int depth, nChannels;
+    CvScalar value;
+    int rows, cols;
+    if( !CV_IS_MAT( mat ) )
+    {
+        CV_CALL( mat = cvGetMat( mat, &matstub, &coi ) ); // i.e. IplImage to CvMat
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    depth = CV_MAT_DEPTH( mat->type );
+    nChannels = CV_MAT_CN( mat->type );
+    rows = !transpose ? mat->rows : mat->cols;
+    cols = !transpose ? mat->cols : mat->rows;
+    
+    for( row = 0; row < rows; row++ )
+    {
+        for( col = 0; col < cols; col++ )
+        {
+            value = cvGet2D( mat, !transpose ? row : col, !transpose ? col : row );
+            if( nChannels > 1 )
+            {
+                printf( "(%lf", value.val[0] );
+                for( ch = 1; ch < nChannels; ch++ )
+                {
+                    printf( " %lf", value.val[ch] );
+                }
+                printf( ") " );
+            }
+            else
+            {
+                printf( "%lf ", value.val[0] );
+            }
+        }
+        printf("\n");
+    }
+    fflush( stdout );
+    __CV_END__;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvputimageroi.h b/3rdparty/include/opencvx/cvputimageroi.h
new file mode 100644
index 0000000..35ed81e
--- /dev/null
+++ b/3rdparty/include/opencvx/cvputimageroi.h
@@ -0,0 +1,170 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CROPIMAGEROI_INCLUDED
+#define CV_CROPIMAGEROI_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvrect32f.h"
+#include "cvcreateaffine.h"
+#include "cvcreateaffineimage.h"
+
+// CVAPI(void) cvPutImageROI( const IplImage* src,
+//                     IplImage* dst,
+//                     CvRect32f rect32f = cvRect32f(0,0,1,1,0),
+//                     CvPoint2D32f shear = cvPoint2D32f(0,0),
+//                     const IplImage* mask = NULL,
+//                     bool circumscribe = 0 );
+
+/**
+ * Put a source image on the specified region on a target image 
+ *
+ * Use CvBox32f to define rotation center as the center of rectangle,
+ * and use cvRect32fBox32( box32f ) to pass argument. 
+ *
+ * @param src          The source image
+ * @param dst          The target image
+ * @param rect32f      The rectangle region (x,y,width,height) to put
+ *                     the rotation angle in degree where the rotation center is (x,y)
+ * @param shear        The shear deformation parameter shx and shy
+ * @param mask         The mask image
+ * @param circumscribe Put a circular (ellipsoidal) image as a circumscribed 
+ *                     circle (ellipsoid) rather than a inscribed circle (ellipsoid)
+ * @return CVAPI(void)
+ */
+CVAPI(void) cvPutImageROI( const IplImage* src,
+                           IplImage* dst,
+                           CvRect32f rect32f CV_DEFAULT(cvRect32f(0,0,1,1,0)),
+                           CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)),
+                           const IplImage* mask CV_DEFAULT(NULL),
+                           bool circumscribe CV_DEFAULT(0) )
+{
+    CvRect rect;
+    float tx, ty, sx, sy, angle;
+    IplImage* _src = NULL;
+    IplImage* _mask = NULL;
+    CV_FUNCNAME( "cvPutImageROI" );
+    __CV_BEGIN__;
+    rect = cvRectFromRect32f( rect32f );
+    angle = rect32f.angle;
+
+    CV_ASSERT( rect.width > 0 && rect.height > 0 );
+    CV_ASSERT( src->depth == dst->depth );
+    CV_ASSERT( src->nChannels == dst->nChannels );
+    if( mask != NULL )
+        CV_ASSERT( src->width == mask->width && src->height == mask->height );
+
+    if( circumscribe )
+    {
+        CvBox32f box32f = cvBox32fFromRect32f( rect32f );
+        // width and height from center (inscribed ellipsoid's a and b parameters)
+        float a = box32f.width / 2.0;
+        float b = box32f.height / 2.0;
+        // diagonal distance to the corner of rectangle from center
+        float d = sqrt( a * a + b * b );
+        // get distance to the intersectional point of inscribed ellipsoid 
+        // line with rectangle's diagonal line from center
+        float cost = a / d;
+        float sint = b / d;
+        float c = sqrt( pow( a * cost, 2 ) + pow( b * sint, 2 ) );
+        // this ratio enables to make circumscribed ellipsoid
+        float ratio = d / c;
+        box32f.width *= ratio;
+        box32f.height *= ratio;
+        // ellipsoidal paramter to rectangle parameter
+        rect32f = cvRect32fFromBox32f( box32f );
+        rect = cvRectFromRect32f( rect32f );
+    }
+
+    _src = (IplImage*)src;
+    _mask = (IplImage*)mask;
+    if( rect.width != src->width && rect.height != src->height )
+    {
+        _src = cvCreateImage( cvSize( rect.width, rect.height ), src->depth, src->nChannels );
+        cvResize( src, _src );
+        if( mask != NULL )
+        {
+            _mask = cvCreateImage( cvSize( rect.width, rect.height ), mask->depth, mask->nChannels );
+            cvResize( mask, _mask );
+        }
+    }
+
+    if( angle == 0 && shear.x == 0 && shear.y == 0 && 
+        rect.x >= 0 && rect.y >= 0 && 
+        rect.x + rect.width < dst->width && rect.y + rect.height < dst->height )
+    {
+        cvSetImageROI( dst, rect );
+        cvCopy( _src, dst, _mask );
+        cvResetImageROI( dst );
+    }
+    else
+    {
+        if( _mask == NULL )
+        {
+            _mask = cvCreateImage( cvGetSize(_src), IPL_DEPTH_8U, 1 );
+            cvSet( _mask, cvScalar(1) );
+        }
+
+        CvMat* affine = cvCreateMat( 2, 3, CV_32FC1 );
+        tx = 0;
+        ty = 0;
+        sx = rect32f.width / (float)_src->width;
+        sy = rect32f.height / (float)_src->height;
+        angle = rect32f.angle;
+        cvCreateAffine( affine, cvRect32f( tx, ty, sx, sy, angle ), shear );
+        
+        CvPoint origin;
+        IplImage* srctrans = cvCreateAffineImage( _src, affine, CV_AFFINE_FULL, &origin, CV_RGB(0,0,0) );
+        IplImage* masktrans  = cvCreateAffineImage( _mask, affine, CV_AFFINE_FULL, NULL, cvScalar(0) );
+        for( int xp = 0; xp < srctrans->width; xp++ )
+        {
+            int x = xp + rect.x + origin.x;
+            for( int yp = 0; yp < srctrans->height; yp++ )
+            {
+                int y = yp + rect.y + origin.y;
+                if( x < 0 || x >= dst->width || y < 0 || y >= dst->height ) continue;
+                if( CV_IMAGE_ELEM( masktrans, uchar, yp, xp ) == 0 ) continue;
+                for( int ch = 0; ch < srctrans->nChannels; ch++ )
+                {
+                    dst->imageData[dst->widthStep * y + x * dst->nChannels + ch]
+                        = srctrans->imageData[srctrans->widthStep * yp + xp * srctrans->nChannels + ch];
+                }
+            }
+        }
+        cvReleaseMat( &affine );
+        cvReleaseImage( &srctrans );
+        cvReleaseImage( &masktrans );
+    }
+    if( mask != _mask )
+        cvReleaseImage( &_mask );
+    if( src != _src )
+        cvReleaseImage( &_src );
+    __CV_END__;
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvrandgauss.h b/3rdparty/include/opencvx/cvrandgauss.h
new file mode 100644
index 0000000..8e72ff8
--- /dev/null
+++ b/3rdparty/include/opencvx/cvrandgauss.h
@@ -0,0 +1,51 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_RAND_INCLUDED
+#define CV_RAND_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+
+/**
+ * This function returns a Gaussian random variate, with mean zero and standard deviation sigma.
+ *
+ * @param rng cvRNG random state
+ * @param sigma standard deviation
+ * @return double
+ */
+CV_INLINE double cvRandGauss( CvRNG* rng, double sigma )
+{
+    CvMat* mat = cvCreateMat( 1, 1, CV_64FC1 );
+    double var = 0;
+    cvRandArr( rng, mat, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(sigma) );
+    var = cvmGet( mat, 0, 0 );
+    cvReleaseMat( &mat );
+    return var;
+}
+/*
+rng.disttype = CV_RAND_NORMAL;
+cvRandSetRange( &rng, 30, 100, -1 ); */
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvrect32f.h b/3rdparty/include/opencvx/cvrect32f.h
new file mode 100644
index 0000000..13b7227
--- /dev/null
+++ b/3rdparty/include/opencvx/cvrect32f.h
@@ -0,0 +1,284 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_RECT32F_INCLUDED
+#define CV_RECT32F_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/************************* Structure Definitions ******************************/
+
+/**
+ * Floating Rectangle Structure
+ */
+typedef struct CvRect32f {
+    float x;      /**< left x coord of rectangle */
+    float y;      /**< top y coord of rectangle */
+    float width;  /**< width of rectangle */
+    float height; /**< height of rectangle */
+    float angle;  /**< counter-clockwise rotation angle in degree
+                       rotation center is (x, y) coordinates */
+} CvRect32f;
+
+/**
+ * Center Coordinate Floating Rectangle Structure
+ *
+ * This is equivalent with CvBox2D, but I wanted this structure because
+ * CvBox2D's parameters are too long such as box.center.x, box.size.width and
+ * CvBox2D does not have a constructor cvBox2D(...). 
+ */
+typedef struct CvBox32f { 
+    float cx;     /**< center x coord of rectangle */
+    float cy;     /**< center y coord of center of rectangle */
+    float width;  /**< width of rectangle */
+    float height; /**< height of rectangle */
+    float angle;  /**< counter-clockwise rotation angle in degree
+                       rotation center is center of rectangle */
+} CvBox32f;
+
+/***************************** Prototypes *************************************/
+
+//CV_INLINE CvRect32f cvRect32f( float x, float y, float width, float height, 
+//                               float angle = 0.0 );
+//CV_INLINE CvBox32f  cvBox32f( float cx, float cy, float width, float height, 
+//                              float angle = 0.0 );
+
+//CVAPI(CvBox32f)     cvBox32fFromRect32f( CvRect32f rect );
+//CVAPI(CvRect32f)    cvRect32fFromBox32f( CvBox32f box );
+//CV_INLINE CvRect32f cvRect32fFromRect( CvRect rect, float angle = 0 );
+//CV_INLINE CvRect    cvRectFromRect32f( CvRect32f rect );
+//CV_INLINE CvBox32f  cvBox32fFromBox2D( CvBox2D box );
+//CV_INLINE CvBox2D   cvBox2DFromBox32f( CvBox32f box );
+//CV_INLINE CvBox32f  cvBox32fFromRect( CvRect rect );
+//CV_INLINE CvRect cvRectFromBox32f( CvBox32f box );
+//CV_INLINE CvRect cvRectFromBox2D( CvBox2D box );
+//CV_INLINE CvBox2D cvBox2DFromRect32f( CvRect32f rect );
+//CV_INLINE CvRect32f cvRect32fFromBox2D( CvBox2D box );
+
+// CV_INLINE void cvPrintRect32f( CvRect32f rect );
+// CV_INLINE void cvPrintBox32f( CvBox32f box );
+// CV_INLINE void cvPrintBox2D( CvBox2D box );
+// CV_INLINE void cvPrintRect( CvRect rect );
+
+/******************************* Constructor **********************************/
+
+/**
+ * The Constructor of Floating Rectangle Structure
+ *
+ * @param x      left x coord of rectangle
+ * @param y      top y coord of center of rectangle
+ * @param width  width of rectangle
+ * @param height height of rectangle
+ * @param angle  counter-clockwise rotation angle in degree
+ *               rotation center is (x, y) coordinates
+ */
+CV_INLINE CvRect32f cvRect32f( float x, float y, float width, float height, 
+                               float angle CV_DEFAULT(0.0) )
+{
+    CvRect32f rect = { x, y, width, height, angle };
+    return rect;
+}
+
+/**
+ * The Constructor of Center Coordinate Floating Rectangle Structure
+ *
+ * @param cx     center x coord of rectangle
+ * @param cy     center y coord of center of rectangle
+ * @param width  width of rectangle
+ * @param height height of rectangle
+ * @param angle  counter-clockwise rotation angle in degree
+ *               rotation center is center of rectangle
+ */
+CV_INLINE CvBox32f cvBox32f( float cx, float cy, float width, float height, 
+                             float angle CV_DEFAULT(0.0) )
+{
+    CvBox32f box = { cx, cy, width, height, angle };
+    return box;
+}
+
+/****************************** Converter *************************************/
+/**
+ *cvRect32f from cvRect
+ */
+CV_INLINE CvRect32f cvRect32fFromRect( CvRect rect, float angle CV_DEFAULT(0.0) )
+{
+    return cvRect32f( rect.x, rect.y, rect.width, rect.height, angle );
+}
+
+/**
+ * cvRect from cvRect32f
+ */
+CV_INLINE CvRect cvRectFromRect32f( CvRect32f rect )
+{
+    return cvRect( cvRound( rect.x ), cvRound( rect.y ),
+                   cvRound( rect.width ), cvRound( rect.height ) );
+}
+
+/**
+ * cvBox32f from cvBox2D
+ */
+CV_INLINE CvBox32f cvBox32fFromBox2D( CvBox2D box )
+{
+    return cvBox32f( box.center.x, box.center.y,
+                     box.size.width, box.size.height,
+                     box.angle );
+}
+
+/**
+ * cvBox2D from cvBox32f
+ */
+CV_INLINE CvBox2D cvBox2DFromBox32f( CvBox32f box )
+{
+    CvBox2D box2d;
+    box2d.center.x = box.cx;
+    box2d.center.y = box.cy;
+    box2d.size.width = box.width;
+    box2d.size.height = box.height;
+    box2d.angle = box.angle;
+    return box2d;
+}
+
+/**
+ * cvBox32f from cvRect32f
+ *
+ * Convert upper-left coordinate to center coordinate of the rectangle
+ */
+CvBox32f cvBox32fFromRect32f( CvRect32f rect )
+{
+    CvPoint2D32f c;
+    // x + ( x + width - 1 ) / 2 = cx
+    c.x = ( 2 * rect.x + rect.width - 1 ) / 2.0;
+    c.y = ( 2 * rect.y + rect.height - 1 ) / 2.0;
+    if( rect.angle != 0 )
+    {
+        CvMat* R = cvCreateMat( 2, 3, CV_32FC1 );
+        cv2DRotationMatrix( cvPoint2D32f( rect.x, rect.y ), rect.angle, 1.0, R );
+        c = cvPoint2D32f (
+            cvmGet( R, 0, 0 ) * c.x + cvmGet( R, 0, 1 ) * c.y + cvmGet( R, 0, 2 ),
+            cvmGet( R, 1, 0 ) * c.x + cvmGet( R, 1, 1 ) * c.y + cvmGet( R, 1, 2 ) );
+        cvReleaseMat( &R );
+    }
+    return cvBox32f( c.x, c.y, rect.width, rect.height, rect.angle );
+}
+
+/**
+ * cvRect32f from cvBox32f
+ *
+ * Convert center coordinate to upper-left coordinate of the rectangle
+ */
+CvRect32f cvRect32fFromBox32f( CvBox32f box )
+{
+    CvPoint2D32f l;
+    // x + ( x + width - 1 ) / 2 = cx
+    l.x = ( 2 * box.cx + 1 - box.width ) / 2.0;
+    l.y = ( 2 * box.cy + 1 - box.height ) / 2.0;
+    if( box.angle != 0.0 )
+    {
+        CvMat* R = cvCreateMat( 2, 3, CV_32FC1 );
+        cv2DRotationMatrix( cvPoint2D32f( box.cx, box.cy ), box.angle, 1.0, R );
+        l = cvPoint2D32f (
+            cvmGet( R, 0, 0 ) * l.x + cvmGet( R, 0, 1 ) * l.y + cvmGet( R, 0, 2 ),
+            cvmGet( R, 1, 0 ) * l.x + cvmGet( R, 1, 1 ) * l.y + cvmGet( R, 1, 2 ) );
+        cvReleaseMat( &R );
+    }
+    return cvRect32f( l.x, l.y, box.width, box.height, box.angle );
+}
+
+/**
+ * CvBox32f from CvRect
+ */
+CV_INLINE CvBox32f cvBox32fFromRect( CvRect rect )
+{
+    return cvBox32fFromRect32f( cvRect32fFromRect( rect ) );
+}
+/**
+ * CvRect from CvBox32f
+ */
+CV_INLINE CvRect cvRectFromBox32f( CvBox32f box )
+{
+    return cvRectFromRect32f( cvRect32fFromBox32f( box ) );
+}
+/**
+ * CvRect from CvBox2D
+ */
+CV_INLINE CvRect cvRectFromBox2D( CvBox2D box )
+{
+    return cvRectFromBox32f( cvBox32fFromBox2D( box ) );
+}
+/**
+ * CvBox2D from CvRect32f
+ */
+CV_INLINE CvBox2D cvBox2DFromRect32f( CvRect32f rect )
+{
+    return cvBox2DFromBox32f( cvBox32fFromRect32f( rect ) );
+}
+/**
+ * CvRect32f from CvBox2D
+ */
+CV_INLINE CvRect32f cvRect32fFromBox2D( CvBox2D box )
+{
+    return cvRect32fFromBox32f( cvBox32fFromBox2D( box ) );
+}
+
+/************************************ Print ***********************************/
+/**
+ * Print CvRect32f
+ */
+CV_INLINE void cvPrintRect32f( CvRect32f rect )
+{
+    printf( "x=%f y=%f width=%f height=%f angle=%f\n",
+            rect.x, rect.y, rect.width, rect.height, rect.angle );
+    fflush( stdout );
+}
+/**
+ * Print CvBox32f
+ */
+CV_INLINE void cvPrintBox32f( CvBox32f box )
+{
+    printf( "cx=%f cy=%f width=%f height=%f angle=%f\n",
+            box.cx, box.cy, box.width, box.height, box.angle );
+    fflush( stdout );
+}
+/**
+ * Print CvBox2D
+ */
+CV_INLINE void cvPrintBox2D( CvBox2D box )
+{
+    printf( "cx=%f cy=%f width=%f height=%f angle=%f\n",
+            box.center.x, box.center.y, box.size.width,
+            box.size.height, box.angle );
+    fflush( stdout );
+}
+/**
+ * Print CvRect
+ */
+CV_INLINE void cvPrintRect( CvRect rect )
+{
+    printf( "x=%d y=%d width=%d height=%d",
+            rect.x, rect.y, rect.width, rect.height );
+    fflush( stdout );
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvrectpoints.h b/3rdparty/include/opencvx/cvrectpoints.h
new file mode 100644
index 0000000..6dcc9cd
--- /dev/null
+++ b/3rdparty/include/opencvx/cvrectpoints.h
@@ -0,0 +1,126 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_RECT32FPOINTS_INCLUDED
+#define CV_RECT32FPOINTS_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include "cvrect32f.h"
+#include "cvcreateaffine.h"
+
+// CVAPI(void) cvRect32fPoints( CvRect32f rect, CvPoint2D32f pt[4], 
+//                       CvPoint2D32f shear = cvPoint2D32f(0,0) );
+// CV_INLINE void cvBox32fPoints( CvBox32f box, CvPoint2D32f pt[4], 
+//                                CvPoint2D32f shear = cvPoint2D32f(0,0) );
+// CV_INLINE void cvRectPoints( CvRect rect, CvPoint2D32f pt[4] );
+// cvBoxPoints
+
+/**
+ * Find 4 corners of rectangle
+ *
+ * @code
+ *     x y
+ * [0] 0 0
+ * [1] 1 0
+ * [2] 1 1
+ * [3] 0 1
+ * @endcode
+ *
+ * @param rect       Rectangle parameters and rotation angle parameter 
+ * @param pt[4]      Found 4 corners
+ * @param shear      Shear deformation parameter if you want
+ * @see cvBoxPoints, cvBox32fPoints, cvRectPoints, cvRect32fPoints
+ */
+CVAPI(void) cvRect32fPoints( CvRect32f rect, CvPoint2D32f pt[4], 
+                             CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)) )
+{
+    if( shear.x == 0 && shear.y == 0 )
+    {
+        CvBox2D box2d = cvBox2DFromRect32f( rect );
+        cvBoxPoints( box2d, pt );
+    }
+    else
+    {
+        CvMat* A = cvCreateMat( 2, 3, CV_32FC1 );
+        cvCreateAffine( A, rect, shear );
+        pt[0].x = 0; pt[0].y = 0;
+        pt[1].x = 1; pt[1].y = 0;
+        pt[2].x = 1; pt[2].y = 1;
+        pt[3].x = 0; pt[3].y = 1;
+        CvPoint2D32f tmp;
+        for( int i = 0; i < 4; i++ )
+        {
+            tmp.x = cvmGet( A, 0, 0 ) * pt[i].x + cvmGet( A, 0, 1 ) * pt[i].y + cvmGet( A, 0, 2 );
+            tmp.y = cvmGet( A, 1, 0 ) * pt[i].x + cvmGet( A, 1, 1 ) * pt[i].y + cvmGet( A, 1, 2 );
+            pt[i].x = tmp.x;
+            pt[i].y = tmp.y;
+        }
+    }
+}
+
+/**
+ * Find 4 corners of box
+ *
+ * @code
+ *     x y
+ * [0] 0 0
+ * [1] 1 0
+ * [2] 1 1
+ * [3] 0 1
+ * @endcode
+ *
+ * @param box    Box structure
+ * @param pt[4]  Found 4 corners
+ * @param shear  Shear deformation parameters if you want
+ * @see cvBoxPoints, cvBox32fPoints, cvRectPoints, cvRect32fPoints
+ */
+CV_INLINE void cvBox32fPoints( CvBox32f box, CvPoint2D32f pt[4], 
+                               CvPoint2D32f shear CV_DEFAULT(cvPoint2D32f(0,0)) )
+{
+    cvRect32fPoints( cvRect32fFromBox32f( box ), pt, shear );
+}
+
+/**
+ * Find 4 corners of rectangle
+ *
+ * @code
+ *     x y
+ * [0] 0 0
+ * [1] 1 0
+ * [2] 1 1
+ * [3] 0 1
+ * @endcode
+ *
+ * @param rect   Rectangle parameter
+ * @param pt[4]  Found 4 points
+ * @see cvBoxPoints, cvBox32fPoints, cvRectPoints, cvRect32fPoints
+ */
+CV_INLINE void cvRectPoints( CvRect rect, CvPoint2D32f pt[4] )
+{
+    cvRect32fPoints( cvRect32fFromRect( rect ), pt );
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvsandwichfill.h b/3rdparty/include/opencvx/cvsandwichfill.h
new file mode 100644
index 0000000..e7d4812
--- /dev/null
+++ b/3rdparty/include/opencvx/cvsandwichfill.h
@@ -0,0 +1,119 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_CLOSING_INCLUDED
+#define CV_CLOSING_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+/**
+ * Search boundary (non-zero pixel) from both side and fill inside
+ *
+ * @param IplImage* src One channel image with 0 or 1 value (mask image)
+ * @param IplImage* dst
+ * @see cvSmooth( src, dst, CV_MEDIAN, 3 )
+ * @see cvClosing( src, dst, NULL, 3 )
+*/
+CVAPI(void) cvSandwichFill( const IplImage* src, IplImage* dst )
+{
+    cvCopy( src, dst );
+    for( int y = 0; y < dst->height; y++ )
+    {
+        int start = -1;
+        int end = -1;
+        for( int x = 0; x < dst->width - 1; x++)
+        {
+            int p1 = dst->imageData[dst->widthStep * y + x];
+            int p2 = dst->imageData[dst->widthStep * y + x + 1];
+            if( p1 > 0 && p2 > 0 )
+            {
+                start = x;
+                break;
+            }
+        }
+        for( int x = dst->width - 1; x > start; x--)
+        {
+            int p1 = dst->imageData[dst->widthStep * y + x];
+            int p2 = dst->imageData[dst->widthStep * y + x + 1];
+            if( p1 > 0 && p2 > 0 )
+            {
+                end = x;
+                break;
+            }
+        }
+        if( start != -1 && end != -1 )
+        {
+            for( int x = start; x <= end; x++)
+            {
+                dst->imageData[dst->widthStep * y + x] = 1;
+            }
+        }
+    }
+    for( int x = 0; x < dst->width; x++ )
+    {
+        int start = -1;
+        int end = -1;
+        for( int y = 0; y < dst->height - 1; y++)
+        {
+            int p1 = dst->imageData[dst->widthStep * y + x];
+            int p2 = dst->imageData[dst->widthStep * y + x + 1];
+            if( p1 > 0 && p2 > 0 )
+            {
+                start = y;
+                break;
+            }
+        }
+        for( int y = dst->height - 1; y > start; y--)
+        {
+            int p1 = dst->imageData[dst->widthStep * y + x];
+            int p2 = dst->imageData[dst->widthStep * y + x + 1];
+            if( p1 > 0 && p2 > 0 )
+            {
+                end = y;
+                break;
+            }
+        }
+        if( start != -1 && end != -1 )
+        {
+            for( int y = start; y <= end; y++)
+            {
+                dst->imageData[dst->widthStep * y + x] = 1;
+            }
+        }
+    }
+    //// Tried to use cvFindContours, but did not work for disconnected contours.
+    //CvMemStorage* storage = cvCreateMemStorage(0);
+    //CvSeq* contour = 0;
+    //cvFindContours( dst, storage, &contour, 
+    //    sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
+    //for( ; contour != 0; contour = contour->h_next )
+    //{
+    //    CvScalar color = cvScalar(255);
+    //    cvDrawContours( dst, contour, color, color, -1, CV_FILLED, 8 );
+    //}
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvsetcol.h b/3rdparty/include/opencvx/cvsetcol.h
new file mode 100644
index 0000000..54f79f5
--- /dev/null
+++ b/3rdparty/include/opencvx/cvsetcol.h
@@ -0,0 +1,141 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_SETCOL_INCLUDED
+#define CV_SETCOL_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+
+//CVAPI(void) cvSetCols( const CvArr* src, CvArr* dst,
+//                int start_col, int end_col );
+//CV_INLINE void cvSetCol( const CvArr* src, CvArr* dst, int col );
+
+/**
+ * Set array col or col span
+ *
+ * Following code is faster than using this function because it does not 
+ * require cvCopy()
+ * @code
+ * CvMat* submat, submathdr;
+ * submat = cvGetCols( mat, &submathdr, start_col, end_col, delta_col );
+ * // Write on submat
+ * @endcode
+ *
+ * @param src       Source array
+ * @param dst       Target array. Either of array must be size of setting cols.
+ * @param start_col Zero-based index of the starting col (inclusive) of the span. 
+ * @param end_col   Zero-based index of the ending col (exclusive) of the span. 
+ * @return CVAPI(void)
+ * @see cvSetCol( src, dst, col ) // cvSetCols( src, dst, col, col + 1 )
+ */
+CVAPI(void) cvSetCols( const CvArr* src, CvArr* dst,
+                       int start_col, int end_col )
+{
+    int coi;
+    CvMat *srcmat = (CvMat*)src, srcmatstub;
+    CvMat *dstmat = (CvMat*)dst, dstmatstub;
+    CvMat *refmat, refmathdr;
+    int cols;
+    CV_FUNCNAME( "cvSetCols" );
+    __CV_BEGIN__;
+    if( !CV_IS_MAT(dstmat) )
+    {
+        CV_CALL( dstmat = cvGetMat( dstmat, &dstmatstub, &coi ) );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(srcmat) )
+    {
+        CV_CALL( srcmat = cvGetMat( srcmat, &srcmatstub, &coi ) );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    cols = end_col - start_col;
+    CV_ASSERT( srcmat->cols == cols || dstmat->cols == cols );
+    if( srcmat->cols == cols )
+    {
+        refmat = cvGetCols( dstmat, &refmathdr, start_col, end_col );
+        cvCopy( srcmat, refmat );
+    }
+    else
+    {
+        refmat = cvGetCols( srcmat, &refmathdr, start_col, end_col );
+        cvCopy( refmat, dstmat );
+    }
+    __CV_END__;
+}
+
+/*
+CVAPI(void) cvSetCols( const CvArr* subarr, CvArr* arr, int start_col, int end_col )
+{
+CV_FUNCNAME( "cvSetCols" );
+    __CV_BEGIN__;
+    int col, row, elem;
+    int coi = 0;
+    CvMat* submat = (CvMat*)subarr, submatstub;
+    CvMat* mat = (CvMat*)arr, matstub;
+
+    if( !CV_IS_MAT(submat) )
+    {
+        CV_CALL( submat = cvGetMat( submat, &submatstub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(mat) )
+    {
+        CV_CALL( mat = cvGetMat( mat, &matstub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    CV_ARE_TYPES_EQ( submat, mat );
+    CV_ARE_DEPTHS_EQ( submat, mat );
+    CV_ASSERT( 0 <= start_col && end_col <= mat->cols );
+    CV_ASSERT( end_col - start_col == submat->cols );
+    CV_ASSERT( mat->rows == submat->rows );
+
+    int elem_size = CV_ELEM_SIZE( mat->type );
+    for( col = start_col; col < end_col; col++ )
+    {
+        for( row = 0; row < mat->rows; row++ )
+        {
+            for( elem = 0; elem < elem_size; elem++ )
+            {
+                (mat->data.ptr + ((size_t)mat->step * row) + (elem_size * col))[elem] = 
+                    (submat->data.ptr + ((size_t)submat->step * row) + (elem_size * (col - start_col)))[elem];
+            }
+        }
+    }
+    __CV_END__;
+}
+*/
+
+/**
+ * Set array col
+ *
+ * #define cvSetCol(src, dst, col) (cvSetCols( src, dst, col, col + 1))
+ */
+CV_INLINE void cvSetCol( const CvArr* src, CvArr* dst, int col )
+{
+    cvSetCols( src, dst, col, col+1 );
+}
+
+
+#endif
+
diff --git a/3rdparty/include/opencvx/cvsetrow.h b/3rdparty/include/opencvx/cvsetrow.h
new file mode 100644
index 0000000..c8aaf61
--- /dev/null
+++ b/3rdparty/include/opencvx/cvsetrow.h
@@ -0,0 +1,147 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_SETROW_INCLUDED
+#define CV_SETROW_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+
+// CVAPI(void) cvSetRows( const CvArr* src, CvArr* dst,
+//                 int start_row, int end_row, int delta_row = 1 );
+// CV_INLINE void cvSetRow( const CvArr* src, CvArr* dst, int row );
+
+/**
+ * Set array row or row span
+ *
+ * Following code is faster than using this function because it does not 
+ * require cvCopy()
+ * @code
+ * CvMat* submat, submathdr;
+ * submat = cvGetRows( mat, &submathdr, start_row, end_row, delta_row );
+ * // Write on submat
+ * @endcode
+ *
+ * @param src       Source array
+ * @param dst       Target array. Either of array must be size of setting rows.
+ * @param start_row Zero-based index of the starting row (inclusive) of the span. 
+ * @param end_row   Zero-based index of the ending row (exclusive) of the span. 
+ * @param [delta_row = 1]
+ *                  Index step in the row span. That is, the function extracts every 
+ *                  delta_row-th row from start_row and up to (but not including) end_row. 
+ * @return CVAPI(void)
+ * @see cvSetRow( src, dst, row ) // cvSetRows( src, dst, row, row + 1 )
+ */
+CVAPI(void) cvSetRows( const CvArr* src, CvArr* dst,
+                       int start_row, int end_row, int delta_row CV_DEFAULT(1) )
+{
+    int coi;
+    CvMat *srcmat = (CvMat*)src, srcmatstub;
+    CvMat *dstmat = (CvMat*)dst, dstmatstub;
+    CvMat *refmat, refmathdr;
+    int rows;
+    CV_FUNCNAME( "cvSetRows" );
+    __CV_BEGIN__;
+    if( !CV_IS_MAT(dstmat) )
+    {
+        CV_CALL( dstmat = cvGetMat( dstmat, &dstmatstub, &coi ) );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(srcmat) )
+    {
+        CV_CALL( srcmat = cvGetMat( srcmat, &srcmatstub, &coi ) );
+        if (coi != 0) CV_Error(CV_BadCOI, "");//CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    rows = cvFloor( ( end_row - start_row ) / delta_row );
+    CV_ASSERT( srcmat->rows == rows || dstmat->rows == rows );
+    if( srcmat->rows == rows )
+    {
+        refmat = cvGetRows( dstmat, &refmathdr, start_row, end_row, delta_row );
+        cvCopy( srcmat, refmat );
+    }
+    else
+    {
+        refmat = cvGetRows( srcmat, &refmathdr, start_row, end_row, delta_row );
+        cvCopy( refmat, dstmat );
+    }
+    __CV_END__;
+}
+/*
+CVAPI(void) cvSetRows( const CvArr* subarr, CvArr* arr, int start_row, int end_row )
+{
+    CV_FUNCNAME( "cvSetRows" );
+    __CV_BEGIN__;
+    int row, col, elem;
+    int coi = 0;
+    CvMat* submat = (CvMat*)subarr, submatstub;
+    CvMat* mat = (CvMat*)arr, matstub;
+
+    if( !CV_IS_MAT(submat) )
+    {
+        CV_CALL( submat = cvGetMat( submat, &submatstub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    if( !CV_IS_MAT(mat) )
+    {
+        CV_CALL( mat = cvGetMat( mat, &matstub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+    }
+    CV_ARE_TYPES_EQ( submat, mat ); // cxtypes.h
+    //CV_ARE_DEPTHS_EQ( submat, mat );
+    //CV_ARE_CNS_EQ( submat, mat );
+    //CV_ARE_SIZES_EQ( submat, mat );
+    CV_ASSERT( 0 <= start_row && end_row <= mat->rows );
+    CV_ASSERT( end_row - start_row == submat->rows );
+    CV_ASSERT( mat->cols == submat->cols );
+
+    int elem_size = CV_ELEM_SIZE( mat->type ); 
+    // FYI: CV_ELEM_SIZE returns not number_of_channels, but number_of_uchar*
+    // nChannels = CV_MAT_CN( mat->type ); refer cxarray.cpp#cvRawDataToScalar to separate into channel values
+    for( row = start_row; row < end_row; row++ )
+    {
+        for( col = 0; col < mat->cols; col++ )
+        {
+            //cvSet2D( mat, row, col, cvGet2D( submat, row - start_row, col ) );
+            for( elem = 0; elem < elem_size; elem++ )
+            {
+                // cvPtr2D( mat, row, col )[elem] = cvPtr2D( submat, row - start_row, col )[elem];
+                (mat->data.ptr + ((size_t)mat->step * row) + (elem_size * col))[elem] = 
+                    (submat->data.ptr + ((size_t)submat->step * (row - start_row)) + (elem_size * col))[elem];
+            }
+        }
+    }
+    __CV_END__;
+}
+*/
+
+/**
+ * Set array row
+ *
+ * #define cvSetRow(src, dst, row) (cvSetRows( src, dst, row, row + 1))
+ */
+CV_INLINE void cvSetRow( const CvArr* src, CvArr* dst, int row )
+{
+    cvSetRows( src, dst, row, row+1 );
+}
+
+#endif
diff --git a/3rdparty/include/opencvx/cvskincolorcbcr.h b/3rdparty/include/opencvx/cvskincolorcbcr.h
new file mode 100644
index 0000000..2682c6d
--- /dev/null
+++ b/3rdparty/include/opencvx/cvskincolorcbcr.h
@@ -0,0 +1,136 @@
+/** @file */
+/* Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+ *
+ * The program is free to use for non-commercial academic purposes,
+ * but for course works, you must understand what is going inside to 
+ * use. The program can be used, modified, or re-distributed for any 
+ * purposes only if you or one of your group understand not only 
+ * programming codes but also theory and math behind (if any). 
+ * Please contact the authors if you are interested in using the 
+ * program without meeting the above conditions.
+*/
+#ifndef CV_SKINCOLOR_CBCR_INCLUDED
+#define CV_SKINCOLOR_CBCR_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+/**
+ * Skin Color Detection in (Cb, Cr) space by [1][2]
+ *
+ * @param img  Input image
+ * @param mask Generated mask image. 1 for skin and 0 for others
+ * @param dist The distortion valued array rather than mask if you want
+ * 
+ * References)
+ * @verbatim
+ *  [1] R.L. Hsu, M. Abdel-Mottaleb, A.K. Jain, "Face Detection in Color Images," 
+ *  IEEE Transactions on Pattern Analysis and Machine Intelligence ,vol. 24, no. 5,  
+ *  pp. 696-706, May, 2002. (Original)
+ *  [2] P. Peer, J. Kovac, J. and F. Solina, �Human skin colour
+ *  clustering for face detection�, In: submitted to EUROCON –
+ *  International Conference on Computer as a Tool , 2003. (Tuned)
+ * @endverbatim
+*/
+CVAPI(void) cvSkinColorCrCb( const IplImage* _img, IplImage* mask, CvArr* _dist CV_DEFAULT(NULL) )
+{
+    CV_FUNCNAME( "cvSkinColorCbCr" );
+    __CV_BEGIN__;
+    int width  = _img->width;
+    int height = _img->height;
+    CvMat* dist = (CvMat*)_dist, diststub;
+    int coi = 0;
+    IplImage* img;
+
+    double Wcb = 46.97;
+    double WLcb = 23;
+    double WHcb = 14;
+    double Wcr = 38.76;
+    double WLcr = 20;
+    double WHcr = 10;
+    double Kl = 125;
+    double Kh = 188;
+    double Ymin = 16;
+    double Ymax = 235;
+    double alpha = 0.56;
+
+    double Cx = 109.38;
+    double Cy = 152.02;
+    double theta = 2.53; 
+    double ecx = 1.6;
+    double ecy = 2.41;
+    double a = 25.39;
+    double b = 14.03;
+
+    CV_ASSERT( width == mask->width && height == mask->height );
+    CV_ASSERT( _img->nChannels >= 3 && mask->nChannels == 1 );
+
+    if( dist && !CV_IS_MAT(dist) )
+    {
+        CV_CALL( dist = cvGetMat( dist, &diststub, &coi ) );
+        if (coi != 0) CV_ERROR_FROM_CODE(CV_BadCOI);
+        CV_ASSERT( width == dist->cols && height == dist->rows );
+        CV_ASSERT( CV_MAT_TYPE(dist->type) == CV_32FC1 || CV_MAT_TYPE(dist->type) == CV_64FC1 );
+    }
+
+    img = cvCreateImage( cvGetSize(_img), IPL_DEPTH_8U, 3 );
+    cvCvtColor( _img, img, CV_BGR2YCrCb );        
+
+    cvSet( mask, cvScalarAll(0) );
+    for( int row = 0; row < height; row++ )
+    {
+        for( int col = 0; col < width; col++ )
+        {
+            uchar Y  = img->imageData[img->widthStep * row + col * 3];
+            uchar Cr = img->imageData[img->widthStep * row + col * 3 + 1];
+            uchar Cb = img->imageData[img->widthStep * row + col * 3 + 2];
+
+            double Cb_Y, Cr_Y, Wcb_Y, Wcr_Y;
+            if( Y < Kl )
+                Wcb_Y = WLcb + (Y - Ymin) * (Wcb - WLcb) / (Kl - Ymin);
+            else if( Kh < Y )
+                Wcb_Y = WHcb + (Ymax - Y) * (Wcb - WHcb) / (Ymax - Kh);
+            else
+                Wcb_Y = Wcb;
+
+            if( Y < Kl )
+                Wcr_Y = WLcr + (Y - Ymin) * (Wcr - WLcr) / (Kl - Ymin);
+            else if( Kh < Y )
+                Wcr_Y = WHcr + (Ymax - Y) * (Wcr - WHcr) / (Ymax - Kh);
+            else
+                Wcr_Y = Wcr;
+
+            if( Y < Kl )
+                Cb_Y = 108 + (Kl - Y) * 10 / ( Kl - Ymin );
+            else if( Kh < Y )
+                Cb_Y = 108 + (Y - Kh) * 10 / ( Ymax - Kh );
+            else
+                Cb_Y = 108;
+
+            if( Y < Kl )
+                Cr_Y = 154 - (Kl - Y) * 10 / ( Kl - Ymin );
+            else if( Kh < Y )
+                Cr_Y = 154 + (Y - Kh) * 22 / ( Ymax - Kh );
+            else
+                Cr_Y = 108;
+
+            double x = cos(theta) * (Cb - Cx) + sin(theta) * (Cr - Cy);
+            double y = -1 * sin(theta) * (Cb - Cx) + cos(theta) * (Cr - Cy);
+
+            double distort = pow(x-ecx,2) / pow(a,2) + pow(y-ecy,2) / pow(b,2);
+            if( dist )
+                cvmSet( dist, row, col, distort );
+
+            if( distort <= 1 )
+            {
+                mask->imageData[mask->widthStep * row + col] = 1;
+            }
+        }
+    }
+    __CV_END__;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvskincolorgauss.h b/3rdparty/include/opencvx/cvskincolorgauss.h
new file mode 100644
index 0000000..715f169
--- /dev/null
+++ b/3rdparty/include/opencvx/cvskincolorgauss.h
@@ -0,0 +1,94 @@
+/** @file */
+/* cvskincolorgauss.h
+//
+// Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+//
+// The program is free to use for non-commercial academic purposes,
+// but for course works, you must understand what is going inside to 
+// use. The program can be used, modified, or re-distributed for any 
+// purposes only if you or one of your group understand not only 
+// programming codes but also theory and math behind (if any). 
+// Please contact the authors if you are interested in using the 
+// program without meeting the above conditions.
+*/
+#ifndef CV_SKINCOLOR_GAUSS_INCLUDED
+#define CV_SKINCOLOR_GAUSS_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+/**
+// Skin Color Detection with a Gaussian model
+//
+// @param img    Input image
+// @param mask   Generated mask image. 1 for skin and 0 for others
+// @param factor A factor to determine threshold value.
+//               The default threshold is -2.5 * sigma and 2.5 * sigma which
+//               supports more than 95% region of Gaussian PDF. 
+// 
+// References)
+// @verbatim
+//  [1] @INPROCEEDINGS{Yang98skin-colormodeling,
+//     author = {Jie Yang and Weier Lu and Alex Waibel},
+//     title = {Skin-color modeling and adaptation},
+//     booktitle = {},
+//     year = {1998},
+//     pages = {687--694}
+//  }
+//  [2] C. Stauffer, and W. E. L. Grimson, “Adaptive
+//  background mixture models for real-time tracking�, In:
+//  Proceedings 1999 IEEE Computer Society Conference
+//  on Computer Vision and Pattern Recognition (Cat. No
+//  PR00149), IEEE Comput. Soc. Part vol. 2, 1999.
+// @endverbatim
+*/
+CVAPI(void) cvSkinColorGauss( const IplImage* _img, IplImage* mask, double factor CV_DEFAULT(2.5) )
+{
+    double mean[] = { 188.9069, 142.9157, 115.1863 };
+    double sigma[] = { 58.3542, 45.3306, 43.397 };
+    double subdata[3];
+
+    IplImage* img = cvCreateImage( cvGetSize(_img), _img->depth, _img->nChannels );
+    cvCvtColor( _img, img, CV_BGR2RGB );
+    CvMat* mat = cvCreateMat( img->height, img->width, CV_64FC3 );
+    cvConvert( img, mat );
+
+    for( int i = 0; i < mat->rows; i++ )
+    {
+        for( int j = 0; j < mat->cols; j++ )
+        {
+            bool skin;
+            CvScalar data = cvGet2D( mat, i, j );
+            subdata[0] = data.val[0] - mean[0];
+            subdata[1] = data.val[1] - mean[1];
+            subdata[2] = data.val[2] - mean[2];
+            //if( CV_SKINCOLOR_GAUSS_CUBE ) // cube-like judgement
+            //{
+                skin = 1;
+                // 2 * sigma => 95% confidence region, 2.5 gives more
+                skin &= ( - factor *sigma[0] < subdata[0] && subdata[0] <  factor *sigma[0] );
+                skin &= ( - factor *sigma[1] < subdata[1] && subdata[1] <  factor *sigma[1] );
+                skin &= ( - factor *sigma[2] < subdata[2] && subdata[2] <  factor *sigma[2] );
+            //}
+            //else if( CV_SKINCOLOR_GAUSS_ELLIPSOID ) // ellipsoid-like judgement
+            //{
+            //    double val = 0;
+            //    val += pow( subdata[0] / sigma[0] , 2);
+            //    val += pow( subdata[1] / sigma[1] , 2);
+            //    val += pow( subdata[2] / sigma[2] , 2);
+            //    skin = ( val <= pow(  factor , 2 ) );
+            //}
+            //else if( CV_SKINCOLOR_GAUSS_LIKELIHOODRATIO ) // likelihood-ratio test (need data for non-skin gaussain model)
+            //{
+            //}
+            mask->imageData[mask->widthStep * i + j] = skin;
+        }
+    }
+    cvReleaseMat( &mat );
+    cvReleaseImage( &img );
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvskincolorgmm.h b/3rdparty/include/opencvx/cvskincolorgmm.h
new file mode 100644
index 0000000..9779ece
--- /dev/null
+++ b/3rdparty/include/opencvx/cvskincolorgmm.h
@@ -0,0 +1,173 @@
+/** @file */
+/* cvskincolorgmm.h
+//
+// Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+//
+// The program is free to use for non-commercial academic purposes,
+// but for course works, you must understand what is going inside to 
+// use. The program can be used, modified, or re-distributed for any 
+// purposes only if you or one of your group understand not only 
+// programming codes but also theory and math behind (if any). 
+// Please contact the authors if you are interested in using the 
+// program without meeting the above conditions.
+*/
+#ifndef CV_SKINCOLOR_GMM_INCLUDED
+#define CV_SKINCOLOR_GMM_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvxmat.h"
+#include "cvgmmpdf.h"
+
+/**
+// Skin Color Detection with GMM model
+//
+// @param img        Input image
+// @param mask       Generated mask image. 1 for skin and 0 for others
+// @param threshold  Threshold value for likelihood-ratio test
+//     The preferrable threshold = (number of other pixels / number of skin pixels)
+//     You may guess this value by looking your image. 
+//     You may reduce this number when you can allow larger false alaram rate which
+//     results in to reduce reduce miss detection rate.
+// @param probs      The likelihood-ratio valued array rather than mask if you want
+// @todo Store GMM probabilities as a hash table having 255*255*255 entries.
+//       Then, no more computation is required and the computation finishes immediately.
+// 
+// References)
+// @verbatim
+//  @article{606260,
+//      author = {Michael J. Jones and James M. Rehg},
+//      title = {Statistical color models with application to skin detection},
+//      journal = {Int. J. Comput. Vision},
+//      volume = {46},
+//      number = {1},
+//      year = {2002},
+//      issn = {0920-5691},
+//      pages = {81--96},
+//      doi = {http://dx.doi.org/10.1023/A:1013200319198},
+//      publisher = {Kluwer Academic Publishers},
+//      address = {Hingham, MA, USA},
+//  }
+// @endverbatim
+*/
+CVAPI(void) cvSkinColorGmm( const IplImage* _img, IplImage* mask, 
+                            double threshold CV_DEFAULT(1.0), 
+                            IplImage* probs CV_DEFAULT(NULL) )
+{
+    CV_FUNCNAME( "cvSkinColorGmm" );
+    __CV_BEGIN__;
+    const int N = _img->height * _img->width;
+    const int D = 3;
+    const int K = 16;
+    IplImage* img;
+
+    double skin_mean[] = {
+        73.5300, 249.7100, 161.6800, 186.0700, 189.2600, 247.0000, 150.1000, 206.8500, 212.7800, 234.8700, 151.1900, 120.5200, 192.2000, 214.2900,  99.5700, 238.8800,
+        29.9400, 233.9400, 116.2500, 136.6200,  98.3700, 152.2000,  72.6600, 171.0900, 152.8200, 175.4300,  97.7400,  77.5500, 119.6200, 136.0800,  54.3300, 203.0800,
+        17.7600, 217.4900,  96.9500, 114.4000,  51.1800,  90.8400,  37.7600, 156.3400, 120.0400, 138.9400,  74.5900,  59.8200,  82.3200,  87.2400,  38.0600, 176.9100 
+    };
+    double skin_cov[] = { // only diagonal components
+        765.4000,  39.9400, 291.0300, 274.9500, 633.1800,  65.2300, 408.6300, 530.0800, 160.5700, 163.8000, 425.4000, 330.4500, 152.7600, 204.9000, 448.1300, 178.3800,
+        121.4400, 154.4400,  60.4800,  64.6000, 222.4000, 691.5300, 200.7700, 155.0800,  84.5200, 121.5700,  73.5600,  70.3400,  92.1400, 140.1700,  90.1800, 156.2700,
+        112.8000, 396.0500, 162.8500, 198.2700, 250.6900, 609.9200, 257.5700, 572.7900, 243.9000, 279.2200, 175.1100, 151.8200, 259.1500, 270.1900, 151.2900, 404.9900
+    };
+    double skin_weight[] = {
+        0.0294, 0.0331, 0.0654, 0.0756, 0.0554, 0.0314, 0.0454, 0.0469, 0.0956, 0.0763, 0.1100, 0.0676, 0.0755, 0.0500, 0.0667, 0.0749
+    };
+    double nonskin_mean[] = {
+        254.3700, 9.3900,  96.5700, 160.4400,  74.9800, 121.8300, 202.1800, 193.0600,  51.8800,  30.8800,  44.9700, 236.0200, 207.8600,  99.8300, 135.0600, 135.9600,
+        254.4100, 8.0900,  96.9500, 162.4900,  63.2300,  60.8800, 154.8800, 201.9300,  57.1400,  26.8400,  85.9600, 236.2700, 191.2000, 148.1100, 131.9200, 103.8900,
+        253.8200, 8.5200,  91.5300, 159.0600,  46.3300,  18.3100,  91.0400, 206.5500,  61.5500,  25.3200, 131.9500, 230.7000, 164.1200, 188.1700, 123.1000,  66.8800  
+    };
+    double nonskin_cov[] = { // only diagonal components
+        2.77,  46.84, 280.69, 355.98, 414.84, 2502.2, 957.42, 562.88, 344.11, 222.07, 651.32, 225.03, 494.04, 955.88, 350.35, 806.44,
+        2.81,  33.59, 156.79, 115.89, 245.95, 1383.5, 1766.9, 190.23, 191.77, 118.65, 840.52, 117.29, 237.69, 654.95,  130.3,  642.2,
+        5.46,  32.48, 436.58, 591.24, 361.27, 237.18, 1582.5, 447.28,  433.4, 182.41, 963.67, 331.95, 533.52,  916.7, 388.43, 350.36
+    };
+    double nonskin_weight[] = {
+        0.0637, 0.0516, 0.0864, 0.0636, 0.0747, 0.0365, 0.0349, 0.0649, 0.0656, 0.1189, 0.0362, 0.0849, 0.0368, 0.0389, 0.0943, 0.0477
+    };
+
+    CV_ASSERT( _img->width == mask->width && _img->height == mask->height );
+    CV_ASSERT( _img->nChannels >= 3 && mask->nChannels == 1 );
+    if( probs )
+    {
+        CV_ASSERT( _img->width == probs->width && _img->height == probs->height );
+        CV_ASSERT( probs->nChannels == 1 );
+    }
+
+    img = cvCreateImage( cvGetSize(_img), _img->depth, _img->nChannels );
+    cvCvtColor( _img, img, CV_BGR2RGB );
+
+    // transform to CvMat
+    CvMat SkinMeans = cvMat( D, K, CV_64FC1, skin_mean );
+    CvMat SkinWeights = cvMat( 1, K, CV_64FC1, skin_weight );
+    CvMat **SkinCovs = (CvMat**)cvAlloc( K * sizeof( CvMat* ) );
+    for( int k = 0; k < K; k++ )
+    {
+        SkinCovs[k] = cvCreateMat( D, D, CV_64FC1 );
+        cvZero( SkinCovs[k] );
+        for( int i = 0; i < D; i++ )
+        {
+            cvmSet( SkinCovs[k], i, i, skin_cov[K * i + k] );
+        }
+    }
+
+    // transform to CvMat
+    CvMat NonSkinMeans = cvMat( D, K, CV_64FC1, nonskin_mean );
+    CvMat NonSkinWeights = cvMat( 1, K, CV_64FC1, nonskin_weight );
+    CvMat **NonSkinCovs = (CvMat**)cvAlloc( K * sizeof( CvMat* ) );
+    for( int k = 0; k < K; k++ )
+    {
+        NonSkinCovs[k] = cvCreateMat( D, D, CV_64FC1 );
+        cvZero( NonSkinCovs[k] );
+        for( int i = 0; i < D; i++ )
+        {
+            cvmSet( NonSkinCovs[k], i, i, nonskin_cov[K * i + k] );
+        }
+    }
+
+    // reshape IplImage to D (colors) x N matrix of CV_64FC1
+    CvMat *Mat = cvCreateMat( D, N, CV_64FC1 );
+    CvMat *PreMat, hdr;
+    PreMat = cvCreateMat( img->height, img->width, CV_64FC3 );
+    cvConvert( img, PreMat ); 
+    cvTranspose( cvReshape( PreMat, &hdr, 1, N ), Mat );
+    cvReleaseMat( &PreMat );
+
+    // GMM PDF
+    CvMat *SkinProbs = cvCreateMat(1, N, CV_64FC1);
+    CvMat *NonSkinProbs = cvCreateMat(1, N, CV_64FC1);
+    
+    cvMatGmmPdf( Mat, &SkinMeans, SkinCovs, &SkinWeights, SkinProbs, true);
+    cvMatGmmPdf( Mat, &NonSkinMeans, NonSkinCovs, &NonSkinWeights, NonSkinProbs, true);
+
+    // Likelihood-ratio test
+    CvMat *Mask = cvCreateMat( 1, N, CV_8UC1 );
+    cvDiv( SkinProbs, NonSkinProbs, SkinProbs );
+    cvThreshold( SkinProbs, Mask, threshold, 1, CV_THRESH_BINARY );
+    cvConvert( cvReshape( Mask, &hdr, 1, img->height ), mask );
+    
+    if( probs ) cvConvert( cvReshape( SkinProbs, &hdr, 1, img->height ), probs );
+
+    for( int k = 0; k < K; k++ )
+    {
+        cvReleaseMat( &SkinCovs[k] );
+        cvReleaseMat( &NonSkinCovs[k] );
+    }
+    cvFree( &SkinCovs );
+    cvFree( &NonSkinCovs );
+
+    cvReleaseMat( &SkinProbs );
+    cvReleaseMat( &NonSkinProbs );
+    cvReleaseMat( &Mask );
+    cvReleaseImage( &img );
+
+    __CV_END__;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvskincolorpeer.h b/3rdparty/include/opencvx/cvskincolorpeer.h
new file mode 100644
index 0000000..efd823d
--- /dev/null
+++ b/3rdparty/include/opencvx/cvskincolorpeer.h
@@ -0,0 +1,60 @@
+/** @file */
+/*
+// Copyright (c) 2008, Naotoshi Seo. All rights reserved.
+//
+// The program is free to use for non-commercial academic purposes,
+// but for course works, you must understand what is going inside to 
+// use. The program can be used, modified, or re-distributed for any 
+// purposes only if you or one of your group understand not only 
+// programming codes but also theory and math behind (if any). 
+// Please contact the authors if you are interested in using the 
+// program without meeting the above conditions.
+*/
+#ifndef CV_SKINCOLOR_PEER_INCLUDED
+#define CV_SKINCOLOR_PEER_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+using namespace std;
+
+/**
+// Skin Color Detection by Peer, et.al [1]
+//
+// @param img Input image
+// @param mask Generated mask image. 1 for skin and 0 for others
+// 
+// References)
+// @verbatim
+//  [1] P. Peer, J. Kovac, J. and F. Solina, �Human skin colour
+//  clustering for face detection�, In: submitted to EUROCON –
+//  International Conference on Computer as a Tool , 2003.
+//     (R>95)^(G>40)^(B>20)^
+//     (max{R,G,B}-min{R,G,B}>15)^
+//     (|R -G|>15)^(R>G)^(R>B)
+// @endverbatim
+*/
+CVAPI(void) cvSkinColorPeer( const IplImage* img, IplImage* mask )
+{
+    int x, y;
+    uchar r, g, b;
+    cvSet( mask, cvScalarAll(0) );
+    for( y = 0; y < img->height; y++ )
+    {
+        for( x = 0; x < img->width; x++ )
+        {
+            b = img->imageData[img->widthStep * y + x * 3];
+            g = img->imageData[img->widthStep * y + x * 3 + 1];
+            r = img->imageData[img->widthStep * y + x * 3 + 2];
+
+            if( r > 95 && g > 40 && b > 20 && 
+                MAX( r, MAX( g, b ) ) - MIN( r, MIN( g, b ) ) > 15 &&
+                abs( r - g ) > 15 && r > g && r > b )
+            {
+                mask->imageData[mask->widthStep * y + x] = 1;
+            }
+        }
+    }
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvwaitfps.h b/3rdparty/include/opencvx/cvwaitfps.h
new file mode 100644
index 0000000..b1aaa9f
--- /dev/null
+++ b/3rdparty/include/opencvx/cvwaitfps.h
@@ -0,0 +1,68 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_WAITFPS_INCLUDED
+#define CV_WAITFPS_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include <time.h>
+
+/**
+ * Wait amount of seconds per frame totally. 
+ *
+ * If processing time exceeded the seconds per frame, 
+ * no wait occurs and negative waiting time is returned.
+ *
+ * Example)
+ * @code
+ * // #include <time.h>
+ * clock_t start = clock();
+ * fps = cvGetCaptureProperty(video, CV_CAP_PROP_FPS);
+ * // process
+ * cvWaitFps( fps, start );
+ * @endcode
+ *
+ * @param fps         Frame per second. fps video property
+ * @param start       Start time
+ * @return            Wait time
+ */
+clock_t cvWaitFps( double fps, clock_t start CV_DEFAULT(0) )
+{
+    clock_t msec_per_frame = (clock_t)( 1.0 / (double) fps * 1000 );
+    clock_t current = clock();
+    clock_t wait_time;
+    if( start == 0 ) {
+        wait_time = msec_per_frame;
+    } else {
+        wait_time = msec_per_frame - (current - start);
+    }
+    //while( clock() - current < wait_time ) {}
+    cvWaitKey( wait_time > 0 ? wait_time : 1 );
+    return wait_time;
+}
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvxmat.h b/3rdparty/include/opencvx/cvxmat.h
new file mode 100644
index 0000000..5f3b448
--- /dev/null
+++ b/3rdparty/include/opencvx/cvxmat.h
@@ -0,0 +1,38 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_MATEXT_INCLUDED
+#define CV_MATEXT_INCLUDED
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+
+#include "cvmatelemcn.h"
+#include "cvprintmat.h"
+#include "cvsetrow.h"
+#include "cvsetcol.h"
+#include "cvcat.h"
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvxmorphological.h b/3rdparty/include/opencvx/cvxmorphological.h
new file mode 100644
index 0000000..ab36d5e
--- /dev/null
+++ b/3rdparty/include/opencvx/cvxmorphological.h
@@ -0,0 +1,36 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_MORPHOLOGICAL_INCLUDED
+#define CV_MORPHOLOGICAL_INCLUDED
+
+
+#include "cv.h"
+#include "cvaux.h"
+
+#include "cvopening.h"
+#include "cvclosing.h"
+#include "cvsandwichfill.h"
+
+
+#endif
diff --git a/3rdparty/include/opencvx/cvxrectangle.h b/3rdparty/include/opencvx/cvxrectangle.h
new file mode 100644
index 0000000..65d4177
--- /dev/null
+++ b/3rdparty/include/opencvx/cvxrectangle.h
@@ -0,0 +1,48 @@
+/** @file */
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)umd.edu>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef CV_RECTANGLE_INCLUDED
+#define CV_RECTANGLE_INCLUDED
+
+
+#include "cv.h"
+#include "cvaux.h"
+#include "cxcore.h"
+#include "highgui.h"
+#include <stdio.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+using namespace std;
+
+#include "cvrect32f.h"
+#include "cvcreateaffine.h"
+#include "cvdrawrectangle.h"
+#include "cvcropimageroi.h"
+#include "cvpointnorm.h"
+#include "cvrectpoints.h"
+#include "cvpointrecttest.h"
+#include "cvinvaffine.h"
+#include "cvcreateaffineimage.h"
+#include "cvputimageroi.h"
+
+#endif
diff --git a/3rdparty/include/opencvx/cvxskincolor.h b/3rdparty/include/opencvx/cvxskincolor.h
new file mode 100644
index 0000000..0e88868
--- /dev/null
+++ b/3rdparty/include/opencvx/cvxskincolor.h
@@ -0,0 +1,41 @@
+/** @file */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_SKINCOLOR_INCLUDED
+#define CV_SKINCOLOR_INCLUDED
+
+
+#include "cv.h"
+#include "cvaux.h"
+#include <stdio.h>
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "cvskincolorpeer.h"
+#include "cvskincolorgmm.h"
+#include "cvskincolorgauss.h"
+#include "cvskincolorcbcr.h"
+
+
+#endif
diff --git a/3rdparty/include/opencvx/mexx.h b/3rdparty/include/opencvx/mexx.h
new file mode 100644
index 0000000..9db04ca
--- /dev/null
+++ b/3rdparty/include/opencvx/mexx.h
@@ -0,0 +1,202 @@
+/** @file
+* Matlab C Library (MEX) eXtension
+*     verified Matlab 2007b
+*/
+/* The MIT License
+* 
+* Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+#ifndef MXX_INCLUDED
+#define MXX_INCLUDED
+
+
+#include "mat.h"
+#include "matrix.h"
+
+/**
+* definitions 
+*/
+CVAPI(void) mxPrintMatrix(const mxArray* mxarr);
+CVAPI(void) mxSetCol(mxArray* X, mxArray* X1, int col);
+CVAPI(void) mxSetRow(mxArray* X, mxArray* X1, int row);
+mxArray* mxGetCol(mxArray* X, int col);
+mxArray* mxGetRow(mxArray* X, int row);
+
+
+/**
+* Get a pointer to (row,col)
+*
+* @param mxArray *X 2-D Array
+* @param type       object type such as double, uint
+* @param int row
+* @param int col
+*/
+#define MX_ARRAY_ELEM(X, type, row, col) (((type*)mxGetPr(X))[mxGetM(X)*col+row])
+
+/**
+* Print mxArray 
+*
+* Currently support only uint8, float, double
+* Currently support only upto 3-D. 
