Brown–Conrady — where it appears
Named by 9 essays across 3 fields — each of them below, with the objects they name alongside it.
Straight lines that are not
Everybody says the edges of a wide-angle frame bow. Nothing is special about the edge. A radial map moves every point along its own radius, so the only line it leaves straight is one through the principal point, and the bend of every other is decided by how far it passes from that one place.
The render is distorted on purpose
A headset renders a bent picture so its lens can straighten it, which is a lens's distortion polynomial run backwards, and the one case in which distortion is introduced deliberately. The round trip closes to a thousandth of a millionth of a pixel, and the price is that one rendered pixel becomes 0.493 delivered pixels at the edge of the field and one at the centre.
The lens a pavement can hide
A photographed pavement reads as a correct drawing up to a radial coefficient of about four tenths — a lens strong enough to bow a straight edge across the page by nearly six pixels and to print as twenty per cent distortion at the frame's corner. The reason is that a pavement sits near the principal point, which is the one part of the frame a radial map barely touches.
A barrel model folds at a radius it sets itself
The polynomial every calibration fits to a wide lens stops increasing at a radius fixed by its own first coefficient — 47.49° of field at k₁ = −0.28 — and past it two directions land on one picture radius. The routine that undistorts pictures with it does not refuse there. It hands back wrong directions from 46.75°, by as much as 106.5°, and refuses only at 65.5°: a fifth of the field returned silently wrong.
A tilted sensor is not a distortion
Tilt a sensor 3° out of square with its lens and every point of the picture moves — up to 7.5 px on the frame drawn here — yet every straight line stays straight to 10⁻¹³ px and the cross-ratio survives to 10⁻¹⁶. The picture is an ordinary pinhole picture whose principal point has moved 22.30 px. A calibration that frees its principal point absorbs it exactly; one that holds the principal point and reaches for tangential distortion terms leaves 1.87 px, and used as a correction it bends straight rows by 4 px.
A model that inverts has a horizon instead of a fold
The polynomial every calibration fits turns around at a finite radius and stops being a map from direction to picture. The division model, chosen because it inverts in closed form, never turns around — it rises for ever toward a horizon at one over the root of its own coefficient, so the whole hemisphere of directions lands inside a finite disc. Fitted to the four fisheye laws it follows every one of them more closely than the polynomial at every field from forty degrees to eighty — a hundred times more closely for the equidistant law at forty, and the stereographic law exactly.
A tilted target pays for its tilt in perspective
A calibration target of printed circles held square to the lens fixes a lens's first radial coefficient to 4.77 thousandths from ninety-six marks. Tilt it sixty degrees, fit the tilt along with everything else, and the same ninety-six marks fix it to 1.70 — nearly three times better. Squash the circles by the same angle without perspective and nothing is gained. What pays is the near half of each circle being drawn larger than the far half, which spreads a circle's marks across a band of distances from the lens's centre.
A calibration through glass reports a prism
Give a calibration that knows nothing of a 2° wedge in front of the lens the two decentring terms every standard model carries, and it takes three-quarters of the swirl the wedge leaves, moves the principal point further rather than less, and reports a lens decentred by about 0.013 — a lens that does not exist. Give it thin-prism terms instead and it takes more — nine-tenths at twenty-five degrees off the axis, almost all of it nearer — and reports what the glass is: a prism. Either way the residual that announced the glass goes quiet, out to 41° and 46° off the axis instead of 22°.
Turning the glass tells the window from the lens
A calibration done through a two-degree wedge of glass reports a lens decentred by about 1e-2 that does not exist, and hides the glass inside it. Calibrate twice with the glass turned between, and the glass's part turns while the lens's stays: a half turn finds a real lens decentring of 2.2e-3 to 5.2e-4 with readings to 0.4 px, where one calibration was 1.0e-2 out. Three calibrations spread evenly round the turn do better, because the loop the glass traces is not a circle. What never separates is the radial coefficient, which has no direction for a turn to carry.
Named alongside it
The objects these essays reach for when they reach for this one.
Radial distortionCamera calibrationPrincipal pointBarrel distortionModel errorResidualfield of viewinstrument limitInverse projectionCross-ratioFocal lengthIdentifiability