Merge branch 4.x

modules/3d/src/fundam.cpp

@@ -790,7 +790,7 @@ public:
         Mat F(count == 7 ? 9 : 3, 3, CV_64F, f);
         int n = count == 7 ? run7Point(m1, m2, F) : run8Point(m1, m2, F);
 
-        if( n == 0 )
+        if( n <= 0 )
             _model.release();
         else
             F.rowRange(0, n*3).copyTo(_model);

modules/3d/src/usac/dls_solver.cpp

@@ -44,6 +44,10 @@
 #elif defined(HAVE_LAPACK)
 #include "opencv_lapack.h"
 #endif
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#endif
 
 namespace cv { namespace usac {
 class DLSPnPImpl : public DLSPnP {
@@ -890,3 +894,7 @@ Ptr<DLSPnP> DLSPnP::create(const Mat &points_, const Mat &calib_norm_pts, const
     return makePtr<DLSPnPImpl>(points_, calib_norm_pts, K);
 }
 }}
+
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic pop
+#endif

modules/3d/src/usac/essential_solver.cpp

@@ -9,6 +9,10 @@
 #elif defined(HAVE_LAPACK)
 #include "opencv_lapack.h"
 #endif
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#endif
 
 namespace cv { namespace usac {
 /*
@@ -354,3 +358,7 @@ Ptr<EssentialMinimalSolver5pts> EssentialMinimalSolver5pts::create
     return makePtr<EssentialMinimalSolver5ptsImpl>(points_, use_svd, is_nister);
 }
 }}
+
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic pop
+#endif

modules/3d/src/usac/pnp_solver.cpp

@@ -11,6 +11,10 @@
 #elif defined(HAVE_LAPACK)
 #include "opencv_lapack.h"
 #endif
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#endif
 
 namespace cv { namespace usac {
 class PnPMinimalSolver6PtsImpl : public PnPMinimalSolver6Pts {
@@ -408,3 +412,7 @@ Ptr<P3PSolver> P3PSolver::create(const Mat &points_, const Mat &calib_norm_pts,
     return makePtr<P3PSolverImpl>(points_, calib_norm_pts, K);
 }
 }}
+
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic pop
+#endif

modules/3d/src/usac/utils.cpp

@@ -388,12 +388,12 @@ void Utils::densitySort (const Mat &points, int knn, Mat &sorted_points, std::ve
         sorted_mask[i] = i;
 
     // get neighbors
-    FlannNeighborhoodGraph &graph = *FlannNeighborhoodGraph::create(points, points_size, knn,
+    cv::Ptr<FlannNeighborhoodGraph> graph = FlannNeighborhoodGraph::create(points, points_size, knn,
             true /*get distances */, 6, 1);
 
     std::vector<double> sum_knn_distances (points_size, 0);
     for (int p = 0; p < points_size; p++) {
-        const std::vector<double> &dists = graph.getNeighborsDistances(p);
+        const std::vector<double> &dists = graph->getNeighborsDistances(p);
         for (int k = 0; k < knn; k++)
             sum_knn_distances[p] += dists[k];
     }