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I wrote this bibtex entries because I couldn't find a suitable example of how to do it:

% to cite the sofware library
@misc{itseez2015opencv,
  title={Open Source Computer Vision Library},
  author={Itseez},
  year={2015},
  howpublished = {\url{https://github.com/itseez/opencv}}
}
% to cite the manual
@manual{itseez2014theopencv,
  title = {The OpenCV Reference Manual},
  organization = {Itseez},
  edition = {2.4.9.0},
  month = {April},
  year = {2014},
  notes = {See \url{http://opencv.org/}}
  }