From d56535afce595e52823cb7d6223c1242bba8beff Mon Sep 17 00:00:00 2001 From: Oleg Alexandrov Date: Fri, 1 Nov 2019 12:34:11 -0700 Subject: [PATCH] Merge pull request #15820 from oleg-alexandrov:patch-1 Clarify stereoRectify() doc The function stereoRectify() takes as input a coordinate transform between two cameras. It is ambiguous how it goes. I clarified that it goes from the second camera to the first. --- modules/calib3d/include/opencv2/calib3d.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp index 8b2d993ad1..c4ca492a4d 100644 --- a/modules/calib3d/include/opencv2/calib3d.hpp +++ b/modules/calib3d/include/opencv2/calib3d.hpp @@ -1543,8 +1543,8 @@ CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints, @param cameraMatrix2 Second camera matrix. @param distCoeffs2 Second camera distortion parameters. @param imageSize Size of the image used for stereo calibration. -@param R Rotation matrix between the coordinate systems of the first and the second cameras. -@param T Translation vector between coordinate systems of the cameras. +@param R Rotation matrix from the coordinate system of the second camera to the first. +@param T Translation vector from the coordinate system of the second camera to the first. @param R1 Output 3x3 rectification transform (rotation matrix) for the first camera. @param R2 Output 3x3 rectification transform (rotation matrix) for the second camera. @param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first