+*
+* @param mxArray* mxarr
+* @return CVAPI(void)
+*/
+CVAPI(void) mxPrintMatrix(const mxArray* mxarr)
+{
+    int nDim;
+    const mwSize *dims;
+    int row, col, ch, nChannel = 1;
+    mxClassID classid;
+    classid = mxGetClassID(mxarr);
+    nDim = mxGetNumberOfDimensions(mxarr);
+    dims = mxGetDimensions(mxarr);
+    if (nDim >= 3) nChannel = dims[2];
+
+    if (classid == mxUINT8_CLASS) {
+        unsigned char *mxData = (unsigned char*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    printf("%d ", mxData[
+                        dims[0] * dims[1] * ch + dims[0] * col + row]);
+                }
+                printf("\n");
+            }
+            printf("\n");
+        }
+    } else if (classid == mxDOUBLE_CLASS) {
+        double *mxData = (double*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    printf("%lf ", mxData[
+                        dims[0] * dims[1] * ch + dims[0] * col + row]);
+                }
+                printf("\n");
+            }
+            printf("\n");
+        }
+    } else if (classid == mxSINGLE_CLASS) {
+        float *mxData = (float*)mxGetData(mxarr);
+        for (ch = 0; ch < nChannel; ch++) {
+            for (row = 0; row < dims[0]; row++) {
+                for (col = 0; col < dims[1]; col++) {
+                    printf("%lf ", mxData[
+                        dims[0] * dims[1] * ch + dims[0] * col + row]);
+                }
+                printf("\n");
+            }
+            printf("\n");
+        }
+    }
+}
+
+/**
+* Set a column
+*
+* @param mxArray *X 2-D Array
+* @param int col
+* @return mxArray*
+*/
+CVAPI(void) mxSetCol(mxArray* X, mxArray* X1, int col)
+{
+    int nRow = mxGetM(X);
+    int nCol = mxGetN(X);
+    int row = 0;
+    double *Xdata, *X1data;
+    Xdata  = (double*)mxGetPr(X);
+    X1data = (double*)mxGetPr(X1);
+    for (row = 0; row < nRow; row++) {
+        Xdata[nRow * col + row] =  X1data[row];
+    }
+}
+
+/**
+* Set a row
+*
+* @param mxArray *X 2-D Array
+* @param int col
+* @return mxArray*
+*/
+CVAPI(void) mxSetRow(mxArray* X, mxArray* X1, int row)
+{
+    int nRow = mxGetM(X);
+    int nCol = mxGetN(X);
+    int col = 0;
+    double *Xdata, *X1data;
+    Xdata  = (double*)mxGetPr(X);
+    X1data = (double*)mxGetPr(X1);
+    for (col = 0; col < nCol; col++) {
+        Xdata[nRow * col + row] = X1data[col];
+    }
+}
+
+/**
+* Get a column
+*
+* @param mxArray *X 2-D Array
+* @param int col
+* @return mxArray*
+*/
+mxArray* mxGetCol(mxArray* X, int col)
+{
+    int nRow = mxGetM(X);
+    int nCol = mxGetN(X);
+    int row = 0;
+    mxArray *X1;
+    double *Xdata, *X1data;
+    if(col > nCol) return NULL;
+    X1     = mxCreateDoubleMatrix(nRow, 1, mxREAL);
+    Xdata  = (double*)mxGetPr(X);
+    X1data = (double*)mxGetPr(X1);
+    for (row = 0; row < nRow; row++) {
+        X1data[row] = Xdata[nRow * col + row];
+    }
+    return X1;
+}
+
+/**
+* Get a row
+*
+* @param mxArray *X 2-D Array
+* @param int row
+* @return mxArray*
+*/
+mxArray* mxGetRow(mxArray* X, int row)
+{
+    int nRow = mxGetM(X);
+    int nCol = mxGetN(X);
+    int col = 0;
+    mxArray *X1;
+    double *Xdata, *X1data;
+    if(row > nRow) return NULL;
+    X1     = mxCreateDoubleMatrix(1, nCol, mxREAL);
+    Xdata  = (double*)mxGetPr(X);
+    X1data = (double*)mxGetPr(X1);
+    for (col = 0; col < nCol; col++) {
+        X1data[col] = Xdata[nRow * col + row];
+    }
+    return X1;
+}
+
+
+#endif
diff --git a/3rdparty/lib_win64/ffmpeg/avcodec-57.def b/3rdparty/lib_win64/ffmpeg/avcodec-57.def
new file mode 100644
index 0000000..4819285
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/avcodec-57.def
@@ -0,0 +1,207 @@
+EXPORTS
+    audio_resample
+    audio_resample_close
+    av_audio_convert
+    av_audio_convert_alloc
+    av_audio_convert_free
+    av_audio_resample_init
+    av_bitstream_filter_close
+    av_bitstream_filter_filter
+    av_bitstream_filter_init
+    av_bitstream_filter_next
+    av_codec_ffversion DATA
+    av_codec_get_chroma_intra_matrix
+    av_codec_get_codec_descriptor
+    av_codec_get_codec_properties
+    av_codec_get_lowres
+    av_codec_get_max_lowres
+    av_codec_get_pkt_timebase
+    av_codec_get_seek_preroll
+    av_codec_is_decoder
+    av_codec_is_encoder
+    av_codec_next
+    av_codec_set_chroma_intra_matrix
+    av_codec_set_codec_descriptor
+    av_codec_set_lowres
+    av_codec_set_pkt_timebase
+    av_codec_set_seek_preroll
+    av_copy_packet
+    av_copy_packet_side_data
+    av_d3d11va_alloc_context
+    av_dct_calc
+    av_dct_end
+    av_dct_init
+    av_dup_packet
+    av_dv_codec_profile
+    av_dv_codec_profile2
+    av_dv_frame_profile
+    av_fast_padded_malloc
+    av_fast_padded_mallocz
+    av_fft_calc
+    av_fft_end
+    av_fft_init
+    av_fft_permute
+    av_free_packet
+    av_get_audio_frame_duration
+    av_get_bits_per_sample
+    av_get_codec_tag_string
+    av_get_exact_bits_per_sample
+    av_get_pcm_codec
+    av_get_profile_name
+    av_grow_packet
+    av_hwaccel_next
+    av_imdct_calc
+    av_imdct_half
+    av_init_packet
+    av_lockmgr_register
+    av_log_ask_for_sample
+    av_log_missing_feature
+    av_mdct_calc
+    av_mdct_end
+    av_mdct_init
+    av_new_packet
+    av_packet_copy_props
+    av_packet_free_side_data
+    av_packet_from_data
+    av_packet_get_side_data
+    av_packet_merge_side_data
+    av_packet_move_ref
+    av_packet_new_side_data
+    av_packet_pack_dictionary
+    av_packet_ref
+    av_packet_rescale_ts
+    av_packet_shrink_side_data
+    av_packet_side_data_name
+    av_packet_split_side_data
+    av_packet_unpack_dictionary
+    av_packet_unref
+    av_parser_change
+    av_parser_close
+    av_parser_init
+    av_parser_next
+    av_parser_parse2
+    av_picture_copy
+    av_picture_crop
+    av_picture_pad
+    av_qsv_alloc_context
+    av_rdft_calc
+    av_rdft_end
+    av_rdft_init
+    av_register_bitstream_filter
+    av_register_codec_parser
+    av_register_hwaccel
+    av_resample
+    av_resample_close
+    av_resample_compensate
+    av_resample_init
+    av_shrink_packet
+    av_vorbis_parse_frame
+    av_vorbis_parse_frame_flags
+    av_vorbis_parse_free
+    av_vorbis_parse_init
+    av_vorbis_parse_reset
+    av_xiphlacing
+    available_bits
+    avcodec_align_dimensions
+    avcodec_align_dimensions2
+    avcodec_alloc_context3
+    avcodec_chroma_pos_to_enum
+    avcodec_close
+    avcodec_configuration
+    avcodec_copy_context
+    avcodec_dct_alloc
+    avcodec_dct_get_class
+    avcodec_dct_init
+    avcodec_decode_audio4
+    avcodec_decode_subtitle2
+    avcodec_decode_video2
+    avcodec_default_execute
+    avcodec_default_execute2
+    avcodec_default_get_buffer2
+    avcodec_default_get_format
+    avcodec_descriptor_get
+    avcodec_descriptor_get_by_name
+    avcodec_descriptor_next
+    avcodec_encode_audio2
+    avcodec_encode_subtitle
+    avcodec_encode_video2
+    avcodec_enum_to_chroma_pos
+    avcodec_fill_audio_frame
+    avcodec_find_best_pix_fmt2
+    avcodec_find_best_pix_fmt_of_2
+    avcodec_find_best_pix_fmt_of_list
+    avcodec_find_decoder
+    avcodec_find_decoder_by_name
+    avcodec_find_encoder
+    avcodec_find_encoder_by_name
+    avcodec_flush_buffers
+    avcodec_free_context
+    avcodec_get_chroma_sub_sample
+    avcodec_get_class
+    avcodec_get_context_defaults3
+    avcodec_get_edge_width
+    avcodec_get_frame_class
+    avcodec_get_name
+    avcodec_get_pix_fmt_loss
+    avcodec_get_subtitle_rect_class
+    avcodec_get_type
+    avcodec_is_open
+    avcodec_license
+    avcodec_open2
+    avcodec_pix_fmt_to_codec_tag
+    avcodec_register
+    avcodec_register_all
+    avcodec_set_dimensions
+    avcodec_string
+    avcodec_version
+    aver_isf_history
+    average_split_mvs
+    avpicture_alloc
+    avpicture_fill
+    avpicture_free
+    avpicture_get_size
+    avpicture_layout
+    avpriv_aac_parse_header
+    avpriv_ac3_channel_layout_tab DATA
+    avpriv_ac3_parse_header
+    avpriv_ac3_parse_header2
+    avpriv_align_put_bits
+    avpriv_bprint_to_extradata
+    avpriv_color_frame
+    avpriv_copy_bits
+    avpriv_copy_pce_data
+    avpriv_dca_convert_bitstream
+    avpriv_dca_sample_rates DATA
+    avpriv_dirac_parse_sequence_header
+    avpriv_dnxhd_get_frame_size
+    avpriv_dnxhd_get_interlaced
+    avpriv_do_elbg
+    avpriv_exif_decode_ifd
+    avpriv_find_pix_fmt
+    avpriv_find_start_code
+    avpriv_get_raw_pix_fmt_tags
+    avpriv_h264_has_num_reorder_frames
+    avpriv_init_elbg
+    avpriv_lock_avformat
+    avpriv_mjpeg_bits_ac_chrominance DATA
+    avpriv_mjpeg_bits_ac_luminance DATA
+    avpriv_mjpeg_bits_dc_chrominance DATA
+    avpriv_mjpeg_bits_dc_luminance DATA
+    avpriv_mjpeg_val_ac_chrominance DATA
+    avpriv_mjpeg_val_ac_luminance DATA
+    avpriv_mjpeg_val_dc DATA
+    avpriv_mpa_bitrate_tab DATA
+    avpriv_mpa_decode_header
+    avpriv_mpa_decode_header2
+    avpriv_mpa_freq_tab DATA
+    avpriv_mpeg4audio_get_config
+    avpriv_mpeg4audio_sample_rates DATA
+    avpriv_mpegaudio_decode_header
+    avpriv_pix_fmt_bps_avi DATA
+    avpriv_pix_fmt_bps_mov DATA
+    avpriv_put_string
+    avpriv_split_xiph_headers
+    avpriv_tak_parse_streaminfo
+    avpriv_toupper4
+    avpriv_unlock_avformat
+    avsubtitle_free
diff --git a/3rdparty/lib_win64/ffmpeg/avcodec.lib b/3rdparty/lib_win64/ffmpeg/avcodec.lib
new file mode 100644
index 0000000..73dab0b
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/avcodec.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/avdevice-57.def b/3rdparty/lib_win64/ffmpeg/avdevice-57.def
new file mode 100644
index 0000000..f453187
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/avdevice-57.def
@@ -0,0 +1,19 @@
+EXPORTS
+    av_device_capabilities DATA
+    av_device_ffversion DATA
+    av_input_audio_device_next
+    av_input_video_device_next
+    av_output_audio_device_next
+    av_output_video_device_next
+    avdevice_app_to_dev_control_message
+    avdevice_capabilities_create
+    avdevice_capabilities_free
+    avdevice_configuration
+    avdevice_dev_to_app_control_message
+    avdevice_free_list_devices
+    avdevice_license
+    avdevice_list_devices
+    avdevice_list_input_sources
+    avdevice_list_output_sinks
+    avdevice_register_all
+    avdevice_version
diff --git a/3rdparty/lib_win64/ffmpeg/avdevice.lib b/3rdparty/lib_win64/ffmpeg/avdevice.lib
new file mode 100644
index 0000000..a408099
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/avdevice.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/avfilter-6.def b/3rdparty/lib_win64/ffmpeg/avfilter-6.def
new file mode 100644
index 0000000..5c5a4dc
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/avfilter-6.def
@@ -0,0 +1,62 @@
+EXPORTS
+    av_abuffersink_params_alloc
+    av_buffersink_get_frame
+    av_buffersink_get_frame_flags
+    av_buffersink_get_frame_rate
+    av_buffersink_get_samples
+    av_buffersink_params_alloc
+    av_buffersink_set_frame_size
+    av_buffersrc_add_frame
+    av_buffersrc_add_frame_flags
+    av_buffersrc_get_nb_failed_requests
+    av_buffersrc_write_frame
+    av_filter_ffversion DATA
+    av_filter_next
+    avfilter_add_matrix
+    avfilter_all_channel_layouts DATA
+    avfilter_config_links
+    avfilter_configuration
+    avfilter_free
+    avfilter_get_by_name
+    avfilter_get_class
+    avfilter_get_matrix
+    avfilter_graph_add_filter
+    avfilter_graph_alloc
+    avfilter_graph_alloc_filter
+    avfilter_graph_config
+    avfilter_graph_create_filter
+    avfilter_graph_dump
+    avfilter_graph_free
+    avfilter_graph_get_filter
+    avfilter_graph_parse
+    avfilter_graph_parse2
+    avfilter_graph_parse_ptr
+    avfilter_graph_queue_command
+    avfilter_graph_request_oldest
+    avfilter_graph_send_command
+    avfilter_graph_set_auto_convert
+    avfilter_init_dict
+    avfilter_init_filter
+    avfilter_init_str
+    avfilter_inout_alloc
+    avfilter_inout_free
+    avfilter_insert_filter
+    avfilter_license
+    avfilter_link
+    avfilter_link_free
+    avfilter_link_get_channels
+    avfilter_link_set_closed
+    avfilter_make_format64_list
+    avfilter_mul_matrix
+    avfilter_next
+    avfilter_open
+    avfilter_pad_count
+    avfilter_pad_get_name
+    avfilter_pad_get_type
+    avfilter_process_command
+    avfilter_register
+    avfilter_register_all
+    avfilter_sub_matrix
+    avfilter_transform
+    avfilter_uninit
+    avfilter_version
diff --git a/3rdparty/lib_win64/ffmpeg/avfilter.lib b/3rdparty/lib_win64/ffmpeg/avfilter.lib
new file mode 100644
index 0000000..d751feb
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/avfilter.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/avformat-57.def b/3rdparty/lib_win64/ffmpeg/avformat-57.def
new file mode 100644
index 0000000..c4f17a4
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/avformat-57.def
@@ -0,0 +1,175 @@
+EXPORTS
+    av_add_index_entry
+    av_append_packet
+    av_codec_get_id
+    av_codec_get_tag
+    av_codec_get_tag2
+    av_convert_lang_to
+    av_demuxer_open
+    av_dump_format
+    av_filename_number_test
+    av_find_best_stream
+    av_find_default_stream_index
+    av_find_input_format
+    av_find_program_from_stream
+    av_fmt_ctx_get_duration_estimation_method
+    av_format_ffversion DATA
+    av_format_get_audio_codec
+    av_format_get_control_message_cb
+    av_format_get_data_codec
+    av_format_get_metadata_header_padding
+    av_format_get_opaque
+    av_format_get_open_cb
+    av_format_get_probe_score
+    av_format_get_subtitle_codec
+    av_format_get_video_codec
+    av_format_inject_global_side_data
+    av_format_set_audio_codec
+    av_format_set_control_message_cb
+    av_format_set_data_codec
+    av_format_set_metadata_header_padding
+    av_format_set_opaque
+    av_format_set_open_cb
+    av_format_set_subtitle_codec
+    av_format_set_video_codec
+    av_get_frame_filename
+    av_get_output_timestamp
+    av_get_packet
+    av_guess_codec
+    av_guess_format
+    av_guess_frame_rate
+    av_guess_sample_aspect_ratio
+    av_hex_dump
+    av_hex_dump_log
+    av_iformat_next
+    av_index_search_timestamp
+    av_interleaved_write_frame
+    av_interleaved_write_uncoded_frame
+    av_match_ext
+    av_new_program
+    av_oformat_next
+    av_pkt_dump2
+    av_pkt_dump_log2
+    av_probe_input_buffer
+    av_probe_input_buffer2
+    av_probe_input_format
+    av_probe_input_format2
+    av_probe_input_format3
+    av_read_frame
+    av_read_pause
+    av_read_play
+    av_register_all
+    av_register_input_format
+    av_register_output_format
+    av_sdp_create
+    av_seek_frame
+    av_stream_get_end_pts
+    av_stream_get_parser
+    av_stream_get_r_frame_rate
+    av_stream_get_recommended_encoder_configuration
+    av_stream_get_side_data
+    av_stream_set_r_frame_rate
+    av_stream_set_recommended_encoder_configuration
+    av_url_split
+    av_write_frame
+    av_write_trailer
+    av_write_uncoded_frame
+    av_write_uncoded_frame_query
+    avformat_alloc_context
+    avformat_alloc_output_context2
+    avformat_close_input
+    avformat_configuration
+    avformat_find_stream_info
+    avformat_flush
+    avformat_free_context
+    avformat_get_class
+    avformat_get_mov_audio_tags
+    avformat_get_mov_video_tags
+    avformat_get_riff_audio_tags
+    avformat_get_riff_video_tags
+    avformat_license
+    avformat_match_stream_specifier
+    avformat_network_deinit
+    avformat_network_init
+    avformat_new_stream
+    avformat_open_input
+    avformat_query_codec
+    avformat_queue_attached_pictures
+    avformat_seek_file
+    avformat_version
+    avformat_write_header
+    avio_accept
+    avio_alloc_context
+    avio_check
+    avio_close
+    avio_close_dir
+    avio_close_dyn_buf
+    avio_closep
+    avio_enum_protocols
+    avio_feof
+    avio_find_protocol_name
+    avio_flush
+    avio_free_directory_entry
+    avio_get_str
+    avio_get_str16be
+    avio_get_str16le
+    avio_handshake
+    avio_open
+    avio_open2
+    avio_open_dir
+    avio_open_dyn_buf
+    avio_pause
+    avio_printf
+    avio_put_str
+    avio_put_str16be
+    avio_put_str16le
+    avio_r8
+    avio_rb16
+    avio_rb24
+    avio_rb32
+    avio_rb64
+    avio_read
+    avio_read_dir
+    avio_read_to_bprint
+    avio_rl16
+    avio_rl24
+    avio_rl32
+    avio_rl64
+    avio_seek
+    avio_seek_time
+    avio_size
+    avio_skip
+    avio_w8
+    avio_wb16
+    avio_wb24
+    avio_wb32
+    avio_wb64
+    avio_wl16
+    avio_wl24
+    avio_wl32
+    avio_wl64
+    avio_write
+    avpriv_dv_get_packet
+    avpriv_dv_init_demux
+    avpriv_dv_produce_packet
+    avpriv_io_delete
+    avpriv_io_move
+    avpriv_mpegts_parse_close
+    avpriv_mpegts_parse_open
+    avpriv_mpegts_parse_packet
+    avpriv_new_chapter
+    avpriv_set_pts_info
+    ff_inet_aton
+    ff_rtp_get_local_rtcp_port
+    ff_rtp_get_local_rtp_port
+    ff_rtsp_parse_line
+    ff_socket_nonblock
+    ffio_open_dyn_packet_buf
+    ffio_set_buf_size
+    ffurl_close
+    ffurl_open
+    ffurl_read_complete
+    ffurl_seek
+    ffurl_size
+    ffurl_write
+    url_feof
diff --git a/3rdparty/lib_win64/ffmpeg/avformat.lib b/3rdparty/lib_win64/ffmpeg/avformat.lib
new file mode 100644
index 0000000..045cb04
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/avformat.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/avutil-55.def b/3rdparty/lib_win64/ffmpeg/avutil-55.def
new file mode 100644
index 0000000..3debe7d
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/avutil-55.def
@@ -0,0 +1,444 @@
+EXPORTS
+    av_add_q
+    av_add_stable
+    av_adler32_update
+    av_aes_alloc
+    av_aes_crypt
+    av_aes_init
+    av_aes_size DATA
+    av_append_path_component
+    av_asprintf
+    av_audio_fifo_alloc
+    av_audio_fifo_drain
+    av_audio_fifo_free
+    av_audio_fifo_peek
+    av_audio_fifo_read
+    av_audio_fifo_realloc
+    av_audio_fifo_reset
+    av_audio_fifo_size
+    av_audio_fifo_space
+    av_audio_fifo_write
+    av_base64_decode
+    av_base64_encode
+    av_basename
+    av_blowfish_alloc
+    av_blowfish_crypt
+    av_blowfish_crypt_ecb
+    av_blowfish_init
+    av_bmg_get
+    av_bprint_append_data
+    av_bprint_channel_layout
+    av_bprint_chars
+    av_bprint_clear
+    av_bprint_escape
+    av_bprint_finalize
+    av_bprint_get_buffer
+    av_bprint_init
+    av_bprint_init_for_buffer
+    av_bprint_strftime
+    av_bprintf
+    av_buffer_alloc
+    av_buffer_allocz
+    av_buffer_create
+    av_buffer_default_free
+    av_buffer_get_opaque
+    av_buffer_get_ref_count
+    av_buffer_is_writable
+    av_buffer_make_writable
+    av_buffer_pool_get
+    av_buffer_pool_init
+    av_buffer_pool_uninit
+    av_buffer_realloc
+    av_buffer_ref
+    av_buffer_unref
+    av_calloc
+    av_camellia_alloc
+    av_camellia_crypt
+    av_camellia_init
+    av_camellia_size DATA
+    av_cast5_alloc
+    av_cast5_crypt
+    av_cast5_crypt2
+    av_cast5_init
+    av_cast5_size DATA
+    av_channel_layout_extract_channel
+    av_chroma_location_name
+    av_color_primaries_name
+    av_color_range_name
+    av_color_space_name
+    av_color_transfer_name
+    av_compare_mod
+    av_compare_ts
+    av_cpu_count
+    av_crc
+    av_crc_get_table
+    av_crc_init
+    av_ctz
+    av_d2q
+    av_d2str
+    av_default_get_category
+    av_default_item_name
+    av_des_alloc
+    av_des_crypt
+    av_des_init
+    av_des_mac
+    av_dict_copy
+    av_dict_count
+    av_dict_free
+    av_dict_get
+    av_dict_get_string
+    av_dict_parse_string
+    av_dict_set
+    av_dict_set_int
+    av_dirname
+    av_display_matrix_flip
+    av_display_rotation_get
+    av_display_rotation_set
+    av_div_q
+    av_downmix_info_update_side_data
+    av_dynarray2_add
+    av_dynarray_add
+    av_dynarray_add_nofree
+    av_escape
+    av_expr_eval
+    av_expr_free
+    av_expr_parse
+    av_expr_parse_and_eval
+    av_fast_malloc
+    av_fast_realloc
+    av_fifo_alloc
+    av_fifo_alloc_array
+    av_fifo_drain
+    av_fifo_free
+    av_fifo_freep
+    av_fifo_generic_peek
+    av_fifo_generic_read
+    av_fifo_generic_write
+    av_fifo_grow
+    av_fifo_realloc2
+    av_fifo_reset
+    av_fifo_size
+    av_fifo_space
+    av_file_map
+    av_file_unmap
+    av_find_best_pix_fmt_of_2
+    av_find_info_tag
+    av_find_nearest_q_idx
+    av_fopen_utf8
+    av_force_cpu_flags
+    av_frame_alloc
+    av_frame_clone
+    av_frame_copy
+    av_frame_copy_props
+    av_frame_free
+    av_frame_get_best_effort_timestamp
+    av_frame_get_buffer
+    av_frame_get_channel_layout
+    av_frame_get_channels
+    av_frame_get_color_range
+    av_frame_get_colorspace
+    av_frame_get_decode_error_flags
+    av_frame_get_metadata
+    av_frame_get_pkt_duration
+    av_frame_get_pkt_pos
+    av_frame_get_pkt_size
+    av_frame_get_plane_buffer
+    av_frame_get_qp_table
+    av_frame_get_sample_rate
+    av_frame_get_side_data
+    av_frame_is_writable
+    av_frame_make_writable
+    av_frame_move_ref
+    av_frame_new_side_data
+    av_frame_ref
+    av_frame_remove_side_data
+    av_frame_set_best_effort_timestamp
+    av_frame_set_channel_layout
+    av_frame_set_channels
+    av_frame_set_color_range
+    av_frame_set_colorspace
+    av_frame_set_decode_error_flags
+    av_frame_set_metadata
+    av_frame_set_pkt_duration
+    av_frame_set_pkt_pos
+    av_frame_set_pkt_size
+    av_frame_set_qp_table
+    av_frame_set_sample_rate
+    av_frame_side_data_name
+    av_frame_unref
+    av_free
+    av_freep
+    av_gcd
+    av_get_alt_sample_fmt
+    av_get_bits_per_pixel
+    av_get_bytes_per_sample
+    av_get_channel_description
+    av_get_channel_layout
+    av_get_channel_layout_channel_index
+    av_get_channel_layout_nb_channels
+    av_get_channel_layout_string
+    av_get_channel_name
+    av_get_colorspace_name
+    av_get_cpu_flags
+    av_get_default_channel_layout
+    av_get_known_color_name
+    av_get_media_type_string
+    av_get_packed_sample_fmt
+    av_get_padded_bits_per_pixel
+    av_get_picture_type_char
+    av_get_pix_fmt
+    av_get_pix_fmt_loss
+    av_get_pix_fmt_name
+    av_get_pix_fmt_string
+    av_get_planar_sample_fmt
+    av_get_random_seed
+    av_get_sample_fmt
+    av_get_sample_fmt_name
+    av_get_sample_fmt_string
+    av_get_standard_channel_layout
+    av_get_time_base_q
+    av_get_token
+    av_gettime
+    av_gettime_relative
+    av_gettime_relative_is_monotonic
+    av_hash_alloc
+    av_hash_final
+    av_hash_final_b64
+    av_hash_final_bin
+    av_hash_final_hex
+    av_hash_freep
+    av_hash_get_name
+    av_hash_get_size
+    av_hash_init
+    av_hash_names
+    av_hash_update
+    av_hmac_alloc
+    av_hmac_calc
+    av_hmac_final
+    av_hmac_free
+    av_hmac_init
+    av_hmac_update
+    av_image_alloc
+    av_image_check_sar
+    av_image_check_size
+    av_image_copy
+    av_image_copy_plane
+    av_image_copy_to_buffer
+    av_image_fill_arrays
+    av_image_fill_linesizes
+    av_image_fill_max_pixsteps
+    av_image_fill_pointers
+    av_image_get_buffer_size
+    av_image_get_linesize
+    av_int_list_length_for_size
+    av_lfg_init
+    av_log
+    av_log2
+    av_log2_16bit
+    av_log_default_callback
+    av_log_format_line
+    av_log_get_flags
+    av_log_get_level
+    av_log_set_callback
+    av_log_set_flags
+    av_log_set_level
+    av_lzo1x_decode
+    av_malloc
+    av_mallocz
+    av_match_list
+    av_match_name
+    av_max_alloc
+    av_md5_alloc
+    av_md5_final
+    av_md5_init
+    av_md5_size DATA
+    av_md5_sum
+    av_md5_update
+    av_memcpy_backptr
+    av_memdup
+    av_mul_q
+    av_murmur3_alloc
+    av_murmur3_final
+    av_murmur3_init
+    av_murmur3_init_seeded
+    av_murmur3_update
+    av_nearer_q
+    av_opt_child_class_next
+    av_opt_child_next
+    av_opt_copy
+    av_opt_eval_double
+    av_opt_eval_flags
+    av_opt_eval_float
+    av_opt_eval_int
+    av_opt_eval_int64
+    av_opt_eval_q
+    av_opt_find
+    av_opt_find2
+    av_opt_flag_is_set
+    av_opt_free
+    av_opt_freep_ranges
+    av_opt_get
+    av_opt_get_channel_layout
+    av_opt_get_dict_val
+    av_opt_get_double
+    av_opt_get_image_size
+    av_opt_get_int
+    av_opt_get_key_value
+    av_opt_get_pixel_fmt
+    av_opt_get_q
+    av_opt_get_sample_fmt
+    av_opt_get_video_rate
+    av_opt_is_set_to_default
+    av_opt_is_set_to_default_by_name
+    av_opt_next
+    av_opt_ptr
+    av_opt_query_ranges
+    av_opt_query_ranges_default
+    av_opt_serialize
+    av_opt_set
+    av_opt_set_bin
+    av_opt_set_channel_layout
+    av_opt_set_defaults
+    av_opt_set_defaults2
+    av_opt_set_dict
+    av_opt_set_dict2
+    av_opt_set_dict_val
+    av_opt_set_double
+    av_opt_set_from_string
+    av_opt_set_image_size
+    av_opt_set_int
+    av_opt_set_pixel_fmt
+    av_opt_set_q
+    av_opt_set_sample_fmt
+    av_opt_set_video_rate
+    av_opt_show2
+    av_parse_color
+    av_parse_cpu_caps
+    av_parse_cpu_flags
+    av_parse_ratio
+    av_parse_time
+    av_parse_video_rate
+    av_parse_video_size
+    av_pix_fmt_count_planes
+    av_pix_fmt_desc_get
+    av_pix_fmt_desc_get_id
+    av_pix_fmt_desc_next
+    av_pix_fmt_get_chroma_sub_sample
+    av_pix_fmt_swap_endianness
+    av_pixelutils_get_sad_fn
+    av_q2intfloat
+    av_rc4_alloc
+    av_rc4_crypt
+    av_rc4_init
+    av_read_image_line
+    av_realloc
+    av_realloc_array
+    av_realloc_f
+    av_reallocp
+    av_reallocp_array
+    av_reduce
+    av_rescale
+    av_rescale_delta
+    av_rescale_q
+    av_rescale_q_rnd
+    av_rescale_rnd
+    av_ripemd_alloc
+    av_ripemd_final
+    av_ripemd_init
+    av_ripemd_size DATA
+    av_ripemd_update
+    av_sample_fmt_is_planar
+    av_samples_alloc
+    av_samples_alloc_array_and_samples
+    av_samples_copy
+    av_samples_fill_arrays
+    av_samples_get_buffer_size
+    av_samples_set_silence
+    av_set_cpu_flags_mask
+    av_set_options_string
+    av_sha512_alloc
+    av_sha512_final
+    av_sha512_init
+    av_sha512_size DATA
+    av_sha512_update
+    av_sha_alloc
+    av_sha_final
+    av_sha_init
+    av_sha_size DATA
+    av_sha_update
+    av_small_strptime
+    av_stereo3d_alloc
+    av_stereo3d_create_side_data
+    av_strcasecmp
+    av_strdup
+    av_strerror
+    av_stristart
+    av_stristr
+    av_strlcat
+    av_strlcatf
+    av_strlcpy
+    av_strncasecmp
+    av_strndup
+    av_strnstr
+    av_strstart
+    av_strtod
+    av_strtok
+    av_sub_q
+    av_tea_alloc
+    av_tea_crypt
+    av_tea_init
+    av_tea_size DATA
+    av_tempfile
+    av_thread_message_queue_alloc
+    av_thread_message_queue_free
+    av_thread_message_queue_recv
+    av_thread_message_queue_send
+    av_thread_message_queue_set_err_recv
+    av_thread_message_queue_set_err_send
+    av_timecode_adjust_ntsc_framenum2
+    av_timecode_check_frame_rate
+    av_timecode_get_smpte_from_framenum
+    av_timecode_init
+    av_timecode_init_from_string
+    av_timecode_make_mpeg_tc_string
+    av_timecode_make_smpte_tc_string
+    av_timecode_make_string
+    av_timegm
+    av_tree_destroy
+    av_tree_enumerate
+    av_tree_find
+    av_tree_insert
+    av_tree_node_alloc
+    av_tree_node_size DATA
+    av_twofish_alloc
+    av_twofish_crypt
+    av_twofish_init
+    av_twofish_size DATA
+    av_usleep
+    av_utf8_decode
+    av_util_ffversion DATA
+    av_vbprintf
+    av_version_info
+    av_vlog
+    av_write_image_line
+    av_xtea_alloc
+    av_xtea_crypt
+    av_xtea_init
+    avpriv_alloc_fixed_dsp
+    avpriv_cga_font DATA
+    avpriv_float_dsp_alloc
+    avpriv_float_dsp_init
+    avpriv_frame_get_metadatap
+    avpriv_get_gamma_from_trc
+    avpriv_get_trc_function_from_trc
+    avpriv_init_lls
+    avpriv_open
+    avpriv_report_missing_feature
+    avpriv_request_sample
+    avpriv_scalarproduct_float_c
+    avpriv_set_systematic_pal2
+    avpriv_solve_lls
+    avpriv_vga16_font DATA
+    avutil_configuration
+    avutil_license
+    avutil_version
diff --git a/3rdparty/lib_win64/ffmpeg/avutil.lib b/3rdparty/lib_win64/ffmpeg/avutil.lib
new file mode 100644
index 0000000..fe1c9bc
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/avutil.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/libavcodec.dll.a b/3rdparty/lib_win64/ffmpeg/libavcodec.dll.a
new file mode 100644
index 0000000..24627b9
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libavcodec.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libavdevice.dll.a b/3rdparty/lib_win64/ffmpeg/libavdevice.dll.a
new file mode 100644
index 0000000..1ecc1f7
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libavdevice.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libavfilter.dll.a b/3rdparty/lib_win64/ffmpeg/libavfilter.dll.a
new file mode 100644
index 0000000..a5b0271
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libavfilter.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libavformat.dll.a b/3rdparty/lib_win64/ffmpeg/libavformat.dll.a
new file mode 100644
index 0000000..9d7a2e2
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libavformat.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libavutil.dll.a b/3rdparty/lib_win64/ffmpeg/libavutil.dll.a
new file mode 100644
index 0000000..8f613bd
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libavutil.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libpostproc.dll.a b/3rdparty/lib_win64/ffmpeg/libpostproc.dll.a
new file mode 100644
index 0000000..3112dff
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libpostproc.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libswresample.dll.a b/3rdparty/lib_win64/ffmpeg/libswresample.dll.a
new file mode 100644
index 0000000..d905489
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libswresample.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/libswscale.dll.a b/3rdparty/lib_win64/ffmpeg/libswscale.dll.a
new file mode 100644
index 0000000..0442a82
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/libswscale.dll.a differ
diff --git a/3rdparty/lib_win64/ffmpeg/postproc-54.def b/3rdparty/lib_win64/ffmpeg/postproc-54.def
new file mode 100644
index 0000000..62c4c69
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/postproc-54.def
@@ -0,0 +1,11 @@
+EXPORTS
+    postproc_configuration
+    postproc_ffversion DATA
+    postproc_license
+    postproc_version
+    pp_free_context
+    pp_free_mode
+    pp_get_context
+    pp_get_mode_by_name_and_quality
+    pp_help DATA
+    pp_postprocess
diff --git a/3rdparty/lib_win64/ffmpeg/postproc.lib b/3rdparty/lib_win64/ffmpeg/postproc.lib
new file mode 100644
index 0000000..b04a6c4
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/postproc.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/swresample-2.def b/3rdparty/lib_win64/ffmpeg/swresample-2.def
new file mode 100644
index 0000000..3864476
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/swresample-2.def
@@ -0,0 +1,23 @@
+EXPORTS
+    swr_alloc
+    swr_alloc_set_opts
+    swr_close
+    swr_config_frame
+    swr_convert
+    swr_convert_frame
+    swr_drop_output
+    swr_ffversion DATA
+    swr_free
+    swr_get_class
+    swr_get_delay
+    swr_get_out_samples
+    swr_init
+    swr_inject_silence
+    swr_is_initialized
+    swr_next_pts
+    swr_set_channel_mapping
+    swr_set_compensation
+    swr_set_matrix
+    swresample_configuration
+    swresample_license
+    swresample_version
diff --git a/3rdparty/lib_win64/ffmpeg/swresample.lib b/3rdparty/lib_win64/ffmpeg/swresample.lib
new file mode 100644
index 0000000..59fe188
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/swresample.lib differ
diff --git a/3rdparty/lib_win64/ffmpeg/swscale-4.def b/3rdparty/lib_win64/ffmpeg/swscale-4.def
new file mode 100644
index 0000000..284ec77
--- /dev/null
+++ b/3rdparty/lib_win64/ffmpeg/swscale-4.def
@@ -0,0 +1,37 @@
+EXPORTS
+    sws_addVec
+    sws_allocVec
+    sws_alloc_context
+    sws_alloc_set_opts
+    sws_cloneVec
+    sws_context_class DATA
+    sws_convVec
+    sws_convertPalette8ToPacked24
+    sws_convertPalette8ToPacked32
+    sws_freeContext
+    sws_freeFilter
+    sws_freeVec
+    sws_getCachedContext
+    sws_getCoefficients
+    sws_getColorspaceDetails
+    sws_getConstVec
+    sws_getContext
+    sws_getDefaultFilter
+    sws_getGaussianVec
+    sws_getIdentityVec
+    sws_get_class
+    sws_init_context
+    sws_isSupportedEndiannessConversion
+    sws_isSupportedInput
+    sws_isSupportedOutput
+    sws_normalizeVec
+    sws_printVec2
+    sws_rgb2rgb_init
+    sws_scale
+    sws_scaleVec
+    sws_setColorspaceDetails
+    sws_shiftVec
+    sws_subVec
+    swscale_configuration
+    swscale_license
+    swscale_version
diff --git a/3rdparty/lib_win64/ffmpeg/swscale.lib b/3rdparty/lib_win64/ffmpeg/swscale.lib
new file mode 100644
index 0000000..80f3087
Binary files /dev/null and b/3rdparty/lib_win64/ffmpeg/swscale.lib differ
diff --git a/3rdparty/lib_win64/opencv/opencv_ts300.lib b/3rdparty/lib_win64/opencv/opencv_ts300.lib
new file mode 100644
index 0000000..d91c279
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diff --git a/3rdparty/lib_win64/opencv/opencv_world300.lib b/3rdparty/lib_win64/opencv/opencv_world300.lib
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diff --git a/Anonymizer.pro b/Anonymizer.pro
new file mode 100644
index 0000000..a865687
--- /dev/null
+++ b/Anonymizer.pro
@@ -0,0 +1,102 @@
+#-------------------------------------------------
+# @FILE Anonymizer.pro
+# @AUTHOR Martin Borek (mborekcz@gmail.com)
+# @AUTHOR Filip Orsag (orsag@fit.vutbr.cz)
+# @DATE Sep, 2015
+#-------------------------------------------------
+
+QT += core gui multimedia multimediawidgets help widgets
+
+debug {
+    message(Creating DEBUG version)
+}
+
+release {
+    message(Creating RELEASE version)
+    QMAKE_CXXFLAGS += -D NDEBUG         # disable assert
+    DEFINES += QT_NO_DEBUG_OUTPUT       # disable qDebug()
+}
+
+TARGET = Anonymizer
+TEMPLATE = app
+FORMS += Sources/mainwindow.ui
+RC_FILE = $$PWD/Resources/Anonymizer.rc
+RESOURCES += Resources/Anonymizer.qrc
+TRANSLATIONS += Resources/Languages/Anonymizer_cs.ts
+
+INCLUDEPATH += \
+    $$PWD/3rdparty/include \
+    $$PWD/Sources \
+    $$PWD/Resources \
+    $$PWD/Resources/languages \
+    $$PWD/Resources/help \
+    $$PWD/3rdparty/include/ffmpeg \
+    $$PWD/3rdparty/include/opencv
+
+HEADERS += \
+    Sources/Tracking/Algorithm1/observe1.h \
+    Sources/Tracking/Algorithm1/observe2.h \
+    Sources/Tracking/Algorithm1/observetemplate.h \
+    Sources/Tracking/Algorithm1/state.h \
+    Sources/Tracking/Algorithm1/state1.h \
+    Sources/Tracking/Algorithm1/state2.h \
+    Sources/anchoritem.h \
+    Sources/avwriter.h \
+    Sources/colors.h \
+    Sources/ffmpegplayer.h \
+    Sources/helpbrowser.h \
+    Sources/imagelabel.h \
+    Sources/mainwindow.h \
+    Sources/objectshape.h \
+    Sources/playerslider.h \
+    Sources/selection.h \
+    Sources/timelabel.h \
+    Sources/trackedobject.h \
+    Sources/trackingalgorithm.h \
+    Sources/trajectoryitem.h \
+    Sources/videoframe.h \
+    Sources/videotracker.h \
+    Sources/videowidget.h
+
+SOURCES += \
+    Sources/anchoritem.cpp \
+    Sources/avwriter.cpp \
+    Sources/colors.cpp \
+    Sources/ffmpegplayer.cpp \
+    Sources/helpbrowser.cpp \
+    Sources/imagelabel.cpp \
+    Sources/main.cpp \
+    Sources/mainwindow.cpp \
+    Sources/objectshape.cpp \
+    Sources/playerslider.cpp \
+    Sources/timelabel.cpp \
+    Sources/trackedobject.cpp \
+    Sources/trackingalgorithm.cpp \
+    Sources/trajectoryitem.cpp \
+    Sources/videoframe.cpp \
+    Sources/videotracker.cpp \
+    Sources/videowidget.cpp
+
+LIBS += \
+    -L$$PWD/3rdparty/lib_win64/opencv \
+    -L$$PWD/3rdparty/lib_win64/ffmpeg \
+    -lavdevice \
+    -lavformat \
+    -lavfilter \
+    -lavcodec \
+    -lswresample \
+    -lswscale \
+    -lavutil
+
+
+debug {
+    LIBS += \
+        -lopencv_ts300 \
+        -lopencv_world300
+}
+
+release {
+    LIBS += \
+        -lopencv_ts300 \
+        -lopencv_world300
+}
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..3cdfaa1
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,44 @@
+BUT OPEN SOURCE LICENCE
+Version 1.
+Copyright (c) 2010, Brno University of Technology, Antonínská 548/1, 601 90, Czech Republic
+
+---------------------------------------------------------------------------------------------------------------------------------------------------
+
+BY INSTALLING, COPYING OR OTHER USES OF SOFTWARE YOU ARE DECLARING THAT YOU AGREE WITH THE TERMS AND CONDITIONS OF THIS LICENCE AGREEMENT. IF YOU DO NOT AGREE WITH THE TERMS AND CONDITIONS, DO NOT INSTAL, COPY OR USE THE SOFTWARE.
+
+IF YOU DO NOT POSESS A VALID LICENCE, YOU ARE NOT AUTHORISED TO INSTAL, COPY OR OTHERWISE USE THE SOTWARE.
+
+Definitions:
+
+For the purpose of this agreement, Software shall mean a computer program (a group of computer programs functional as a unit) capable of copyright protection and accompanying documentation.
+
+Work based on Software shall mean a work containing Software or a portion of it, either verbatim or with modifi-cations and/or translated into another language, or a work based on Software. Portions of work not containing a portion of Software or not based on Software are not covered by this definition, if it is capable of independent use and distributed separately.
+
+Source code shall mean all the source code for all modules of Software, plus any associated interface definition files, plus the scripts used to control compilation and installation of the executable program. Source code distri-buted with Software need not include anything that is normally distributed (in either source or binary form) with the major components (compiler, kernel, and so on) of the operating system on which the executable program runs.
+
+Anyone who uses Software becomes User. User shall abide by this licence agreement.
+
+BRNO UNIVERSITY OF TECHNOLOGY GRANTS TO USER A LICENCE TO USE SOFTWARE ON THE FOLLOWING TERMS AND CONDITIONS:
+
+1. User may use Software for any purpose, commercial or non-commercial, without a need to pay any li-cence fee.
+2. User may copy and distribute verbatim copies of executable Software with source code as he/she re-ceived it, in any medium, provided that User conspicuously and appropriately publishes on each copy an appropriate copyright notice and disclaimer of warranty; keeps intact all the notices that refer to this li-cence and to the absence of any warranty; and give any other recipients of Software a copy of this licence along with Software. User may charge a fee for the physical act of transferring a copy, and may offer war-ranty protection in exchange for a fee.
+3. User may modify his/her copy or copies of Software or any portion of it, thus forming a work based on Software, and copy and distribute such modifications or work, provided that User clearly states this work is modified Software. These modifications or work based on software may be distributed only under the terms of section 2 of this licence agreement, regardless if it is distributed alone or together with other work. Previous sentence does not apply to mere aggregation of another work not based on software with Software (or with a work based on software) on a volume of a storage or distribution medium.
+4. User shall accompany copies of Software or work based on software in object or executable form with:
+   a) the complete corresponding machine-readable source code, which must be distributed on a medium customarily used for software interchange; or,
+   b) written offer, valid for at least three years, to give any third party, for a charge no more than actual cost of physically performing source distribution, a complete machine-readable copy of the corres-ponding source code, to be distributed on a medium customarily used for software interchange; or,
+   c) the information User received as to the offer to distribute corresponding source code. (This alterna-tive is allowed only for noncommercial distribution and only if User received the program in objects code or executable form with such an offer, in accord with subsection b above.)
+5. User may not copy, modify, grant sublicences or distribute Software in any other way than expressly pro-vided for in this licence agreement. Any other copying, modifying, granting of sublicences or distribution of Software is illegal and will automatically result in termination of the rights granted by this licence. This does not affect rights of third parties acquired in good faith, as long as they abide by the terms and condi-tions of this licence agreement.
+6. User may not use and/or distribute Software, if he/she cannot satisfy simultaneously obligations under this licence and any other pertinent obligations.
+7. User is not responsible for enforcing terms of this agreement by third parties.
+8. BECAUSE SOFTWARE IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR SOFTWARE, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHER-WISE STATED IN WRITING, BUT PROVIDES SOFTWARE "AS IS" WITHOUT WARRANTY OF ANY KIND,EITHER EXPRESSED OR IMPLIED,INCLUDING,BUT NOT LIMITED TO,THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICU-LAR PURPOSE.THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF SOFT-WARE IS WITH USER. SHOULD SOFTWARE PROVE DEFECTIVE, USER SHALL ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL BRNO UNIVERSITY OF TECHNOLOGY BE LIABLE FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE SOFTWARE (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF SOFTWARE TO OPERATE WITH ANY OTHER PRO-GRAMS).
+
+Final provisions:
+
+Any provision of this licence agreement that is prohibited, unenforceable, or not authorized in any jurisdiction shall, as to such jurisdiction, be ineffective to the extent of such prohibition, unenforceability, or non-authorization without invalidating or affecting the remaining provisions.
+
+This licence agreement provides in essentials the same extent of rights as the terms of GNU GPL version 2 and Software fulfils the requirements of Open Source software.
+
+This agreement is governed by law of the Czech Republic. In case of a dispute, the jurisdiction shall be that of courts in the Czech Republic.
+
+By installing, copying or other use of Software User declares he/she has read this terms and conditions, under-stands them and his/her use of Software is a demonstration of his/her free will absent of any duress.
\ No newline at end of file
diff --git a/Resources/Anonymizer.aps b/Resources/Anonymizer.aps
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diff --git a/Resources/Anonymizer.ico b/Resources/Anonymizer.ico
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diff --git a/Resources/Anonymizer.png b/Resources/Anonymizer.png
new file mode 100644
index 0000000..c08568f
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diff --git a/Resources/Anonymizer.qrc b/Resources/Anonymizer.qrc
new file mode 100644
index 0000000..ba1215b
--- /dev/null
+++ b/Resources/Anonymizer.qrc
@@ -0,0 +1,6 @@
+<RCC>
+    <qresource prefix="/MainWindow"/>
+    <qresource prefix="/Language">
+        <file>Languages/Anonymizer_cs.qm</file>
+    </qresource>
+</RCC>
diff --git a/Resources/Anonymizer.rc b/Resources/Anonymizer.rc
new file mode 100644
index 0000000..38144cf
--- /dev/null
+++ b/Resources/Anonymizer.rc
@@ -0,0 +1,2 @@
+IDI_ICON1		ICON		DISCARDABLE	"Anonymizer.ico"
+
diff --git a/Resources/Help/create_help.txt b/Resources/Help/create_help.txt
new file mode 100644
index 0000000..dfbc0ec
--- /dev/null
+++ b/Resources/Help/create_help.txt
@@ -0,0 +1,2 @@
+D:\Qt\5.4\msvc2013_opengl\bin\qcollectiongenerator.exe C:\video_anonymizer\help\cs_helpcollection.qhcp -o C:\video_anonymizer\help\help_cs.qhc
+D:\Qt\5.4\msvc2013_opengl\bin\qcollectiongenerator.exe C:\video_anonymizer\help\en_helpcollection.qhcp -o C:\video_anonymizer\help\help_en.qhc
diff --git a/Resources/Help/cs_doc.html b/Resources/Help/cs_doc.html
new file mode 100644
index 0000000..9eeb061
--- /dev/null
+++ b/Resources/Help/cs_doc.html
@@ -0,0 +1,169 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+    "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html>
+<head>
+    <meta http-equiv="content-type" content="text/html; charset=utf-8"/>
+    <title>Video Anonymizer</title>
+    <style type="text/css">
+    	h3 { margin-bottom: 0px; }
+    	h3 { margin-bottom: 0px; }
+    	p { margin-top: 2px; padding-bottom: 10px; }
+    </style>
+</head>
+<body>
+
+
+<h3 id="open_video">Otevření videa<a name="open_video"></a></h3>
+<p>Pro na�tení videa v mediálním formátu zvolte v hlavní nabídce <b>Soubor -&gt; Otevřít video</b> a vyberte příslušné video.
+Lze použít klávesovou zkratku <i>Ctrl + O</i>.</p>
+
+<h3 id="save_video">Uložení videa<a name="save_video"></a></h3>
+<p>Pro uložení výstupního videa zvolte v hlavní nabídce <b>Soubor -&gt; Uložit výstupní video</b>. Výstupní video obsahuje všechny sledované objekty.
+Tyto objekty však nelze později měnit. Pro uložení výstupního videa lze použít klávesovou zkratku <i>Ctrl+U</i>.
+Pokud si přejete uložit rozpracovaný projekt, kde lze objekty později upravovat, použijte: <a href="#save_project">Uložení projektu</a>.</p>
+
+<h3 id="open_project">Otevření projektu<a name="open_project"></a></h3>
+<p>Rozpracované projekty vytvořené programem Video Anonymizer lze na�íst pomocí hlavní nabídky <b>Soubor -&gt; Na�íst projekt</b>.
+Projekty lze na�íst ve formátech JSON a XML. Lze použít klávesovou zkratku <i>Ctrl+L</i>.
+Pokud si přejete na�íst nové video, použijte: <a href="#open_video">Otevřít video</a>.</p>
+
+<h3 id="save_project">Uložení projektu<a name="save_project"></a></h3>
+<p>Rozpracovaný projekt si můžete uložit pro pozdější úpravy v hlavní nabídce <b>Soubor -&gt; Uložit projekt</b>.
+Po opětovném na�tení projektu lze objekty a jejich nastavení dále upravovat. Projekt zůstane ve stavu, v jakém jste jej uložili.
+Nejedná se však o video soubor. Projekt lze uložit ve formátech JSON a XML. Lze použít klávesovou zkratku <i>Ctrl+S</i>.
+Pro vytvoření výstupního videa použijte: <a href="#save_video">Uložení videa</a>.</p>
+
+<h3 id="play">Přehrávání / Pozastavení videa<a name="play"></a></h3>
+<p>Pro přehrávání �i pozastavení (pauzy) videa vyberte v hlavní nabídce <b>Přehráva� -&gt; Přehrát / Pauza</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+P</i> a tla�ítko <b>Přehrát (Pauza)</b>, nacházející se v menu přehráva�e pod videem.
+Pokud si přejete zastavit video (vrátit na za�átek), použijte: <a href="#stop">Zastavení videa</a>.</p>
+
+<h3 id="stop">Zastavení videa<a name="stop"></a></h3>
+<p>Pro zastavení videa vyberte v hlavní nabídce <b>Přehráva� -&gt; Stop</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Z</i> a tla�ítko <b>Stop</b>, nacházející se v menu přehráva�e pod videem.
+Pokud si přejete video pozastavit (pauza), použijte: <a href="#play">Přehrávání / Pozastavení</a>.</p>
+
+<h3 id="stepping">Krokování videa<a name="stepping"></a></h3>
+<p>Video lze posunovat o jeden snímek vpřed i vzad vů�i aktuálně zobrazenému snímku.
+<h3 id="step_forward">Krok vpřed<a name="step_forward"></a></h3>
+<p>Pro krok vpřed vyberte v hlavní nabídce <b>Přehráva� -&gt; Krok vpřed</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Right</i> a symbol <b>&gt;</b>, nacházející se v menu přehráva�e pod videem.</p>
+<h3 id="step_back">Krok zpět<a name="step_back"></a></h3>
+<p>Pro krok zpět vyberte v hlavní nabídce <b>Přehráva� -&gt; Krok zpět</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Left</i> a symbol <b>&lt;</b>, nacházející se v menu přehráva�e pod videem.</p>
+
+<h3 id="speed">Změna rychlosti<a name="speed"></a></h3>
+Přehráva� nabízí možnost změnit rychlost přehrávání videa. Aktuálně nastavená rychlost je zobrazena vpravo od nabídky přehráva�e pod videem.
+<h3 id="faster">Rychleji<a name="faster"></a></h3>
+<p>Rychlost přehrávání videa můžete zvýšit v hlavní nabídce <b>Přehráva� -&gt; Rychlost -&gt; Přehrávat rychleji</b>.
+Lze použít klávesovou zkratku <i>Ctrl+Up</i> a symbol "+" vedle zobrazení aktuálně nastavené rychlosti.</p>
+<h3 id="slower">Pomaleji<a name="slower"></a></h3>
+<p>Rychlost přehrávání videa můžete snížit v hlavní nabídce <b>Přehráva� -&gt; Rychlost -&gt; Přehrávat pomaleji</b>.
+Lze použít klávesovou zkratku <i>Ctrl+Down</i> a symbol "-" vedle zobrazení aktuálně nastavené rychlosti.</p>
+<h3 id="original_speed">Skute�ná rychlost<a name="original_speed"></a></h3>
+<p>Rychlost přehrávání videa lze vrátit zpět na skute�nou rychlost videa v hlavní nabídce <b>Přehráva� -&gt; Rychlost -&gt; Skute�ná rychlost</b>.</p>
+
+<h3 id="track_object">Sledování nového objektu<a name="track_object"></a></h3>
+<p>Pro přidání nového objektu ke sledování vyberte v hlavní nabídce <b>Objekt -&gt; Sledovat objekt</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+A</i> a tla�ítko <b>Sledovat objekt</b>, nacházející se v menu přehráva�e pod videem.
+Následně budete vyzvání k zadání názvu objektu a zvolení po�áte�ní pozice objektu.
+Při výběru po�áte�ní pozice lze libovolně používat přehráva� pro nastavení požadovaného snímku.
+Pomocí selekce vyberte oblast v daném snímku, která má být sledována: <a href="#selection">Výběr objektu</a>.</p>
+
+<h3 id="selection">Výběr objektu<a name="selection"></a></h3>
+<p>Oblast vyberete stisknutím myšítka ve snímku videa v místě, kde objekt za�íná a tažením do místa, kde objekt v daném snímku kon�í.
+Po správném ozna�ení objektu myšítko uvolněte. Pokud si přejete oblast změnit, vyberte novou oblast stejným způsobem, jak bylo popsáno výše.
+Předchozí výběr bude tak nahrazen výběrem novým.</p>
+
+<h3 id="rename_object">Přejmenování objektu<a name="rename_object"></a></h3>
+<p>Pro přejmenování aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Změnit jméno</b>.
+Objekt přejmenujete i v sekci <b>Upravit objekt</b> pod záložkou <b>Obecné</b> pomocí tla�ítka <b>Změnit jméno</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+N</i>.</p>
+
+<h3 id="delete_object">Odstranění objektu<a name="delete_object"></a></h3>
+<p>Pro odstranění aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Odstranit</b>.
+Objekt odstraníte i v sekci <b>Upravit objekt</b> pod záložkou <b>Obecné</b> pomocí tla�ítka <b>Odstranit</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+R</i>.</p>
+
+<h3 id="appearance">Nastavení vzhledu objektu<a name="appearance"></a></h3>
+<p>Vzhled aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") lze nastavit na záložce <b>Vzhled</b>.</p>
+
+<h3 id="defocus_color">Rozostření nebo barva<a name="defocus_color"></a></h3>
+<p>Pokud si přejete rozmazat (rozkosti�kovat) sledovaný objekt, zaškrtněte možnost <b>Rozostření</b>.
+Chcete-li celý objekt překrýt zvolenou barvou a/nebo nakreslit okraj kolem objektu, zvolte možnost <b>Barva</b>.</p>
+
+<h3 id="defocus">Velikost rozostření<a name="defocus"></a></h3>
+<p>U rozostření lze nastavit jeho velikost v položce <b>Velikost rozostření</b>. Velikost rozostření ur�uje, jak velké mají být �tverce,
+které rozostření tvoří. Menší hodnota znamená větší rozostření.</p>
+
+<h3 id="shape">Výběr tvaru<a name="shape"></a></h3>
+<p>Položka <b>Tvar</b> slouží k výběru tvaru objektu, který má být vykreslený na místo sledovaného objektu. Tato možnost funguje jen v případě vyplňování objektu barvou nebo kreslení okraje (ne při rozostření).</p>
+
+<h3 id="fill">Vyplnění objektu<a name="fill"></a></h3>
+<p>Po zaškrtnutí možnosti <b>Vyplnit</b> v položce <b>Kreslit</b> se celý sledovaný objekt vyplňuje barvou, která se nastavuje v položce <b>Barva</b>. Kromě předdefinovaných barev lze také <a href="#custom_color">Vybrat vlastní barvu</a>.</p>
+
+<h3 id="border">Nakreslit okraj<a name="border"></a></h3>
+<p>Po zaškrtnutí možnosti <b>Okraj</b> v položce <b>Kreslit</b> je kreslen okraj kolem sledovaného objektu. Tloušťka okraje se nastavuje v položce <b>Tloušťka okraje</b>. Okraj je kreslen barvou, která se nastavuje v položce <b>Barva okraje</b>. Kromě předdefinovaných barev lze také <a href="#custom_color">Vybrat vlastní barvu</a>.</p>
+
+<h3 id="custom_color">Výběr vlastní barvy<a name="custom_color"></a></h3>
+<p>Vlastní barvu lze při nastavování barvy okraje a barvy objektu přidat po kliknutí na seznam barev a výběru první položky <b>+ Přidat novou</b>.</p>
+
+<h3 id="key_points">Klí�ové body<a name="key_points"></a></h3>
+<p>V sekci <b>Upravit objekt</b> se nachází záložka <b>Klí�ové body</b>.
+Zde jsou uvedeny body, kde dochází k uživatelem definované změně trajektorie. Existují tři typy bodů: <b>Za�átek</b>, <b>Konec</b> a <b>Změna trajektorie</b>.
+Po kliknutí na daný bod jej lze upravit a podívat se na snímek, kde je definovaný. V případě "Změny trajektorie" lze bod i odstranit.</p>
+<ul>
+    <li><b>Za�átek:</b> Po�áte�ní pozice objektu</li>
+	<li><b>Konec:</b> Poslední snímek sledovaného objektu</li>
+	<li><b>Změna trajektorie</b>: Změna pozice objektu na daném snímku. Slouží k úpravě trajektorie, pokud byla vypo�ítána nesprávně</li>
+</ul>
+
+<h3 id="trajectory_change">Změna trajektorie<a name="trajectory_change"></a></h3>
+<p>Pro změnu trajektorie aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Trajektorie -&gt; Změnit trajektorii</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+T</i> a tla�ítko <b>Přidat změnu trajektorie</b>,
+nacházející se v sekci <b>Upravit objekt</b> na záložce <b>Klí�ové body</b>.
+Výběr nové pozice objektu probíhá stejně jako přidávání nového objektu: <a href="#selection">Výběr objektu</a>.</p>
+
+<h3 id="initial_position">Změna po�áte�ní pozice sledování<a name="initial_position"></a></h3>
+<p>Pro změnu po�áte�ní pozice sledování aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Trajektorie -&gt; Změnit za�átek</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+B</i> a v sekci <b>Upravit objekt</b> na záložce <b>Klí�ové body</b> u položky <b>Za�átek</b> možnost <b>Změnit pozici</b>.
+Výběr nové po�áte�ní pozice objektu probíhá stejně jako přidávání nového objektu: <a href="#selection">Výběr objektu</a>.</p>
+
+<h3 id="end_position">Nastavení konce sledování objektu<a name="end_position"></a></h3>
+<p>Pro nastavení (změnu) konce sledování aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Trajektorie -&gt; Nastavit konec sledování</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+E</i> a v sekci <b>Upravit objekt</b> na záložce <b>Klí�ové body</b> u položky <b>Konec</b> možnost<b>Nastavit konec sledování</b> (nebo <b>Změnit poslední snímek sledování</b> v případě, že konec již byl nastaven).
+Snímek vyberte pomocí ovládání přehráva�e a potvr�te.</p>
+
+<h3 id="last_frame">Nastavení sledování do konce videa<a name="last_frame"></a></h3>
+<p>Pro nastavení sledování aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") do konce videa vyberte v hlavní nabídce <b>Objekt -&gt; Trajektorie -&gt; Nastavit sledování do konce videa</b>.
+Alternativně lze v sekci <b>Upravit objekt</b> na záložce <b>Klí�ové body</b> u položky <b>Konec</b> vybrat možnost <b>Nastavit sledování do konce videa</b>.</p>
+
+<h3 id="compute_trajectory_partial">Průběžné vypo�ítávání trajektorie<a name="compute_trajectory_partial"></a></h3>
+<p>Trajektorie se automaticky vypo�ítává průběžně vzhledem ke snímkům, které jsou zobrazovány přehráva�em.
+Pokud si přejete dopředu vypo�ítat celou trajektorii, použijte: <a href="#compute_trajectory">Vypo�ítání trajektorie</a>.</p>
+
+<h3 id="trajectory">Zobrazit trajektorii<a name="trajectory"></a></h3>
+<p>V sekci <b>Upravit objekt</b> se nachází záložka <b>Trajektorie</b>.
+Zde je vypsána celá trajektorie aktuálně aktivního objektu (vybraného v sekci "Upravit objekt"). "<b>x</b>" a "<b>y</b>" vyjadřují souřadnice objektu na daném snímku. "<b>š</b>" vyjadřuje šířku a "<b>v</b>" vyjadřuje výšku.
+Kliknutím na položku trajektorie můžete sko�it na daný snímek.</p>
+
+<h3 id="compute_trajectory">Vypo�ítání trajektorie<a name="compute_trajectory"></a></h3>
+<p>Pro vypo�ítání celé trajektorie aktuálně aktivního objektu (vybraného v sekci "Upravit objekt") vyberte v hlavní nabídce <b>Objekt -&gt; Trajektorie -&gt; Vypo�ítat trajektorii</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Alt+O</i> a tla�ítko <b>Vypo�ítat trajektorii</b>,
+nacházející se v sekci <b>Upravit objekt</b> na záložce <b>Trajektorie</b>.
+Vypo�ítání trajektorie dopředu tímto způsobem znamená, že pro daný objekt se vypo�ítá celá trajektorie a nebude již třeba <a href="#compute_trajectory_partial">Průběžného vypo�ítávání</a>. Tím je samotná práce s videem urychlena a je dostupný kompletní seznam pozic objektu v záložce <b>Trajektorie</b>.</p>
+
+<h3 id="original_video">Zobrazovat originální video<a name="original_video"></a></h3>
+<p>Pro zobrazení originálního videa vedle upraveného videa vyberte v hlavní nabídce <b>Nastavení -&gt; Zobrazit originální video</b>.
+Lze použít i klávesovou zkratku <i>Ctrl+Shift+H</i>. Originální video se zobrazuje napravo od upraveného videa.</p>
+<h3 id="time_values">Zobrazovat �asové údaje<a name="time_values"></a></h3>
+<p>Pro zobrazení �asových údajů snímků namísto jejich �ísel vyberte v hlavní nabídce <b>Nastavení -&gt; Zobrazit �asové údaje</b>.
+Touto volbou se změní hodnoty v celém programu. Lze použít i klávesovou zkratku <i>Ctrl+Shift+T</i>.</p>
+<h3 id="frame_numbers">Zobrazovat �ísla snímků<a name="frame_numbers"></a></h3>
+<p>Pro zobrazení �ísel snímků namísto jejich �asových údajů vyberte v hlavní nabídce <b>Nastavení -&gt; Zobrazit �ísla snímků</b>.
