* issue 5769 fixed: cv::stereoRectify fails if given inliers mask of type vector<uchar>

* issue5769 fix using reshape and add regression test

* regression test with outlier detection, testing vector and mat data

* Size comparision of wrong vector within CV_Assert in regression test corrected

* cleanup test code

Found using `codespell -q 3 -S ./3rdparty -L activ,amin,ang,atleast,childs,dof,endwhile,halfs,hist,iff,nd,od,uint`

backporting of commit: ec43292e

Merge pull request #14828 from armenpoghosov:parmen_RANSACPointSetRegistrator_getSubset_disaster_cleanup

Parmen ransac point set registrator get subset disaster cleanup (#14828)

* Avoid using v_signmask universal intrinsic and mark it as deprecated

* Renamed v_find_negative to v_scan_forward

Removed constants from legacy C api and switched out header with shorter version.

Removed blank line that was failing CI.

Test request by #14583 (#14800)

* add test to show the undistort bug

* move test to calib3d

- use compile-time checks instead (`#if CV_SIMD128`)
- runtime checks are useless

* Revert the bad parts of b085158d to fix https://github.com/opencv/opencv/issues/11131
but preserve the good parts to keep https://github.com/opencv/opencv/issues/10791 fixed

* calib3d: add regression test for stereoCalibrate to fix https://github.com/opencv/opencv/issues/11131

* java: fix java missing_consts

* java: test Calib3d constants

Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints.

Add SOLVEPNP_IPPE for planar pose estimation. Add solvePnPGeneric function that returns all the pose solutions and the reprojection errors.

* Fix typo: 'divisble' -> 'divisible'

* Fix typo: 'One of arguments' -> 'One of the arguments'

Add solvePnPRefineLM to refine a pose according to a Levenberg-Marquardt iterative minimization process. Add solvePnPRefineVVS to refine a pose using a virtual visual servoing scheme.

* Fix for Homogenous precision #14242:
 - moved scale computation to an inline function
 - use std::numeric_limits<float>::epsilon() instead of != 0.0

* Fix for Homogenous precision #14242:
 - fixed warnings for type conversion

* Fix for Homogenous precision #14242:
 - use float epsilon() for truncation of doubles

Fixes: https://github.com/opencv/opencv/issues/14169

- estimateAffine2D/estimateAffinePartial2D() calls

objectPoints and imagePoints are not checked whether they're empty and
cause checkVector() to fail, thus result in a wrong error message.

Fixes: https://github.com/opencv/opencv/issues/6002

backport 997b7b18

* Fix the bug in case determinant of rotation matrix is -1

* calib3d(test): check det(R) == 1

This reverts commit 7349b8f5 (partially).

During the cluster-based detection of circle grids, the detected circle
pattern has to be mapped to 3D-points. When doing this the width (i.e.
more circles) and height (i.e. less circles) of the pattern need to
be identified in image coordinates.

Until now this was done by assuming that the shorter side in image
coordinates (length in pixels) corresponds to the height in 3D.
This assumption does not hold if we look at the pattern from
a perspective where the projection of the width is shorter
than the projection of the height. This in turn lead to misdetections in
although the circle pattern was clearly visible.

Instead count how many circles have been detected along two edges of the
projected quadrangle and use the one with more circles as width and the
one with less as height.

Fix distortion figure in calib3d. Positive radial distortion corresponds to pincushion distortion and negative to barrel distortion. Add another figure that illustrates the influence of k1 in the distortion effect.