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Merge pull request #9626 from T0ny0:fisheye_fix_

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This commit is contained in:
Alexander Alekhin 2017-09-15 20:29:39 +00:00
commit 99fae8146f
1 changed files with 17 additions and 8 deletions
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13
modules/calib3d/src/fisheye.cpp
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@ -474,6 +474,14 @@ void cv::fisheye::initUndistortRectifyMap( InputArray K, InputArray D, InputArra
_w = i*iR(2, 1) + iR(2, 2);
for( int j = 0; j < size.width; ++j)
{
double u, v;
if( _w <= 0)
{
u = (_x > 0) ? -std::numeric_limits<double>::infinity() : std::numeric_limits<double>::infinity();
v = (_y > 0) ? -std::numeric_limits<double>::infinity() : std::numeric_limits<double>::infinity();
}
else
{
double x = _x/_w, y = _y/_w;
@ -484,8 +492,9 @@ void cv::fisheye::initUndistortRectifyMap( InputArray K, InputArray D, InputArra
double theta_d = theta * (1 + k[0]*theta2 + k[1]*theta4 + k[2]*theta6 + k[3]*theta8);
double scale = (r == 0) ? 1.0 : theta_d / r;
double u = f[0]*x*scale + c[0];
double v = f[1]*y*scale + c[1];
u = f[0]*x*scale + c[0];
v = f[1]*y*scale + c[1];
}
if( m1type == CV_16SC2 )
{