Hi,

I am curious to know what lens distortion formula to use for computing projection, given

1) Radial distortion co-efficients k1, k2, k3, k4

2) Tangential distortion co-efficients p1, p2, p3, p4

I found a formula in the Agisoft Lens User Manual Version 0.4.0, but it does not incorporate all the 8 distortion coefficients seen in an exported XML file.

x = X / Z

y = Y / Z

x' = x(1 + K1r2 + K2r4 + K3r6) + P2(r2+2x2) + 2P1xy

y' = y(1 + K1r2 + K2r4 + K3r6) + P1(r2+2y2) + 2P2xy

u = cx + x'fx + y'skew

v = cy + y'fy

Thanks !