/// <summary>
 /// Applies an affine transformation to an image.
 /// </summary>
 /// <param name="src">Source image</param>
 /// <param name="dst">Destination image</param>
 /// <param name="mapMatrix">2x3 transformation matrix</param>
 /// <param name="dsize">Size of the output image.</param>
 /// <param name="interpMethod">Interpolation method</param>
 /// <param name="warpMethod">Warp method</param>
 /// <param name="borderMode">Pixel extrapolation method</param>
 /// <param name="borderValue">A value used to fill outliers</param>
 public static void WarpAffine(IInputArray src, IOutputArray dst, IInputArray mapMatrix, Size dsize, CvEnum.Inter interpMethod = CvEnum.Inter.Linear, CvEnum.Warp warpMethod = CvEnum.Warp.Default, CvEnum.BorderType borderMode = CvEnum.BorderType.Constant, MCvScalar borderValue = new MCvScalar())
 {
    using (InputArray iaSrc = src.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
    using (InputArray iaMapMatrix = mapMatrix.GetInputArray())
       cveWarpAffine(iaSrc, oaDst, iaMapMatrix, ref dsize, (int)interpMethod | (int)warpMethod, borderMode, ref borderValue);
 }

 /// <summary>
 /// Computes disparity map for the specified stereo pair
 /// </summary>
 /// <param name="matcher">The stereo matcher</param>
 /// <param name="left">Left 8-bit single-channel image.</param>
 /// <param name="right">Right image of the same size and the same type as the left one.</param>
 /// <param name="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</param>
 public static void Compute(this IStereoMatcher matcher, IInputArray left, IInputArray right, IOutputArray disparity)
 {
    using (InputArray iaLeft = left.GetInputArray())
    using (InputArray iaRight = right.GetInputArray())
    using (OutputArray oaDisparity = disparity.GetOutputArray())
       CvStereoMatcherCompute(matcher.StereoMatcherPtr, iaLeft, iaRight, oaDisparity);
 }

 /// <summary>
 /// Find the good features to track
 /// </summary>
 public void Detect(IInputArray image, IOutputArray corners, IInputArray mask = null, Stream stream = null)
 {
    using (InputArray iaImage = image.GetInputArray())
    using (OutputArray oaCorners = corners.GetOutputArray())
    using (InputArray iaMask = (mask == null ? mask.GetInputArray() : InputArray.GetEmpty()))
       CudaInvoke.cudaCornersDetectorDetect(_ptr, iaImage, oaCorners, iaMask, stream);
 }

 /// <summary>
 /// Computes disparity map for the input rectified stereo pair.
 /// </summary>
 /// <param name="left">The left single-channel, 8-bit image</param>
 /// <param name="right">The right image of the same size and the same type</param>
 /// <param name="disparity">The disparity map</param>
 /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
 public void FindStereoCorrespondence(IInputArray left, IInputArray right, IOutputArray disparity, Stream stream = null)
 {
    using (InputArray iaLeft = left.GetInputArray())
    using (InputArray iaRight = right.GetInputArray())
    using (OutputArray oaDisparity = disparity.GetOutputArray())
       CudaInvoke.cudaStereoBMFindStereoCorrespondence(_ptr, iaLeft, iaRight, oaDisparity, stream);
 }

 /// <summary>
 /// Detects objects of different sizes in the input image.
 /// </summary>
 /// <param name="image">Matrix of type CV_8U containing an image where objects should be detected.</param>
 /// <param name="objects">Buffer to store detected objects (rectangles).</param>
 /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
 public void DetectMultiScale(IInputArray image, IOutputArray objects, Stream stream = null)
 {
    using (InputArray iaImage = image.GetInputArray())
    using (OutputArray oaObjects = objects.GetOutputArray())
       CudaInvoke.cudaCascadeClassifierDetectMultiScale(_ptr, iaImage, oaObjects,
          stream == null ? IntPtr.Zero : stream.Ptr);
 }

