Merge branch 'peterbraden-master'

2025-12-08 19:45:55 +00:00 · 2015-03-31 18:46:28 -07:00 · 2015-03-31 18:46:28 -07:00 · d2a918bedc
commit d2a918bedc
parent 4131385e4b 3ae1ccb212
38 changed files with 1921 additions and 184 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -1,10 +1,70 @@
 language: node_js
+
 node_js:
-   - "0.10"
-   - "0.11"
+  - '0.10'
+  - '0.11'
+  - '0.12'
+
+compiler: clang
+
+env:
+  global:
+  - secure: "kCAwXdfcMv4l4ok5lO89ANbKXXwWQpn5/3qupSbhmX2NDIGUxyXze/cs90u9gF5hcT7ebq27ZJPEtu7pRov8MadfQM9BAd4ZZrHcMHWSkA0Iz+nM+m0Urwach6jkp2Iuwx15L2NHSis7f5PUKJcEv4Gnqs8jrCJzHHS7m7dO0Xo="
+  - secure: "lBIk4BhdIkSmJtFUNp93UjDm445i9eF7nKA+oSiLRu+b9i/WeRLiKFI89tehexWeXBlyNhziBN16LrHmx3I86yZfEok9dBMA1JuzYBjrvpjRAflGcqaCFLV3axyyyNQRIh7Q+ziAlg0xg8HL752BpnfXO91g3jfDPjGxcvBb5xQ="
+

 before_install:
+  # Fix a problem with apt-get failing later, see http://docs.travis-ci.com/user/installing-dependencies/#Installing-Ubuntu-packages
+  - sudo apt-get update -qq
+  - sudo add-apt-repository -y ppa:kubuntu-ppa/backports
  - sudo apt-get update
-  - sudo apt-get install libcv-dev
-  - sudo apt-get install libopencv-dev
-  - sudo apt-get install libhighgui-dev
+  - sudo apt-get install --force-yes libcv-dev libcvaux-dev libhighgui-dev libopencv-dev
+  # get commit message
+  - COMMIT_MESSAGE=$(git show -s --format=%B $TRAVIS_COMMIT | tr -d '\n')
+  # put local node-pre-gyp on PATH
+  - export PATH=./node_modules/.bin/:$PATH
+    # install node-pre-gyp so it is available for packaging and publishing
+  - npm install node-gyp -g
+    # install node-pre-gyp so it is available for packaging and publishing
+  - npm install node-pre-gyp
+  # install aws-sdk so it is available for publishing to AS3
+  - npm install aws-sdk
+  # figure out if we should publish
+  - PUBLISH_BINARY=false
+  # if we are building a tag then publish
+  - if [[ $TRAVIS_BRANCH == `git describe --tags --always HEAD` ]]; then PUBLISH_BINARY=true; fi;
+  # or if we put [publish binary] in the commit message
+  - if test "${COMMIT_MESSAGE#*'[publish binary]'}" != "$COMMIT_MESSAGE"; then PUBLISH_BINARY=true; fi;
+  - platform=$(uname -s | sed "y/ABCDEFGHIJKLMNOPQRSTUVWXYZ/abcdefghijklmnopqrstuvwxyz/")
+
+install:
+  # ensure source install works
+  - npm install --build-from-source
+  # test our module
+  - npm test
+  - node lib/opencv.js
+
+before_script:
+  - echo "Publishing native platform Binary Package? ->" $PUBLISH_BINARY
+  # if publishing, do it
+  - if [[ $PUBLISH_BINARY == true ]]; then node-pre-gyp package publish || true; fi;
+  # cleanup
+  - node-pre-gyp clean
+  - node-gyp clean
+  - sudo apt-get purge libcv-dev
+  - sudo apt-get purge libopencv-dev
+  - sudo apt-get purge libhighgui-dev
+
+script:
+  # if publishing, test installing from remote
+  - INSTALL_RESULT=0
+  - if [[ $PUBLISH_BINARY == true ]]; then INSTALL_RESULT=$(npm install --fallback-to-build=false > /dev/null)$? || true; fi;
+  # if install returned non zero (errored) then we first unpublish and then call false so travis will bail at this line
+  - if [[ $INSTALL_RESULT != 0 ]]; then echo "returned $INSTALL_RESULT";node-pre-gyp unpublish;false; fi
+  # If success then we arrive here so lets clean up
+  - node-pre-gyp clean
+  # Can't compile opencv 32bit in 64 bit env.
+
+after_success:
+  # if success then query and display all published binaries
+  - node-pre-gyp info
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -1,6 +1,29 @@

 # Changelog

+### 3.0.0
+
+You wait ages for a release, and 2 come along at once...
+
+This one is awesome. It adds prebuilt binaries, so you don't need
+to build opencv for the common platforms.
+
+Many many thanks to @edgarsilva for awesome work here, and
+http://hybridgroup.com/ for hosting the binaries
+
+
+### 2.0.0
+
+- Support for node 0.12
+- Camera Calibration Functions from @queuecumber
+- Fix for Nan 1.5.1 from @IMGNRY
+- More build fixes from @scanlime
+- Matrix crop prototype from @dbpieter
+- Many fixes from @madshall
+
+Thanks to everyone that contributed!
+
+
 ### 1.0.0

 Ok, let's do a proper semver release :)
--- a/34
+++ b/34
@ -0,0 +1,34 @@
+VERSION := $(shell node -e "console.log(require('./package.json').version)")
+
+.PHONY: default release smoke
+
+test:
+	npm test
+
+smoke:
+	npm install --build-from-source
+	node smoke/smoketest.js
+	npm test
+
+
+release:
+	@echo "Tagging release $(VERSION)"
+	@git tag -m "$(VERSION)" v$(VERSION)
+
+	@echo "Pushing tags to GitHub"
+	@git push --tags
+
+	@echo "Switching to osx-binaries branch"
+	@git checkout osx-binaries
+
+	@echo "Merging master into osx-binaries"
+	@git merge --no-ff --commit -m "Merge master into osx-binaries [publish binary]" master
+
+	@echo "Pushing osx-binaries"
+	@git push
+
+	@echo "Switching to master branch"
+	@git checkout master
+
+	@echo "Publishing to NPM"
+	@npm publish
--- a/README.md
+++ b/README.md
@ -22,6 +22,7 @@ $ npm install opencv
 ```

 ## Examples
+Run the examples from the parent directory.

 ### Face Detection

@ -172,29 +173,29 @@ See [relevant source code](src/Contours.cc) and [examples](examples/)
 ```javascript
 var contours = im.findContours;

-# Count of contours in the Contours object
+// Count of contours in the Contours object
 contours.size();

-# Count of corners(verticies) of contour `index`
+// Count of corners(verticies) of contour `index`
 contours.cornerCount(index);

-# Access vertex data of contours
+// Access vertex data of contours
 for(var c = 0; c < contours.size(); ++c) {
  console.log("Contour " + c);
  for(var i = 0; i < contours.cornerCount(c); ++i) {
    var point = contours.point(c, i);
-    console.log("(" + point.x + "," + point.y + ")");"
+    console.log("(" + point.x + "," + point.y + ")");
  }
 }

-# Computations of contour `index`
+// Computations of contour `index`
 contours.area(index);
 contours.arcLength(index, isClosed);
 contours.boundingRect(index);
 contours.minAreaRect(index);
 contours.isConvex(index);

-# Destructively alter contour `index`
+// Destructively alter contour `index`
 contours.approxPolyDP(index, epsilon, isClosed);
 contours.convexHull(index, clockwise);
 ```
--- a/appveyor.yml
+++ b/appveyor.yml
@ -0,0 +1,105 @@
+# environment variables
+environment:
+  node_pre_gyp_accessKeyId:
+    secure: 3GHZvq0y83PQ8Qi7FOc5rKoULRQvd2OohhtGqRQLZB4=
+  node_pre_gyp_secretAccessKey:
+    secure: AiX8Bx+U8LKu5JZHb5CMth5xOHuWawkQW3il0OFWfV4kodPZnC8dLYIqb4XZeF7f
+
+# try on unstable version of the server to build node-opencv
+os: unstable
+
+# to add several platforms to build matrix:
+platform:
+  - x64
+
+install:
+  - cmd: ECHO "INSTALL OPENCV:"
+  - cmd: choco install OpenCV
+  - cmd: ECHO "APPVEYOR_REPO_COMMIT_MESSAGE ->"
+  - cmd: ECHO %APPVEYOR_REPO_COMMIT_MESSAGE%
+  - cmd: SET COMMIT_MSG="%APPVEYOR_REPO_COMMIT_MESSAGE%"
+  - cmd: SET PUBLISH_BINARY=false
+  # Check to verify the branch is the same than latest tag, if so
+  # then we publish the binaries if everything else is successful.
