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Fixed division by zero case in SphericalProjector::mapForward

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This commit is contained in:
Andrey Kamaev 2012-08-08 20:57:12 +04:00
parent 017abbd963
commit 0ceb9b6a00
1 changed files with 25 additions and 24 deletions
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49
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@ -88,9 +88,9 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
template <class P>
Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
{
Mat xmap, ymap;
Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
remap(src, dst, xmap, ymap, interp_mode, border_mode);
@ -236,13 +236,14 @@ void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
inline
void SphericalProjector::mapForward(float x, float y, float &u, float &v)
{
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
u = scale * atan2f(x_, z_);
v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);
v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));
}
@ -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_));
float r = sinf(v_) / (1 - cosf(v_));
u = scale * r * cos(u_);
v = scale * r * sin(u_);
}
@ -377,7 +378,7 @@ void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
inline
void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)
{
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
@ -415,7 +416,7 @@ void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, flo
inline
void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)
{
{
float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
@ -453,17 +454,17 @@ void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float
inline
void PaniniProjector::mapForward(float x, float y, float &u, float &v)
{
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float u_ = atan2f(x_, z_);
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
float tg = a * tanf(u_ / a);
u = scale * tg;
float sinu = sinf(u_);
if ( fabs(sinu) < 1E-7 )
v = scale * b * tanf(v_);
@ -479,11 +480,11 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
float lamda = a * atanf(u / a);
float u_ = lamda;
float v_;
if ( fabs(lamda) > 1E-7)
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));
else
else
v_ = atanf(v / b);
float cosv = cosf(v_);
@ -502,17 +503,17 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
inline
void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)
{
{
float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float u_ = atan2f(x_, z_);
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
float tg = a * tanf(u_ / a);
u = - scale * tg;
float sinu = sinf( u_ );
if ( fabs(sinu) < 1E-7 )
v = scale * b * tanf(v_);
@ -528,11 +529,11 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
float lamda = a * atanf(u / a);
float u_ = lamda;
float v_;
if ( fabs(lamda) > 1E-7)
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));
else
else
v_ = atanf(v / b);
float cosv = cosf(v_);
@ -551,14 +552,14 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
inline
void MercatorProjector::mapForward(float x, float y, float &u, float &v)
{
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float u_ = atan2f(x_, z_);
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
u = scale * u_;
v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );
}
@ -588,16 +589,16 @@ void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
inline
void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)
{
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float u_ = atan2f(x_, z_);
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
float B = cosf(v_) * sinf(u_);
u = scale / 2 * logf( (1+B) / (1-B) );
v = scale * atan2f(tanf(v_), cosf(u_));
}
@ -627,7 +628,7 @@ void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float
inline
void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
{
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
@ -673,7 +674,7 @@ void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float
inline
void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
{
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];