diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index 1b8fa52d61..29b458e6ca 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -62,6 +62,11 @@ to the following (when
     v = f_y*y' + c_y
     \end{array}
 
+The following figure illustrates the pinhole camera model.
+
+.. image:: pics/pinhole_camera_model.png
+    :align: center
+
 Real lenses usually have some distortion, mostly
 radial distortion and slight tangential distortion. So, the above model
 is extended as:
diff --git a/modules/calib3d/doc/pics/pinhole_camera_model.png b/modules/calib3d/doc/pics/pinhole_camera_model.png
new file mode 100644
index 0000000000..3594de9684
Binary files /dev/null and b/modules/calib3d/doc/pics/pinhole_camera_model.png differ