      /*
      /// <summary>
      /// Create an auto-tuned flann index
      /// </summary>
      /// <param name="values">A row by row matrix of descriptors</param>
      /// <param name="targetPrecision">Precision desired, use 0.9 if not sure</param>
      /// <param name="buildWeight">build tree time weighting factor, use 0.01 if not sure</param>
      /// <param name="memoryWeight">index memory weighting factor, use 0 if not sure</param>
      /// <param name="sampleFraction">what fraction of the dataset to use for autotuning, use 0.1 if not sure</param>
      public Index(IInputArray values, float targetPrecision, float buildWeight, float memoryWeight, float sampleFraction)
      {
         using (InputArray iaValues = values.GetInputArray())
            _ptr = CvFlannIndexCreateAutotuned(iaValues, targetPrecision, buildWeight, memoryWeight, sampleFraction);
      }*/
      #endregion

      /// <summary>
      /// Perform k-nearest-neighbours (KNN) search
      /// </summary>
      /// <param name="queries">A row by row matrix of descriptors to be query for nearest neighbours</param>
      /// <param name="indices">The result of the indices of the k-nearest neighbours</param>
      /// <param name="squareDistances">The square of the Eculidean distance between the neighbours</param>
      /// <param name="knn">Number of nearest neighbors to search for</param>
      /// <param name="checks">The number of times the tree(s) in the index should be recursively traversed. A
      /// higher value for this parameter would give better search precision, but also take more
      /// time. If automatic configuration was used when the index was created, the number of
      /// checks required to achieve the specified precision was also computed, in which case
      /// this parameter is ignored </param>
      public void KnnSearch(IInputArray queries, IOutputArray indices, IOutputArray squareDistances, int knn, int checks)
      {
         using (InputArray iaQueries = queries.GetInputArray())
         using (OutputArray oaIndices = indices.GetOutputArray())
         using (OutputArray oaSquareDistances = squareDistances.GetOutputArray())
         CvFlannIndexKnnSearch(_ptr, iaQueries, oaIndices, oaSquareDistances, knn, checks);
      }

 /// <summary>
 /// Detect keypoints in an image and compute the descriptors on the image from the keypoint locations.
 /// </summary>
 /// <param name="image">The image</param>
 /// <param name="mask">The optional mask, can be null if not needed</param>
 /// <param name="keyPoints">The detected keypoints will be stored in this vector</param>
 /// <param name="descriptors">The descriptors from the keypoints</param>
 /// <param name="useProvidedKeyPoints">If true, the method will skip the detection phase and will compute descriptors for the provided keypoints</param>
 public void DetectAndCompute(IInputArray image, IInputArray mask, VectorOfKeyPoint keyPoints, IOutputArray descriptors, bool useProvidedKeyPoints)
 {
    using (InputArray iaImage = image.GetInputArray())
    using (InputArray iaMask = mask == null ? InputArray.GetEmpty() : mask.GetInputArray())
    using (OutputArray oaDescriptors = descriptors.GetOutputArray())
       Feature2DInvoke.CvFeature2DDetectAndCompute(_ptr, iaImage, iaMask, keyPoints, oaDescriptors, useProvidedKeyPoints);
 }

 /// <summary>
 /// Apply the filter to the disparity image
 /// </summary>
 /// <param name="disparity">The input disparity map</param>
 /// <param name="image">The image</param>
 /// <param name="dst">The output disparity map, should have the same size as the input disparity map</param>
 /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
 public void Apply(IInputArray disparity, IInputArray image, IOutputArray dst, Stream stream = null)
 {
    using (InputArray iaDisparity = disparity.GetInputArray())
    using (InputArray iaImage = image.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
       CudaInvoke.cudaDisparityBilateralFilterApply(this, iaDisparity, iaImage, oaDst, stream);
 }

