generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #7018 from catree:add_camera_model_doc

Browse Source
This commit is contained in:
Alexander Alekhin 2016-08-01 13:27:33 +00:00
commit 4f7b3e8a56
2 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
modules/calib3d/doc/pics/pinhole_camera_model.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 90 KiB

6
modules/calib3d/include/opencv2/calib3d.hpp
View File

@ -96,6 +96,10 @@ u = f_x*x' + c_x \\
v = f_y*y' + c_y
\end{array}\f]
The following figure illustrates the pinhole camera model.
![Pinhole camera model](pics/pinhole_camera_model.png)
Real lenses usually have some distortion, mostly radial distortion and slight tangential distortion.
So, the above model is extended as:
@ -190,7 +194,7 @@ pattern (every view is described by several 3D-2D point correspondences).
\f[x = Xc_1 \\ y = Xc_2 \\ z = Xc_3\f]
The pinehole projection coordinates of P is [a; b] where
The pinhole projection coordinates of P is [a; b] where
\f[a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r)\f]