diff --git a/modules/adas/tools/fcw_detect/CMakeLists.txt b/modules/adas/tools/fcw_detect/CMakeLists.txt
index 604aec718..d2f2a2e11 100644
--- a/modules/adas/tools/fcw_detect/CMakeLists.txt
+++ b/modules/adas/tools/fcw_detect/CMakeLists.txt
@@ -13,7 +13,7 @@ endif()
 project(${the_target})
 
 ocv_include_directories("${OpenCV_SOURCE_DIR}/include/opencv")
-ocv_include_modules(${OPENCV_${the_target}_DEPS})
+ocv_include_modules_recurse(${OPENCV_${the_target}_DEPS})
 
 file(GLOB ${the_target}_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
 
diff --git a/modules/adas/tools/fcw_train/CMakeLists.txt b/modules/adas/tools/fcw_train/CMakeLists.txt
index f1cbecf7b..5b1d78303 100644
--- a/modules/adas/tools/fcw_train/CMakeLists.txt
+++ b/modules/adas/tools/fcw_train/CMakeLists.txt
@@ -13,7 +13,7 @@ endif()
 project(${the_target})
 
 ocv_include_directories("${OpenCV_SOURCE_DIR}/include/opencv")
-ocv_include_modules(${OPENCV_${the_target}_DEPS})
+ocv_include_modules_recurse(${OPENCV_${the_target}_DEPS})
 
 file(GLOB ${the_target}_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
 
diff --git a/modules/matlab/include/opencv2/matlab/bridge.hpp b/modules/matlab/include/opencv2/matlab/bridge.hpp
index 64592ca4e..34faeae8e 100644
--- a/modules/matlab/include/opencv2/matlab/bridge.hpp
+++ b/modules/matlab/include/opencv2/matlab/bridge.hpp
@@ -85,6 +85,7 @@ typedef cv::Ptr<AlignMTB> Ptr_AlignMTB;
 typedef cv::Ptr<CalibrateDebevec> Ptr_CalibrateDebevec;
 typedef cv::Ptr<CalibrateRobertson> Ptr_CalibrateRobertson;
 typedef cv::Ptr<DenseOpticalFlow> Ptr_DenseOpticalFlow;
+typedef cv::Ptr<DualTVL1OpticalFlow> Ptr_DualTVL1OpticalFlow;
 typedef cv::Ptr<MergeDebevec> Ptr_MergeDebevec;
 typedef cv::Ptr<MergeMertens> Ptr_MergeMertens;
 typedef cv::Ptr<MergeRobertson> Ptr_MergeRobertson;
@@ -468,6 +469,11 @@ public:
   Ptr_DenseOpticalFlow toPtrDenseOpticalFlow() { return Ptr_DenseOpticalFlow(); }
   operator Ptr_DenseOpticalFlow() { return toPtrDenseOpticalFlow(); }
 
+  // ---------------------------   Ptr_DualTVL1OpticalFlow   -------------------
+  Bridge& operator=(const Ptr_DualTVL1OpticalFlow& ) { return *this; }
+  Ptr_DualTVL1OpticalFlow toPtrDualTVL1OpticalFlow() { return Ptr_DualTVL1OpticalFlow(); }
+  operator Ptr_DualTVL1OpticalFlow() { return toPtrDualTVL1OpticalFlow(); }
+
   // ---------------------------   Ptr_MergeDebevec   -----------------------
   Bridge& operator=(const Ptr_MergeDebevec& ) { return *this; }
   Ptr_MergeDebevec toPtrMergeDebevec() { return Ptr_MergeDebevec(); }
diff --git a/modules/optflow/src/motempl.cpp b/modules/optflow/src/motempl.cpp
index 5d2ce76d4..738c87964 100644
--- a/modules/optflow/src/motempl.cpp
+++ b/modules/optflow/src/motempl.cpp
@@ -212,7 +212,7 @@ void calcMotionGradient( InputArray _mhi, OutputArray _mask,
         float* orient_row = orient.ptr<float>(y);
         uchar* mask_row = mask.ptr<uchar>(y);
 
-        fastAtan2(dY_max_row, dX_min_row, orient_row, size.width, true);
+        hal::fastAtan2(dY_max_row, dX_min_row, orient_row, size.width, true);
 
         // make orientation zero where the gradient is very small
         for( x = 0; x < size.width; x++ )
diff --git a/modules/rgbd/src/depth_to_3d.h b/modules/rgbd/src/depth_to_3d.h
index a92cb32a2..97e786730 100644
--- a/modules/rgbd/src/depth_to_3d.h
+++ b/modules/rgbd/src/depth_to_3d.h
@@ -81,7 +81,7 @@ convertDepthToFloat(const cv::Mat& depth, const cv::Mat& mask, float scale, cv::
         v_mat((int)n_points, 0) = (float)v;
         T depth_i = depth.at<T>(v, u);
 