+  - cmd: git describe --tags --always HEAD > _git_tag.tmp
+  - cmd: SET /p GIT_TAG=<_git_tag.tmp
+  - cmd: ECHO "LATEST LOCAL TAG:"
+  - cmd: ECHO %GIT_TAG%
+  - cmd: ECHO "APPVEYOR REPO BRANCH/TAG:"
+  - cmd: ECHO %APPVEYOR_REPO_BRANCH%
+  - cmd: DEL _git_tag.tmp
+  - cmd: IF x%APPVEYOR_REPO_BRANCH%==x%GIT_TAG% SET PUBLISH_BINARY=true
+  # Or look for commit message containing `[publish binary]`
+  - cmd: IF not x%COMMIT_MSG:[publish binary]=%==x%COMMIT_MSG% SET PUBLISH_BINARY=true
+  - cmd: ECHO "Env Var PUBLISH_BINARY:"
+  - cmd: ECHO %PUBLISH_BINARY%
+  - cmd: git clone https://github.com/marcelklehr/nodist.git c:\nodist 2>&1
+  - cmd: SET PATH=C:\nodist\bin;%PATH%
+  - cmd: SET NODIST_PREFIX=C:\nodist
+
+before_build:
+  - cmd: SET ARCH=x64
+  - cmd: SET NODIST_X64=1
+  - cmd: call nodist update
+  - cmd: call nodist stable
+  - cmd: npm install -g node-gyp
+  - cmd: SET APP_PATH=%CD%
+  - cmd: IF EXIST C:\OpenCV* CD C:\OpenCV*
+  - cmd: SET OPENCV_ROOT_PATH=%CD%\opencv
+  - cmd: CD %APP_PATH%
+  - cmd: SET OPENCV_DIR=%OPENCV_ROOT_PATH%\build\%ARCH%\vc12\bin
+  - cmd: SET PATH=%cd%\node_modules\.bin\;C:\MinGW\bin;C:\GTK\bin;C:\msys\1.0\bin;%OPENCV_DIR%;%PATH%
+  - cmd: SET PKG_CONFIG_PATH=C:\GTK\lib\pkgconfig
+  - cmd: DIR %OPENCV_ROOT_PATH%\build\%ARCH%\vc12\bin
+  - cmd: DIR %OPENCV_ROOT_PATH%\build\%ARCH%\vc12\lib
+  # Here we need to copy the opencv.pc file from the repo into PKG_CONFIG_PATH
+  # trick part is to check for the vc12 folder and use that one
+  - cmd: copy .\utils\opencv_x64.pc C:\GTK\lib\pkgconfig\opencv.pc
+
+# to run your custom scripts instead of automatic MSBuild
+build_script:
+  - cmd: ECHO "BUILDING x64 binary package:"
+  - cmd: npm install --build-from-source --msvs_version=2013
+  - cmd: npm test
+  - cmd: node lib/opencv.js
+  - cmd: ECHO "PUBLISH x64 binary package:"
+  - cmd: npm install aws-sdk
+  - cmd: IF %PUBLISH_BINARY%==true (node-pre-gyp package publish 2>&1)
+  - cmd: node-pre-gyp clean
+  - cmd: node-gyp clean
+  - cmd: npm uninstall -g node-gyp
+  - cmd: rmdir /q /s node_modules
+  - cmd: DEL C:\GTK\lib\pkgconfig\opencv.pc
+
+after_build:
+  - cmd: SET ARCH=x86
+  - cmd: SET OPENCV_DIR=%OPENCV_ROOT_PATH%\build\%ARCH%\vc12\bin
+  - cmd: SET PATH=%OPENCV_DIR%;%PATH%
+  - cmd: SET NODIST_X64=0
+  - cmd: call nodist update
+  - cmd: call nodist stable
+  - cmd: npm install -g node-gyp
+  - cmd: copy .\utils\opencv_x86.pc C:\GTK\lib\pkgconfig\opencv.pc
+  - cmd: ECHO "BUILDING x86 binary package:"
+  - cmd: npm install --build-from-source --msvs_version=2013
+  - cmd: npm test
+  - cmd: node lib/opencv.js
+  - cmd: ECHO "PUBLISH x86 binary package:"
+  - cmd: npm install aws-sdk
+  - cmd: IF %PUBLISH_BINARY%==true (node-pre-gyp package publish 2>&1)
+  - cmd: node-pre-gyp clean
+  - cmd: node-gyp clean
+  - cmd: rmdir /q /s node_modules
+
+on_success:
+  # test installing from binary package works
+  - cmd: ECHO "ON SUCCESS:"
+  - cmd: ECHO "Try installing from binary:"
+  #- cmd: IF %PUBLISH_BINARY%==true npm install --fallback-to-build=false
+  - cmd: npm install --fallback-to-build=false
+  # Print Available Binaries
+  - cmd: node-pre-gyp info
+
+test: OFF
+
+deploy: OFF
--- a/binding.gyp
+++ b/binding.gyp
@ -1,51 +1,80 @@
 {
  "targets": [{
-      "target_name": "opencv"
-      , "sources": [
-          "src/init.cc"
-        , "src/Matrix.cc"
-        , "src/OpenCV.cc"
-        , "src/CascadeClassifierWrap.cc"
-        , "src/Contours.cc"
-        , "src/Point.cc"
-        , "src/VideoCaptureWrap.cc"
-        , "src/CamShift.cc"
-        , "src/HighGUI.cc"
-        , "src/FaceRecognizer.cc"
-        , "src/BackgroundSubtractor.cc"
-        , "src/Constants.cc"
-        ]
-      , 'libraries': [
-          '<!@(pkg-config --libs opencv)'
-        ]
+    "target_name": "opencv",
+      "sources": [
+        "src/init.cc",
+        "src/Matrix.cc",
+        "src/OpenCV.cc",
+        "src/CascadeClassifierWrap.cc",
+        "src/Contours.cc",
+        "src/Point.cc",
+        "src/VideoCaptureWrap.cc",
+        "src/CamShift.cc",
+        "src/HighGUI.cc",
+        "src/FaceRecognizer.cc",
+        "src/BackgroundSubtractor.cc",
+        "src/Constants.cc",
+        "src/Calib3D.cc",
+        "src/ImgProc.cc",
+        "src/Stereo.cc"
+      ],

+      "libraries": [
+        "<!@(pkg-config --libs opencv)"
+      ],
      # For windows
-      ,'include_dirs': [
-          '<!@(pkg-config --cflags opencv)',
-          "<!(node -e \"require('nan')\")"
-          ]

-      , 'cflags': [
-            '<!@(pkg-config --cflags "opencv >= 2.3.1" )'
-            , '-Wall'
-          ]
-      , 'cflags!' : [ '-fno-exceptions']
-      , 'cflags_cc!': [ '-fno-rtti',  '-fno-exceptions']
-      , "conditions": [
-        ['OS=="mac"', {
-          # cflags on OS X are stupid and have to be defined like this
-          'xcode_settings': {
-            'OTHER_CFLAGS': [
-              "-mmacosx-version-min=10.7",
-              "-std=c++11",
-              "-stdlib=libc++",
-              '<!@(pkg-config --cflags opencv)'
+      "include_dirs": [
+        "<!@(pkg-config --cflags opencv)",
+        "<!(node -e \"require('nan')\")"
+      ],
+
+      "cflags!" : [ "-fno-exceptions"],
+      "cflags_cc!": [ "-fno-rtti",  "-fno-exceptions"],
+
+      "conditions": [
+        [ "OS==\"linux\"", {
+            "cflags": [
+              "<!@(pkg-config --cflags \"opencv >= 2.3.1\" )",
+              "-Wall"
            ]
-            , "GCC_ENABLE_CPP_RTTI": "YES"
-            , "GCC_ENABLE_CPP_EXCEPTIONS": "YES"
+        }],
+        [ "OS==\"win\"", {
+            "cflags": [
+              "<!@(pkg-config --cflags \"opencv >= 2.4.9\" )",
+              "-Wall"
+            ],
+            "msvs_settings": {
+              "VCCLCompilerTool": {
+                "ExceptionHandling": "2",
+                "DisableSpecificWarnings": [ "4530", "4506", "4244" ],
+              },
+            }
+        }],
+        [ # cflags on OS X are stupid and have to be defined like this
+          "OS==\"mac\"", {
+            "xcode_settings": {
+            "OTHER_CFLAGS": [
+              "-mmacosx-version-min=10.7",
+            "-std=c++11",
+            "-stdlib=libc++",
+            "<!@(pkg-config --cflags opencv)"
+              ],
+            "GCC_ENABLE_CPP_RTTI": "YES",
+            "GCC_ENABLE_CPP_EXCEPTIONS": "YES"
          }
        }]
-
    ]
-  }]
+  },
+    {
+      "target_name": "action_after_build",
+      "type": "none",
+      "dependencies": [ "<(module_name)" ],
+      "copies": [
+      {
+        "files": [ "<(PRODUCT_DIR)/<(module_name).node" ],
+        "destination": "<(module_path)"
+      }
+      ]
+    }]
 }
--- a/data/hogcascade_cars_sideview.xml
+++ b/data/hogcascade_cars_sideview.xml
@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <opencv_storage>
-<cascade>
+<output type_id="opencv-haar-classifier">
  <stageType>BOOST</stageType>
  <featureType>HOG</featureType>
  <height>24</height>
@ -835,5 +835,7 @@
        16 8 16 8 24</rect></_>
    <_>
      <rect>
-        16 8 16 8 28</rect></_></features></cascade>
+        16 8 16 8 28</rect></_></features>
+
+</output>
 </opencv_storage>
--- a/examples/addweighted.js
+++ b/examples/addweighted.js
@ -1,14 +1,14 @@
 var cv = require('../lib/opencv');

-cv.readImage("./files/mona.png", function(err, orig) {
+cv.readImage("./examples/files/mona.png", function(err, orig) {
  if (err) throw err;

-  cv.readImage("./files/over_text.png", function(err, over_text) {
+  cv.readImage("./examples/files/over_text.png", function(err, over_text) {
    if (err) throw err;

    var result = new cv.Matrix(orig.width(), orig.height());
    result.addWeighted(orig, 0.7, over_text, 0.9);
-    result.save("./tmp/weighted.png");
-    console.log('Image saved to ./tmp/weighted.png');
+    result.save("./examples/tmp/weighted.png");
+    console.log('Image saved to ./examples/tmp/weighted.png');
  });
 });
--- a/examples/camera.js
+++ b/examples/camera.js
@ -1,12 +1,20 @@
 var cv = require('../lib/opencv');

-var camera = new cv.VideoCapture(0);
-var window = new cv.NamedWindow('Video', 0)
-
-setInterval(function() {
-  camera.read(function(err, im) {
-    if (err) throw err;
-    window.show(im);
-    window.blockingWaitKey(0, 50);
-  });
-}, 20);
+try {
+  var camera = new cv.VideoCapture(0);
+  var window = new cv.NamedWindow('Video', 0)
+  /*
+  setInterval(function() {
+    camera.read(function(err, im) {
+      if (err) throw err;
+      console.log(im.size())
+      if (im.size()[0] > 0 && im.size()[1] > 0){
+        window.show(im);
+      }
+      window.blockingWaitKey(0, 50);
+    });
+  }, 20);
+  */
+} catch (e){
+  console.log("Couldn't start camera:", e)
+}
--- a/examples/car-detection.js
+++ b/examples/car-detection.js
@ -1,3 +1,6 @@
+/* For some reason the cascade file is broken on linux :(
+
+
 var cv = require('../lib/opencv');

 cv.readImage("./files/car1.jpg", function(err, im){
@ -16,3 +19,4 @@ cv.readImage("./files/car1.jpg", function(err, im){
    console.log('Image saved to ./tmp/car-detection.jpg');
  });
 });
+*/
--- a/examples/face-proxy.js
+++ b/examples/face-proxy.js
@ -3,7 +3,7 @@ var http = require('http'),
    request = require('request'),
    cv = require('../lib/opencv');

-http.createServer(function(req, resp){
+var server = http.createServer(function(req, resp){
  var url = req.url.slice(1);
  request({uri:url, encoding:'binary'}, function(err, r, body){
    if (err) return resp.end(err.stack);
@ -27,4 +27,7 @@ http.createServer(function(req, resp){
    });
  });

-}).listen(3000, function(){ console.log('Listening on http://localhost:3000'); })
+})
+
+
+//server.listen(3000, function(){ console.log('Listening on http://localhost:3000'); })
--- a/examples/salt.js
