Merge pull request #18121 from ivashmak:fixing_usac

modules/calib3d/src/usac/degeneracy.cpp

@@ -247,7 +247,8 @@ public:
             // find inliers from sample, points related to H, x' ~ Hx
             for (int s = 0; s < sample_size; s++)
                 if (h_reproj_error->getError(sample[s]) < homography_threshold)
-                    inliers_on_plane++;
+                    if (++inliers_on_plane >= 5)
+                        break;
 
             // if there are at least 5 points lying on plane then F is degenerate
             if (inliers_on_plane >= 5) {

modules/calib3d/src/usac/ransac_solvers.cpp

@@ -745,7 +745,7 @@ bool run (const Ptr<const Model> &params, InputArray points1, InputArray points2
             points_size = mergePoints(points1, points2, points, true);
     } else {
         if (params->isEssential()) {
-            CV_CheckEQ(!K1_.empty() && !K2_.empty(), true, "Intrinsic matrix must not be empty!");
+            CV_CheckEQ((int)(!K1_.empty() && !K2_.empty()), 1, "Intrinsic matrix must not be empty!");
             K1 = K1_.getMat(); K1.convertTo(K1, CV_64F);
             K2 = K2_.getMat(); K2.convertTo(K2, CV_64F);
             if (! dist_coeff1.empty() || ! dist_coeff2.empty()) {
@@ -782,7 +782,7 @@ bool run (const Ptr<const Model> &params, InputArray points1, InputArray points2
 
     std::vector<Ptr<NeighborhoodGraph>> layers;
     if (params->getSampler() == SamplingMethod::SAMPLING_PROGRESSIVE_NAPSAC) {
-        CV_CheckEQ(params->isPnP(), false, "ProgressiveNAPSAC for PnP is not implemented!");
+        CV_CheckEQ((int)params->isPnP(), 0, "ProgressiveNAPSAC for PnP is not implemented!");
         const auto &cell_number_per_layer = params->getGridCellNumber();
         layers.reserve(cell_number_per_layer.size());
         const auto * const pts = (float *) points.data;

samples/cpp/essential_mat_reconstr.cpp

@@ -203,14 +203,14 @@ int main(int args, char** argv) {
        image_dir = argv[2];
     }
     std::ifstream file(data_file, std::ios_base::in);
-    CV_CheckEQ(file.is_open(), true, "Data file is not found!");
+    CV_CheckEQ((int)file.is_open(), 1, "Data file is not found!");
     std::string filename1, filename2;
     std::getline(file, filename1);
     std::getline(file, filename2);
     Mat image1 = imread(image_dir+filename1);
     Mat image2 = imread(image_dir+filename2);
-    CV_CheckEQ(image1.empty(), false, "Image 1 is not found!");
-    CV_CheckEQ(image2.empty(), false, "Image 2 is not found!");
+    CV_CheckEQ((int)image1.empty(), 0, "Image 1 is not found!");
+    CV_CheckEQ((int)image2.empty(), 0, "Image 2 is not found!");
 
     // read calibration
     Matx33d K;