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zIC|y|5>-J~E#0Zz`DikdzkQK@Suk>_-i6sa2n(z}(!Y^|h+F)3&)bc{Jw{Z?BO=he zhDKUl?-=mr!N1XbNBF;%*8W^K!E@PK9Tfbq&00zUaEAbtdw_@Gb*u;H>wvb_iIeJD z2I^WT?6kBEwRH@&_0%{8EvJ#qg(K+R!K6Apmrb`LjEo`y&d>}@p0 d|9}n5RQ-g8-ZAd0{Lt-Dn8U4MrN6q}|38Ni>(2lH literal 0 HcmV?d00001 diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp index 9e891afd96..3ba7f61ae8 100644 --- a/modules/calib3d/include/opencv2/calib3d.hpp +++ b/modules/calib3d/include/opencv2/calib3d.hpp @@ -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]