-        if (cvIsNaN(depth_i) || (depth_i == std::numeric_limits<T>::min()) || (depth_i == std::numeric_limits<T>::max()))
+        if (cvIsNaN((float)depth_i) || (depth_i == std::numeric_limits<T>::min()) || (depth_i == std::numeric_limits<T>::max()))
           z_mat((int)n_points, 0) = std::numeric_limits<float>::quiet_NaN();
         else
           z_mat((int)n_points, 0) = depth_i * scale;
@@ -111,7 +111,7 @@ convertDepthToFloat(const cv::Mat& depth, float scale, const cv::Mat &uv_mat, cv
   {
     T depth_i = depth.at < T > ((int)(*uv_iter)[1], (int)(*uv_iter)[0]);
 
-    if (cvIsNaN(depth_i) || (depth_i == std::numeric_limits < T > ::min())
+    if (cvIsNaN((float)depth_i) || (depth_i == std::numeric_limits < T > ::min())
         || (depth_i == std::numeric_limits < T > ::max()))
       *z_mat_iter = std::numeric_limits<float>::quiet_NaN();
     else
diff --git a/modules/xfeatures2d/src/agast_score.cpp b/modules/xfeatures2d/src/agast_score.cpp
index 521af8c67..fc4d26b70 100644
--- a/modules/xfeatures2d/src/agast_score.cpp
+++ b/modules/xfeatures2d/src/agast_score.cpp
@@ -118,8 +118,8 @@ int agast_cornerScore<AgastFeatureDetector::OAST_9_16>(const uchar* ptr, const i
 
     while(true)
     {
-        register const int cb = *pixel + b_test;
-        register const int c_b = *pixel - b_test;
+        register const int cb = *ptr + b_test;
+        register const int c_b = *ptr - b_test;
         if(ptr[offset0] > cb)
           if(ptr[offset2] > cb)
             if(ptr[offset4] > cb)
@@ -2189,8 +2189,8 @@ int agast_cornerScore<AgastFeatureDetector::AGAST_7_12d>(const uchar* ptr, const
 
     while(true)
     {
-        register const int cb = *pixel + b_test;
-        register const int c_b = *pixel - b_test;
+        register const int cb = *ptr + b_test;
+        register const int c_b = *ptr - b_test;
         if(ptr[offset0] > cb)
           if(ptr[offset5] > cb)
             if(ptr[offset2] > cb)
@@ -3401,8 +3401,8 @@ int agast_cornerScore<AgastFeatureDetector::AGAST_7_12s>(const uchar* ptr, const
 
     while(true)
     {
-        register const int cb = *pixel + b_test;
-        register const int c_b = *pixel - b_test;
+        register const int cb = *ptr + b_test;
+        register const int c_b = *ptr - b_test;
         if(ptr[offset0] > cb)
           if(ptr[offset5] > cb)
             if(ptr[offset2] < c_b)
@@ -9031,8 +9031,8 @@ int agast_cornerScore<AgastFeatureDetector::AGAST_5_8>(const uchar* ptr, const i
 
     while(true)
     {
-        register const int cb = *pixel + b_test;
-        register const int c_b = *pixel - b_test;
+        register const int cb = *ptr + b_test;
+        register const int c_b = *ptr - b_test;
         if(ptr[offset0] > cb)
           if(ptr[offset2] > cb)
             if(ptr[offset3] > cb)
diff --git a/modules/xfeatures2d/src/sift.cpp b/modules/xfeatures2d/src/sift.cpp
index 4ed1e4142..fc67c4d6e 100644
--- a/modules/xfeatures2d/src/sift.cpp
+++ b/modules/xfeatures2d/src/sift.cpp
@@ -337,9 +337,9 @@ static float calcOrientationHist( const Mat& img, Point pt, int radius,
     len = k;
 
     // compute gradient values, orientations and the weights over the pixel neighborhood
-    exp(W, W, len);
-    fastAtan2(Y, X, Ori, len, true);
-    magnitude(X, Y, Mag, len);
+    hal::exp(W, W, len);
+    hal::fastAtan2(Y, X, Ori, len, true);
+    hal::magnitude(X, Y, Mag, len);
 
     for( k = 0; k < len; k++ )
     {
@@ -620,9 +620,9 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
         }
 
     len = k;
-    fastAtan2(Y, X, Ori, len, true);
-    magnitude(X, Y, Mag, len);
-    exp(W, W, len);
+    hal::fastAtan2(Y, X, Ori, len, true);
+    hal::magnitude(X, Y, Mag, len);
+    hal::exp(W, W, len);
 
     for( k = 0; k < len; k++ )
     {