Merge pull request #10833 from csukuangfj:improve-viz3d

modules/calib3d/src/homography_decomp.cpp

@@ -2,7 +2,7 @@
  //
  // This is a homography decomposition implementation contributed to OpenCV
  // by Samson Yilma. It implements the homography decomposition algorithm
- // descriped in the research report:
+ // described in the research report:
  // Malis, E and Vargas, M, "Deeper understanding of the homography decomposition
  // for vision-based control", Research Report 6303, INRIA (2007)
  //
@@ -84,6 +84,16 @@ protected:
     }
 
 private:
+    /**
+     * Normalize the homograhpy \f$H\f$.
+     *
+     * @param H Homography matrix.
+     * @param K Intrinsic parameter matrix.
+     * @return It returns
+     * \f[
+     *   K^{-1} * H * K
+     * \f]
+     */
     cv::Matx33d normalize(const cv::Matx33d& H, const cv::Matx33d& K);
     void removeScale();
     cv::Matx33d _Hnorm;