+Touto volbou se změní hodnoty v celém programu. Lze použít i klávesovou zkratku <i>Ctrl+Shift+N</i>.</p>
+
+<h3 id="language">Změna jazyka<a name="language"></a></h3>
+<p>Jazyk aplikace lze nastavit v hlavní nabídce menu <b>Jazyk / Language</b>. Změna jazyka se projeví až po novém spuštění aplikace Video Anonymizer.</p>
+</body>
+</html>
diff --git a/Resources/Help/cs_doc.qch b/Resources/Help/cs_doc.qch
new file mode 100644
index 0000000..ae39a87
Binary files /dev/null and b/Resources/Help/cs_doc.qch differ
diff --git a/Resources/Help/cs_doc_project.qhp b/Resources/Help/cs_doc_project.qhp
new file mode 100644
index 0000000..6d58ee7
--- /dev/null
+++ b/Resources/Help/cs_doc_project.qhp
@@ -0,0 +1,212 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<QtHelpProject version="1.0">
+    <namespace>fit.cz.videoanonymizer</namespace>
+    <virtualFolder>doc</virtualFolder>
+    <customFilter name="Video Anonymizer">
+        <filterAttribute>videoanonymizer</filterAttribute>
+		<filterAttribute>cs</filterAttribute>
+    </customFilter>
+    <filterSection>
+        <filterAttribute>videoanonymizer</filterAttribute>
+		<filterAttribute>cs</filterAttribute>
+        <toc>
+            <section title="Otevření videa" ref="cs_doc.html#open_video"/>
+            <section title="Uložení videa" ref="cs_doc.html#save_video"/>
+            <section title="Otevření projektu" ref="cs_doc.html#open_project"/>
+            <section title="Uložení projektu" ref="cs_doc.html#save_project"/>
+            <section title="Přehrávání / Pozastavení videa" ref="cs_doc.html#play"/>
+            <section title="Zastavení videa" ref="cs_doc.html#stop"/>
+            <section title="Krokování videa" ref="cs_doc.html#stepping">
+                <section title="Krok vpřed" ref="cs_doc.html#step_forward"/>
+                <section title="Krok zpět" ref="cs_doc.html#step_back"/>
+            </section>
+            <section title="Změna rychlosti" ref="cs_doc.html#speed">
+                <section title="Rychleji" ref="cs_doc.html#faster"/>
+                <section title="Pomaleji" ref="cs_doc.html#slower"/>
+                <section title="Skute�ná rychlost" ref="cs_doc.html#original_speed"/>
+            </section>
+            <section title="Sledování nového objektu" ref="cs_doc.html#track_object"/>
+            <section title="Výběr objektu" ref="cs_doc.html#selection"/>
+            <section title="Přejmenování objektu" ref="cs_doc.html#rename_object"/>
+            <section title="Odstranění objektu" ref="cs_doc.html#delete_object"/>
+            <section title="Nastavení vzhledu objektu" ref="cs_doc.html#appearance">
+                <section title="Rozostření nebo barva" ref="cs_doc.html#defocus_color"/>
+                <section title="Velikost rozostření" ref="cs_doc.html#defocus"/>
+                <section title="Výběr tvaru" ref="cs_doc.html#shape"/>
+                <section title="Vyplnění objektu" ref="cs_doc.html#fill"/>
+                <section title="Nakreslit okraj" ref="cs_doc.html#border"/>
+                <section title="Výběr vlastní barvy" ref="cs_doc.html#custom_color"/>
+            </section>
+            <section title="Klí�ové body" ref="cs_doc.html#key_points"/>
+            <section title="Změna trajektorie" ref="cs_doc.html#trajectory_change"/>
+            <section title="Změna po�áte�ní pozice sledování" ref="cs_doc.html#initial_position"/>
+            <section title="Nastavení konce sledování objektu" ref="cs_doc.html#end_position"/>
+            <section title="Nastavení sledování do konce videa" ref="cs_doc.html#last_frame"/>
+            <section title="Průběžné vypo�ítávání trajektorie" ref="cs_doc.html#compute_trajectory_partial"/>
+            <section title="Zobrazit trajektorii" ref="cs_doc.html#trajectory"/>
+            <section title="Vypo�ítání trajektorie" ref="cs_doc.html#compute_trajectory"/>
+            <section title="Zobrazovat originální video" ref="cs_doc.html#original_video"/>
+            <section title="Zobrazovat �asové údaje" ref="cs_doc.html#time_values"/>
+            <section title="Zobrazovat �ísla snímků" ref="cs_doc.html#frame_numbers"/>
+            <section title="Změna jazyka" ref="cs_doc.html#language"/>
+        </toc>
+        <keywords>
+            <keyword name="otevřít video"  ref="cs_doc.html#open_video"/>
+            <keyword name="na�íst video"  ref="cs_doc.html#open_video"/>
+
+            <keyword name="uložit video"  ref="cs_doc.html#save_video"/>
+            <keyword name="výstup"  ref="cs_doc.html#save_video"/>
+            <keyword name="vytvořit výstupní video"  ref="cs_doc.html#save_video"/>
+            <keyword name="uložit výstupní video"  ref="cs_doc.html#save_video"/>
+
+            <keyword name="projekt"  ref="cs_doc.html#open_project"/>
+            <keyword name="otevřít projekt"  ref="cs_doc.html#open_project"/>
+            <keyword name="na�íst projekt"  ref="cs_doc.html#open_project"/>
+            <keyword name="XML"  ref="cs_doc.html#open_project"/>
+            <keyword name="JSON"  ref="cs_doc.html#open_project"/>
+            <keyword name="rozpracovaný projekt"  ref="cs_doc.html#open_project"/>
+
+            <keyword name="uložit projekt"  ref="cs_doc.html#save_project"/>
+
+            <keyword name="přehrát video"  ref="cs_doc.html#play"/>
+            <keyword name="spustit video"  ref="cs_doc.html#play"/>
+            <keyword name="přehrávat"  ref="cs_doc.html#play"/>
+            <keyword name="pozastavit"  ref="cs_doc.html#play"/>
+            <keyword name="pauza"  ref="cs_doc.html#play"/>
+            
+            <keyword name="stop"  ref="cs_doc.html#stop"/>
+            <keyword name="zastavit"  ref="cs_doc.html#stop"/>
+            <keyword name="zastavení videa"  ref="cs_doc.html#stop"/>
+
+            <keyword name="krokování videa"  ref="cs_doc.html#stepping"/>
+            <keyword name="posunování"  ref="cs_doc.html#stepping"/>
+
+            <keyword name="krokování vpřed"  ref="cs_doc.html#step_forward"/>
+            <keyword name="krok vpřed"  ref="cs_doc.html#step_forward"/>
+            <keyword name="následující snímek"  ref="cs_doc.html#step_forward"/>
+
+            <keyword name="krokování zpět"  ref="cs_doc.html#step_back"/>
+            <keyword name="krok zpět"  ref="cs_doc.html#step_back"/>
+            <keyword name="předchozí snímek"  ref="cs_doc.html#step_back"/>
+            
+            <keyword name="rychlost přehrávání"  ref="cs_doc.html#speed"/>
+            <keyword name="změna rychlosti"  ref="cs_doc.html#speed"/>
+
+            <keyword name="rychleji"  ref="cs_doc.html#faster"/>
+            <keyword name="přehrávat rychleji"  ref="cs_doc.html#faster"/>
+
+            <keyword name="pomaleji"  ref="cs_doc.html#slower"/>
+            <keyword name="přehrávat pomaleji"  ref="cs_doc.html#slower"/>
+
+            <keyword name="skute�ná rychlost"  ref="cs_doc.html#original_speed"/>
+            <keyword name="originální rychlost"  ref="cs_doc.html#original_speed"/>
+            <keyword name="přehrávat normálně"  ref="cs_doc.html#original_speed"/>
+            <keyword name="původní rychlost"  ref="cs_doc.html#original_speed"/>
+
+            <keyword name="sledování nového objektu"  ref="cs_doc.html#track_object"/>
+            <keyword name="nový objekt"  ref="cs_doc.html#track_object"/>
+            <keyword name="sledovat objekt"  ref="cs_doc.html#track_object"/>
+            <keyword name="přidat objekt"  ref="cs_doc.html#track_object"/>
+
+            <keyword name="výběr objektu"  ref="cs_doc.html#selection"/>
+            <keyword name="vybrat objekt"  ref="cs_doc.html#selection"/>
+            <keyword name="selekce"  ref="cs_doc.html#selection"/>
+            <keyword name="ozna�ení"  ref="cs_doc.html#selection"/>
+
+            <keyword name="přejmenovat objekt"  ref="cs_doc.html#rename_object"/>
+            <keyword name="přejmenování objektu"  ref="cs_doc.html#rename_object"/>
+            <keyword name="nové jméno"  ref="cs_doc.html#rename_object"/>
+            <keyword name="změnit jméno"  ref="cs_doc.html#rename_object"/>
+            
+            <keyword name="odstranit objekt"  ref="cs_doc.html#delete_object"/>
+            <keyword name="smazat objekt"  ref="cs_doc.html#delete_object"/>
+            <keyword name="zrušit objekt"  ref="cs_doc.html#delete_object"/>
+
+            <keyword name="vzhled objektu"  ref="cs_doc.html#appearance"/>
+            <keyword name="nastavení vzhledu objektu"  ref="cs_doc.html#appearance"/>
+            <keyword name="upravit vzhled objektu"  ref="cs_doc.html#appearance"/>
+			
+            <keyword name="rozostřit"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="barva"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="rozkosti�kovat"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="rozmazat"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="okraj"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="vyplnit"  ref="cs_doc.html#defocus_color"/>
+            <keyword name="anonymizace"  ref="cs_doc.html#defocus_color"/>
+
+            <keyword name="velikost rozostření"  ref="cs_doc.html#defocus"/>
+            <keyword name="velikost �tverce"  ref="cs_doc.html#defocus"/>
+
+            <keyword name="tvar"  ref="cs_doc.html#shape"/>
+            <keyword name="výběr tvaru"  ref="cs_doc.html#shape"/>
+
+            <keyword name="vyplnění objektu"  ref="cs_doc.html#fill"/>
+            <keyword name="vyplnit objekt"  ref="cs_doc.html#fill"/>
+
+            <keyword name="barva okraje"  ref="cs_doc.html#border"/>
+            <keyword name="tloušťka okraje"  ref="cs_doc.html#border"/>
+            <keyword name="nakreslit okraj"  ref="cs_doc.html#border"/>
+
+            <keyword name="vlastní barva"  ref="cs_doc.html#custom_color"/>
+            <keyword name="výběr vlastní barvy"  ref="cs_doc.html#custom_color"/>
+            <keyword name="vybrat vlastní barvu"  ref="cs_doc.html#custom_color"/>
+            <keyword name="zvolit vlastní barvu"  ref="cs_doc.html#custom_color"/>
+
+            <keyword name="klí�ové body"  ref="cs_doc.html#key_points"/>
+            <keyword name="za�átek"  ref="cs_doc.html#key_points"/>
+            <keyword name="konec"  ref="cs_doc.html#key_points"/>
+            <keyword name="změna trajektorie"  ref="cs_doc.html#key_points"/>
+
+            <keyword name="změnit trajektorii"  ref="cs_doc.html#trajectory_change"/>
+            <keyword name="upravit trajektorii"  ref="cs_doc.html#trajectory_change"/>
+            <keyword name="přidat změnu trajektorie"  ref="cs_doc.html#trajectory_change"/>
+            <keyword name="po�áte�ní pozice"  ref="cs_doc.html#initial_position"/>
+            <keyword name="po�átek"  ref="cs_doc.html#initial_position"/>
+            <keyword name="změna za�átku"  ref="cs_doc.html#initial_position"/>
+            <keyword name="upravit za�átek"  ref="cs_doc.html#initial_position"/>
+            <keyword name="změnit pozici"  ref="cs_doc.html#initial_position"/>
+
+            <keyword name="upravit konec"  ref="cs_doc.html#end_position"/>
+            <keyword name="nastavit konec sledování"  ref="cs_doc.html#end_position"/>
+            <keyword name="změnit poslední snímek"  ref="cs_doc.html#end_position"/>
+
+            <keyword name="nastavit sledování do konce videa"  ref="cs_doc.html#last_frame"/>
+            <keyword name="konec videa"  ref="cs_doc.html#last_frame"/>
+            <keyword name="sledování do konce videa"  ref="cs_doc.html#last_frame"/>
+
+            <keyword name="vypo�ítávání trajektorie"  ref="cs_doc.html#compute_trajectory_partial"/>
+            <keyword name="průběžné vypo�ítávání trajektorie"  ref="cs_doc.html#compute_trajectory_partial"/>
+            <keyword name="automatické vypo�ítávání trajektorie"  ref="cs_doc.html#compute_trajectory_partial"/>
+
+            <keyword name="zobrazit trajektorii"  ref="cs_doc.html#trajectory"/>
+            <keyword name="trajektorie"  ref="cs_doc.html#trajectory"/>
+            <keyword name="šířka"  ref="cs_doc.html#trajectory"/>
+            <keyword name="výška"  ref="cs_doc.html#trajectory"/>
+            <keyword name="pozice"  ref="cs_doc.html#trajectory"/>
+            <keyword name="snímek"  ref="cs_doc.html#trajectory"/>
+
+            <keyword name="vypo�ítat trajektorii"  ref="cs_doc.html#compute_trajectory"/>
+            
+            <keyword name="originální video"  ref="cs_doc.html#original_video"/>
+            <keyword name="původní video"  ref="cs_doc.html#original_video"/>
+            <keyword name="zobrazit originální video"  ref="cs_doc.html#original_video"/>
+
+            <keyword name="�asové údaje"  ref="cs_doc.html#time_values"/>
+            <keyword name="zobrazit �asové údaje"  ref="cs_doc.html#time_values"/>
+
+            <keyword name="�ísla snímků"  ref="cs_doc.html#frame_numbers"/>
+            <keyword name="zobrazit �ísla snímků"  ref="cs_doc.html#frame_numbers"/>
+
+            <keyword name="jazyk"  ref="cs_doc.html#language"/>
+            <keyword name="změnit jazyk"  ref="cs_doc.html#language"/>
+            <keyword name="nastavit jazyk"  ref="cs_doc.html#language"/>
+            <keyword name="language"  ref="cs_doc.html#language"/>
+            <keyword name="angli�tina"  ref="cs_doc.html#language"/>
+            <keyword name="english"  ref="cs_doc.html#language"/>
+            <keyword name="�eština"  ref="cs_doc.html#language"/>
+        </keywords>
+        <files>
+            <file>*.html</file>
+        </files>
+    </filterSection>
+</QtHelpProject>
diff --git a/Resources/Help/cs_helpcollection.qhcp b/Resources/Help/cs_helpcollection.qhcp
new file mode 100644
index 0000000..29bc032
--- /dev/null
+++ b/Resources/Help/cs_helpcollection.qhcp
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<QHelpCollectionProject version="1.0">
+	<docFiles>
+    <generate>
+        <file>
+            <input>cs_doc_project.qhp</input>
+            <output>cs_doc.qch</output>
+        </file>
+    </generate>
+    <register>
+        <file>cs_doc.qch</file>
+    </register>
+</docFiles>
+</QHelpCollectionProject>
diff --git a/Resources/Help/en_doc.html b/Resources/Help/en_doc.html
new file mode 100644
index 0000000..214ca24
--- /dev/null
+++ b/Resources/Help/en_doc.html
@@ -0,0 +1,168 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+    "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html>
+<head>
+    <meta http-equiv="content-type" content="text/html; charset=utf-8"/>
+    <title>Video Anonymizer</title>
+    <style type="text/css">
+    	h3 { margin-bottom: 0px; }
+    	h3 { margin-bottom: 0px; }
+    	p { margin-top: 2px; padding-bottom: 10px; }
+    </style>
+</head>
+<body>
+<h3 id="open_video">Open video<a name="open_video"></a></h3>
+<p>For opening a video, go to the main menu: <b>File -&gt; Open video</b> and find its path.
+You can use a shortcut <i>Ctrl+O</i>.</p>
+
+<h3 id="save_video">Save video<a name="save_video"></a></h3>
+<p>For saving an output video, go to the main menu: <b>File -&gt; Save output video file</b>. The output video contains all tracked objects.
+However, it is not possible to change these objects later. For saving a video, you can use a shortcut <i>Ctrl+U</i>.
+If you want to save a project for later editing, use: <a href="#save_project">Save project</a>.</p>
+
+<h3 id="open_project">Open project<a name="open_project"></a></h3>
+<p>Projects created by Video Anonymizer can be loaded in the main menu: <b>File -&gt; Load project</b>.
+Projects can be loaded in formats JSON and XML. For opening a project, shortcut <i>Ctrl+L</i> can be used.
+If you want to open a new video, use: <a href="#open_video">Open video</a>.</p>
+
+<h3 id="save_project">Save project<a name="save_project"></a></h3>
+<p>If you want to edit a project later, you can save it in JSON or XML. Such a project is later loaded with all its objects and settings.
+For saving a project, go to the main menu: <b>File -&gt; Save project</b> or use a shortcut <i>Ctrl+S</i>.
+However, saved projects are not media files. If you want to create an output video file, use: <a href="#save_video">Save video</a>.</p>
+
+<h3 id="play">Play / Pause video<a name="play"></a></h3>
+<p>For playing or pausing a video, go to the main menu: <b>Player -&gt; Play / Pause</b>.
+Alternatively, you can use a shortcut <i>Ctrl+P</i> or a button <b>Play (Pause)</b> from the video player controls located beneath the video frame.
+If you want to stop a video (go to its first frame), use: <a href="#stop">Stop video</a>.</p>
+
+<h3 id="stop">Stop video<a name="stop"></a></h3>
+<p>For stopping a video, go to the main menu: <b>Player -&gt; Stop</b>. Alternatively, you can use a shortcut <i>Ctrl+Z</i> or a button <b>Stop</b>
+located in the video player controls beneath the video frame.
+If you want to pause a video, use: <a href="#play">Play / Pause</a>.</p>
+
+<h3 id="stepping">Video stepping<a name="stepping"></a></h3>
+<p>A video can be moved forward and back by one frame.
+<h3 id="step_forward">Step forward<a name="step_forward"></a></h3>
+<p>For stepping forward, go to the main menu: <b>Player -&gt; Step forward</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Right</i> or a button "<b>&gt;</b>" located in the video player controls beneath the video frame.</p>
+<h3 id="step_back">Step back<a name="step_back"></a></h3>
+<p>For stepping back, go to the main menu: <b>Player -&gt; Step back</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Left</i> or a button "<b>&lt;</b>" located in the video player controls beneath the video frame.</p>
+
+<h3 id="speed">Change playback speed<a name="speed"></a></h3>
+The video player enables changing a playback speed. The current playback speed is displayed on the video player controls' right.
+<h3 id="faster">Faster<a name="faster"></a></h3>
+<p>For increasing the playback speed, go to the main menu: <b>Player -&gt; Speed -&gt; Play faster</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Up</i> or a button "<b>+</b>", located next to the current playback speed. </p>
+<h3 id="slower">Slower<a name="slower"></a></h3>
+<p>For decreasing the playback speed, go to the main menu: <b>Player -&gt; Speed -&gt; Play slower</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Down</i> or a button "<b>-</b>", located next to the current playback speed. </p>
+<h3 id="original_speed">Original speed<a name="original_speed"></a></h3>
+<p>For restoring the original video speed, go to the main menu: <b>Player -&gt; Speed -&gt; Original speed</b>.</p>
+
+<h3 id="track_object">Track a new object<a name="track_object"></a></h3>
+<p>To track a new object go to the main menu: <b>Object -&gt; Track object</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+A</i> or a button <b>Track object</b>, located in the video player controls beneath the video frame.
+You are asked to enter the object's name and to select the object's initial position.
+When selecting the initial position, you can use the video player to find the desired frame.
+Select an area of the object to be tracked by <a href="#selection">Object selection</a>.</p>
+
+<h3 id="selection">Object selection<a name="selection"></a></h3>
+<p>Select an area by pressing a mouse button in a video frame at a position where the object begins, move the cursor to the end of the object and release the button. If you want to change the selection, select a new area the same way as the first selection. This way the new area replaces the previous one.</p>
+
+<h3 id="rename_object">Rename an object<a name="rename_object"></a></h3>
+<p>To rename the object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Change name</b>.
+You can rename the object also in the section <b>Edit object</b> at the <b>General</b> tab by clicking on a button <b>Change name</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+N</i>.</p>
+
+<h3 id="delete_object">Delete an object<a name="delete_object"></a></h3>
+<p>To delete the object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Remove</b>.
+You can delete the object also in the section <b>Edit object</b> at the <b>General</b> tab by clicking on a button <b>Remove</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+R</i>.</p>
+
+<h3 id="appearance">Change object appearance<a name="appearance"></a></h3>
+<p>An appearance of the object selected in the section "Edit object" can be changed at the <b>Appearance</b> tab.</p>
+
+<h3 id="defocus_color">Defocus or color<a name="defocus_color"></a></h3>
+<p>For defocusing (anonymizing) a tracked object, check the option <b>Defocus</b>.
+If you want to fill the object with a color or draw a border around the object, check the option <b>Color</b>.</p>
+
+<h3 id="defocus">Defocus size<a name="defocus"></a></h3>
+<p>Defocusing can be adjusted by changing the <b>Defocus size</b>. It defines the size of squares used for defocusing. The lower the value is, the less visible (more defocused) the object is.</p>
+<h3 id="shape">Shape selection<a name="shape"></a></h3>
+<p>The item <b>Shape</b> defines the drawn shape of a tracked object. This option works only when filling the object with a color or drawing a border (not for defocusing).</p>
+
+<h3 id="fill">Fill an object<a name="fill"></a></h3>
+<p>When the option <b>Fill</b> is checked in the item <b>Draw</b>, the tracked object is filled with a color selected in <b>Color</b>.
+Beside predefined colors, you can <a href="#custom_color">Select a custom color</a>.</p>
+
+<h3 id="border">Draw a border<a name="border"></a></h3>
+<p>When the option <b>Border</b> is checked in the item <b>Draw</b>, a border is drawn around the tracked object.
+The thickness of the border is set in <b>Border thickness</b> and the color is selected in <b>Border color</b>. 
+Beside predefined colors, you can <a href="#custom_color">Select a custom color</a>.</p>
+
+<h3 id="custom_color">Select a custom color<a name="custom_color"></a></h3>
+<p>For selecting a custom color (when selecting a color for a border or for filling an object), click on the first item in the list of colors with the text <b>+ Add new</b>.</p> 
+
+<h3 id="key_points">Key points<a name="key_points"></a></h3>
+<p>The tab <b>Key points</b> in the section <b>Edit object</b> contains points (frames) with trajectory changes defined by a user.
+There are three kinds of points: <b>Beginning</b>, <b>End</b> and <b>Trajectory change</b>.
+Click on a point to change it or to see a frame where it is defined. "Trajectory change" can be deleted this way.</p>
+<ul>
+    <li><b>Beginning:</b> The initial position of a tracked object.</li>
+	<li><b>End:</b> The last frame of a tracked object.</li>
+	<li><b>Trajectory change</b>: Change of a trajectory on a particular frame. It is used for a correction of a trajectory if the computed one is incorrect.</li>
+</ul>
+
+<h3 id="trajectory_change">Change a trajectory<a name="trajectory_change"></a></h3>
+<p>To change the trajectory of the object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Trajectory -&gt; Change trajectory</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+T</i> or a button <b>Add trajectory change</b>,
+located in the section <b>Edit object</b> at the <b>Key points</b> tab.
+Selecting a new position for an object is the same as adding a new object: <a href="#selection">Object selection</a>.</p>
+
+<h3 id="initial_position">Change the initial position of tracking<a name="initial_position"></a></h3>
+<p>To change the initial position of the tracked object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Trajectory -&gt; Change beginning</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+B</i> or an option <b>Change position</b> at the item <b>Beginning</b> at the <b>Key points</b> tab in the section <b>Edit object</b>.
+Selecting a new initial position for an object is the same as adding a new object: <a href="#selection">Object selection</a>.</p>
+
+<h3 id="end_position">Set the end of tracking<a name="end_position"></a></h3>
+<p>To set (change) the end of tracking for the tracked object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Trajectory -&gt; Set end of tracking</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+E</i> or an option <b>Change last frame of tracking</b> (or <b>Change last frame of tracking</b>) at the item <b>End</b> at the <b>Key points</b> tab in the section <b>Edit object</b>.
+Find the frame by the video player controls and confirm it.</p>
+
+<h3 id="last_frame">Set tracking till the end of the video<a name="last_frame"></a></h3>
+<p>To set tracking till the end of the video for the tracked object selected in the section "Edit object" go to the main menu: <b>Object -&gt; Trajectory -&gt; Set tracking till the end of the video</b>.
+Alternatively, you can use an option <b>Set tracking till the end</b> at the item <b>End</b> at the <b>Key points</b> tab  in the section <b>Edit object</b></p>
+
+<h3 id="compute_trajectory_partial">Partial trajectory computing<a name="compute_trajectory_partial"></a></h3>
+<p>Trajectory is computed automatically when needed. This means when a frame should be displayed, the trajectory is computed only up to the point so as the position of a tracked object is known at the frame.
+If you want to compute all the trajectory for a tracked object, use: <a href="#compute_trajectory">Compute trajectory</a>.</p>
+
+<h3 id="trajectory">Show a trajectory<a name="trajectory"></a></h3>
+<p>For displaying the trajectory of an object selected in the section "Edit object", go to the <b>Trajectory</b> tab in the section <b>Edit object</b>.
+"<b>x</b>" and "<b>y</b>" are coordinates of the object for a particular frame. "<b>w</b>" represents its width and "<b>h</b>" represents its height.
+To show a particular frame click on an item.</p>
+
+<h3 id="compute_trajectory">Compute a trajectory<a name="compute_trajectory"></a></h3>
+<p>
+For computing all the trajectory of an object selected in the section "Edit object" go to: <b>Object -&gt; Trajectory -&gt; Compute trajectory</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Alt+O</i> or a button <b>Compute trajectory</b>, located in the section <b>Edit object</b> at the <b>Trajectory</b> tab.
+This way all the object's trajectory is computed and <a href="#compute_trajectory_partial">Partial trajectory computing</a> will not be used for the object.
+That makes a video playback faster and a complete list of an object's positions (trajectory) is available at the <b>Trajectory</b> tab.</p>
+
+<h3 id="original_video">Show original video<a name="original_video"></a></h3>
+<p>To display the original video next to the altered video (video with tracked objects) go to the main menu: <b>Settings -&gt; Show original video</b>.
+Alternatively, you can use a shortcut <i>Ctrl+Shift+H</i>.</p>
+
+<h3 id="time_values">Show time values<a name="time_values"></a></h3>
+<p>For displaying time values instead of frame numbers, go to the main menu: <b>Settings -&gt; Show time values</b>.
+This option changes displayed values in all the application. Alternatively, you can use a shortcut <i>Ctrl+Shift+T</i>.</p>
+
+<h3 id="frame_numbers">Show frame numbers<a name="frame_numbers"></a></h3>
+<p>For displaying frame numbers instead of their time values, go to the main menu: <b>Settings -&gt; Show frame numbers</b>.
+This option changes displayed values in all the application. Alternatively, you can use a shortcut <i>Ctrl+Shift+N</i>.</p>
+
+<h3 id="language">Change language<a name="language"></a></h3>
+<p>Application language can be changed in the main menu: <b>Language / Jazyk</b>. Language change will take effect after restarting the application.</p>
+</body>
+</html>
diff --git a/Resources/Help/en_doc.qch b/Resources/Help/en_doc.qch
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diff --git a/Resources/Help/en_doc_project.qhp b/Resources/Help/en_doc_project.qhp
new file mode 100644
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--- /dev/null
+++ b/Resources/Help/en_doc_project.qhp
@@ -0,0 +1,207 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<QtHelpProject version="1.0">
+    <namespace>fit.cz.videoanonymizer</namespace>
+    <virtualFolder>doc</virtualFolder>
+    <customFilter name="Video Anonymizer">
+        <filterAttribute>videoanonymizer</filterAttribute>
+        <filterAttribute>en</filterAttribute>
+    </customFilter>
+    <filterSection>
+        <filterAttribute>videoanonymizer</filterAttribute>
+        <filterAttribute>en</filterAttribute>
+        <toc>
+            <section title="Open video" ref="en_doc.html#open_video"/>
+            <section title="Save video" ref="en_doc.html#save_video"/>
+            <section title="Open project" ref="en_doc.html#open_project"/>
+            <section title="Save project" ref="en_doc.html#save_project"/>
+            <section title="Play / Pause video" ref="en_doc.html#play"/>
+            <section title="Stop video" ref="en_doc.html#stop"/>
+            <section title="Video stepping" ref="en_doc.html#stepping">
+                <section title="Step forward" ref="en_doc.html#step_forward"/>
+                <section title="Step back" ref="en_doc.html#step_back"/>
+            </section>
+            <section title="Change playback speed" ref="en_doc.html#speed">
+                <section title="Faster" ref="en_doc.html#faster"/>
+                <section title="Slower" ref="en_doc.html#slower"/>
+                <section title="Original speed" ref="en_doc.html#original_speed"/>
+            </section>
+            <section title="Track a new object" ref="en_doc.html#track_object"/>
+            <section title="Object selection" ref="en_doc.html#selection"/>
+            <section title="Rename an object" ref="en_doc.html#rename_object"/>
+            <section title="Remove an object" ref="en_doc.html#delete_object"/>
+            <section title="Change object appearance" ref="en_doc.html#appearance">
+                <section title="Defocus or color" ref="en_doc.html#defocus_color"/>
+                <section title="Defocus size" ref="en_doc.html#defocus"/>
+                <section title="Shape selection" ref="en_doc.html#shape"/>
+                <section title="Fill an object" ref="en_doc.html#fill"/>
+                <section title="Draw a border" ref="en_doc.html#border"/>
+                <section title="Select a custom color" ref="en_doc.html#custom_color"/>
+            </section>
+            <section title="Key points" ref="en_doc.html#key_points"/>
+            <section title="Change a trajectory" ref="en_doc.html#trajectory_change"/>
+            <section title="Change the initial position of tracking" ref="en_doc.html#initial_position"/>
+            <section title="Set the end of tracking" ref="en_doc.html#end_position"/>
+            <section title="Set tracking till the end of the video" ref="en_doc.html#last_frame"/>
+            <section title="Partial trajectory computing" ref="en_doc.html#compute_trajectory_partial"/>
+            <section title="Show a trajectory" ref="en_doc.html#trajectory"/>
+            <section title="Compute a trajectory" ref="en_doc.html#compute_trajectory"/>
+            <section title="Show original video" ref="en_doc.html#original_video"/>
+            <section title="Show time values" ref="en_doc.html#time_values"/>
+            <section title="Show frame numbers" ref="en_doc.html#frame_numbers"/>
+            <section title="Change language" ref="en_doc.html#language"/>
+        </toc>
+        <keywords>
+            <keyword name="open video"  ref="en_doc.html#open_video"/>
+            <keyword name="load video"  ref="en_doc.html#open_video"/>
+
+            <keyword name="save video"  ref="en_doc.html#save_video"/>
+            <keyword name="output"  ref="en_doc.html#save_video"/>
+            <keyword name="save output video"  ref="en_doc.html#save_video"/>
+            <keyword name="create output video"  ref="en_doc.html#save_video"/>
+            <keyword name="create video"  ref="en_doc.html#save_video"/>
+
+            <keyword name="project"  ref="en_doc.html#open_project"/>
+            <keyword name="open project"  ref="en_doc.html#open_project"/>
+            <keyword name="load project"  ref="en_doc.html#open_project"/>
+            <keyword name="XML"  ref="en_doc.html#open_project"/>
+            <keyword name="JSON"  ref="en_doc.html#open_project"/>
+            <keyword name="unfinished project"  ref="en_doc.html#open_project"/>
+
+            <keyword name="save project"  ref="en_doc.html#save_project"/>
+
+            <keyword name="play video"  ref="en_doc.html#play"/>
+            <keyword name="play"  ref="en_doc.html#play"/>
+            <keyword name="pause"  ref="en_doc.html#play"/>
+            <keyword name="pause video"  ref="en_doc.html#play"/>
+            
+            <keyword name="stop"  ref="en_doc.html#stop"/>
+            <keyword name="stop video"  ref="en_doc.html#stop"/>
+
+            <keyword name="video stepping"  ref="en_doc.html#stepping"/>
+            <keyword name="stepping"  ref="en_doc.html#stepping"/>
+
+            <keyword name="step forward"  ref="en_doc.html#step_forward"/>
+            <keyword name="forward"  ref="en_doc.html#step_forward"/>
+            <keyword name="next frame"  ref="en_doc.html#step_forward"/>
+
+            <keyword name="step back"  ref="en_doc.html#step_back"/>
+            <keyword name="backward"  ref="en_doc.html#step_back"/>
+            <keyword name="previous frame"  ref="en_doc.html#step_back"/>
+            
+            <keyword name="playback speed"  ref="en_doc.html#speed"/>
+            <keyword name="speed"  ref="en_doc.html#speed"/>
+            <keyword name="change speed"  ref="en_doc.html#speed"/>
+
+            <keyword name="faster"  ref="en_doc.html#faster"/>
+            <keyword name="play faster"  ref="en_doc.html#faster"/>
+
+            <keyword name="slower"  ref="en_doc.html#slower"/>
+            <keyword name="play slower"  ref="en_doc.html#slower"/>
+
+            <keyword name="original speed"  ref="en_doc.html#original_speed"/>
+
+            <keyword name="new object"  ref="en_doc.html#track_object"/>
+            <keyword name="track new object"  ref="en_doc.html#track_object"/>
+            <keyword name="add object"  ref="en_doc.html#track_object"/>
+            <keyword name="tracking"  ref="en_doc.html#track_object"/>
+
+            <keyword name="object selection"  ref="en_doc.html#selection"/>
+            <keyword name="select object"  ref="en_doc.html#selection"/>
+            <keyword name="selection"  ref="en_doc.html#selection"/>
+
+            <keyword name="rename object"  ref="en_doc.html#rename_object"/>
+            <keyword name="new name"  ref="en_doc.html#rename_object"/>
+            <keyword name="change name"  ref="en_doc.html#rename_object"/>
+            
+            <keyword name="remove object"  ref="en_doc.html#delete_object"/>
+            <keyword name="delete object"  ref="en_doc.html#delete_object"/>
+            <keyword name="discard object"  ref="en_doc.html#delete_object"/>
+
+            <keyword name="object appearance"  ref="en_doc.html#appearance"/>
+            <keyword name="set object appearance"  ref="en_doc.html#appearance"/>
+            <keyword name="change object appearance"  ref="en_doc.html#appearance"/>
+            <keyword name="appearance"  ref="en_doc.html#appearance"/>
+			
+            <keyword name="defocus"  ref="en_doc.html#defocus_color"/>
+            <keyword name="color"  ref="en_doc.html#defocus_color"/>
+            <keyword name="border"  ref="en_doc.html#defocus_color"/>
+            <keyword name="fill"  ref="en_doc.html#defocus_color"/>
+            <keyword name="anonymizer"  ref="en_doc.html#defocus_color"/>
+
+            <keyword name="defocus size"  ref="en_doc.html#defocus"/>
+            <keyword name="square size"  ref="en_doc.html#defocus"/>
+
+            <keyword name="shape"  ref="en_doc.html#shape"/>
+            <keyword name="shape selection"  ref="en_doc.html#shape"/>
+
+            <keyword name="fill object"  ref="en_doc.html#fill"/>
+
+            <keyword name="border color"  ref="en_doc.html#border"/>
+            <keyword name="border thickness"  ref="en_doc.html#border"/>
+            <keyword name="draw border"  ref="en_doc.html#border"/>
+
+            <keyword name="custom color"  ref="en_doc.html#custom_color"/>
+            <keyword name="select custom color"  ref="en_doc.html#custom_color"/>
+            <keyword name="create custom color"  ref="en_doc.html#custom_color"/>
+
+            <keyword name="key points"  ref="en_doc.html#key_points"/>
+            <keyword name="beginning"  ref="en_doc.html#key_points"/>
+            <keyword name="end"  ref="en_doc.html#key_points"/>
+            <keyword name="trajectory change"  ref="en_doc.html#key_points"/>
+
+            <keyword name="change position"  ref="en_doc.html#trajectory_change"/>
+            <keyword name="change trajectory"  ref="en_doc.html#trajectory_change"/>
+            <keyword name="set trajectory"  ref="en_doc.html#trajectory_change"/>
+            <keyword name="add trajectory change"  ref="en_doc.html#trajectory_change"/>
+
+            <keyword name="initial position"  ref="en_doc.html#initial_position"/>
+            <keyword name="change initial position"  ref="en_doc.html#initial_position"/>
+            <keyword name="change beginning"  ref="en_doc.html#initial_position"/>
+
+            <keyword name="end position"  ref="en_doc.html#end_position"/>
+            <keyword name="set last frame"  ref="en_doc.html#end_position"/>
+            <keyword name="change last frame"  ref="en_doc.html#end_position"/>
+            <keyword name="last frame"  ref="en_doc.html#end_position"/>
+
+            <keyword name="tracking till the end"  ref="en_doc.html#last_frame"/>
+            <keyword name="video end"  ref="en_doc.html#last_frame"/>
+            <keyword name="end of a video"  ref="en_doc.html#last_frame"/>
+
+            <keyword name="partial trajectory computing"  ref="en_doc.html#compute_trajectory_partial"/>
+            <keyword name="trajectory computing"  ref="en_doc.html#compute_trajectory_partial"/>
+            <keyword name="automatic trajectory computing"  ref="en_doc.html#compute_trajectory_partial"/>
+
+            <keyword name="show trajectory"  ref="en_doc.html#trajectory"/>
+            <keyword name="trajectory"  ref="en_doc.html#trajectory"/>
+            <keyword name="width"  ref="en_doc.html#trajectory"/>
+            <keyword name="height"  ref="en_doc.html#trajectory"/>
+            <keyword name="position"  ref="en_doc.html#trajectory"/>
+            <keyword name="frame"  ref="en_doc.html#trajectory"/>
+
+            <keyword name="compute trajectory"  ref="en_doc.html#compute_trajectory"/>
+            
+            <keyword name="original video"  ref="en_doc.html#original_video"/>
+            <keyword name="show original video"  ref="en_doc.html#original_video"/>
+            <keyword name="display original video"  ref="en_doc.html#original_video"/>
+
+            <keyword name="time values"  ref="en_doc.html#time_values"/>
+            <keyword name="show time values"  ref="en_doc.html#time_values"/>
+            <keyword name="display time values"  ref="en_doc.html#time_values"/>
+
+            <keyword name="frame numbers"  ref="en_doc.html#frame_numbers"/>
+            <keyword name="show frame numbers"  ref="en_doc.html#frame_numbers"/>
+            <keyword name="display frame numbers"  ref="en_doc.html#frame_numbers"/>
+
+            <keyword name="language"  ref="en_doc.html#language"/>
+            <keyword name="change language"  ref="en_doc.html#language"/>
+            <keyword name="change language"  ref="en_doc.html#language"/>
+            <keyword name="set language"  ref="en_doc.html#language"/>
+            <keyword name="jazyk"  ref="en_doc.html#language"/>
+            <keyword name="english"  ref="en_doc.html#language"/>
+            <keyword name="cestina"  ref="en_doc.html#language"/>
+        </keywords>
+        <files>
+            <file>*.html</file>
+        </files>
+    </filterSection>
+</QtHelpProject>
diff --git a/Resources/Help/en_helpcollection.qhcp b/Resources/Help/en_helpcollection.qhcp
new file mode 100644
index 0000000..59ebcfc
--- /dev/null
+++ b/Resources/Help/en_helpcollection.qhcp
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<QHelpCollectionProject version="1.0">
+	<docFiles>
+    <generate>
+        <file>
+            <input>en_doc_project.qhp</input>
+            <output>en_doc.qch</output>
+        </file>
+    </generate>
+    <register>
+        <file>en_doc.qch</file>
+    </register>
+</docFiles>
+</QHelpCollectionProject>
diff --git a/Resources/Help/help_cs.qhc b/Resources/Help/help_cs.qhc
new file mode 100644
index 0000000..46a67b0
Binary files /dev/null and b/Resources/Help/help_cs.qhc differ
diff --git a/Resources/Help/help_en.qhc b/Resources/Help/help_en.qhc
new file mode 100644
index 0000000..5d971c1
Binary files /dev/null and b/Resources/Help/help_en.qhc differ
diff --git a/Resources/Languages/Anonymizer_cs.qm b/Resources/Languages/Anonymizer_cs.qm
new file mode 100644
index 0000000..ae52e9b
Binary files /dev/null and b/Resources/Languages/Anonymizer_cs.qm differ
diff --git a/Resources/Languages/Anonymizer_cs.ts b/Resources/Languages/Anonymizer_cs.ts
new file mode 100644
index 0000000..4cb266f
--- /dev/null
+++ b/Resources/Languages/Anonymizer_cs.ts
@@ -0,0 +1,1242 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="cs_CZ">
+<context>
+    <name>-</name>
+    <message>
+        <location filename="mainwindow.cpp" line="38"/>
+        <source></source>
+        <comment>END</comment>
+        <translation></translation>
+    </message>
+</context>
+<context>
+    <name>AnchorItem</name>
+    <message>
+        <location filename="../../Sources/anchoritem.cpp" line="31"/>
+        <source>End</source>
+        <translation>Konec</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/anchoritem.cpp" line="36"/>
+        <source>Beginning</source>
+        <translation>Za�átek</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/anchoritem.cpp" line="40"/>
+        <source>Trajectory change</source>
+        <translation>Změna trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/anchoritem.cpp" line="56"/>
+        <source>Not set</source>
+        <translation>Nenastaveno</translation>
+    </message>
+</context>
+<context>
+    <name>MainWindow</name>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="26"/>
+        <source>MainWindow</source>
+        <translation>Hlavní okno</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="273"/>
+        <location filename="../../Sources/mainwindow.cpp" line="875"/>
+        <source>Select an area for tracking</source>
+        <translation>Vyberte oblast ke sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="286"/>
+        <location filename="../../Sources/mainwindow.ui" line="289"/>
+        <source>Confirm selection</source>
+        <translation>Potvrdit výběr</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="305"/>
+        <location filename="../../Sources/mainwindow.cpp" line="251"/>
+        <location filename="../../Sources/mainwindow.cpp" line="425"/>
+        <location filename="../../Sources/mainwindow.cpp" line="450"/>
+        <location filename="../../Sources/mainwindow.cpp" line="472"/>
+        <location filename="../../Sources/mainwindow.cpp" line="499"/>
+        <location filename="../../Sources/mainwindow.cpp" line="525"/>
+        <location filename="../../Sources/mainwindow.cpp" line="551"/>
+        <location filename="../../Sources/mainwindow.cpp" line="637"/>
+        <location filename="../../Sources/mainwindow.cpp" line="644"/>
+        <location filename="../../Sources/mainwindow.cpp" line="986"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1201"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1364"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1428"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1840"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2013"/>
+        <source>Cancel</source>
+        <translation>Zrušit</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="421"/>
+        <source>&lt;</source>
+        <oldsource>&lt;&lt;</oldsource>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="437"/>
+        <location filename="../../Sources/mainwindow.cpp" line="189"/>
+        <location filename="../../Sources/mainwindow.cpp" line="228"/>
+        <location filename="../../Sources/mainwindow.cpp" line="371"/>
+        <source>Play</source>
+        <translation>Přehrát</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="453"/>
+        <location filename="../../Sources/mainwindow.ui" line="1341"/>
+        <source>Stop</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="469"/>
+        <source>&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="728"/>
+        <source>Fill this object with color and/or draw a border</source>
+        <translation>Vyplnění objektu barvou a/nebo vykreslení rámce kolem objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="884"/>
+        <source>Fill</source>
+        <translation>Vyplnit</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="926"/>
+        <source>Select a color for this object</source>
+        <translation>Vybrat barvu tohoto objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1071"/>
+        <source>Key points</source>
+        <translation>Klí�ové body</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1423"/>
+        <source>Quit</source>
+        <translation>Ukon�it</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1432"/>
+        <source>Ctrl+Q</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1437"/>
+        <source>Open video</source>
+        <translation>Otevřít video</translation>
+    </message>
+    <message>
+        <source>Tracked objects</source>
+        <translation type="vanished">Sledované objekty</translation>
+    </message>
+    <message>
+        <source>Add new</source>
+        <translation type="vanished">Přidat nový</translation>
+    </message>
+    <message>
+        <source>Edit object:</source>
+        <translation type="vanished">Upravit objekt:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="688"/>
+        <source>Appearance</source>
+        <translation>Vzhled</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="806"/>
+        <source>Shape:</source>
+        <translation>Tvar:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="718"/>
+        <source>Defocus</source>
+        <translation>Rozostření</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="731"/>
+        <source>Color</source>
+        <translation>Barva</translation>
+    </message>
+    <message>
+        <source>Square size:</source>
+        <translation type="vanished">Velikost �tverce:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="841"/>
+        <source>Draw:</source>
+        <translation>Kreslit:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="897"/>
+        <source>Border</source>
+        <translation>Okraj</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="913"/>
+        <source>Color:</source>
+        <translation>Barva:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="936"/>
+        <source>Border thickness:</source>
+        <translation>Tloušťka okraje:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="959"/>
+        <source>Border color:</source>
+        <translation>Barva okraje:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1021"/>
+        <source>Save changes</source>
+        <translation>Uložit změny</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1043"/>
+        <source>Discard changes</source>
+        <translation>Zrušit změny</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1110"/>
+        <location filename="../../Sources/mainwindow.ui" line="1254"/>
+        <source>Trajectory</source>
+        <translation>Trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1102"/>
+        <source>Add trajectory change</source>
+        <translation>Přidat změnu trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1143"/>
+        <source>General</source>
+        <translation>Obecné</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1158"/>
+        <location filename="../../Sources/mainwindow.ui" line="1476"/>
+        <source>Remove</source>
+        <translation>Odstranit</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1211"/>
+        <source>File</source>
+        <translation>Soubor</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1223"/>
+        <source>Language / Jazyk</source>
+        <translation>Jazyk / Language</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1230"/>
+        <source>Player</source>
+        <translation>Přehráva�</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1234"/>
+        <source>Speed</source>
+        <translation>Rychlost</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1250"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1346"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1348"/>
+        <source>Object</source>
+        <translation>Objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1270"/>
+        <source>Settings</source>
+        <translation>Nastavení</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1280"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2089"/>
+        <source>Help</source>
+        <translation>Nápověda</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1294"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1835"/>
+        <source>Save project</source>
+        <translation>Uložit projekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1303"/>
+        <source>Ctrl+S</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1969"/>
+        <source>Load project</source>
+        <translation>Na�íst projekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1317"/>
+        <source>Ctrl+L</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1322"/>
+        <source>Play / Pause</source>
+        <translation>Přehrát / Pauza</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1331"/>
+        <source>Ctrl+P</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1350"/>
+        <source>Ctrl+Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="537"/>
+        <location filename="../../Sources/mainwindow.ui" line="1355"/>
+        <source>Play faster</source>
+        <translation>Přehrávat rychleji</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1361"/>
+        <source>Ctrl+Up</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1366"/>
+        <source>Original speed</source>
+        <translation>Skute�ná rychlost</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="565"/>
+        <location filename="../../Sources/mainwindow.ui" line="1374"/>
+        <source>Play slower</source>
+        <translation>Přehrávat pomaleji</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1380"/>
+        <source>Ctrl+Down</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="466"/>
+        <location filename="../../Sources/mainwindow.ui" line="1385"/>
+        <source>Step forward</source>
+        <translation>Krok vpřed</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1391"/>
+        <source>Ctrl+Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="418"/>
+        <location filename="../../Sources/mainwindow.ui" line="1396"/>
+        <source>Step back</source>
+        <translation>Krok zpět</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1402"/>
+        <source>Ctrl+Left</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1410"/>
+        <source>Čeština</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1418"/>
+        <source>English</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1534"/>
+        <source>Set tracking till the end of the video</source>
+        <translation>Nastavit sledování do konce videa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1537"/>
+        <location filename="../../Sources/mainwindow.cpp" line="745"/>
+        <source>Set tracking till the end of the video for this object</source>
+        <translation>Nastavit sledování tohoto objektu do konce videa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1545"/>
+        <source>Show time values</source>
+        <translation>Zobrazit �asové údaje</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1559"/>
+        <source>Ctrl+Shift+N</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1567"/>
+        <source>Show original video</source>
+        <translation>Zobrazit originální video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1570"/>
+        <source>Ctrl+Shift+H</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation type="vanished">Ukon�it</translation>
+    </message>
+    <message>
+        <source>Create output video</source>
+        <translation type="vanished">Vytvořit výstupní video</translation>
+    </message>
+    <message>
+        <source>Show time</source>
+        <translation type="vanished">Zobrazit �as</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1548"/>
+        <source>Ctrl+Shift+T</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1556"/>
+        <source>Show frame numbers</source>
+        <translation>Zobrazit �ísla snímků</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1498"/>
+        <source>Change trajectory</source>
+        <translation>Změnit trajektorii</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="156"/>
+        <source>Original video</source>
+        <translation>Originální video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="302"/>
+        <source>Cancel selection</source>
+        <translation>Zrušit výběr</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="434"/>
+        <source>Play the video</source>
+        <translation>Přehrát video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="450"/>
+        <location filename="../../Sources/mainwindow.ui" line="1344"/>
+        <source>Stop the video</source>
+        <translation>Zastavit video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="482"/>
+        <source>Add an object for tracking</source>
+        <translation>Přidat nový objekt ke sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="488"/>
+        <location filename="../../Sources/mainwindow.ui" line="1465"/>
+        <source>Track object</source>
+        <translation>Sledovat objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="513"/>
+        <source>Speed: 1.00x</source>
+        <translation>Rychlost: 1.00x</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="540"/>
+        <source>+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="568"/>
+        <source>-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="621"/>
+        <source>Edit object</source>
+        <translation>Upravit objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="648"/>
+        <source>Select an object for editing</source>
+        <translation>Vyberte objekt, který si přejete upravit</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="715"/>
+        <source>Defocus the area of this object</source>
+        <translation>Rozostřit oblast tohoto objektu</translation>
+    </message>
+    <message>
+        <source>Fill this object with a color and/or draw a border</source>
+        <translation type="vanished">Vyplnit tento objekt barvou a/nebo nakreslit jeho okraj</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="762"/>
+        <source>Defocus size:</source>
+        <translation>Velikost rozostření:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="775"/>
+        <source>Set size of squares used for defocusing</source>
+        <translation>Nastavit velikost �tverců pro rozostření</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="816"/>
+        <source>Select a shape of this object</source>
+        <translation>Vybrat tvar objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="881"/>
+        <source>Fill this object with selected color</source>
+        <translation>Vyplnit tento objekt barvou</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="894"/>
+        <source>Draw a border around this object</source>
+        <translation>Nakreslit okraj okolo tohoto objektu</translation>
+    </message>
+    <message>
+        <source>Set color for this object</source>
+        <translation type="vanished">Změnit barvu objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="949"/>
+        <source>Set border thickness for this object</source>
+        <translation>Vybrat tloušťku okraje</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="972"/>
+        <source>Select border color for this object</source>
+        <translation>Vybrat barvu okraje tohoto objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1018"/>
+        <source>Save appearance changes of this object</source>
+        <translation>Uložit změny vzhledu tohoto objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1040"/>
+        <source>Discard appearance changes for this object and restore its previous settings</source>
+        <translation>Zrušit změny vzhledu tohoto objektu a vrátit jeho předchozí nastavení</translation>
+    </message>
+    <message>
+        <source>Anchors</source>
+        <translation type="vanished">Pevné body</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1099"/>
+        <location filename="../../Sources/mainwindow.ui" line="1501"/>
+        <source>Change trajectory of this object</source>
+        <translation>Změnit trajektorii objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1132"/>
+        <location filename="../../Sources/mainwindow.ui" line="1578"/>
+        <source>Compute all trajectory for this object</source>
+        <translation>Vypo�ítat celou trajektorii tohoto objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1135"/>
+        <location filename="../../Sources/mainwindow.ui" line="1575"/>
+        <source>Compute trajectory</source>
+        <translation>Vypo�ítat trajektorii</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1155"/>
+        <location filename="../../Sources/mainwindow.ui" line="1479"/>
+        <source>Remove this object</source>
+        <translation>Odstranit objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1171"/>
+        <location filename="../../Sources/mainwindow.ui" line="1490"/>
+        <source>Change name of this object</source>
+        <translation>Přejmenovat objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1297"/>
+        <source>Save this project to JSON or XML</source>
+        <translation>Uložit projekt do JSON nebo XML</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1308"/>
+        <source>Open project</source>
+        <translation>Otevřít projekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1311"/>
+        <source>Open a project in JSON or XML</source>
+        <translation>Otevřít projekt v JSON or XML</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1325"/>
+        <source>Play or pause the video</source>
+        <translation>Přehrát / Pozastavit toto video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1358"/>
+        <source>Play the video faster</source>
+        <translation>Přehrávat video rychleji</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1369"/>
+        <source>Set the video&apos;s original speed</source>
+        <translation>Nastavit původní rychlost videa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1377"/>
+        <source>Play the video slower</source>
+        <translation>Přehrávat video pomaleji</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1426"/>
+        <source>Quit the application</source>
+        <translation>Ukon�it aplikaci</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1440"/>
+        <source>Open a video</source>
+        <translation>Otevřít video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1446"/>
+        <source>Ctrl+O</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1451"/>
+        <location filename="../../Sources/mainwindow.ui" line="1454"/>
+        <source>Save output video file</source>
+        <translation>Uložit výstupní video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1460"/>
+        <source>Ctrl+U</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1468"/>
+        <source>Add a new object</source>
+        <translation>Přidat nový objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1471"/>
+        <source>Ctrl+Alt+A</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1482"/>
+        <source>Ctrl+Alt+R</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1493"/>
+        <source>Ctrl+Alt+N</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1504"/>
+        <source>Ctrl+Alt+T</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1509"/>
+        <source>Change beginning</source>
+        <translation>Změnit za�átek</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1512"/>
+        <location filename="../../Sources/mainwindow.cpp" line="729"/>
+        <source>Change the initial position of this object</source>
+        <translation>Změnit po�áte�ní pozici objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1515"/>
+        <source>Ctrl+Alt+B</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1520"/>
+        <source>Set end of tracking</source>
+        <translation>Nastavit konec sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1523"/>
+        <location filename="../../Sources/mainwindow.cpp" line="750"/>
+        <source>Set a frame where tracking for this object shall stop</source>
+        <translation>Nastavit snímek, kde má sledování skon�it</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1526"/>
+        <source>Ctrl+Alt+E</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1581"/>
+        <source>Ctrl+Alt+O</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1586"/>
+        <source>Help contents</source>
+        <translation>Obsah nápovědy</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1589"/>
+        <source>F1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1594"/>
+        <source>About</source>
+        <translation>O programu</translation>
+    </message>
+    <message>
+        <source>Track till the end of the video</source>
+        <translation type="vanished">Sledovat do konce videa</translation>
+    </message>
+    <message>
+        <source>Delete</source>
+        <translation type="vanished">Smazat</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1174"/>
+        <location filename="../../Sources/mainwindow.ui" line="1487"/>
+        <source>Change name</source>
+        <translation>Změnit jméno</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.ui" line="1336"/>
+        <location filename="../../Sources/mainwindow.cpp" line="208"/>
+        <source>Pause</source>
+        <translation>Pauza</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="296"/>
+        <source>Video files</source>
+        <translation>Video soubory</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="298"/>
+        <source>All files</source>
+        <translation>VÅ¡echny soubory</translation>
+    </message>
+    <message>
+        <source>Save Video</source>
+        <translation type="vanished">Uložit video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="637"/>
+        <source>Creating output file...</source>
+        <translation>Vytváření výstupního videa...</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="638"/>
+        <location filename="../../Sources/mainwindow.cpp" line="649"/>
+        <source>Creating Output</source>
+        <translation>Uložit výstup</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="662"/>
+        <source>Error occured when creating the output file. Output was not created.</source>
+        <translation>Nastala chyba při vytváření výstupního souboru. Soubor nebyl vytvořen</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="659"/>
+        <source>Output successfully created</source>
+        <translation>Výstupní soubor byl úspěšně vytvořen</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="120"/>
+        <source>Computing positions of tracked object</source>
+        <translation>Vypo�ítávání pozice všech objektů</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="121"/>
+        <source>Computing</source>
+        <translation>Vypo�ítávání</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="129"/>
+        <source>help_en.qhc</source>
+        <translation>help_cs.qhc</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="251"/>
+        <location filename="../../Sources/mainwindow.cpp" line="263"/>
+        <location filename="../../Sources/mainwindow.cpp" line="272"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2013"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2027"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2042"/>
+        <source>Opening video</source>
+        <translation>Otevírání videa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="252"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2014"/>
+        <source>Opening</source>
+        <translation>Otevírání</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="264"/>
+        <source>This video file cannot be opened.</source>
+        <translation>Tento soubor se nepodařilo otevřít.</translation>
+    </message>
+    <message>
+        <source>Video opening was canceled</source>
+        <translation type="vanished">Otevírání videa bylo zrušeno</translation>
+    </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="vanished">Sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="273"/>
+        <location filename="../../Sources/mainwindow.cpp" line="2043"/>
+        <source>Video opening was canceled.</source>
+        <translation>Ukládání videa bylo zrušeno</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="665"/>
+        <source>Creating output file was canceled. Output was not created.</source>
+        <translation>Vytváření výstupního videa bylo zrušeno. Soubor nebyl vytvořen.</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="692"/>
+        <source>Black</source>
+        <translation>Černá</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="693"/>
+        <source>Gray</source>
+        <translation>Šedá</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="694"/>
+        <source>Silver</source>
+        <translation>Stříbrná</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="695"/>
+        <source>White</source>
+        <translation>Bílá</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="696"/>
+        <source>Red</source>
+        <translation>Červená</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="697"/>
+        <source>Green</source>
+        <translation>Zelená</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="698"/>
+        <source>Blue</source>
+        <translation>Modrá</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="699"/>
+        <source>Yellow</source>
+        <translation>Žlutá</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="700"/>
+        <source>Cyan</source>
+        <translation>Cyan</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="701"/>
+        <source>Magenta</source>
+        <translation>Magenta</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="704"/>
+        <source>Rectangle</source>
+        <translation>Obdélník</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="705"/>
+        <source>Ellipse</source>
+        <translation>Elipsa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="719"/>
+        <source>Edit item</source>
+        <translation>Upravit položku</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="723"/>
+        <source>Show frame</source>
+        <translation>Zobrazit snímek</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="728"/>
+        <source>Change position</source>
+        <translation>Změnit pozici</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="733"/>
+        <source>Delete item</source>
+        <translation>Odstranit položku</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="734"/>
+        <source>Delete this item</source>
+        <translation>Odstranit tuto položku</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="741"/>
+        <source>Change last frame of tracking</source>
+        <translation>Změnit poslední snímek sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="742"/>
+        <source>Change the frame where tracking for this object shall stop</source>
+        <translation>Změnit snímek, kde má sledování objektu skon�it</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="744"/>
+        <source>Set tracking till the end</source>
+        <translation>Nastavit sledování do konce videa</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="749"/>
+        <source>Set last frame of tracking</source>
+        <translation>Nastavit poslední snímek sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="796"/>
+        <source>Delete trajectory item</source>
+        <translation>Odstranit položku trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="797"/>
+        <source>Do you really want to delete this item?</source>
+        <translation>Opravdu si přejete odstranit tuto položku?</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="799"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1199"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1685"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1842"/>
+        <source>Yes</source>
+        <translation>Ano</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="800"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1200"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1686"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1843"/>
+        <source>No</source>
+        <translation>Ne</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="879"/>
+        <source>Select a new position</source>
+        <translation>Zvolte novou pozici</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="883"/>
+        <source>Select a frame where you want the object to end</source>
+        <translation>Zvolte snímek, kde má sledování objektu skon�it</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="887"/>
+        <source>Select a new position for this object</source>
+        <translation>Zvolte novou pozici objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="986"/>
+        <source>Setting Trajectory tab</source>
+        <translation>Nastavování záložky Trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="989"/>
+        <source>Trajectory tab</source>
+        <translation>Trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1195"/>
+        <source>Appearance changes</source>
+        <translation>Úprava vzhledu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1196"/>
+        <source>Changes to appearance of object</source>
+        <translation>Byly provedeny změny vzhledu objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1363"/>
+        <source>Ok</source>
+        <translation>Potvrdit</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1433"/>
+        <source>Computing trajectory</source>
+        <translation>Vypo�ítávání trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1439"/>
+        <source>Trajectory was not computed</source>
+        <translation>Trajektorie nebyla vypo�ítána</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1443"/>
+        <source>Trajectory was successfully computed</source>
+        <translation>Trajektorie byla úspěšně vypo�ítána</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1456"/>
+        <source>Trajectory computing was cancelled. Last computed frame time position is </source>
+        <translation>Vypo�ítávání trajektorie bylo zrušeno. Poslední získáná pozice je v �ase </translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1461"/>
+        <source>Trajectory computing was cancelled. Last computed frame&apos;s number is </source>
+        <translation>Vypo�ítávání trajektorie bylo zrušeno. Poslední získáná pozice je na snímku </translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2005"/>
+        <source>Project opening</source>
+        <translation>Otevření projektu</translation>
+    </message>
+    <message>
+        <source>Not loaded</source>
+        <translation type="vanished">Nena�teno</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2006"/>
+        <source>Project could not be loaded</source>
+        <translation>Projekt se nepodařilo na�íst.</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2028"/>
+        <source>Video from the project was not found or cannot be opened. Please set its path.</source>
+        <translation>Video z projektu se nepodařilo na�íst. Prosím uve�te jeho cestu.</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2074"/>
+        <source>Contents</source>
+        <translation>Obsah</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2075"/>
+        <source>Index</source>
+        <translation>Rejstřík</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2078"/>
+        <source>en_doc.html</source>
+        <translation>cs_doc.html</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2099"/>
+        <source>About Video Anonymizer</source>
+        <translation>O programu Video Anonymizer</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2100"/>
+        <source>This application is used for anonymizing objects in a video.
+</source>
+        <translation>Tato aplikace slouží k anonymizování objektů ve videu.
+</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2101"/>
+        <source>(C) 2015 FIT BUT
+</source>
+        <translation>(C) 2015 FIT BUT
+</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="2180"/>
+        <source>Unsaved Project</source>
+        <translation>Neuložený projekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="604"/>
+        <source>Speed:</source>
+        <translation>Rychlost:</translation>
+    </message>
+    <message>
+        <source>Computing position of tracked object</source>
+        <translation type="vanished">Vypo�ítávání pozice sledovaného objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="285"/>
+        <source>Open Video</source>
+        <translation>Otevřít video</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="629"/>
+        <source>Select output file</source>
+        <translation>Vyberte výstupní soubor</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="644"/>
+        <source>Computing trajectories of all tracked objects</source>
+        <translation>Vypo�ítávání pozic všech sledovaných objektů</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1197"/>
+        <source>were made. Do you wish to save your changes?</source>
+        <translation>. Přejete si je uložit?</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1253"/>
+        <location filename="../../Sources/mainwindow.cpp" line="1257"/>
+        <source>+ Add new</source>
+        <translation>+ Přidat novou</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1313"/>
+        <source>Custom #</source>
+        <translation>Vlastní #</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1338"/>
+        <source>Change object name</source>
+        <translation>Změnit název objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1344"/>
+        <source>New object</source>
+        <translation>Nový objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1360"/>
+        <source>Object name:</source>
+        <translation>Název objektu:</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1375"/>
+        <source>Object name</source>
+        <translation>Název objektu</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1376"/>
+        <source>Object name cannot be empty</source>
+        <translation>Název nesmí být prázdný</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1390"/>
+        <source>Object exists</source>
+        <translation>Objekt existuje</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1391"/>
+        <source>Object with this name already exists. Enter a new one.</source>
+        <translation>Objekt s daným názvem již existuje. Zadejte jiný.</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1501"/>
+        <source>Changing position</source>
+        <translation>Změna pozice</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1502"/>
+        <source>Beginning frame cannot be after End frame</source>
+        <translation>Za�átek nemůže být po konci</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1514"/>
+        <source>Setting end frame</source>
+        <translation>Nastavení konce sledování</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1515"/>
+        <source>End frame cannot be before Beginning frame</source>
+        <translation>Konec nemůže být před za�átkem</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1529"/>
+        <source>New trajectory change</source>
+        <translation>Přidat změnu trajektorie</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1530"/>
+        <source>Section cannot begin after End frame</source>
+        <translation>Změna nemůže být po konci</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1626"/>
+        <source>No objects added</source>
+        <translation>Žádný objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1682"/>
+        <source>Delete object</source>
+        <translation>Odstranit objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1683"/>
+        <source>Do you really want to delete object</source>
+        <translation>Opravdu si přejete smazat objekt</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1836"/>
+        <source>Do you wish to save the current project?</source>
+        <translation>Přejete si uložit sou�aný projekt?</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/mainwindow.cpp" line="1884"/>
+        <source>Select project file name</source>
+        <translation>Soubor pro uložení projektu</translation>
+    </message>
+</context>
+<context>
+    <name>TrajectoryItem</name>
+    <message>
+        <source>End</source>
+        <translation type="vanished">Konec</translation>
+    </message>
+    <message>
+        <source>Beginning</source>
+        <translation type="vanished">Za�átek</translation>
+    </message>
+    <message>
+        <source>Trajectory change</source>
+        <translation type="vanished">Změna trajektorie</translation>
+    </message>
+    <message>
+        <source>Not set</source>
+        <translation type="vanished">Nenastaveno</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/trajectoryitem.cpp" line="37"/>
+        <location filename="../../Sources/trajectoryitem.cpp" line="103"/>
+        <source>Time position: </source>
+        <translation>Pozice: </translation>
+    </message>
+    <message>
+        <location filename="../../Sources/trajectoryitem.cpp" line="42"/>
+        <location filename="../../Sources/trajectoryitem.cpp" line="109"/>
+        <source>Frame number: </source>
+        <translation>Číslo snímku: </translation>
+    </message>
+    <message>
+        <location filename="../../Sources/trajectoryitem.cpp" line="53"/>
+        <source>w</source>
+        <translation>Å¡</translation>
+    </message>
+    <message>
+        <location filename="../../Sources/trajectoryitem.cpp" line="55"/>
+        <source>h</source>
+        <translation>v</translation>
+    </message>
+</context>
+</TS>
diff --git a/Sources/Tracking/Algorithm1/observe1.h b/Sources/Tracking/Algorithm1/observe1.h
new file mode 100644
index 0000000..c75a35a
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/observe1.h
@@ -0,0 +1,88 @@
+/** @file
+ * 
+ * Template matching observation model for particle filter
+ * CvParticleState s must have s.x, s.y, s.width, s.height, s.angle
+ */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_PARTICLE_OBSERVE_TEMPLATE_H
+#define CV_PARTICLE_OBSERVE_TEMPLATE_H
+
+#include "<opencv\cvparticle.h>"
+#include "<opencv\cvrect32f.h>"
+#include "<opencv\cvcropimageroi.h>"
+using namespace std;
+
+/********************* Globals **********************************/
+int num_observes = 1;
+CvSize feature_size = cvSize(24, 24);
+
+/******************** Function Prototypes **********************/
+#ifndef NO_DOXYGEN
+void cvParticleObserveMeasure( CvParticle* p, IplImage* cur_frame, IplImage *pre_frame );
+#endif
+
+/**
+ * Measure and weight particles. 
