|Requirements||Software operation||Defining Calibration Tasks||Definitions and Theory|
Geometric Calibration in Imatest is based on the Projective Camera Model. The model is made up of the intrinsics and extrinsics with the addition of accounting for the optical distortions that may cause a real system to deviate from this model. Multiple Camera Systems may be calibrated with the camera positions and orientations described by rotation translation matrices. The projective camera model makes use of Homogeneous Coordinates.
Richard Hartley and Andrew Zisserman. Multiple View Geometry in Computer Vision. 2nd ed., Cambridge University Press, 2003. ISBN: 978-0-521-54051-3.
Yi Ma, Stefano Soatto, Jana Košecká, and S. Shankar Sastry. An Invitation to 3-D Vision, From Images to Geometric Models. Springer. 2004. ISBN: 978-0-387-00893-6.