I am trying to calibrate my smartphone (with AE/AF locked) using a ChArUco board. For that, I am using "cv::aruco::calibrateCameraCharuco" and have implemented a pipeline referring to the link here (Inputs to the pipeline: photos of the ChArUco board captured using the smartphone and Outputs: camera matrix, 3x3 and distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6],[s1,s2,s3,s4]]) of 4, 5, 8 or 12 elements). I have a fairly good idea about the elements in the camera matrix, but I am confused about the distortion coefficients. Can someone please point me to a resource where I can read about the distortion model that is being used by "cv::aruco::calibrateCameraCharuco"?. Specifically, I am trying to understand that if I estimate all the 12 elements above, what does that mean mathematically? I did find some details here, but this link contains information only on a very simple distortion model. Thanks in advance.
Edit: I found a related link here that explains the camera distortion model. Basically, k1, k2, k3, k4, k5, and k6 are radial distortion coefficients; p1 and p2 are tangential distortion coefficients; and s1, s2, s3, and s4, are the thin prism distortion coefficients.