+++ b/examples/salt.js
@ -1,7 +1,7 @@
 var cv = require('../lib/opencv');

 cv.readImage("./files/mona.png", function(err, im) {
-  salt(im, 1000);
+  salt(im, 100);
  im.save("./tmp/salt.png");
  console.log('Image saved to ./tmp/salt.png');
 });
--- a/examples/take-face-pics.js
+++ b/examples/take-face-pics.js
@ -1,24 +1,32 @@
 var cv = require('../lib/opencv');
-var vid = new cv.VideoCapture(0);
+try {
+  var vid = new cv.VideoCapture(0);

-vid.read(function(err, im){
-  if (err) throw err;
-
-  im.detectObject(cv.FACE_CASCADE, {}, function(err, faces){
+  vid.read(function(err, im){
    if (err) throw err;
-    if (!faces.length) return console.log("No Faces");
+    if (im.size()[0] > 0 && im.size()[1] > 0){

-    var face = faces[0];
-    var ims = im.size();
-    var im2 = im.roi(face.x, face.y, face.width, face.height)
-    /*
-    im.adjustROI(
-         -face.y
-       , (face.y + face.height) - ims[0]
-       , -face.x
-       , (face.x + face.width) - ims[1])
-       */
-    im2.save('./tmp/take-face-pics.jpg')
-    console.log('Image saved to ./tmp/take-face-pics.jpg');
-  })
-});
+      im.detectObject(cv.FACE_CASCADE, {}, function(err, faces){
+        if (err) throw err;
+        if (!faces.length) return console.log("No Faces");
+
+        var face = faces[0];
+        var ims = im.size();
+        var im2 = im.roi(face.x, face.y, face.width, face.height)
+        /*
+        im.adjustROI(
+             -face.y
+           , (face.y + face.height) - ims[0]
+           , -face.x
+           , (face.x + face.width) - ims[1])
+           */
+        im2.save('./examples/tmp/take-face-pics.jpg')
+        console.log('Image saved to ./tmp/take-face-pics.jpg');
+      })
+    } else {
+      console.log("Camera didn't return image")
+    }
+  });
+} catch (e){
+  console.log("Couldn't start camera", e)
+}
--- a/examples/warp-image.js
+++ b/examples/warp-image.js
@ -1,6 +1,6 @@
 var cv = require('../lib/opencv');

-cv.readImage("./mona.png", function(err, im) {
+cv.readImage("./files/mona.png", function(err, im) {
  if (err) throw err;

  var width = im.width();
@ -11,6 +11,6 @@ cv.readImage("./mona.png", function(err, im) {
  var dstArray = [0, 0, width * 0.9, height * 0.1, width, height, width * 0.2, height * 0.8];
  var xfrmMat = im.getPerspectiveTransform(srcArray, dstArray);
  im.warpPerspective(xfrmMat, width, height, [255, 255, 255]);
-  im.save("./warp-image.png");
+  im.save("./tmp/warp-image.png");
  console.log('Image saved to ./tmp/warp-image.png');
 });
--- a/lib/bindings.js
+++ b/lib/bindings.js
@ -1 +1,7 @@
-module.exports = require('../build/Release/opencv.node');
+var binary = require('node-pre-gyp');
+var path = require('path');
+var binding_path = binary.find(path.resolve(path.join(__dirname,'../package.json')));
+var binding = require(binding_path);
+
+//module.exports = require('../build/Release/opencv.node');
+module.exports = binding;
--- a/package.json
+++ b/package.json
@ -3,17 +3,23 @@
  "description": "Node Bindings to OpenCV",
  "author": "Peter Braden <peterbraden@peterbraden.co.uk>",
  "dependencies": {
+    "node-pre-gyp": "0.5.31",
    "buffers": "0.1.1",
-    "nan": "^1.3.0"
+    "nan": "1.4.3"
  },
-  "version": "1.0.0",
+  "version": "3.0.1",
  "devDependencies": {
-    "tape": "^3.0.0"
+    "tape": "^3.0.0",
+    "aws-sdk": "~2.0.21",
+    "glob": "^4.0.6",
+    "request": "^2.45.0"
  },
+  "bundledDependencies":["node-pre-gyp"],
  "license": "MIT",
  "scripts": {
    "build": "node-gyp build",
-    "test": "node test/unit.js"
+    "test": "node test/unit.js",
+    "install": "node-pre-gyp install --fallback-to-build"
  },
  "keywords": [
    "opencv",
@ -28,5 +34,12 @@
  },
  "engines": {
    "node": ">=0.10"
+  },
+  "binary": {
+    "module_name" : "opencv",
+    "module_path" : "./build/{module_name}/v{version}/{configuration}/{node_abi}-{platform}-{arch}/",
+    "remote_path" : "./{module_name}/v{version}/{configuration}/",
+    "package_name": "{node_abi}-{platform}-{arch}.tar.gz",
+    "host"        : "https://node-opencv.s3.amazonaws.com"
  }
 }
--- a/publish-binaries.md
+++ b/publish-binaries.md
@ -0,0 +1,71 @@
+How to publish the pre compiled binaries.
+=========================================
+
+## Setup for Linux, Windows and OSX
+
+Every time a new tag for the latest release is pushed to github the continous integration
+builds in Travis-CI and AppVeyor will generate the binaries for each platform and architecture,
+package and publish to the AS3 bucket.
+
+This can be checked in the .travis.yml file and appveyor.yml file. Within the files there are two
+methods for publishing new binaries for each version, one is if a `git tag` is detected; the other
+can be triggered by passing the string `[publish binary]` in the commit message itself.
+
+We also have an automated make task, we should always use this task to avoid forgetting any steps
+(like merging into the `osx-binaries` branch).
+
+The process for generating the binaries, publishing and releasing the npm module should be as follows:
+
+1. Merge all changes and new features into master.
+2. Bump up version of npm module in `package.json`.
+3. execute make task: `make release`
+
+This task will do the following for you:
+
+1. Generate new tags based on package.json version number
+2. Push tags to Github
+3. Checkout into `osx-binaries` branch
+4. Merge `master` into `osx-binaries`
+5. Push `osx-binaries`
+6. Checkout master
+7. Finally it will run `npm publish`
+
+With this we will make sure the binaries for all platforms and architectures will be generated each time
+a new version is released.
+
+
+## Config Travis, AppVeyor and Github to generate all of the binaries.
+
+Before we are able to run everything stated above some steps need to be taken.
+Specifically for being able to publish the pre compiled binaries to AWS-S3. The
+correct keys need to be setup in the travis and appveyor `.yml` files. This needs
+to be done by the admin of the repo, in the case of Travis, and the owner of the account,
+in the case of appveyor.
+
+### Setting up secure keys in Travis.
+
+Setting up the keys in Travis is easy if you have ruby and ruby gems installed and working then install:
+
+`gem install travis`
+
+After the travis gem is installed run the following command for each of the required keys:
+
+`travis encrypt SOMEVAR=secretvalue`
+
+And substitute the values in the `.travis.yml` file for the new ones. Detailed instructions can
+be found here: http://docs.travis-ci.com/user/environment-variables/#Secure-Variables
+
+### Setting up secure keys in AppVeyor
+
+It is even easier than Travis, you do not need to install anything, just go to your account and
+click in `encrypt tool`, there enter the values in the input field and click encrypt. Same as with
+Travis we then need to substitute the newly generated values for the old ones.
+
+Detailed instructions can be found here: http://www.appveyor.com/docs/build-configuration#secure-variables
+
+### OSX binaries
+
+Since Travis does not support config file for multiple OSs we need to create a new branch that contains
+a slightly different version of the .travis.yml file to compile for OSX. The branch needs to be called
+`osx-binaries` and be based of `master` once the pre-compiled binaries PR has been merged in.
+
--- a/smoke/smoke.sh
+++ b/smoke/smoke.sh
@ -1,14 +0,0 @@
-#!/bin/bash
-
-if [ ! -f smoke/smoketest.js ]; then
-	echo "Please run smoke test from the top-level folder of the repository." >&2
-	exit 1
-fi
-
-node-gyp build && echo '-- Compiled OK -- 
-
-' && node  smoke/smoketest.js && echo '-- Smoke Done, running tests --
-
-' && npm test # && echo '-- Tests Run, runnning examples --
-#(building example data)
-#' && ./examples/make-example-files.sh && node examples/motion-track.js 
--- a/smoke/smoketest.js
+++ b/smoke/smoketest.js
@ -1,6 +1,6 @@
-var cv = require('../lib/opencv')
+var cv = require('../lib/opencv');

-var trainingData = []
+var trainingData = [];
 /*
 for (var i = 1; i< 41; i++){
  for (var j = 1; j<10; j++){
@ -22,5 +22,5 @@ cv.readImage("/Users/peterbraden/Downloads/orl_faces/s6/10.pgm", function(e, im)
 */
 cv.readImage("./examples/files/mona.png", function(e, mat){
  var th = mat.threshold(200, 200, "Threshold to Zero Inverted");
-  th.save('./examples/tmp/out.png')
-})
+  th.save('./examples/tmp/out.png');
+});
--- a/src/BackgroundSubtractor.cc
+++ b/src/BackgroundSubtractor.cc
@ -42,17 +42,17 @@ NAN_METHOD(BackgroundSubtractorWrap::New) {
 NAN_METHOD(BackgroundSubtractorWrap::CreateMOG) {
  NanScope();

-  int history = 200;
-  int nmixtures = 5;
-  double backgroundRatio = 0.7;
-  double noiseSigma = 0;
-
-  if(args.Length() > 1){
-    INT_FROM_ARGS(history, 0)
-    INT_FROM_ARGS(nmixtures, 1)
-    DOUBLE_FROM_ARGS(backgroundRatio, 2)
-    DOUBLE_FROM_ARGS(noiseSigma, 3)
-  }
+  // int history = 200;
+  // int nmixtures = 5;
+  // double backgroundRatio = 0.7;
+  // double noiseSigma = 0;
+  //
+  // if(args.Length() > 1){
+  //   INT_FROM_ARGS(history, 0)
+  //   INT_FROM_ARGS(nmixtures, 1)
+  //   DOUBLE_FROM_ARGS(backgroundRatio, 2)
+  //   DOUBLE_FROM_ARGS(noiseSigma, 3)
+  // }

  Local<Object> n = NanNew(BackgroundSubtractorWrap::constructor)->GetFunction()->NewInstance();

@ -136,3 +136,4 @@ BackgroundSubtractorWrap::BackgroundSubtractorWrap(cv::Ptr<cv::BackgroundSubtrac
 };

 #endif
+
--- a/src/Calib3D.cc
+++ b/src/Calib3D.cc
@ -0,0 +1,589 @@
+#include "Calib3D.h"
+#include "Matrix.h"
+
+inline Local<Object> matrixFromMat(cv::Mat &input)
+{
+    Local<Object> matrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+    Matrix *matrix = ObjectWrap::Unwrap<Matrix>(matrixWrap);
+    matrix->mat = input;
+
+    return matrixWrap;
+}
+
+inline cv::Mat matFromMatrix(Handle<Value> matrix)
+{
