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Reduce the size of the checkerboard_radon.png image in the doc. Add references to the perspective camera model figure for solvePnP and related functions for better explanation.

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Souriya Trinh
2025-06-24 03:55:14 +02:00
parent 6ed29bdd39
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modules/calib3d/doc/solvePnP.markdown
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@@ -4,9 +4,9 @@
The pose computation problem @cite Marchand16 consists in solving for the rotation and translation that minimizes the reprojection error from 3D-2D point correspondences.
The `solvePnP` and related functions estimate the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).
The `solvePnP` and related functions estimate the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the convention in the computer vision field is to have the X-axis of the camera frame pointing to the right, the Y-axis downward and the Z-axis forward).
![](pnp.jpg)
![Top: the 6 dof pose computed from a list of 3D-2D point correspondences. Bottom: the considered perspective projection model.](pnp.jpg)
Points expressed in the world frame \f$ \bf{X}_w \f$ are projected into the image plane \f$ \left[ u, v \right] \f$
using the perspective projection model \f$ \Pi \f$ and the camera intrinsic parameters matrix \f$ \bf{A} \f$ (also denoted \f$ \bf{K} \f$ in the literature):