Learning OpenCV 3: Computer Vision in C++ with the OpenCV Library

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PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features (2018, methodology): “The line detection and matching codes are provided by OpenCV 3 [43].”
An overview of depth cameras and range scanners based on time-of-flight technologies (2016, methodology): “Acommonly used lens distortionmodelwidely used for color cameras [7,26] can be adopted for TOF cameras as well: The observed distorted point (xl , yl) results from the displacement of (x, y) according to: ( xl yl ) = lρ(r) ( x”