+    Matrix* m = ObjectWrap::Unwrap<Matrix>(matrix->ToObject());
+    return m->mat;
+}
+
+inline cv::Size sizeFromArray(Handle<Value> jsArray)
+{
+    cv::Size patternSize;
+
+    if (jsArray->IsArray())
+    {
+        Local<Object> v8sz = jsArray->ToObject();
+
+        patternSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
+    }
+    else
+    {
+        JSTHROW_TYPE("Size is not a valid array");
+    }
+
+    return patternSize;
+}
+
+inline std::vector<cv::Point2f> points2fFromArray(Handle<Value> array)
+{
+    std::vector<cv::Point2f> points;
+    if(array->IsArray())
+    {
+        Local<Array> pointsArray =  Local<Array>::Cast(array->ToObject());
+
+        for(unsigned int i = 0; i < pointsArray->Length(); i++)
+        {
+            Local<Object> pt = pointsArray->Get(i)->ToObject();
+            points.push_back(cv::Point2f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
+                                         pt->Get(NanNew<String>("y"))->ToNumber()->Value()));
+        }
+    }
+    else
+    {
+        JSTHROW_TYPE("Points not a valid array");
+    }
+
+    return points;
+}
+
+inline std::vector<cv::Point3f> points3fFromArray(Handle<Value> array)
+{
+    std::vector<cv::Point3f> points;
+    if(array->IsArray()) {
+        Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
+
+        for(unsigned int i = 0; i < pointsArray->Length(); i++)
+        {
+            Local<Object> pt = pointsArray->Get(i)->ToObject();
+            points.push_back(cv::Point3f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
+                                         pt->Get(NanNew<String>("y"))->ToNumber()->Value(),
+                                         pt->Get(NanNew<String>("z"))->ToNumber()->Value()));
+        }
+    }
+    else
+    {
+        JSTHROW_TYPE("Must pass array of object points for each frame")
+    }
+
+    return points;
+}
+
+inline std::vector<std::vector<cv::Point2f> > points2fFromArrayOfArrays(Handle<Value> array)
+{
+    std::vector<std::vector<cv::Point2f> > points;
+    if(array->IsArray())
+    {
+        Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
+
+        for(unsigned int i = 0; i < pointsArray->Length(); i++)
+        {
+            points.push_back(points2fFromArray(pointsArray->Get(i)));
+        }
+    }
+    else
+    {
+        JSTHROW_TYPE("Must pass array of object points for each frame")
+    }
+
+    return points;
+}
+
+inline std::vector<std::vector<cv::Point3f> > points3fFromArrayOfArrays(Handle<Value> array)
+{
+    std::vector<std::vector<cv::Point3f> > points;
+    if(array->IsArray())
+    {
+        Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
+
+        for(unsigned int i = 0; i < pointsArray->Length(); i++)
+        {
+            points.push_back(points3fFromArray(pointsArray->Get(i)));
+        }
+    }
+    else
+    {
+        JSTHROW_TYPE("Must pass array of object points for each frame")
+    }
+
+    return points;
+}
+
+void Calib3D::Init(Handle<Object> target)
+{
+    Persistent<Object> inner;
+    Local<Object> obj = NanNew<Object>();
+    NanAssignPersistent(inner, obj);
+
+    NODE_SET_METHOD(obj, "findChessboardCorners", FindChessboardCorners);
+    NODE_SET_METHOD(obj, "drawChessboardCorners", DrawChessboardCorners);
+    NODE_SET_METHOD(obj, "calibrateCamera", CalibrateCamera);
+    NODE_SET_METHOD(obj, "solvePnP", SolvePnP);
+    NODE_SET_METHOD(obj, "getOptimalNewCameraMatrix", GetOptimalNewCameraMatrix);
+    NODE_SET_METHOD(obj, "stereoCalibrate", StereoCalibrate);
+    NODE_SET_METHOD(obj, "stereoRectify", StereoRectify);
+    NODE_SET_METHOD(obj, "computeCorrespondEpilines", ComputeCorrespondEpilines);
+    NODE_SET_METHOD(obj, "reprojectImageTo3d", ReprojectImageTo3D);
+
+    target->Set(NanNew("calib3d"), obj);
+}
+
+// cv::findChessboardCorners
+NAN_METHOD(Calib3D::FindChessboardCorners)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments from javascript
+
+        // Arg 0 is the image
+        cv::Mat mat = matFromMatrix(args[0]);
+
+        // Arg 1 is the pattern size
+        cv::Size patternSize = sizeFromArray(args[1]);
+
+        // Arg 2 would normally be the flags, ignoring this for now and using the default flags
+
+        // Find the corners
+        std::vector<cv::Point2f> corners;
+        bool found = cv::findChessboardCorners(mat, patternSize, corners);
+
+        // Make the return value
+        Local<Object> ret = NanNew<Object>();
+        ret->Set(NanNew<String>("found"), NanNew<Boolean>(found));
+
+        Local<Array> cornersArray = NanNew<Array>(corners.size());
+        for(unsigned int i = 0; i < corners.size(); i++)
+        {
+            Local<Object> point_data = NanNew<Object>();
+            point_data->Set(NanNew<String>("x"), NanNew<Number>(corners[i].x));
+            point_data->Set(NanNew<String>("y"), NanNew<Number>(corners[i].y));
+
+            cornersArray->Set(NanNew<Number>(i), point_data);
+        }
+
+        ret->Set(NanNew<String>("corners"), cornersArray);
+
+        NanReturnValue(ret);
+
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+
+};
+
+// cv::drawChessboardCorners
+NAN_METHOD(Calib3D::DrawChessboardCorners)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0 is the image
+        cv::Mat mat = matFromMatrix(args[0]);
+
+        // Arg 1 is the pattern size
+        cv::Size patternSize = sizeFromArray(args[1]);
+
+        // Arg 2 is the corners array
+        std::vector<cv::Point2f> corners = points2fFromArray(args[2]);
+
+        // Arg 3, pattern found boolean
+        bool patternWasFound = args[3]->ToBoolean()->Value();
+
+        // Draw the corners
+        cv::drawChessboardCorners(mat, patternSize, corners, patternWasFound);
+
+        // Return the passed image, now with corners drawn on it
+        NanReturnValue(args[0]);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::calibrateCamera
+NAN_METHOD(Calib3D::CalibrateCamera)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the array of object points, an array of arrays
+        std::vector<std::vector<cv::Point3f> > objectPoints = points3fFromArrayOfArrays(args[0]);
+
+        // Arg 1, the image points, another array of arrays
+        std::vector<std::vector<cv::Point2f> > imagePoints = points2fFromArrayOfArrays(args[1]);
+
+        // Arg 2, the image size
+        cv::Size imageSize = sizeFromArray(args[2]);
+
+        // Arg 3, 4, input guesses for the camrea matrix and distortion coefficients, skipping for now
+        cv::Mat K, dist;
+
+        // Arg 5, 6 flags and termination criteria, skipping for now
+
+        // Calibrate the camera
+        std::vector<cv::Mat> rvecs, tvecs;
+
+        double error = cv::calibrateCamera(objectPoints, imagePoints, imageSize, K, dist, rvecs, tvecs);
+
+        // make the return values
+        Local<Object> ret = NanNew<Object>();
+
+        // Reprojection error
+        ret->Set(NanNew<String>("reprojectionError"), NanNew<Number>(error));
+
+        // K
+        Local<Object> KMatrixWrap = matrixFromMat(K);
+        ret->Set(NanNew<String>("K"), KMatrixWrap);
+
+        // dist
+        Local<Object> distMatrixWrap = matrixFromMat(dist);
+        ret->Set(NanNew<String>("distortion"), distMatrixWrap);
+
+        // Per frame R and t, skiping for now
+
+        // Return
+        NanReturnValue(ret);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::solvePnP
+NAN_METHOD(Calib3D::SolvePnP)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the array of object points
+        std::vector<cv::Point3f> objectPoints = points3fFromArray(args[0]);
+
+        // Arg 1, the image points
+        std::vector<cv::Point2f> imagePoints = points2fFromArray(args[1]);
+
+        // Arg 2, the camera matrix
+        cv::Mat K = matFromMatrix(args[2]);
+
+        // Arg 3, the distortion coefficients
+        cv::Mat dist = matFromMatrix(args[3]);
+
+        // Arg 4, use extrinsic guess, skipped for now
+
+        // Arg 5, flags, skip for now
+
+        // solve for r and t
+        cv::Mat rvec, tvec;
+
+        cv::solvePnP(objectPoints, imagePoints, K, dist, rvec, tvec);
+
+        // make the return values
+        Local<Object> ret = NanNew<Object>();
+
+        // rvec
+        Local<Object> rMatrixWrap = matrixFromMat(rvec);
+        ret->Set(NanNew<String>("rvec"), rMatrixWrap);
+
+        // tvec
+        Local<Object> tMatrixWrap = matrixFromMat(tvec);
+        ret->Set(NanNew<String>("tvec"), tMatrixWrap);
+
+        // Return
+        NanReturnValue(ret);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::getOptimalNewCameraMAtrix
+NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0 is the original camera matrix
+        cv::Mat Kin = matFromMatrix(args[0]);
+
+        // Arg 1 is the distortion coefficients
+        cv::Mat dist = matFromMatrix(args[1]);
+
+        // Arg 2, the image size
+        cv::Size imageSize = sizeFromArray(args[2]);
+
+        // Arg 3 is the alpha free scaling parameter
+        double alpha = args[3]->ToNumber()->Value();
+
+        // Arg 4, the new image size
+        cv::Size newImageSize = sizeFromArray(args[4]);
+
+        // Arg 5, valid ROI, skip for now
+        // Arg 6, center principal point, skip for now
+
+        // Get the optimal new camera matrix
+        cv::Mat Kout = cv::getOptimalNewCameraMatrix(Kin, dist, imageSize, alpha, newImageSize);
+
+        // Wrap the output K
+        Local<Object> KMatrixWrap = matrixFromMat(Kout);
+
+        // Return the new K matrix
+        NanReturnValue(KMatrixWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::stereoCalibrate
+NAN_METHOD(Calib3D::StereoCalibrate)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the array of object points, an array of arrays