+ *
+ * The proposal function q is set p(xt|xt-1) in SIR/Condensation, and it results 
+ * that "weights" are set to be proportional to the likelihood probability 
+ * (Normalize later).
+ * Rewrite here if you want to use a different proposal function q. 
+ *
+ * CvParticleState s must have s.x, s.y, s.width, s.height, s.angle
+ *
+ * @param particle
+ * @param frame
+ * @param reference
+ */
+void cvParticleObserveMeasure( CvParticle* p, IplImage* frame, IplImage *reference )
+{
+    int i;
+    double likeli;
+    IplImage *patch;
+    IplImage *resize;
+    resize = cvCreateImage( feature_size, frame->depth, frame->nChannels );
+    for( i = 0; i < p->num_particles; i++ ) 
+    {
+        CvParticleState s = cvParticleStateGet( p, i );
+        CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+        CvRect rect = cvRectFromRect32f( rect32f );
+        
+        patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
+        cvCropImageROI( frame, patch, rect32f );
+        cvResize( patch, resize );
+
+        // log likeli. kinds of Gaussian model
+        // exp( -d^2 / sigma^2 )
+        // sigma can be omitted because common param does not affect ML estimate
+        likeli = -cvNorm( resize, reference, CV_L2 ); 
+        cvmSet( p->weights, 0, i, likeli );
+        
+        cvReleaseImage( &patch );
+    }
+    cvReleaseImage( &resize );
+}
+
+#endif
\ No newline at end of file
diff --git a/Sources/Tracking/Algorithm1/observe2.h b/Sources/Tracking/Algorithm1/observe2.h
new file mode 100644
index 0000000..a08a632
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/observe2.h
@@ -0,0 +1,185 @@
+/** @file
+ *
+ * Moghaddam's PCA DIFS + DFFS (distance-in-feature-space + distance-from-feature-space)
+ * observation model for particle filter
+ * CvParticleState must have x, y, width, height, and angle
+ */
+/* The MIT License
+ *
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_PARTICLE_OBSERVE_PCADIFFS_H
+#define CV_PARTICLE_OBSERVE_PCADIFFS_H
+
+#include "cvparticle.h"
+#include "cvrect32f.h"
+#include "cvcropimageroi.h"
+#include "cvpcadiffs.h"
+#include "cvgaussnorm.h"
+#include <iostream>
+using namespace std;
+
+/********************************* Globals ******************************************/
+int    num_observes = 1;
+CvSize feature_size = cvSize(24, 24);
+string data_dir = "";
+string data_pcaval = "pcaval.xml";
+string data_pcavec = "pcavec.xml";
+string data_pcaavg = "pcaavg.xml";
+
+/******************************* Globals in this file ******************************/
+CvMat *eigenvalues;
+CvMat *eigenvectors;
+CvMat *eigenavg;
+
+/****************************** Function Prototypes ********************************/
+#ifndef NO_DOXYGEN
+void cvParticleObserveInitialize();
+void cvParticleObserveFinalize();
+void icvPreprocess( const IplImage* patch, CvMat *mat );
+void icvGetFeatures( const CvParticle* p, const IplImage* frame, CvMat* features );
+void cvParticleObserveMeasure( CvParticle* p, IplImage* cur_frame, IplImage *pre_frame );
+#endif
+
+/****************************** Functions ******************************************/
+
+/**
+ * Initialization
+ */
+void cvParticleObserveInitialize()
+{
+    string filename;
+    filename = data_dir + data_pcaval;
+    if( (eigenvalues = (CvMat*)cvLoad( filename.c_str() )) == NULL ) {
+        cerr << filename << " is not loadable." << endl << flush;
+        exit( 1 );
+    }
+    filename = data_dir + data_pcavec;
+    if( (eigenvectors = (CvMat*)cvLoad( filename.c_str() )) == NULL ) {
+        cerr << filename << " is not loadable." << endl << flush;
+        exit( 1 );
+    }
+    filename = data_dir + data_pcaavg;
+    if( (eigenavg = (CvMat*)cvLoad( filename.c_str() )) == NULL ) {
+        cerr << filename << " is not loadable." << endl << flush;
+        exit( 1 );
+    }
+}
+
+/**
+ * Finalization
+ */
+void cvParticleObserveFinalize()
+{
+    cvReleaseMat( &eigenvalues );
+    cvReleaseMat( &eigenvectors );
+    cvReleaseMat( &eigenavg );
+}
+
+/**
+ * Preprocess as did in training PCA subspace
+ */
+void icvPreprocess( const IplImage* patch, CvMat *mat )
+{
+    IplImage *gry;
+    if( patch->nChannels != 1 ) {
+        gry = cvCreateImage( cvGetSize(patch), patch->depth, 1 );
+        cvCvtColor( patch, gry, CV_BGR2GRAY );
+    } else {
+        gry = (IplImage*)patch;
+    }
+    IplImage *resize = cvCreateImage( cvSize(mat->rows, mat->cols), patch->depth, 1 );
+
+    cvResize( gry, resize );
+    cvConvert( resize, mat );
+    cvImgGaussNorm( mat, mat );
+
+    cvReleaseImage( &resize );
+    if( gry != patch )
+        cvReleaseImage( &gry );
+}
+
+/**
+ * Get observation features
+ *
+ * CvParticleState must have x, y, width, height, angle
+ */
+void icvGetFeatures( const CvParticle* p, const IplImage* frame, CvMat* features )
+{
+    int feature_height = feature_size.height;
+    int feature_width  = feature_size.width;
+    //cvNamedWindow( "patch" );
+    CvMat* normed = cvCreateMat( feature_height, feature_width, CV_64FC1 );
+    CvMat* normedT = cvCreateMat( feature_width, feature_height, CV_64FC1 );
+    CvMat* feature, featurehdr;
+    IplImage *patch;
+    for( int n = 0; n < p->num_particles; n++ ) {
+        CvParticleState s = cvParticleStateGet( p, n );
+        CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+
+        // get image patch and preprocess
+        patch = cvCreateImage( cvSize( cvRound( s.width ), cvRound( s.height ) ),
+                               frame->depth, frame->nChannels );
+        cvCropImageROI( (IplImage*)frame, patch, rect32f );
+        //cvShowImage( "patch", patch );
+        //cvWaitKey( 10 );
+        icvPreprocess( patch, normed );
+        cvReleaseImage( &patch );
+
+        // vectorize
+        cvT( normed, normedT ); // transpose to make the same with matlab's reshape
+        feature = cvReshape( normedT, &featurehdr, 1, feature_height * feature_width );
+
+        cvSetCol( feature, features, n );
+    }
+    cvReleaseMat( &normedT );
+    cvReleaseMat( &normed );
+}
+
+/**
+ * Measure and weight particles.
+ *
+ * The proposal function q is set p(xt|xt-1) in SIR/Condensation, and it results
+ * that "weights" are set to be proportional to the likelihood probability
+ * (Normalize later).
+ * Rewrite here if you want to use a different proposal function q.
+ *
+ * CvParticleState s must have s.x, s.y, s.width, s.height, s.angle
+ *
+ * @param particle
+ * @param frame
+ * @param reference
+ */
+void cvParticleObserveMeasure( CvParticle* p, IplImage* frame )
+{
+    int feature_height = feature_size.height;
+    int feature_width  = feature_size.width;
+
+    // extract features from particle states
+    CvMat* features = cvCreateMat( feature_height*feature_width, p->num_particles, CV_64FC1 );
+    icvGetFeatures( p, frame, features );
+
+    // Likelihood measurments
+    cvMatPcaDiffs( features, eigenavg, eigenvalues, eigenvectors, p->weights, 0, TRUE);
+}
+
+#endif
\ No newline at end of file
diff --git a/Sources/Tracking/Algorithm1/observetemplate.h b/Sources/Tracking/Algorithm1/observetemplate.h
new file mode 100644
index 0000000..dd9e278
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/observetemplate.h
@@ -0,0 +1,443 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      observetemplate.h
+@brief     Header file
+@details   Particle evaluation functions
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef CV_PARTICLE_OBSERVE_TEMPLATE_H
+#define CV_PARTICLE_OBSERVE_TEMPLATE_H
+
+#include "opencvx/cvparticle.h"
+#include "opencvx/cvrect32f.h"
+#include "opencvx/cvcropimageroi.h"
+#include "state.h"
+
+#define HIST_SIZE 128
+#define DIVIDER 4
+
+using namespace std;
+
+
+/******************** Function Prototypes **********************/
+#ifndef NO_DOXYGEN
+
+/*!
+ ** Initialization function for the particle evaluation by color histogram.
+ ** Histograms of the R, G and B color channels of the reference image are created
+ ** (the reference image is not being modified) and stored at the given addresses in memory.
+ ** 
+ ** @param reference Reference image.
+ ** @param histReferenceRed Reference histogram of the red channel.
+ ** @param histReferenceGreen Reference histogram of the green channel.
+ ** @param histReferenceBlue Reference histogram of the blue channel.
+ **/
+void initializeRGBHist(IplImage *reference, CvHistogram** histReferenceRed, 
+					   CvHistogram** histReferenceGreen, CvHistogram** histReferenceBlue);
+
+/*!
+ ** Initialization function for the particle evaluation by gray scale histogram.
+ ** Histograms of intensities of the reference image is created
+ ** (the reference image is not being modified) and stored at the given address in memory.
+ **
+ ** @param reference Reference image.
+ ** @param histReferenceGray Reference histogram of the grayscale image.
+ **/
+void initializeGrayHist(IplImage *reference, CvHistogram** histReferenceGray);
+
+/*!
+ ** Initialization function for the particle evaluation by a hybrid way.
+ ** The reference image is divided to nx*ny parts. Each of the parts is evaluated by a color
+ ** histogram implemented by an array of matrices. Each part of the reference image is related
+ ** to one matrix, which consists of 3 rows for each of the R, G and B color channels and
+ ** as many columns as there are parts ("bins") of the image.
+ **
+ ** @param reference Reference image.
+ ** @param matRef Array of matrices with histograms.
+ ** @param nx Count of the horizontal parts.
+ ** @param ny Count of the vertical parts.
+ **/
+void initializeHyb(IplImage *reference, CvMat **matRef, int nx, int ny);
+
+/*!
+ ** Particle evaluation function using color histogram. Each particle contains histograms of the
+ ** individual color channels. These histograms are compared to the reference values.
+ **
+ ** @param p Pointer to the particles.
+ ** @param frame Current image in the video stream.
+ ** @param histReferenceRed Referencne histogram of the red channel.
+ ** @param histReferenceGreen Referencne histogram of the green channel.
+ ** @param histReferenceBlue Referencne histogram of the blue channel.
+ ** @param featSize Size of each particle (particles are resized to this size).
+ ** @param numParticlesDyn Current count of the particels.
+ **/
+void particleEvalRGBHist( CvParticle* p, IplImage* frame, CvHistogram* histReferenceRed, CvHistogram* histReferenceGreen, 
+						 CvHistogram* histReferenceBlue, CvSize featSize, int numParticlesDyn);
+
+/*!
+ ** Particle evaluation function using grayscale histogram. Each particle contains histograms of the
+ ** intensities. These histograms are compared to the reference values.
+ **
+ ** @param p Pointer to the particles.
+ ** @param frame Current image of the video.
+ ** @param histReferenceGray Referencne grayscales histogram.
+ ** @param featSize Size of each particle (particles are resized to this size).
+ ** @param numParticlesDyn Current count of the particels.
+ **/
+void particleEvalGrayHist( CvParticle* p, IplImage* frame, CvHistogram* histReferenceGray, CvSize featSize, int numParticlesDyn);
+
+/*!
+ ** Particle evaluation function using elementary method "pixel-by-pixel". Each particle
+ ** is compared to the reference image using function cvNorm(...).
+ **
+ ** @param p Pointer to the particles.
+ ** @param frame Current image of the video.
+ ** @param reference Referencne image.
+ ** @param featSize Size of each particle (particles are resized to this size).
+ ** @param numParticlesDyn Current count of the particels.
+ **/
+void particleEvalDefault( CvParticle* p, IplImage* frame, IplImage *reference,CvSize featSize, int numParticlesDyn );
+
+/*!
+ ** Particle evaluation function using a hybrid method. For each particle an array of histograms (matrices, see function @ref initializeHyb)
+ ** is created and these are then compared to the reference histograms.
+ **
+ ** @param p Pointer to the particles.
+ ** @param frame Current image of the video.
+ ** @param reference Referencne image.
+ ** @param matRef Array of matrices with histograms.
+ ** @param nx Count of the horizontal parts.
+ ** @param ny Count of the vertical parts.
+ ** @param featSize Size of each particle (particles are resized to this size).
+ ** @param numParticlesDyn Current count of the particels.
+ **/
+void particleEvalHybrid( CvParticle* p, IplImage* frame, IplImage *reference, CvMat **matRef, int nx, int ny,CvSize featSize, int numParticlesDyn );
+
+#endif
+/***************************************************************/
+
+
+void initializeRGBHist(IplImage *reference, CvHistogram** histReferenceRed, 
+					   CvHistogram** histReferenceGreen, CvHistogram** histReferenceBlue)
+{
+	int hist_size = HIST_SIZE;
+	IplImage* referenceRed = cvCreateImage(cvSize(reference->width,reference->height), IPL_DEPTH_8U, 1);
+    IplImage* referenceGreen = cvCreateImage(cvSize(reference->width,reference->height), IPL_DEPTH_8U, 1);
+    IplImage* referenceBlue = cvCreateImage(cvSize(reference->width,reference->height), IPL_DEPTH_8U, 1);
+
+	cvSplit(reference, referenceRed, referenceGreen, referenceBlue, NULL);	
+
+    *histReferenceRed = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+    *histReferenceGreen = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+    *histReferenceBlue = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+
+	cvCalcHist( &referenceRed, *histReferenceRed, 0, NULL );
+	cvCalcHist( &referenceGreen, *histReferenceGreen, 0, NULL );
+	cvCalcHist( &referenceBlue, *histReferenceBlue, 0, NULL );
+
+
+}
+
+void initializeGrayHist(IplImage *reference, CvHistogram** histReferenceGray)
+{	
+	int hist_size = HIST_SIZE;
+	IplImage* referenceGray = cvCreateImage(cvSize(reference->width,reference->height), IPL_DEPTH_8U, 1);
+	cvCvtColor(reference, referenceGray, CV_BGR2GRAY);
+
+	*histReferenceGray = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+	cvCalcHist(&referenceGray, *histReferenceGray, 0, NULL);	
+}
+
+
+
+void initializeHyb(IplImage *reference, CvMat **matRef, int nx, int ny)
+{
+	int a,b,x,y;
+	int i = 0;			
+	int stepX = reference->width/nx; 
+	int stepY = reference->height/ny;	
+
+    uchar *ptrRef = NULL;
+	
+		for(a = 0; a < ny; a++)
+		{
+			for(b = 0; b < nx; b++)
+			{
+				for(y = a * stepY; y < ((a + 1) * stepY); y++)
+				{
+					if(y < reference->height)
+					{
+						ptrRef = (uchar*) (reference->imageData + y * reference->widthStep);
+						
+						for(x = b * stepX; x < ((b + 1) * stepX); x++)
+						{
+							if(x < reference->width)
+							{
+                                (*(matRef[i]->data.ptr + (*(ptrRef+3*x))/DIVIDER))++;
+                                (*(matRef[i]->data.ptr + matRef[i]->cols + (*(ptrRef + 3*x+1))/DIVIDER))++;
+                                (*(matRef[i]->data.ptr + matRef[i]->cols * 2 + (*(ptrRef + 3*x+2))/DIVIDER))++;
+								
+							}
+						}
+					}
+				}
+				i++;
+			}
+		}
+}
+
+void initializeRGB2(IplImage *reference, CvMat *matRef, int nx, int ny)
+{
+	int y,x;
+	int i = 0;					
+
+    uchar *ptrRef = NULL;
+
+	for(y = 0; y < 24; y++)
+	{	
+		ptrRef = (uchar*) (reference->imageData + y * reference->widthStep);				
+		for(x = 0; x < 24; x++)
+		{			
+            (*(matRef->data.ptr + (*(ptrRef+3*x))/DIVIDER))++;
+            (*(matRef->data.ptr + matRef->cols + (*(ptrRef + 3*x+1))/DIVIDER))++;
+            (*(matRef->data.ptr + matRef->cols * 2 + (*(ptrRef + 3*x+2))/DIVIDER))++;
+		}
+	}	
+}
+
+
+void particleEvalRGBHist( CvParticle* p, IplImage* frame, CvHistogram* histReferenceRed,CvHistogram* histReferenceGreen,
+						 CvHistogram* histReferenceBlue, CvSize featSize, int numParticlesDyn )
+{
+    int i;
+    double likeli;
+	double likeliRed;
+	double likeliGreen;
+	double likeliBlue;
+    IplImage *patch;
+    IplImage *resize;
+    resize = cvCreateImage( featSize, frame->depth, frame->nChannels );
+    int hist_size = HIST_SIZE;
+	IplImage* frameRed;
+	IplImage* frameGreen;
+	IplImage* frameBlue;
+	CvHistogram* histFrameRed;
+	CvHistogram* histFrameGreen;
+	CvHistogram* histFrameBlue;
+
+
+    for( i = 0; i < numParticlesDyn; i++ ) 
+    {
+        CvParticleState s = cvParticleStateGet( p, i );		
+        CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+        CvRect rect = cvRectFromRect32f( rect32f );
+        
+        patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
+        cvCropImageROI( frame, patch, rect32f );
+        cvResize( patch, resize );
+
+		frameRed = cvCreateImage(cvSize(resize->width,resize->height), IPL_DEPTH_8U, 1);
+		frameGreen = cvCreateImage(cvSize(resize->width,resize->height), IPL_DEPTH_8U, 1);
+		frameBlue = cvCreateImage(cvSize(resize->width,resize->height), IPL_DEPTH_8U, 1);
+		
+		cvSplit(resize, frameRed, frameGreen,frameBlue, NULL);
+
+		histFrameRed = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+		histFrameGreen = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+		histFrameBlue = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+
+		cvCalcHist( &frameRed, histFrameRed, 0, NULL );
+		cvCalcHist( &frameGreen, histFrameGreen, 0, NULL );
+		cvCalcHist( &frameBlue, histFrameBlue, 0, NULL );
+
+		likeliRed = cvCompareHist(histFrameRed, histReferenceRed, CV_COMP_INTERSECT);
+		likeliGreen = cvCompareHist(histFrameGreen, histReferenceGreen, CV_COMP_INTERSECT);
+		likeliBlue = cvCompareHist(histFrameBlue, histReferenceBlue, CV_COMP_INTERSECT);		
+
+		likeli = likeliRed + likeliBlue + likeliGreen;		
+
+       cvmSet( p->weights, 0, i, likeli );
+        
+        cvReleaseImage( &patch );
+		cvReleaseImage( &frameRed );
+		cvReleaseImage( &frameGreen );
+		cvReleaseImage( &frameBlue );
+		cvReleaseHist(&histFrameRed);
+		cvReleaseHist(&histFrameGreen);
+		cvReleaseHist(&histFrameBlue);
+		
+    }
+    cvReleaseImage( &resize );
+
+	for(i = numParticlesDyn; i < p->num_particles; i++)
+		cvmSet( p->weights, 0, i, -99999.0 );
+}
+
+void particleEvalGrayHist( CvParticle* p, IplImage* frame, CvHistogram* histReferenceGray, CvSize featSize, int numParticlesDyn )
+{
+    int i;
+    double likeli;
+    IplImage *patch;
+    IplImage *resize;
+	int hist_size = HIST_SIZE;
+    resize = cvCreateImage( featSize, frame->depth, frame->nChannels );
+
+    for( i = 0; i < numParticlesDyn; i++ ) 
+    {
+        CvParticleState s = cvParticleStateGet( p, i );
+        CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+        CvRect rect = cvRectFromRect32f( rect32f );
+        
+        patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
+        cvCropImageROI( frame, patch, rect32f );
+        cvResize( patch, resize );
+
+		IplImage* grayResize = cvCreateImage(cvSize(resize->width,resize->height), IPL_DEPTH_8U, 1);
+		cvCvtColor(resize, grayResize, CV_BGR2GRAY);
+	
+	    CvHistogram* histResize = cvCreateHist(1, &hist_size, CV_HIST_ARRAY);
+    
+		cvCalcHist( &grayResize, histResize, 0, NULL );
+
+
+		likeli = cvCompareHist(histResize, histReferenceGray, CV_COMP_INTERSECT);
+	
+		cvmSet( p->weights, 0, i, likeli );       
+        cvReleaseImage( &patch );
+    }
+    cvReleaseImage( &resize );
+
+	for(i = numParticlesDyn; i < p->num_particles; i++)
+		cvmSet( p->weights, 0, i, -99999.0 );
+}
+
+void particleEvalDefault( CvParticle* p, IplImage* frame, IplImage *reference, CvSize featSize, int numParticlesDyn )
+{
+    int i;
+    double likeli;
+    IplImage *patch;
+    IplImage *resize;
+    resize = cvCreateImage( featSize, frame->depth, frame->nChannels );
+
+    for( i = 0; i < numParticlesDyn; i++ ) 
+    {
+        CvParticleState s = cvParticleStateGet( p, i );		
+		CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+    	CvRect rect = cvRectFromRect32f( rect32f );        
+		patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
+        cvCropImageROI( frame, patch, rect32f );
+        cvResize( patch, resize );
+
+        likeli = -cvNorm( resize, reference, CV_L2 ); 
+
+        cvmSet( p->weights, 0, i, likeli );
+        
+        cvReleaseImage( &patch );
+    }
+    cvReleaseImage( &resize );
+
+	for(i = numParticlesDyn; i < p->num_particles; i++)
+		cvmSet( p->weights, 0, i, -99999.0 );
+}
+
+
+void particleEvalHybrid( CvParticle* p, IplImage* frame, IplImage *reference, CvMat **matRef, int nx, int ny, CvSize featSize, int numParticlesDyn )
+{
+	
+    int i,a,b,x,y;
+	int j = 0;
+		
+    double likeli;
+    IplImage *patch;
+    IplImage *resize;
+    resize = cvCreateImage( featSize, frame->depth, frame->nChannels );
+
+	int stepX = featSize.width/nx;
+	int stepY = featSize.height/ny;
+	
+	CvMat *matRes = cvCreateMat(3, (256/DIVIDER) + 1, CV_8UC1);
+
+	cvZero(matRes);
+
+	uchar *ptrRes = NULL;
+
+    for( i = 0; i < numParticlesDyn; i++ ) 
+    {
+        CvParticleState s = cvParticleStateGet( p, i );
+		//CvBox32f = The Constructor of Center Coordinate Floating Rectangle Structure.
+        CvBox32f box32f = cvBox32f( s.x, s.y, s.width, s.height, s.angle );
+        CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+        CvRect rect = cvRectFromRect32f( rect32f );
+        
+        patch = cvCreateImage( cvSize(rect.width,rect.height), frame->depth, frame->nChannels );
+        cvCropImageROI( frame, patch, rect32f );
+        cvResize( patch, resize );		
+
+		likeli = 0;
+		j = 0;
+
+		for(a = 0; a < ny; a++)
+		{
+			for(b = 0; b < nx; b++)
+			{
+				for(y = a * stepY; y < ((a + 1) * stepY); y++)
+				{
+					if(y < featSize.height)
+					{					
+						ptrRes = (uchar*) (resize->imageData + y * resize->widthStep);
+						for(x = b * stepX; x < ((b + 1) * stepX); x++)
+						{
+							if(x < featSize.width)
+							{
+                                (*(matRes->data.ptr + (*(ptrRes+3*x))/DIVIDER))++;
+                                (*(matRes->data.ptr + matRes->cols + (*(ptrRes + 3*x+1))/DIVIDER))++;
+                                (*(matRes->data.ptr + matRes->cols * 2 + (*(ptrRes + 3*x+2))/DIVIDER))++;
+							}
+						}
+					}
+				}				
+				likeli += cvNorm( matRef[j], matRes, CV_L2 );								
+				j++;
+
+				cvZero(matRes);
+
+			}
+		}
+
+		likeli *= -1;				
+
+        cvmSet( p->weights, 0, i, likeli );
+
+		cvZero(matRes);
+		
+        
+        cvReleaseImage( &patch );
+    }
+    cvReleaseImage( &resize );
+
+	for(i = numParticlesDyn; i < p->num_particles; i++)
+		cvmSet( p->weights, 0, i, -99999.0 );
+}
+
+#endif
diff --git a/Sources/Tracking/Algorithm1/state.h b/Sources/Tracking/Algorithm1/state.h
new file mode 100644
index 0000000..9d36dce
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/state.h
@@ -0,0 +1,255 @@
+/*
+ *
+ * The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ */
+#ifndef CV_PARTICLE_ROTRECT_H
+#define CV_PARTICLE_ROTRECT_H
+
+#include "opencvx/cvparticle.h"
+#include "opencvx/cvdrawrectangle.h"
+#include "opencvx/cvcropimageroi.h"
+#include "opencvx/cvrect32f.h"
+#include <float.h>
+//using namespace std;
+
+/********************** Definition of a particle *****************************/
+
+int num_states = 5;
+
+/*! Definition of meanings of 5 states.
+    This kinds of structures is not necessary to be defined, 
+    but I recommend to define them because it makes clear meanings of states
+*/
+typedef struct CvParticleState {
+    double x;        //!< Center coord of a rectangle
+    double y;        //!< Center coord of a rectangle
+    double width;    //!< Width of a rectangle
+    double height;   //!< Height of a rectangle
+    double angle;    //!< Rotation around center. degree
+} CvParticleState;
+
+/*! Definition of dynamics model:
+    
+    @code
+       new_particle = cvMatMul( dynamics, particle ) + noise 
+    @endcode
+    
+    @code
+       curr_x =: curr_x + noise
+    @endcode
+*/
+double dynamics[] = {
+    1, 0, 0, 0, 0, 
+    0, 1, 0, 0, 0, 
+    0, 0, 1, 0, 0, 
+    0, 0, 0, 1, 0, 
+    0, 0, 0, 0, 1, 
+};
+
+/********************** Function Prototypes *********************************/
+
+// Functions for CvParticleState structure ( constructor, getter, setter )
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle = 0 );
+CvParticleState cvParticleStateFromMat( const CvMat* state );
+void cvParticleStateToMat( const CvParticleState &state, CvMat* state_mat );
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id );
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState &state );
+
+// Particle Filter configuration
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std );
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize );
+
+// Utility Functions
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* frame, CvScalar color );
+void cvParticleStatePrint( const CvParticleState& state );
+
+/****************** Functions for CvParticleState structure ******************/
+
+// This kinds of state definitions are not necessary, 
+// but helps readability of codes for sure.
+
+/*!
+ * Constructor
+ */
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle )
+{
+    CvParticleState state = { x, y, width, height, angle }; 
+    return state;
+}
+
+/*!
+ * Convert a matrix state representation to a state structure
+ *
+ * @param state     num_states x 1 matrix
+ */
+CvParticleState cvParticleStateFromMat( const CvMat* state )
+{
+    CvParticleState s;
+    s.x       = cvmGet( state, 0, 0 );
+    s.y       = cvmGet( state, 1, 0 );
+    s.width   = cvmGet( state, 2, 0 );
+    s.height  = cvmGet( state, 3, 0 );
+    s.angle   = cvmGet( state, 4, 0 );
+    return s;
+}
+
+/*!
+ * Convert a state structure to CvMat
+ *
+ * @param state        A CvParticleState structure
+ * @param state_mat    num_states x 1 matrix
+ * @return void
+ */
+void cvParticleStateToMat( const CvParticleState& state, CvMat* state_mat )
+{
+    cvmSet( state_mat, 0, 0, state.x );
+    cvmSet( state_mat, 1, 0, state.y );
+    cvmSet( state_mat, 2, 0, state.width );
+    cvmSet( state_mat, 3, 0, state.height );
+    cvmSet( state_mat, 4, 0, state.angle );
+}
+
+/*!
+ * Get a state from a particle filter structure
+ *
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ */
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id )
+{
+    CvMat* state, hdr;
+    state = cvGetCol( p->particles, &hdr, p_id );
+    return cvParticleStateFromMat( state );
+}
+
+/*!
+ * Set a state to a particle filter structure
+ *
+ * @param state     A CvParticleState structure
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ * @return void
+ */
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState& state )
+{
+    CvMat* state_mat, hdr;
+    state_mat = cvGetCol( p->particles, &hdr, p_id );
+    cvParticleStateToMat( state, state_mat );
+}
+
+/*************************** Particle Filter Configuration *********************************/
+
+/*!
+ * Configuration of Particle filter
+ */
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std )
+{
+    // config dynamics model
+    CvMat dynamicsmat = cvMat( p->num_states, p->num_states, CV_64FC1, dynamics );
+
+    // config random noise standard deviation
+    CvRNG rng = cvRNG( time( NULL ) );
+    double stdarr[] = {
+        std.x,
+        std.y,
+        std.width,
+        std.height,
+        std.angle
+    };
+    CvMat stdmat = cvMat( p->num_states, 1, CV_64FC1, stdarr );
+
+    // config minimum and maximum values of states
+    // lowerbound, upperbound, circular flag (useful for degree)
+    // lowerbound == upperbound to express no bounding
+    double boundarr[] = {
+        0, imsize.width - 1, false,
+        0, imsize.height - 1, false,
+        1, imsize.width, false,
+        1, imsize.height, false,
+        0, 360, true
+    };
+    CvMat boundmat = cvMat( p->num_states, 3, CV_64FC1, boundarr );
+    cvParticleSetDynamics( p, &dynamicsmat );
+    cvParticleSetNoise( p, rng, &stdmat );
+    cvParticleSetBound( p, &boundmat );
+}
+
+/*!
+ * @todo
+ * CvParticle does not support this type of bounding currently
+ * Call after transition
+ */
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize )
+{
+    for( int np = 0; np < p->num_particles; np++ ) 
+    {
+        double x      = cvmGet( p->particles, 0, np );
+        double y      = cvmGet( p->particles, 1, np );
+        double width  = cvmGet( p->particles, 2, np ); 
+        double height = cvmGet( p->particles, 3, np );
+        width = MIN( width, imsize.width - (x) ); // another state x is used
+        height = MIN( height, imsize.height - (y) ); // another state y is used
+        cvmSet( p->particles, 2, np, width );
+        cvmSet( p->particles, 3, np, height );
+    }
+}
+
+void cvParticleRestoreSize(CvParticle *p, CvSize size)
+{
+	int i = 0;	
+
+	if((cvmGet(p->std, 0, 2) == 0.0) && (cvmGet(p->std, 0, 3) == 0.0))
+	{
+		printf("aaa");
+		for(i = 0; i < p->num_particles; i++)
+		{
+			cvmSet(p->particles, 2, i, size.width);
+			cvmSet(p->particles, 3, i, size.height);
+			
+		}
+
+	}
+}
+
+/***************************** Utility Functions ****************************************/
+
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* img, CvScalar color, int thickness )
+{
+    CvBox32f box32f = cvBox32f( state.x, state.y, state.width, state.height, state.angle );
+    CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+    cvDrawRectangle( img, rect32f, cvPoint2D32f(0,0), color, thickness,8,0);
+	//cvDrawRectangle( img, rect32f, cvPoint2D32f(0,0), color);
+	
+}
+
+void cvParticleStatePrint( const CvParticleState& state )
+{
+    printf( "x :%.2f ", state.x );
+    printf( "y :%.2f ", state.y );
+    printf( "width :%.2f ", state.width );
+    printf( "height :%.2f ", state.height );
+    printf( "angle :%.2f\n", state.angle );
+    fflush( stdout );
+}
+
+#endif
diff --git a/Sources/Tracking/Algorithm1/state1.h b/Sources/Tracking/Algorithm1/state1.h
new file mode 100644
index 0000000..51c8df8
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/state1.h
@@ -0,0 +1,248 @@
+/** @file
+ * Rotated rectangle state particle filter +
+ * 1nd order AR dynamics model ( in fact, next = current + noise )
+ *
+ * Use this file as a template of definitions of states and 
+ * state transition model for particle filter
+ *
+ * Currently cvparticle.h supports only linear combination of states transition
+ * model only. you may create another cvParticleTransition to support more complex
+ * non-linear state transition model. Most of other functions still should be 
+ * available modifications
+ */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_PARTICLE_ROTRECT_H
+#define CV_PARTICLE_ROTRECT_H
+
+#include "cvparticle.h"
+#include "cvdrawrectangle.h"
+#include "cvcropimageroi.h"
+#include "cvrect32f.h"
+#include <float.h>
+using namespace std;
+
+/********************** Definition of a particle *****************************/
+
+int num_states = 5;
+
+// Definition of meanings of 5 states.
+// This kinds of structures is not necessary to be defined, 
+// but I recommend to define them because it makes clear meanings of states
+typedef struct CvParticleState {
+    double x;        // center coord of a rectangle
+    double y;        // center coord of a rectangle
+    double width;    // width of a rectangle
+    double height;   // height of a rectangle
+    double angle;    // rotation around center. degree
+} CvParticleState;
+
+// Definition of dynamics model
+// new_particle = cvMatMul( dynamics, particle ) + noise
+// curr_x =: curr_x + noise
+double dynamics[] = {
+    1, 0, 0, 0, 0, 
+    0, 1, 0, 0, 0, 
+    0, 0, 1, 0, 0, 
+    0, 0, 0, 1, 0, 
+    0, 0, 0, 0, 1, 
+};
+
+/********************** Function Prototypes *********************************/
+
+#ifndef NO_DOXYGEN
+// Functions for CvParticleState structure ( constructor, getter, setter )
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle = 0 );
+CvParticleState cvParticleStateFromMat( const CvMat* state );
+void cvParticleStateToMat( const CvParticleState &state, CvMat* state_mat );
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id );
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState &state );
+
+// Particle Filter configuration
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std );
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize );
+
+// Utility Functions
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* frame, CvScalar color );
+void cvParticleStatePrint( const CvParticleState& state );
+#endif
+
+/****************** Functions for CvParticleState structure ******************/
+
+// This kinds of state definitions are not necessary, 
+// but helps readability of codes for sure.
+
+/**
+ * Constructor
+ */
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle )
+{
+    CvParticleState state = { x, y, width, height, angle }; 
+    return state;
+}
+
+/**
+ * Convert a matrix state representation to a state structure
+ *
+ * @param state     num_states x 1 matrix
+ */
+CvParticleState cvParticleStateFromMat( const CvMat* state )
+{
+    CvParticleState s;
+    s.x       = cvmGet( state, 0, 0 );
+    s.y       = cvmGet( state, 1, 0 );
+    s.width   = cvmGet( state, 2, 0 );
+    s.height  = cvmGet( state, 3, 0 );
+    s.angle   = cvmGet( state, 4, 0 );
+    return s;
+}
+
+/**
+ * Convert a state structure to CvMat
+ *
+ * @param state        A CvParticleState structure
+ * @param state_mat    num_states x 1 matrix
+ * @return void
+ */
+void cvParticleStateToMat( const CvParticleState& state, CvMat* state_mat )
+{
+    cvmSet( state_mat, 0, 0, state.x );
+    cvmSet( state_mat, 1, 0, state.y );
+    cvmSet( state_mat, 2, 0, state.width );
+    cvmSet( state_mat, 3, 0, state.height );
+    cvmSet( state_mat, 4, 0, state.angle );
+}
+
+/**
+ * Get a state from a particle filter structure
+ *
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ */
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id )
+{
+    CvMat* state, hdr;
+    state = cvGetCol( p->particles, &hdr, p_id );
+    return cvParticleStateFromMat( state );
+}
+
+/**
+ * Set a state to a particle filter structure
+ *
+ * @param state     A CvParticleState structure
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ * @return void
+ */
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState& state )
+{
+    CvMat* state_mat, hdr;
+    state_mat = cvGetCol( p->particles, &hdr, p_id );
+    cvParticleStateToMat( state, state_mat );
+}
+
+/*************************** Particle Filter Configuration *********************************/
+
+/**
+ * Configuration of Particle filter
+ */
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std )
+{
+    // config dynamics model
+    CvMat dynamicsmat = cvMat( p->num_states, p->num_states, CV_64FC1, dynamics );
+
+    // config random noise standard deviation
+    CvRNG rng = cvRNG( time( NULL ) );
+    double stdarr[] = {
+        std.x,
+        std.y,
+        std.width,
+        std.height,
+        std.angle
+    };
+    CvMat stdmat = cvMat( p->num_states, 1, CV_64FC1, stdarr );
+
+    // config minimum and maximum values of states
+    // lowerbound, upperbound, circular flag (useful for degree)
+    // lowerbound == upperbound to express no bounding
+    double boundarr[] = {
+        0, imsize.width - 1, false,
+        0, imsize.height - 1, false,
+        1, imsize.width, false,
+        1, imsize.height, false,
+        0, 360, true
+    };
+    CvMat boundmat = cvMat( p->num_states, 3, CV_64FC1, boundarr );
+    cvParticleSetDynamics( p, &dynamicsmat );
+    cvParticleSetNoise( p, rng, &stdmat );
+    cvParticleSetBound( p, &boundmat );
+}
+
+/**
+ * @todo
+ * CvParticle does not support this type of bounding currently
+ * Call after transition
+ */
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize )
+{
+    for( int np = 0; np < p->num_particles; np++ ) 
+    {
+        double x      = cvmGet( p->particles, 0, np );
+        double y      = cvmGet( p->particles, 1, np );
+        double width  = cvmGet( p->particles, 2, np );
+        double height = cvmGet( p->particles, 3, np );
+        width = MIN( width, imsize.width - x ); // another state x is used
+        height = MIN( height, imsize.height - y ); // another state y is used
+        cvmSet( p->particles, 2, np, width );
+        cvmSet( p->particles, 3, np, height );
+    }
+}
+
+/***************************** Utility Functions ****************************************/
+
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* img, CvScalar color )
+{
+    CvBox32f box32f = cvBox32f( state.x, state.y, state.width, state.height, state.angle );
+    CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+    cvDrawRectangle( img, rect32f, cvPoint2D32f(0,0), color );
+}
+
+void cvParticleStatePrint( const CvParticleState& state )
+{
+    printf( "x :%.2f ", state.x );
+    printf( "y :%.2f ", state.y );
+    printf( "width :%.2f ", state.width );
+    printf( "height :%.2f ", state.height );
+    printf( "angle :%.2f\n", state.angle );
+    fflush( stdout );
+}
+
+#endif
\ No newline at end of file
diff --git a/Sources/Tracking/Algorithm1/state2.h b/Sources/Tracking/Algorithm1/state2.h
new file mode 100644
index 0000000..747e317
--- /dev/null
+++ b/Sources/Tracking/Algorithm1/state2.h
@@ -0,0 +1,301 @@
+/** @file
+ * Rotated rectangle state particle filter +
+ * 2nd order AR dynamics model ( in fact, next = current + speed + noise )
+ *
+ * Use this file as a template of definitions of states and 
+ * state transition model for particle filter
+ *
+ * Currently cvparticle.h supports only linear combination of states transition
+ * model only. you may create another cvParticleTransition to support more complex
+ * non-linear state transition model. Most of other functions still should be 
+ * available modifications
+ */
+/* The MIT License
+ * 
+ * Copyright (c) 2008, Naotoshi Seo <sonots(at)sonots.com>
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef CV_PARTICLE_ROTRECT2_H
+#define CV_PARTICLE_ROTRECT2_H
+
+#include "cvparticle.h"
+#include "cvdrawrectangle.h"
+#include "cvcropimageroi.h"
+#include "cvrect32f.h"
+#include <float.h>
+using namespace std;
+
+/********************** Definition of a particle *****************************/
+
+int num_states = 10;
+
+// Definition of meanings of 10 states.
+// This kinds of structures is not necessary to be defined, 
+// but I recommend to define them because it makes clear meanings of states
+typedef struct CvParticleState {
+    double x;        // center coord of a rectangle
+    double y;        // center coord of a rectangle
+    double width;    // width of a rectangle
+    double height;   // height of a rectangle
+    double angle;    // rotation around center. degree
+    double xp;       // previous center coord of a rectangle
+    double yp;       // previous center coord of a rectangle
+    double widthp;   // previous width of a rectangle
+    double heightp;  // previous height of a rectangle
+    double anglep;   // previous rotation around center. degree
+} CvParticleState;
+
+// Definition of dynamics model
+// new_particle = cvMatMul( dynamics, particle ) + noise
+// curr_x =: curr_x + dx + noise = curr_x + (curr_x - prev_x) + noise
+// prev_x =: curr_x
+double dynamics[] = {
+    2, 0, 0, 0, 0, -1, 0, 0, 0, 0,
+    0, 2, 0, 0, 0, 0, -1, 0, 0, 0,
+    0, 0, 2, 0, 0, 0, 0, -1, 0, 0,
+    0, 0, 0, 2, 0, 0, 0, 0, -1, 0,
+    0, 0, 0, 0, 2, 0, 0, 0, 0, -1,
+    1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+    0, 1, 0, 0, 0, 0, 0, 0, 0, 0,
+    0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
+    0, 0, 0, 1, 0, 0, 0, 0, 0, 0,
+    0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
+};
+
+/********************** Function Prototypes *********************************/
+
+#ifndef NO_DOXYGEN
+// Functions for CvParticleState structure ( constructor, getter, setter )
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle = 0,
+                                        double xp = 0, 
+                                        double yp = 0, 
+                                        double widthp = 0, 
+                                        double heightp = 0,
+                                        double anglep =0 );
+CvParticleState cvParticleStateFromMat( const CvMat* state );
+void cvParticleStateToMat( const CvParticleState &state, CvMat* state_mat );
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id );
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState &state );
+
+// Particle Filter configuration
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std );
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize );
+
+// Utility Functions
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* frame, CvScalar color );
+void cvParticleStatePrint( const CvParticleState& state );
+#endif
+
+/****************** Functions for CvParticleState structure ******************/
+
+// This kinds of state definitions are not necessary, 
+// but helps readability of codes for sure.
+
+/**
+ * Constructor
+ */
+inline CvParticleState cvParticleState( double x, 
+                                        double y, 
+                                        double width, 
+                                        double height, 
+                                        double angle,
+                                        double xp, 
+                                        double yp, 
+                                        double widthp, 
+                                        double heightp, 
+                                        double anglep )
+{
+    CvParticleState state = { x, y, width, height, angle, 
+                              xp, yp, widthp, heightp, anglep };
+    return state;
+}
+
+/**
+ * Convert a matrix state representation to a state structure
+ *
+ * @param state     num_states x 1 matrix
+ */
+CvParticleState cvParticleStateFromMat( const CvMat* state )
+{
+    CvParticleState s;
+    s.x       = cvmGet( state, 0, 0 );
+    s.y       = cvmGet( state, 1, 0 );
+    s.width   = cvmGet( state, 2, 0 );
+    s.height  = cvmGet( state, 3, 0 );
+    s.angle   = cvmGet( state, 4, 0 );
+    s.xp      = cvmGet( state, 5, 0 );
+    s.yp      = cvmGet( state, 6, 0 );
+    s.widthp  = cvmGet( state, 7, 0 );
+    s.heightp = cvmGet( state, 8, 0 );
+    s.anglep  = cvmGet( state, 9, 0 );
+    return s;
+}
+
+/**
+ * Convert a state structure to CvMat
+ *
+ * @param state        A CvParticleState structure
+ * @param state_mat    num_states x 1 matrix
+ * @return void
+ */
+void cvParticleStateToMat( const CvParticleState& state, CvMat* state_mat )
+{
+    cvmSet( state_mat, 0, 0, state.x );
+    cvmSet( state_mat, 1, 0, state.y );
+    cvmSet( state_mat, 2, 0, state.width );
+    cvmSet( state_mat, 3, 0, state.height );
+    cvmSet( state_mat, 4, 0, state.angle );
+    cvmSet( state_mat, 5, 0, state.xp );
+    cvmSet( state_mat, 6, 0, state.yp );
+    cvmSet( state_mat, 7, 0, state.widthp );
+    cvmSet( state_mat, 8, 0, state.heightp );
+    cvmSet( state_mat, 9, 0, state.anglep );
+}
+
+/**
+ * Get a state from a particle filter structure
+ *
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ */
+CvParticleState cvParticleStateGet( const CvParticle* p, int p_id )
+{
+    CvMat* state, hdr;
+    state = cvGetCol( p->particles, &hdr, p_id );
+    return cvParticleStateFromMat( state );
+}
+
+/**
+ * Set a state to a particle filter structure
+ *
+ * @param state     A CvParticleState structure
+ * @param p         particle filter struct
+ * @param p_id      particle id
+ * @return void
+ */
+void cvParticleStateSet( CvParticle* p, int p_id, const CvParticleState& state )
+{
+    CvMat* state_mat, hdr;
+    state_mat = cvGetCol( p->particles, &hdr, p_id );
+    cvParticleStateToMat( state, state_mat );
+}
+
+/*************************** Particle Filter Configuration *********************************/
+
+/**
+ * Configuration of Particle filter
+ */
+void cvParticleStateConfig( CvParticle* p, CvSize imsize, CvParticleState& std )
+{
+    // config dynamics model
+    CvMat dynamicsmat = cvMat( p->num_states, p->num_states, CV_64FC1, dynamics );
+
+    // config random noise standard deviation
+    CvRNG rng = cvRNG( time( NULL ) );
+    double stdarr[] = {
+        std.x,
+        std.y,
+        std.width,
+        std.height,
+        std.angle,
+        0,
+        0,
+        0,
+        0,
+        0
+    };
+    CvMat stdmat = cvMat( p->num_states, 1, CV_64FC1, stdarr );
+
+    // config minimum and maximum values of states
+    // lowerbound, upperbound, circular flag (useful for degree)
+    // lowerbound == upperbound to express no bounding
+    double boundarr[] = {
+        0, imsize.width - 1, false,
+        0, imsize.height - 1, false,
+        1, imsize.width, false,
+        1, imsize.height, false,
+        0, 360, true,
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0
+    };
+    CvMat boundmat = cvMat( p->num_states, 3, CV_64FC1, boundarr );
+    cvParticleSetDynamics( p, &dynamicsmat );
+    cvParticleSetNoise( p, rng, &stdmat );
+    cvParticleSetBound( p, &boundmat );
+}
+
+/**
+ * @todo
+ * CvParticle does not support this type of bounding currently
+ * Call after transition
+ */
+void cvParticleStateAdditionalBound( CvParticle* p, CvSize imsize )
+{
+    for( int np = 0; np < p->num_particles; np++ ) 
+    {
+        double x      = cvmGet( p->particles, 0, np );
+        double y      = cvmGet( p->particles, 1, np );
+        double width  = cvmGet( p->particles, 2, np );
+        double height = cvmGet( p->particles, 3, np );
+        width = MIN( width, imsize.width - x ); // another state x is used
+        height = MIN( height, imsize.height - y ); // another state y is used
+        cvmSet( p->particles, 2, np, width );
+        cvmSet( p->particles, 3, np, height );
+    }
+}
+
+/***************************** Utility Functions ****************************************/
+
+/**
+ * Draw tracking state on an image
+ */
+void cvParticleStateDisplay( const CvParticleState& state, IplImage* img, CvScalar color )
+{
+    CvBox32f box32f = cvBox32f( state.x, state.y, state.width, state.height, state.angle );
+    CvRect32f rect32f = cvRect32fFromBox32f( box32f );
+    cvDrawRectangle( img, rect32f, cvPoint2D32f(0,0), color );
+}
+
+/**
+ * Print the tracking state
+ */
+void cvParticleStatePrint( const CvParticleState& state )
+{
+    printf( "x :%.2f ", state.x );
+    printf( "y :%.2f ", state.y );
+    printf( "width :%.2f ", state.width );
+    printf( "height :%.2f ", state.height );
+    printf( "angle :%.2f\n", state.angle );
+    printf( "xp:%.2f ", state.xp );
+    printf( "yp:%.2f ", state.yp );
+    printf( "widthp:%.2f ", state.widthp );
+    printf( "heightp:%.2f ", state.heightp );
+    printf( "anglep:%.2f\n", state.anglep );
+    fflush( stdout );
+}
+
+#endif
\ No newline at end of file
diff --git a/Sources/anchoritem.cpp b/Sources/anchoritem.cpp
new file mode 100644
index 0000000..0d35986
--- /dev/null
+++ b/Sources/anchoritem.cpp
@@ -0,0 +1,161 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      anchoritem.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "anchoritem.h"
+
+#include <QDebug>
+#include <QMouseEvent>
+
+AnchorItem::AnchorItem(ItemType type, int64_t timestamp, unsigned long timePosition, unsigned long totalTime,
+                               unsigned long frameNumber, unsigned long frameCount,  QWidget *parent, bool isSet, bool displayTime) :
+    QWidget(parent),
+    type(type),
+    timestamp(timestamp),
+    timePosition(timePosition),
+    frameNumber(frameNumber),
+    isSet(isSet)
+{
+
+    currentBackgroundColor = backgroundColorInactive;
+    QString nameString;
+    switch (type)
+    {
+    case ItemType::END:
+    {
+        nameString = tr("End");
+        break;
+    }
+    case ItemType::BEGINNING:
+    {
+        nameString = tr("Beginning");
+        break;
+    }
+    case ItemType::CHANGE:
+        nameString = tr("Trajectory change");
+        break;
+    default:
+        qDebug() << "ERROR - AnchorItem: Wrong ItemType";
+        return;
+    }
+
+    name = new QLabel(nameString, this);
+    hLayout = new QHBoxLayout(this);
+    hLayout->setMargin(0);
+    hLayout->setSpacing(0);
+    hLayout->addWidget(name);
+    setLayout(hLayout);
+
+    if (type == ItemType::END && !isSet)
+    {
+        QLabel *time = new QLabel(tr("Not set"), this);
+        time->setAlignment(Qt::AlignRight);
+        hLayout->addWidget(time);
+    }
+    else
+    {
+        timeLabel = new TimeLabel(this);
+        timeLabel->set_total_time(totalTime);
+        timeLabel->set_frame_count(frameCount);
+        if (displayTime)
+            timeLabel->display_time(timePosition, false);
+        else
+            timeLabel->display_frame_num(frameNumber, false);
+        timeLabel->setAlignment(Qt::AlignRight);
+        hLayout->addWidget(timeLabel);
+    }
+
+
+    installEventFilter(this);
+
+}
+
+bool AnchorItem::eventFilter(QObject *object, QEvent *event)
+{
+    if (isEnabled() && object == this)
+    {
+        if (event->type() == QEvent::Enter)
+        {
+            setStyleSheet(backgroundColorActive);
+        }
+        else if(event->type() == QEvent::Leave)
+        {
+            setStyleSheet(currentBackgroundColor);
+        }
+        return false; // propagates the event even when processed
+    }
+
+    return false; // propagates the event further since was not processed
+}
+
+void AnchorItem::set_highlight(bool set)
+{
+    if (set)
+        currentBackgroundColor = backgroundColorActive;
+    else
+        currentBackgroundColor = backgroundColorInactive;
+
+    setStyleSheet(currentBackgroundColor);
+}
+
+AnchorItem::~AnchorItem()
+{
+    // All objects get deleted automatically as they are set to be children
+}
+
+ItemType AnchorItem::get_type()
+{
+    return type;
+}
+
+bool AnchorItem::is_set()
+{
+    return isSet;
+}
+
+int64_t AnchorItem::get_timestamp() const
+{
+    return timestamp;
+}
+
+void AnchorItem::display_time()
+{
+    if (type == ItemType::END && !isSet)
+    {   // End is not set so the time cannot be displayed
+        return;
+    }
+
+    timeLabel->display_time(timePosition, false);
+}
+
+void AnchorItem::display_frame_num()
+{
+    if (type == ItemType::END && !isSet)
+    {   // End is not set so the frame number cannot be displayed
+        return;
+    }
+
+    timeLabel->display_frame_num(frameNumber, false);
+}
diff --git a/Sources/anchoritem.h b/Sources/anchoritem.h
new file mode 100644
index 0000000..50c16ef
--- /dev/null
+++ b/Sources/anchoritem.h
@@ -0,0 +1,122 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      anchoritem.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef ANCHORITEM_H
+#define ANCHORITEM_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QHBoxLayout>
+
+#include "timelabel.h"
+
+#include <stdint.h> // int64_t; needed for MSVC compiler
+
+enum class ItemType : int {BEGINNING, END, CHANGE};
+
+class AnchorItem : public QWidget
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param type Item type
+     * @param timestamp Timestamp
+     * @param timePosition Time position
+     * @param totalTime Total video time
+     * @param frameNumber Fram number
+     * @param frameCount Number of frames in the video
+     * @param parent Parent widget
+     * @param isSet Is the item set? Works only with END ItemType
+     * @param displayTime True - display time. False - display frame number
+     */
+    AnchorItem(ItemType type, int64_t timestamp, unsigned long timePosition, unsigned long totalTime,
+                   unsigned long frameNumber, unsigned long frameCount, QWidget *parent, bool isSet=true, bool displayTime=false);
+    /**
+     * Destructor
+     */
+    ~AnchorItem();
+
+    /**
+     * Returns type of this item.
+     * @return Item type
+     */
+    ItemType get_type();
+
+    /**
+     * Is the object set? isSet works only with END ItemType.
+     * @return isSet.
+     */
+    bool is_set();
+
+    /**
+     * Sets highlighting. Works with eventFilter().
+     * @param set True - highlight always on. False - highlight set according item hover.
+     */
+    void set_highlight(bool set);
+
+    /**
+     * Returns timestamp.
+     * @return timestamp
+     */
+    int64_t get_timestamp() const;
+
+    /**
+     * Displays values as time positions.
+     */
+    void display_time();
+
+    /**
+     * Displays values as frame numbers.
+     */
+    void display_frame_num();
+
+signals:
+protected:
+    /**
+     * Filters Enter and Leave events for item highlighting when hovering
+     * @param object Object of the event
+     * @param event Event
+     * @return False - propagate event further. True - do not propagate.
+     */
+    bool eventFilter(QObject *object, QEvent *event);
+
+private:
+    TimeLabel *timeLabel;
+    QLabel *name;
+    ItemType type;
+    int64_t timestamp;
+    unsigned long timePosition;
+    unsigned long frameNumber;
+    bool isSet;
+
+    QHBoxLayout *hLayout;
+    const QString backgroundColorActive = "background-color: rgb(115, 171, 230);";
+    const QString backgroundColorInactive = "background-color: rgb(255, 255, 255);";
+    QString currentBackgroundColor;
+};
+
+#endif // ANCHORITEM_H
diff --git a/Sources/avwriter.cpp b/Sources/avwriter.cpp
new file mode 100644
index 0000000..36d505e
--- /dev/null
+++ b/Sources/avwriter.cpp
@@ -0,0 +1,446 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      avwriter.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "avwriter.h"
+#include <QDebug>
+#include <cassert>
+
+AVWriter::AVWriter()
+{
+    formatContext = nullptr;
+    videoStream = nullptr;
+    audioStream = nullptr;
+}
+
+AVWriter::~AVWriter()
+{
+    if (videoStream)
+        avcodec_close(videoStream->codec);
+    if (audioStream)
+        avcodec_close(audioStream->codec);
+
+    if (formatContext)
+    {
+        avformat_free_context(formatContext);
+        formatContext = nullptr;
+    }
+}
+
+bool AVWriter::initialize_output(std::string filename, AVStream const *inVideoStream, AVStream const *inAudioStream, char const *inFormatName, std::string inFileExtension)
+{
+    /** choose extension according the file format:
+    std::string str(formatContext->iformat->name);
+    std::string ext = str.substr(0, str.find(','));
+    filename += ".";
+    filename += ext;
+    qDebug() << ext.c_str();
+    avformat_alloc_output_context2(&formatContext2, NULL, ext.c_str(), NULL); // allocation of output context
+      */
+
+
+    /** Output video format deduction form the (output) filename.
+        It is disabled because format should match the input format so as extra settings is not needed.
+        Encoding to some other formats might not be valid especially because mixed PTS and DTS
+
+    std::string originalFilename = filename; // "filename" might change the extension if needed; "originalFilename" stores the argument
+    // Allocating output media context
+    avformat_alloc_output_context2(&formatContext, nullptr, nullptr, filename.c_str()); // allocation of output context
+
+    if (!formatContext || formatContext->oformat->video_codec == AV_CODEC_ID_NONE)
+    {
+        if (!formatContext)
+        {
+            qDebug() << "Warning: Could not deduce output format from file extension. Deducing from input format instead.";
+        }
+        else
+        {
+            qDebug() << "Warning: File format deduced from file extension does not support video. Deducing from input format instead.";
+            avformat_free_context(formatContext);
+            formatContext = nullptr;
+        }
+
+        // Try allocate formatContext according to input format name and set appropriate extension
+        // The new extension is added after the previous one (user might want to have a dot in the filename)
+        std::string str(inFormatName);
+        std::string ext = str.substr(0, str.find(',')); // Finds first extension that belongs to given file format
+        if (!ext.empty()) // Appropriate extension found
+        {
+            filename = originalFilename + "." + ext;
+            qDebug() << ext.c_str();
+            avformat_alloc_output_context2(&formatContext, NULL, ext.c_str(), NULL); // allocation of output context
+        }
+    }
+    */
+
+    // Try allocate formatContext according to input format name and set appropriate extension
+    // If a user changed the file extension, add the correct one
+    std::string str(inFormatName);
+
+    // Find first extension that belongs to given file format
+    std::string ext = "";
+    auto extPos = str.find(',');
+    if (extPos != std::string::npos)
+         ext = str.substr(0, extPos); // Finds first extension that belongs to given file format
+    else
+        ext = str;
+
+    if (!ext.empty()) // Appropriate extension found
+    {
+
+        std::string outFileExtension = "";
+        auto outExtensionPosition  = filename.find_last_of('.');
+        if (outExtensionPosition != std::string::npos)
+            outFileExtension = filename.substr(outExtensionPosition);
+
+
+        qDebug() << "outFileExtension" << QString::fromStdString(outFileExtension);
+        qDebug() << "inFileExtension" << QString::fromStdString(inFileExtension);
+        if (outFileExtension.compare(inFileExtension)) // extensions are not the same, suffix the correct one
+            filename +=  inFileExtension;
+
+        qDebug() << ext.c_str();
+        avformat_alloc_output_context2(&formatContext, NULL, ext.c_str(), NULL); // allocation of output context
+    }
+
+    if (!formatContext || formatContext->oformat->video_codec == AV_CODEC_ID_NONE)
+    {   //Deduced file format does not support video. Using MPEG
+        if (!formatContext)
+        {
+            qDebug() << "Warning: Deduced file format does not support video. Using MPEG.";
+        }
+        else
+        {
+            qDebug() << "Warning: Could not deduce output format, using MPEG";
+            avformat_free_context(formatContext);
+            formatContext = nullptr;
+        }
+
+        filename = filename + ".mpg";
+        avformat_alloc_output_context2(&formatContext, NULL, "mpeg", filename.c_str());
+    }
+
+    if (!formatContext)
+    {
+        qDebug() << "Error: avformat_alloc_output_context2";
+        return false;
+    }
+
+    AVOutputFormat *fmt = formatContext->oformat;
+
+    // Add video stream
+    if (fmt->video_codec != AV_CODEC_ID_NONE)
+    {
+        if (!add_stream(&videoStream, inVideoStream))
+        {
+            qDebug() << "ERROR: Adding video stream";
+            return false;
+        }
+    }
+    else
+    { // Video is needed
+        qDebug() << "ERROR: This format is not a video format.";
+        return false;
+    }
+
+    // Add audio format
+    if (fmt->audio_codec != AV_CODEC_ID_NONE)
+    {
+
+        if (!add_stream(&audioStream, inAudioStream))
+        {
+            qDebug() << "ERROR: Adding audio stream";
+            return false;
+        }
+    }
+
+    /* Now that all the parameters are set, we can open the audio and
+     * video codecs and allocate the necessary encode buffers. */
+
+    av_dump_format(formatContext, 0, filename.c_str(), 1);
+
+    // Open the output file
+    if (!(fmt->flags & AVFMT_NOFILE)) {
+        if (avio_open(&formatContext->pb, filename.c_str(), AVIO_FLAG_WRITE) < 0)
+        {
+            qDebug() << "Error could not open output file.";
+            return false;
+        }
+    }
+
+    // Write the stream header
+    if (avformat_write_header(formatContext, nullptr) < 0)
+    {
+        qDebug() << "Error writing header";
+        return false;
+    }
+
+    // Everything is correctly set, prepared for writing
+    return true;
+
+}
+
+bool AVWriter::close_output()
+{
+    /* Write the trailer, if any. The trailer must be written before you
+     * close the CodecContexts open when you wrote the header; otherwise
+     * av_write_trailer() may try to use memory that was freed on
+     * av_codec_close(). */
+    av_write_trailer(formatContext);
+
+    if (!(formatContext->oformat->flags & AVFMT_NOFILE))
+        avio_closep(&formatContext->pb);
+
+    return true;
+}
+
+bool AVWriter::add_stream(AVStream **outputStream, const AVStream *inputStream)
+{
+ //   AVStream *inputStream = formatContext->streams[inputStreamID]; // careful, it's different formatContext!
+
+    AVCodecContext *codecContext;
+    AVCodec *codec;
+
+    /* find the encoder */
+    qDebug() << "codec id:" << inputStream->codec->codec_id;
+    codec = avcodec_find_encoder(inputStream->codec->codec_id);
+    if (!codec) {
+        qDebug() << "Error finding encoder";
+        return false;
+    }
+
+    if (codec->type == AVMEDIA_TYPE_VIDEO)
+        *outputStream = avformat_new_stream(formatContext, codec); // Creates new stream (also increases nb_streams)
+    else
+        *outputStream = avformat_new_stream(formatContext, inputStream->codec->codec); // Creates new stream (also increases nb_streams)
+
+    if (!*outputStream) {
+        qDebug() << "Error allocating stream";
+        return false;
+    }
+    (*outputStream)->id = formatContext->nb_streams - 1;
+    codecContext = (*outputStream)->codec;
+
+    /** Not used because of c->qmin, qmax and qcompress - in mp4 format copied values are invalid
+    if (avcodec_copy_context((*outputStream)->codec, inputStream->codec) < 0) {
+        qDebug() << "Failed to copy context from input to output stream codec context";
+        return false;
+    }
+    */
+
+    switch (codec->type)
+    {
+        case AVMEDIA_TYPE_AUDIO:
+            if (avcodec_copy_context((*outputStream)->codec, inputStream->codec) < 0)
+            {
+                qDebug() << "Failed to copy context from input to output stream codec context";
+                return false;
+            }
+            (*outputStream)->codec->codec_tag = 0;
+
+        /** No need to encode because audio frames are not decoded
+            codecContext->sample_fmt = codec->sample_fmts ?
