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Fix division by zero when image height is larger than width #1029

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Fix division by zero when image height is larger than width #1029

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8 changes: 7 additions & 1 deletion src/ORBextractor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -540,7 +540,13 @@ vector<cv::KeyPoint> ORBextractor::DistributeOctTree(const vector<cv::KeyPoint>&
const int &maxX, const int &minY, const int &maxY, const int &N, const int &level)
{
// Compute how many initial nodes
const int nIni = round(static_cast<float>(maxX-minX)/(maxY-minY));
int dX = maxX - minX;
int dY = maxY - minY;

int nIni = round(static_cast<float>(dX) / dY);
if (dY > dX)
nIni = round(static_cast<float>(dY) / dX);
nIni = max(1, nIni);

const float hX = static_cast<float>(maxX-minX)/nIni;

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