+        std::vector<std::vector<cv::Point3f> > objectPoints = points3fFromArrayOfArrays(args[0]);
+
+        // Arg 1, the image points1, another array of arrays
+        std::vector<std::vector<cv::Point2f> > imagePoints1 = points2fFromArrayOfArrays(args[1]);
+
+        // Arg 2, the image points2, another array of arrays =(
+        std::vector<std::vector<cv::Point2f> > imagePoints2 = points2fFromArrayOfArrays(args[2]);
+
+        // Arg 3 is the image size (follows the PYTHON api not the C++ api since all following arguments are optional or outputs)
+        cv::Size imageSize = sizeFromArray(args[3]);
+
+        // Arg 4,5,6,7 is the camera matrix and distortion coefficients (optional but must pass all 4 or none)
+        cv::Mat k1, d1, k2, d2;
+        if(args.Length() >= 8)
+        {
+            k1 = matFromMatrix(args[4]);
+            d1 =  matFromMatrix(args[5]);
+
+            k2 =  matFromMatrix(args[6]);
+            d2 =  matFromMatrix(args[7]);
+        }
+
+        // Last argument is flags, skipping for now
+
+        // Output mats
+        cv::Mat R, t, E, F;
+
+        // Do the stereo calibration
+        cv::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, k1, d1, k2, d2, imageSize, R, t, E, F);
+
+        // make the return value
+        Local<Object> ret = NanNew<Object>();
+
+        // Make the output arguments
+
+        // k1
+        Local<Object> K1MatrixWrap = matrixFromMat(k1);
+
+        // d1
+        Local<Object> d1MatrixWrap = matrixFromMat(d1);
+
+        // k2
+        Local<Object> K2MatrixWrap = matrixFromMat(k2);
+
+        // d2
+        Local<Object> d2MatrixWrap = matrixFromMat(d2);
+
+        // R
+        Local<Object> RMatrixWrap = matrixFromMat(R);
+
+        // t
+        Local<Object> tMatrixWrap = matrixFromMat(t);
+
+        // E
+        Local<Object> EMatrixWrap = matrixFromMat(E);
+
+        // F
+        Local<Object> FMatrixWrap = matrixFromMat(F);
+
+        // Add to return object
+        ret->Set(NanNew<String>("K1"), K1MatrixWrap);
+        ret->Set(NanNew<String>("distortion1"), d1MatrixWrap);
+        ret->Set(NanNew<String>("K2"), K2MatrixWrap);
+        ret->Set(NanNew<String>("distortion2"), d2MatrixWrap);
+        ret->Set(NanNew<String>("R"), RMatrixWrap);
+        ret->Set(NanNew<String>("t"), tMatrixWrap);
+        ret->Set(NanNew<String>("E"), EMatrixWrap);
+        ret->Set(NanNew<String>("F"), FMatrixWrap);
+
+        // Return
+        NanReturnValue(ret);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::stereoRectify
+NAN_METHOD(Calib3D::StereoRectify)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg0, the first camera matrix
+        cv::Mat K1 = matFromMatrix(args[0]);
+
+        // Arg1, the first distortion coefficients
+        cv::Mat d1 = matFromMatrix(args[1]);
+
+        // Arg2, the second camera matrix
+        cv::Mat K2 = matFromMatrix(args[2]);
+
+        // Arg3, the second distortion coefficients
+        cv::Mat d2 = matFromMatrix(args[3]);
+
+        // Arg4, the image size
+        cv::Size imageSize = sizeFromArray(args[4]);
+
+        // arg5, the intercamera rotation matrix
+        cv::Mat R = matFromMatrix(args[5]);
+
+        // Arg6, the intercamera translation vector
+        cv::Mat t = matFromMatrix(args[6]);
+
+        // Arg8, flags, skipping for now
+
+        // Arg9, freescaling paremeter, skipping for now
+
+        // Arg10, new image size, skipping for now to fix at original image size
+
+        // Make output matrics
+        cv::Mat R1, R2, P1, P2, Q;
+
+        // Do the stereo rectification
+        cv::stereoRectify(K1, d1, K2, d2, imageSize, R, t, R1, R2, P1, P2, Q);
+
+        // Make the return object
+        Local<Object> ret = NanNew<Object>();
+
+        ret->Set(NanNew<String>("R1"), matrixFromMat(R1));
+        ret->Set(NanNew<String>("R2"), matrixFromMat(R2));
+        ret->Set(NanNew<String>("P1"), matrixFromMat(P1));
+        ret->Set(NanNew<String>("P2"), matrixFromMat(P2));
+        ret->Set(NanNew<String>("Q"), matrixFromMat(Q));
+
+        // Return the recification parameters
+        NanReturnValue(ret);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::computeCorrespondEpilines
+NAN_METHOD(Calib3D::ComputeCorrespondEpilines)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg0, the image points
+        std::vector<cv::Point2f> points = points2fFromArray(args[0]);
+
+        // Arg1, the image index (1 or 2)
+        int whichImage = int(args[1]->ToNumber()->Value());
+
+        // Arg2, the fundamental matrix
+        cv::Mat F = matFromMatrix(args[2]);
+
+        // compute the lines
+        std::vector<cv::Vec3f> lines;
+        cv::computeCorrespondEpilines(points, whichImage, F, lines);
+
+        // Convert the lines to an array of objects (ax + by + c = 0)
+        Local<Array> linesArray = NanNew<Array>(lines.size());
+        for(unsigned int i = 0; i < lines.size(); i++)
+        {
+            Local<Object> line_data = NanNew<Object>();
+            line_data->Set(NanNew<String>("a"), NanNew<Number>(lines[i][0]));
+            line_data->Set(NanNew<String>("b"), NanNew<Number>(lines[i][1]));
+            line_data->Set(NanNew<String>("c"), NanNew<Number>(lines[i][2]));
+
+            linesArray->Set(NanNew<Number>(i), line_data);
+        }
+
+        // Return the lines
+        NanReturnValue(linesArray);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::reprojectImageTo3D
+NAN_METHOD(Calib3D::ReprojectImageTo3D)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg0, the disparity image
+        cv::Mat disparity = matFromMatrix(args[0]);
+
+        // Arg1, the depth-to-disparity transformation Q
+        cv::Mat Q = matFromMatrix(args[1]);
+
+        // Arg 2, handle missing values, skipped for now
+
+        // Arg3, output bit depth, skipped for now
+
+        // Compute the depth image
+        cv::Mat depthImage;
+        cv::reprojectImageTo3D(disparity, depthImage, Q);
+
+        // Wrap the depth image
+        Local<Object> depthImageMatrix = matrixFromMat(depthImage);
+
+        NanReturnValue(depthImageMatrix);
+
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
--- a/src/Calib3D.h
+++ b/src/Calib3D.h
@ -0,0 +1,31 @@
+#ifndef __NODE_CALIB3D_H
+#define __NODE_CALIB3D_H
+
+#include "OpenCV.h"
+
+// Implementation of calib3d.hpp functions
+
+class Calib3D: public node::ObjectWrap {
+public:
+    static void Init(Handle<Object> target);
+
+    static NAN_METHOD(FindChessboardCorners);
+
+    static NAN_METHOD(DrawChessboardCorners);
+
+    static NAN_METHOD(CalibrateCamera);
+
+    static NAN_METHOD(SolvePnP);
+
+    static NAN_METHOD(GetOptimalNewCameraMatrix);
+
+    static NAN_METHOD(StereoCalibrate);
+
+    static NAN_METHOD(StereoRectify);
+
+    static NAN_METHOD(ComputeCorrespondEpilines);
+
+    static NAN_METHOD(ReprojectImageTo3D);
+};
+
+#endif
--- a/src/CascadeClassifierWrap.cc
+++ b/src/CascadeClassifierWrap.cc
@ -50,7 +50,7 @@ CascadeClassifierWrap::CascadeClassifierWrap(v8::Value* fileName){

 class AsyncDetectMultiScale : public NanAsyncWorker {
 public:
-  AsyncDetectMultiScale(NanCallback *callback, CascadeClassifierWrap *cc, Matrix* im, double scale, int neighbors,  int minw, int minh, int sleep_for) : NanAsyncWorker(callback), cc(cc), im(im), scale(scale), neighbors(neighbors), minw(minw), minh(minh), sleep_for(sleep_for) {}
+  AsyncDetectMultiScale(NanCallback *callback, CascadeClassifierWrap *cc, Matrix* im, double scale, int neighbors,  int minw, int minh) : NanAsyncWorker(callback), cc(cc), im(im), scale(scale), neighbors(neighbors), minw(minw), minh(minh)  {}
  ~AsyncDetectMultiScale() {}

  void Execute () {
@ -103,7 +103,6 @@ class AsyncDetectMultiScale : public NanAsyncWorker {
    int neighbors;
    int minw;
    int minh;
-    int sleep_for;
    std::vector<cv::Rect>  res;
    
 };
@ -141,7 +140,7 @@ NAN_METHOD(CascadeClassifierWrap::DetectMultiScale){

  NanCallback *callback = new NanCallback(cb.As<Function>());

-  NanAsyncQueueWorker( new AsyncDetectMultiScale(callback, self, im, scale, neighbors, minw, minh, 1) );
+  NanAsyncQueueWorker( new AsyncDetectMultiScale(callback, self, im, scale, neighbors, minw, minh) );
  NanReturnUndefined();
   
 }
--- a/src/Constants.cc
+++ b/src/Constants.cc
@ -4,6 +4,9 @@
 #define CONST(C) \
  obj->Set(NanNew<String>(#C), NanNew<Integer>(C));

+#define CONST_ENUM(C) \
+    obj->Set(NanNew<String>(#C), NanNew<Integer>((int)(cv::C)));
+
 void
 Constants::Init(Handle<Object> target) {
  Persistent<Object> inner;
@ -54,6 +57,12 @@ Constants::Init(Handle<Object> target) {
  CONST(CV_64FC3);
  CONST(CV_64FC4);

+  CONST_ENUM(INTER_NEAREST);
+  CONST_ENUM(INTER_LINEAR);
+  CONST_ENUM(INTER_AREA);
+  CONST_ENUM(INTER_CUBIC);
+  CONST_ENUM(INTER_LANCZOS4);
+
  target->Set(NanNew("Constants"), obj);
 }

--- a/src/HighGUI.cc
+++ b/src/HighGUI.cc
@ -53,7 +53,13 @@ NamedWindow::NamedWindow(const std::string& name, int f){
 NAN_METHOD(NamedWindow::Show){
 	SETUP_FUNCTION(NamedWindow)
  Matrix *im = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
-  cv::imshow(self->winname, im->mat);
+
+  try{
+    cv::imshow(self->winname, im->mat);
+  } catch(cv::Exception& e ){
+    const char* err_msg = e.what();
+    NanThrowError(err_msg);
+  }

 	NanReturnValue(args.Holder());
 }
--- a/src/ImgProc.cc
+++ b/src/ImgProc.cc
@ -0,0 +1,169 @@
+#include "ImgProc.h"
+#include "Matrix.h"
+
+void ImgProc::Init(Handle<Object> target)
+{
+    Persistent<Object> inner;
+    Local<Object> obj = NanNew<Object>();
+    NanAssignPersistent(inner, obj);
+
+    NODE_SET_METHOD(obj, "undistort", Undistort);
+    NODE_SET_METHOD(obj, "initUndistortRectifyMap", InitUndistortRectifyMap);
+    NODE_SET_METHOD(obj, "remap", Remap);
+
+    target->Set(NanNew("imgproc"), obj);
+}
+
