From dc76ca5fc9e3e089abd449cee7f5750ebfb6e276 Mon Sep 17 00:00:00 2001 From: edgarriba Date: Thu, 2 Oct 2014 21:39:29 +0200 Subject: [PATCH] Updating documentation --- .../calib3d/doc/camera_calibration_and_3d_reconstruction.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst index 8c53bf0e23..4ef271c944 100644 --- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst +++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst @@ -588,7 +588,7 @@ Finds an object pose from 3D-2D point correspondences. * **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points. * **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation". * **SOLVEPNP_DLS** Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP". - * **SOLVEPNP_UPNP** Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation". In this case the function estimate the parameters :math:`f_x` and :math:`f_y` which are not needed as a input. The ``cameraMatrix`` is updated with the estimated focal length. + * **SOLVEPNP_UPNP** Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation". In this case the function estimates the parameters :math:`f_x` and :math:`f_y` assuming that both have the same value. The ``cameraMatrix`` is updated with the estimated focal length. The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.