Merge pull request #16052 from alalek:issue_16040

* calib3d: use normalized input in solvePnPGeneric()

* calib3d: java regression test for solvePnPGeneric

* calib3d: python regression test for solvePnPGeneric

modules/calib3d/misc/python/test/test_solvepnp.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+# Python 2/3 compatibility
+from __future__ import print_function
+
+import numpy as np
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class solvepnp_test(NewOpenCVTests):
+
+    def test_regression_16040(self):
+        obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
+        img_points = np.array(
+            [[700, 400], [700, 600], [900, 600], [900, 400]], dtype=np.float32
+        )
+
+        cameraMatrix = np.array(
+            [[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
+        )
+        distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
+        r = np.array([], dtype=np.float32)
+        x, r, t, e = cv.solvePnPGeneric(
+            obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
+        )
+
+    def test_regression_16040_2(self):
+        obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
+        img_points = np.array(
+            [[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
+        )
+
+        cameraMatrix = np.array(
+            [[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
+        )
+        distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
+        r = np.array([], dtype=np.float32)
+        x, r, t, e = cv.solvePnPGeneric(
+            obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
+        )
+
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()