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Add pinhole camera model illustration in calib3d documentation.

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catree 2016-08-01 02:25:45 +02:00
parent f2e9588c93
commit 6e931aaab7
2 changed files with 5 additions and 1 deletions
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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
\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]