Merge remote-tracking branch 'upstream/3.4' into merge-3.4

modules/calib3d/include/opencv2/calib3d.hpp

@@ -546,15 +546,14 @@ CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, OutputArray dABdA, Ou
 @param tvec2 Second translation vector.
 @param rvec3 Output rotation vector of the superposition.
 @param tvec3 Output translation vector of the superposition.
-@param dr3dr1
-@param dr3dt1
-@param dr3dr2
-@param dr3dt2
-@param dt3dr1
-@param dt3dt1
-@param dt3dr2
-@param dt3dt2 Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and
-tvec2, respectively.
+@param dr3dr1 Optional output derivative of rvec3 with regard to rvec1
+@param dr3dt1 Optional output derivative of rvec3 with regard to tvec1
+@param dr3dr2 Optional output derivative of rvec3 with regard to rvec2
+@param dr3dt2 Optional output derivative of rvec3 with regard to tvec2
+@param dt3dr1 Optional output derivative of tvec3 with regard to rvec1
+@param dt3dt1 Optional output derivative of tvec3 with regard to tvec1
+@param dt3dr2 Optional output derivative of tvec3 with regard to rvec2
+@param dt3dt2 Optional output derivative of tvec3 with regard to tvec2
 
 The functions compute:
 
@@ -3129,7 +3128,7 @@ namespace fisheye
     @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
     @param Knew Camera matrix of the distorted image. By default, it is the identity matrix but you
     may additionally scale and shift the result by using a different matrix.
-    @param new_size
+    @param new_size the new size
 
     The function transforms an image to compensate radial and tangential lens distortion.
 
@@ -3155,14 +3154,14 @@ namespace fisheye
     /** @brief Estimates new camera matrix for undistortion or rectification.
 
     @param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
-    @param image_size
+    @param image_size Size of the image
     @param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
     @param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
     1-channel or 1x1 3-channel
     @param P New camera matrix (3x3) or new projection matrix (3x4)
     @param balance Sets the new focal length in range between the min focal length and the max focal
     length. Balance is in range of [0, 1].
-    @param new_size
+    @param new_size the new size
     @param fov_scale Divisor for new focal length.
      */
     CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,

modules/calib3d/src/fundam.cpp

@@ -72,7 +72,7 @@ public:
         // are geometrically consistent. We check if every 3 correspondences sets
         // fulfills the constraint.
         //
-        // The usefullness of this constraint is explained in the paper:
+        // The usefulness of this constraint is explained in the paper:
         //
         // "Speeding-up homography estimation in mobile devices"
         // Journal of Real-Time Image Processing. 2013. DOI: 10.1007/s11554-012-0314-1

modules/calib3d/src/ippe.hpp

@@ -122,10 +122,10 @@ private:
      *                                  For highest accuracy the Jacobian should be computed at the centroid of the point correspondences (see the IPPE paper for the explanation of this).
      *                                  For a point (ux,uy) on the object plane, suppose the homography H maps (ux,uy) to a point (p,q) in the image (in normalized pixel coordinates).
      *                                  The Jacobian matrix [J00, J01; J10,J11] is the Jacobian of the mapping evaluated at (ux,uy).
-     * @param j00                       Homography jacobian coefficent at (ux,uy)
-     * @param j01                       Homography jacobian coefficent at (ux,uy)
-     * @param j10                       Homography jacobian coefficent at (ux,uy)
-     * @param j11                       Homography jacobian coefficent at (ux,uy)
+     * @param j00                       Homography jacobian coefficient at (ux,uy)
+     * @param j01                       Homography jacobian coefficient at (ux,uy)
+     * @param j10                       Homography jacobian coefficient at (ux,uy)
+     * @param j11                       Homography jacobian coefficient at (ux,uy)
      * @param p                         The x coordinate of point (ux,uy) mapped into the image (undistorted and normalized position)
      * @param q                         The y coordinate of point (ux,uy) mapped into the image (undistorted and normalized position)
     */

modules/calib3d/test/test_cameracalibration_artificial.cpp

@@ -145,7 +145,7 @@ protected:
 
         if (fail)
         {
-            // commented according to vp123's recomendation. TODO - improve accuaracy
+            // commented according to vp123's recommendation. TODO - improve accuracy
             //ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); ss
         }
         ts->printf( cvtest::TS::LOG, "%d) DistCoeff exp=(%.2f, %.2f, %.4f, %.4f %.2f)\n", r, k1, k2, p1, p2, k3);