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Replaced 'corrected' to 'distorted' in camera calibration tutorials

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This commit is contained in:
Maksim Shabunin
2015-05-07 18:00:11 +03:00
parent 4743184078
commit c8cb03fd8f
2 changed files with 14 additions and 14 deletions
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16
doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown
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@@ -14,18 +14,18 @@ Theory
For the distortion OpenCV takes into account the radial and tangential factors. For the radial
factor one uses the following formula:
\f[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)\f]
\f[x_{distorted} = x( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6) \\
y_{distorted} = y( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6)\f]
So for an old pixel point at \f$(x,y)\f$ coordinates in the input image, its position on the corrected
output image will be \f$(x_{corrected} y_{corrected})\f$. The presence of the radial distortion
manifests in form of the "barrel" or "fish-eye" effect.
So for an undistorted pixel point at \f$(x,y)\f$ coordinates, its position on the distorted image
will be \f$(x_{distorted} y_{distorted})\f$. The presence of the radial distortion manifests in form
of the "barrel" or "fish-eye" effect.
Tangential distortion occurs because the image taking lenses are not perfectly parallel to the
imaging plane. It can be corrected via the formulas:
imaging plane. It can be represented via the formulas:
\f[x_{corrected} = x + [ 2p_1xy + p_2(r^2+2x^2)] \\
y_{corrected} = y + [ p_1(r^2+ 2y^2)+ 2p_2xy]\f]
\f[x_{distorted} = x + [ 2p_1xy + p_2(r^2+2x^2)] \\
y_{distorted} = y + [ p_1(r^2+ 2y^2)+ 2p_2xy]\f]
So we have five distortion parameters which in OpenCV are presented as one row matrix with 5
columns: