mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-24 03:00:14 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #25877 from Kumataro:fix25875

Browse Source 
calib3d: doc: enable line breaks in formulas
This commit is contained in:
Alexander Smorkalov 2024-07-08 08:37:13 +03:00 committed by GitHub
commit a54de7d55e
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
modules/calib3d/include/opencv2/calib3d.hpp
View File

@ -412,11 +412,11 @@ R & t \\
where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y
and z the 3 coordinates of Xc:
\f[x = Xc_1 \\ y = Xc_2 \\ z = Xc_3\f]
\f[\begin{array}{l} x = Xc_1 \\ y = Xc_2 \\ z = Xc_3 \end{array} \f]
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[\begin{array}{l} a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r) \end{array} \f]
Fisheye distortion:
@ -424,12 +424,12 @@ R & t \\
The distorted point coordinates are [x'; y'] where
\f[x' = (\theta_d / r) a \\ y' = (\theta_d / r) b \f]
\f[\begin{array}{l} x' = (\theta_d / r) a \\ y' = (\theta_d / r) b \end{array} \f]
Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:
\f[u = f_x (x' + \alpha y') + c_x \\
v = f_y y' + c_y\f]
\f[\begin{array}{l} u = f_x (x' + \alpha y') + c_x \\
v = f_y y' + c_y \end{array} \f]
Summary:
Generic camera model @cite Kannala2006 with perspective projection and without distortion correction