Fixed divide by zero problem in cvStereoRectify (thanks to Philip Van Valkenberg) #2099

6c3137a8 · Andrey Kamaev · f09ae327 · 6c3137a8
Commit 6c3137a8 authored Jun 27, 2012 by Andrey Kamaev
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calibration.cpp modules/calib3d/src/calibration.cpp +2 -1

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--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -2366,7 +2366,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
    // calculate global Z rotation
    cvCrossProduct(&t,&uu,&ww);
    double nw = cvNorm(&ww, 0, CV_L2);
-    cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
+    if (nw > 0.0)
+        cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
    cvRodrigues2(&ww, &wR);

    // apply to both views