several minor fixes proposed by Andrey

modules/calib3d/src/circlesgrid.cpp

@@ -403,15 +403,15 @@ void CirclesGridClusterFinder::parsePatternPoints(const std::vector<cv::Point2f>
         idealPt = Point2f(j*squareSize, i*squareSize);
 
       Mat query(1, 2, CV_32F, &idealPt);
-      int knn = 1;
-      int indicesbuf = 0;
-      float distsbuf = 0.f;
+      const int knn = 1;
+      int indicesbuf[knn] = {0};
+      float distsbuf[knn] = {0.f};
       Mat indices(1, knn, CV_32S, &indicesbuf);
       Mat dists(1, knn, CV_32F, &distsbuf);
       flannIndex.knnSearch(query, indices, dists, knn, flann::SearchParams());
-      centers.push_back(patternPoints.at(indicesbuf));
+      centers.push_back(patternPoints.at(indicesbuf[0]));
 
-      if(distsbuf > maxRectifiedDistance)
+      if(distsbuf[0] > maxRectifiedDistance)
       {
 #ifdef DEBUG_CIRCLES
         cout << "Pattern not detected: too large rectified distance" << endl;

modules/calib3d/src/fundam.cpp

@@ -131,7 +131,7 @@ public:
         const Point2f* m = m2.ptr<Point2f>();
 
         double LtL[9][9], W[9][1], V[9][9];
-        Mat _LtL( 9, 9, CV_64F, LtL );
+        Mat _LtL( 9, 9, CV_64F, &LtL[0][0] );
         Mat matW( 9, 1, CV_64F, W );
         Mat matV( 9, 9, CV_64F, V );
         Mat _H0( 3, 3, CV_64F, V[8] );

modules/calib3d/src/levmarq.cpp

@@ -217,7 +217,7 @@ CV_INIT_ALGORITHM(LMSolverImpl, "LMSolver",
                   obj.info()->addParam(obj, "maxIters", obj.maxIters);
                   obj.info()->addParam(obj, "printInterval", obj.printInterval));
 
-CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters)
+Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters)
 {
     CV_Assert( !LMSolverImpl_info_auto.name().empty() );
     return new LMSolverImpl(cb, maxIters);

modules/calib3d/src/precomp.hpp

@@ -81,7 +81,7 @@ public:
 
 CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters);
 
-class PointSetRegistrator : public Algorithm
+class CV_EXPORTS PointSetRegistrator : public Algorithm
 {
 public:
     class CV_EXPORTS Callback

modules/calib3d/src/ptsetreg.cpp

@@ -83,8 +83,6 @@ public:
         checkPartialSubsets = true;
     }
 
-    virtual ~RANSACPointSetRegistrator() {}
-
     int findInliers( const Mat& m1, const Mat& m2, const Mat& model, Mat& err, Mat& mask, double thresh ) const
     {
         cb->computeError( m1, m2, model, err );
@@ -318,9 +316,8 @@ public:
             return true;
         }
 
-        int iter, niters = cvRound(std::log(1-confidence)/
-                                   std::log(1-std::pow(1-outlierRatio,(double)modelPoints)));
-        niters = MIN( MAX(niters, 3), maxIters );
+        int iter, niters = RANSACUpdateNumIters(confidence, outlierRatio, modelPoints, maxIters);
+        niters = MAX(niters, 3);
 
         for( iter = 0; iter < niters; iter++ )
         {