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Overlay video-streams from different camera perspectives?

Im searching for a function which geometrically transforms my thermal-camera-videostream onto an other videostream, but the cameras are (per hardware-size limitation) distanced from each other by about 10cm (thermal cam above the normal cam). I know the field ob views of both cameras. Does OpenCV have a function which solves said problem with the camera-distance? In the end i want both camera-streams to appear merged and correct overlaid in the object-height/width and position.

Thanks,

Steffen