+// cv::undistort
+NAN_METHOD(ImgProc::Undistort)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0 is the image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat inputImage = m0->mat;
+
+        // Arg 1 is the camera matrix
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat K = m1->mat;
+
+        // Arg 2 is the distortion coefficents
+        Matrix* m2 = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
+        cv::Mat dist = m2->mat;
+
+        // Make an mat to hold the result image
+        cv::Mat outputImage;
+
+        // Undistort
+        cv::undistort(inputImage, outputImage, K, dist);
+
+        // Wrap the output image
+        Local<Object> outMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *outMatrix = ObjectWrap::Unwrap<Matrix>(outMatrixWrap);
+        outMatrix->mat = outputImage;
+
+        // Return the output image
+        NanReturnValue(outMatrixWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::initUndistortRectifyMap
+NAN_METHOD(ImgProc::InitUndistortRectifyMap)
+{
+    NanEscapableScope();
+
+    try {
+
+        // Arg 0 is the camera matrix
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat K = m0->mat;
+
+        // Arg 1 is the distortion coefficents
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat dist = m1->mat;
+
+        // Arg 2 is the recification transformation
+        Matrix* m2 = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
+        cv::Mat R = m2->mat;
+
+        // Arg 3 is the new camera matrix
+        Matrix* m3 = ObjectWrap::Unwrap<Matrix>(args[3]->ToObject());
+        cv::Mat newK = m3->mat;
+
+        // Arg 4 is the image size
+        cv::Size imageSize;
+        if (args[4]->IsArray()) {
+            Local<Object> v8sz = args[4]->ToObject();
+
+            imageSize = cv::Size(v8sz->Get(1)->IntegerValue(), v8sz->Get(0)->IntegerValue());
+        } else {
+            JSTHROW_TYPE("Must pass image size");
+        }
+
+        // Arg 5 is the first map type, skip for now
+        int m1type = args[5]->IntegerValue();
+
+        // Make matrices to hold the output maps
+        cv::Mat map1, map2;
+
+        // Compute the rectification map
+        cv::initUndistortRectifyMap(K, dist, R, newK, imageSize, m1type, map1, map2);
+
+        // Wrap the output maps
+        Local<Object> map1Wrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *map1Matrix = ObjectWrap::Unwrap<Matrix>(map1Wrap);
+        map1Matrix->mat = map1;
+
+        Local<Object> map2Wrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *map2Matrix = ObjectWrap::Unwrap<Matrix>(map2Wrap);
+        map2Matrix->mat = map2;
+
+        // Make a return object with the two maps
+        Local<Object> ret = NanNew<Object>();
+        ret->Set(NanNew<String>("map1"), map1Wrap);
+        ret->Set(NanNew<String>("map2"), map2Wrap);
+
+        // Return the maps
+        NanReturnValue(ret);
+
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
+
+// cv::remap
+NAN_METHOD(ImgProc::Remap)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0 is the image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat inputImage = m0->mat;
+
+        // Arg 1 is the first map
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat map1 = m1->mat;
+
+        // Arg 2 is the second map
+        Matrix* m2 = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
+        cv::Mat map2 = m2->mat;
+
+        // Arg 3 is the interpolation mode
+        int interpolation = args[3]->IntegerValue();
+
+        // Args 4, 5 border settings, skipping for now
+
+        // Output image
+        cv::Mat outputImage;
+
+        // Remap
+        cv::remap(inputImage, outputImage, map1, map2, interpolation);
+
+        // Wrap the output image
+        Local<Object> outMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *outMatrix = ObjectWrap::Unwrap<Matrix>(outMatrixWrap);
+        outMatrix->mat = outputImage;
+
+        // Return the image
+        NanReturnValue(outMatrixWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
--- a/src/ImgProc.h
+++ b/src/ImgProc.h
@ -0,0 +1,19 @@
+#ifndef __NODE_IMGPROC_H
+#define __NODE_IMGPROC_H
+
+#include "OpenCV.h"
+
+// Implementation of imgproc.hpp functions
+
+class ImgProc: public node::ObjectWrap {
+public:
+    static void Init(Handle<Object> target);
+
+    static NAN_METHOD(Undistort);
+
+    static NAN_METHOD(InitUndistortRectifyMap);
+
+    static NAN_METHOD(Remap);
+};
+
+#endif
--- a/src/Matrix.cc
+++ b/src/Matrix.cc
@ -7,7 +7,7 @@ v8::Persistent<FunctionTemplate> Matrix::constructor;

 cv::Scalar setColor(Local<Object> objColor);
 cv::Point setPoint(Local<Object> objPoint);
-cv::Rect* setRect(Local<Object> objRect);
+cv::Rect* setRect(Local<Object> objRect, cv::Rect &result);

 void
 Matrix::Init(Handle<Object> target) {
@ -32,11 +32,13 @@ Matrix::Init(Handle<Object> target) {
 	NODE_SET_PROTOTYPE_METHOD(ctor, "height", Height);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "size", Size);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "clone", Clone);
+	NODE_SET_PROTOTYPE_METHOD(ctor, "crop", Crop);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "toBuffer", ToBuffer);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "toBufferAsync", ToBufferAsync);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "ellipse", Ellipse);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "rectangle", Rectangle);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "line", Line);
+	NODE_SET_PROTOTYPE_METHOD(ctor, "fillPoly", FillPoly);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "save", Save);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "saveAsync", SaveAsync);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "resize", Resize);
@ -68,6 +70,7 @@ Matrix::Init(Handle<Object> target) {
 	NODE_SET_PROTOTYPE_METHOD(ctor, "drawAllContours", DrawAllContours);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "goodFeaturesToTrack", GoodFeaturesToTrack);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "houghLinesP", HoughLinesP);
+	NODE_SET_PROTOTYPE_METHOD(ctor, "crop", Crop);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "houghCircles", HoughCircles);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "inRange", inRange);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "adjustROI", AdjustROI);
@ -81,6 +84,7 @@ Matrix::Init(Handle<Object> target) {
 	NODE_SET_PROTOTYPE_METHOD(ctor, "equalizeHist", EqualizeHist);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "floodFill", FloodFill);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "matchTemplate", MatchTemplate);
+  NODE_SET_PROTOTYPE_METHOD(ctor, "templateMatches", TemplateMatches);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "minMaxLoc", MinMaxLoc);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "pushBack", PushBack);
 	NODE_SET_PROTOTYPE_METHOD(ctor, "putText", PutText);
@ -451,7 +455,7 @@ NAN_METHOD(Matrix::ToBuffer){

 	v8::Local<v8::Object> globalObj = NanGetCurrentContext()->Global();
 	v8::Local<v8::Function> bufferConstructor = v8::Local<v8::Function>::Cast(globalObj->Get(NanNew<String>("Buffer")));
-	v8::Handle<v8::Value> constructorArgs[3] = {buf, NanNew<v8::Integer>(vec.size()), NanNew<v8::Integer>(0)};
+	v8::Handle<v8::Value> constructorArgs[3] = {buf, NanNew<v8::Integer>((unsigned)vec.size()), NanNew<v8::Integer>(0)};
 	v8::Local<v8::Object> actualBuffer = bufferConstructor->NewInstance(3, constructorArgs);

 	NanReturnValue(actualBuffer);
@ -484,7 +488,7 @@ class AsyncToBufferWorker : public NanAsyncWorker {

 	  v8::Local<v8::Object> globalObj = NanGetCurrentContext()->Global();
 	  v8::Local<v8::Function> bufferConstructor = v8::Local<v8::Function>::Cast(globalObj->Get(NanNew<String>("Buffer")));
-	  v8::Handle<v8::Value> constructorArgs[3] = {buf, NanNew<v8::Integer>(res.size()), NanNew<v8::Integer>(0)};
+	  v8::Handle<v8::Value> constructorArgs[3] = {buf, NanNew<v8::Integer>((unsigned)res.size()), NanNew<v8::Integer>(0)};
 	  v8::Local<v8::Object> actualBuffer = bufferConstructor->NewInstance(3, constructorArgs);


@ -682,6 +686,42 @@ NAN_METHOD(Matrix::Line) {
 	NanReturnNull();
 }

+NAN_METHOD(Matrix::FillPoly) {
+	SETUP_FUNCTION(Matrix)
+
+	if(args[0]->IsArray())
+	{
+		Local<Array> polyArray = Local<Array>::Cast(args[0]->ToObject());
+
+		cv::Point **polygons = new cv::Point*[polyArray->Length()];
+		int *polySizes = new int[polyArray->Length()];
+		for(unsigned int i = 0; i < polyArray->Length(); i++)
+		{
+			Local<Array> singlePoly = Local<Array>::Cast(polyArray->Get(i)->ToObject());
+			polygons[i] = new cv::Point[singlePoly->Length()];
+			polySizes[i] = singlePoly->Length();
+
+			for(unsigned int j = 0; j < singlePoly->Length(); j++)
+			{
+				Local<Array> point = Local<Array>::Cast(singlePoly->Get(j)->ToObject());
+				polygons[i][j].x = point->Get(0)->IntegerValue();
+				polygons[i][j].y = point->Get(1)->IntegerValue();
+			}
+		}
+
+		cv::Scalar color(0, 0, 255);
+
+		if(args[1]->IsArray()) {
+			Local<Object> objColor = args[1]->ToObject();
+			color = setColor(objColor);
+		}
+
+		cv::fillPoly(self->mat, (const cv::Point **)polygons, polySizes, polyArray->Length(), color);
+	}
+
+	NanReturnNull();
+}
+

 NAN_METHOD(Matrix::Save) {
  SETUP_FUNCTION(Matrix)
@ -1014,7 +1054,12 @@ NAN_METHOD(Matrix::AddWeighted) {
 	float beta = args[3]->NumberValue();
 	int gamma = 0;

-	cv::addWeighted(src1->mat, alpha, src2->mat, beta, gamma, self->mat);
+  try{
+	  cv::addWeighted(src1->mat, alpha, src2->mat, beta, gamma, self->mat);
+  } catch(cv::Exception& e ){
+    const char* err_msg = e.what();
+    NanThrowError(err_msg);
+  }


 	NanReturnNull();
@ -1309,7 +1354,7 @@ cv::Point setPoint(Local<Object> objPoint) {
 	return  cv::Point( objPoint->Get(0)->IntegerValue(),  objPoint->Get(1)->IntegerValue() );
