diff --git a/modules/line_descriptor/src/binary_descriptor.cpp b/modules/line_descriptor/src/binary_descriptor.cpp
index b2fd19698..e5de2f9aa 100644
--- a/modules/line_descriptor/src/binary_descriptor.cpp
+++ b/modules/line_descriptor/src/binary_descriptor.cpp
@@ -625,11 +625,12 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
   /* delete useless OctaveSingleLines */
   for ( size_t i = 0; i < sl.size(); i++ )
   {
-    for ( size_t j = 0; j < sl[i].size(); j++ )
+    for ( size_t j = 0; j < sl[i].size(); )
     {
       //if( (int) ( sl[i][j] ).octaveCount > params.numOfOctave_ )
       if( (int) ( sl[i][j] ).octaveCount > octaveIndex )
         ( sl[i] ).erase( ( sl[i] ).begin() + j );
+      else j++;
     }
   }
 
diff --git a/modules/ovis/include/opencv2/ovis.hpp b/modules/ovis/include/opencv2/ovis.hpp
index b4063683e..5e5db358d 100644
--- a/modules/ovis/include/opencv2/ovis.hpp
+++ b/modules/ovis/include/opencv2/ovis.hpp
@@ -45,6 +45,7 @@ enum EntityProperty
 {
     ENTITY_MATERIAL,
     ENTITY_SCALE,
+    ENTITY_AABB_WORLD
 };
 
 /**
@@ -106,6 +107,14 @@ public:
     /// @overload
     CV_WRAP virtual void setEntityProperty(const String& name, int prop, const String& value) = 0;
 
+    /**
+     * get the property of an entity
+     * @param name entity name
+     * @param prop @ref EntityProperty
+     * @param value the value
+     */
+    CV_WRAP virtual void getEntityProperty(const String& name, int prop, OutputArray value) = 0;
+
     /**
      * convenience method to visualize a camera position
      *
diff --git a/modules/ovis/src/ovis.cpp b/modules/ovis/src/ovis.cpp
index 0c6e24d11..a182f012b 100644
--- a/modules/ovis/src/ovis.cpp
+++ b/modules/ovis/src/ovis.cpp
@@ -43,8 +43,14 @@ void _createTexture(const String& name, Mat image)
     case CV_8UC1:
         format = PF_BYTE_L;
         break;
+    case CV_16UC1:
+        format = PF_L16;
+        break;
+    case CV_32FC1:
+        format = PF_FLOAT32_R;
+        break;
     default:
-        CV_Error(Error::StsBadArg, "currently only CV_8UC1, CV_8UC3, CV_8UC4 textures are supported");
+        CV_Error(Error::StsBadArg, "currently supported formats are only CV_8UC1, CV_8UC3, CV_8UC4, CV_16UC1, CV_32FC1");
         break;
     }
 
@@ -388,18 +394,26 @@ public:
         int dst_type;
         switch(src_type)
         {
+        case PF_R8:
+        case PF_L8:
+            dst_type = CV_8U;
+            break;
         case PF_BYTE_RGB:
             dst_type = CV_8UC3;
             break;
         case PF_BYTE_RGBA:
             dst_type = CV_8UC4;
             break;
+        case PF_FLOAT32_R:
+            dst_type = CV_32F;
+            break;
         case PF_FLOAT32_RGB:
             dst_type = CV_32FC3;
             break;
         case PF_FLOAT32_RGBA:
             dst_type = CV_32FC4;
             break;
+        case PF_L16:
         case PF_DEPTH16:
             dst_type = CV_16U;
             break;
@@ -549,6 +563,35 @@ public:
         node.setScale(value[0], value[1], value[2]);
     }
 
+    void getEntityProperty(const String& name, int prop, OutputArray value)
+    {
+        SceneNode& node = _getSceneNode(sceneMgr, name);
+        switch(prop)
+        {
+        case ENTITY_SCALE:
+        {
+            Vector3 s = node.getScale();
+            Mat_<Real>(1, 3, s.ptr()).copyTo(value);
+            return;
+        }
+        case ENTITY_AABB_WORLD:
+        {
+            Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
+            CV_Assert(ent && "invalid entity");
+            AxisAlignedBox aabb = ent->getWorldBoundingBox(true);
+            Vector3 mn = aabb.getMinimum();
+            Vector3 mx = aabb.getMaximum();
+            Mat_<Real> ret(2, 3);
+            Mat_<Real>(1, 3, mn.ptr()).copyTo(ret.row(0));
+            Mat_<Real>(1, 3, mx.ptr()).copyTo(ret.row(1));
+            ret.copyTo(value);
+            return;
+        }
+        default:
+            CV_Error(Error::StsBadArg, "unsupported property");
+        }
+    }
+
     void _createBackground()
     {
         String name = "_" + sceneMgr->getName() + "_DefaultBackground";
diff --git a/modules/sfm/include/opencv2/sfm/numeric.hpp b/modules/sfm/include/opencv2/sfm/numeric.hpp
index f191b2b9f..fc23c010b 100644
--- a/modules/sfm/include/opencv2/sfm/numeric.hpp
+++ b/modules/sfm/include/opencv2/sfm/numeric.hpp
@@ -38,8 +38,6 @@
 
 #include <opencv2/core.hpp>
 
-#include <Eigen/Core>
-
 namespace cv
 {
 namespace sfm