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Fixed the formulas, based on issue #2145

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This commit is contained in:
Vsevolod Glumov 2012-10-11 03:26:23 +04:00
parent 37ad10bf0d
commit 1f21b96b9d
1 changed files with 4 additions and 4 deletions
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8
doc/tutorials/calib3d/camera_calibration/camera_calibration.rst
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@ -12,8 +12,8 @@ For the distortion OpenCV takes into account the radial and tangential factors.
.. math::
x_{corrected} = x( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6 \\
y_{corrected} = y( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6
x_{corrected} = x( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6) \\
y_{corrected} = y( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6)
So for an old pixel point at :math:`(x,y)` coordinate in the input image, for a corrected output image its position will be :math:`(x_{corrected} y_{corrected})` . The presence of the radial distortion manifests in form of the "barrel" or "fish-eye" effect.
@ -21,8 +21,8 @@ Tangential distortion occurs because the image taking lenses are not perfectly p
.. math::
x_{corrected} = x + [ 2p_1y + p_2(r^2+2x^2)] \\
y_{corrected} = y + [ 2p_1(r^2+ 2y^2)+ 2p_2x]
x_{corrected} = x + [ 2p_1xy + p_2(r^2+2x^2)] \\
y_{corrected} = y + [ p_1(r^2+ 2y^2)+ 2p_2xy]
So we have five distortion parameters, which in OpenCV are organized in a 5 column one row matrix: