made the solvepnp a bit more modest; test 5-point configuration instead of 4-point in some cases; reduce the noise in 4-point configurations in other cases
made the solvepnp a bit more modest; test 5-point configuration instead of 4-point in some cases; reduce the noise in 4-point configurations in other cases

opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv