Kalibr camera Distortion models

[imrasp]

https://github.com/ethz-asl/kalibr/wiki/calibration-targets

• [x] which one?

Distortion models
Kalibr supports the following distortion models:

radial-tangential (radtan) 
(distortion_coeffs: [k1 k2 r1 r2])
equidistant (equi)
(distortion_coeffs: [k1 k2 k3 k4])
fov (fov)
(distortion_coeffs: [w])

[teeramoo]

use radtan since we have k1 k2 r1 r2. We can get it from camera.yaml in ORB-SLAM config file

[imrasp]

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

"radial" coefficients kn and "tangential" coefficients pn REF : https://physics.stackexchange.com/questions/273464/what-is-the-tangential-distortion-of-opencv-actually-tangential-to

http://ksimek.github.io/2013/08/13/intrinsic/