Supported models

Camera models

The package allows the calibration of the following projection models

• pinhole (intrinsics: [fu fv pu pv])
• omni (intrinsics: [xi fu fv pu pv])

intrinsics is the vector used in the camera-system yaml for the inrinsic parameter:

• fu, fv: focal-length (u,v) [px]
• pu, pv: principal point (u,v) [px]
• xi: name [-]

Distortion models

The following distortion models are available:

• radial-tangential (distortion_coeffs: [k1 k2 r1 r2])
• equidistant (distortion_coeffs: [k1 k2 r1 r2])