diff --git a/typings/cv.d.ts b/typings/cv.d.ts
index e33ac1a64..70e22dd29 100644
--- a/typings/cv.d.ts
+++ b/typings/cv.d.ts
@@ -134,12 +134,6 @@ export function getNumThreads(): number;
 export function setNumThreads(nthreads: number): void;
 export function getThreadNum(): number;
 
-export function projectPoints(objectPoints: Point3[], imagePoints: Point2[], rvec: Vec3, tvec: Vec3, cameraMatrix: Mat, distCoeffs: number[], aspectRatio?: number): { imagePoints: Point2[], jacobian: Mat };
-export function projectPointsAsync(objectPoints: Point3[], imagePoints: Point2[], rvec: Vec3, tvec: Vec3, cameraMatrix: Mat, distCoeffs: number[], aspectRatio?: number): Promise<{ imagePoints: Point2[], jacobian: Mat }>;
-
-export function recoverPose(E: Mat, points1: Point2[], points2: Point2[], focal?: number, pp?: Point2, mask?: Mat): { returnValue: number, R: Mat, T: Vec3 };
-export function recoverPoseAsync(E: Mat, points1: Point2[], points2: Point2[], focal?: number, pp?: Point2, mask?: Mat): Promise<{ returnValue: number, R: Mat, T: Vec3 }>;
-
 export function sampsonDistance(pt1: Vec2, pt2: Vec2, F: Mat): number;
 export function sampsonDistanceAsync(pt1: Vec2, pt2: Vec2, F: Mat): Promise<number>;
 
diff --git a/typings/group/calib3d.d.ts b/typings/group/calib3d.d.ts
index 174838b37..7f76038ea 100644
--- a/typings/group/calib3d.d.ts
+++ b/typings/group/calib3d.d.ts
@@ -13,18 +13,19 @@ import { TermCriteria } from '../TermCriteria.d';
 // 
 //double 	cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 
+// OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors
 export interface CalibrateCameraRet {
     returnValue: number;
-    rvecs: Vec3[];
-    tvecs: Vec3[];
+    rvecs: Vec3[]; // OutputArrayOfArrays rvecs
+    tvecs: Vec3[]; // OutputArrayOfArrays tvecs
     distCoeffs: number[];
 }
 
-export function calibrateCamera(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): CalibrateCameraRet;
-export function calibrateCameraAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<CalibrateCameraRet>;
+export function calibrateCamera(objectPoints: Point3[][], imagePoints: Point2[][], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): CalibrateCameraRet;
+export function calibrateCameraAsync(objectPoints: Point3[][], imagePoints: Point2[][], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<CalibrateCameraRet>;
 
-export function calibrateCameraExtended(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] };
-export function calibrateCameraExtendedAsync(objectPoints: Point3[], imagePoints: Point2[], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] }>;
+export function calibrateCameraExtended(objectPoints: Point3[][], imagePoints: Point2[][], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): { returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] };
+export function calibrateCameraExtendedAsync(objectPoints: Point3[][], imagePoints: Point2[][], imageSize: Size, cameraMatrix: Mat, distCoeffs: number[], flags?: number, criteria?: TermCriteria): Promise<{ returnValue: number, rvecs: Vec3[], tvecs: Vec3[], distCoeffs: number[], stdDeviationsIntrinsics: Mat, stdDeviationsExtrinsics: Mat, perViewErrors: number[] }>;
 
 
 //double 	cv::calibrateCameraRO (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray newObjPoints, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray stdDeviationsObjPoints, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
@@ -224,7 +225,9 @@ export function findHomographyAsync(srcPoints: Point2[], dstPoints: Point2[], me
 // 
 //void 	cv::projectPoints (InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0)
 // 	Projects 3D points to an image plane. More...
-// 
+export function projectPoints(objectPoints: Point3[], rvec: Vec3, tvec: Vec3, cameraMatrix: Mat, distCoeffs: number[], aspectRatio?: number): { imagePoints: Point2[], jacobian: Mat };
+export function projectPointsAsync(objectPoints: Point3[], rvec: Vec3, tvec: Vec3, cameraMatrix: Mat, distCoeffs: number[], aspectRatio?: number): Promise<{ imagePoints: Point2[], jacobian: Mat }>;
+
 //int 	cv::recoverPose (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, OutputArray E, OutputArray R, OutputArray t, int method=cv::RANSAC, double prob=0.999, double threshold=1.0, InputOutputArray mask=noArray())
 // 	Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of inliers that pass the check. More...
 // 
@@ -234,7 +237,10 @@ export function findHomographyAsync(srcPoints: Point2[], dstPoints: Point2[], me
 //int 	cv::recoverPose (InputArray E, InputArray points1, InputArray points2, OutputArray R, OutputArray t, double focal=1.0, Point2d pp=Point2d(0, 0), InputOutputArray mask=noArray())
 // 
 //int 	cv::recoverPose (InputArray E, InputArray points1, InputArray points2, InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask=noArray(), OutputArray triangulatedPoints=noArray())
-// 
+
+export function recoverPose(E: Mat, points1: Point2[], points2: Point2[], focal?: number, pp?: Point2, mask?: Mat): { returnValue: number, R: Mat, T: Vec3 };
+export function recoverPoseAsync(E: Mat, points1: Point2[], points2: Point2[], focal?: number, pp?: Point2, mask?: Mat): Promise<{ returnValue: number, R: Mat, T: Vec3 }>;
+
 //float 	cv::rectify3Collinear (InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, InputArray cameraMatrix3, InputArray distCoeffs3, InputArrayOfArrays imgpt1, InputArrayOfArrays imgpt3, Size imageSize, InputArray R12, InputArray T12, InputArray R13, InputArray T13, OutputArray R1, OutputArray R2, OutputArray R3, OutputArray P1, OutputArray P2, OutputArray P3, OutputArray Q, double alpha, Size newImgSize, Rect *roi1, Rect *roi2, int flags)
 // 	computes the rectification transformations for 3-head camera, where all the heads are on the same line. More...
 //