img=Import["/Volumes/ProjectLibrary/900622.PelagicBenthic/Laser\ Measure/Laser_calibration_images/Ventana\ Camera\ Cal\ 28Sep20/2\ 10.jpg"]

Enter the camera intrinsic parameters calculated with the MATLAB Computer Vision Toolbox by Duane Edgington.

First is the focal length, in pixels, for both the x and y axes.

focalLength={1332.8, 1386.7}

To convert to world units, the focal length in pixels must be multiplied by the pixel size. We’ll need to find this info for Ventana’s camera.

imgDims=ImageDimensions@img

The principal point is the center of the lens radial distortion, in pixels.

principalPoint={1151.2,387.5940}

The radial distortion coefficients are described on page 13-21 of MATLAB Computer Vision Toolbox User’s Guide (https://www.mathworks.com/help/pdf_doc/vision/vision_ug.pdf).

radDistort={-0.1032,0.2913}

Show the center of the image with a green dot, and the center of distortion (principal point) with a red dot.

Show[img,Epilog->{Green,Point[imgDims/2],Red,Point[principalPoint]},ImageSize->Large]

Note that the principal point is far from the center of the image, probably due to misalignment of the camera with respect to the glass dome viewport.

principalPoint/imgDims

corrImg=ImageTransformation[img,(xy=(#-principalPoint)/focalLength;(xy (1+radDistort[[1]] (((Norm@xy))^2)+radDistort[[2]] (((Norm@xy))^4)) focalLength)+principalPoint)&,DataRange->Full, Background->Gray,Masking->All]

imgDims/focalLength

{1,ImageAspectRatio[img]}//N

img2=Import["/Volumes/ProjectLibrary/900622.PelagicBenthic/Laser\ Measure/Laser_calibration_images/Ventana\ Camera\ Cal\ 28Sep20/2\ 24.jpg"]

corrImg2=ImageTransformation[img2,(xy=(#-principalPoint)/focalLength;(xy (1+radDistort[[1]] (((Norm@xy))^2)+radDistort[[2]] (((Norm@xy))^4)) focalLength)+principalPoint)&,DataRange->Full,Background->Gray,Masking->All]

img3=Import["/Volumes/ProjectLibrary/900622.PelagicBenthic/Laser\ Measure/Laser_calibration_images/Ventana\ Camera\ Cal\ 28Sep20/2\ 19.jpg"]

corrImg3=ImageTransformation[img3,(xy=(#-principalPoint)/focalLength;(xy (1+radDistort[[1]] (((Norm@xy))^2)+radDistort[[2]] (((Norm@xy))^4)) focalLength)+principalPoint)&,DataRange->Full,Background->Gray,Masking->All]

imgDims[[1]]/imgDims[[2]]

8.8/6.6

1920/9.587

1080/5.393