From 0ceb9b6a0031319e576a84eb6bd27f1169d5f83f Mon Sep 17 00:00:00 2001 From: Andrey Kamaev Date: Wed, 8 Aug 2012 20:57:12 +0400 Subject: [PATCH] Fixed division by zero case in SphericalProjector::mapForward --- .../opencv2/stitching/detail/warpers_inl.hpp | 49 ++++++++++--------- 1 file changed, 25 insertions(+), 24 deletions(-) diff --git a/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp b/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp index edfc9c3e4..1521167e1 100644 --- 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

::buildMaps(Size src_size, const Mat &K, const Mat &R, template Point RotationWarperBase

::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(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(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];