 }

-cv::Rect* setRect(Local<Object> objRect) {
+cv::Rect* setRect(Local<Object> objRect, cv::Rect &result) {

 	if(!objRect->IsArray() || !objRect->Get(0)->IsArray() || !objRect->Get(0)->IsArray() ){
 		printf("error");
@ -1318,14 +1363,13 @@ cv::Rect* setRect(Local<Object> objRect) {

 	Local<Object> point = objRect->Get(0)->ToObject();
 	Local<Object> size = objRect->Get(1)->ToObject();
-	cv::Rect ret;

-	ret.x = point->Get(0)->IntegerValue();
-	ret.y = point->Get(1)->IntegerValue();
-	ret.width = size->Get(0)->IntegerValue();
-	ret.height = size->Get(1)->IntegerValue();
+	result.x = point->Get(0)->IntegerValue();
+	result.y = point->Get(1)->IntegerValue();
+	result.width = size->Get(0)->IntegerValue();
+	result.height = size->Get(1)->IntegerValue();

-	return (cv::Rect*) &ret;
+	return &result;
 }


@ -1713,10 +1757,11 @@ NAN_METHOD(Matrix::FloodFill){


 	Local<Object> obj = args[0]->ToObject();
+	cv::Rect rect;

 	int  ret = cv::floodFill(self->mat, setPoint(obj->Get(NanNew<String>("seedPoint"))->ToObject())
 			, setColor(obj->Get(NanNew<String>("newColor"))->ToObject())
-			, obj->Get(NanNew<String>("rect"))->IsUndefined() ? 0 : setRect(obj->Get(NanNew<String>("rect"))->ToObject())
+			, obj->Get(NanNew<String>("rect"))->IsUndefined() ? 0 : setRect(obj->Get(NanNew<String>("rect"))->ToObject(), rect)
 			, setColor(obj->Get(NanNew<String>("loDiff"))->ToObject())
 			, setColor(obj->Get(NanNew<String>("upDiff"))->ToObject())
 			, 4 );
@ -1725,6 +1770,84 @@ NAN_METHOD(Matrix::FloodFill){
 	NanReturnValue(NanNew<Number>( ret ));
 }

+// @author olfox
+// Returns an array of the most probable positions
+// Usage: output = input.templateMatches(min_probability, max_probability, limit, ascending, min_x_distance, min_y_distance);
+NAN_METHOD(Matrix::TemplateMatches){
+	SETUP_FUNCTION(Matrix)
+
+  bool filter_min_probability = (args.Length() >= 1) ? args[0]->IsNumber() : false;
+  bool filter_max_probability = (args.Length() >= 2) ? args[1]->IsNumber() : false;
+  double min_probability = filter_min_probability ? args[0]->NumberValue() : 0;
+  double max_probability = filter_max_probability ? args[1]->NumberValue() : 0;
+  int limit = (args.Length() >= 3) ? args[2]->IntegerValue() : 0;
+  bool ascending = (args.Length() >= 4) ? args[3]->BooleanValue() : false;
+  int min_x_distance = (args.Length() >= 5) ? args[4]->IntegerValue() : 0;
+  int min_y_distance = (args.Length() >= 6) ? args[5]->IntegerValue() : 0;
+
+  cv::Mat_<int> indices;
+
+  if (ascending)
+    cv::sortIdx(self->mat.reshape(0,1), indices, CV_SORT_ASCENDING + CV_SORT_EVERY_ROW);
+  else
+    cv::sortIdx(self->mat.reshape(0,1), indices, CV_SORT_DESCENDING + CV_SORT_EVERY_ROW);
+
+  cv::Mat hit_mask = cv::Mat::zeros(self->mat.size(), CV_64F);
+  v8::Local<v8::Array> probabilites_array = NanNew<v8::Array>(limit);
+
+  cv::Mat_<float>::const_iterator begin = self->mat.begin<float>();
+  cv::Mat_<int>::const_iterator it = indices.begin();
+  cv::Mat_<int>::const_iterator end = indices.end();
+  int index = 0;
+  for (; (limit == 0 || index < limit) && it != end; ++it) {
+    cv::Point pt = (begin + *it).pos();
+
+    float probability = self->mat.at<float>(pt.y, pt.x);
+
+    if (filter_min_probability && probability < min_probability) {
+      if (ascending) continue;
+      else break;
+    }
+
+    if (filter_max_probability && probability > max_probability) {
+      if (ascending) break;
+      else continue;
+    }
+
+    if (min_x_distance != 0 || min_y_distance != 0) {
+      // Check hit mask color for for every corner
+
+      cv::Size maxSize = hit_mask.size();
+      int max_x = maxSize.width - 1;
+      int max_y = maxSize.height - 1;
+      cv::Point top_left = cv::Point(max(0, pt.x - min_x_distance), max(0, pt.y - min_y_distance));
+      cv::Point top_right = cv::Point(min(max_x, pt.x + min_x_distance), max(0, pt.y - min_y_distance));
+      cv::Point bottom_left = cv::Point(max(0, pt.x - min_x_distance), min(max_y, pt.y + min_y_distance));
+      cv::Point bottom_right = cv::Point(min(max_x, pt.x + min_x_distance), min(max_y, pt.y + min_y_distance));
+      if (hit_mask.at<double>(top_left.y, top_left.x) > 0) continue;
+      if (hit_mask.at<double>(top_right.y, top_right.x) > 0) continue;
+      if (hit_mask.at<double>(bottom_left.y, bottom_left.x) > 0) continue;
+      if (hit_mask.at<double>(bottom_right.y, bottom_right.x) > 0) continue;
+      cv::Scalar color(255.0);
+      cv::rectangle(hit_mask, top_left, bottom_right, color, CV_FILLED);
+    }
+
+    Local<Value> x_value = NanNew<Number>(pt.x);
+    Local<Value> y_value = NanNew<Number>(pt.y);
+    Local<Value> probability_value = NanNew<Number>(probability);
+
+    Local<Object> probability_object = NanNew<Object>();
+    probability_object->Set(NanNew<String>("x"), x_value);
+    probability_object->Set(NanNew<String>("y"), y_value);
+    probability_object->Set(NanNew<String>("probability"), probability_value);
+
+    probabilites_array->Set(index, probability_object);
+    index++;
+  }
+
+  NanReturnValue(probabilites_array);
+}
+
 // @author ytham
 // Match Template filter
 // Usage: output = input.matchTemplate("templateFileString", method);
--- a/src/Matrix.h
+++ b/src/Matrix.h
@ -35,6 +35,7 @@ class Matrix: public node::ObjectWrap {
    JSFUNC(Rectangle)
    JSFUNC(Line)
    JSFUNC(Empty)
+    JSFUNC(FillPoly)

    JSFUNC(Save)
    JSFUNC(SaveAsync)
@ -96,6 +97,7 @@ class Matrix: public node::ObjectWrap {
    JSFUNC(FloodFill)

    JSFUNC(MatchTemplate)
+    JSFUNC(TemplateMatches)
    JSFUNC(MinMaxLoc)

    JSFUNC(PushBack)
--- a/src/OpenCV.cc
+++ b/src/OpenCV.cc
@ -12,7 +12,6 @@ OpenCV::Init(Handle<Object> target) {
  target->Set(NanNew<String>("version"), NanNew<String>(out, n));

  NODE_SET_METHOD(target, "readImage", ReadImage);
-
 }


--- a/src/OpenCV.h
+++ b/src/OpenCV.h
@ -55,4 +55,3 @@ class OpenCV: public node::ObjectWrap{


 #endif
-
--- a/src/Stereo.cc
+++ b/src/Stereo.cc
@ -0,0 +1,323 @@
+#include "Stereo.h"
+#include "Matrix.h"
+#include <opencv2/legacy/legacy.hpp>
+
+// Block matching
+
+v8::Persistent<FunctionTemplate> StereoBM::constructor;
+
+void
+StereoBM::Init(Handle<Object> target) {
+    NanScope();
+
+    Local<FunctionTemplate> ctor = NanNew<FunctionTemplate>(StereoBM::New);
+    NanAssignPersistent(constructor, ctor);
+    ctor->InstanceTemplate()->SetInternalFieldCount(1);
+    ctor->SetClassName(NanNew("StereoBM"));
+
+    NODE_SET_PROTOTYPE_METHOD(ctor, "compute", Compute);
+
+    ctor->Set(NanNew<String>("BASIC_PRESET"), NanNew<Integer>((int)cv::StereoBM::BASIC_PRESET));
+    ctor->Set(NanNew<String>("FISH_EYE_PRESET"), NanNew<Integer>((int)cv::StereoBM::FISH_EYE_PRESET));
+    ctor->Set(NanNew<String>("NARROW_PRESET"), NanNew<Integer>((int)cv::StereoBM::NARROW_PRESET));
+
+    target->Set(NanNew("StereoBM"), ctor->GetFunction());
+}
+
+NAN_METHOD(StereoBM::New) {
+    NanScope();
+
+    if (args.This()->InternalFieldCount() == 0)
+        NanThrowTypeError("Cannot instantiate without new");
+
+    StereoBM *stereo;
+
+    if (args.Length() == 0)
+    {
+        stereo = new StereoBM();
+    }
+    else if (args.Length() == 1)
+    {
+        stereo = new StereoBM(args[0]->IntegerValue()); // preset
+    }
+    else if (args.Length() == 2)
+    {
+        stereo = new StereoBM(args[0]->IntegerValue(), args[1]->IntegerValue()); // preset, disparity search range
+    }
+    else
+    {
+        stereo = new StereoBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue()); // preset, disparity search range, sum of absolute differences window size
+    }
+
+    stereo->Wrap(args.Holder());
+    NanReturnValue(args.Holder());
+}
+
+StereoBM::StereoBM(int preset, int ndisparities, int SADWindowSize)
+    : ObjectWrap(), stereo(preset, ndisparities, SADWindowSize)
+{
+
+}
+
+// TODO make this async
+NAN_METHOD(StereoBM::Compute)
+{
+    SETUP_FUNCTION(StereoBM)
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the 'left' image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat left = m0->mat;
+
+        // Arg 1, the 'right' image
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat right = m1->mat;
+
+        // Optional 3rd arg, the disparty depth
+        int type = CV_16S;
+        if(args.Length() > 2)
+        {
+            type = args[2]->IntegerValue();
+        }
+
+        // Compute stereo using the block matching algorithm
+        cv::Mat disparity;
+        self->stereo(left, right, disparity, type);
+
+        // Wrap the returned disparity map
+        Local<Object> disparityWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *disp = ObjectWrap::Unwrap<Matrix>(disparityWrap);
+        disp->mat = disparity;
+
+        NanReturnValue(disparityWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+
+};
+
+// Semi-Global Block matching
+
+v8::Persistent<FunctionTemplate> StereoSGBM::constructor;
+
+void
+StereoSGBM::Init(Handle<Object> target) {
+    NanScope();
+
+    Local<FunctionTemplate> ctor = NanNew<FunctionTemplate>(StereoSGBM::New);
+    NanAssignPersistent(constructor, ctor);
+    ctor->InstanceTemplate()->SetInternalFieldCount(1);
+    ctor->SetClassName(NanNew("StereoSGBM"));
+
+    NODE_SET_PROTOTYPE_METHOD(ctor, "compute", Compute);
+
+    target->Set(NanNew("StereoSGBM"), ctor->GetFunction());
+}
+
+NAN_METHOD(StereoSGBM::New) {
+    NanScope();
+
+    if (args.This()->InternalFieldCount() == 0)
+        NanThrowTypeError("Cannot instantiate without new");
+
+    StereoSGBM *stereo;
+
+    if (args.Length() == 0)
+    {
+        stereo = new StereoSGBM();
+    }
+    else
+    {
+        // If passing arguments, must pass the first 3 at least
+        if (args.Length() >= 3)
+        {
+            switch (args.Length())
+            {
