title: Reference for OpenCV's Camera Model
body: <p>I am currently studying OpenCv's camera model, that is explained here: <a href="https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html" rel="nofollow noreferrer">https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html</a>. </p>
  
  <p>They use the standard pinhole camera model, but make some adjustements to take into account radial and tangential distortions. Basically, they add the parameters k1 to k6. </p>
  
  <p>However, I could not find the source of this model (something like a book or a scientific paper). Does anyone know it?</p>
  
  <p>Thanks!</p>