From 57b31e2d4b451220059f5fb77abdf7f8ee2b9148 Mon Sep 17 00:00:00 2001
From: Maksim Shabunin <maksim.shabunin@gmail.com>
Date: Tue, 26 Nov 2024 16:19:47 +0300
Subject: [PATCH] calib3d: fix vector access in USAC

---
 modules/3d/src/usac/fundamental_solver.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/3d/src/usac/fundamental_solver.cpp b/modules/3d/src/usac/fundamental_solver.cpp
index a5e3b30fba..d2fb6d3d10 100644
--- a/modules/3d/src/usac/fundamental_solver.cpp
+++ b/modules/3d/src/usac/fundamental_solver.cpp
@@ -579,7 +579,7 @@ public:
         CameraPose pose;
         pose.R = corr_idx < 2 ? R1 : R2;
         pose.t = corr_idx % 2 == 1 ? -t : t;
-        refine_relpose(calib_points, sample, sample_size, &pose, opt, &weights[0]);
+        refine_relpose(calib_points, sample, sample_size, &pose, opt, weights.empty() ? nullptr : &weights[0]);
         Matx33d model_new = Math::getSkewSymmetric(pose.t) * pose.R;
         if (is_fundamental)
             model_new = K2_inv_t * model_new * K1_inv;