Fixed division by zero case in SphericalProjector::mapForward

diff --git a/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp b/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
index edfc9c3..1521167 100644 (file)
--- a/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
@@ -88,9 +88,9 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
 template <class P>\r
 Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,\r
                                   Mat &dst)\r
-{    \r
+{\r
     Mat xmap, ymap;\r
-    Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);    \r
+    Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);\r
 \r
     dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());\r
     remap(src, dst, xmap, ymap, interp_mode, border_mode);\r
@@ -236,13 +236,14 @@ void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
 \r
 inline\r
 void SphericalProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
     float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
 \r
     u = scale * atan2f(x_, z_);\r
-    v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));\r
+    float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);\r
+    v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));\r
 }\r
 \r
 \r
@@ -346,7 +347,7 @@ void StereographicProjector::mapForward(float x, float y, float &u, float &v)
     float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
 \r
        float r = sinf(v_) / (1 - cosf(v_));\r
-       \r
+\r
        u = scale * r * cos(u_);\r
        v = scale * r * sin(u_);\r
 }\r
@@ -377,7 +378,7 @@ void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
 \r
 inline\r
 void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
@@ -415,7 +416,7 @@ void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, flo
 \r
 inline\r
 void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
@@ -453,17 +454,17 @@ void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float
 \r
 inline\r
 void PaniniProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
 \r
     float u_ = atan2f(x_, z_);\r
     float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
-       \r
+\r
        float tg = a * tanf(u_ / a);\r
        u = scale * tg;\r
-       \r
+\r
        float sinu = sinf(u_);\r
        if ( fabs(sinu) < 1E-7 )\r
                v = scale * b * tanf(v_);\r
@@ -479,11 +480,11 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
 \r
        float lamda = a * atanf(u / a);\r
        float u_ = lamda;\r
-       \r
+\r
        float v_;\r
        if ( fabs(lamda) > 1E-7)\r
                v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));\r
-       else \r
+       else\r
                v_ = atanf(v / b);\r
 \r
     float cosv = cosf(v_);\r
@@ -502,17 +503,17 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
 \r
 inline\r
 void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
 \r
     float u_ = atan2f(x_, z_);\r
     float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
-       \r
+\r
        float tg = a * tanf(u_ / a);\r
        u = - scale * tg;\r
-       \r
+\r
        float sinu = sinf( u_ );\r
        if ( fabs(sinu) < 1E-7 )\r
                v = scale * b * tanf(v_);\r
@@ -528,11 +529,11 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
 \r
        float lamda = a * atanf(u / a);\r
        float u_ = lamda;\r
-       \r
+\r
        float v_;\r
        if ( fabs(lamda) > 1E-7)\r
                v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));\r
-       else \r
+       else\r
                v_ = atanf(v / b);\r
 \r
     float cosv = cosf(v_);\r
@@ -551,14 +552,14 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
 \r
 inline\r
 void MercatorProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
 \r
     float u_ = atan2f(x_, z_);\r
     float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
-       \r
+\r
        u = scale * u_;\r
        v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );\r
 }\r
@@ -588,16 +589,16 @@ void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
 \r
 inline\r
 void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)\r
-{    \r
+{\r
        float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
 \r
     float u_ = atan2f(x_, z_);\r
     float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
-       \r
+\r
        float B = cosf(v_) * sinf(u_);\r
-       \r
+\r
        u = scale / 2 * logf( (1+B) / (1-B) );\r
        v = scale * atan2f(tanf(v_), cosf(u_));\r
 }\r
@@ -627,7 +628,7 @@ void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float
 \r
 inline\r
 void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)\r
-{    \r
+{\r
     float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
@@ -673,7 +674,7 @@ void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float
 \r
 inline\r
 void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)\r
-{    \r
+{\r
     float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
     float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
     float z_  = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r