+                codec->sample_fmts[0] : AV_SAMPLE_FMT_FLTP;
+            codecContext->bit_rate = 64000;
+            codecContext->sample_rate = 44100;
+            if (codec->supported_samplerates) {
+                codecContext->sample_rate = codec->supported_samplerates[0];
+                for (i = 0; codec->supported_samplerates[i]; i++) {
+                    if (codec->supported_samplerates[i] == 44100)
+                        codecContext->sample_rate = 44100;
+                }
+            }
+            codecContext->channels = av_get_channel_layout_nb_channels(codecContext->channel_layout);
+            codecContext->channel_layout = AV_CH_LAYOUT_STEREO;
+            if (codec->channel_layouts) {
+                codecContext->channel_layout = codec->channel_layouts[0];
+                for (i = 0; codec->channel_layouts[i]; i++) {
+                    if (codec->channel_layouts[i] == AV_CH_LAYOUT_STEREO)
+                        codecContext->channel_layout = AV_CH_LAYOUT_STEREO;
+                }
+            }
+            codecContext->channels = av_get_channel_layout_nb_channels(codecContext->channel_layout);
+            (*outputStream)->time_base = AVRational{ 1, codecContext->sample_rate };
+            */
+            break;
+
+        case AVMEDIA_TYPE_VIDEO:
+            codecContext->codec_id = inputStream->codec->codec_id;
+
+            // this is commented because for some video formats causes the first frame not being a keyframe
+            //codecContext->bit_rate = inputStream->codec->bit_rate;
+
+            codecContext->width = inputStream->codec->width;
+            codecContext->height = inputStream->codec->height;
+
+            (*outputStream)->time_base = inputStream->time_base;
+
+            codecContext->time_base = (*outputStream)->time_base;
+
+            codecContext->gop_size = inputStream->codec->gop_size; // one intra frame emitted every X frames at most
+
+            codecContext->pix_fmt = (enum AVPixelFormat)outputFormat;
+
+            codecContext->max_b_frames = inputStream->codec->max_b_frames;
+
+            codecContext->mb_decision = inputStream->codec->mb_decision;
+            break;
+        default:
+            break;
+    }
+
+    /* Some formats want stream headers to be separate. */
+    if (formatContext->oformat->flags & AVFMT_GLOBALHEADER)
+        codecContext->flags |= CODEC_FLAG_GLOBAL_HEADER;
+
+    if(codec->type == AVMEDIA_TYPE_VIDEO)
+    {
+        if (avcodec_open2((*outputStream)->codec, codec, NULL) < 0)
+        {
+            qDebug() << "Error opening codec";
+            return false;
+        }
+    }
+    return true;
+}
+
+bool AVWriter::write_video_frame(VideoFrame &frame)
+{
+    assert(frame.get_mat_frame() != nullptr);
+
+    int got_packet = 0;
+
+    AVPacket pkt;
+    //AVPacket pkt = { 0 };
+
+    // Set .data and .size to 0; That is needed for avcodec_encode_video2() to allocate buffer
+    pkt.data = nullptr;
+    pkt.size = 0;
+    av_init_packet(&pkt);
+
+    AVFrame const *avFrame = frame.get_av_frame(); // frame converted from cv::Mat (part of VideoFrame)
+    if (!avFrame)
+    {
+       qDebug() << "Error: Cannot get frame converted to AVFrame";
+       return false;
+    }
+
+    /** Commented because not tested
+    if (formatContext->oformat->flags & AVFMT_RAWPICTURE)
+    { // avoiding data copy with some raw video muxers
+        qDebug() << "raw";
+        pkt.flags |= AV_PKT_FLAG_KEY;
+        pkt.stream_index = videoStream->index;
+        pkt.data = (uint8_t *)avFrame;
+        pkt.size = sizeof(AVPicture);
+        pkt.pts = pkt.dts = frame.get_timestamp();
+    }
+    else
+    {
+    */
+
+    //avFrame->pts = av_rescale_q(avFrame->pts, videoStream->time_base, videoStream->codec->time_base);
+
+    if (avcodec_encode_video2(videoStream->codec, &pkt, avFrame, &got_packet) < 0)
+    {
+        qDebug() << "Error encoding video frame";
+        return false;
+    }
+    if (!got_packet)
+    { // packet is empty -> avcodec_encode_video2() needs more frames to begin decoding
+        qDebug() << "Encoding: packet is empty";
+        return true;
+    }
+
+   /** } */
+
+
+    // rescale output packet timestamp values from codec to stream timebase
+    av_packet_rescale_ts(&pkt, videoStream->codec->time_base, videoStream->time_base);
+    pkt.stream_index = videoStream->index;
+
+    // Write the compressed frame to the media file.
+    if (av_interleaved_write_frame(formatContext, &pkt) < 0)
+    {
+        qDebug() << "Error: av_interleaved_write_frame.";
+        return false;
+    }
+
+    av_free_packet(&pkt);
+
+    return true;
+}
+
+bool AVWriter::write_last_frames()
+{
+    int got_packet = 1;
+    AVPacket pkt;
+    //AVPacket pkt = { 0 };
+
+    // Set .data and .size to 0; It is needed for avcodec_encode_video2() to allocate buffer
+    pkt.data = nullptr;
+    pkt.size = 0;
+    av_init_packet(&pkt);
+
+    // Get delayed frames - empty the buffer
+    while (got_packet)
+    {
+        qDebug() << "Writing a last frame";
+        if (avcodec_encode_video2(videoStream->codec, &pkt, NULL, &got_packet) < 0)
+        {
+            qDebug() << "Error encoding video frame when writing last frames";
+            return false;
+        }
+
+        if (got_packet)
+        {
+            av_packet_rescale_ts(&pkt, videoStream->codec->time_base, videoStream->time_base);
+
+            pkt.stream_index = videoStream->index;
+
+            // Write the compressed frame to the media file.
+            if (av_interleaved_write_frame(formatContext, &pkt) < 0)
+            {
+                qDebug() << "Error: av_interleaved_write_frame() when writing last frames";
+                return false;
+            }
+            av_free_packet(&pkt);
+        }
+    }
+
+    return true;
+}
+
+bool AVWriter::write_audio_packet(AVPacket &pkt)
+{
+    pkt.pos = -1;
+    pkt.stream_index = audioStream->index;
+    if (av_interleaved_write_frame(formatContext, &pkt) < 0)
+    {
+        qDebug() << "Error: Writing audio packet";
+        return false;
+    }
+    return true;
+}
diff --git a/Sources/avwriter.h b/Sources/avwriter.h
new file mode 100644
index 0000000..7fe1a25
--- /dev/null
+++ b/Sources/avwriter.h
@@ -0,0 +1,111 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      avwriter.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef AVWRITER_H
+#define AVWRITER_H
+
+extern "C"{
+	#include <ffmpeg/libavcodec/avcodec.h>
+	#include <ffmpeg/libavformat/avformat.h>
+	#include <ffmpeg/libswscale/swscale.h>
+
+	#include <ffmpeg/libavutil/common.h>
+	#include <ffmpeg/libavutil/imgutils.h>
+	#include <ffmpeg/libavutil/mathematics.h>
+	#include <ffmpeg/libavutil/samplefmt.h>
+
+
+	#include <ffmpeg/libavutil/avassert.h>
+	#include <ffmpeg/libavutil/channel_layout.h>
+	#include <ffmpeg/libavutil/opt.h>
+	#include <ffmpeg/libavutil/timestamp.h>
+	#include <ffmpeg/libswresample/swresample.h>
+}
+
+#include "videoframe.h"
+
+class AVWriter
+{
+public:
+    AVWriter();
+    ~AVWriter();
+
+    /**
+     * Initializes contexts, opens codecs and opens the output file for writing.
+     * @param filename Output filename
+     * @param inVideoStream Input video stream
+     * @param inAudioStream Input audio stream
+     * @param inFormatName Name of the input file format
+     * @param inFileExtension Extension of the input file
+     * @return True if initialization successful
+     */
+    bool initialize_output(std::string filename, AVStream const *inVideoStream, AVStream const *inAudioStream,
+                           char const *inFormatName, std::string inFileExtension);
+
+    /**
+     * Correct closing of the output file.
+     * @return  True if successful
+     */
+    bool close_output();
+
+    /**
+     * Writes the video frame to the output video stream.
+     * @param frame Frame to be written
+     * @return True if successful
+     */
+    bool write_video_frame(VideoFrame &frame);
+
+    /**
+     * Writes the audio packet to the output audio stream.
+     * @param pkt Packet to be written
+     * @return True if successful
+     */
+    bool write_audio_packet(AVPacket &pkt);
+
+    /**
+     * Writes all frames remaining in the encoder; emptying buffers.
+     * @return True if successful
+     */
+    bool write_last_frames();
+
+private:
+    /**
+     * Adds a new stream (either audio or video) for creating an output media file.
+     * @param outputStream Output stream that is initialized by this function
+     * @param inputStream Input stream; it's values are used for outputStream initialization
+     * @return True if successful
+     */
+    bool add_stream(AVStream **outputStream, AVStream const *inputStream);
+
+private:
+    AVFormatContext *formatContext;
+    AVStream *videoStream;
+    AVStream *audioStream;
+
+    const int outputFormat = AV_PIX_FMT_YUV420P;
+};
+
+#endif // AVWRITER_H
diff --git a/Sources/colors.cpp b/Sources/colors.cpp
new file mode 100644
index 0000000..0c4be88
--- /dev/null
+++ b/Sources/colors.cpp
@@ -0,0 +1,39 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      colors.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "colors.h"
+
+const unsigned Colors::BLACK = 1;
+const unsigned Colors::GRAY = 2;
+const unsigned Colors::SILVER = 3;
+const unsigned Colors::WHITE = 4;
+const unsigned Colors::RED = 5;
+const unsigned Colors::GREEN = 6;
+const unsigned Colors::BLUE = 7;
+const unsigned Colors::YELLOW = 8;
+const unsigned Colors::CYAN = 9;
+const unsigned Colors::MAGENTA = 10;
+
diff --git a/Sources/colors.h b/Sources/colors.h
new file mode 100644
index 0000000..9be5cd7
--- /dev/null
+++ b/Sources/colors.h
@@ -0,0 +1,45 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      colors.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef COLORS_H
+#define COLORS_H
+
+class Colors
+{
+public:
+    static const unsigned BLACK;
+    static const unsigned GRAY;
+    static const unsigned SILVER;
+    static const unsigned WHITE;
+    static const unsigned RED;
+    static const unsigned GREEN;
+    static const unsigned BLUE;
+    static const unsigned YELLOW;
+    static const unsigned CYAN;
+    static const unsigned MAGENTA;
+};
+
+#endif // COLORS_H
diff --git a/Sources/ffmpegplayer.cpp b/Sources/ffmpegplayer.cpp
new file mode 100644
index 0000000..4e86c4e
--- /dev/null
+++ b/Sources/ffmpegplayer.cpp
@@ -0,0 +1,524 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      ffmpegplayer.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "ffmpegplayer.h"
+
+#include <QDebug>
+#include <cassert>
+
+#define VIDEOTRACKING_MS2DURATION 1000
+#define VIDEOTRACKING_TIME_BASE_Q AVRational{1, AV_TIME_BASE} // original AV_TIME_BASE_Q gives syntax error
+#define VIDEOTRACKING_MS_TIME_BASE_Q AVRational{1, 1000}
+
+FFmpegPlayer::FFmpegPlayer(std::string videoAddr, QProgressDialog const *progressDialog) :
+    scalingMethod(SWS_BILINEAR)
+{
+    //av_register_all();
+
+    videoStreamID = -1; // -1 -> no video stream
+    audioStreamID = -1; // -1 -> no audio stream
+    formatContext = nullptr;
+    newFrame = nullptr;
+    videoContext = nullptr;
+    videoContextOrig = nullptr;
+    firstTimestamp = 0;
+    firstTimestampSet = false;
+    firstPts = 0;
+    firstPtsSet = false;
+    //firstPtsStream = 0;
+
+    // Open video file
+    if (avformat_open_input(&formatContext, videoAddr.c_str(), NULL, NULL) != 0)
+    {
+        qDebug() << "ffmpeg: Couldn't open the file.";
+        throw OpenException();
+    }
+
+    // Retrieve stream information
+    if (avformat_find_stream_info(formatContext, NULL)<0)
+    {
+        qDebug() << "ffmpeg: No stream information found.";
+        throw OpenException();
+    }
+    av_dump_format(formatContext, 0, videoAddr.c_str(), 0);
+
+    unsigned int i;
+
+    // Find first video and first audio stream
+    for (i = 0; i < formatContext->nb_streams; i++)
+    {
+        if (formatContext->streams[i]->codec->codec_type == AVMEDIA_TYPE_VIDEO && videoStreamID < 0)
+            videoStreamID = i;
+
+        if (formatContext->streams[i]->codec->codec_type == AVMEDIA_TYPE_AUDIO && audioStreamID < 0)
+            audioStreamID = i;
+
+        if (videoStreamID >= 0 && audioStreamID >= 0)
+            break;
+    }
+
+    if (videoStreamID == -1)
+    {
+        qDebug() << "ffmpeg: Hasn't found any video stream.";
+        throw OpenException();
+    }
+
+    // Get a pointer to the codec context for the video stream
+    videoContextOrig = formatContext->streams[videoStreamID]->codec;
+    //videoContext=formatContext->streams[videoStreamID]->codec;
+
+
+    AVCodec *videoCodec = nullptr;
+
+    // Find a decoder for the video stream
+    videoCodec = avcodec_find_decoder(videoContextOrig->codec_id);
+    if (videoCodec == nullptr)
+    {
+        qDebug() << "ffmpeg: Codec not supported.";
+        throw OpenException();
+    }
+
+    // Copy context
+    // ! Original AVCodecContext cannot be used directly, therefore avcodec_copy_context
+    // ...must be copied first
+    videoContext = avcodec_alloc_context3(videoCodec); // allocate memory
+    if (videoContext == nullptr)
+    {
+        qDebug() << "ffmpeg error: Allocation.";
+        throw OpenException();
+    }
+
+    if (avcodec_copy_context(videoContext, videoContextOrig) != 0)
+    {
+        qDebug() << "ffmpeg: Couldn't copy codec context.";
+        throw OpenException();
+    }
+
+    // Open video codec
+    if (avcodec_open2(videoContext, videoCodec, NULL) < 0)
+    {
+        qDebug() << "ffmpeg: Could not open codec.";
+        throw OpenException();
+    }
+
+    // Allocate memory for a video frame that is used for reading new frames
+    newFrame = av_frame_alloc();
+    if (newFrame == nullptr)
+    {
+        qDebug() << "ffmpeg: Cannot allocate memory for newFrame";
+        throw OpenException();
+    }
+
+    // get timeBase of the video stream
+    timeBase = formatContext->streams[videoStreamID]->time_base;
+    qDebug() << "frame count: " << get_frame_count();
+    qDebug() << "keyframe every: " << videoContext->gop_size << "x frame";
+
+   //analyze_video(qApplication);
+   analyze_video(progressDialog);
+}
+
+FFmpegPlayer::~FFmpegPlayer()
+{
+
+    av_free(newFrame);
+
+    // Close the codecs
+ //   avcodec_close(enContext);
+    avcodec_close(videoContext);
+    avcodec_close(videoContextOrig);
+
+    // Close the video file
+    avformat_close_input(&formatContext);
+    qDebug() << "ffmpeg deleted";
+
+}
+
+void FFmpegPlayer::analyze_video(QProgressDialog const *progressDialog)
+{
+    AVPacket packet;
+    while (true)
+    {
+        //if (qApplication)
+        //    qApplication->processEvents(); // Keeps progress bar active
+
+        if (progressDialog->wasCanceled()) // User clicked "Cancel"
+        {
+            throw UserCanceledOpeningException();
+        }
+        qApp->processEvents(); // Keeps progress bar active
+
+        if (av_read_frame(formatContext, &packet) < 0)
+        {
+            av_free_packet(&packet);
+
+            break;
+        }
+
+        // Is this a packet from the video stream?
+        if (packet.stream_index == videoStreamID)
+        {
+
+            if (!firstPtsSet)
+            {
+                //firstPts = packet.dts;
+                firstPts = packet.pts;
+                firstPtsSet = true;
+                //firstPtsStream = packet.stream_index;
+
+                if (!seek_first_packet())
+                {
+                    qDebug() << "analyze_video(): Cannot seek the first packet 1";
+                    throw OpenException();
+                }
+                continue;
+            }
+            else
+            {
+                //static unsigned long frameID = 1;
+                //framesIdMap[frameID] = packet.pts;
+                //framesTimestampSet[packet.pts] = frameID++;
+                framesTimestampSet.insert(packet.pts);
+            }
+        }
+        // Free the packet that was allocated by av_read_frame
+        av_free_packet(&packet);
+    }
+
+    for (const auto &timestamp: framesTimestampSet)
+    {
+       framesIndexVector.push_back(timestamp);
+    }
+
+    qDebug() << "number of frames:" << framesTimestampSet.size();
+    qDebug() << "beginning:" << *(framesTimestampSet.begin());
+
+    if (!seek_first_packet())
+    {
+        qDebug() << "analyze_video(): Cannot seek the first packet 2";
+        throw OpenException();
+    }
+}
+
+
+double FFmpegPlayer::get_fps() const
+{
+//    return formatContext->bit_rate;
+//    return formatContext->streams[videoStreamID]->nb_frames * AV_TIME_BASE / static_cast<double>(formatContext->duration);
+    return formatContext->streams[videoStreamID]->nb_frames * VIDEOTRACKING_MS2DURATION / static_cast<double>(get_total_time());
+}
+
+unsigned long FFmpegPlayer::get_frame_count() const
+{
+    return framesTimestampSet.size();
+
+    //return formatContext->streams[videoStreamID]->nb_frames;
+}
+
+// in ms
+unsigned long FFmpegPlayer::get_total_time() const
+{
+    // Time of the last frame
+    return get_time_position_by_timestamp(*(framesTimestampSet.rbegin()));
+
+    //return formatContext->duration / VIDEOTRACKING_MS2DURATION;
+}
+
+unsigned int FFmpegPlayer::get_height() const
+{
+    return videoContext->height;
+}
+
+unsigned int FFmpegPlayer::get_width() const
+{
+    return videoContext->width;
+}
+
+const AVStream *FFmpegPlayer::get_video_stream()
+{
+    if (videoStreamID < 0) // No video stream detected
+        return nullptr;
+    return formatContext->streams[videoStreamID];
+}
+
+const AVStream *FFmpegPlayer::get_audio_stream()
+{
+    if (audioStreamID < 0) // No audio stream detected
+        return nullptr;
+    else
+        return formatContext->streams[audioStreamID];
+}
+
+/**
+int64_t FFmpegPlayer::get_frame_timestamp() const
+{
+    //return videoContext->frame_number;
+    return lastTimestamp;
+}
+*/
+
+unsigned long FFmpegPlayer::get_time_position_by_timestamp(int64_t timestamp) const
+{
+    return av_rescale_q(timestamp, timeBase, AVRational{1, VIDEOTRACKING_MS2DURATION});
+}
+/**
+unsigned long FFmpegPlayer::get_time_position() const
+{
+    //videoContext->ticks_per_frame;
+    return av_rescale_q(get_frame_timestamp(), timeBase, AVRational{1, VIDEOTRACKING_MS2DURATION});
+}
+*/
+
+bool FFmpegPlayer::get_current_frame(VideoFrame *frame)
+{
+    if (frame == nullptr)
+        return false;
+
+    if (!frame->set_frame(newFrame))
+        return false;
+
+    frame->set_timestamp(lastTimestamp);
+
+    //frame->set_time_position(get_time_position_by_timestamp(lastTimestamp + newFrame->pkt_duration));
+
+    //frame->set_frame_number(framesTimestampSet.find(lastTimestamp)->second);
+    frame->set_frame_number(std::distance(framesTimestampSet.begin(), framesTimestampSet.find(lastTimestamp))+1);
+
+    frame->set_time_position(get_time_position_by_timestamp(lastTimestamp));
+    //qDebug() << "duration: " << newFrame->pkt_duration;
+
+    return true;
+}
+
+bool FFmpegPlayer::get_frame_by_time(VideoFrame *resultFrame, unsigned long time)
+{
+    int64_t approximateTimestamp = av_rescale_q(time, VIDEOTRACKING_MS_TIME_BASE_Q, timeBase);
+
+    // Find first timestamp that is not lower than the approximateTimestamp
+    auto iterator = framesTimestampSet.lower_bound(approximateTimestamp);
+
+    if (iterator == framesTimestampSet.end()) // approximateTimestamp is higher than all timestmaps; use the highest timestamp
+        iterator--;
+
+    int64_t exactTimestamp = *iterator;
+
+    return get_frame_by_timestamp(resultFrame, exactTimestamp);
+}
+
+/** exactPosition - if frame with the exact timestamp does not exist, return false;
+ *  onlyKeyFrames - Seek only to keyframes - faster; */
+bool FFmpegPlayer::get_frame_by_timestamp(VideoFrame *resultFrame, int64_t timestamp)
+{
+    auto iterator = framesTimestampSet.find(timestamp);
+
+    int64_t seekTimestamp = timestamp;
+
+    while (true)
+    {   // Seek KEYFRAME at desired timestamp or timestamp lower.
+        // av_seek_frame() is not accurate. It might return frame at higher timestamp than
+        // wanted. Thus, it is necessary to seek lower (if this happens) until returned KEYFRAME is not
+        // higher than desired frame.
+
+        if (av_seek_frame(formatContext, videoStreamID, seekTimestamp, AVSEEK_FLAG_BACKWARD) < 0) // Find first previous frame; might not be a keyframe
+        //if (av_seek_frame(formatContext, videoStreamID, timestampPosition, 0) < 0)
+        {
+            qDebug() << "ERROR-get_frame_by_timestamp: seeking frame 1";
+            return false;
+        }
+
+        avcodec_flush_buffers(videoContext);
+
+        if (!read_frame(pkt))
+            return false;
+
+        if (lastTimestamp <= timestamp)
+            break; // This is what we were looking for
+
+        if (iterator == framesTimestampSet.begin())
+            return false; // This is the first frame but the desired timestamp is lower
+
+        seekTimestamp = *(--iterator);
+    }
+
+
+    //qDebug() << "I want" << timestamp << "I've got" << lastTimestamp;
+
+
+  //while (lastTimestamp != previousTimestamp)
+    while (lastTimestamp < timestamp)
+    {
+
+        if (!read_frame(pkt))
+            return false;
+    }
+
+    //qDebug() << "final" << lastTimestamp;
+
+    if (!get_current_frame(resultFrame))
+        return false;
+    return true;
+}
+
+bool FFmpegPlayer::get_frame_by_number(VideoFrame *resultFrame, unsigned long frameNumber)
+{
+    int64_t timestamp = framesIndexVector[frameNumber-1];
+
+    return get_frame_by_timestamp(resultFrame, timestamp);
+
+}
+
+bool FFmpegPlayer::get_next_frame(VideoFrame *resultFrame)
+{
+    if (!read_frame(pkt))
+        return false;
+
+    if (!get_current_frame(resultFrame))
+    {
+        qDebug() << "Cannot get current frame";
+        return false;
+    }
+
+    return true;
+}
+
+bool FFmpegPlayer::get_previous_frame(VideoFrame *resultFrame)
+{
+    int64_t currentTimestamp = lastTimestamp;
+    //qDebug() << "get_previous_frame: currentTimestamp" << currentTimestamp;
+
+    if (currentTimestamp == firstTimestamp) // There is no previous frame
+        return false;
+
+    auto iterator = framesTimestampSet.find(currentTimestamp);
+
+    int64_t previousTimestamp = *(--iterator);
+    //qDebug() << "get_previous_frame: previousTimestamp" << previousTimestamp << iterator->second;
+
+    get_frame_by_timestamp(resultFrame, previousTimestamp);
+    return true;
+}
+
+// read_frame cannot be called two times at the same time (at least until AVPacket is used)
+// AVFrame *frame needs to be allocated before (no need for buffer)
+bool FFmpegPlayer::read_frame(AVPacket &packet, bool onlyVideoPackets, bool *isAudio)
+{
+    assert(onlyVideoPackets || isAudio != nullptr); // isAudio needs to be defined if audioPackets should be searched too
+
+    int frameFinished;
+    bool lastFrames = false;
+
+    while (true)
+    {
+        if (av_read_frame(formatContext, &packet) < 0)
+        {
+            av_free_packet(&packet);
+
+            if (videoContext->codec->capabilities & CODEC_CAP_DELAY)
+            { // delayed frames at the end of the video
+                lastFrames = true;
+                qDebug() << "last packets";
+                packet.data = NULL;
+                packet.size = 0;
+                packet.stream_index = videoStreamID;
+            }
+            else
+                return false;
+        }
+
+
+
+        // Is this a packet from the video stream?
+        if (packet.stream_index == videoStreamID)
+        {
+            //qDebug() << "readFrame pts" <<newFrame->pts;
+
+            // Decode video frame
+            if (avcodec_decode_video2(videoContext, newFrame, &frameFinished, &packet) < 0)
+            {
+                av_free_packet(&packet);
+                return false;
+            }
+
+
+            // frameFinished==0 -> no frame could be decompressed
+            if (frameFinished)
+            {
+                lastTimestamp = newFrame->pkt_pts;
+                av_free_packet(&packet);
+
+                if (!firstTimestampSet)
+                {
+                    firstTimestamp = lastTimestamp;
+                    qDebug() << "First timestamp is" << firstTimestamp;
+                    firstTimestampSet = true;
+                }
+
+                if (!onlyVideoPackets)
+                    *isAudio = false;
+
+                return true;
+            }
+            else if (lastFrames)
+            {
+                qDebug() << "last frames finished";
+                return false;
+            }
+        }
+        else if(!onlyVideoPackets && packet.stream_index == audioStreamID)
+        { // Do not forget to free packet after using it
+            *isAudio = true;
+            return true;
+
+        }
+        // Free the packet that was allocated by av_read_frame
+        av_free_packet(&packet);
+    }
+
+    return false;
+}
+
+bool FFmpegPlayer::seek_first_packet()
+{
+    assert(firstPtsSet);
+    qDebug() << "stream id" << videoStreamID;
+    qDebug() << "first pts" << firstPts;
+
+    //if (av_seek_frame(formatContext, videoStreamID, timestamp, AVSEEK_FLAG_BACKWARD) < 0)
+    if (av_seek_frame(formatContext, videoStreamID, firstPts, AVSEEK_FLAG_BACKWARD) < 0)
+    {
+        qDebug() << "ERROR seek_first_packet()";
+        return false;
+    }
+
+    avcodec_flush_buffers(videoContext);
+    return true;
+}
+
+// Returns the name of input file format
+char const *FFmpegPlayer::get_format_name()
+{
+    return formatContext->iformat->name;
+}
diff --git a/Sources/ffmpegplayer.h b/Sources/ffmpegplayer.h
new file mode 100644
index 0000000..c66b793
--- /dev/null
+++ b/Sources/ffmpegplayer.h
@@ -0,0 +1,227 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      ffmpegplayer.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef FFMPEGPLAYER_H
+#define FFMPEGPLAYER_H
+
+#include <set>
+#include <string> // For video path (videoAddr)
+#include "videoframe.h"
+
+#include <QApplication>
+#include <QProgressDialog>
+
+//TODO: Are they needed in the header file or can they be moved to the source?
+#include <opencv/cv.h>
+#include <opencv/cvaux.h>
+#include <opencv/cxcore.h>
+#include <opencv/highgui.h>
+
+extern "C"{
+    #include <libavcodec/avcodec.h>
+    #include <libavformat/avformat.h>
+    #include <libswscale/swscale.h>
+
+    #include <libavutil/common.h>
+    #include <libavutil/imgutils.h>
+    #include <libavutil/mathematics.h>
+    #include <libavutil/samplefmt.h>
+
+    #include <libavutil/avassert.h>
+    #include <libavutil/channel_layout.h>
+    #include <libavutil/opt.h>
+    #include <libavutil/timestamp.h>
+    #include <libswresample/swresample.h>
+}
+
+struct OpenException : public std::exception{};
+struct UserCanceledOpeningException : public std::exception{};
+
+class FFmpegPlayer
+{
+public:
+    /**
+     * Constructor
+     * @param videoAddr Path to a video file
+     * @param progressDialog QT progress dialog for displaying information about video opening
+     */
+    FFmpegPlayer(std::string videoAddr, QProgressDialog const *progressDialog);
+
+    /**
+     * Destructor
+     */
+    ~FFmpegPlayer();
+
+    /**
+     * Returns information about frames per second.
+     * @return Frames per second
+     */
+    double get_fps() const;
+
+    /**
+     * Returns information about number of frames.
+     * @return Number of frames
+     */
+    unsigned long get_frame_count() const;
+
+    /**
+     * Returns information about video length.
+     * @return Video length in milliseconds
+     */
+    unsigned long get_total_time() const;
+
+    /**
+     * Returns information about video height.
+     * @return Video height
+     */
+    unsigned int get_height() const;
+
+    /**
+     * Returns information about video width.
+     * @return Video width
+     */
+    unsigned int get_width() const;
+
+    //int64_t get_frame_timestamp() const;
+    //int get_time_position() const; // In milliseconds
+
+    /**
+     * Returns information about the input video stream.
+     * @return Input video stream
+     */
+    AVStream const *get_video_stream();
+
+    /**
+     * Returns information about the input audio stream.
+     * @return Input audio stream
+     */
+    AVStream const *get_audio_stream();
+
+    /**
+     * Reads a frame by its time position and returns it.
+     * @param resultFrame Read frame
+     * @param time Time position
+     * @return True if successful
+     */
+    bool get_frame_by_time(VideoFrame *resultFrame, unsigned long time);
+
+    /**
+     * Reads a frame by its timestamp and returns it.
+     * @param resultFrame Read frame
+     * @param timestamp Timestamp
+     * @return True if successful
+     */
+    bool get_frame_by_timestamp(VideoFrame *resultFrame, int64_t timestamp);
+
+    /**
+     * Reads a frame by its number (index) and returns it.
+     * @param resultFrame Read frame
+     * @param frameNumber Frame number (index)
+     * @return True if successful
+     */
+    bool get_frame_by_number(VideoFrame *resultFrame, unsigned long frameNumber);
+
+    /**
+     * Reads a frame following to the current one returns it.
+     * @param resultFrame Read frame
+     * @return True if successful
+     */
+    bool get_next_frame(VideoFrame *resultFrame);
+
+    /**
+     * Reads a frame preceding to the current one returns it.
+     * @param resultFrame Read frame
+     * @return True if successful
+     */
+    bool get_previous_frame(VideoFrame *resultFrame);
+
+    // reads new frame to this.newFrame
+    /**
+     * Reads a new frame from the input video stream. The new frame is stored in resultFrame.
+     * @param packet Packet structure for storing the read packet; It is also used for returning audio packets
+     * @param onlyVideoPackets If false - audio packets are read as well as video packets. If true - only video packets are read.
+     * @param isAudio Is set to true if the function returned an audio packet in AVPacket &packet
+     * @return True if successful
+     */
+    bool read_frame(AVPacket &packet, bool onlyVideoPackets=true, bool *isAudio=nullptr);
+
+    /**
+     * Returns the current frame that has already been read.
+     * @param frame Read frame
+     * @return True if successful
+     */
+    bool get_current_frame(VideoFrame *frame);
+
+    /**
+     * Rewinds the video to its beginning by seeking its first packet.
+     * @return True if successful
+     */
+    bool seek_first_packet();
+
+    /**
+     * Returns the input file format name.
+     * @return File format name
+     */
+    const char *get_format_name();
+
+private:
+    /**
+     * Converts a given frame timestamp to a time position.
+     * @param timestamp Timestamp
+     * @return Time position
+     */
+    unsigned long get_time_position_by_timestamp(int64_t timestamp) const; // In miliseconds
+
+    /**
+     * Analyzes the opened video so that it can be seeked
+     * @param progressDialog QT progress dialog for showing an information about analyzation progress.
+     */
+    void analyze_video(QProgressDialog const *progressDialog);
+
+private:
+    const int scalingMethod;
+    int videoStreamID;
+    int audioStreamID; // -1 => no audio stream found
+
+    AVRational timeBase;
+
+    AVPacket pkt;
+    AVFormatContext *formatContext;
+    AVFrame *newFrame;
+    AVCodecContext *videoContext;
+    AVCodecContext *videoContextOrig;
+    int64_t firstTimestamp;
+    int64_t firstTimestampSet;
+
+    int64_t firstPts;
+    int64_t firstPtsSet;
+    int64_t lastTimestamp; // pkt_pts of last successfully read frame
+
+    std::vector<int64_t> framesIndexVector;
+    std::set<int64_t> framesTimestampSet;
+};
+
+#endif // FFMPEGPLAYER_H
diff --git a/Sources/helpbrowser.cpp b/Sources/helpbrowser.cpp
new file mode 100644
index 0000000..738aec6
--- /dev/null
+++ b/Sources/helpbrowser.cpp
@@ -0,0 +1,41 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      helpbrowser.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "helpbrowser.h"
+
+HelpBrowser::HelpBrowser(QHelpEngine *helpEngine, QWidget *parent):
+    QTextBrowser(parent),
+    helpEngine(helpEngine)
+{
+}
+
+QVariant HelpBrowser::loadResource(int type, const QUrl &name)
+{
+    if (name.scheme() == "qthelp")
+        return QVariant(helpEngine->fileData(name));
+    else
+        return QTextBrowser::loadResource(type, name);
+}
diff --git a/Sources/helpbrowser.h b/Sources/helpbrowser.h
new file mode 100644
index 0000000..df70e6a
--- /dev/null
+++ b/Sources/helpbrowser.h
@@ -0,0 +1,56 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      helpbrowser.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef HELPBROWSER_H
+#define HELPBROWSER_H
+
+#include <QTextBrowser>
+#include <QHelpEngine>
+#include <QWidget>
+
+class HelpBrowser : public QTextBrowser
+{
+public:
+    /**
+     * Constructor
+     * @param helpEngine Help engine with loaded help files
+     * @param parent Parent Widget
+     */
+    HelpBrowser(QHelpEngine *helpEngine, QWidget *parent = 0);
+
+    /**
+     * Loading a resource.
+     * @param type Resourse type
+     * @param name Resource name
+     * @return Found data
+     */
+    QVariant loadResource (int type, const QUrl& name);
+private:
+    QHelpEngine* helpEngine;
+
+};
+
+#endif // HELPBROWSER_H
diff --git a/Sources/imagelabel.cpp b/Sources/imagelabel.cpp
new file mode 100644
index 0000000..16bfb67
--- /dev/null
+++ b/Sources/imagelabel.cpp
@@ -0,0 +1,233 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      imagelabel.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "imagelabel.h"
+#include <QtDebug>
+#include <QPainter>
+
+#include <cassert>
+
+ImageLabel::ImageLabel(QWidget *parent) : QLabel(parent)
+{
+    //connect(this, SIGNAL(clicked()), this, SLOT(labelClicked()));
+    selectionEnabled = false;
+    isPressed = false;
+    //isSelected = false;
+    selection.angle = 0;
+}
+
+ImageLabel::~ImageLabel()
+{
+
+    qDebug() << "Img destroyed";
+}
+
+void ImageLabel::show_without_selection()
+{
+    setPixmap(QPixmap::fromImage(scaledImage));
+    show();
+}
+
+void ImageLabel::show_with_selection()
+{
+    QImage editImage = scaledImage;
+    QPainter painter(&editImage);
+
+
+    assert(scaledHeight > 0);
+    assert(scaledWidth > 0);
+
+    double widthRatio = scaledImage.width() / static_cast<double>(scaledWidth);
+    double heightRatio = scaledImage.height() / static_cast<double>(scaledHeight);
+
+
+    painter.setBrush(QColor(0,0,0,170));
+    painter.setPen(QColor(255,255,255,200));
+    painter.drawRect(selection.x * widthRatio, selection.y * heightRatio
+                     , selection.width * widthRatio, selection.height * heightRatio);
+    painter.end(); // Not needed - destructs itself
+
+    setPixmap(QPixmap::fromImage(editImage));
+    show();
+
+    return;
+}
+
+void ImageLabel::set_image(QImage const &image, int displayWidth, int displayHeight)
+{
+    imgWidth = image.width();
+    imgHeight = image.height();
+
+    scaledImage = image.scaled(displayWidth, displayHeight, Qt::KeepAspectRatio);
+
+    resize(scaledImage.width(), scaledImage.height());
+    //this->setGeometry(0, 0, scaledImage.width(), scaledImage.height());
+
+    //if (isSelected)
+    if (selectionEnabled)
+        show_with_selection();
+    else
+        show_without_selection();
+}
+
+void ImageLabel::resizeEvent(QResizeEvent *event)
+{
+    isPressed = false; // User cannot be making a selection at the time of image resizing
+
+    QLabel::resizeEvent(event);
+}
+
+
+void ImageLabel::mousePressEvent(QMouseEvent *event)
+{
+    event->accept();
+
+    QLabel::mousePressEvent(event);
+
+    if (!selectionEnabled) // Selection is disabled
+        return;
+
+//    qDebug()<<"Clicked";
+    isPressed = true;
+    posX = event->x();
+    posY = event->y();
+}
+
+void ImageLabel::mouseReleaseEvent(QMouseEvent *event)
+{
+    event->accept();
+
+    QLabel::mouseReleaseEvent(event);
+
+    if (!selectionEnabled) // Selection is disabled
+        return;
+
+//    qDebug()<<"Released";
+    isPressed = false;
+
+ /**   selection.width = event->x() - selection.x;
+    selection.height = event->y() - selection.y;
+
+    emit send_position(selection);
+    */
+}
+
+void ImageLabel::mouseMoveEvent(QMouseEvent *event)
+{
+    event->accept();
+
+    QLabel::mouseMoveEvent(event);
+
+    if (!selectionEnabled) // Selection is disabled
+        return;
+
+    if (!isPressed) // No button pressed -> no need to process this event
+        return;
+
+    int curX = event->x() < this->size().width() ? event->x() : this->size().width()-1;
+    int curY = event->y() < this->size().height() ? event->y() : this->size().height()-1;
+
+    curX = curX > 0 ? curX : 0;
+    curY = curY > 0 ? curY : 0;
+
+    scaledWidth = scaledImage.width();
+    scaledHeight = scaledImage.height();
+
+    // count selection geometry:
+    if (posX < curX)
+    {
+        selection.x = posX;
+        selection.width = curX - posX;
+    } else {
+        selection.x = curX;
+        selection.width = posX - curX;
+    }
+
+    if (posY < curY)
+    {
+        selection.y = posY;
+        selection.height = curY - posY;
+    } else {
+        selection.y = curY;
+        selection.height = posY - curY;
+    }
+
+    /**
+    if (!isSelected)
+    {
+        emit selected(true);
+        isSelected = true; // Selection is valid and can be displayed
+    }
+    */
+    show_with_selection();
+
+}
+
+Selection ImageLabel::get_selection() const
+{
+ //   assert(isSelected == true);
+    assert(selectionEnabled == true);
+
+    double widthRatio = imgWidth / static_cast<double>(scaledWidth);
+    double heightRatio = imgHeight / static_cast<double>(scaledHeight);
+
+    Selection fullSizeSelection = selection;
+    fullSizeSelection.width *= widthRatio;
+    fullSizeSelection.x *= widthRatio;
+    fullSizeSelection.height *= heightRatio;
+    fullSizeSelection.y *= heightRatio;
+
+    return fullSizeSelection;
+}
+
+void ImageLabel::set_selection_enabled(bool enabled)
+{
+    selectionEnabled = enabled;
+
+    if (!enabled)
+    {
+        isPressed = false;
+        show_without_selection();
+    }
+    else
+    {
+        scaledWidth = scaledImage.width();
+        scaledHeight = scaledImage.height();
+        selection.angle = 0;
+        selection.width = scaledWidth/2;
+        selection.height = scaledHeight/2;
+        selection.x = scaledWidth/2 - selection.width/2;
+        selection.y = scaledHeight/2 - selection.height/2;
+        show_with_selection();
+    }
+}
+/**
+void ImageLabel::hide_selection()
+{
+    isSelected = false;
+    show_without_selection();
+}
+*/
diff --git a/Sources/imagelabel.h b/Sources/imagelabel.h
new file mode 100644
index 0000000..3601c28
--- /dev/null
+++ b/Sources/imagelabel.h
@@ -0,0 +1,124 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      imagelabel.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef IMAGELABEL_H
+#define IMAGELABEL_H
+
+#include "selection.h"
+
+#include <QLabel>
+#include <QMouseEvent>
+
+class ImageLabel : public QLabel
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param parent Parent widget
+     */
+    explicit ImageLabel(QWidget *parent = 0);
+
+    /**
+     * Destructor
+     */
+    ~ImageLabel();
+
+    /**
+     * Sets new image. It ss called also when the MainWindow is resized.
+     * @param image Original image
+     * @param displayWidth Maximal allowed width (with respect to the current size of the window)
+     * @param displayHeight Maximal allowed height
+     */
+    void set_image(QImage const &image, int displayWidth, int displayHeight);
+
+    /**
+     * Returns position of the currently selected area.
+     * @return Selected area
+     */
+    Selection get_selection() const;
+
+    /**
+     * Enables or disables object (area) selection.
+     * @param enabled If true, selection is enabled. If false, selection is disabled.
+     */
+    void set_selection_enabled(bool enabled);
+
+    //void hide_selection();
+
+protected:
+    /**
+     * Updates the ImageLabel when the MainWindows is resized.
+     */
+    void resizeEvent(QResizeEvent *);
+
+    /**
+     * Handles mouse press events over the ImageLabel area.
+     * @param event
+     */
+    void mousePressEvent(QMouseEvent * event);
+
+    /**
+     * Handles mouse release events over the ImageLabel area.
+     * @param event
+     */
+    void mouseReleaseEvent(QMouseEvent * event);
+
+    /**
+     * Handles mouse move events over the ImageLabel area.
+     * @param event
+     */
+    void mouseMoveEvent(QMouseEvent * event);
+
+private:
+    /**
+     * Shows the image without highlight any selection.
+     */
+    void show_without_selection();
+
+    /**
+     * Shows the image with highlighted selection.
+     */
+    void show_with_selection();
+
+private:
+    bool selectionEnabled;
+
+    bool isPressed; // true -> mouse button pressed over the image
+    //bool isSelected; // selection exists, therefore is displayed
+    int posX; // x coordinate, where the selection starts
+    int posY; // y coordinate, where the selection starts
+    int imgWidth; // width of original (unscaled) image
+    int imgHeight; // height of original (unscaled) image
+
+    int scaledWidth; // width of image at the time of selecting
+    int scaledHeight;
+    Selection selection; // selection geometry - values with respect to scaledWidth and scaledHeight
+    QImage scaledImage;
+
+};
+
+#endif // IMAGELABEL_H
diff --git a/Sources/main.cpp b/Sources/main.cpp
new file mode 100644
index 0000000..d076672
--- /dev/null
+++ b/Sources/main.cpp
@@ -0,0 +1,38 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      main.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "mainwindow.h"
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication application(argc, argv);
+
+    MainWindow window;
+    window.show();
+
+    return application.exec();
+}
diff --git a/Sources/mainwindow.cpp b/Sources/mainwindow.cpp
new file mode 100644
index 0000000..e14671d
--- /dev/null
+++ b/Sources/mainwindow.cpp
@@ -0,0 +1,2366 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      mainwindow.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include "selection.h"
+#include "colors.h"
+#include "objectshape.h"
+
+#include <cereal/archives/json.hpp>
+#include <cereal/archives/xml.hpp>
+#include <utility> // for std::pair
+#include <fstream> // for cereal output
+
+#include <QtGui>
+#include <QDebug>
+#include <QFileDialog>
+#include <QPainter>
+#include <QProgressDialog>
+#include <QInputDialog>
+#include <QColorDialog>
+#include <QMessageBox>
+#include <QMenu>
+#include <QTranslator>
+#include <QSplitter>
+#include <QDockWidget>
+#include <helpbrowser.h>
+
+#define VIDEOTRACKING_10MS2S 100 // 1 second is 100*10 milliseconds
+#define VIDEOTRACKING_TIMER_CONSTANT 1.5
+#define VIDEOTRACKING_TIMER_CONSTANT_FAST 0.5
+#define VIDEOTRACKING_TIMER_CONSTANT_SLOW 0.2
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    applicationName("Video Anonymizer"),
+    ui(new Ui::MainWindow)
+{
+
+    settings = new QSettings("FIT", applicationName, this); // application and company name
+    qApp->setApplicationName(applicationName);
+    this->setWindowTitle(applicationName);
+
+    // TRANSLATOR - BEGINNING
+    QTranslator * translator = new QTranslator(this);
+    bool checkEnglish = false; // To find out what language should be checked in application menu
+
+    if (settings->contains("language"))
+    {   // load language
+
+        qDebug() << "Language loaded";
+
+        QString languageFile = settings->value("language").toString();
+        translator->load(languageFile);
+
+        if (languageFile.isEmpty()) // Empty string means default language (English) is set
+            checkEnglish = true;
+    }
+    else
+    {// set language according locale
+
+        qDebug() << "Language set according locale";
+
+        QString locale = QLocale::system().name();
+        if (!translator->load(QString("video_anonymizer_" + locale)))
+            checkEnglish = true; // Loading of language was not succesful, check English (default) option
+        else // English is default
+            checkEnglish = false;
+    }
+
+
+    // apply requested language
+    // must be done before setting ui (ui->setupUi) and setting any text in widgets
+    qApp->installTranslator(translator);
+    // TRANSLATOR - END
+
+    ui->setupUi(this);
+
+    // Set language menu
+    if (checkEnglish)
+        ui->actionEnglish->setChecked(true);
+    else
+        ui->actionCzech->setChecked(true);
+
+    tracker = nullptr; // Will be initialized when new video is loaded
+    timer = new QTimer(this); //Is set when play button clicked
+
+    // Should original video be showed?
+    if (settings->contains("showOriginalVideo"))
+    { // Is showOriginalVideo variable set in settings?
+
+        showOriginalVideo = settings->value("showOriginalVideo").toBool();
+    }
+    else
+    {   // Not set => set default value
+        showOriginalVideo = true;
+        settings->setValue("showOriginalVideo", showOriginalVideo);
+    }
+    ui->originalVideoFrame->setVisible(showOriginalVideo);
+
+    // Display time / frame numbers
+    if (settings->contains("showTime"))
+    { // Is displayTime variable set in settings?
+        qDebug() << "Time/Frame num loaded";
+
+        displayTime = settings->value("showTime").toBool();
+    }
+    else
+    {
+        displayTime = true;
+        settings->setValue("showTime", displayTime); // Not set => set default
+    }
+
+    initial_application_settings();
+
+    computingInfoText = tr("Computing positions of tracked object");
+    computingInfoTitle = tr("Computing");
+
+    //progressDialog = new QProgressDialog(tr("Tracking"), tr("Cancel"), 0, 0, this);
+    //progressDialog->setModal(true);
+
+    // Setup help data:
+    //helpEngine = new QHelpEngine("help/help_cs.qhc", this);
+
+    QString helpDir(QCoreApplication::applicationDirPath() +  "/" + tr("help_en.qhc"));
+    qDebug() <<  "help:" << helpDir;
+    helpEngine = new QHelpEngine(helpDir, this);
+    if (!helpEngine->setupData())
+    {
+        qDebug() << "Help not loaded successfully";
+        qDebug() << helpEngine->error();
+    }
+    else
+        qDebug() << "Help loaded";
+
+    connect_signals(); // Connects GUI elements with slots
+}
+
+
+MainWindow::~MainWindow()
+{
+    timer->stop(); // "timer" is deleted automatically; stopping is enough
+
+    //delete tracker; // is smart pointer => will be deleted automatically
+    delete ui;
+
+    qDebug() << "Destruct: MainWindow destroyed";
+}
+
+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    if (!ask_save_project())
+        event->ignore();
+    else
+        event->accept();
+}
+
+/** Using reload_video_label() instead
+void MainWindow::resizeEvent(QResizeEvent *)
+{
+    playerWidget->setGeometry(0, 0, ui->videoWidget->width(), ui->videoWidget->height());
+    ui->videoLabel->setGeometry(0, 0, ui->videoFrame->width(), ui->videoFrame->height());
+    timeLabel->setGeometry(0, 0, ui->timeWidget->width(), ui->timeWidget->height());
+}
+*/
+
+void MainWindow::reload_video_label()
+{
+    // make size of originalVideoFrame fixed and videoFrame will expand
+    ui->originalVideoFrame->setFixedWidth(ui->videosLayout->geometry().width() / 2.5);
+
+    if (tracker)
+    {
+        ui->videoLabel->set_image(frame, ui->videoFrame->width(), ui->videoFrame->height());
+
+        if (showOriginalVideo)
+            ui->originalVideoLabel->set_image(originalFrame, ui->originalVideoFrame->width(), ui->originalVideoFrame->height());
+    }
+
+}
+
+void MainWindow::pause()
+{
+    isPlaying = false;
+    ui->playButton->setText(tr("Play"));
+    timer->stop();
+
+}
+
+/* Play / Pause */
+void MainWindow::play()
+{
+
+
+    if (isPlaying)
+        pause();
+    else
+    {
+        if (endOfVideo) // End of video => Start from beginning
+            show_first_frame();
+
+        isPlaying = true;
+
+        ui->playButton->setText(tr("Pause"));
+
+
+        if (!tracker)
+        {
+            qDebug() << "WARNING: play() called with no video loaded";
+            return;
+        }
+
+        timer->start(); // Displays new frames in given interval.
+      }
+}
+
+/* Stop playing, return to first frame and display it */
+void MainWindow::stop()
+{
+    isPlaying = false;
+
+    timer->stop();
+
+    ui->playButton->setText(tr("Play"));
+    ui->stepBackButton->setEnabled(true);
+    ui->positionSlider->setEnabled(true);
+    set_application_menu();
+
+    show_first_frame();
+}
+
+/* Select a file and open it */
+void MainWindow::open_video()
+{
+    if (tracker)
+    { // Project exists, ask to save/discard
+        if (!ask_save_project())
+            return; // User canceled the dialog, do not open a new video
+
+        initial_application_settings(); // Restores default application settings
+
+    }
+
+    if (!open_video_dialog())
+        return; // Cancel button pressed
+
+    QProgressDialog progressDialog(tr("Opening video"), tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(tr("Opening"));
+    progressDialog.setModal(true);
+    progressDialog.show();
+
+    try
+    {
+        tracker = std::unique_ptr<VideoTracker>(new VideoTracker(inputFileName, &progressDialog));
+
+    } catch (OpenException) {
+
+        QMessageBox *alert = new QMessageBox(this);
+        alert->setWindowTitle(tr("Opening video"));
+        alert->setText(tr("This video file cannot be opened."));
+        alert->exec();
+
+        return;
+
+    } catch (UserCanceledOpeningException) {
+
+        QMessageBox *alert = new QMessageBox(this);
+        alert->setWindowTitle(tr("Opening video"));
+        alert->setText(tr("Video opening was canceled."));
+        alert->exec();
+
+        return;
+    }
+    //progressDialog->reset();
+    open_video_successful();
+}
+
+bool MainWindow::open_video_dialog()
+{
+    QFileDialog fileDialog(this);
+    fileDialog.setWindowTitle(tr("Open Video"));
+
+    if (settings->contains("lastPath"))
+    { // begin with the directory where the last video was opened
+        QString lastPath = settings->value("lastPath").toString();
+        fileDialog.setDirectory(lastPath);
+    }
+
+    QStringList nameFilters;
+
+    // List of abbreviations considered to belong to video files
+    nameFilters << tr("Video files") + " (*.3g2 *.3gp *.asf *.avi *.flv *.m2v *.m4p *.m4v *.mkv *.mov *.mp2 *.mp4 "
+                   "*.mpe *.mpeg *.mpg *.mpv *.ogg *.ogv *.qt *.rm *.rmvb *.vob *.webm *.wmv *.yuv)";
+    nameFilters << tr("All files") + " (*)";
+
+    fileDialog.setNameFilterDetailsVisible(false);
+    //fileDialog.setNameFilterDetailsVisible(true); //there is too many abbreviations to show
+    fileDialog.setNameFilters(nameFilters);
+
+    fileDialog.setFileMode(QFileDialog::ExistingFile);
+    fileDialog.setViewMode(QFileDialog::Detail);
+
+    if (fileDialog.exec() && !fileDialog.selectedFiles().isEmpty())
+    {
+        // save directory path for next opening:
+
+        inputFileName = fileDialog.selectedFiles().takeFirst().toStdString();
+
+        QString directoryPath = fileDialog.directory().absolutePath();
+
+        settings->setValue("lastPath", directoryPath);
+
+        return true;
+    }
+    else
+        return false; // Cancel button pressed
+}
+
+void MainWindow::open_video_successful()
+{
+    qDebug() << "Video correctly loaded";
+    show_appearance_tab();
+
+    endOfVideo = false;
+
+    timerInterval = 1000 / (tracker->get_fps());
+    timer->setInterval(timerInterval);
+
+    ui->timeLabel->set_total_time(tracker->get_total_time());
+    ui->timeLabel->set_frame_count(tracker->get_frame_count());
+
+    if (displayTime)
+        ui->timeLabel->display_time(0); // First frame is at time 0
+    else
+        ui->timeLabel->display_frame_num(1); // First frame is at number 1
+
+    ui->positionSlider->setMinimum(1);
+
+    //ui->positionSlider->setMaximum(tracker->get_total_time()/VIDEOTRACKING_10MS2S); // value is in 0.1s
+    ui->positionSlider->setMaximum(tracker->get_frame_count()); // value is in 0.1s
+
+    // Disable slider steps. Jump straight to pressed position instead (signal pressed_position);
+    ui->positionSlider->setSingleStep(0);
+    ui->positionSlider->setPageStep(0);
+
+    ui->positionSlider->setEnabled(true);
+    ui->playerControlsWidget->setEnabled(true);
+
+    //ui->createOutputButton->setEnabled(true);
+    ui->actionCreateOutput->setEnabled(true);
+
+    ui->objectsControlWidget->setEnabled(true);
+
+    ui->originalVideoTextLabel->setVisible(true);
+
+    set_application_menu();
+    show_next_frame(); // Displays first frame
+}
+
+void MainWindow::end_of_video()
+{
+    qDebug() << "End of video.";
+    //tracker->set_frame_position(0);
+    //endOfVideo = true;
+    isPlaying = false;
+
+    ui->playButton->setText(tr("Play"));
+    ui->stepBackButton->setEnabled(true);
+    ui->positionSlider->setEnabled(true);
+
+    timer->stop();
+
+    set_application_menu();
+}
+
+void MainWindow::step_back()
+{
+    pause();
+    show_previous_frame();
+}
+
+void MainWindow::step_forward()
+{
+    pause();
+    show_next_frame();
+}
+
+void MainWindow::show_frame()
+{
+    if (tracker->get_frame_number() == tracker->get_frame_count())
+        endOfVideo = true;
+    else
+        endOfVideo = false;
+
+    //ui->positionSlider->setValue(tracker->get_time_position()/VIDEOTRACKING_10MS2S);
+    ui->positionSlider->setValue(tracker->get_frame_number());
+
+    if (displayTime)
+        ui->timeLabel->display_time(tracker->get_time_position());
+    else
+        ui->timeLabel->display_frame_num(tracker->get_frame_number());
+
+    //qDebug() << "frame number" << tracker->get_frame_number();
+
+    ui->videoLabel->set_image(frame, ui->videoFrame->width(), ui->videoFrame->height());
+
+    if (showOriginalVideo)
+        ui->originalVideoLabel->set_image(originalFrame, ui->originalVideoFrame->width(), ui->originalVideoFrame->height());
+
+    if (tracker->get_objects_count())
+        set_trajectory_tab(ui->objectsBox->currentData().toUInt(), false, false);
+
+    //qDebug()<< "slider position: " << ui->positionSlider->value();
+}
+
+void MainWindow::show_next_frame()
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_next_frame(frame, originalFrame, showOriginalVideo, &progressDialog))
+        {
+            qDebug() << "No next frame to show";
+            end_of_video(); // Frame was not read successfully -> end of video
+        }
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        return;
+    }
+}
+
+void MainWindow::show_previous_frame()
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_previous_frame(frame, originalFrame, showOriginalVideo, &progressDialog))
+            qDebug() << "No previous frame to show";
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        return;
+    }
+}
+
+void MainWindow::show_frame_by_time(int position)
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_frame_by_time(frame, originalFrame, showOriginalVideo,
+                                        position*VIDEOTRACKING_10MS2S, &progressDialog))
+        {
+            qDebug() << "WARNING: Cannot read frame at given time position";
+            end_of_video();
+        }
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        //progressDialog->reset();
+        return;
+    }
+}
+
+void MainWindow::show_frame_by_timestamp(int64_t timestamp)
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_frame_by_timestamp(frame, originalFrame, showOriginalVideo, timestamp, &progressDialog))
+        {
+            qDebug() << "ERROR: show_frame_by_timestamp() - cannot read frame";
+            end_of_video();
+        }
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        //progressDialog->reset();
+        return;
+    }
+}
+
+void MainWindow::show_frame_by_number(unsigned long position)
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_frame_by_number(frame, originalFrame, showOriginalVideo, position, &progressDialog))
+        {
+            qDebug() << "WARNING: Cannot read frame at given number position";
+            end_of_video();
+        }
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        //progressDialog->reset();
+        return;
+    }
+}
+
+void MainWindow::show_first_frame()
+{
+    // Save timestamp to be restored if operation is aborted
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    try
+    {
+        if (!tracker->get_first_frame(frame, originalFrame, showOriginalVideo, &progressDialog))
+        {
+            qDebug() << "WARNING: Cannot get first frame";
+            end_of_video();
+        }
+        else
+            show_frame();
+    } catch (UserCanceledException)
+    {
+        progressDialog.cancel();
+        show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+        //progressDialog->reset();
+        return;
+    }
+
+}
+
+void MainWindow::faster()
+{
+    timerSpeed++;
+    speed_general();
+}
+
+void MainWindow::slower()
+{
+    if (timerSpeed <= -4)
+        return; // Cannot make it slower
+
+    timerSpeed--;
+    speed_general();
+}
+
+void MainWindow::original_speed()
+{
+    timerSpeed = 0;
+    speed_general();
+}
+
+void MainWindow::speed_general()
+{
+    double speed = 1;
+
+    if (timerSpeed > 0)
+        speed += timerSpeed*VIDEOTRACKING_TIMER_CONSTANT_FAST;
+    else if (timerSpeed < 0)
+        speed += timerSpeed*VIDEOTRACKING_TIMER_CONSTANT_SLOW;
+
+    timer->setInterval(timerInterval / speed);
+    ui->speedLabel->setText(tr("Speed:") + " " + QString::number(speed, 'f', 2) + "x");
+}
+
+void MainWindow::create_output()
+{
+    pause();
+
+    // Save timestamp to restore it after the operation is complete
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+
+    if (!ask_save_appearance_changes())
+        return;
+
+    std::string input = inputFileName;
+    auto extensionPosition = input.find_last_of('.');
+
+    std::string defaultFileName;
+    if (extensionPosition != std::string::npos)
+    { // extension is present in the filename
+        defaultFileName = input.substr(0, extensionPosition) + "_output";
+        defaultFileName += input.substr(extensionPosition);
+    }
+    else
+        defaultFileName = input + "_output";
+
+    QString filename = QFileDialog::getSaveFileName(this, tr("Select output file"),
+                                                    QString::fromStdString(defaultFileName));
+    if (filename.isEmpty())
+        return;
+
+   // qApp->processEvents();
+
+    qDebug() << "Creating output started";
+    QProgressDialog fileProgressDialog(tr("Creating output file..."), tr("Cancel"), 0, tracker->get_total_time(), this);
+    fileProgressDialog.setWindowTitle(tr("Creating Output"));
+    fileProgressDialog.setWindowModality(Qt::WindowModal);
+    //fileProgressDialog.setWindowFlags(Qt::Window | Qt::);
+    fileProgressDialog.setAutoReset(false);
+    fileProgressDialog.setMinimumDuration(0); // Always show the dialog; Otherwise it would be shower only if process would take at least certain time
+
+    QProgressDialog trackingProgressDialog(tr("Computing trajectories of all tracked objects"), tr("Cancel"), 0, 0, this);
+    fileProgressDialog.setWindowTitle(computingInfoTitle);
+    trackingProgressDialog.setModal(true);
+    //trackingProgressDialog.show();
+    QMessageBox *alert = new QMessageBox(this);
+    alert->setWindowTitle(tr("Creating Output"));
+
+    std::string inFileExtension = "";
+    auto inExtensionPosition  = inputFileName.find_last_of('.');
+    if (inExtensionPosition != std::string::npos)
+         inFileExtension = inputFileName.substr(inExtensionPosition);
+
+    try
+    {
+        tracker->create_output(filename.toStdString(), fileProgressDialog, &trackingProgressDialog, inFileExtension);
+        alert->setText(tr("Output successfully created"));
+    } catch (OutputException) {
+        qDebug() << "ERROR: Output creating not successful";
+        alert->setText(tr("Error occured when creating the output file. Output was not created."));
+    } catch (UserCanceledException) {
+        qDebug() << "User canceled output creation";
+        alert->setText(tr("Creating output file was canceled. Output was not created."));
+    }
+
+    fileProgressDialog.cancel();
+
+    alert->exec();
+
+    show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+}
+
+void MainWindow::slider_pressed()
+{
+    timer->stop();
+}
+
+void MainWindow::slider_released()
+{
+    //show_frame_by_number(ui->positionSlider->value());
+
+    if (isPlaying)
+    {
+        timer->start();
+    }
+}
+
+void MainWindow::set_form_values()
+{
+    colorsMap[Colors::BLACK] = std::make_pair(tr("Black").toStdString(), ObjectColor(0, 0, 0));
+    colorsMap[Colors::GRAY] = std::make_pair(tr("Gray").toStdString(), ObjectColor(128, 128, 128));
+    colorsMap[Colors::SILVER] = std::make_pair(tr("Silver").toStdString(), ObjectColor(192, 192, 192));
+    colorsMap[Colors::WHITE] = std::make_pair(tr("White").toStdString(), ObjectColor(255, 255, 255));
+    colorsMap[Colors::RED] = std::make_pair(tr("Red").toStdString(), ObjectColor(255, 0, 0));
+    colorsMap[Colors::GREEN] = std::make_pair(tr("Green").toStdString(), ObjectColor(0, 255, 0));
+    colorsMap[Colors::BLUE] = std::make_pair(tr("Blue").toStdString(), ObjectColor(0, 0, 255));
+    colorsMap[Colors::YELLOW] = std::make_pair(tr("Yellow").toStdString(), ObjectColor(255, 255, 0));
+    colorsMap[Colors::CYAN] = std::make_pair(tr("Cyan").toStdString(), ObjectColor(0, 255, 255));
+    colorsMap[Colors::MAGENTA] = std::make_pair(tr("Magenta").toStdString(), ObjectColor(255, 0, 255));
+
+    shapesMap.clear();
+    shapesMap[ObjectShape::RECTANGLE] = tr("Rectangle");
+    shapesMap[ObjectShape::ELLIPSE] = tr("Ellipse");
+}
+
+void MainWindow::show_anchors_menu(QListWidgetItem *item)
+{
+    editingAnchorItem = static_cast<AnchorItem *>(ui->anchorsWidget->itemWidget(item));
+    ItemType type = editingAnchorItem->get_type();
+
+    QAction *showFrame = nullptr;
+    QAction *changePosition = nullptr;
+    QAction *setEndFrame = nullptr;
+    QAction *setVideoEnd = nullptr;
+    QAction *deleteItem = nullptr;
+
+    QMenu *menu = new QMenu(tr("Edit item"), this);
+
+    if (editingAnchorItem->is_set())
+    {
+        showFrame = menu->addAction(tr("Show frame"));
+    }
+
+    if (type == ItemType::CHANGE || type == ItemType::BEGINNING)
+    {
+        changePosition = menu->addAction(tr("Change position"));
+        changePosition->setToolTip(tr("Change the initial position of this object"));
+
+        if (type == ItemType::CHANGE)
+        {
+            deleteItem = menu->addAction(tr("Delete item"));
+            deleteItem->setToolTip(tr("Delete this item"));
+        }
+    }
+    else if (type == ItemType::END)
+    {
+        if (editingAnchorItem->is_set())
+        {
+            setEndFrame = menu->addAction(tr("Change last frame of tracking"));
+            setEndFrame->setToolTip(tr("Change the frame where tracking for this object shall stop"));
+
+            setVideoEnd = menu->addAction(tr("Set tracking till the end"));
+            setVideoEnd->setToolTip(tr("Set tracking till the end of the video for this object"));
+        }
+        else // Show different menu label for "setEndFrame", but action is the same
+        {
+            setEndFrame = menu->addAction(tr("Set last frame of tracking"));
+            setEndFrame->setToolTip(tr("Set a frame where tracking for this object shall stop"));
+        }
+    }
+
+    editingAnchorItem->set_highlight(true); // Keeps the item highlighted even with context menu over it
+    //menu->exec(editingAnchorItem->mapToGlobal(QPoint(0,0))); // Show at widget position
+
+    QAction *selectedOption = menu->exec(QCursor::pos()); // Show at cursor position
+    editingAnchorItem->set_highlight(false);
+
+    if (!selectedOption)
+        return; // No option was selected
+
+    pause(); // Pause video playing (in case it was playing)
+
+    if (selectedOption == showFrame)
+    {
+        qDebug() << "Show frame";
+        show_frame_by_timestamp(editingAnchorItem->get_timestamp());
+    }
+    else if (selectedOption == changePosition)
+    {
+        qDebug() << "Change position";
+
+        editingAnchorItem->set_highlight(true);
+
+        // Goes to the event frame so that user does not need to look for it
+        show_frame_by_timestamp(editingAnchorItem->get_timestamp());
+
+        set_selection(SelectionState::CHANGE_POSITION);
+    }
+    else if (selectedOption == setEndFrame)
+    {
+        set_end_frame();
+    }
+    else if (selectedOption == setVideoEnd)
+    {
+        set_video_end();
+    }
+
+    else if (selectedOption == deleteItem)
+    {
+        qDebug() << "Delete item";
+
+        // Ask if they really want to delete this item
+        QMessageBox *msgBox = new QMessageBox(this);
+        msgBox->setWindowTitle(tr("Delete trajectory item"));
+        msgBox->setText(tr("Do you really want to delete this item?"));
+        msgBox->setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        msgBox->setButtonText(QMessageBox::Yes, tr("Yes"));
+        msgBox->setButtonText(QMessageBox::No, tr("No"));
+        msgBox->setDefaultButton(QMessageBox::Yes);
+
+        if (msgBox->exec() == QMessageBox::Yes)
+        { // Deletion confirmed by user
+            unsigned int objectID = ui->objectsBox->currentData().toUInt();
+
+            tracker->delete_object_trajectory_section(objectID, editingAnchorItem->get_timestamp());
+            set_anchors_tab(objectID);
+        }
+
+        projectChanged = true;
+    }
+    else
+    {
+        qDebug() << "ERROR: Action from trajectory menu was not recognized";
+    }
+}
+
+void MainWindow::set_change_beginning()
+{
+    qDebug() << "Change Beginning position";
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+
+    QListWidgetItem *beginItem = ui->anchorsWidget->item(0); // The Beginning item
+    editingAnchorItem = static_cast<AnchorItem *>(ui->anchorsWidget->itemWidget(beginItem));
+
+    editingAnchorItem->set_highlight(true);
+
+    // Goes to the event frame so that user does not need to look for it
+    show_frame_by_timestamp(editingAnchorItem->get_timestamp());
+
+    set_selection(SelectionState::CHANGE_POSITION);
+}
+
+void MainWindow::set_end_frame()
+{
+    qDebug() << "Set end frame";
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+    //int width = ui->anchorsWidget->size().width()-1;
+    //qDebug() << width;
+
+    QListWidgetItem *endItem = ui->anchorsWidget->item(ui->anchorsWidget->count()-1); // The End item
+
+    editingAnchorItem = static_cast<AnchorItem *>(ui->anchorsWidget->itemWidget(endItem));
+
+    editingAnchorItem->set_highlight(true);
+
+    if (editingAnchorItem->is_set())
+        show_frame_by_timestamp(editingAnchorItem->get_timestamp());
+
+    set_selection(SelectionState::SET_END_FRAME, false);
+}
+
+void MainWindow::set_video_end()
+{
+    qDebug() << "Set video end";
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+
+    unsigned int objectID = ui->objectsBox->currentData().toUInt();
+
+    tracker->change_object_end_frame(objectID, false);
+
+    projectChanged = true;
+}
+
+void MainWindow::set_selection(SelectionState state, bool enable_selecting)
+{
+    QString text;
+    switch (state)
+    {
+    case SelectionState::NEW_OBJECT:
+        text = tr("Select an area for tracking");
+        break;
+
+    case SelectionState::CHANGE_POSITION:
+        text = tr("Select a new position");
+        break;
+
+    case SelectionState::SET_END_FRAME:
+        text = tr("Select a frame where you want the object to end");
+        break;
+
+    case SelectionState::NEW_SECTION:
+        text = tr("Select a new position for this object");
+        break;
+
+    default:
+        qDebug() << "ERROR: SelectionState not recognized";
+        return;
+    }
+
+    selectionState = state;
+    ui->selectionLabel->setText(text);
+    ui->objectsControlWidget->setEnabled(false);
+    ui->newObjectButton->setEnabled(false);
+
+    //ui->openVideoButton->setEnabled(false);
+    ui->actionOpenVideo->setEnabled(false);
+    ui->actionLoadProject->setEnabled(false);
+    ui->actionSaveProject->setEnabled(false);
+
+    //ui->createOutputButton->setEnabled(false);
+    ui->actionCreateOutput->setEnabled(false);
+
+    ui->selectionWidget->setVisible(true);
+
+    if (enable_selecting)
+        ui->videoLabel->set_selection_enabled(true); // Enables selection of area to be tracked
+
+    set_application_menu();
+}
+
+// When an object is selected, display its settings
+void MainWindow::set_object_settings()
+{
+    if (!tracker || tracker->get_objects_count() == 0) // No tracking object is added
+        return;
+    else if (!ask_save_appearance_changes())
+        return;
+
+    unsigned int id = ui->objectsBox->currentData().toUInt();
+    set_appearance_tab(id);
+    set_anchors_tab(id);
+}
+
+void MainWindow::set_appearance_tab(unsigned int id)
+{
+    originalObjectAppearance = tracker->get_object_appearance(id);
+    alteredObjectAppearance = originalObjectAppearance;
+
+    settingObjectSettings = true; // Disables slots for appearance change (change_color(), ...)
