Computer Vision Primer
Camera Calibration Primer — Recovering Lens Distortion and Intrinsic Parameters
Camera calibration is the process of recovering the intrinsic parameters and lens distortion needed to map pixel coordinates onto 3D space. From revisiting the pinhole model, through radial and tangential distortion models, Zhang's planar-pattern method, reprojection-error optimization, to what breaks downstream in Visual SLAM and VO when calibration drifts — a systematic walkthrough with equations and diagrams.