Merge branch 4.x

modules/3d/src/solvepnp.cpp

@@ -99,7 +99,8 @@ void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray d
     CV_CheckType(type, cn == 1 || cn == 3 || cn == 4,
                  "Number of channels must be 1, 3 or 4" );
 
-    CV_Assert(image.getMat().total() > 0);
+    cv::Mat img = image.getMat();
+    CV_Assert(img.total() > 0);
     CV_Assert(length > 0);
 
     // project axes points
@@ -111,6 +112,18 @@ void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray d
     std::vector<Point2f> imagePoints;
     projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints);
 
+    cv::Rect imageRect(0, 0, img.cols, img.rows);
+    bool allIn = true;
+    for (size_t i = 0; i < imagePoints.size(); i++)
+    {
+        allIn &= imageRect.contains(imagePoints[i]);
+    }
+
+    if (!allIn)
+    {
+        CV_LOG_WARNING(NULL, "Some of projected axes endpoints are out of frame. The drawn axes may be not relaible.");
+    }
+
     // draw axes lines
     line(image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), thickness);
     line(image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), thickness);

modules/3d/src/usac.hpp

@@ -17,7 +17,7 @@ class Error : public Algorithm {
 public:
     // set model to use getError() function
     virtual void setModelParameters (const Mat &model) = 0;
-    // returns error of point wih @point_idx w.r.t. model
+    // returns error of point with @point_idx w.r.t. model
     virtual float getError (int point_idx) const = 0;
     virtual const std::vector<float> &getErrors (const Mat &model) = 0;
 };