+
+    ui->shapeBox->setCurrentIndex(ui->shapeBox->findData(originalObjectAppearance.shape));
+    //qDebug() << "defocus:" << originalObjectAppearance.defocus;
+    ui->defocusButton->setChecked(originalObjectAppearance.defocus);
+    ui->colorButton->setChecked(!originalObjectAppearance.defocus);
+    ui->defocusSizeBox->setValue(originalObjectAppearance.defocusSize);
+    ui->drawInsideBox->setChecked(originalObjectAppearance.drawInside);
+    ui->drawBorderBox->setChecked(originalObjectAppearance.drawBorder);
+    ui->colorBox->setCurrentIndex(ui->colorBox->findData(originalObjectAppearance.colorID));
+    ui->borderColorBox->setCurrentIndex(ui->borderColorBox->findData(originalObjectAppearance.borderColorID));
+    ui->borderThicknessBox->setValue(originalObjectAppearance.borderThickness);
+
+    ui->defocusWidget->setEnabled(originalObjectAppearance.defocus);
+    ui->colorWidget->setEnabled(!originalObjectAppearance.defocus);
+
+    settingObjectSettings = false;
+}
+
+/* if clear==true, trajectory is set from scratch */
+void MainWindow::set_trajectory_tab(unsigned int id, bool clear, bool showProgressBar)
+{
+    if (clear)
+        ui->trajectoryWidget->clear(); // Clears to add all items again to empty list
+
+    QListWidgetItem *listItem = nullptr;
+    TrajectoryItem *item = nullptr;
+
+    auto trajectory = tracker->get_object_trajectory(id);
+
+    auto iterator = trajectory.begin();
+    if (ui->trajectoryWidget->count() > 0)
+    { // the list is not empty, find the last one and start adding from the following one
+
+        // Find last item and its timestamp:
+        QListWidgetItem *lastItem = ui->trajectoryWidget->item(ui->trajectoryWidget->count()-1); // The Last item
+        TrajectoryItem *lastTrajectoryItem = static_cast<TrajectoryItem *>(ui->trajectoryWidget->itemWidget(lastItem));
+        int64_t lastTimestamp = lastTrajectoryItem->get_timestamp();
+
+        iterator = trajectory.find(lastTimestamp);
+
+        if (iterator == trajectory.end())
+        { // This should never occur; It is here just for a safety reason.
+            iterator = trajectory.begin();
+            ui->trajectoryWidget->clear();
+        }
+        else
+        {
+            iterator++; // Start adding from the next one
+        }
+    }
+
+    QProgressDialog progressDialog(tr("Setting Trajectory tab"), tr("Cancel"), 0, 0, this);
+    if (showProgressBar && iterator != trajectory.end())
+    { // This operation might take a while -> show a progress dialog
+        progressDialog.setWindowTitle(tr("Trajectory tab"));
+        progressDialog.setModal(true);
+        progressDialog.show();
+    }
+    while (iterator != trajectory.end())
+    {
+        TrajectoryEntry entry = iterator->second;
+        listItem = new QListWidgetItem();
+        item = new TrajectoryItem(iterator->first, entry.timePosition, tracker->get_total_time(),
+                                  entry.frameNumber, tracker->get_frame_count(), entry.position,
+                                  this, displayTime);
+        ui->trajectoryWidget->addItem(listItem);
+        ui->trajectoryWidget->setItemWidget(listItem, item); // Takes ownership of listItem => frees automatically
+        listItem->setSizeHint(QSize(listItem->sizeHint().width(), 50));
+
+        if (progressDialog.wasCanceled()) // User cancelled the progress dialog
+            return;
+
+        qApp->processEvents(); // Keeps progress bar active
+
+        iterator++;
+    }
+    progressDialog.cancel();
+
+}
+
+void MainWindow::trajectory_show_frame(QListWidgetItem *item)
+{
+
+    TrajectoryItem *selectedItem = static_cast<TrajectoryItem *>(ui->trajectoryWidget->itemWidget(item));
+    show_frame_by_timestamp(selectedItem->get_timestamp());
+}
+
+void MainWindow::set_anchors_tab(unsigned int id)
+{
+    assert(tracker != nullptr);
+
+
+    ui->anchorsWidget->clear(); // Clears to add all items again to empty list
+
+    QListWidgetItem *listItem = nullptr;
+    AnchorItem *item = nullptr;
+
+    ItemType type = ItemType::BEGINNING;
+    auto trajectorySections = tracker->get_object_trajectory_sections(id);
+    for (auto &section: trajectorySections)
+    {
+        listItem = new QListWidgetItem();
+        item = new AnchorItem(type, section.first, section.second.initialTimePosition, tracker->get_total_time(),
+                                  section.second.initialFrameNumber, tracker->get_frame_count(), this, true, displayTime);
+        ui->anchorsWidget->addItem(listItem);
+        ui->anchorsWidget->setItemWidget(listItem, item); // Takes ownership of listItem => frees automatically
+        type = ItemType::CHANGE;
+    }
+
+    int64_t endTimestamp;
+    unsigned long endTimePosition;
+    unsigned long endFrameNumber;
+
+    isEndTimestampSet = tracker->get_object_end(id, endTimestamp, endTimePosition, endFrameNumber);
+    listItem = new QListWidgetItem();
+    item = new AnchorItem(ItemType::END, endTimestamp, endTimePosition, tracker->get_total_time(),
+                              endFrameNumber, tracker->get_frame_count(), this, isEndTimestampSet, displayTime);
+    ui->anchorsWidget->addItem(listItem);
+    ui->anchorsWidget->setItemWidget(listItem, item);
+
+    set_trajectory_tab(id, true, true);
+
+    set_application_menu(); // Because of isEndTimestampSet that might be changed
+}
+
+void MainWindow::add_trajectory_change()
+{
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+    set_selection(SelectionState::NEW_SECTION);
+}
+
+void MainWindow::change_shape()
+{
+    if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Shape changed";
+    alteredObjectAppearance.shape = ui->shapeBox->currentData().toUInt();
+
+    change_appearance();
+}
+
+void MainWindow::change_defocus()
+{
+    if (settingObjectSettings)
+        return;
+
+    alteredObjectAppearance.defocus = ui->defocusButton->isChecked();
+
+    ui->defocusWidget->setEnabled(alteredObjectAppearance.defocus);
+    ui->colorWidget->setEnabled(!alteredObjectAppearance.defocus);
+
+    change_appearance();
+}
+
+void MainWindow::change_defocus_size()
+{
+    if (settingObjectSettings)
+        return;
+
+    alteredObjectAppearance.defocusSize = ui->defocusSizeBox->value();
+
+    change_appearance();
+}
+
+void MainWindow::change_color()
+{
+    if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Change color";
+    unsigned int newColorID = ui->colorBox->currentData().toUInt();
+    if (newColorID == 0)
+        custom_color();
+    else
+    {
+        alteredObjectAppearance.colorID = newColorID;
+
+        alteredObjectAppearance.color = colorsMap[newColorID].second;
+
+        change_appearance();
+    }
+}
+
+void MainWindow::change_border_color()
+{
+    if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Change border color";
+    unsigned int newColorID = ui->borderColorBox->currentData().toUInt();
+    if (newColorID == 0)
+        custom_border_color();
+    else
+    {
+        alteredObjectAppearance.borderColorID = newColorID;
+
+        alteredObjectAppearance.borderColor = colorsMap[newColorID].second;
+
+        change_appearance();
+    }
+}
+
+void MainWindow::change_border_thickness()
+{
+    if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Border thickness changed";
+    alteredObjectAppearance.borderThickness = ui->borderThicknessBox->value();
+
+    change_appearance();
+}
+
+void MainWindow::change_draw_inside()
+{
+     if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Draw inside changed";
+    alteredObjectAppearance.drawInside = ui->drawInsideBox->isChecked();
+
+    change_appearance();
+}
+
+void MainWindow::change_draw_border()
+{
+     if (settingObjectSettings)
+        return;
+
+    //qDebug() << "Draw border changed";
+    alteredObjectAppearance.drawBorder = ui->drawBorderBox->isChecked();
+
+    change_appearance();
+}
+
+void MainWindow::change_appearance()
+{
+
+    //qDebug() << "Change appearance";
+    if (!appearanceChanged)
+    {
+        ui->appearanceButtonsWidget->setVisible(true);
+        appearanceChanged = true;
+    }
+
+    tracker->change_object_appearance(ui->objectsBox->currentData().toUInt(), alteredObjectAppearance);
+
+    if (!tracker->get_current_frame(frame, originalFrame, showOriginalVideo))
+        qDebug() << "ERROR: change_appearance(): Cannot show current frame";
+    else
+        show_frame();
+}
+
+bool MainWindow::ask_save_appearance_changes()
+{
+    if (!appearanceChanged) // No changes to appearance made, everything is all right
+        return true;
+
+    QMessageBox *msgBox = new QMessageBox(this);
+    msgBox->setWindowTitle(tr("Appearance changes"));
+    msgBox->setText(tr("Changes to appearance of object") + " \"" + ui->objectsBox->currentText() +
+                    "\" "+ tr("were made. Do you wish to save your changes?"));
+    msgBox->setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
+    msgBox->setButtonText(QMessageBox::Yes, tr("Yes"));
+    msgBox->setButtonText(QMessageBox::No, tr("No"));
+    msgBox->setButtonText(QMessageBox::Cancel, tr("Cancel"));
+    msgBox->setDefaultButton(QMessageBox::Yes);
+
+    int state = msgBox->exec();
+
+    if (state == QMessageBox::Yes)
+    {
+        confirm_appearance_changes();
+        return true;
+    }
+    else if (state == QMessageBox::No)
+    {
+        discard_appearance_changes();
+        return true;
+    }
+    else // Cancel button pressed
+        return false;
+}
+
+void MainWindow::confirm_appearance_changes()
+{
+    assert(appearanceChanged);
+    appearanceChanged = false;
+    projectChanged = true;
+
+    originalObjectAppearance = alteredObjectAppearance;
+    ui->appearanceButtonsWidget->setVisible(false);
+
+}
+
+void MainWindow::discard_appearance_changes()
+{
+    assert(appearanceChanged);
+
+    alteredObjectAppearance = originalObjectAppearance;
+
+    change_appearance(); // Is needed to revert changes and show current image
+
+    appearanceChanged = false;
+
+    unsigned int id = ui->objectsBox->currentData().toUInt();
+    set_appearance_tab(id); // Sets Appearance tab to original values (state before changes were made)
+
+    ui->appearanceButtonsWidget->setVisible(false);
+}
+
+/* Sets items in Appearance tab to behave correctly */
+void MainWindow::show_appearance_tab()
+{
+    settingObjectSettings = true; // Disables signal handlings
+
+    ui->colorBox->clear();
+    ui->colorBox->insertItem(0, tr("+ Add new"), 0);
+    ui->colorBox->insertSeparator(1);
+
+    ui->borderColorBox->clear();
+    ui->borderColorBox->insertItem(0, tr("+ Add new"), 0);
+    ui->borderColorBox->insertSeparator(1);
+
+    QPixmap colorPixmap(ui->colorBox->iconSize());
+    for (auto const &color: colorsMap)
+    {
+        ObjectColor const &objColor = color.second.second;
+        colorPixmap.fill(QColor(objColor.r, objColor.g, objColor.b));
+
+        QIcon colorIcon(colorPixmap);
+        ui->colorBox->addItem(colorIcon, QString::fromStdString(color.second.first), color.first);
+        ui->borderColorBox->addItem(colorIcon, QString::fromStdString(color.second.first), color.first);
+    }
+
+    ui->shapeBox->clear();
+    for (auto const &shape: shapesMap)
+    {
+       ui->shapeBox->addItem(shape.second, shape.first);
+    }
+
+    ui->defocusSizeBox->setRange(2, 10000); // Value 1 would not have any effect; Maximum is much higher than could be needed.
+    ui->borderThicknessBox->setRange(0, 255); // OpenCV accepts border thickness in range 0-255
+
+    settingObjectSettings = false;
+}
+
+void MainWindow::custom_color()
+{
+    unsigned int newColorID;
+    if (color_picker(newColorID, colorsMap[alteredObjectAppearance.colorID].second))
+        ui->colorBox->setCurrentIndex(ui->colorBox->findData(newColorID));
+    else // No color selected, set previous color
+        ui->colorBox->setCurrentIndex(ui->colorBox->findData(alteredObjectAppearance.colorID));
+}
+
+void MainWindow::custom_border_color()
+{
+    unsigned int newColorID;
+    if (color_picker(newColorID, colorsMap[alteredObjectAppearance.borderColorID].second))
+        ui->borderColorBox->setCurrentIndex(ui->borderColorBox->findData(newColorID));
+    else // No color selected, set previous color
+        ui->borderColorBox->setCurrentIndex(ui->borderColorBox->findData(alteredObjectAppearance.borderColorID));
+}
+
+bool MainWindow::color_picker(unsigned int &newColorID, ObjectColor const &initialColor)
+{
+    //static unsigned int num = 1;
+    QColorDialog dialog(this);
+    QColor selectedColor = dialog.getColor(QColor(initialColor.r, initialColor.g, initialColor.b));
+    if (!selectedColor.isValid()) // user hit "Cancel" button
+        return false;
+
+    QPixmap colorPixmap(ui->colorBox->iconSize());
+    colorPixmap.fill(selectedColor);
+    QIcon colorIcon(colorPixmap);
+
+    QString colorName = tr("Custom #") + QString::number(++customColorsCount);
+
+    newColorID = colorsMap.rbegin()->first + 1; // Gets the highest value and increases; careful if changing order e.g. alphabetically
+    colorsMap[newColorID] = std::make_pair(colorName.toStdString(), ObjectColor(selectedColor.red(), selectedColor.green(), selectedColor.blue()));
+
+    ui->colorBox->addItem(colorIcon, colorName, newColorID);
+    ui->borderColorBox->addItem(colorIcon, colorName, newColorID);
+
+    return true;
+}
+
+bool MainWindow::enter_object_name(bool change)
+{
+    assert(tracker);
+
+    //static unsigned int objectNumber = 1; // Used for default (recommended) text
+    unsigned int objectNumber = tracker->get_objects_count() + 1; // Used for default (recommended) text
+    //bool ok; // or check "name" for null
+    int ok;
+    bool firstTime = true;
+
+    QString defaultText;
+    QString heading;
+    if (change)
+    {
+        heading = tr("Change object name");
+
+        defaultText = ui->objectsBox->currentText();
+    }
+    else
+    {
+        heading = tr("New object");
+
+        defaultText = tr("Object") + " " + QString::number(objectNumber);
+        while (ui->objectsBox->findText(defaultText) >= 0) // name already exists, increase default number
+            defaultText = tr("Object") + " " + QString::number(++objectNumber);
+    }
+    while (true)
+    { // If user enters a name that already exists, allow him to enter another one
+        if (!firstTime)
+            defaultText = newObjectName;
+        else
+            firstTime = false;
+
+       // newObjectName = QInputDialog::getText(this, heading, tr("Object name:"), QLineEdit::Normal, defaultText, &ok);
+        QInputDialog dialog(this);
+        dialog.setInputMode(QInputDialog::TextInput);
+        dialog.setLabelText(tr("Object name:"));
+        dialog.setWindowTitle(heading);
+        dialog.setTextValue(defaultText);
+        dialog.setOkButtonText(tr("Ok"));
+        dialog.setCancelButtonText(tr("Cancel"));
+
+        ok = dialog.exec();
+
+        if (ok)
+        { // OK button pressed
+            newObjectName = dialog.textValue();
+
+            if (newObjectName.isEmpty())
+            { // Input string is empty
+                QMessageBox *alert = new QMessageBox(this);
+                alert->setWindowTitle(tr("Object name"));
+                alert->setText(tr("Object name cannot be empty"));
+                alert->exec();
+                continue;
+            }
+            else if (ui->objectsBox->findText(newObjectName) >= 0)
+            { // Object with this name already exists, show warning and continue with adding
+
+                if (change && newObjectName == ui->objectsBox->currentText())
+                { // When changing object name, user left the old name and clicked OK
+                    return false;
+                }
+                else
+                {
+                    QMessageBox *alert = new QMessageBox(this);
+                    alert->setWindowTitle(tr("Object exists"));
+                    alert->setText(tr("Object with this name already exists. Enter a new one."));
+                    alert->exec();
+                    continue;
+                }
+            }
+
+            return true;
+
+        }
+        else // Cancel button pressed
+            return false;
+    }
+
+}
+
+void MainWindow::add_new_object()
+{
+    pause();
+
+    if (!ask_save_appearance_changes())
+        return;
+
+    if (enter_object_name(false))
+    { // User selected name correctly
+        set_selection(SelectionState::NEW_OBJECT);
+    }
+}
+
+void MainWindow::compute_trajectory()
+{
+    assert(tracker);
+    pause();
+
+    // Save timestamp to restore it after the operation is complete
+    int64_t currentTimestamp = tracker->get_frame_timestamp();
+    unsigned currentObject = ui->objectsBox->currentData().toUInt();
+
+    QProgressDialog progressDialog(computingInfoText, tr("Cancel"), 0, 0, this);
+    progressDialog.setWindowTitle(computingInfoTitle);
+    progressDialog.setModal(true);
+    progressDialog.show();
+    QMessageBox *alert = new QMessageBox(this);
+    alert->setWindowTitle(tr("Computing trajectory"));
+    try
+    {
+        if (!tracker->track_object(currentObject, &progressDialog))
+        {
+            qDebug() << "WARNING: Cannot compute trajectory";
+            alert->setText(tr("Trajectory was not computed"));
+        }
+        else
+        { //success
+            alert->setText(tr("Trajectory was successfully computed"));
+        }
+    } catch (UserCanceledException)
+    {
+        if (displayTime)
+        {
+            TimeConversion::Time timePosition;
+            timePosition.raw = tracker->get_time_position();
+            TimeConversion::convert_time(timePosition);
+            bool showHours = timePosition.hr ? true : false;
+            QString timeString;
+            TimeConversion::Time2QString(timePosition, timeString, showHours);
+
+            alert->setText(tr("Trajectory computing was cancelled. Last computed frame time position is ")
+                           + timeString);
+        }
+        else
+        {
+            alert->setText(tr("Trajectory computing was cancelled. Last computed frame's number is ")
+                           + QString::number(tracker->get_frame_number()));
+        }
+    }
+
+    progressDialog.cancel();
+
+    alert->exec();
+
+    set_trajectory_tab(currentObject, false, true);
+
+    show_frame_by_timestamp(currentTimestamp); // restore player position before the computing started
+}
+
+void MainWindow::change_name()
+{
+    if (enter_object_name(true))
+    { // User selected name correctly
+        tracker->set_object_name(ui->objectsBox->currentData().toUInt(), newObjectName.toStdString());
+
+        show_objects_box(true);
+        ui->objectsBox->setCurrentText(newObjectName);
+        projectChanged = true;
+    }
+}
+
+void MainWindow::selection_confirmed()
+{
+    if (selectionState == SelectionState::NEW_OBJECT)
+    {
+        Selection selectedPosition = ui->videoLabel->get_selection();
+        new_object_confirm(selectedPosition);
+    }
+    else if (selectionState == SelectionState::CHANGE_POSITION)
+    {
+        Selection selectedPosition = ui->videoLabel->get_selection();
+        if (!change_position_confirm(selectedPosition))
+        { // Position cannot take place after the End frame
+
+            QMessageBox *alert = new QMessageBox(this);
+            alert->setWindowTitle(tr("Changing position"));
+            alert->setText(tr("Beginning frame cannot be after End frame"));
+            alert->exec();
+
+            return;
+        }
+    }
+    else if (selectionState == SelectionState::SET_END_FRAME)
+    {
+        if (!set_end_frame_confirm())
+        { // End frame cannot be before Beginning frame
+
+            QMessageBox *alert = new QMessageBox(this);
+            alert->setWindowTitle(tr("Setting end frame"));
+            alert->setText(tr("End frame cannot be before Beginning frame"));
+            alert->exec();
+
+            return;
+
+        }
+    }
+    else if (selectionState == SelectionState::NEW_SECTION)
+    {
+        Selection selectedPosition = ui->videoLabel->get_selection();
+        if (!new_section_confirm(selectedPosition))
+        { // Position cannot take place after the End frame
+
+            QMessageBox *alert = new QMessageBox(this);
+            alert->setWindowTitle(tr("New trajectory change"));
+            alert->setText(tr("Section cannot begin after End frame"));
+            alert->exec();
+
+            return;
+        }
+    }
+
+    if (!tracker->get_current_frame(frame, originalFrame, showOriginalVideo))
+        qDebug() << "ERROR-selection_confirmed(): Cannot show current frame";
+    else
+        show_frame();
+
+    projectChanged = true;
+    selection_end();
+}
+
+/* Confirm new trajectory change */
+bool MainWindow::new_section_confirm(Selection const &selectedPosition)
+{
+    if (!tracker->set_object_trajectory_section(ui->objectsBox->currentData().toUInt(), tracker->get_frame_timestamp(),
+                                                selectedPosition, tracker->get_time_position(), tracker->get_frame_number()))
+        return false;
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+    return true;
+}
+
+bool MainWindow::change_position_confirm(Selection const &selectedPosition)
+{
+    if (!tracker->change_object_trajectory_section(ui->objectsBox->currentData().toUInt(), editingAnchorItem->get_timestamp(),
+                                                   tracker->get_frame_timestamp(), selectedPosition, tracker->get_time_position(),
+                                                   tracker->get_frame_number()))
+        return false;
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+    return true;
+}
+
+bool MainWindow::set_end_frame_confirm()
+{
+    if (!tracker->change_object_end_frame(ui->objectsBox->currentData().toUInt(), true, tracker->get_frame_timestamp(),
+                                          tracker->get_time_position(), tracker->get_frame_number()))
+       return false;
+
+    set_anchors_tab(ui->objectsBox->currentData().toUInt());
+    return true;
+}
+
+void MainWindow::new_object_confirm(Selection const &selectedPosition)
+{
+    assert(selectionState == SelectionState::NEW_OBJECT);
+
+    unsigned defaultColor = Colors::BLACK;
+    unsigned defaultBorderColor = Colors::RED;
+
+    ObjectColor const &color = colorsMap[defaultColor].second;
+    ObjectColor const &borderColor = colorsMap[defaultBorderColor].second;
+
+    Characteristics defaultAppearance(ObjectShape::RECTANGLE, true, 20, true, color,
+                                      Colors::BLACK, true, borderColor, Colors::RED, 3);
+
+
+    int id;
+    if ((id = tracker->add_object(defaultAppearance, newObjectName.toStdString(), selectedPosition, tracker->get_frame_timestamp(),
+                                  tracker->get_time_position(), tracker->get_frame_number(), false, 0, 0, 0)) < 0)
+    {
+        qDebug() << "ERROR-new_object_confirm(): Object wasn't added correctly";
+        return;
+    }
+
+    //ui->videoLabel->set_image(frame, ui->videoFrame->width(), ui->videoFrame->height());
+
+    show_objects_box(true);
+    if (ui->objectsBox->currentText() == newObjectName)
+    { // the object is already active. thus, tabs need to be updated manually
+        set_object_settings();
+    }
+    else
+    { // Changing current text updates all tabs
+        ui->objectsBox->setCurrentText(newObjectName); // this changes values in all 3 tabs //test
+    }
+}
+
+void MainWindow::show_objects_box(bool noTabsUpdate)
+{
+    // First disconnect this signal so alterig ui->objectsBox does not fire it every time
+    // Connect it again at the end of this function
+    if (noTabsUpdate)
+        QObject::disconnect(ui->objectsBox, SIGNAL(currentIndexChanged(int)), this, SLOT(set_object_settings()));
+
+    ui->objectsBox->clear();
+
+    std::vector<std::string> objects;
+
+    if (!tracker || (objects=tracker->get_all_objects_names()).empty())
+    { // No objects exist, disable Objects menu
+        ui->objectsBox->addItem(tr("No objects added"));
+        ui->objectsBox->setEnabled(false);
+        ui->tabWidget->setEnabled(false);
+    }
+    else
+    {
+        unsigned int i = 0;
+        for (std::string const &object: objects)
+        {
+            ui->objectsBox->setEnabled(true);
+            ui->tabWidget->setEnabled(true);
+
+            ui->objectsBox->addItem(QString::fromStdString(object), i);
+            i++;
+        }
+    }
+
+    set_application_menu();
+
+    // Connect the signal that was disconnected at the beginning of this function
+    if (noTabsUpdate)
+        QObject::connect(ui->objectsBox, SIGNAL(currentIndexChanged(int)), this, SLOT(set_object_settings()));
+}
+
+void MainWindow::selection_end()
+{
+    assert(selectionState != SelectionState::NO_SELECTION);
+
+    if (selectionState == SelectionState::CHANGE_POSITION || selectionState == SelectionState::SET_END_FRAME)
+    {
+        editingAnchorItem->set_highlight(false);
+        editingAnchorItem = nullptr;
+    }
+
+    ui->objectsControlWidget->setEnabled(true);
+    ui->newObjectButton->setEnabled(true);
+    //ui->openVideoButton->setEnabled(true);
+    ui->actionOpenVideo->setEnabled(true);
+    ui->actionLoadProject->setEnabled(true);
+    ui->actionSaveProject->setEnabled(true);
+
+    //ui->createOutputButton->setEnabled(true);
+    ui->actionCreateOutput->setEnabled(true);
+
+    ui->selectionWidget->setVisible(false);
+    ui->videoLabel->set_selection_enabled(false); // Disables selection of area to be tracked
+
+    selectionState = SelectionState::NO_SELECTION;
+
+    set_application_menu();
+}
+
+void MainWindow::delete_object()
+{
+    // Ask if they really want to delete this object
+    QMessageBox *msgBox = new QMessageBox(this);
+    msgBox->setWindowTitle(tr("Delete object"));
+    msgBox->setText(tr("Do you really want to delete object") + " \"" + ui->objectsBox->currentText() + "\"?");
+    msgBox->setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+    msgBox->setButtonText(QMessageBox::Yes, tr("Yes"));
+    msgBox->setButtonText(QMessageBox::No, tr("No"));
+    msgBox->setDefaultButton(QMessageBox::Yes);
+
+    if (msgBox->exec() == QMessageBox::Yes)
+    { // Deletion confirmed by user
+
+        tracker->delete_object(ui->objectsBox->currentData().toUInt());
+        appearanceChanged = false; // Object is deleted -> no object's appearance changes
+
+        show_objects_box(); // Changes were made, display current objectsBox
+
+        // Display current frame (without deleted object)
+        if (!tracker->get_current_frame(frame, originalFrame, showOriginalVideo))
+            qDebug() << "ERROR-delete_object: Cannot show current frame";
+        else
+            show_frame();
+
+        projectChanged = true;
+    }
+
+}
+
+void MainWindow::display_time()
+{
+    displayTime = true;
+    settings->setValue("showTime", true);
+
+    ui->actionTime->setChecked(true);
+    ui->actionFrameNumbers->setChecked(false);
+
+
+    if (tracker)
+    {   // Video is loaded, display its time
+        for (int i = 0; i < ui->anchorsWidget->count(); i++)
+        {
+            QListWidgetItem* item = ui->anchorsWidget->item(i);
+            AnchorItem * anchorItem = static_cast<AnchorItem *>(ui->anchorsWidget->itemWidget(item));
+            anchorItem->display_time();
+        }
+
+        for (int i = 0; i < ui->trajectoryWidget->count(); i++)
+        {
+            QListWidgetItem* item = ui->trajectoryWidget->item(i);
+            TrajectoryItem* trajectoryItem = static_cast<TrajectoryItem *>(ui->trajectoryWidget->itemWidget(item));
+            trajectoryItem->display_time();
+        }
+
+        ui->timeLabel->display_time(tracker->get_time_position());
+    }
+    else // Shows default text when no video is loaded
+        ui->timeLabel->setText("--:--");
+
+   }
+
+void MainWindow::display_frame_numbers()
+{
+    displayTime = false;
+    settings->setValue("showTime", false);
+
+    ui->actionFrameNumbers->setChecked(true);
+    ui->actionTime->setChecked(false);
+
+    if (tracker)
+    {   // Video is loaded, display its frame numbers
+        for (int i = 0; i < ui->anchorsWidget->count(); i++)
+        {
+            QListWidgetItem* item = ui->anchorsWidget->item(i);
+
+            AnchorItem * anchorItem = static_cast<AnchorItem *>(ui->anchorsWidget->itemWidget(item));
+            anchorItem->display_frame_num();
+        }
+
+        for (int i = 0; i < ui->trajectoryWidget->count(); i++)
+        {
+            QListWidgetItem* item = ui->trajectoryWidget->item(i);
+
+            TrajectoryItem* trajectoryItem = static_cast<TrajectoryItem *>(ui->trajectoryWidget->itemWidget(item));
+            trajectoryItem->display_frame_num();
+        }
+
+        ui->timeLabel->display_frame_num(tracker->get_frame_number());
+    }
+    else // Shows default text when no video is loaded
+        ui->timeLabel->setText("--/--");
+
+}
+
+void MainWindow::show_original_video()
+{
+    showOriginalVideo = !showOriginalVideo;
+
+    settings->setValue("showOriginalVideo", showOriginalVideo);
+
+    ui->actionShowOriginalVideo->setChecked(showOriginalVideo);
+    ui->originalVideoFrame->setVisible(showOriginalVideo);
+
+    if (showOriginalVideo && tracker)
+    {   // Video is loaded, current frame needs to be loaded since originalFrame does not exist yet
+
+        if (!tracker->get_current_frame(frame, originalFrame, showOriginalVideo))
+            qDebug() << "ERROR: show_original_video(): Cannot show current frame";
+        else
+            show_frame();
+    }
+
+}
+
+void MainWindow::set_czech_language()
+{
+    ui->actionPlay->setEnabled(false);
+    qDebug() << "Czech language set";
+
+    // Only one language item must be checked
+    ui->actionCzech->setChecked(true);
+    ui->actionEnglish->setChecked(false);
+    settings->setValue("language", ":/language/video_anonymizer_cs");
+
+    QMessageBox *alert = new QMessageBox(this);
+    alert->setWindowTitle("Čeština"); // No need for translation (tr()) - display message in selected language
+    alert->setText("Změna se projeví až při novém spuštění aplikace");
+    alert->exec();
+
+}
+
+void MainWindow::set_english_language()
+{
+    qDebug() << "English set";
+
+    // Only one language item must be checked
+    ui->actionEnglish->setChecked(true);
+    ui->actionCzech->setChecked(false);
+    settings->setValue("language", "");
+
+    QMessageBox *alert = new QMessageBox(this);
+    alert->setWindowTitle("English"); // No need for translation (tr()) - display message in selected language
+    alert->setText("The change will take effect after restarting the application");
+    alert->exec();
+
+}
+
+bool MainWindow::ask_save_project()
+{
+    if (!ask_save_appearance_changes()) // Before saving the project, changed appearance of tracked objects must be saved or discarded
+            return false;
+
+    if (!tracker || !projectChanged) // Project is empty, cannot be saved
+        return true;
+
+    QMessageBox *msgBox = new QMessageBox(this);
+    msgBox->setWindowTitle(tr("Save project"));
+    msgBox->setText(tr("Do you wish to save the current project?"));
+    msgBox->setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+
+    msgBox->setStandardButtons(msgBox->standardButtons() | QMessageBox::Cancel);
+    msgBox->setButtonText(QMessageBox::Cancel, tr("Cancel"));
+
+    msgBox->setButtonText(QMessageBox::Yes, tr("Yes"));
+    msgBox->setButtonText(QMessageBox::No, tr("No"));
+    msgBox->setDefaultButton(QMessageBox::Yes);
+
+    int state = msgBox->exec();
+
+    if (state == QMessageBox::Yes)
+        return save_project();
+    else if (state == QMessageBox::No)
+        return true;
+    else // Cancel button pressed
+        return false;
+}
+
+bool MainWindow::save_project()
+{
+    assert(tracker);
+
+    if (!ask_save_appearance_changes())
+        return false;
+
+    QString jsonFilter = "JSON (*.json)";
+    QString xmlFilter = "XML (*.xml)";
+    QString filters = jsonFilter + ";;" + xmlFilter;
+    QString selectedFilter;
+
+    // projectFormat is saved in settings so the last choice is remembered even after restarting the application
+    if (settings->contains("projectFormat"))
+    { // Is projectFormat variable set in settings?
+        selectedFilter = settings->value("projectFormat").toString();
+    }
+    else // default
+        selectedFilter = jsonFilter;
+
+    QString defaultPath = projectFileName;  // If project was loaded, sets its destination, otherwise is empty
+
+    if (defaultPath.isEmpty() && settings->contains("lastPath"))
+    { // begin with the directory where the last video was opened
+        defaultPath = settings->value("lastPath").toString();
+        qDebug() << "last path:" << defaultPath;
+    }
+
+    QString filename = QFileDialog::getSaveFileName(this, tr("Select project file name"),
+                                                    defaultPath,
+                                                    filters, &selectedFilter);
+    if (filename.isEmpty())
+        return false; // No filename selected
+
+    settings->setValue("projectFormat", selectedFilter);
+
+    { // Serialize with CEREAL
+
+        if (selectedFilter == xmlFilter)
+        { // XML
+
+            if (!filename.endsWith(".xml"))
+                filename += ".xml"; // If it doesn't have the right extension, append it
+            std::ofstream os(filename.toStdString());
+
+            cereal::XMLOutputArchive oarchive(os);
+
+            oarchive(CEREAL_NVP(inputFileName), CEREAL_NVP(tracker), CEREAL_NVP(customColorsCount), cereal::make_nvp("colors", colorsMap));
+            //oarchive(inputFileName, tracker, colorsMap);
+        }
+        else
+        { // JSON
+            if (!filename.endsWith(".json"))
+                filename += ".json"; // If it doesn't have the right extension, append it
+
+            std::ofstream os(filename.toStdString());
+
+            cereal::JSONOutputArchive oarchive(os);
+
+            //oarchive(inputFileName, tracker, colorsMap);
+            oarchive(CEREAL_NVP(inputFileName), CEREAL_NVP(tracker), CEREAL_NVP(customColorsCount), cereal::make_nvp("colors", colorsMap));
+        }
+
+    }
+
+    projectFileName = filename;
+
+    int projectNameBeginning = projectFileName.lastIndexOf("/");
+    if (projectNameBeginning < 0)
+        projectNameBeginning = 0;
+    else
+        projectNameBeginning++;
+    projectName = projectFileName.mid(projectNameBeginning);
+    set_application_menu(); // It shows the window's title with the project's name
+
+    projectChanged = false;
+
+    return true;
+}
+
+void MainWindow::load_project()
+{
+    if (tracker)
+    { // Project exists, ask to save/discard
+        if (!ask_save_project())
+            return; // User canceled the dialog, do not open a new video
+
+        initial_application_settings(); // Restores default application settings
+
+    }
+
+    QString jsonFilter = "JSON (*json)";
+    QString xmlFilter = "XML (*.xml)";
+    QString filters = jsonFilter + ";;" + xmlFilter;
+    QString selectedFilter;
+
+    // projectFormat is saved in settings so the last choice is remembered even after restarting the application
+    if (settings->contains("projectFormat"))
+    { // Is projectFormat variable set in settings?
+        selectedFilter = settings->value("projectFormat").toString();
+    }
+    else
+        selectedFilter = "JSON (*json)";
+
+
+    QString defaultDir = "";
+
+    if (settings->contains("lastPath"))
+    { // begin with the directory where the last video was opened
+        defaultDir = settings->value("lastPath").toString();
+        qDebug() << "last path:" << defaultDir;
+    }
+
+    projectFileName = QFileDialog::getOpenFileName(this, tr("Load project"),
+                                                    defaultDir,
+                                                    filters, &selectedFilter);
+    if (projectFileName.isEmpty())
+    {
+        qDebug() << "projectFileName is empty";
+        return; // No filename selected
+    }
+
+
+    settings->setValue("projectFormat", selectedFilter); // Remember file format choice also after restarting the application
+
+    colorsMap.clear();
+    try
+    {
+        { // Deserialize with CEREAL
+
+        std::ifstream os(projectFileName.toStdString());
+
+        if (selectedFilter == xmlFilter)
+        { // XML
+            cereal::XMLInputArchive iarchive(os);
+            iarchive(CEREAL_NVP(inputFileName), CEREAL_NVP(tracker), CEREAL_NVP(customColorsCount), cereal::make_nvp("colors", colorsMap));
+            //iarchive(inputFileName, tracker, colorsMap);
+        }
+        else
+        { // JSON
+            cereal::JSONInputArchive iarchive(os);
+            iarchive(CEREAL_NVP(inputFileName), CEREAL_NVP(tracker), CEREAL_NVP(customColorsCount), cereal::make_nvp("colors", colorsMap));
+            //iarchive(inputFileName, tracker, colorsMap);
+        }
+
+        }
+
+    } catch (...) {
+        QMessageBox *alert = new QMessageBox(this);
+        alert->setWindowTitle(tr("Project opening"));
+        alert->setText(tr("Project could not be loaded"));
+        alert->exec();
+        return;
+    }
+
+    while (true)
+    { // loading video - until correct video is loaded or user pressed "Cancel"
+        QProgressDialog progressDialog(tr("Opening video"), tr("Cancel"), 0, 0, this);
+        progressDialog.setWindowTitle(tr("Opening"));
+        progressDialog.setModal(true);
+        progressDialog.show();
+
+        try
+        {
+
+            tracker->load_video(inputFileName, &progressDialog); // inputFileName was loaded with the loaded project
+        } catch (OpenException) {
+
+            qDebug() << "Video cannot be opened.";
+
+            QMessageBox *alert = new QMessageBox(this);
+            alert->setWindowTitle(tr("Opening video"));
+            alert->setText(tr("Video from the project was not found or cannot be opened. Please set its path."));
+            alert->exec();
+
+            if (!open_video_dialog()) // Shows dialog to select a file
+            { // Cancel button pressed
+                tracker = nullptr;
+                return;
+            }
+            else // Video file selected, try opening again
+                continue;
+
+        } catch (UserCanceledOpeningException) {
+
+            QMessageBox *alert = new QMessageBox(this);
+            alert->setWindowTitle(tr("Opening video"));
+            alert->setText(tr("Video opening was canceled."));
+            alert->exec();
+
+            return;
+        }
+
+        break;
+    }
+
+    tracker->erase_object_trajectories_to_comply();
+
+    int projectNameBeginning = projectFileName.lastIndexOf("/");
+
+    if (projectNameBeginning < 0)
+        projectNameBeginning = 0;
+    else
+        projectNameBeginning++;
+    projectName = projectFileName.mid(projectNameBeginning);
+    // set_application_menu() is needed to show the window's title
+    // with the project's name. However, the open_video_successful()
+    // calls the function.
+
+    open_video_successful();
+    show_objects_box();
+}
+
+void MainWindow::show_help()
+{
+    qDebug() << "showing help";
+    QTabWidget* tWidget = new QTabWidget;
+    tWidget->setMaximumWidth(200);
+    tWidget->addTab((QWidget*)helpEngine->contentWidget(), tr("Contents"));
+    tWidget->addTab((QWidget*)helpEngine->indexWidget(), tr("Index"));
+    HelpBrowser *textViewer = new HelpBrowser(helpEngine);
+    //textViewer->setSource( QUrl("qthelp://walletfox.qt.helpexample/doc/index.html"));
+    textViewer->setSource(QUrl("qthelp://fit.cz.videoanonymizer/doc/" + tr("en_doc.html")));
+
+    connect((QWidget*)helpEngine->contentWidget(), SIGNAL(linkActivated(QUrl)), textViewer, SLOT(setSource(QUrl)));
+
+    connect((QWidget*)helpEngine->indexWidget(), SIGNAL(linkActivated(QUrl, QString)), textViewer, SLOT(setSource(QUrl)));
+
+    QSplitter *horizSplitter = new QSplitter(Qt::Horizontal);
+    horizSplitter->insertWidget(0, tWidget);
+    horizSplitter->insertWidget(1, textViewer);
+    horizSplitter->hide();
+
+    QDockWidget *helpWindow = new QDockWidget(tr("Help"), this);
+    helpWindow->setWidget(horizSplitter);
+  //  helpWindow->hide();
+    addDockWidget(Qt::BottomDockWidgetArea, helpWindow);
+    qDebug() << "help showed";
+
+}
+
+void MainWindow::show_about()
+{
+    QMessageBox::about(this, tr("Anonymizer"),
+                       tr("Application for anonymization of objects in a video.\n") +
+                       tr("(C) 2015 FIT BUT.\n"));
+
+}
+
+void MainWindow::initial_application_settings()
+{
+    if (tracker)
+    {
+        //delete tracker;
+        tracker = nullptr; //is deleted automatically as tracker is a smart pointer
+    }
+
+    if (timer)
+        timer->stop();
+
+    isPlaying = false;
+    selectionState = SelectionState::NO_SELECTION;
+    editingAnchorItem = nullptr;
+    appearanceChanged = false;
+    projectChanged = false;
+    settingObjectSettings = false; // Disables slots for appearance change (change_color(), ...) when setting new object
+    isEndTimestampSet = false;
+
+    projectFileName = "";
+    projectName = "";
+
+    timerInterval = 0; // Original interval based on fps
+    timerSpeed = 0; // power used with constant VIDEOTRACKING_TIMER_CONSTANT to play video faster/slower
+
+    customColorsCount = 0;
+
+    ui->selectionWidget->setVisible(false);
+    ui->appearanceButtonsWidget->setVisible(false);
+    ui->originalVideoTextLabel->setVisible(false);
+
+    ui->playerControlsWidget->setEnabled(false);
+    ui->positionSlider->setEnabled(false);
+    ui->objectsControlWidget->setEnabled(false);
+
+    //ui->createOutputButton->setEnabled(false);
+    ui->actionCreateOutput->setEnabled(false);
+
+
+    // Move position slider to the beginning
+    ui->positionSlider->setValue(ui->positionSlider->minimum());
+
+    set_application_menu();
+
+    set_form_values();
+    //show_appearance_tab(); // It is called from open_video_successful()
+
+    show_objects_box();
+
+    // Display default time/frame numbers label
+    if (displayTime)
+        display_time();
+    else
+        display_frame_numbers();
+
+    // Make the videoLabel empty
+    ui->videoLabel->set_selection_enabled(false);
+    ui->videoLabel->clear();
+    ui->originalVideoLabel->set_selection_enabled(false);
+    ui->originalVideoLabel->clear();
+}
+/**
+void MainWindow::exit_application()
+{
+    if (!ask_save_project()) // User canceled the dialog telling him to Save or Discard the current project
+        return;
+}
+*/
+
+void MainWindow::set_application_menu()
+{
+    // Set window title:
+    if (projectName.isEmpty())
+    {
+        if (tracker)
+            setWindowTitle(tr("Unsaved Project") + " | " + applicationName);
+        else
+            setWindowTitle(applicationName);
+    }
+    else
+        setWindowTitle(projectName + " | " + applicationName);
+
+    ui->actionPlay->setEnabled(ui->playButton->isEnabled());
+    ui->actionStop->setEnabled(ui->stopButton->isEnabled());
+    ui->actionStepBack->setEnabled(ui->stepBackButton->isEnabled());
+    ui->actionStepForward->setEnabled(ui->stepForwardButton->isEnabled());
+
+    ui->actionSlower->setEnabled(ui->slowerButton->isEnabled());
+    ui->actionFaster->setEnabled(ui->fasterButton->isEnabled());
+
+    if (tracker)
+        ui->actionSaveProject->setEnabled(true);
+    else
+        ui->actionSaveProject->setEnabled(false);
+
+    ui->actionNewObject->setEnabled(ui->newObjectButton->isEnabled());
+
+    if (ui->generalTab->isEnabled())
+    {
+        ui->actionChangeName->setEnabled(true);
+        ui->actionRemoveObject->setEnabled(true);
+    }
+    else
+    {
+        ui->actionChangeName->setEnabled(false);
+        ui->actionRemoveObject->setEnabled(false);
+    }
+
+    ui->menuTrajectory->setEnabled(ui->anchorsTab->isEnabled());
+    ui->actionComputeTrajectory->setEnabled(ui->computeTrajectoryButton->isEnabled());
+    ui->actionVideoEnd->setChecked(!isEndTimestampSet);
+
+    ui->actionShowOriginalVideo->setChecked(showOriginalVideo);
+
+}
+
+/**
+ * Connects signals (from GUI elements and others) with slots of this object.
+ * @brief MainWindow::connect_signals
+ */
+void MainWindow::connect_signals()
+{
+    // Signals are automatically disconnected with QObject destructor
+
+    // PLAYER CONTROL SECTION
+    QObject::connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play()));
+    QObject::connect(ui->actionPlay, SIGNAL(triggered()), this, SLOT(play()));
+
+    QObject::connect(ui->stopButton, SIGNAL(clicked()), this, SLOT(stop()));
+    QObject::connect(ui->actionStop, SIGNAL(triggered()), this, SLOT(stop()));
+
+    QObject::connect(ui->stepForwardButton, SIGNAL(clicked()), this, SLOT(step_forward()));
+    QObject::connect(ui->actionStepForward, SIGNAL(triggered()), this, SLOT(step_forward()));
+
+    QObject::connect(ui->stepBackButton, SIGNAL(clicked()), this, SLOT(step_back()));
+    QObject::connect(ui->actionStepBack, SIGNAL(triggered()), this, SLOT(step_back()));
+
+    //QObject::connect(ui->fasterButton, SIGNAL(clicked()), this, SLOT(faster()));
+    //QObject::connect(ui->slowerButton, SIGNAL(clicked()), this, SLOT(slower()));
+
+    QObject::connect(ui->fasterButton, SIGNAL(clicked()), this, SLOT(faster()));
+    QObject::connect(ui->actionFaster, SIGNAL(triggered()), this, SLOT(faster()));
+
+    QObject::connect(ui->slowerButton, SIGNAL(clicked()), this, SLOT(slower()));
+    QObject::connect(ui->actionSlower, SIGNAL(triggered()), this, SLOT(slower()));
+
+    QObject::connect(ui->actionOriginalSpeed, SIGNAL(triggered()), this, SLOT(original_speed()));
+
+    //QObject::connect(ui->positionSlider, SIGNAL(sliderMoved(int)), this, SLOT(show_frame_by_time(int)));
+    QObject::connect(ui->positionSlider, SIGNAL(clicked(ulong)), this, SLOT(show_frame_by_number(ulong)));
+    QObject::connect(ui->positionSlider, SIGNAL(sliderPressed()), this, SLOT(slider_pressed()));
+    QObject::connect(ui->positionSlider, SIGNAL(sliderReleased()), this, SLOT(slider_released()));
+    //QObject::connect(ui->positionSlider, SIGNAL(), this, SLOT(show_frame_by_number(int)));
+
+
+    // FILE
+    //QObject::connect(ui->openVideoButton, SIGNAL(clicked()), this, SLOT(open_video()));
+    QObject::connect(ui->actionOpenVideo, SIGNAL(triggered()), this, SLOT(open_video()));
+
+    //QObject::connect(ui->createOutputButton, SIGNAL(clicked()), this, SLOT(create_output()));
+    QObject::connect(ui->actionCreateOutput, SIGNAL(triggered()), this, SLOT(create_output()));
+
+    QObject::connect(ui->actionSaveProject, SIGNAL(triggered()), this, SLOT(save_project()));
+    QObject::connect(ui->actionLoadProject, SIGNAL(triggered()), this, SLOT(load_project()));
+    QObject::connect(ui->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
+
+    // OBJECTS
+    QObject::connect(ui->objectsBox, SIGNAL(currentIndexChanged(int)), this, SLOT(set_object_settings()));
+
+    QObject::connect(ui->newObjectButton, SIGNAL(clicked()), this, SLOT(add_new_object()));
+    QObject::connect(ui->actionNewObject, SIGNAL(triggered()), this, SLOT(add_new_object()));
+
+
+    // OBJECT APPEARANCE TAB
+    QObject::connect(ui->shapeBox, SIGNAL(currentIndexChanged(int)), this, SLOT(change_shape()));
+
+    //handling defocusButton handles also colorButton since toggling colorButton switches off defocusButton
+    QObject::connect(ui->defocusButton, SIGNAL(toggled(bool)), this, SLOT(change_defocus()));
+    QObject::connect(ui->defocusSizeBox, SIGNAL(valueChanged(int)), this, SLOT(change_defocus_size()));
+    QObject::connect(ui->drawInsideBox, SIGNAL(stateChanged(int)), this, SLOT(change_draw_inside()));
+    QObject::connect(ui->drawBorderBox, SIGNAL(stateChanged(int)), this, SLOT(change_draw_border()));
+    QObject::connect(ui->colorBox, SIGNAL(currentIndexChanged(int)), this, SLOT(change_color()));
+    QObject::connect(ui->borderColorBox, SIGNAL(currentIndexChanged(int)), this, SLOT(change_border_color()));
+    QObject::connect(ui->borderThicknessBox, SIGNAL(valueChanged(int)), this, SLOT(change_border_thickness()));
+
+    QObject::connect(ui->saveAppearanceChangesButton, SIGNAL(clicked()), this, SLOT(confirm_appearance_changes()));
+    QObject::connect(ui->discardAppearanceChangesButton, SIGNAL(clicked()), this, SLOT(discard_appearance_changes()));
+
+
+    // OBJECT APPEARANCE - CUSTOM COLORS
+    //QObject::connect(ui->colorBox, SIGNAL(activated(int)), this, SLOT(custom_color(int)));
+    //QObject::connect(ui->borderColorBox, SIGNAL(activated(int)), this, SLOT(custom_border_color(int)));
+
+
+    // OBJECT ANCHORS TAB
+    QObject::connect(ui->anchorsWidget, SIGNAL(itemPressed(QListWidgetItem*)), this, SLOT(show_anchors_menu(QListWidgetItem*)));
+
+    QObject::connect(ui->addTrajectoryChangeButton, SIGNAL(clicked()), this, SLOT(add_trajectory_change()));
+    QObject::connect(ui->actionChangeTrajectory, SIGNAL(triggered()), this, SLOT(add_trajectory_change()));
+
+    QObject::connect(ui->actionVideoEnd, SIGNAL(triggered()), this, SLOT(set_video_end()));
+    QObject::connect(ui->actionSetEndFrame, SIGNAL(triggered()), this, SLOT(set_end_frame()));
+    QObject::connect(ui->actionChangeBeginning, SIGNAL(triggered()), this, SLOT(set_change_beginning()));
+
+
+    // OBJECT TRAJECTORY TAB
+    QObject::connect(ui->trajectoryWidget, SIGNAL(itemPressed(QListWidgetItem*)), this, SLOT(trajectory_show_frame(QListWidgetItem*)));
+
+    QObject::connect(ui->computeTrajectoryButton, SIGNAL(clicked()), this, SLOT(compute_trajectory()));
+    QObject::connect(ui->actionComputeTrajectory, SIGNAL(triggered()), this, SLOT(compute_trajectory()));
+
+    // OBJECT GENERAL TAB
+    QObject::connect(ui->changeNameButton, SIGNAL(clicked()), this, SLOT(change_name()));
+    QObject::connect(ui->actionChangeName, SIGNAL(triggered()), this, SLOT(change_name()));
+
+    QObject::connect(ui->removeObjectButton, SIGNAL(clicked()), this, SLOT(delete_object()));
+    QObject::connect(ui->actionRemoveObject, SIGNAL(triggered()), this, SLOT(delete_object()));
+
+
+    // SELECTION
+    QObject::connect(ui->confirmSelectionButton, SIGNAL(clicked()), this, SLOT(selection_confirmed()));
+    QObject::connect(ui->cancelSelectionButton, SIGNAL(clicked()), this, SLOT(selection_end()));
+
+
+    // LANGUAGE MENU
+    QObject::connect(ui->actionEnglish, SIGNAL(triggered()), this, SLOT(set_english_language()));
+    QObject::connect(ui->actionCzech, SIGNAL(triggered()), this, SLOT(set_czech_language()));
+
+    // SETTINGS MENU
+    QObject::connect(ui->actionTime, SIGNAL(triggered()), this, SLOT(display_time()));
+    QObject::connect(ui->actionFrameNumbers, SIGNAL(triggered()), this, SLOT(display_frame_numbers()));
+
+    QObject::connect(ui->actionShowOriginalVideo, SIGNAL(triggered()), this, SLOT(show_original_video()));
+
+    // OTHERS
+    QObject::connect(ui->videoFrame, SIGNAL(resized()), this, SLOT(reload_video_label()));
+    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(show_next_frame()));
+
+    QObject::connect(ui->actionHelp, SIGNAL(triggered()), this, SLOT(show_help()));
+    QObject::connect(ui->actionAbout, SIGNAL(triggered()), this, SLOT(show_about()));
+    //QObject::connect(qApp, SIGNAL(aboutToQuit()), this, SLOT(exit_application()));
+ }
diff --git a/Sources/mainwindow.h b/Sources/mainwindow.h
new file mode 100644
index 0000000..e0ea9b9
--- /dev/null
+++ b/Sources/mainwindow.h
@@ -0,0 +1,562 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      mainwindow.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QFileInfo>
+#include <QListWidgetItem>
+#include <QSettings>
+#include <QHelpEngine>
+
+#include "imagelabel.h"
+#include "timelabel.h"
+#include "videotracker.h"
+#include "anchoritem.h"
+#include "trajectoryitem.h"
+
+// SERIALIZATION WITH CEREAL
+#include <cereal/types/string.hpp>
+#include <cereal/types/map.hpp>
+#include <cereal/types/utility.hpp> // for std::pair
+
+enum class SelectionState : int {NO_SELECTION, NEW_OBJECT, CHANGE_POSITION,
+                                 SET_END_FRAME, NEW_SECTION};
+
+namespace Ui {
+    class MainWindow;
+}
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    /**
+     * CEREAL serialization
+     */
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(inputFileName), CEREAL_NVP(tracker), CEREAL_NVP(customColorsCount), cereal::make_nvp("colors", colorsMap));
+    }
+
+    /**
+     * Constructor
+     * @param parent Parent widget
+     */
+    explicit MainWindow(QWidget *parent = 0);
+
+     /**
+     * Destructor
+     */
+    ~MainWindow();
+    
+private:
+    /**
+     * Asks for saving a project before closing the application.
+     * @param event Event
+     */
+    void closeEvent(QCloseEvent *event);
+
+    /**
+     * Connects signals and slots.
+     */
+    void connect_signals();
+
+    /**
+     * Sets the GUI to a state when the end of the video was reached.
+     */
+    void end_of_video();
+
+    /**
+     * When a frame is showed, slider value and time are changed. Used only as an internal function,
+     * that is called by other functions (show_next_frame, show_previous_frame ...) that are reading
+     * correct frames.
+     */
+    void show_frame();
+
+    /**
+     * Sets values of Appearance forms.
+     */
+    void set_form_values();
+
+    /**
+     * This is used when appearance of the object has changed. The VideoTracker needs to be informed
+     * to register these changes.
+     */
+    void change_appearance();
+
+    /**
+     * Fills the Trajectory tab with values.
+     * @param id Object ID
+     * @param clear If true, trajectory is cleared and filled again.
+     * @param showProgressBar If true, shows progress bar.
+     */
+    void set_trajectory_tab(unsigned int id, bool clear=false, bool showProgressBar=true);
+
+    /**
+     * Fills the Key points tab with values.
+     * @param id Object ID
+     */
+    void set_anchors_tab(unsigned int id);
+
+    /**
+     * Fills the Appearance tab with values.
+     * @param id Object ID
+     */
+    void set_appearance_tab(unsigned int id);
+
+    /**
+     * Restores default values of the Appearance tab.
+     */
+    void show_appearance_tab();
+
+    /**
+     * Shows a frame by a given timestamp.
+     * @param timestamp Timestamp
+     */
+    void show_frame_by_timestamp(int64_t timestamp);
+
+
+    /**
+     * Confirms adding a new tracked object.
+     * @param selectedPosition Position of the new object
+     */
+    void new_object_confirm(Selection const &selectedPosition);
+
+    /**
+     * Confirms position change.
+     * @param selectedPosition New position
+     * @return True if successful
+     */
+    bool change_position_confirm(Selection const &selectedPosition);
+
+    /**
+     * Confirms the last frame selection of the object
+     * @return True if successful
+     */
+    bool set_end_frame_confirm();
+
+    /**
+     * Confirms new trajectory change (correction).
+     * @return True if successful
+     */
+    bool new_section_confirm(const Selection &selectedPosition);
+
+    /**
+     * Disables everything apart from the video player, shows selectionWidget.
+     * @param state Selected option
+     * @param enable_selecting If true, enables selecting.
+     */
+    void set_selection(SelectionState state, bool enable_selecting=true);
+
+    /**
+     * Asks a user for an object name. The new object name is stored in newObjectName.
+     * @param change
+     * @return True if name entered correctly. False if user clicked Cancel.
+     */
+    bool enter_object_name(bool change);
+
+    /**
+     * Sets ui->objectsBox to display tracked objects that exist in the tracker.
+     * @param noTabsUpdate If true, do not change tabs according current object's index.
+     * This is used when an object is selected right after calling this function
+     * and setting tabs in this function would be useless. This saves the time
+     * that would be used to setting the tabs (especially the Trajectory tab
+     * takes a long time to be set)
+     */
+    void show_objects_box(bool noTabsUpdate=false);
+
+    /**
+     * Sets the main application menu.Needs to be called AFTER enabling/disabling widget (that affect
+     * buttons).* It can be called only once whe changing a group of buttons, but always AFTER all
+     * changes are made. Sets also Window's title.
+     */
+    void set_application_menu();
+
+    /**
+     * When appearance changes were made, should they be confirmed or discarded?
+     * @return True if changes were confirmed, discarded or if no changes were made. False if user
+     * pressed "Cancel" button and nothing is done with appearance changes.
+     */
+    bool ask_save_appearance_changes();
+
+    /**
+     * When project is being closed, should it be saved?
+     * @return True if project was saved or not. False if "Cancel" button was pressed.
+     */
+    bool ask_save_project();
+
+    /**
+     * Restores the initial application settings.
+     */
+    void initial_application_settings();
+
+    /**
+     * Pauses the video playback.
+     */
+    void pause();
+
+    /**
+     * Shows the first frame of the video.
+     */
+    void show_first_frame();
+
+    /**
+     * An internal function used when changing playback speed.
+     */
+    void speed_general();
+
+    /**
+     * Shows a dilog for opening a video.
+     * Result is stored in inputFileName
+     * @return False if Cancel button pressed. True otherwise.
+     */
+    bool open_video_dialog();
+
+    /**
+     * Sets the application to display successfully opened video
+     */
+    void open_video_successful();
+
+    /**
+     * Lets user select object color by a color picker.
+     */
+
+    void custom_color();
+    /**
+     * Lets user select border object color by a color picker.
+     */
+    void custom_border_color();
+
+private slots:
+
+    /**
+     * Context menu that is displayed when clicking on an item in the Trajectory tab
+     * @param item Clicked item
+     */
+    void show_anchors_menu(QListWidgetItem *item);
+
+    /**
+     * When an object is selected, display its settings
+     */
+    void set_object_settings();
+
+    /**
+     * Slider has been pressed.
+     */
+    void slider_pressed();
+
+    /**
+     * Slider has been released.