 /// <summary>
 /// Finds perspective transformation H=||h_ij|| between the source and the destination planes
 /// </summary>
 /// <param name="srcPoints">Point coordinates in the original plane</param>
 /// <param name="dstPoints">Point coordinates in the destination plane</param>
 /// <param name="homography">The output homography matrix</param>
 /// <param name="method">FindHomography method</param>
 /// <param name="ransacReprojThreshold">
 /// The maximum allowed reprojection error to treat a point pair as an inlier. 
 /// The parameter is only used in RANSAC-based homography estimation. 
 /// E.g. if dst_points coordinates are measured in pixels with pixel-accurate precision, it makes sense to set this parameter somewhere in the range ~1..3
 /// </param>
 /// <param name="mask">Optional output mask set by a robust method ( CV_RANSAC or CV_LMEDS ). Note that the input mask values are ignored.</param>
 /// <returns>The 3x3 homography matrix if found. Null if not found.</returns>
 public static void FindHomography(
    PointF[] srcPoints,
    PointF[] dstPoints,
    IOutputArray homography,
    CvEnum.HomographyMethod method,
    double ransacReprojThreshold = 3,
    IOutputArray mask = null)
 {
    GCHandle srcHandle = GCHandle.Alloc(srcPoints, GCHandleType.Pinned);
    GCHandle dstHandle = GCHandle.Alloc(dstPoints, GCHandleType.Pinned);
    try
    {
       using (
          Mat srcPointMatrix = new Mat(srcPoints.Length, 2, DepthType.Cv32F, 1, srcHandle.AddrOfPinnedObject(), 8))
       using (
          Mat dstPointMatrix = new Mat(dstPoints.Length, 2, DepthType.Cv32F, 1, dstHandle.AddrOfPinnedObject(), 8))
       {
          CvInvoke.FindHomography(srcPointMatrix, dstPointMatrix, homography, method, ransacReprojThreshold, mask);
       }
    }
    finally
    {
       srcHandle.Free();
       dstHandle.Free();
    }
 }

 /// <summary>
 /// 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.
 /// </summary>
 /// <param name="src">The input 8-bit 1-channel or 3-channel image</param>
 /// <param name="mask">The inpainting mask, 8-bit 1-channel image. Non-zero pixels indicate the area that needs to be inpainted</param>
 /// <param name="dst">The output image of the same format and the same size as input</param>
 /// <param name="flags">The inpainting method</param>
 /// <param name="inpaintRadius">The radius of circular neighborhood of each point inpainted that is considered by the algorithm</param>
 public static void Inpaint(IInputArray src, IInputArray mask, IOutputArray dst, double inpaintRadius, CvEnum.InpaintType flags)
 {
    using (InputArray iaSrc = src.GetInputArray())
    using (InputArray iaMask = mask.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
       cveInpaint(iaSrc, iaMask, oaDst, inpaintRadius, flags);
 }

 /// <summary>
 /// Detect the features in the image
 /// </summary>
 /// <param name="feature2DAsync">The Feature2DAsync object</param>
 /// <param name="keypoints">The result vector of keypoints</param>
 /// <param name="image">The image from which the features will be detected from</param>
 /// <param name="mask">The optional mask.</param>
 /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
 public static void DetectAsync(this IFeature2DAsync feature2DAsync, IInputArray image, IOutputArray keypoints, IInputArray mask = null, Stream stream = null)
 {
    using (InputArray iaImage = image.GetInputArray())
    using (OutputArray oaKeypoints = keypoints.GetOutputArray())
    using (InputArray iaMask = mask == null ? InputArray.GetEmpty() : mask.GetInputArray())
       CudaInvoke.cveCudaFeature2dAsyncDetectAsync(feature2DAsync.Feature2DAsyncPtr, iaImage, oaKeypoints, iaMask, stream);
 }

 /// <summary>
 ///  This function is similiar to cvCalcBackProjectPatch. It slids through image, compares overlapped patches of size wxh with templ using the specified method and stores the comparison results to result
 /// </summary>
 /// <param name="image">Image where the search is running. It should be 8-bit or 32-bit floating-point</param>
 /// <param name="templ">Searched template; must be not greater than the source image and the same data type as the image</param>
 /// <param name="result">A map of comparison results; single-channel 32-bit floating-point. If image is WxH and templ is wxh then result must be W-w+1xH-h+1.</param>
 /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>  
 public void Match(IInputArray image, IInputArray templ, IOutputArray result, Stream stream = null)
 {
    using (InputArray iaImage = image.GetInputArray())
    using (InputArray iaTempl = templ.GetInputArray())
    using (OutputArray oaResult = result.GetOutputArray())
       CudaInvoke.cudaTemplateMatchingMatch(_ptr, iaImage, iaTempl, oaResult, stream);
 }

 public bool NextFrame(IOutputArray frame)
 {
    using (OutputArray oaFrame = frame.GetOutputArray())
    {
       return CudaInvoke.cudaVideoReaderNextFrame(_ptr, oaFrame);
    }
 }

