From 783b63b0b7b840262c2ac6b4807b93d4ae37c056 Mon Sep 17 00:00:00 2001
From: zinsmatt <zins.matthieu@gmail.com>
Date: Tue, 25 Jan 2022 14:08:32 +0100
Subject: [PATCH] Fix division by zero when image height is larger than width

---
 src/ORBextractor.cc | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/ORBextractor.cc b/src/ORBextractor.cc
index 14be2efae5..d313f32812 100644
--- a/src/ORBextractor.cc
+++ b/src/ORBextractor.cc
@@ -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;