+     */
+    void slider_released();
+
+    /**
+     * Shows a frame by a given time position.
+     * @param position Time position
+     */
+    void show_frame_by_time(int position);
+
+    /**
+     * Sets playback faster.
+     */
+    void faster();
+
+    /**
+     * Sets playback slower.
+     */
+    void slower();
+
+    /**
+     * Shows the following frame.
+     */
+    void show_next_frame();
+
+    /**
+     * Shows the previous frame.
+     */
+    void show_previous_frame();
+
+    /**
+     * Plays / pauses the video.
+     */
+    void play();
+
+    /**
+     * Stops the video
+     */
+    void stop();
+
+    /**
+     * Opens a new video
+     */
+    void open_video();
+
+    /**
+     * Allows users to create a Custom color - select it by a color picker
+     * @param newColorID Used for returning the ID of the created color
+     * @param initialColor Initial color of the picker
+     * @return True if a color selected. False if Cancel button pressed.
+     */
+    bool color_picker(unsigned int &newColorID, const ObjectColor &initialColor);
+
+    /**
+     * Creats an output video file with tracked objects.
+     */
+    void create_output();
+
+    /**
+     * Adds a new object. After receiving an object name sets UI for selecting an area
+     * for the TrackingAlgorithm.
+     */
+    void add_new_object();
+
+    /**
+     * Sets GUI to look like before adding new object.
+     */
+    void selection_end();
+
+    /**
+     * Sets a new picture when the label ui->videoLabel is resized.
+     */
+    void reload_video_label();
+
+    /**
+     * Changes a shape of the object.
+     */
+    void change_shape();
+
+    /**
+     * Changes a border thickness of the object.
+     */
+    void change_border_thickness();
+
+    /**
+     * Changes a border color of the object.
+     */
+    void change_border_color();
+
+    /**
+     * Changes a color of the object.
+     */
+
+    void change_color();
+
+    /**
+     * Changes the object to be filled with a color.
+     */
+    void change_draw_inside();
+
+    /**
+     * Changes the object so that its border is drawn.
+     */
+    void change_draw_border();
+
+    /**
+     * Changes defocusing size (square size) for the object.
+     */
+    void change_defocus_size();
+
+    /**
+     * Changes the object to be defocused.
+     */
+    void change_defocus();
+
+    /**
+     * Discards changes to the object appearance.
+     */
+    void discard_appearance_changes();
+
+    /**
+     * Confirms changes to the object appearance.
+     */
+    void confirm_appearance_changes();
+
+    /**
+     * Area / video position was selected and confirmed.
+     * Calls responsible function; either for New object, Position change, Setting
+     * object's end frame or New trajectory change
+     */
+    void selection_confirmed();
+
+    /**
+     * Initiates a trajectory change (correction)
+     */
+
+    void add_trajectory_change();
+
+    /**
+     * Changes name of the object.
+     */
+    void change_name();
+
+    /**
+     * Removed the object.
+     */
+    void delete_object();
+
+    /**
+     * Switches the appliction to Czech.
+     */
+    void set_czech_language();
+
+    /**
+     * Switches the appliction to English.
+     */
+    void set_english_language();
+
+    /**
+     * Sets playback speed to its original value.
+     */
+    void original_speed();
+
+
+    /**
+     * Sets object tracking till the end of the video.
+     */
+    void set_video_end();
+
+    /**
+     * Sets frame where tracking of the object shall end.
+     */
+    void set_end_frame();
+
+    /**
+     * Changes beginning of the object.
+     */
+    void set_change_beginning();
+
+    /**
+     * Shows the previous frame
+     */
+    void step_back();
+
+    /**
+     * Shows the following frame
+     */
+    void step_forward();
+
+    /**
+     * Save the project in XML or JSON.
+     * @return True if successful.
+     */
+    bool save_project();
+
+    /**
+     * Loads a project in XML or JSON.
+     */
+    void load_project();
+
+    /**
+     * Shows a frame by a given number (index)
+     * @param position Number (index)
+     */
+    void show_frame_by_number(unsigned long position);
+
+    /**
+     * Displays time positions.
+     */
+    void display_time();
+
+    /**
+     * Displays frame numbers.
+     */
+    void display_frame_numbers();
+
+    /**
+     * Sets / unsets showing the original video beside the altered one.
+     */
+    void show_original_video();
+
+    /**
+     * Computes all trajectory for the object
+     */
+    void compute_trajectory();
+
+    /**
+     * Shows frame of the selected trajectory item.
+     * @param item Selected item
+     */
+    void trajectory_show_frame(QListWidgetItem *item);
+
+    /**
+     * Shows application help.
+     */
+    void show_help();
+
+    /**
+     * Shows information about the application.
+     */
+    void show_about();
+
+private:
+    const QString applicationName;
+    Ui::MainWindow *ui;
+    QHelpEngine *helpEngine;
+    QSettings *settings;
+    bool displayTime; //false ~ show frame numbers
+    bool showOriginalVideo;
+
+    QImage frame;
+    QImage originalFrame;
+    std::unique_ptr<VideoTracker> tracker;
+    QTimer * timer;
+    unsigned int timerInterval;
+    int timerSpeed;
+
+    SelectionState selectionState;
+    QString newObjectName;
+    AnchorItem *editingAnchorItem; // When show_anchors_menu() called, this variable is set to know what item is being edited
+
+    bool isPlaying;
+    bool endOfVideo;
+    bool appearanceChanged;
+    bool projectChanged; // to ask if user wants to save it
+    bool settingObjectSettings;
+    bool isEndTimestampSet; // used with AnchorItem - determining whether to show option "Track till the end of the video"
+    std::string inputFileName;
+
+    // Last loaded/saved project; FileDialog starts with at this path.
+    QString projectFileName;
+
+    // Currently opened project to be displayed in the window's title
+    QString projectName;
+
+    std::map<unsigned int, std::pair<std::string, ObjectColor>> colorsMap;
+    unsigned int customColorsCount;
+    std::map<unsigned int, QString> shapesMap;
+
+    Characteristics originalObjectAppearance;
+    Characteristics alteredObjectAppearance;
+
+    QString computingInfoText;
+    QString computingInfoTitle;
+
+};
+
+#endif // MAINWINDOW_H
diff --git a/Sources/mainwindow.ui b/Sources/mainwindow.ui
new file mode 100644
index 0000000..6a5c9c8
--- /dev/null
+++ b/Sources/mainwindow.ui
@@ -0,0 +1,1624 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1079</width>
+    <height>707</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>900</width>
+    <height>600</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QHBoxLayout" name="horizontalLayout">
+    <item>
+     <layout class="QVBoxLayout" name="playerLayout">
+      <item>
+       <layout class="QHBoxLayout" name="videosLayout">
+        <property name="leftMargin">
+         <number>0</number>
+        </property>
+        <property name="topMargin">
+         <number>0</number>
+        </property>
+        <item>
+         <widget class="VideoWidget" name="videoFrame" native="true">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <layout class="QGridLayout" name="gridLayout">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item row="0" column="0">
+            <widget class="ImageLabel" name="videoLabel">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>10</width>
+               <height>10</height>
+              </size>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="VideoWidget" name="originalVideoFrame" native="true">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <layout class="QGridLayout" name="gridLayout_2">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item row="2" column="0">
+            <widget class="ImageLabel" name="originalVideoLabel">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>10</width>
+               <height>10</height>
+              </size>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <widget class="QLabel" name="originalVideoTextLabel">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Original video</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="0">
+            <spacer name="verticalSpacer_3">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QWidget" name="selectionWidget" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <layout class="QHBoxLayout" name="selectionLayout">
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item>
+          <spacer name="selectionHorizontalSpacerL">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <widget class="QFrame" name="selectionFrame">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="styleSheet">
+            <string notr="true">#selectionFrame{
+background-color: rgb(255, 255, 255);
+color: rgb(167, 167, 167);
+}</string>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="frameShadow">
+            <enum>QFrame::Plain</enum>
+           </property>
+           <layout class="QHBoxLayout" name="horizontalLayout_5">
+            <property name="topMargin">
+             <number>2</number>
+            </property>
+            <property name="bottomMargin">
+             <number>2</number>
+            </property>
+            <property name="font" stdset="0">
+             <font>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <item>
+             <widget class="QLabel" name="selectionLabel">
+              <property name="text">
+               <string>Select an area for tracking</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="confirmSelectionButton">
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="toolTip">
+               <string>Confirm selection</string>
+              </property>
+              <property name="text">
+               <string>Confirm selection</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="cancelSelectionButton">
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="toolTip">
+               <string>Cancel selection</string>
+              </property>
+              <property name="text">
+               <string>Cancel</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <spacer name="selectionHorizontalSpacerR">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="navigationLayout">
+        <item>
+         <widget class="PlayerSlider" name="positionSlider">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="TimeLabel" name="timeLabel">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>120</width>
+            <height>30</height>
+           </size>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QWidget" name="navigationWidget" native="true">
+        <layout class="QHBoxLayout" name="controlLayout">
+         <property name="spacing">
+          <number>15</number>
+         </property>
+         <property name="sizeConstraint">
+          <enum>QLayout::SetDefaultConstraint</enum>
+         </property>
+         <item>
+          <widget class="QWidget" name="playerControlsWidget" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>0</height>
+            </size>
+           </property>
+           <layout class="QHBoxLayout" name="horizontalLayout_2">
+            <property name="spacing">
+             <number>6</number>
+            </property>
+            <property name="topMargin">
+             <number>0</number>
+            </property>
+            <property name="bottomMargin">
+             <number>0</number>
+            </property>
+            <item>
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_4">
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QPushButton" name="stepBackButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Step back</string>
+                </property>
+                <property name="text">
+                 <string>&lt;</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="playButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Play the video</string>
+                </property>
+                <property name="text">
+                 <string>Play</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="stopButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Stop the video</string>
+                </property>
+                <property name="text">
+                 <string>Stop</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="stepForwardButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Step forward</string>
+                </property>
+                <property name="text">
+                 <string>&gt;</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="newObjectButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Add an object for tracking</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Track object</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QLabel" name="speedLabel">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="text">
+               <string>Speed: 1.00x</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QPushButton" name="fasterButton">
+                <property name="maximumSize">
+                 <size>
+                  <width>28</width>
+                  <height>14</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Play faster</string>
+                </property>
+                <property name="text">
+                 <string>+</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="slowerButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>28</width>
+                  <height>14</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Play slower</string>
+                </property>
+                <property name="text">
+                 <string>-</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <widget class="QWidget" name="objectsControlWidget" native="true">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>285</width>
+        <height>0</height>
+       </size>
+      </property>
+      <layout class="QVBoxLayout" name="trackingLayout" stretch="0,0,0">
+       <property name="spacing">
+        <number>9</number>
+       </property>
+       <property name="sizeConstraint">
+        <enum>QLayout::SetDefaultConstraint</enum>
+       </property>
+       <property name="leftMargin">
+        <number>2</number>
+       </property>
+       <property name="rightMargin">
+        <number>2</number>
+       </property>
+       <item>
+        <widget class="QLabel" name="label_2">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string>Edit object</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_6">
+         <property name="leftMargin">
+          <number>10</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>10</number>
+         </property>
+         <item>
+          <widget class="QComboBox" name="objectsBox">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="toolTip">
+            <string>Select an object for editing</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QTabWidget" name="tabWidget">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string/>
+         </property>
+         <property name="styleSheet">
+          <string/>
+         </property>
+         <property name="currentIndex">
+          <number>0</number>
+         </property>
+         <property name="usesScrollButtons">
+          <bool>false</bool>
+         </property>
+         <widget class="QWidget" name="appearanceTab">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <attribute name="title">
+           <string>Appearance</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="appearanceLayout">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>9</number>
+           </property>
+           <property name="bottomMargin">
+            <number>2</number>
+           </property>
+           <item>
+            <widget class="QWidget" name="defocusColorWidget" native="true">
+             <property name="styleSheet">
+              <string notr="true">margin-bottom: 11px;</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <property name="topMargin">
+               <number>0</number>
+              </property>
+              <property name="bottomMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QRadioButton" name="defocusButton">
+                <property name="toolTip">
+                 <string>Defocus the area of this object</string>
+                </property>
+                <property name="text">
+                 <string>Defocus</string>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QRadioButton" name="colorButton">
+                <property name="toolTip">
+                 <string>Fill this object with color and/or draw a border</string>
+                </property>
+                <property name="text">
+                 <string>Color</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QWidget" name="defocusWidget" native="true">
+             <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <property name="topMargin">
+               <number>0</number>
+              </property>
+              <property name="rightMargin">
+               <number>0</number>
+              </property>
+              <property name="bottomMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QLabel" name="label">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="text">
+                 <string>Defocus size:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="defocusSizeBox">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Set size of squares used for defocusing</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px; padding-left:5px</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QWidget" name="colorWidget" native="true">
+             <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0,0,0,0,0,0,0,0">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <property name="topMargin">
+               <number>0</number>
+              </property>
+              <property name="rightMargin">
+               <number>0</number>
+              </property>
+              <property name="bottomMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QLabel" name="shapeLabel">
+                <property name="text">
+                 <string>Shape:</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QComboBox" name="shapeBox">
+                <property name="toolTip">
+                 <string>Select a shape of this object</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px; padding-left:5px</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="drawLabel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="lineWidth">
+                 <number>1</number>
+                </property>
+                <property name="text">
+                 <string>Draw:</string>
+                </property>
+                <property name="scaledContents">
+                 <bool>false</bool>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="margin">
+                 <number>0</number>
+                </property>
+                <property name="indent">
+                 <number>-1</number>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QWidget" name="drawWidget" native="true">
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px;</string>
+                </property>
+                <layout class="QHBoxLayout" name="drawLayout">
+                 <property name="spacing">
+                  <number>6</number>
+                 </property>
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="topMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
+                 </property>
+                 <item>
+                  <widget class="QCheckBox" name="drawInsideBox">
+                   <property name="toolTip">
+                    <string>Fill this object with selected color</string>
+                   </property>
+                   <property name="text">
+                    <string>Fill</string>
+                   </property>
+                   <property name="checked">
+                    <bool>true</bool>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QCheckBox" name="drawBorderBox">
+                   <property name="toolTip">
+                    <string>Draw a border around this object</string>
+                   </property>
+                   <property name="text">
+                    <string>Border</string>
+                   </property>
+                   <property name="checked">
+                    <bool>true</bool>
+                   </property>
+                   <property name="tristate">
+                    <bool>false</bool>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="colorLabel">
+                <property name="text">
+                 <string>Color:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QComboBox" name="colorBox">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Select a color for this object</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px; padding-left:5px</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="borderThicknessLabel">
+                <property name="text">
+                 <string>Border thickness:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="borderThicknessBox">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Set border thickness for this object</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px; padding-left:5px</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="borderColorLabel">
+                <property name="text">
+                 <string>Border color:</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QComboBox" name="borderColorBox">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="toolTip">
+                 <string>Select border color for this object</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">margin-bottom: 11px; padding-left:5px</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QWidget" name="appearanceButtonsWidget" native="true">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <layout class="QHBoxLayout" name="propertiesButtonsLayout">
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <property name="topMargin">
+               <number>1</number>
+              </property>
+              <property name="rightMargin">
+               <number>0</number>
+              </property>
+              <property name="bottomMargin">
+               <number>0</number>
+              </property>
+              <item>
+               <widget class="QPushButton" name="saveAppearanceChangesButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="toolTip">
+                 <string>Save appearance changes of this object</string>
+                </property>
+                <property name="text">
+                 <string>Save changes</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="discardAppearanceChangesButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="toolTip">
+                 <string>Discard appearance changes for this object and restore its previous settings</string>
+                </property>
+                <property name="text">
+                 <string>Discard changes</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+          <zorder>appearanceButtonsWidget</zorder>
+          <zorder>defocusColorWidget</zorder>
+          <zorder>defocusWidget</zorder>
+          <zorder>colorWidget</zorder>
+         </widget>
+         <widget class="QWidget" name="anchorsTab">
+          <attribute name="title">
+           <string>Key points</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="anchorsLayout">
+           <item>
+            <widget class="QListWidget" name="anchorsWidget">
+             <property name="mouseTracking">
+              <bool>true</bool>
+             </property>
+             <property name="styleSheet">
+              <string notr="true">#anchorsWidget{
+color: rgb(167, 167, 167);
+}
+</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::Box</enum>
+             </property>
+             <property name="frameShadow">
+              <enum>QFrame::Plain</enum>
+             </property>
+             <property name="selectionMode">
+              <enum>QAbstractItemView::SingleSelection</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="addTrajectoryChangeButton">
+             <property name="toolTip">
+              <string>Change trajectory of this object</string>
+             </property>
+             <property name="text">
+              <string>Add trajectory change</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+         <widget class="QWidget" name="trajectoryTab">
+          <attribute name="title">
+           <string>Trajectory</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="trajectoryLayout">
+           <item>
+            <widget class="QListWidget" name="trajectoryWidget">
+             <property name="styleSheet">
+              <string notr="true">#trajectoryWidget{
+color: rgb(167, 167, 167);
+}
+</string>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::Box</enum>
+             </property>
+             <property name="frameShadow">
+              <enum>QFrame::Plain</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="computeTrajectoryButton">
+             <property name="toolTip">
+              <string>Compute all trajectory for this object</string>
+             </property>
+             <property name="text">
+              <string>Compute trajectory</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+         <widget class="QWidget" name="generalTab">
+          <attribute name="title">
+           <string>General</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="generalLayout">
+           <item>
+            <widget class="QPushButton" name="removeObjectButton">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="toolTip">
+              <string>Remove this object</string>
+             </property>
+             <property name="text">
+              <string>Remove</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="changeNameButton">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="toolTip">
+              <string>Change name of this object</string>
+             </property>
+             <property name="text">
+              <string>Change name</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="generalTabSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1079</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFile">
+    <property name="title">
+     <string>File</string>
+    </property>
+    <addaction name="actionLoadProject"/>
+    <addaction name="actionSaveProject"/>
+    <addaction name="separator"/>
+    <addaction name="actionOpenVideo"/>
+    <addaction name="actionCreateOutput"/>
+    <addaction name="separator"/>
+    <addaction name="actionQuit"/>
+   </widget>
+   <widget class="QMenu" name="menuLanguage">
+    <property name="title">
+     <string>Language / Jazyk</string>
+    </property>
+    <addaction name="actionCzech"/>
+    <addaction name="actionEnglish"/>
+   </widget>
+   <widget class="QMenu" name="menuPlayer">
+    <property name="title">
+     <string>Player</string>
+    </property>
+    <widget class="QMenu" name="menuSpeed">
+     <property name="title">
+      <string>Speed</string>
+     </property>
+     <addaction name="actionFaster"/>
+     <addaction name="actionOriginalSpeed"/>
+     <addaction name="actionSlower"/>
+    </widget>
+    <addaction name="actionPlay"/>
+    <addaction name="actionStop"/>
+    <addaction name="separator"/>
+    <addaction name="actionStepForward"/>
+    <addaction name="actionStepBack"/>
+    <addaction name="separator"/>
+    <addaction name="menuSpeed"/>
+   </widget>
+   <widget class="QMenu" name="menuObject">
+    <property name="title">
+     <string>Object</string>
+    </property>
+    <widget class="QMenu" name="menuTrajectory">
+     <property name="title">
+      <string>Trajectory</string>
+     </property>
+     <addaction name="actionComputeTrajectory"/>
+     <addaction name="actionChangeTrajectory"/>
+     <addaction name="actionChangeBeginning"/>
+     <addaction name="actionSetEndFrame"/>
+     <addaction name="actionVideoEnd"/>
+    </widget>
+    <addaction name="actionNewObject"/>
+    <addaction name="separator"/>
+    <addaction name="actionChangeName"/>
+    <addaction name="actionRemoveObject"/>
+    <addaction name="menuTrajectory"/>
+   </widget>
+   <widget class="QMenu" name="menuSettings">
+    <property name="title">
+     <string>Settings</string>
+    </property>
+    <addaction name="separator"/>
+    <addaction name="actionTime"/>
+    <addaction name="actionFrameNumbers"/>
+    <addaction name="separator"/>
+    <addaction name="actionShowOriginalVideo"/>
+   </widget>
+   <widget class="QMenu" name="menuHelp">
+    <property name="title">
+     <string>Help</string>
+    </property>
+    <addaction name="actionHelp"/>
+    <addaction name="actionAbout"/>
+   </widget>
+   <addaction name="menuFile"/>
+   <addaction name="menuPlayer"/>
+   <addaction name="menuObject"/>
+   <addaction name="menuSettings"/>
+   <addaction name="menuLanguage"/>
+   <addaction name="menuHelp"/>
+  </widget>
+  <action name="actionSaveProject">
+   <property name="text">
+    <string>Save project</string>
+   </property>
+   <property name="toolTip">
+    <string>Save this project to JSON or XML</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+S</string>
+   </property>
+  </action>
+  <action name="actionLoadProject">
+   <property name="text">
+    <string>Open project</string>
+   </property>
+   <property name="toolTip">
+    <string>Open a project in JSON or XML</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+L</string>
+   </property>
+  </action>
+  <action name="actionPlay">
+   <property name="text">
+    <string>Play / Pause</string>
+   </property>
+   <property name="toolTip">
+    <string>Play or pause the video</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+P</string>
+   </property>
+  </action>
+  <action name="actionPause">
+   <property name="text">
+    <string>Pause</string>
+   </property>
+  </action>
+  <action name="actionStop">
+   <property name="text">
+    <string>Stop</string>
+   </property>
+   <property name="toolTip">
+    <string>Stop the video</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Z</string>
+   </property>
+  </action>
+  <action name="actionFaster">
+   <property name="text">
+    <string>Play faster</string>
+   </property>
+   <property name="toolTip">
+    <string>Play the video faster</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Up</string>
+   </property>
+  </action>
+  <action name="actionOriginalSpeed">
+   <property name="text">
+    <string>Original speed</string>
+   </property>
+   <property name="toolTip">
+    <string>Set the video's original speed</string>
+   </property>
+  </action>
+  <action name="actionSlower">
+   <property name="text">
+    <string>Play slower</string>
+   </property>
+   <property name="toolTip">
+    <string>Play the video slower</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Down</string>
+   </property>
+  </action>
+  <action name="actionStepForward">
+   <property name="text">
+    <string>Step forward</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Right</string>
+   </property>
+  </action>
+  <action name="actionStepBack">
+   <property name="text">
+    <string>Step back</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Left</string>
+   </property>
+  </action>
+  <action name="actionCzech">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Čeština</string>
+   </property>
+  </action>
+  <action name="actionEnglish">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>English</string>
+   </property>
+  </action>
+  <action name="actionQuit">
+   <property name="text">
+    <string>Quit</string>
+   </property>
+   <property name="toolTip">
+    <string>Quit the application</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Q</string>
+   </property>
+  </action>
+  <action name="actionOpenVideo">
+   <property name="text">
+    <string>Open video</string>
+   </property>
+   <property name="toolTip">
+    <string>Open a video</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+O</string>
+   </property>
+  </action>
+  <action name="actionCreateOutput">
+   <property name="text">
+    <string>Save output video file</string>
+   </property>
+   <property name="toolTip">
+    <string>Save output video file</string>
+   </property>
+   <property name="statusTip">
+    <string/>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+U</string>
+   </property>
+  </action>
+  <action name="actionNewObject">
+   <property name="text">
+    <string>Track object</string>
+   </property>
+   <property name="toolTip">
+    <string>Add a new object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+A</string>
+   </property>
+  </action>
+  <action name="actionRemoveObject">
+   <property name="text">
+    <string>Remove</string>
+   </property>
+   <property name="toolTip">
+    <string>Remove this object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+R</string>
+   </property>
+  </action>
+  <action name="actionChangeName">
+   <property name="text">
+    <string>Change name</string>
+   </property>
+   <property name="toolTip">
+    <string>Change name of this object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+N</string>
+   </property>
+  </action>
+  <action name="actionChangeTrajectory">
+   <property name="text">
+    <string>Change trajectory</string>
+   </property>
+   <property name="toolTip">
+    <string>Change trajectory of this object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+T</string>
+   </property>
+  </action>
+  <action name="actionChangeBeginning">
+   <property name="text">
+    <string>Change beginning</string>
+   </property>
+   <property name="toolTip">
+    <string>Change the initial position of this object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+B</string>
+   </property>
+  </action>
+  <action name="actionSetEndFrame">
+   <property name="text">
+    <string>Set end of tracking</string>
+   </property>
+   <property name="toolTip">
+    <string>Set a frame where tracking for this object shall stop</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+E</string>
+   </property>
+  </action>
+  <action name="actionVideoEnd">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Set tracking till the end of the video</string>
+   </property>
+   <property name="toolTip">
+    <string>Set tracking till the end of the video for this object</string>
+   </property>
+  </action>
+  <action name="actionTime">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Show time values</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Shift+T</string>
+   </property>
+  </action>
+  <action name="actionFrameNumbers">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Show frame numbers</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Shift+N</string>
+   </property>
+  </action>
+  <action name="actionShowOriginalVideo">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Show original video</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Shift+H</string>
+   </property>
+  </action>
+  <action name="actionComputeTrajectory">
+   <property name="text">
+    <string>Compute trajectory</string>
+   </property>
+   <property name="toolTip">
+    <string>Compute all trajectory for this object</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Alt+O</string>
+   </property>
+  </action>
+  <action name="actionHelp">
+   <property name="text">
+    <string>Help contents</string>
+   </property>
+   <property name="shortcut">
+    <string>F1</string>
+   </property>
+  </action>
+  <action name="actionAbout">
+   <property name="text">
+    <string>About</string>
+   </property>
+  </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>TimeLabel</class>
+   <extends>QLabel</extends>
+   <header>timelabel.h</header>
+  </customwidget>
+  <customwidget>
+   <class>ImageLabel</class>
+   <extends>QLabel</extends>
+   <header>imagelabel.h</header>
+  </customwidget>
+  <customwidget>
+   <class>PlayerSlider</class>
+   <extends>QSlider</extends>
+   <header>playerslider.h</header>
+  </customwidget>
+  <customwidget>
+   <class>VideoWidget</class>
+   <extends>QWidget</extends>
+   <header>videowidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/Sources/objectshape.cpp b/Sources/objectshape.cpp
new file mode 100644
index 0000000..ea33131
--- /dev/null
+++ b/Sources/objectshape.cpp
@@ -0,0 +1,30 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      objectshape.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "objectshape.h"
+
+const unsigned ObjectShape::RECTANGLE = 1;
+const unsigned ObjectShape::ELLIPSE = 2;
diff --git a/Sources/objectshape.h b/Sources/objectshape.h
new file mode 100644
index 0000000..8e91a70
--- /dev/null
+++ b/Sources/objectshape.h
@@ -0,0 +1,36 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      objectshape.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef OBJECTSHAPE_H
+#define OBJECTSHAPE_H
+
+struct ObjectShape
+{
+    static const unsigned RECTANGLE;
+    static const unsigned ELLIPSE;
+};
+
+#endif // OBJECTSHAPE_H
diff --git a/Sources/playerslider.cpp b/Sources/playerslider.cpp
new file mode 100644
index 0000000..2ed423a
--- /dev/null
+++ b/Sources/playerslider.cpp
@@ -0,0 +1,128 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      playerslider.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "playerslider.h"
+
+#include <QDebug>
+
+PlayerSlider::PlayerSlider(QWidget *parent) : QSlider(parent)
+{
+
+}
+
+/* When mouse is pressed at a position different than the controller, signal with
+ * the position is emitted so that the video can jump to the frame.*/
+/**
+void PlayerSlider::mousePressEvent(QMouseEvent *event)
+{
+    // QSlider mousePressEvent needs to be called so that signals
+    // sliderPressed with sliderMoved are emitted correctly.
+    // It also sets flag SliderDown when the "controller" is pressed
+    // and therefore no further action is needed since the pressed position
+    // is the current one.
+    QSlider::mousePressEvent(event);
+    if (isSliderDown())
+        return;
+
+    if (event->button() == Qt::LeftButton)
+    {
+
+        int position;
+        double value = 0; //0-1
+        if (orientation() == Qt::Horizontal)
+            value = event->x() / static_cast<double>(width()-1);
+        else // ==Qt::Vertical
+            value = event->y() / static_cast<double>(height()-1);
+
+        // Position is more accurate when floor() is used at the beginning
+        // and ceil() at the end.
+        if (value < 0.3)
+            position = floor(minimum() + (maximum()-minimum()) * value);
+        else if (value > 0.7)
+            position = ceil(minimum() + (maximum()-minimum()) * value);
+        else
+            position = round(minimum() + (maximum()-minimum()) * value);
+
+        emit sliderMoved(position);
+
+        event->accept();
+    }
+
+}
+*/
+void PlayerSlider::mouseReleaseEvent(QMouseEvent *event)
+{
+    qDebug() << "clicked";
+    // QSlider mousePressEvent needs to be called so that signals
+    // sliderPressed with sliderMoved are emitted correctly.
+    // It also sets flag SliderDown when the "controller" is pressed
+    // and therefore no further action is needed since the pressed position
+    // is the current one.
+    QSlider::mouseReleaseEvent(event);
+    if (isSliderDown())
+        return;
+
+    if (event->button() == Qt::LeftButton)
+    {
+
+        long position;
+        double value = 0; //0-1
+        if (orientation() == Qt::Horizontal)
+            value = event->x() / static_cast<double>(width()-1);
+        else // ==Qt::Vertical
+            value = event->y() / static_cast<double>(height()-1);
+
+        // Position is more accurate when floor() is used at the beginning
+        // and ceil() at the end.
+        if (value < 0.3)
+            position = floor(minimum() + (maximum()-minimum()) * value);
+        else if (value > 0.7)
+            position = ceil(minimum() + (maximum()-minimum()) * value);
+        else
+            position = round(minimum() + (maximum()-minimum()) * value);
+
+        //unsigned long maximum = this->maximum();
+        //unsigned long minimum = this->minimum();
+
+        if (position > maximum())
+            position = maximum();
+        else if (position < minimum())
+            position = minimum();
+
+        qDebug() << "position" << position;
+        unsigned long returnPosition = position;
+        emit clicked(returnPosition);
+
+        event->accept();
+    }
+
+}
+
+PlayerSlider::~PlayerSlider()
+{
+
+}
+
diff --git a/Sources/playerslider.h b/Sources/playerslider.h
new file mode 100644
index 0000000..2234d66
--- /dev/null
+++ b/Sources/playerslider.h
@@ -0,0 +1,65 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      playerslider.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef PLAYERSLIDER_H
+#define PLAYERSLIDER_H
+
+#include <QSlider>
+#include <QMouseEvent>
+
+class PlayerSlider : public QSlider
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param parent Parent widget
+     */
+    explicit PlayerSlider(QWidget *parent = 0);
+
+    /**
+     * Destructor
+     */
+    ~PlayerSlider();
+
+protected:
+    /**
+     * Captures mouse release events to detect a mouse click that is processed
+     * and clicked signal is emitted.
+     * @param event Mouse event
+     */
+    void mouseReleaseEvent(QMouseEvent * event);
+
+signals:
+   /**
+    * When a click is detected, this signal send a position of the click.
+    * @param Position of the slider where the click was made
+    */
+   void clicked(unsigned long);
+
+};
+
+#endif // PLAYERSLIDER_H
diff --git a/Sources/selection.h b/Sources/selection.h
new file mode 100644
index 0000000..6d5aa16
--- /dev/null
+++ b/Sources/selection.h
@@ -0,0 +1,114 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      selection.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "objectshape.h"
+#include "colors.h"
+
+#include <cereal/types/utility.hpp>
+
+#ifndef SELECTION
+#define SELECTION
+
+struct Selection
+{
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(x), CEREAL_NVP(y), CEREAL_NVP(width), CEREAL_NVP(height), CEREAL_NVP(angle));
+    }
+
+    Selection() {  }
+
+    Selection (int x, int y, int width, int height, int angle=0) :
+        x(x),
+        y(y),
+        width(width),
+        height(height),
+        angle(angle)
+    { }
+
+    int x;
+    int y;
+    int width;
+    int height;
+    double angle; // todo: Should be double or int?
+};
+
+struct ObjectColor
+{
+    // CEREAL serialization
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(cereal::make_nvp("red", r), cereal::make_nvp("green", g), cereal::make_nvp("blue", b));
+    }
+
+    ObjectColor(): r(0), g(0), b(0) { } // default constructor
+    ObjectColor(int r, int g, int b): r(r), g(g), b(b) { } // default constructor int r;
+    int r;
+    int g;
+    int b;
+};
+
+struct Characteristics
+{ //    Characteristics(): shape(ObjectShape::RECTANGLE), color(0,0,0), colorName("Black"), borderColor(0,0,0), borderColorName("Black"), borderThickness(3) { }
+
+    // CEREAL serialization
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(shape), CEREAL_NVP(defocus), CEREAL_NVP(defocusSize), CEREAL_NVP(drawInside), CEREAL_NVP(color), CEREAL_NVP(colorID), CEREAL_NVP(drawBorder), CEREAL_NVP(borderColor), CEREAL_NVP(borderColorID), CEREAL_NVP(borderThickness));
+    }
+
+    // Default constructor
+    Characteristics(): shape(ObjectShape::RECTANGLE), defocus(false), defocusSize(20),
+            drawInside(true), color(ObjectColor(0, 0, 0)), colorID(Colors::BLACK),
+            drawBorder(true), borderColor(ObjectColor(0,0,0)), borderColorID(Colors::BLACK),
+            borderThickness(3) { }
+
+    // Constructor with arguments
+    Characteristics(unsigned int shape, bool defocus, unsigned int defocusSize, bool drawInside,
+                        ObjectColor color, unsigned int colorID, bool drawBorder, ObjectColor borderColor,
+                        unsigned int borderColorID, int borderThickness) :
+            shape(shape), defocus(defocus), defocusSize(defocusSize), drawInside(drawInside), color(color),
+            colorID(colorID), drawBorder(drawBorder), borderColor(borderColor), borderColorID(borderColorID),
+            borderThickness(borderThickness) { }
+
+    //ObjectShape shape;
+    unsigned int shape;
+    bool defocus;
+    unsigned int defocusSize;
+    bool drawInside;
+    ObjectColor color;
+    unsigned int colorID;
+    bool drawBorder;
+    ObjectColor borderColor;
+    unsigned int borderColorID;
+    int borderThickness;
+
+};
+
+#endif // SELECTION
diff --git a/Sources/timelabel.cpp b/Sources/timelabel.cpp
new file mode 100644
index 0000000..4bb6b99
--- /dev/null
+++ b/Sources/timelabel.cpp
@@ -0,0 +1,114 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      timelabel.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "timelabel.h"
+#include <QDebug>
+
+void TimeConversion::convert_time(Time &converted)
+{
+    converted.hr = converted.raw / ms2hr;
+    unsigned long rest = converted.raw % ms2hr;
+    converted.min = rest / ms2min;
+    rest %= ms2min;
+    //converted.sec = (rest % ms2min) / ms2sec;
+    converted.sec = rest / ms2sec;
+    converted.ms = rest % ms2sec;
+}
+
+void TimeConversion::Time2QString(Time const &time, QString &timeString, bool showHours)
+{
+
+    timeString = time.hr ? "%1:%2:%3.%4" : "%1:%2.%3";
+
+    if (showHours)
+        timeString = timeString.arg(time.hr);
+
+    timeString = timeString.arg(time.min, (showHours ? 2 : 1), 10, QChar('0'));
+
+    timeString = timeString.arg(time.sec, 2, 10, QChar('0')); // Second argument ~ number of digits
+    timeString = timeString.arg(time.ms/100, 1, 10, QChar('0')); // Second argument ~ number of digits
+}
+
+TimeLabel::TimeLabel(QWidget *parent) : QLabel(parent)
+{
+    showHours = true;
+    totalTime.raw = 0;
+    currentTime.raw = 0;
+}
+
+TimeLabel::~TimeLabel()
+{
+
+}
+
+
+void TimeLabel::set_total_time(const unsigned long &time)
+{
+    totalTime.raw = time;
+    convert_time(totalTime);
+
+    if (totalTime.hr)
+        showHours = true;
+    else
+        showHours = false;
+    Time2QString(totalTime, totalTimeString, showHours);
+}
+
+void TimeLabel::display_time(const unsigned long &time, bool includeTotal)
+{
+    currentTime.raw = time;
+    convert_time(currentTime);
+
+
+    if (currentTime.raw > totalTime.raw && currentTime.sec > totalTime.sec)
+    {
+        qDebug() << "Error: Current time is bigger than total time";
+        currentTime = totalTime;
+    }
+
+
+    Time2QString(currentTime, currentTimeString, showHours);
+ //   qDebug() << "Time current:" << currentTimeString;
+ //   qDebug() << "Time total:" << totalTimeString;
+
+    if (includeTotal)
+        setText(QString("%1 / %2").arg(currentTimeString).arg(totalTimeString));
+    else
+        setText(currentTimeString);
+}
+
+void TimeLabel::set_frame_count(unsigned long frameCount)
+{
+    totalFrameCount = frameCount;
+}
+
+void TimeLabel::display_frame_num(unsigned long frameNumber, bool includeTotal)
+{
+    if (includeTotal)
+        setText(QString("%1 / %2").arg(QString::number(frameNumber)).arg(QString::number(totalFrameCount)));
+    else
+        setText(QString::number(frameNumber));
+}
diff --git a/Sources/timelabel.h b/Sources/timelabel.h
new file mode 100644
index 0000000..971506e
--- /dev/null
+++ b/Sources/timelabel.h
@@ -0,0 +1,106 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      timelabel.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef TIMELABEL_H
+#define TIMELABEL_H
+
+#include <QLabel>
+
+namespace TimeConversion
+{
+    struct Time
+    {
+        unsigned long raw;
+        unsigned long hr;
+        unsigned long min;
+        unsigned long sec;
+        unsigned long ms;
+    };
+    static const unsigned long ms2hr = 3600000; // 1000*60*60 ms
+    static const unsigned long ms2min = 60000; // 1000*60 ms
+    static const unsigned long ms2sec = 1000; // 1000 ms
+
+    void convert_time(Time &converted);
+    void Time2QString(Time const &time, QString &timeString, bool showHours);
+
+}
+
+using namespace TimeConversion;
+
+class TimeLabel : public QLabel
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param parent Parent widget
+     */
+    explicit TimeLabel(QWidget *parent = 0);
+
+    /**
+     * Destructor
+     */
+    ~TimeLabel();
+
+    /**
+     * Sets the total video time.
+     * @param time Time in milliseconds
+     */
+    void set_total_time(const unsigned long &time);
+
+    /**
+     * Displays given time position with the total time.
+     * @param time Displayed time
+     * @param includeTotal If true, total length is also displayed.
+     */
+    void display_time(const unsigned long &time, bool includeTotal=true);
+
+    /**
+     * Sets the total number of frames.
+     * @param frameCount Number of frames
+     */
+    void set_frame_count(unsigned long frameCount);
+
+    /**
+     * Displays given frame number with the total number of frames.
+     * @param frameNumber Displayed frame number
+     * @param includeTotal If true, total number of frames is also displayed.
+     */
+    void display_frame_num(unsigned long frameNumber, bool includeTotal=true);
+private:
+
+private:
+    Time totalTime;
+    Time currentTime;
+    QString totalTimeString;
+    QString currentTimeString;
+    bool showHours;
+
+    unsigned long totalFrameCount;
+
+};
+
+#endif // TIMELABEL_H
diff --git a/Sources/trackedobject.cpp b/Sources/trackedobject.cpp
new file mode 100644
index 0000000..061f2b0
--- /dev/null
+++ b/Sources/trackedobject.cpp
@@ -0,0 +1,663 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trackedobject.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "trackedobject.h"
+#include <QDebug>
+#include "objectshape.h"
+
+// Only currentSection can have initialized trackingAlgorithm so as memory can be correctly freed
+
+TrackedObject::TrackedObject()
+{ // CEREAL uses this constructor
+    endTimestampSet = false;
+    currentSection = nullptr;
+    nextSection = false;
+    allProcessed = false;
+    qDebug() << "new trackedObject";
+}
+
+TrackedObject::TrackedObject(const Characteristics &appearance, std::string objectName, int64_t initialTimestamp,
+                             Selection initialPosition, unsigned long initialTimePosition, unsigned long initialFrameNumber,
+                             bool endTimestampSet, int64_t endTimestamp, unsigned long endTimePosition,
+                             unsigned long endFrameNumber) :
+    name(objectName),
+    appearance(appearance),
+    initialTimestamp(initialTimestamp),
+    //initialPosition(initialPosition),
+    endTimestampSet(endTimestampSet),
+    endTimestamp(endTimestamp),
+    endTimePosition(endTimePosition),
+    endFrameNumber(endFrameNumber)
+{
+    add_section(initialTimestamp, initialPosition, initialTimePosition, initialFrameNumber);
+
+    currentSection = nullptr;
+    nextSection = false;
+    allProcessed = false;
+    //lastProcessedTimestamp = -1;
+    //lastProcessedTimestamp = VIDEOTRACKING_NOTHING_PROCESSED;
+}
+
+TrackedObject::~TrackedObject()
+{
+    for (auto &section: trajectorySections)
+    {
+        if (section.second.trackingAlgorithm)
+        {// if there is initialized trackingAlgorithm, free its memory
+         // this should occur only with currentSection
+            delete section.second.trackingAlgorithm;
+            section.second.trackingAlgorithm = nullptr;
+        }
+    }
+/**
+    if (trackingAlgorithm)
+    { // was it already initialized (by initialize_section)?
+        delete trackingAlgorithm;
+        trackingAlgorithm = nullptr;
+    }
+
+    */
+}
+
+void TrackedObject::add_section(int64_t initialTimestamp, Selection const &initialPosition, unsigned long initialTimePosition, unsigned long initialFrameNumber)
+{
+
+    TrajectorySection newSection(initialPosition, initialTimestamp, initialTimePosition, initialFrameNumber);
+
+    trajectorySections.insert({initialTimestamp, newSection});
+
+}
+
+// If oldTimeSet==true, oldTimestamp is valid and updating is done, otherwise adding is done
+bool TrackedObject::set_trajectory_section(int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber)
+{
+    if (endTimestampSet && endTimestamp < newTimestamp)
+        return false; // Section cannot begin after the end of the tracking period
+    else if (trajectorySections.find(newTimestamp) != trajectorySections.end())
+    {   // Section with this timestamp already exists
+        // Change that section instead of creating a new one
+        qDebug() << "set_trajectory_section calls change_trajectory_section";
+        return change_trajectory_section(newTimestamp, newTimestamp, position, timePosition, frameNumber);
+    }
+
+    add_section(newTimestamp, position, timePosition, frameNumber);
+
+    allProcessed = false;
+    int64_t lastProcessedTimestamp;
+    bool lastProcessedTimestampSet = get_last_processed_timestamp(lastProcessedTimestamp);
+
+    if (newTimestamp < initialTimestamp)
+    { // delete current and delete all trajectory => DONE
+        initialTimestamp = newTimestamp;
+        trajectory.clear();
+    }
+    else if ((newTimestamp < initialTimestamp) || // This section begins before the BEGINNING section. Therefore, set this section as beginning.
+             (lastProcessedTimestampSet && newTimestamp <= lastProcessedTimestamp))
+    {
+
+        if (currentSection)
+        { // Unset it
+            if (currentSection->trackingAlgorithm)
+            {
+                delete currentSection->trackingAlgorithm;
+                currentSection->trackingAlgorithm = nullptr;
+            }
+            currentSection = nullptr;
+            nextSection = false;
+        }
+
+        if (newTimestamp < initialTimestamp)
+        {
+            initialTimestamp = newTimestamp;
+            trajectory.clear();
+        }
+        else // (lastProcessedTimestampSet && newTimestamp <= lastProcessedTimestamp)
+        {
+            // delete all >=newTimestamp
+            trajectory.erase(trajectory.find(newTimestamp), trajectory.end());
+        }
+
+    }
+    else
+    { // newTimestamp > LASTPROCESSEDTIMESTAMP
+        // No need to unset currentSection or delete anything from trajectory.
+        // The currently processed frame is before this section.
+        // Only nextSectionTimestamp may need to be updated if the newly added section is the next one.
+
+        // The newly added is already in trajectorySections, so let it find the appropriate one itself
+        auto nextSectionIterator = trajectorySections.upper_bound(currentSection->initialTimestamp);
+        if (nextSectionIterator != trajectorySections.end())
+        {
+            nextSection = true;
+            nextSectionTimestamp = nextSectionIterator->first;
+        }
+        else
+            nextSection = false;
+    }
+
+    return true;
+}
+
+bool TrackedObject::change_trajectory_section(int64_t oldTimestamp, int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber)
+{
+    // The oldTimestamp needs to exist
+    assert(trajectorySections.find(oldTimestamp) != trajectorySections.end());
+
+    if (endTimestampSet && endTimestamp < newTimestamp)
+        return false; // Section cannot begin after the end of the tracking period
+
+    // currentSection will be unset, therefore trackingAlgorithm deletion is needed
+    if (currentSection && currentSection->trackingAlgorithm)
+    { // if currentSection is set and has initialized trackingAlgorithm, delete the trackingAlgorithm
+      // as it is not needed anymore; if needed, it would get initialized again
+
+        trajectory.erase(trajectory.find(currentSection->initialTimestamp), trajectory.end()); // Clear all the trajectory from Current section initial timestamp till the end
+        delete currentSection->trackingAlgorithm;
+        currentSection->trackingAlgorithm = nullptr;
+    }
+
+    currentSection = nullptr; // let track_next() to find correct currentSection and nextSection
+    nextSection = false;
+    allProcessed = false;
+
+    auto oldSection = trajectorySections.find(oldTimestamp);
+
+    if (oldSection == trajectorySections.begin())
+    { // The Beginning section is being changed
+
+        assert(initialTimestamp == oldTimestamp);
+
+        trajectory.clear(); // All trajectory will be counted from the beginning
+
+        // Delete all trajectory changes (sections) that occur before this section as this is the beginning.
+        // This situation happens when user moves the Beginning forward while some Section was
+        // defined on some position between the old Beginning and the new one.
+        trajectorySections.erase(trajectorySections.begin(), trajectorySections.find(newTimestamp));
+
+        initialTimestamp = newTimestamp;
+
+    }
+    else
+    { // Trajectory change section is being change, not Beginning
+        trajectory.erase(trajectory.find(newTimestamp), trajectory.end()); // Clear all the trajectory from the timestamp at which the section begins till the end
+
+        if (newTimestamp < initialTimestamp) // This section begins before the BEGINNING section. Therefore, set this section as beginning.
+            initialTimestamp = newTimestamp;
+
+        if (oldTimestamp < newTimestamp)
+        { // Section is updated to begin later
+
+            // V tomhle pripade je treba, aby bylo z trajectory odstraneno vsechno pocinaje
+            // zacatku PREDCHOZI sekce od oldTimestamp. To z toho duvodu, ze od oldTimestamp
+            // je treba prepocitat novou trajektorii. Vzhledem k tomu, ze zadna sekce na snimku
+            // oldTimestamp nezacina (ta soucasna se meni ne currentTimestamp), tak je treba pozici
+            // objektu vypocitat pomoci trackingAlgorithm predchozi sekce. Ten vsak musi byt
+            // inicializovan a proto musi probehnout od zacatku. Z toho duvodu se maze vse od
+            // zacatku teto predchozi sekce.
+
+            // If oldSection was trajectorySections.begin(), decreasing the iterator would cause
+            // undefined behaviour. However, this branche secures that this cannot happen.
+            trajectory.erase(trajectory.find((--oldSection)->first), trajectory.end());
+        }
+
+    }
+
+    trajectorySections.erase(oldTimestamp);
+
+    if (trajectorySections.find(newTimestamp) != trajectorySections.end())
+    {   // Section with this timestamp already exists
+        // Call change_trajectory_section to replace the old section by this new one
+        qDebug() << "change_trajectory_section(): Section with given timestamp exists. Thus, the old one was deleted.";
+        return change_trajectory_section(newTimestamp, newTimestamp, position, timePosition, frameNumber);
+    }
+
+    add_section(newTimestamp, position, timePosition, frameNumber);
+
+    return true;
+}
+
+/* If false return: Beginning section cannot be deleted */
+bool TrackedObject::delete_trajectory_section(int64_t timestamp)
+{
+    if (timestamp == initialTimestamp) // Beginning section cannot be deleted
+    {
+        qDebug() << "Beginning section cannot be deleted";
+        return false;
+    }
+
+    if (currentSection && (currentSection->initialTimestamp >= timestamp))
+    { // This trajectorySection will be erased below(==timestamp) or
+      // takes place after the section being deleted(>timestamp), therefore needs to be unset
+        if (currentSection->trackingAlgorithm)
+        {
+            delete currentSection->trackingAlgorithm;
+            currentSection->trackingAlgorithm = nullptr;
+        }
+
+        currentSection = nullptr;
+        nextSection = false;
+    }
+    else if (nextSection && nextSectionTimestamp == timestamp)
+    {   // The deleted section should have been the next section.
+        // Set the following section or false if no later section exists.
+
+        auto nextSectionIterator = trajectorySections.upper_bound(timestamp);
+        if (nextSectionIterator != trajectorySections.end())
+        {
+            nextSection = true;
+            nextSectionTimestamp = nextSectionIterator->first;
+        }
+        else
+            nextSection = false;
+    }
+    allProcessed = false;
+
+    // previousSection always exists as Beginning section cannot be deleted.
+    auto previousSection = --(trajectorySections.find(timestamp));
+    trajectorySections.erase(timestamp);
+
+    // Remove all entries that exist for frames at timestamps higher than the beginning
+    // of the PREVIOUS section. It is needed so the trackingAlgorithm from the previous section
+    // goes from its beginning to have the correct data. Thereby, the deleted trajectory will be recounted.
+    trajectory.erase(trajectory.find(previousSection->first), trajectory.end());
+
+    return true;
+}
+
+/* If set==false, the end frame will be unset and the object will be tracked till the end of the video
+ * newTimestamp and timePosition are valid only if set==true
+ * Returns false when given timestamp is lower than the timestamp of Beginning
+ */
+bool TrackedObject::change_end_frame(bool set, int64_t timestamp, unsigned long timePosition, unsigned long frameNumber)
+{
+    if (!set)
+    { // Tracking till the end of the video
+
+        if (allProcessed)
+        {   // All frames were processed, but now the length is extended.
+            // Delete trajectory from the last section's initial timestamp till the end so the
+            // tracking algorithm has the right values.
+
+            trajectory.erase(trajectory.find(trajectorySections.rbegin()->first), trajectory.end());
+
+        }
+
+        endTimestampSet = false;
+        allProcessed = false;
+    }
+    else
+    { // End timestamp is set
+        if (timestamp < initialTimestamp)// given timestamp is lower than the timestamp of Beginning -> Not valid
+            return false;
+
+        if (allProcessed && timestamp > endTimestamp)
+        {   // All frames were processed, but now the length is extended.
+            // Delete trajectory from the last section's initial timestamp till the end so the
+            // tracking algorithm has the right values.
+
+            trajectory.erase(trajectory.find(trajectorySections.rbegin()->first), trajectory.end());
+
+        }
+
+        allProcessed = false;
+
+        endTimestampSet = true;
+        endTimestamp = timestamp;
+
+        endTimePosition = timePosition;
+        endFrameNumber = frameNumber;
+
+        // Remove all entries that exist for frames at timestamps higher than the end timestamp
+        trajectory.erase(trajectory.upper_bound(timestamp), trajectory.end());
+
+        if (currentSection && (currentSection->initialTimestamp > timestamp) && currentSection->trackingAlgorithm)
+        { // This trajectorySection will be erased below, therefore needs to be unset
+            delete currentSection->trackingAlgorithm;
+            currentSection->trackingAlgorithm = nullptr;
+            currentSection = nullptr;
+            nextSection = false;
+        }
+
+        if (nextSection && (nextSectionTimestamp > endTimestamp)) // If there is a next section that is later than the end timestamp
+            nextSection = false;
+
+        // Remove all sections (trajectory changes) that have timestamp higher than the end timestamp
+        trajectorySections.erase(trajectorySections.upper_bound(timestamp), trajectorySections.end());
+
+
+        if (trajectory.find(timestamp) != trajectory.end())
+        { // "trajectory" contains positions throughout all the object live; thus, everything is processed
+            set_all_processed(true);
+        }
+
+
+    }
+
+    return true;
+}
+
+void TrackedObject::change_appearance(Characteristics const &newAppearance)
+{
+    appearance = newAppearance;
+}
+
+Characteristics TrackedObject::get_appearance() const
+{
+    return appearance;
+}
+
+//Selection TrackedObject::track_next(cv::Mat const &frame, int64_t timestamp)
+
+// All changes to trajectorySections make currentSection==nullptr and nextSection=false, so
+// track_next() needs to find appropriate values
+Selection TrackedObject::track_next(VideoFrame const *frame)
+{
+    if (!currentSection || (nextSection && frame->get_timestamp() >= nextSectionTimestamp))
+    { // Enters new section
+      // Close old section and initialize a new one.
+
+        int64_t currentSectionTimestamp;
+        if (!currentSection)
+        { // First section or change to trajectorySections was made
+            if (trajectory.begin() == trajectory.end())
+            { // Nothing is processed, set Beginning section
+                auto trajectoryIterator = trajectorySections.begin();
+                currentSection = &(trajectoryIterator->second);
+
+                currentSectionTimestamp = trajectoryIterator->first; // Is later used to count the nextSectionTimestamp
+            }
+            else
+            {
+                int64_t lastProcessed = trajectory.rbegin()->first;
+
+                // Find section that begins after the last processed frame.
+                // That should be the next frame. If not - entries would be missing
+                // and that would cause an error.
+                auto trajectoryIterator = trajectorySections.upper_bound(lastProcessed);
+                currentSection = &(trajectoryIterator->second);
+                currentSectionTimestamp = trajectoryIterator->first;
+
+            }
+        }
+        else
+        { // currentSection was set
+            // Entering next section
+            if (currentSection->trackingAlgorithm)
+            { // delete the trackingAlgorithm as it is not needed anymore;
+              // if needed, it would get initialized again
+                delete currentSection->trackingAlgorithm;
+                currentSection->trackingAlgorithm = nullptr;
+            }
+            currentSection = &(trajectorySections[nextSectionTimestamp]);
+            currentSectionTimestamp = nextSectionTimestamp;
+        }
+
+        auto nextSectionIterator = trajectorySections.upper_bound(currentSectionTimestamp);
+        if (nextSectionIterator != trajectorySections.end())
+        {
+            nextSection = true;
+            nextSectionTimestamp = nextSectionIterator->first;
+        }
+        else
+            nextSection = false;
+
+        // Now initialize the new section's tracking algorithm
+        Selection centerizedPosition;
+
+
+        currentSection->trackingAlgorithm = new TrackingAlgorithm(*(frame->get_mat_frame()),
+                                                            currentSection->initialPosition, centerizedPosition);
+
+        trajectory[frame->get_timestamp()] = TrajectoryEntry(centerizedPosition, frame->get_time_position(), frame->get_frame_number());
+
+        return centerizedPosition;
+    }
+
+    Selection result = currentSection->trackingAlgorithm->track_next_frame(*(frame->get_mat_frame()));
+
+    trajectory[frame->get_timestamp()] = TrajectoryEntry(result, frame->get_time_position(), frame->get_frame_number());
+
+
+    int64_t lastProcessedTimestamp;
+    if (endTimestampSet && get_last_processed_timestamp(lastProcessedTimestamp) && lastProcessedTimestamp == endTimestamp)
+    {
+        set_all_processed(true);
+    }
+
+    return result;
+}
+
+bool TrackedObject::get_position(int64_t timestamp, Selection &trackedPosition) const
+{
+    try
+    {
+        trackedPosition = trajectory.at(timestamp).position; // Throws an exception, when trajectory with given timestamp does not exist
+    } catch (std::out_of_range) {
+        return false;
+    }
+
+    return true;
+}
+
+bool TrackedObject::draw_mark(cv::Mat &frame, cv::Mat const &originalFrame, int64_t timestamp) const
+{
+    //qDebug()<< "Draw mark";
+
+    Selection position;
+    try
+    {
+        position = trajectory.at(timestamp).position; // Throws an exception, when trajectory with given timestamp does not exist
+    } catch (std::out_of_range) {
+        return false;
+    }
+
+    if (appearance.defocus)
+    {
+        assert(appearance.defocusSize > 0);
+
+        //cv::Mat3b roiMat = imgMat(cv::Rect(hSt,vSt,hEn,vEn));
+        unsigned long x = position.x - position.width/2;
+        unsigned long y = position.y - position.height/2;
+        unsigned long xMax = position.width + x;
+        unsigned long yMax = position.height + y;
+
+        // This secures valid values
+        unsigned long cols = frame.cols;
+        unsigned long rows = frame.rows;
+        if (xMax > cols)
+            xMax = cols;
+        if (yMax > rows)
+            yMax = rows;
+
+        unsigned long i, j;
+        unsigned long currentSquareWidth, currentSquareHeight;
+        cv::Rect roiRect;
+        cv::Mat roi;
+        cv::Scalar mean;
+        for (i=x; i < xMax; i+=appearance.defocusSize)
+        {
+            for (j=y; j < yMax; j+=appearance.defocusSize)
+            {
+                currentSquareWidth = appearance.defocusSize;
+                currentSquareHeight = appearance.defocusSize;
+
+                if (i+currentSquareWidth > xMax) // Do not cross the object's border
+                    currentSquareWidth = xMax - i;
+
+                if (j+currentSquareHeight > yMax) // Do not cross the object's border
+                    currentSquareHeight = yMax - j;
+
+                // Width and height must not be 0 for roi to be created
+                if (currentSquareWidth > 0 && currentSquareHeight > 0)
+                {
+                    roiRect = cv::Rect(i, j, currentSquareWidth, currentSquareHeight);
+                    roi = originalFrame(roiRect); // originalFrame is used so as it does not involve other tracked objects
+                    mean = cv::mean(roi);
+                    cv::rectangle(frame, roiRect, mean, CV_FILLED);
+                }
+            }
+        }
+
+    }
+    else // Fill and/or border; not defocus
+    {
+        cv::RotatedRect rectangle = cv::RotatedRect(cv::Point2f(position.x, position.y), cv::Size2f(position.width, position.height), position.angle);
+
+        // Important note: OpenCV uses BGR, not RGB
+        cv::Scalar borderColor(appearance.borderColor.b, appearance.borderColor.g, appearance.borderColor.r);
+        cv::Scalar color(appearance.color.b, appearance.color.g, appearance.color.r);
+
+        if (appearance.shape == ObjectShape::RECTANGLE)
+        {
+            cv::Point2f vertices2f[4];
+            cv::Point vertices[4];
+            rectangle.points(vertices2f);
+            for (int i = 0; i < 4; i++)
+                vertices[i] = vertices2f[i];
+
+            if (appearance.drawInside)
+                cv::fillConvexPoly(frame, vertices, 4, color);
+
+
+            if (appearance.drawBorder && appearance.borderThickness > 0)
+            {
+                for (int i = 0; i < 4; i++)
+                    cv::line(frame, vertices2f[i], vertices2f[(i+1)%4], borderColor, appearance.borderThickness, CV_AA);
+            }
+        }
+        else if (appearance.shape == ObjectShape::ELLIPSE)
+        {
+            if (appearance.drawInside)
+                cv::ellipse(frame,rectangle, color, -1);
+
+            if (appearance.drawBorder && appearance.borderThickness > 0)
+                cv::ellipse(frame,rectangle, borderColor, appearance.borderThickness);
+
+        }
+    }
+
+    return true;
+}
+
+std::map<int64_t, TrajectorySection> const &TrackedObject::get_trajectory_sections() const
+{
+    return trajectorySections;
+}
+
+std::map<int64_t, TrajectoryEntry> const &TrackedObject::get_trajectory() const
+{
+    return trajectory;
+}
+
+int64_t TrackedObject::get_initial_timestamp() const
+{
+    return initialTimestamp;
+}
+
+int64_t TrackedObject::get_end_timestamp() const
+{
+    return endTimestamp;
+}
+
+unsigned long TrackedObject::get_end_time_position() const
+{
+    return endTimePosition;
+}
+
+unsigned long TrackedObject::get_end_frame_number() const
+{
+    return endFrameNumber;
+}
+
+//int64_t TrackedObject::get_last_processed_timestamp() const
+
+/* If false is returned, timestamp is not valid */
+bool TrackedObject::get_last_processed_timestamp(int64_t &timestamp) const
+{
+    if (trajectory.begin() == trajectory.end())
+    {
+        qDebug() << "Trajectory is empty";
+        return false;
+    }
+
+    timestamp = trajectory.rbegin()->first;
+    return true;
+    //return lastProcessedTimestamp;
+}
+
+void TrackedObject::set_all_processed(bool processed)
+{
+    allProcessed = processed;
+    //qDebug() << "all processed set";
+
+    if (processed == true)
+    {
+        if (currentSection && currentSection->trackingAlgorithm)
+        { // if currentSection is set and has initialized trackingAlgorithm, delete the trackingAlgorithm
+          // as it is not needed anymore; if needed, it would get initialized again
+            delete currentSection->trackingAlgorithm;
+            currentSection->trackingAlgorithm = nullptr;
+        }
+        currentSection = nullptr;
+        nextSection = false;
+    }
+}
+
+bool TrackedObject::is_all_processed() const
+{
+    return allProcessed;
+}
+
+bool TrackedObject::is_end_timestamp_set() const
+{
+    return endTimestampSet;
+}
+
+std::string TrackedObject::get_name() const
+{
+    return name;
+}
+
+bool TrackedObject::set_name(std::string newName)
+{
+    name = newName;
+
+    return true;
+}
+
+void TrackedObject::erase_trajectory_to_comply()
+{
+    if (allProcessed) // Everything is already processed, sections are not needed anymore
+        return;
+
+    int64_t lastProcessedTimestamp;
+    if (!get_last_processed_timestamp(lastProcessedTimestamp))
+        return; // Nothing processed -> nothing to be erased
+
+    auto section = --(trajectorySections.upper_bound(lastProcessedTimestamp));
+
+    trajectory.erase(trajectory.find(section->second.initialTimestamp), trajectory.end()); // Clear all the trajectory from Current section initial timestamp till the end
+}
diff --git a/Sources/trackedobject.h b/Sources/trackedobject.h
new file mode 100644
index 0000000..1f43801
--- /dev/null
+++ b/Sources/trackedobject.h
@@ -0,0 +1,361 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trackedobject.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef TRACKEDOBJECT_H
+#define TRACKEDOBJECT_H
+
+#include "trackingalgorithm.h"
+#include "videoframe.h"
+
+#include "selection.h"
+
+#include <QDebug>
+
+#include <cereal/types/string.hpp>
+#include <cereal/types/map.hpp>
+#include <cereal/types/tuple.hpp>
+
+#include <opencv/cv.h>
+#include <opencv/cvaux.h>
+#include <opencv/cxcore.h>
+#include <opencv/highgui.h>
+#include <opencv2/imgproc.hpp>
+
+/**
+#define VIDEOTRACKING_END_OF_VIDEO -1
+#define VIDEOTRACKING_ALL_PROCESSED -1
+#define VIDEOTRACKING_NOTHING_PROCESSED -2
+#define VIDEOTRACKING_NO_PREVIOUS_TIMESTAMP -3 // In case other function than VideoTracker::get_next_frame() is used
+*/
+
+
+struct TrajectorySection
+{
+    /**
+     * CEREAL serialization
+     */
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(initialPosition), CEREAL_NVP(initialTimestamp),
+                CEREAL_NVP(initialTimePosition), CEREAL_NVP(initialFrameNumber));
+    }
+
+    /**
+     * Constructor
+     */
+    TrajectorySection()
+    {
+        trackingAlgorithm = nullptr;
+    }
+
+    /**
+     * Constructor
+     * @param initialPosition Initial object position
+     * @param initialTimestamp
+     * @param initialTimePosition
+     * @param initialFrameNumber
+     */
+    TrajectorySection(Selection initialPosition, int64_t initialTimestamp,
+                      unsigned long initialTimePosition, unsigned long initialFrameNumber) :
+        initialPosition(initialPosition),
+        initialTimestamp(initialTimestamp),
+        initialTimePosition(initialTimePosition),
+        initialFrameNumber(initialFrameNumber)
+    {
+        trackingAlgorithm = nullptr;
+    }
+
+    Selection initialPosition;
+    int64_t initialTimestamp;
+    unsigned long initialTimePosition;
+    unsigned long initialFrameNumber;
+    TrackingAlgorithm *trackingAlgorithm;
+//    bool algorithmInitialized;
+};
+
+struct TrajectoryEntry
+{
+    /**
+     * CEREAL serialization
+     */
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(position), CEREAL_NVP(timePosition), CEREAL_NVP(frameNumber));
+    }
+
+    /**
+     * Constructor
+     */
+    TrajectoryEntry() { }
+
+    /**
+     * Constructor
+     * @param position Object position
+     * @param timePosition
+     * @param frameNumber
+     */
+    TrajectoryEntry(Selection position, unsigned long timePosition, unsigned long frameNumber) :
+        position(position),
+        timePosition(timePosition),
+        frameNumber(frameNumber)
+    { }
+
+    Selection position;
+    unsigned long timePosition;
+    unsigned long frameNumber;
+
+};
+
+class TrackedObject
+{
+
+public:
+    /**
+     * CEREAL serialization
+     */
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(name), CEREAL_NVP(appearance), CEREAL_NVP(initialTimestamp),
+                CEREAL_NVP(endTimestampSet), CEREAL_NVP(endTimestamp), CEREAL_NVP(endTimePosition),
+                CEREAL_NVP(endFrameNumber), CEREAL_NVP(trajectorySections), CEREAL_NVP(allProcessed),
+                CEREAL_NVP(trajectory));
+    }
+
+    /**
+     * Constructor
+     */
+    TrackedObject();
+
+    /**
+     * Constructor
+     * @param appearance Object appearance
+     * @param objectName Object name
+     * @param initialTimestamp Initial timestamp
+     * @param initialPosition Initial object position
+     * @param initialTimePosition Initial time position
+     * @param initialFrameNumber Initial frame number
+     * @param endTimestampSet Is end timestamp set?
