diff --git a/modules/calib3d/src/calibration.cpp b/modules/calib3d/src/calibration.cpp
index c03e3a1c34..d488e4569e 100644
--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -3188,8 +3188,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
     Qx = ( 0  c  s ), c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
          ( 0 -s  c )
     */
-    s = matM[2][1];
-    c = matM[2][2];
+    s = std::abs(matM[2][1]) > DBL_EPSILON ? matM[2][1] : 0;
+    c = std::abs(matM[2][1]) > DBL_EPSILON ? matM[2][2] : 1;
     z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
     c *= z;
     s *= z;
@@ -3207,8 +3207,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
     Qy = ( 0  1  0 ), c = m33/sqrt(m31^2 + m33^2), s = -m31/sqrt(m31^2 + m33^2)
          ( s  0  c )
     */
-    s = -matR[2][0];
-    c = matR[2][2];
+    s = std::abs(matR[2][0]) > DBL_EPSILON ? -matR[2][0] : 0;
+    c = std::abs(matR[2][0]) > DBL_EPSILON ? matR[2][2] : 1;
     z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
     c *= z;
     s *= z;
@@ -3227,8 +3227,8 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
          ( 0  0  1 )
     */
 
-    s = matM[1][0];
-    c = matM[1][1];
+    s = std::abs(matM[1][0]) > DBL_EPSILON ? matM[1][0] : 0;
+    c = std::abs(matM[1][0]) > DBL_EPSILON ? matM[1][1] : 1;
     z = 1./std::sqrt(c * c + s * s + DBL_EPSILON);
     c *= z;
     s *= z;
diff --git a/modules/calib3d/test/test_decompose_projection.cpp b/modules/calib3d/test/test_decompose_projection.cpp
index e43aa65b69..0e3a420d69 100644
--- a/modules/calib3d/test/test_decompose_projection.cpp
+++ b/modules/calib3d/test/test_decompose_projection.cpp
@@ -141,4 +141,23 @@ TEST(Calib3d_DecomposeProjectionMatrix, accuracy)
     test.safe_run();
 }
 
+TEST(Calib3d_DecomposeProjectionMatrix, degenerate_cases)
+{
+    for (int i = 0; i < 3; i++)
+    {
+        for (int j = 0; j < 2; j++)
+        {
+            cv::Matx34d P;
+            P(0, i) = 1;
+            P(1, (i + j + 1) % 3) = 1;
+            P(2, (i + 2 * j + 2) % 3) = 1;
+
+            cv::Matx33d K, R;
+            cv::Vec4d t;
+            decomposeProjectionMatrix(P, K, R, t);
+            EXPECT_LT(cv::norm(K * R, P.get_minor<3, 3>(0, 0), cv::NORM_INF), 1e-6);
+        }
+    }
+}
+
 }} // namespace