 /// <summary>
 /// Extracts pixels from src:
 /// dst(x, y) = src(x + center.x - (width(dst)-1)*0.5, y + center.y - (height(dst)-1)*0.5)
 /// where the values of pixels at non-integer coordinates are retrieved using bilinear interpolation. Every channel of multiple-channel images is processed independently. Whereas the rectangle center must be inside the image, the whole rectangle may be partially occluded. In this case, the replication border mode is used to get pixel values beyond the image boundaries.
 /// </summary>
 /// <param name="image">Source image</param>
 /// <param name="patchSize">Size of the extracted patch.</param>
 /// <param name="patch">Extracted rectangle</param>
 /// <param name="patchType">Depth of the extracted pixels. By default, they have the same depth as <paramref name="image"/>.</param>
 /// <param name="center">Floating point coordinates of the extracted rectangle center within the source image. The center must be inside the image.</param>
 public static void GetRectSubPix(IInputArray image, Size patchSize, PointF center, IOutputArray patch, DepthType patchType = DepthType.Default)
 {
    using (InputArray iaSrc = image.GetInputArray())
    using (OutputArray oaPatch = patch.GetOutputArray())
    {
       cveGetRectSubPix(iaSrc, ref patchSize, ref center, oaPatch, patchType);
    }
 }

 public static void DtFilter(IInputArray guide, IInputArray src, IOutputArray dst,
    double sigmaSpatial, double sigmaColor, int mode, int numIters)
 {
    using (InputArray iaGuide = guide.GetInputArray())
    using (InputArray iaSrc = src.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
       cveDtFilter(iaGuide, iaSrc, oaDst, sigmaSpatial, sigmaColor, mode, numIters);
 }

 public static void AmFilter(IInputArray joint, IInputArray src, IOutputArray dst, double sigmaS, double sigmaR,
    bool adjustOutliers)
 {
    using (InputArray iaJoint = joint.GetInputArray())
    using (InputArray iaSrc = src.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
       cveAmFilter(iaJoint, iaSrc, oaDst, sigmaS, sigmaR, adjustOutliers);
 }

 public static void GuidedFilter(IInputArray guide, IInputArray src, IOutputArray dst, int radius, double eps,
    int dDepth)
 {
    using (InputArray iaGuide = guide.GetInputArray())
    using (InputArray iaSrc = src.GetInputArray())
    using (OutputArray oaDst = dst.GetOutputArray())
       cveGuidedFilter(iaGuide, iaSrc, oaDst, radius, eps, dDepth);
 }

 public static float Predict(this IStatModel model, IInputArray samples, IOutputArray results = null, int flags = 0)
 {
    using (InputArray iaSamples = samples.GetInputArray())
    using (OutputArray oaResults = results == null ? OutputArray.GetEmpty() : results.GetOutputArray())
    {
       return MlInvoke.StatModelPredict(model.StatModelPtr, iaSamples, oaResults, flags);
    }
 }

 /// <summary>
 /// Produce domain transform filtering operation on source image.
 /// </summary>
 /// <param name="src">Filtering image with unsigned 8-bit or floating-point 32-bit depth and up to 4 channels.</param>
 /// <param name="dst">Destination image.</param>
 /// <param name="dDepth">Optional depth of the output image. dDepth can be set to Default, which will be equivalent to src.depth().</param>
 public void Filter(IInputArray src, IOutputArray dst, DepthType dDepth = DepthType.Default)
 {
    using (InputArray iaSrc = src.GetInputArray())
       using (OutputArray oaDst = dst.GetOutputArray())
       {
          XimgprocInvoke.cveDTFilterFilter(_ptr, iaSrc, oaDst, dDepth);
       }
    
 }

 /// <summary>
 /// Creates kernel from basic functions.
 /// </summary>
 /// <param name="A">Basic function used in axis x.</param>
 /// <param name="B">Basic function used in axis y.</param>
 /// <param name="kernel">Final 32-b kernel derived from A and B.</param>
 /// <param name="chn">Number of kernel channels.</param>
 public static void CreateKernel(IInputArray A, IInputArray B, IOutputArray kernel, int chn = 1)
 {
    using (InputArray iaA = A.GetInputArray())
    using (InputArray iaB = B.GetInputArray())
    using (OutputArray oaKernel = kernel.GetOutputArray())
    {
       cveFtCreateKernel(iaA, iaB, oaKernel, chn);
    }
 }