+     * @param endTimestamp End timestamp
+     * @param endTimePosition End time position
+     * @param endFrameNumber End frame number
+     */
+    TrackedObject(Characteristics const &appearance, std::string objectName, int64_t initialTimestamp,
+                  Selection initialPosition, unsigned long initialTimePosition, unsigned long initialFrameNumber,
+                  bool endTimestampSet, int64_t endTimestamp, unsigned long endTimePosition,
+                  unsigned long endFrameNumber);
+
+    /**
+     * Destructor
+     */
+    ~TrackedObject();
+
+    /**
+     * Adds a trajectory section of the object
+     * @param initialTimestamp Initial timestamp of the section
+     * @param initialPosition Object position at the initial timestamp
+     * @param initialTimePosition Initial time position of the section
+     * @param initialFrameNumber Initial frame number of the section
+     */
+    void add_section(int64_t initialTimestamp, Selection const &initialPosition, unsigned long initialTimePosition, unsigned long initialFrameNumber);
+
+    /**
+     * Sets a trajectory section of the object.
+     * @param newTimestamp New timestamp of the section
+     * @param position Object position at the first frame of the section
+     * @param timePosition Time position of the section
+     * @param frameNumber Frame number of the section
+     * @return True if successful
+     */
+    bool set_trajectory_section(int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber);
+
+    /**
+     * Changes a trajectory section of the object.
+     * @param oldTimestamp Old timestamp of the section
+     * @param newTimestamp New timestamp of the section
+     * @param position Object position at the first frame of the section
+     * @param timePosition Time position of the section
+     * @param frameNumber Frame number of the section
+     * @return True if successful
+     */
+    bool change_trajectory_section(int64_t oldTimestamp, int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber);
+
+    /**
+     * Changes the end frame of the object.
+     * @param set Set / unset last frame
+     * @param timestamp Timestamp of the last frame
+     * @param timePosition Time position of the last frame
+     * @param frameNumber Frame number of the last frame
+     * @return True if successful
+     */
+    bool change_end_frame(bool set, int64_t timestamp=0, unsigned long timePosition=0, unsigned long frameNumber=0);
+
+    /**
+     * Changes appearance of the object.
+     * @param newAppearance New appearance of the object
+     */
+    void change_appearance(Characteristics const &newAppearance);
+
+    /**
+     * Returns appearance of the object.
+     * @return Object appearance
+     */
+    Characteristics get_appearance() const;
+
+    /**
+     * Returns position of the object at frame with given timestamp.
+     * @param timestamp Frame timestamp
+     * @param trackedPosition Returned object position
+     * @return False if trajectory with given timestamp does not exist, otherwise true.
+     */
+    bool get_position(int64_t timestamp, Selection &trackedPosition) const;
+
+    /**
+     * Computes position of the object in the next frame.
+     * @param frame Next frame
+     * @return Tracked object position
+     */
+    Selection track_next(VideoFrame const *frame);
+
+    /**
+     * Draws mark of the object in a frame.
+     * @param frame Frame for drawing
+     * @param originalFrame Original frame
+     * @param timestamp Timestamp of the frame
+     * @return True if successful
+     */
+    bool draw_mark(cv::Mat &frame, cv::Mat const &originalFrame, int64_t timestamp) const;
+
+    /**
+     * Returns trajectory sections of the object.
+     * @return Trajectory section of the object
+     */
+    std::map<int64_t, TrajectorySection> const &get_trajectory_sections() const;
+
+    /**
+     * Returns computed trajectory of the object.
+     * @return Trajectory of the object
+     */
+    std::map<int64_t, TrajectoryEntry> const &get_trajectory() const;
+
+    /**
+     * Returns initial timestamp.
+     * @return initial timestamp
+     */
+    int64_t get_initial_timestamp() const;
+
+    /**
+     * Returns end timestamp.
+     * @return End timestamp
+     */
+    int64_t get_end_timestamp() const;
+
+    /**
+     * Returns end time position.
+     * @return End time position
+     */
+    unsigned long get_end_time_position() const;
+
+    /**
+     * Returns end frame number.
+     * @return End frame number
+     */
+    unsigned long get_end_frame_number() const;
+
+    /**
+     * Returns last processed timestamp.
+     * @param timestamp Returned last processed timestamp
+     * @return Is returned timestamp valid?
+     */
+    bool get_last_processed_timestamp(int64_t &timestamp) const;
+
+    /**
+     * Sets value of the flag saying whether all trajectory is processed.
+     * @param processed Set / unset
+     */
+    void set_all_processed(bool processed);
+
+    /**
+     * Returns whether all trajectory is processed.
+     * @return Is all trajectory processed?
+     */
+    bool is_all_processed() const;
+
+    /**
+     * Returns whether the end timestamp is set.
+     * @return Is end timestamp set?
+     */
+    bool is_end_timestamp_set() const;
+
+    /**
+     * Deletes a trajectory section.
+     * @param timestamp Trajectory section to be deleted begins at this timestamp
+     * @return True if successful
+     */
+    bool delete_trajectory_section(int64_t timestamp);
+
+    /**
+     * Returns name of the object.
+     * @return  Object name
+     */
+    std::string get_name() const;
+
+    /**
+     * Sets name of the object.
+     * @param newName New object name
+     * @return True if successful
+     */
+    bool set_name(std::string newName);
+
+    /**
+     * Erases a part of the computed trajectory. This is necessary after deserialization (with CEREAL)
+     * as track_next() initializes correct sections only when the trajectory's last frame is the last
+     * frame of the previous section.
+     */
+    void erase_trajectory_to_comply();
+
+private:
+    std::string name;
+    Characteristics appearance;
+
+    int64_t initialTimestamp;
+    bool endTimestampSet; // if FALSE -> track till the end of the video
+    int64_t endTimestamp;
+    unsigned long endTimePosition;
+    unsigned long endFrameNumber;
+
+    std::map<int64_t, TrajectorySection> trajectorySections;
+    std::map<int64_t, TrajectoryEntry> trajectory;
+
+    TrajectorySection *currentSection;
+    bool nextSection;
+    int64_t nextSectionTimestamp;
+    bool allProcessed;
+};
+
+#endif // TRACKEDOBJECT_H
diff --git a/Sources/trackingalgorithm.cpp b/Sources/trackingalgorithm.cpp
new file mode 100644
index 0000000..6d9af63
--- /dev/null
+++ b/Sources/trackingalgorithm.cpp
@@ -0,0 +1,128 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trackingalgorithm.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "trackingalgorithm.h"
+
+#include "opencvx/cvxmat.h"
+#include "opencvx/cvxrectangle.h"
+#include "opencvx/cvrect32f.h"
+#include "opencvx/cvcropimageroi.h"
+#include "opencvx/cvdrawrectangle.h"
+#include "opencvx/cvparticle.h"
+
+#include "tracking/algorithm1/observetemplate.h"
+#include "tracking/algorithm1/state.h"
+#include <iostream>
+
+#define DEFAULT 0
+
+#define DRAW_PARTICLES_REALLOC 512
+
+TrackingAlgorithm::TrackingAlgorithm(cv::Mat const &initialFrame, Selection const &initialPosition, Selection &centerizedPosition)
+{
+    IplImage *frame = new IplImage(initialFrame);
+
+    resize = cvSize(24, 24);// size
+    pDyn = 100;             // dynamic numer of particles
+    int p = 300;            // number of particles
+    int sx = 5;             // x
+    int sy = 5;             // y
+    int sw = 0;             // width
+    int sh = 0;             // height
+    int sr = 0;             // rotation
+
+    CvPoint *particleCenter = NULL;
+    if((particleCenter = (CvPoint*)(malloc(DRAW_PARTICLES_REALLOC * sizeof(CvPoint)))) == NULL)
+        exit(1);
+
+    CvRect region;
+    region.x = initialPosition.x;
+    region.y = initialPosition.y;
+    region.height = initialPosition.height;
+    region.width = initialPosition.width;
+
+    bool logprob = true;
+    particle = cvCreateParticle( num_states, p, logprob );
+
+    CvParticleState std = cvParticleState (
+                sx,
+                sy,
+                sw,
+                sh,
+                sr
+                );
+
+    cvParticleStateConfig( static_cast<CvParticle *>(particle), cvGetSize(frame), std );
+
+    CvParticleState s;
+    CvParticle *init_particle;
+
+    init_particle = cvCreateParticle( num_states, 1 );
+    CvRect32f region32f = cvRect32fFromRect( region );
+    CvBox32f box = cvBox32fFromRect32f( region32f ); // center box
+    s = cvParticleState( box.cx, box.cy, box.width, box.height, 0.0 );
+    cvParticleStateSet( init_particle, 0, s );
+    cvParticleInit( static_cast<CvParticle *>(particle), init_particle );
+    cvReleaseParticle( &init_particle );
+
+    // Resize reference image
+    reference = cvCreateImage( resize, frame->depth, frame->nChannels );
+    IplImage* tmp = cvCreateImage( cvSize(region.width,region.height), frame->depth, frame->nChannels );
+    cvCropImageROI(frame, tmp, region32f );
+    cvResize( tmp, reference );
+    cvReleaseImage( &tmp );
+
+    centerizedPosition.width = box.width;
+    centerizedPosition.height = box.height;
+    centerizedPosition.x = box.cx;
+    centerizedPosition.y = box.cy;
+    centerizedPosition.angle = initialPosition.angle;
+}
+
+TrackingAlgorithm::~TrackingAlgorithm()
+{
+
+}
+
+Selection TrackingAlgorithm::track_next_frame(cv::Mat const  &nextImage)
+{
+    IplImage *frame = new IplImage(nextImage);
+
+    cvParticleTransition( static_cast<CvParticle *>(particle) );
+
+    particleEvalDefault( static_cast<CvParticle *>(particle), frame, reference, resize, pDyn);
+
+    int maxp_id = cvParticleGetMax( static_cast<CvParticle *>(particle) );
+    CvParticleState maxs = cvParticleStateGet( static_cast<CvParticle *>(particle), maxp_id );
+
+    Selection objectPosition(maxs.x, maxs.y, maxs.width, maxs.height, maxs.angle);
+
+    cvParticleNormalize( static_cast<CvParticle *>(particle));
+
+    cvParticleResample( static_cast<CvParticle *>(particle) );
+
+    return objectPosition;
+}
diff --git a/Sources/trackingalgorithm.h b/Sources/trackingalgorithm.h
new file mode 100644
index 0000000..bbd24cb
--- /dev/null
+++ b/Sources/trackingalgorithm.h
@@ -0,0 +1,68 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trackingalgorithm.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef TRACKINGALGORITHM_H
+#define TRACKINGALGORITHM_H
+
+#include "selection.h"
+
+#include <opencv/cv.h>
+#include <opencv/cvaux.h>
+#include <opencv/cxcore.h>
+#include <opencv/highgui.h>
+
+class TrackingAlgorithm
+{
+
+public:
+    /**
+     * Constructor
+     * @param initialFrame Data of the first frame
+     * @param initialPosition Position of the object in the first frame
+     * @param centerizedPosition Returned position of the object
+     */
+    TrackingAlgorithm(cv::Mat const &initialFrame, Selection const &initialPosition, Selection &centerizedPosition);
+
+    /**
+     * Destructor
+     */
+    ~TrackingAlgorithm();
+
+    /**
+     * Tracks the next provided frame.
+     * @param nextImage The next image for tracking
+     * @return Position of the object
+     */
+    Selection track_next_frame(cv::Mat const &nextImage);
+
+private:
+    void *particle;
+    IplImage* reference;
+    CvSize resize;
+    int pDyn;
+};
+
+#endif // TRACKINGALGORITHM_H
diff --git a/Sources/trajectoryitem.cpp b/Sources/trajectoryitem.cpp
new file mode 100644
index 0000000..50860b5
--- /dev/null
+++ b/Sources/trajectoryitem.cpp
@@ -0,0 +1,130 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trajectoryitem.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "trajectoryitem.h"
+
+#include <QDebug>
+#include <QMouseEvent>
+
+TrajectoryItem::TrajectoryItem(int64_t timestamp, unsigned long timePosition, unsigned long totalTime,
+                               unsigned long frameNumber, unsigned long frameCount, Selection position,
+                               QWidget *parent, bool displayTime) :
+    QWidget(parent),
+    timestamp(timestamp),
+    timePosition(timePosition),
+    frameNumber(frameNumber)
+{
+
+    QWidget *title = new QWidget(this);
+    title->setContentsMargins(0,3,0,0);
+    type = new QLabel(title);
+    type->setStyleSheet("QLabel { color: rgb(144, 144, 144)}");
+
+    QHBoxLayout *hLayout = new QHBoxLayout(title);
+    hLayout->setMargin(0);
+    hLayout->setSpacing(0);
+
+    timeLabel = new TimeLabel(title);
+    timeLabel->set_total_time(totalTime);
+    timeLabel->set_frame_count(frameCount);
+    timeLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+    if (displayTime)
+    {
+        timeLabel->display_time(timePosition, false);
+        type->setText(tr("Time position: "));
+    }
+    else
+    {
+        timeLabel->display_frame_num(frameNumber, false);
+        type->setText(tr("Frame number: "));
+    }
+
+    hLayout->addWidget(type);
+    hLayout->addWidget(timeLabel);
+    title->setLayout(hLayout);
+
+    QString valuesString = "<FONT COLOR='#909090'>x:</FONT>";
+    valuesString.append(QString::number(position.x));
+    valuesString.append("<FONT COLOR='#909090'> y:</FONT>");
+    valuesString.append(QString::number(position.y));
+    valuesString.append("<FONT COLOR='#909090'> "+ tr("w") + ":</FONT>");
+    valuesString.append(QString::number(position.width));
+    valuesString.append("<FONT COLOR='#909090'> " + tr("h") + ":</FONT>");
+    valuesString.append(QString::number(position.height));
+
+    QLabel *values = new QLabel(valuesString, this);
+    values->setContentsMargins(0,0,0,5);
+    vLayout = new QVBoxLayout(this);
+    vLayout->setMargin(0);
+    vLayout->setSpacing(0);
+
+    vLayout->addWidget(title);
+    vLayout->addWidget(values);
+
+    setLayout(vLayout);
+
+    installEventFilter(this);
+}
+
+bool TrajectoryItem::eventFilter(QObject *object, QEvent *event)
+{
+    if (isEnabled() && object == this)
+    {
+        if (event->type() == QEvent::Enter)
+        {
+            setStyleSheet(backgroundColorActive);
+        }
+        else if(event->type() == QEvent::Leave)
+        {
+            setStyleSheet(backgroundColorInactive);
+        }
+        return false; // propagates the event even when processed
+    }
+
+    return false; // propagates the event further since was not processed
+}
+
+TrajectoryItem::~TrajectoryItem()
+{
+    // All objects get deleted automatically as they are set to be children
+}
+
+int64_t TrajectoryItem::get_timestamp() const
+{
+    return timestamp;
+}
+
+void TrajectoryItem::display_time()
+{
+    timeLabel->display_time(timePosition, false);
+    type->setText(tr("Time position: "));
+}
+
+void TrajectoryItem::display_frame_num()
+{
+    timeLabel->display_frame_num(frameNumber, false);
+    type->setText(tr("Frame number: "));
+}
diff --git a/Sources/trajectoryitem.h b/Sources/trajectoryitem.h
new file mode 100644
index 0000000..de03322
--- /dev/null
+++ b/Sources/trajectoryitem.h
@@ -0,0 +1,99 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      trajectoryitem.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef TRAJECTORYITEM_H
+#define TRAJECTORYITEM_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QHBoxLayout>
+
+#include "timelabel.h"
+#include "selection.h"
+
+#include <stdint.h> // int64_t; needed for MSVC compiler
+
+
+class TrajectoryItem : public QWidget
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param timestamp Timestamp
+     * @param timePosition Time position
+     * @param totalTime Total video time
+     * @param frameNumber Fram number
+     * @param frameCount Number of frames in the video
+     * @param parent Parent widget
+     * @param displayTime True - display time. False - display frame number
+     */
+    TrajectoryItem(int64_t timestamp, unsigned long timePosition, unsigned long totalTime, unsigned long frameNumber, unsigned long frameCount,
+                   Selection position, QWidget *parent, bool displayTime=false);
+
+    /**
+     * Destructor
+     */
+    ~TrajectoryItem();
+
+    /**
+     * Returns timestamp.
+     * @return timestamp
+     */
+    int64_t get_timestamp() const;
+
+    /**
+     * Displays values as time positions.
+     */
+    void display_time();
+
+    /**
+     * Displays values as frame numbers.
+     */
+    void display_frame_num();
+
+protected:
+    /**
+     * Filters Enter and Leave events for item highlighting when hovering
+     * @param object Object of the event
+     * @param event Event
+     * @return False - propagate event further. True - do not propagate.
+     */
+    bool eventFilter(QObject *object, QEvent *event);
+
+private:
+    TimeLabel *timeLabel;
+    QLabel *type;
+    int64_t timestamp;
+    unsigned long timePosition;
+    unsigned long frameNumber;
+    bool isSet;
+    QVBoxLayout *vLayout;
+    const QString backgroundColorActive = "background-color: rgb(115, 171, 230);";
+    const QString backgroundColorInactive = "background-color: rgb(255, 255, 255);";
+};
+
+#endif // TRAJECTORYITEM_H
diff --git a/Sources/videoframe.cpp b/Sources/videoframe.cpp
new file mode 100644
index 0000000..5bc9113
--- /dev/null
+++ b/Sources/videoframe.cpp
@@ -0,0 +1,266 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videoframe.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "videoframe.h"
+
+#include <QDebug>
+
+VideoFrame::VideoFrame():
+    scalingMethod(VIDEOTRACKING_DEFAULT_SCALING_METHOD)
+{
+    matFrame = nullptr;
+    avFrame = nullptr;
+    width = 0;
+    height = 0;
+}
+
+VideoFrame::VideoFrame(unsigned int width, unsigned int height):
+    scalingMethod(VIDEOTRACKING_DEFAULT_SCALING_METHOD),
+    width(width),
+    height(height)
+{
+    matFrame = nullptr;
+    avFrame = nullptr;
+}
+
+//VideoFrame::VideoFrame(cv::Mat const &newFrame, int64_t timestamp, unsigned long timePosition):
+// Does not copy avFrame because it is not needed and would make it slower
+VideoFrame::VideoFrame(VideoFrame const &obj):
+    scalingMethod(VIDEOTRACKING_DEFAULT_SCALING_METHOD)
+{
+    avFrame = nullptr;
+
+    if (obj.matFrame)
+        matFrame = new cv::Mat(*(obj.matFrame));
+    else
+        matFrame = nullptr;
+
+    height = obj.height;
+    width = obj.width;
+    timestamp = obj.timestamp;
+    timePosition = obj.timePosition;
+}
+
+VideoFrame::~VideoFrame()
+{
+    if (matFrame)
+    {
+        delete matFrame;
+        matFrame = nullptr;
+    }
+    if (avFrame)
+    {
+        av_free(avFrame->data[0]);
+        av_frame_free(&avFrame);
+        avFrame = nullptr;
+    }
+}
+
+bool VideoFrame::set_frame(AVFrame const *newFrame)
+{
+    if (!matFrame) // matFrame is nullptr and was not allocated yet
+    {
+        if (!width || !height) // equals one of them zero?
+            return false;
+        else
+            matFrame = new cv::Mat(height, width, CV_8UC3); // CV_8UC3->3 channels of unsigned 8-bit int
+    }
+
+    return AVFrame2Mat(newFrame, matFrame);
+}
+
+
+
+unsigned long VideoFrame::get_time_position() const
+{
+    return timePosition;
+}
+
+int64_t VideoFrame::get_timestamp() const
+{
+    return timestamp;
+}
+
+unsigned long VideoFrame::get_frame_number() const
+{
+    return frameNumber;
+}
+
+unsigned int VideoFrame::get_width() const
+{
+    return width;
+}
+
+unsigned int VideoFrame::get_height() const
+{
+    return height;
+}
+
+void VideoFrame::set_size(unsigned int newWidth, unsigned int newHeight)
+{
+    width = newWidth;
+    height = newHeight;
+
+    // size changed -> allocated memory incorrect; free memory; it will be allocated when needed
+    if (matFrame)
+    {
+        delete matFrame;
+        matFrame = nullptr;
+    }
+}
+
+void VideoFrame::set_timestamp(int64_t newTimestamp)
+{
+    timestamp = newTimestamp;
+}
+
+void VideoFrame::set_time_position(unsigned long newTimePosition)
+{
+    timePosition = newTimePosition;
+}
+
+void VideoFrame::set_frame_number(unsigned long newFrameNumber)
+{
+    frameNumber = newFrameNumber;
+}
+
+AVFrame const *VideoFrame::get_av_frame()
+//AVFrame *VideoFrame::get_av_frame()
+{
+    if (matFrame == nullptr) // There is not a valid frame that could be converted to AVFrame
+        return nullptr;
+
+    if (!avFrame)
+    {
+        avFrame = av_frame_alloc();
+        if (avFrame == nullptr)
+        {
+            qDebug() << "Not allocated";
+            exit(1);
+        }
+        int numBytes = avpicture_get_size((enum AVPixelFormat)outputFormat, width, height);
+        if (numBytes < 0)
+        {
+            qDebug() << "Error: avpicture_get_size()";
+            exit(1);
+        }
+
+        uint8_t *buffer = (uint8_t *)av_malloc(numBytes * sizeof(uint8_t));
+        if (buffer == nullptr)
+        {
+            qDebug() << "Not allocated";
+            exit(1);
+        }
+
+        if (avpicture_fill((AVPicture *)avFrame, buffer, (enum AVPixelFormat)outputFormat, width, height) < 0)
+        {
+            qDebug() << "Error: avpicture_fill()";
+            exit(1);
+        }
+    }
+
+    Mat2AVFrame(*matFrame, avFrame, outputFormat);
+    avFrame->pts = timestamp;
+    return avFrame;
+}
+
+cv::Mat const *VideoFrame::get_mat_frame() const
+{
+    return matFrame;
+}
+
+// dstMat must be allocated before
+bool VideoFrame::AVFrame2Mat(AVFrame const *src, cv::Mat *dstMat) const
+{
+    assert(src != nullptr);
+    //assert(dstMat != nullptr);
+
+    AVFrame *dst = nullptr;
+    dst = av_frame_alloc(); // Calls also memset, xal
+
+    dst->data[0] = (uint8_t *)dstMat->data; //dstMat->data is used as a buffer
+
+    // note: avpicture_fill does not perform a deep copy
+    if (avpicture_fill((AVPicture *)dst, dst->data[0], AV_PIX_FMT_BGR24, src->width, src->height) < 0)
+    {
+        qDebug() << "Error - AVFrame2Mat: avpicture_fill";
+        av_frame_free(&dst);
+        dst = nullptr;
+        return false;
+    }
+
+    SwsContext *conversionContext = nullptr; // Context is needed for sws_scale
+    conversionContext = sws_getContext(src->width, src->height, (enum AVPixelFormat)src->format,
+                                 src->width, src->height, AV_PIX_FMT_BGR24,
+                                 scalingMethod, NULL, NULL, NULL); // xal
+
+
+    sws_scale(conversionContext, src->data, src->linesize, 0, src->height,
+                    dst->data, dst->linesize);
+
+    // free allocated memories
+    sws_freeContext(conversionContext);
+    conversionContext = nullptr;
+    av_frame_free(&dst);
+    dst = nullptr;
+
+    return true;
+}
+
+bool VideoFrame::Mat2AVFrame(cv::Mat const &src, AVFrame *dstAVFrame, const int dstFormat) const
+{
+    //assert(src != nullptr);
+    assert(dstAVFrame != nullptr);
+
+    static const int width = src.cols;
+    static const int height = src.rows;
+
+    AVFrame *srcAV = av_frame_alloc(); // Calls also memset, xal
+    if (srcAV == nullptr)
+    {
+        qDebug() << "Not allocated";
+        return false;
+    }
+
+    avpicture_fill((AVPicture *)srcAV, (uint8_t *)src.data, AV_PIX_FMT_BGR24, width, height);
+
+    // all frames have same width, height, format ...
+    SwsContext *conversionContext = sws_getContext(width, height, AV_PIX_FMT_BGR24,
+                                 width, height, (enum AVPixelFormat)dstFormat,
+                                 scalingMethod, NULL, NULL, NULL); // xal
+
+
+    sws_scale(conversionContext, srcAV->data, srcAV->linesize, 0, height,
+                    dstAVFrame->data, dstAVFrame->linesize);
+
+    // free allocated memories
+    sws_freeContext(conversionContext);
+    conversionContext = nullptr;
+    av_frame_free(&srcAV);
+    srcAV = nullptr;
+
+    return true;
+}
diff --git a/Sources/videoframe.h b/Sources/videoframe.h
new file mode 100644
index 0000000..1045377
--- /dev/null
+++ b/Sources/videoframe.h
@@ -0,0 +1,170 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videoframe.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef VIDEOFRAME_H
+#define VIDEOFRAME_H
+
+#include <opencv/cv.h>
+#include <opencv/cvaux.h>
+#include <opencv/cxcore.h>
+#include <opencv/highgui.h>
+
+extern "C"{
+    #include <ffmpeg/libavcodec/avcodec.h>
+    #include <ffmpeg/libavformat/avformat.h>
+    #include <ffmpeg/libswscale/swscale.h>
+}
+
+#define VIDEOTRACKING_DEFAULT_SCALING_METHOD SWS_BILINEAR
+#define VIDEOTRACKING_OUTPUT_FORMAT AV_PIX_FMT_YUV420P
+
+class VideoFrame
+{
+public:
+    /**
+     * Constructor
+     */
+    VideoFrame();
+    /**
+     * Copy constructor
+     * @param obj Original
+     */
+    VideoFrame(const VideoFrame &obj);
+
+    /**
+     * Constructor
+     * @param width Frame width
+     * @param height Frame height
+     */
+    VideoFrame(unsigned int width, unsigned int height);
+
+    /**
+     * Destructor
+     */
+    ~VideoFrame();
+
+    /**
+     * Sets a new frame
+     * @param newFrame New frame data
+     * @return True if successful
+     */
+    bool set_frame(AVFrame const *newFrame);
+
+    unsigned long get_time_position() const;
+    /**
+     * Returns frame timestamp.
+     * @return Frame timestamp
+     */
+    int64_t get_timestamp() const;
+
+    /**
+     * Returns frame number (index).
+     * @return Frame number
+     */
+    unsigned long get_frame_number() const;
+
+    /**
+     * Returns width of the frame.
+     * @return Frame width
+     */
+    unsigned int get_width() const;
+
+    /**
+     * Returns height of the frame.
+     * @return Frame height
+     */
+    unsigned int get_height() const;
+
+    /**
+     * Sets frame size.
+     * @param newWidth New frame width
+     * @param newHeight New frame height
+     */
+    void set_size(unsigned int newWidth, unsigned int newHeight);
+
+    /**
+     * Sets timestamp.
+     * @param newTimestamp New timestamp
+     */
+    void set_timestamp(int64_t newTimestamp);
+
+    /**
+     * Sets time position.
+     * @param newTimePosition New time Position
+     */
+    void set_time_position(unsigned long newTimePosition);
+
+    /**
+     * Sets frame number.
+     * @param newFrameNumber New frame number
+     */
+    void set_frame_number(unsigned long newFrameNumber);
+
+    /**
+     * Returns the frame in AVFrame.
+     * @return Frame
+     */
+    AVFrame const *get_av_frame();
+
+    /**
+     * Returns the frame in cv::Mat.
+     * @return Frame
+     */
+    cv::Mat const *get_mat_frame() const;
+
+    /**
+     * Converts AVFrame to cv::Mat.
+     * @param src Source AVFrame
+     * @param dstMat Destination cv::Mat; It mus be allocated before using this function.
+     * @return True if successful
+     */
+    bool AVFrame2Mat(AVFrame const *src, cv::Mat *dstMat) const;
+
+    /**
+     * Converts cv::Mat to AVFrame.
+     * @param src Source cv::at
+     * @param dstAVFrame Destination AVFrame
+     * @param dstFormat Destination PixelFormat; it must be allocated before, but must not have allocated buffer (is allocated inside of this function). The buffer needs to be later freed manually.
+     * @return True if successful
+     */
+    bool Mat2AVFrame(cv::Mat const &src, AVFrame *dstAVFrame, const int dstFormat) const;
+
+public:
+    cv::Mat *matFrame; // Be careful using it directly! If possible, use get_mat_frame() instead
+private:
+    AVFrame *avFrame;
+
+    const int outputFormat = VIDEOTRACKING_OUTPUT_FORMAT;
+    const int scalingMethod;
+    int64_t timestamp;
+    unsigned long timePosition;
+    unsigned long frameNumber;
+    unsigned int width;
+    unsigned int height;
+
+};
+
+#endif // VIDEOFRAME_H
diff --git a/Sources/videotracker.cpp b/Sources/videotracker.cpp
new file mode 100644
index 0000000..f68114c
--- /dev/null
+++ b/Sources/videotracker.cpp
@@ -0,0 +1,689 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videotracker.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include <QImage>
+#include <QDebug>
+
+#include "videotracker.h"
+#include "avwriter.h"
+
+using namespace cv;
+
+VideoTracker::VideoTracker()
+{
+    player = nullptr;
+    currentFrame = nullptr;
+    tempFrame = nullptr;
+    qDebug() << "new videoTracker";
+}
+
+VideoTracker::VideoTracker(std::string const &videoAddr, QProgressDialog const *progressDialog)
+{
+    load_video(videoAddr, progressDialog);
+}
+
+void VideoTracker::load_video(std::string const &videoAddr, QProgressDialog const *progressDialog)
+{
+    av_register_all();
+
+    player = new FFmpegPlayer(videoAddr, progressDialog);
+    currentFrame = new VideoFrame(player->get_width(), player->get_height()); // stores currently read frame
+    tempFrame = new VideoFrame(player->get_width(), player->get_height()); // stores temporary frame when tracking
+}
+
+VideoTracker::~VideoTracker()
+{
+
+/**
+    for (TrackedObject *object: trackedObjects)
+    {
+        delete object;
+        object = nullptr;
+    }
+*/
+    delete currentFrame;
+    currentFrame = nullptr;
+
+    delete tempFrame;
+    tempFrame = nullptr;
+
+    delete player;
+    player = nullptr;
+}
+
+void VideoTracker::seek_first_packet()
+{
+
+    if (!player->seek_first_packet())
+    {
+        qDebug() << "ERROR-create_output: seek_first_packet";
+    }
+
+}
+
+int VideoTracker::add_object(Characteristics const &objectAppearance, std::string const &objectName, Selection initialPosition,
+                             int64_t initialTimestamp, unsigned long initialTimePosition, unsigned long initialFrameNumber,
+                             bool endTimestampSet, int64_t endTimestamp, unsigned long endTimePosition, unsigned long endFrameNumber)
+{
+    qDebug() << "Initialize tracking";
+
+    auto newObject = std::make_shared<TrackedObject>(objectAppearance, objectName, initialTimestamp, initialPosition,
+                                                     initialTimePosition, initialFrameNumber, endTimestampSet,
+                                                     endTimestamp, endTimePosition, endFrameNumber);
+
+    trackedObjects.push_back(newObject);
+
+    if (!player->get_frame_by_timestamp(currentFrame, initialTimestamp))
+    {
+        qDebug()<< "Tracker: Cannot read this frame.";
+        return -1;
+    }
+
+    newObject->track_next(currentFrame);
+    qDebug() << "Initialized";
+
+    return trackedObjects.size() - 1;
+}
+
+bool VideoTracker::get_frame_by_time(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, int64_t time, QProgressDialog *progressDialog)
+{
+
+    if (!player->get_frame_by_time(currentFrame, time))
+        return false;
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, progressDialog))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::get_frame_by_timestamp(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, int64_t timestamp, QProgressDialog *progressDialog)
+{
+
+    if (!player->get_frame_by_timestamp(currentFrame, timestamp))
+        return false;
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, progressDialog))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::get_frame_by_number(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, unsigned long frameNumber, QProgressDialog *progressDialog)
+{
+
+    if (!player->get_frame_by_number(currentFrame, frameNumber))
+        return false;
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, progressDialog))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::get_next_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog)
+{
+    //Mat matFrame(player->get_height(), player->get_width(), CV_8UC3);
+
+    // This variable is used for the "track_frame" function to determine whether
+    // it needs to jump to a particular frame or if the lastProcessedTimestamp is
+    // the same as this variable (previousTimestamp). When it's the same,
+    // track_frame does not need to jump since the currentlly read frame is the
+    // following to the previously tracked.
+
+    int64_t previousTimestamp = currentFrame->get_timestamp();
+
+    if (!player->get_next_frame(currentFrame))
+        return false;
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, progressDialog, true, previousTimestamp))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::get_previous_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog)
+{
+    if (!player->get_previous_frame(currentFrame))
+        return false;
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, progressDialog))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::get_first_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog)
+{
+    player->seek_first_packet();
+
+    return get_next_frame(imgFrame, originalImgFrame, includeOriginal, progressDialog);
+}
+
+
+bool VideoTracker::get_current_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal)
+{
+
+    Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+    if (!track_frame(currentFrame, result, nullptr))
+        return false;
+
+    if (includeOriginal)
+        originalImgFrame = Mat2QImage(*currentFrame->get_mat_frame());
+
+    imgFrame = Mat2QImage(result);
+    return true;
+}
+
+bool VideoTracker::track_frame(VideoFrame const *originalFrame, cv::Mat &result, QProgressDialog *progressDialog, bool previousTimestampSet,
+                               int64_t previousTimestamp)
+{
+    int64_t currentTimestamp = originalFrame->get_timestamp();
+
+    if (!trackedObjects.empty())
+    {
+        Selection trackedPosition;
+        //for (TrackedObject *object: trackedObjects)
+        for (auto object: trackedObjects)
+        {
+            if ((object->get_initial_timestamp() > currentTimestamp) ||
+                    ((object->is_end_timestamp_set() && object->get_end_timestamp() < currentTimestamp)))
+                continue; // In this case current timestamp is out of the range of this tracked object
+
+            int64_t lastProcessedTimestamp;
+            bool lastProcessedTimestampSet = object->get_last_processed_timestamp(lastProcessedTimestamp); // If the frame was already processed but the whole video is not yet processed
+            if (object->is_all_processed() || (lastProcessedTimestampSet && currentTimestamp <= lastProcessedTimestamp))
+            {
+                if (!object->get_position(currentTimestamp, trackedPosition))// Position is already known as this frame has already been processed.
+                {
+                    return false;
+                }
+            }
+            else if (previousTimestampSet && (lastProcessedTimestamp == previousTimestamp)) // Is used only with function "get_next_frame"; instead of seeking frame it uses the current one as it is the right one when obtained by get_next_frame(); that's much faster
+                trackedPosition = object->track_next(originalFrame);
+            /**else if (!object->is_initialized())
+            {
+                qDebug() << "ERROR - VideoTracker: tracking frame when trackedObject not initialized";
+                return false;
+            }*/
+            else
+            {
+                if (progressDialog)
+                {
+                    progressDialog->show();
+                }
+                if (lastProcessedTimestampSet)
+                {
+                    // Set to the last processed position. This frame won't be used, but allows to use "get_next_frame".
+                    // It might be possible to skip this frame and find right the desired (next) one.
+                    // However, it would be more complicated and won't make it much faster.
+                    if (!player->get_frame_by_timestamp(tempFrame, lastProcessedTimestamp))
+                        return false;
+
+                    if (!player->get_next_frame(tempFrame)) // No more frames => all processed for this object
+                    {
+                        object->set_all_processed(true);
+                        continue;
+                    }
+                }
+                else
+                { // So far no frame is processed, therefore lastProcessedTimestamp is not set
+                    if (!player->get_frame_by_timestamp(tempFrame, object->get_initial_timestamp()))
+                        return false;
+                }
+
+                while (true)
+                {
+                    qApp->processEvents(); // Keeps progress bar active
+                    trackedPosition = object->track_next(tempFrame);
+
+                    if (tempFrame->get_timestamp() >= currentTimestamp)
+                        break;
+
+                    if (progressDialog)
+                    {
+                        if (progressDialog->wasCanceled()) // User cancelled the progress dialog
+                            throw UserCanceledException();
+                    }
+
+                    qApp->processEvents(); // Keeps progress bar active
+                    if (!player->get_next_frame(tempFrame))
+                        return false; // Could not reach desired frame
+                }
+
+                //while (object->get_last_processed_timestamp() < currentTimestamp);
+
+                assert(currentTimestamp == tempFrame->get_timestamp());
+
+
+                if (progressDialog)
+                {
+                    if (progressDialog->wasCanceled()) // User cancelled the progress dialog
+                        throw UserCanceledException();
+                }
+            }
+
+            if (!object->draw_mark(result, *originalFrame->get_mat_frame(), currentTimestamp))
+                return false;
+
+        }
+        //progressDialog->reset();
+        return true;
+    }
+
+    return true;
+}
+
+bool VideoTracker::track_object(unsigned int objectID, QProgressDialog *progressDialog)
+{
+    auto object = trackedObjects[objectID];
+    if (object->is_all_processed())
+    {
+        return true; // This object is processed throughout all its range
+    }
+    else
+    {
+        int64_t endTimestamp = object->get_end_timestamp();
+
+        int64_t lastProcessedTimestamp;
+        bool lastProcessedTimestampSet = object->get_last_processed_timestamp(lastProcessedTimestamp); // If the frame was already processed but the whole video is not yet processed
+
+        if (lastProcessedTimestampSet)
+        {
+            // Set to the last processed position. This frame won't be used, but allows to use "get_next_frame".
+            // It might be possible to skip this frame and find right the desired (next) one.
+            // However, it would be more complicated and won't make it much faster.
+            if (!player->get_frame_by_timestamp(tempFrame, lastProcessedTimestamp))
+            {
+                //progressDialog->reset();
+                return false;
+            }
+
+            if (!player->get_next_frame(tempFrame)) // No more frames => all processed for this object
+            {
+                object->set_all_processed(true);
+                return true;
+            }
+        }
+        else
+        { // So far no frame is processed, therefore lastProcessedTimestamp is not set
+            if (!player->get_frame_by_timestamp(tempFrame, object->get_initial_timestamp()))
+            {
+                //progressDialog->reset();
+                return false;
+            }
+        }
+
+        while (true)
+        {
+            qApp->processEvents(); // Keeps progress bar active
+            object->track_next(tempFrame); // Also sets object->allProcessed
+
+            if (object->is_end_timestamp_set() && (tempFrame->get_timestamp() >= endTimestamp))
+                break;
+
+            if (progressDialog->wasCanceled()) // User canceled the progress dialog
+            {
+                // reads last tracked frame; is used for knowing where aborted
+                player->get_current_frame(currentFrame);
+                throw UserCanceledException();
+            }
+
+            qApp->processEvents(); // Keeps progress bar active
+
+            if (!player->get_next_frame(tempFrame))
+            {
+                if (object->is_end_timestamp_set())
+                {
+                    qDebug() << "Warning-track_all(): Cannot read more frames but object->endTimestamp is higher";
+                }
+                object->set_all_processed(true);
+                break;
+            }
+        }
+    }
+    return true;
+}
+
+
+bool VideoTracker::track_all(QProgressDialog *progressDialog)
+{
+    if (!trackedObjects.empty())
+    {
+        progressDialog->show();
+
+        unsigned int i;
+        for (i = 0; i < trackedObjects.size(); i++)
+        {
+            if (!track_object(i, progressDialog))
+            { // Tracking is not successful, do not track other objects
+                qDebug() << "ERROR-track_all(): track_object() returned false";
+                return false;
+            }
+        }
+
+        progressDialog->cancel();
+        //progressDialog->reset();
+        return true;
+    }
+
+    qDebug() << "Warning-track_all(): No objects to track";
+    return true;
+}
+
+QImage VideoTracker::Mat2QImage(Mat const &src) const
+{
+    Mat temp; // make the same cv::Mat
+    cvtColor(src, temp, CV_BGR2RGB);
+    QImage dest((const uchar *) temp.data, temp.cols, temp.rows, temp.step, QImage::Format_RGB888);
+    dest.bits(); // enforce deep copy, see documentation
+    // of QImage::QImage ( const uchar * data, int width, int height, Format format )
+    return dest;
+}
+/**
+bool VideoTracker::set_frame_position(int const &position)
+{
+      return player->set_frame_position(position);
+}
+bool VideoTracker::set_time_position(int const &position)
+{
+      return player->set_time_position(position);
+}
+*/
+
+double VideoTracker::get_fps() const
+{
+     return player->get_fps();
+}
+
+unsigned long VideoTracker::get_frame_count() const
+{
+     return player->get_frame_count();
+}
+
+unsigned long VideoTracker::get_total_time() const
+{
+   //  return player->get_frame_count() / player->get_fps();
+     return player->get_total_time();
+}
+
+int64_t VideoTracker::get_frame_timestamp() const
+{
+    return currentFrame->get_timestamp();
+}
+
+unsigned long VideoTracker::get_time_position() const
+{
+    return currentFrame->get_time_position();
+}
+
+unsigned long VideoTracker::get_frame_number() const
+{
+    return currentFrame->get_frame_number();
+}
+
+unsigned int VideoTracker::get_objects_count() const
+{
+    return trackedObjects.size();
+}
+
+void VideoTracker::create_output(std::string const &filename, QProgressDialog &fileProgressDialog,
+                                 QProgressDialog *trackingProgressDialog, std::string inFileExtension)
+{
+    qDebug() << "filename" <<QString::fromStdString(filename);
+    assert(currentFrame != nullptr);
+
+    qDebug() << "Creating output: Tracking started";
+    try
+    {
+        if (!track_all(trackingProgressDialog))
+        {
+            qDebug() << "ERROR - Creating output: Tracking unsuccessful";
+            throw OutputException();
+            //return false;
+        }
+    } catch (UserCanceledException) {
+        // Cancel the second progress bar and propagate the Exception
+        fileProgressDialog.cancel();
+        throw UserCanceledException();
+    }
+    fileProgressDialog.setValue(0);
+    //trackingProgressDialog->cancel();
+
+    qDebug() << "Creating output: Tracking successful";
+
+
+    qDebug() << "Creating output: Writer initialization";
+
+    AVWriter *writer = new AVWriter();
+
+    if (!writer->initialize_output(filename, player->get_video_stream(), player->get_audio_stream(),
+                                   player->get_format_name(), inFileExtension))
+    {
+        //qDebug() << "Error: Writer not correctly initialized";
+        throw OutputException();
+        //return false;
+    }
+
+    qDebug() << "Creating output: Writer successfully initialized";
+
+    AVPacket packet;
+    bool isAudio = false;
+    //int i = 0;
+
+    qDebug() << "Creating output: Seeking first packet";
+
+    if (!player->seek_first_packet())
+    {
+        qDebug() << "ERROR-create_output: seek_first_packet";
+        throw OutputException();
+        //return false;
+    }
+
+
+    while (player->read_frame(packet, false/*onlyVideoPackets*/, &isAudio))
+    { //packet needs to be freed only when contains audio, otherwise is freed already in read_frame()
+
+        if (isAudio)
+        {
+            if (!writer->write_audio_packet(packet))
+            {
+                av_free_packet(&packet);
+                throw OutputException();
+            }
+            else
+                av_free_packet(&packet);
+        }
+        else
+        {
+            if (!player->get_current_frame(currentFrame))
+            {
+                qDebug() << "Error: creating output: cannot get frame.";
+                throw OutputException();
+            }
+
+
+           // Mat result = currentFrame->get_mat_frame()->clone(); // Simple assignment would do only a shallow copy, clone() is needed
+            VideoFrame result (*currentFrame); // Simple assignment would do only a shallow copy, clone() is needed
+
+            // All trajectories are counted with track_all();
+            // track_frame now only returns those previously counted trajectories.
+            if (!track_frame(currentFrame, *(result.matFrame)))
+                break;
+
+            if (!writer->write_video_frame(result))
+            {
+                qDebug() << "Error: write_video_frame";
+                throw OutputException();
+            }
+
+            qDebug() << currentFrame->get_time_position() << "/" << get_total_time();
+            fileProgressDialog.setValue(currentFrame->get_time_position());
+            if (fileProgressDialog.wasCanceled())
+            { // todo: close file or delete?
+                writer->close_output();
+                delete writer;
+                throw UserCanceledException();
+            }
+        }
+
+    }
+    if (!writer->write_last_frames()) // There might be frames left in the buffer
+        qDebug() << "WARNING: Creating output: write_last_frames() not correct";
+
+    qDebug() << "Creating output: Frames successfully written";
+
+    qDebug() << "Creating output: Closing output file";
+
+    if (!writer->close_output())
+    {
+        qDebug() << "Error: Writer not correctly closed";
+        throw OutputException();
+        //return false;
+    }
+
+   // fileProgressDialog.setValue(fileProgressDialog.maximum()); // In case video was shorter than the claimed length
+    delete writer;
+    writer = nullptr;
+
+    player->seek_first_packet(); // Return video to the first position
+    qDebug() << "Creating output: Output file successfully closed";
+    //return true;
+}
+
+Characteristics VideoTracker::get_object_appearance(unsigned int objectID) const
+{
+    return trackedObjects[objectID]->get_appearance();
+}
+
+std::map<int64_t, TrajectorySection> const &VideoTracker::get_object_trajectory_sections(unsigned int objectID) const
+{
+    return trackedObjects[objectID]->get_trajectory_sections();
+}
+
+std::map<int64_t, TrajectoryEntry> const &VideoTracker::get_object_trajectory(unsigned int objectID) const
+{
+    return trackedObjects[objectID]->get_trajectory();
+}
+
+bool VideoTracker::set_object_trajectory_section(unsigned int objectID, int64_t newTimestamp, Selection position,
+                                                 unsigned long timePosition, unsigned long frameNumber)
+{
+    return trackedObjects[objectID]->set_trajectory_section(newTimestamp, position, timePosition, frameNumber); //todo check if exists
+}
+
+bool VideoTracker::change_object_trajectory_section(unsigned int objectID, int64_t oldTimestamp, int64_t newTimestamp,
+                                                    Selection position, unsigned long timePosition, unsigned long frameNumber)
+{
+    return trackedObjects[objectID]->change_trajectory_section(oldTimestamp, newTimestamp, position, timePosition, frameNumber); //todo check if exists
+}
+
+bool VideoTracker::delete_object_trajectory_section(unsigned int objectID, int64_t timestamp)
+{
+    return trackedObjects[objectID]->delete_trajectory_section(timestamp); //todo check if exists
+}
+
+bool VideoTracker::change_object_end_frame(unsigned int objectID, bool set, int64_t timestamp,
+                                           unsigned long timePosition, unsigned long frameNumber)
+{
+    return trackedObjects[objectID]->change_end_frame(set, timestamp, timePosition, frameNumber); //todo test if object exists
+}
+
+bool VideoTracker::get_object_end(unsigned int objectID, int64_t &timestamp, unsigned long &timePosition, unsigned long &frameNumber)
+{
+    if (!trackedObjects[objectID]->is_end_timestamp_set())
+        return false;
+
+    timestamp = trackedObjects[objectID]->get_end_timestamp();
+    timePosition = trackedObjects[objectID]->get_end_time_position();
+    frameNumber = trackedObjects[objectID]->get_end_frame_number();
+    return true;
+}
+
+bool VideoTracker::change_object_appearance(unsigned int objectID, Characteristics const &newAppearance)
+{
+    trackedObjects[objectID]->change_appearance(newAppearance);
+    return true;
+}
+
+std::string VideoTracker::get_object_name(unsigned int objectID)
+{
+    return trackedObjects[objectID]->get_name();
+}
+
+void VideoTracker::set_object_name(unsigned int objectID, std::string newName)
+{
+    trackedObjects[objectID]->set_name(newName);
+}
+
+void VideoTracker::delete_object(unsigned int objectID)
+{
+    assert(trackedObjects.size() > objectID);
+    trackedObjects.erase(trackedObjects.begin()+objectID);
+}
+
+std::vector<std::string> VideoTracker::get_all_objects_names()
+{
+    std::vector<std::string> objectNames;
+
+    for (unsigned int i = 0; i < trackedObjects.size(); i++)
+        objectNames.push_back(get_object_name(i));
+
+     return objectNames;
+}
+
+void VideoTracker::erase_object_trajectories_to_comply()
+{
+    for (auto object: trackedObjects)
+    {
+        object->erase_trajectory_to_comply();
+    }
+}
diff --git a/Sources/videotracker.h b/Sources/videotracker.h
new file mode 100644
index 0000000..e871980
--- /dev/null
+++ b/Sources/videotracker.h
@@ -0,0 +1,408 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videotracker.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef VIDEOTRACKER_H
+#define VIDEOTRACKER_H
+
+#include <opencv/cv.h>
+#include <opencv/cvaux.h>
+#include <opencv/cxcore.h>
+#include <opencv/highgui.h>
+
+#include <QObject>
+#include <QProgressDialog>
+#include <QApplication>
+
+#include <memory>
+
+#include "ffmpegplayer.h"
+#include "trackingalgorithm.h"
+#include "trackedobject.h"
+#include "videoframe.h"
+#include "selection.h"
+
+#include <cereal/types/vector.hpp>
+#include <cereal/types/memory.hpp> // for shared_ptr
+
+struct OutputException : public std::exception{};
+struct UserCanceledException : public std::exception{};
+
+class VideoTracker
+{
+
+public:
+    // CEREAL serialization
+    template<class Archive>
+    void serialize(Archive &archive)
+    {
+        archive(CEREAL_NVP(trackedObjects));
+    }
+
+    /**
+     * Constructor
+     */
+    VideoTracker();
+
+    /**
+     * Constructor
+     * @param videoAddr Path to a video file
+     * @param progressDialog QT progress dialog for displaying information about video opening
+     */
+    explicit VideoTracker(std::string const &videoAddr, QProgressDialog const *progressDialog);
+
+    /**
+     * Destructor
+     */
+    ~VideoTracker();
+
+    /**
+     * Loads a new video file.
+     * @param videoAddr Path to a video file
+     * @param progressDialog QT progress dialog for displaying information about video opening
+     */
+    void load_video(std::string const &videoAddr, QProgressDialog const *progressDialog);
+
+    /**
+     * Returns frames per second value of the video.
+     * @return Frames per second
+     */
+    double get_fps() const;
+
+    /**
+     * Returns information about number of frames.
+     * @return Number of frames
+     */
+    unsigned long get_frame_count() const;
+
+    /**
+     * Returns information about video length.
+     * @return Video length in milliseconds
+     */
+    unsigned long get_total_time() const;
+
+    /**
+     * Returns timestamp of the current frame.
+     * @return Timestamp
+     */
+    int64_t get_frame_timestamp() const;
+
+    /**
+     * Returns time position of the current frame.
+     * @return Time position in milliseconds
+     */
+    unsigned long get_time_position() const;
+
+    /**
+     * Returns frame number of the current frame.
+     * @return Frame number
+     */
+    unsigned long get_frame_number() const;
+
+    /**
+     * Returns number of tracked objects
+     * @return Number of tracked objects
+     */
+    unsigned int get_objects_count() const;
+
+    /**
+     * Tracks a new object.
+     * @param objectAppearance Object appearance
+     * @param objectName Object name
+     * @param initialPosition Initial object position
+     * @param initialTimestamp Initial timestamp
+     * @param initialTimePosition Initial time position
+     * @param initialFrameNumber Initial frame number
+     * @param endTimestampSet Is end timestamp set?
+     * @param endTimestamp End timestamp
+     * @param endTimePosition End time position
+     * @param endFrameNumber End frame number
+     * @return Object ID; First objest has ID 1. If frame at initialTimestamp is not read, -1 is returned;
+     */
+    int add_object(const Characteristics &objectAppearance, const std::string &objectName,
+                   Selection initialPosition, int64_t initialTimestamp, unsigned long initialTimePosition,
+                   unsigned long initialFrameNumber, bool endTimestampSet=false, int64_t endTimestamp=0,
+                   unsigned long endTimePosition=0, unsigned long endFrameNumber=0);
+
+    /**
+     * Reads a frame by its time position and returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param time Time position
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_frame_by_time(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, int64_t time, QProgressDialog *progressDialog);
+
+    /**
+     * Reads a frame by its timestamp and returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param timestamp Timestamp
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_frame_by_timestamp(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, int64_t timestamp, QProgressDialog *progressDialog);
+
+     /**
+     * Reads a frame by its frame number (index) and returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param frameNumber Frame number (index)
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_frame_by_number(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, unsigned long frameNumber, QProgressDialog *progressDialog);
+
+     /**
+     * Reads a frame following to the current one returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_next_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog);
+
+    /**
+     * Reads a frame preceding to the current one returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_previous_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog);
+
+     /**
+     * Gets the current frame and returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @return True if successful
+     */
+    bool get_current_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal);
+
+     /**
+     * Reads the first frame and returns it.
+     * @param imgFrame Altered read frame (contains tracked objects) converted to be displayed in QT
+     * @param originalImgFrame Read frame converted to be displayed in QT.
+     * @param includeOriginal Should be original frame read? If not, originalImgFrame does not contain a valid frame.
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool get_first_frame(QImage &imgFrame, QImage &originalImgFrame, bool includeOriginal, QProgressDialog *progressDialog);
+
+    /**
+     * Creates an output media file including all tracked objects.
+     * Throws UserCanceledException when user clicked "Cancel" button in the progress dialog
+     * Mind there are two progress dialogs. One is in track_all() and displays infinet progress
+     * bar when counting objects positions. The second progress dialog (fileProgressDialog shows percentage of
+     * creating the output file. When the first one (in track_all()) is canceled, the second one should be
+     * canceled too
+
+     * @param filename Output filename
+     * @param fileProgressDialog QT progress dialog for showing an information about creating the file progress
+     * @param trackingProgressDialog QT progress dialog for showing an information about tracking objects process
+     * @param inFileExtension Input file extensions
+     */
+    void create_output(std::string const &filename, QProgressDialog &fileProgressDialog,
+                       QProgressDialog *trackingProgressDialog, std::string inFileExtension);
+
+
+    /**
+     * Returns appearance of the object.
+     * @param objectID Object ID
+     * @return Object appearance
+     */
+    Characteristics get_object_appearance(unsigned int objectID) const;
+
+    /**
+     * Returns trajectory sections of the object.
+     * @param objectID Object ID
+     * @return Trajectory section of the object
+     */
+    std::map<int64_t, TrajectorySection> const &get_object_trajectory_sections(unsigned int objectID) const;
+
+    /**
+     * Returns computed trajectory of the object.
+     * @param objectID Object ID
+     * @return Trajectory of the object
+     */
+    std::map<int64_t, TrajectoryEntry> const &get_object_trajectory(unsigned int objectID) const;
+
+    /**
+     * Changes appearance of the object.
+     * @param objectID Object ID
+     * @param newAppearance New appearance of the object
+     */
+    bool change_object_appearance(unsigned int objectID, Characteristics const &newAppearance);
+
+    /**
+     * Rewinds the video to its beginning by seeking its first packet.
+     */
+    void seek_first_packet();
+
+//    int64_t get_object_end_timestamp(unsigned int objectID, bool &isSet);
+
+    /**
+     * Return information about the end of the object.
+     * @param objectID Object ID
+     * @param timestamp Frame timestamp
+     * @param timePosition Time position
+     * @param frameNumber Frame number (index)
+     * @return True if end is set, false if it is not.
+     */
+    bool get_object_end(unsigned int objectID, int64_t &timestamp, unsigned long &timePosition, unsigned long &frameNumber);
+
+     /**
+     * Changes a trajectory section of the object.
+     * @param objectID Object ID
+     * @param oldTimestamp Old timestamp of the section
+     * @param newTimestamp New timestamp of the section
+     * @param position Object position at the first frame of the section
+     * @param timePosition Time position of the section
+     * @param frameNumber Frame number of the section
+     * @return True if successful
+     */
+    bool change_object_trajectory_section(unsigned int objectID, int64_t oldTimestamp, int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber);
+
+    /**
+     * Changes the end frame of the object. If set==false, the end frame will be unset and the object
+     * will be tracked till the end of the video. newTimestamp and timePosition are valid onlt if set==true.
+     * @param objectID Object ID
+     * @param set Set / Unset last frame
+     * @param newTimestamp Timestamp of the last frame
+     * @param timePosition Time position of the last frame
+     * @param frameNumber Frame number of the last frame
+     * @return False if given timestamp is lower than the timestamp of Beginning.
+     */
+    bool change_object_end_frame(unsigned int objectID, bool set, int64_t newTimestamp=0, unsigned long timePosition=0, unsigned long frameNumber=0);
+
+    /**
+     * Deletes a trajectory section of the object
+     * @param objectID Object ID
+     * @param timestamp Trajectory section to be deleted begins at this timestamp
+     * @return True if successful
+     */
+    bool delete_object_trajectory_section(unsigned int objectID, int64_t timestamp);
+
+    /**
+     * Sets a trajectory section of the object.
+     * @param objectID Object ID
+     * @param newTimestamp New timestamp of the section
+     * @param position Object position at the first frame of the section
+     * @param timePosition Time position of the section
+     * @param frameNumber Frame number of the section
+     * @return True if successful
+     */
+    bool set_object_trajectory_section(unsigned int objectID, int64_t newTimestamp, Selection position, unsigned long timePosition, unsigned long frameNumber);
+
+    /**
+     * Returns name of the object.
+     * @param objectID Object ID
+     * @return  Object name
+     */
+    std::string get_object_name(unsigned int objectID);
+
+    /**
+     * Returns names of all objects.
+     * @return Names of all objects
+     */
+    std::vector<std::string> get_all_objects_names();
+
+    /**
+     * Sets name of the object.
+     * @param objectID Object ID
+     * @param newName New object name
+     * @return True if successful
+     */
+    void set_object_name(unsigned int objectID, std::string newName);
+
+    /**
+     * Removes the object
+     * @param objectID Object ID
+     */
+    void delete_object(unsigned int objectID);
+
+    /**
+     * Computes all trajectory for the tracked object
+     * @param objectID ObjectID
+     * @param progressDialog QT progress dialog for showing an information about tracking object process
+     * @return True if successful
+     */
+    bool track_object(unsigned int objectID, QProgressDialog *progressDialog);
+
+    /**
+     * Erases a part of the computed trajectory. This is necessary after deserialization (with CEREAL)
+     * as track_next() initializes correct sections only when the trajectory's last frame is the last
+     * frame of the previous section.
+     * @param objectID ObjectID
+     */
+    void erase_object_trajectories_to_comply();
+
+private:
+    /**
+     * Converts cv::Mat format (OpenCV frame) to QImage (QT)
+     * @param src Source frame in cv::Mat
+     * @return Frame for QT
+     */
+    QImage Mat2QImage(cv::Mat const &src) const;
+
+    // previousTimestamp can be used only when previousTimestampSet==true
+
+    /**
+
+     * Draws tracking mark to the result cv::Mat. If current frame was not yet processed, processes tracking till this frame.
+     * @param originalFrame Original frame
+     * @param result Altered frame; with drawn tracked objects
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @param previousTimestampSet Used only with get_next_frame(). True - this is the following frame to the one given the last time.
+     * @param previousTimestamp Timestamp of the preceding frame. This is used only if previousTimestampSet==true.
+     * @return Returns true if successful
+     */
+    bool track_frame(VideoFrame const *originalFrame, cv::Mat &result, QProgressDialog *progressDialog=nullptr, bool previousTimestampSet=false, int64_t previousTimestamp=0);
+
+    /**
+     * Tracks all frames. This is called when an output media file is being created.
+     * @param progressDialog QT progress dialog for showing an information about tracking objects process
+     * @return True if successful
+     */
+    bool track_all(QProgressDialog *progressDialog);
+
+private:
+    QApplication *qApplication; // Is used for updating progress bars
+    std::shared_ptr<TrackedObject> a;
+    FFmpegPlayer *player;
+    VideoFrame *currentFrame;
+    VideoFrame *tempFrame;
+
+    std::vector<std::shared_ptr<TrackedObject>> trackedObjects;
+};
+
+#endif // VIDEOTRACKER_H
diff --git a/Sources/videowidget.cpp b/Sources/videowidget.cpp
new file mode 100644
index 0000000..ece5e9d
--- /dev/null
+++ b/Sources/videowidget.cpp
@@ -0,0 +1,45 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videowidget.cpp
+@brief     Implementation of methods ...
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#include "videowidget.h"
+
+VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent)
+{
+
+}
+
+VideoWidget::~VideoWidget()
+{
+
+}
+
+void VideoWidget::resizeEvent(QResizeEvent *event)
+{
+    emit resized();
+
+    QWidget::resizeEvent(event);
+}
+
diff --git a/Sources/videowidget.h b/Sources/videowidget.h
new file mode 100644
index 0000000..754f36b
--- /dev/null
+++ b/Sources/videowidget.h
@@ -0,0 +1,61 @@
+//------------------------------------------------------------------------------
+//
+//  Project:   Anonymizer
+//
+//             Brno University of Technology
+//             Faculty of Information Technology
+//
+//------------------------------------------------------------------------------
+//
+//      This project was financially supported by project VG20102015006 funds
+//           provided by Ministry of the Interior of the Czech republic.
+//
+//------------------------------------------------------------------------------
+/*!
+
+@file      videowidget.h
+@brief     Header file
+@details   Details
+@authors   Martin Borek (mborekcz@gmail.com)
+@authors   Filip Orsag (orsag@fit.vutbr.cz)
+@date      2014-2015
+@note      This project was supported by MV CR project VG20102015006.
+@copyright BUT OPEN SOURCE LICENCE (see License.txt)
+
+*/
+
+#ifndef VIDEOWIDGET_H
+#define VIDEOWIDGET_H
+
+#include <QWidget>
+
+class VideoWidget : public QWidget
+{
+    Q_OBJECT
+public:
+    /**
+     * Constructor
+     * @param parent Parent widget
+     */
+    explicit VideoWidget(QWidget *parent = 0);
+
+    /**
+     * Destructor
+     */
+    ~VideoWidget();
+
+    /**
+     * When the widget is resized, the resized() signal is emitted.
+     * @param event
+     */
+    void resizeEvent(QResizeEvent *event);
+signals:
+    /**
+     * This signal is emitted when the widget is resized.
+     */
+    void resized();
+
+public slots:
+};
+
+#endif // VIDEOWIDGET_H
diff --git a/readme.md b/readme.md
new file mode 100644
index 0000000..e2c5f72
--- /dev/null
+++ b/readme.md
@@ -0,0 +1,23 @@
+Anonymizer 
+=
+
+----------
+This application allows its user to select and track objects in video and to modify their appereance.
+Video is processed using [FFmpeg][1] library. Objects are being tracked by the built-in object tracking
+algorithms using [OpenCV][2] graphic library. User is allowed to modify trajectory of the object and to
+change type of anonymization (blur, color). GUI is multilingual and created using [Qt Framework][3].
+
+----------
+Documents
+-
+
+Acknowledgement
+-
+
+Project **Anonymizer** was financially supported by project VG20102015006 funds 
+provided by [Ministry of the Interior of the Czech republic][4]. 
+
+[1]: https://www.ffmpeg.org/ 
+[2]: http://opencv.org/
+[3]: http://www.qt.io/
+[4]: http://www.mvcr.cz/
\ No newline at end of file