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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/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]