OpenCV/opencv_contrib/modules/sfm/test/scene.h

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#include <opencv2/core.hpp>

void
generateScene(size_t n_views, size_t n_points, bool is_projective, cv::Matx33d & K, std::vector<cv::Matx33d> & R,
              std::vector<cv::Vec3d> & t, std::vector<cv::Matx34d> & P, cv::Mat_<double> & points3d,
              std::vector<cv::Mat_<double> > & points2d);