potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-31 08:13:04 +04:00
Code Packages Releases Wiki Activity

Merge branch 4.x

Browse Source
This commit is contained in:
Alexander Smorkalov
2024-07-16 10:11:21 +03:00
parent 420663498f 53a5b85d9f
commit fc9208cff5
102 changed files with 3618 additions and 2171 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/include/opencv2/calib.hpp
+5 -5
View File
@@ -372,11 +372,11 @@ 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:
@@ -384,12 +384,12 @@ 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