text: #ifndef FISHEYE_INTERNAL_H
  #define FISHEYE_INTERNAL_H
  #include "precomp.hpp"
  
  namespace cv { namespace internal {
  
  struct CV_EXPORTS IntrinsicParams
  {
      Vec2d f;
      Vec2d c;
      Vec4d k;
      double alpha;
      std::vector<uchar> isEstimate;
  
      IntrinsicParams();
      IntrinsicParams(Vec2d f, Vec2d c, Vec4d k, double alpha = 0);
      IntrinsicParams operator+(const Mat& a);
      IntrinsicParams& operator =(const Mat& a);
      void Init(const cv::Vec2d& f, const cv::Vec2d& c, const cv::Vec4d& k = Vec4d(0,0,0,0), const double& alpha = 0);
  };
  
  void projectPoints(cv::InputArray objectPoints, cv::OutputArray imagePoints,
                     cv::InputArray _rvec,cv::InputArray _tvec,
                     const IntrinsicParams& param, cv::OutputArray jacobian);
  
  void ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
                              Mat&  tvec, Mat& J, const int MaxIter,
                              const IntrinsicParams& param, const double thresh_cond);
  CV_EXPORTS Mat ComputeHomography(Mat m, Mat M);
  
  CV_EXPORTS Mat NormalizePixels(const Mat& imagePoints, const IntrinsicParams& param);
  
  void InitExtrinsics(const Mat& _imagePoints, const Mat& _objectPoints, const IntrinsicParams& param, Mat& omckk, Mat& Tckk);
  
  void CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
                           const IntrinsicParams& param, const int check_cond,
                           const double thresh_cond, InputOutputArray omc, InputOutputArray Tc);
  
  void ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
                        const IntrinsicParams& param,  InputArray omc, InputArray Tc,
                        const int& check_cond, const double& thresh_cond, Mat& JJ2_inv, Mat& ex3);
  
  CV_EXPORTS void  EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
                             const IntrinsicParams& params, InputArray omc, InputArray Tc,
                             IntrinsicParams& errors, Vec2d& std_err, double thresh_cond, int check_cond, double& rms);
  
  void dAB(cv::InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
  
  void JRodriguesMatlab(const Mat& src, Mat& dst);
  
  void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2,
                      Mat& om3, Mat& T3, Mat& dom3dom1, Mat& dom3dT1, Mat& dom3dom2,
                      Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
  
  double median(const Mat& row);
  
  Vec3d median3d(InputArray m);
  
  }}
  
  #endif
  