Calibration of cameras with radially symmetric distortion.

We present algorithms for plane-based calibration of general radially distorted cameras. By this, we understand cameras that have a distortion center and an optical axis such that the projection rays of pixels lying on a circle centered on the distortion center form a right viewing cone centered on the optical axis. The camera is said to have a single viewpoint (SVP) if all such viewing cones have the same apex (the optical center); otherwise, we speak of NSVP cases.