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Merge pull request #7018 from catree:add_camera_model_doc

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Alexander Alekhin 2016-08-01 13:27:33 +00:00
commit 4f7b3e8a56
2 changed files with 5 additions and 1 deletions
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modules/calib3d/doc/pics/pinhole_camera_model.png Normal file
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modules/calib3d/include/opencv2/calib3d.hpp
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@ -96,6 +96,10 @@ u = f_x*x' + c_x \\
v = f_y*y' + c_y v = f_y*y' + c_y
\end{array}\f] \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. Real lenses usually have some distortion, mostly radial distortion and slight tangential distortion.
So, the above model is extended as: 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] \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] \f[a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r)\f]