Merge pull request #9626 from T0ny0:fisheye_fix_

modules/calib3d/src/fisheye.cpp

@@ -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 )
             {