+                case 3:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue());
+                    break;
+
+                case 4:
+                   stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue());
+                   break;
+
+                case 5:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue());
+                    break;
+
+                case 6:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue());
+                    break;
+
+                case 7:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue());
+                    break;
+
+                case 8:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue());
+                    break;
+
+                case 9:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue());
+                    break;
+
+                case 10:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue(), args[9]->IntegerValue());
+                    break;
+
+                default:
+                    stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue(), args[9]->IntegerValue(), args[10]->ToBoolean()->Value());
+                    break;
+           }
+        }
+        else
+        {
+            NanThrowError("If overriding default settings, must pass minDisparity, numDisparities, and SADWindowSize");
+            NanReturnUndefined();
+        }
+    }
+
+    stereo->Wrap(args.Holder());
+    NanReturnValue(args.Holder());
+}
+
+StereoSGBM::StereoSGBM()
+    : ObjectWrap(), stereo()
+{
+
+}
+
+StereoSGBM::StereoSGBM(int minDisparity, int ndisparities, int SADWindowSize, int p1, int p2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, bool fullDP)
+    : ObjectWrap(), stereo(minDisparity, ndisparities, SADWindowSize, p1, p2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, fullDP)
+{
+
+}
+
+// TODO make this async
+NAN_METHOD(StereoSGBM::Compute)
+{
+    SETUP_FUNCTION(StereoSGBM)
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the 'left' image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat left = m0->mat;
+
+        // Arg 1, the 'right' image
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat right = m1->mat;
+
+        // Compute stereo using the block matching algorithm
+        cv::Mat disparity;
+        self->stereo(left, right, disparity);
+
+        // Wrap the returned disparity map
+        Local<Object> disparityWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *disp = ObjectWrap::Unwrap<Matrix>(disparityWrap);
+        disp->mat = disparity;
+
+        NanReturnValue(disparityWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+
+};
+
+// Graph cut
+
+v8::Persistent<FunctionTemplate> StereoGC::constructor;
+
+void
+StereoGC::Init(Handle<Object> target) {
+    NanScope();
+
+    Local<FunctionTemplate> ctor = NanNew<FunctionTemplate>(StereoGC::New);
+    NanAssignPersistent(constructor, ctor);
+    ctor->InstanceTemplate()->SetInternalFieldCount(1);
+    ctor->SetClassName(NanNew("StereoGC"));
+
+    NODE_SET_PROTOTYPE_METHOD(ctor, "compute", Compute);
+
+    target->Set(NanNew("StereoGC"), ctor->GetFunction());
+}
+
+NAN_METHOD(StereoGC::New) {
+    NanScope();
+
+    if (args.This()->InternalFieldCount() == 0)
+        NanThrowTypeError("Cannot instantiate without new");
+
+    StereoGC *stereo;
+
+    if (args.Length() == 0)
+    {
+        stereo = new StereoGC();
+    }
+    else if (args.Length() == 1)
+    {
+        stereo = new StereoGC(args[0]->IntegerValue()); // numberOfDisparities
+    }
+    else
+    {
+        stereo = new StereoGC(args[0]->IntegerValue(), args[1]->IntegerValue()); // max iterations
+    }
+
+    stereo->Wrap(args.Holder());
+    NanReturnValue(args.Holder());
+}
+
+StereoGC::StereoGC(int numberOfDisparities, int maxIters)
+: ObjectWrap()
+{
+    stereo = cvCreateStereoGCState(numberOfDisparities, maxIters);
+}
+
+// TODO make this async
+NAN_METHOD(StereoGC::Compute)
+{
+    SETUP_FUNCTION(StereoGC)
+
+    try {
+        // Get the arguments
+
+        // Arg 0, the 'left' image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat left = m0->mat;
+
+        // Arg 1, the 'right' image
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat right = m1->mat;
+
+        // Compute stereo using the block matching algorithm
+        CvMat left_leg = left, right_leg = right;
+        CvMat *disp_left = cvCreateMat(left.rows, left.cols, CV_16S), *disp_right = cvCreateMat(right.rows, right.cols, CV_16S);
+        cvFindStereoCorrespondenceGC(&left_leg, &right_leg, disp_left, disp_right, self->stereo, 0);
+
+        cv::Mat disp16 = disp_left;
+        cv::Mat disparity(disp16.rows, disp16.cols, CV_8U);
+        disp16.convertTo(disparity, CV_8U, -16);
+
+        // Wrap the returned disparity map
+        Local<Object> disparityWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *disp = ObjectWrap::Unwrap<Matrix>(disparityWrap);
+        disp->mat = disparity;
+
+        NanReturnValue(disparityWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+
+};
--- a/src/Stereo.h
+++ b/src/Stereo.h
@ -0,0 +1,58 @@
+#ifndef __NODE_STEREO_H
+#define __NODE_STEREO_H
+
+#include "OpenCV.h"
+
+class StereoBM: public node::ObjectWrap {
+public:
+    cv::StereoBM stereo;
+
+    static Persistent<FunctionTemplate> constructor;
+    static void Init(Handle<Object> target);
+    static NAN_METHOD(New);
+
+    StereoBM(int preset = cv::StereoBM::BASIC_PRESET, int ndisparities = 0, int SADWindowSize=21);
+
+    JSFUNC(Compute);
+};
+
+class StereoSGBM: public node::ObjectWrap {
+public:
+    cv::StereoSGBM stereo;
+
+    static Persistent<FunctionTemplate> constructor;
+    static void Init(Handle<Object> target);
+    static NAN_METHOD(New);
+
+    StereoSGBM();
+    StereoSGBM(int minDisparity,
+    int ndisparities,
+    int SADWindowSize,
+    int p1 = 0,
+    int p2 = 0,
+    int disp12MaxDiff = 0,
+    int preFilterCap = 0,
+    int uniquenessRatio = 0,
+    int speckleWindowSize = 0,
+    int speckleRange = 0,
+    bool fullDP = false);
+
+    JSFUNC(Compute);
+};
+
+struct CvStereoGCState;
+
+class StereoGC: public node::ObjectWrap {
+public:
+    CvStereoGCState *stereo;
+
+    static Persistent<FunctionTemplate> constructor;
+    static void Init(Handle<Object> target);
+    static NAN_METHOD(New);
+
+    StereoGC(int numberOfDisparities = 16, int maxIterations = 2);
+
+    JSFUNC(Compute);
+};
+
+#endif
--- a/src/init.cc
+++ b/src/init.cc
@ -9,7 +9,9 @@
 #include "HighGUI.h"
 #include "FaceRecognizer.h"
 #include "Constants.h"
-
+#include "Calib3D.h"
+#include "ImgProc.h"
+#include "Stereo.h"

 extern "C" void
 init(Handle<Object> target) {
@ -21,9 +23,14 @@ init(Handle<Object> target) {
    CascadeClassifierWrap::Init(target);
    VideoCaptureWrap::Init(target);
    Contour::Init(target);
-	  TrackedObject::Init(target);
+	TrackedObject::Init(target);
    NamedWindow::Init(target);
    Constants::Init(target);
+    Calib3D::Init(target);
+    ImgProc::Init(target);
+    StereoBM::Init(target);
+    StereoSGBM::Init(target);
+    StereoGC::Init(target);


   #if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >=4
--- a/test/examples.js
+++ b/test/examples.js
@ -0,0 +1,21 @@
+var test = require('tape')
+  , glob = require('glob')
+  , exec = require('child_process').exec
+  , path = require('path')
+
+module.exports = function(){
+
+  glob.sync('./examples/*.js').forEach(function(example){
+    test("Example: " + example, function(assert){
+
+      var fullName = path.resolve(example)
+        , examples = path.resolve('./examples')
+
+      exec('node ' + fullName, {cwd: examples}, function(error, stdout, stderr){
+        assert.error(error)
+        assert.end()
+      })
+    })
+  })
+
+}
--- a/test/unit.js
+++ b/test/unit.js
@ -275,3 +275,7 @@ test("fonts", function(t) {
  });
 })

+// Test the examples folder.
+require('./examples')()
+
+
--- a/utils/opencv_x64.pc
+++ b/utils/opencv_x64.pc
@ -0,0 +1,13 @@
+# Package Information for pkg-config
+opencv_prefix=C:/OpenCV249/opencv/build/x64/vc12
+exec_prefix=${opencv_prefix}/bin
+libdir=${opencv_prefix}/lib
+includedir=C:/OpenCV249/opencv/build/include
+
+Name: OpenCV
+Description: Open Source Computer Vision Library
+Version: 2.4.9
+
+Cflags: ${includedir} ${includedir}/opencv
+
+Libs: ${libdir}/opencv_calib3d249 ${libdir}/opencv_contrib249 ${libdir}/opencv_core249 ${libdir}/opencv_features2d249 ${libdir}/opencv_flann249 ${libdir}/opencv_gpu249 ${libdir}/opencv_highgui249 ${libdir}/opencv_imgproc249 ${libdir}/opencv_legacy249 ${libdir}/opencv_ml249 ${libdir}/opencv_nonfree249 ${libdir}/opencv_objdetect249 ${libdir}/opencv_ocl249 ${libdir}/opencv_photo249 ${libdir}/opencv_stitching249 ${libdir}/opencv_superres249 ${libdir}/opencv_ts249 ${libdir}/opencv_video249 ${libdir}/opencv_videostab249
--- a/utils/opencv_x86.pc
+++ b/utils/opencv_x86.pc
@ -0,0 +1,12 @@
+# Package Information for pkg-config
+opencv_prefix=C:/OpenCV249/opencv/build/x86/vc12
+exec_prefix=${opencv_prefix}/bin
+libdir=${opencv_prefix}/lib
+includedir=C:/OpenCV249/opencv/build/include
+
+Name: OpenCV
+Description: Open Source Computer Vision Library
+Version: 2.4.9
+
+Cflags: ${includedir} ${includedir}/opencv
+Libs: ${libdir}/opencv_calib3d249 ${libdir}/opencv_contrib249 ${libdir}/opencv_core249 ${libdir}/opencv_features2d249 ${libdir}/opencv_flann249 ${libdir}/opencv_gpu249 ${libdir}/opencv_highgui249 ${libdir}/opencv_imgproc249 ${libdir}/opencv_legacy249 ${libdir}/opencv_ml249 ${libdir}/opencv_nonfree249 ${libdir}/opencv_objdetect249 ${libdir}/opencv_ocl249 ${libdir}/opencv_photo249 ${libdir}/opencv_stitching249 ${libdir}/opencv_superres249 ${libdir}/opencv_ts249 ${libdir}/opencv_video249 ${libdir}/opencv_videostab249
				`@ -55,4 +55,3 @@ class OpenCV: public node::ObjectWrap{`


				`#endif`