Improve the doc for fundamental matrix.

modules/calib3d/include/opencv2/calib3d.hpp

@@ -227,7 +227,7 @@ namespace cv
 //! @{
 
 //! type of the robust estimation algorithm
-enum { LMEDS  = 4, //!< least-median algorithm
+enum { LMEDS  = 4, //!< least-median of squares algorithm
        RANSAC = 8, //!< RANSAC algorithm
        RHO    = 16 //!< RHO algorithm
      };
@@ -281,8 +281,8 @@ enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
 //! the algorithm for finding fundamental matrix
 enum { FM_7POINT = 1, //!< 7-point algorithm
        FM_8POINT = 2, //!< 8-point algorithm
-       FM_LMEDS  = 4, //!< least-median algorithm
-       FM_RANSAC = 8  //!< RANSAC algorithm
+       FM_LMEDS  = 4, //!< least-median algorithm. 7-point algorithm is used.
+       FM_RANSAC = 8  //!< RANSAC algorithm. It needs at least 15 points. 7-point algorithm is used.
      };
 
 
@@ -1412,11 +1412,11 @@ floating-point (single or double precision).
 -   **CV_FM_8POINT** for an 8-point algorithm. \f$N \ge 8\f$
 -   **CV_FM_RANSAC** for the RANSAC algorithm. \f$N \ge 8\f$
 -   **CV_FM_LMEDS** for the LMedS algorithm. \f$N \ge 8\f$
-@param param1 Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
+@param ransacReprojThreshold Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar
 line in pixels, beyond which the point is considered an outlier and is not used for computing the
 final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
 point localization, image resolution, and the image noise.
-@param param2 Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level
+@param confidence Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level
 of confidence (probability) that the estimated matrix is correct.
 @param mask
 
@@ -1454,13 +1454,13 @@ stereoRectifyUncalibrated to compute the rectification transformation. :
  */
 CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
                                      int method = FM_RANSAC,
-                                     double param1 = 3., double param2 = 0.99,
+                                     double ransacReprojThreshold = 3., double confidence = 0.99,
                                      OutputArray mask = noArray() );
 
 /** @overload */
 CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
                                    OutputArray mask, int method = FM_RANSAC,
-                                   double param1 = 3., double param2 = 0.99 );
+                                   double ransacReprojThreshold = 3., double confidence = 0.99 );
 
 /** @brief Calculates an essential matrix from the corresponding points in two images.
 
@@ -1770,12 +1770,20 @@ CV_EXPORTS_W void reprojectImageTo3D( InputArray disparity,
 
 /** @brief Calculates the Sampson Distance between two points.
 
-The function sampsonDistance calculates and returns the first order approximation of the geometric error as:
-\f[sd( \texttt{pt1} , \texttt{pt2} )= \frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}{(\texttt{F} \cdot \texttt{pt1})(0) + (\texttt{F} \cdot \texttt{pt1})(1) + (\texttt{F}^t \cdot \texttt{pt2})(0) + (\texttt{F}^t \cdot \texttt{pt2})(1)}\f]
-The fundamental matrix may be calculated using the cv::findFundamentalMat function. See HZ 11.4.3 for details.
+The function cv::sampsonDistance calculates and returns the first order approximation of the geometric error as:
+\f[
+sd( \texttt{pt1} , \texttt{pt2} )=
+\frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}
+{((\texttt{F} \cdot \texttt{pt1})(0))^2 +
+((\texttt{F} \cdot \texttt{pt1})(1))^2 +
+((\texttt{F}^t \cdot \texttt{pt2})(0))^2 +
+((\texttt{F}^t \cdot \texttt{pt2})(1))^2}
+\f]
+The fundamental matrix may be calculated using the cv::findFundamentalMat function. See @cite HartleyZ00 11.4.3 for details.
 @param pt1 first homogeneous 2d point
 @param pt2 second homogeneous 2d point
 @param F fundamental matrix
+@return The computed Sampson distance.
 */
 CV_EXPORTS_W double sampsonDistance(InputArray pt1, InputArray pt2, InputArray F);
 
@@ -2402,9 +2410,9 @@ optimization. It stays at the center or at a different location specified when C
                                   TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
 
 //! @} calib3d_fisheye
-}
+} // end namespace fisheye
 
-} // cv
+} //end namespace cv
 
 #ifndef DISABLE_OPENCV_24_COMPATIBILITY
 #include "opencv2/calib3d/calib3d_c.h"