# cameraIntrinsicsKB

## Description

The `cameraIntrinsicsKB`

object stores information about the
intrinsic calibration parameters about the intrinsic calibration parameters, using the
Kannala-Brandt [1] model, for a fisheye
lens.

## Creation

Create a `cameraIntrinsicsKB`

object by using the `cameraIntrinsicsFromOpenCV`

function.

## Properties

## Examples

## Algorithms

The Kannale-Brandt model extends the ideal pinhole model by accounting for lens distortion to represent a real camera.

The distorted points are (*x*_{distorted},
*y*_{distorted}), where:

$${x}_{distorted}=\frac{{\theta}_{d}}{\gamma}\times x$$

$${y}_{distorted}=\frac{{\theta}_{d}}{\gamma}\times y$$

The undistorted pixel locations in normalized image coordinates are
(*x*,*y*), where:

$${\gamma}^{2}={x}^{2}+{y}^{2}$$

$$\begin{array}{l}{\theta}_{d}=\theta (1+{k}_{1}{\theta}^{2}+{k}_{2}{\theta}^{4}+{k}_{3}{\theta}^{6}+{k}_{4}{\theta}^{8})\\ \theta =\text{atan}(\gamma )\end{array}$$

$${k}_{1},{k}_{2},{k}_{3},{k}_{4}$$

where *k1*, *k2*, *k3*,
and *k4* are the distortion coefficients of the lens.

## References

[1] Kannala, J., and S.S. Brandt.
*A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and
Fish-Eye Lenses.* IEEE Transactions on Pattern Analysis and Machine Intelligence
28, no. 8 (August 2006): 1335–40. https://doi.org/10.1109/TPAMI.2006.153.

## Version History

**Introduced in R2024a**