Merge branch 4.x

modules/3d/src/fisheye.cpp

@@ -593,4 +593,15 @@ void cv::fisheye::undistortImage(InputArray distorted, OutputArray undistorted,
     cv::remap(distorted, undistorted, map1, map2, INTER_LINEAR, BORDER_CONSTANT);
 }
 
+bool cv::fisheye::solvePnP( InputArray opoints, InputArray ipoints,
+               InputArray cameraMatrix, InputArray distCoeffs,
+               OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess,
+               int flags, TermCriteria criteria)
+{
+
+    Mat imagePointsNormalized;
+    cv::fisheye::undistortPoints(ipoints, imagePointsNormalized, cameraMatrix, distCoeffs, noArray(), cameraMatrix, criteria);
+    return cv::solvePnP(opoints, imagePointsNormalized, cameraMatrix, noArray(), rvec, tvec, useExtrinsicGuess, flags);
+}
+
 } // namespace cv

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

@@ -169,6 +169,9 @@ public:
     int getRealRoots (const std::vector<double> &coeffs, std::vector<double> &real_roots) override {
         if (coeffs.empty())
             return 0;
+        for (auto c : coeffs)
+            if (cvIsNaN(c) || cvIsInf(c))
+                return 0;
         Poly input(coeffs);
         if (input.degree() < 1)
             return 0;