How to optimize camera intrinsic and extrinsic at same time

[ansj11]

I want to know how to use this project to optimize camera intrinsic and extrinsic at same time? the camera model may be PINHOLE or RADIAL? Is it possible？

[yGaoJiany]

The PINHOLE model is supported, while RADIAL is not. The camera model used here is described by the parameters [f_x、f_y、c_x、c_y]. Gradients for the camera parameters have been calculated; you can set both intrinsic and extrinsic parameters to require gradients and add an optimizer for them. However, please note that the rotation in the extrinsic parameters should be expressed using Euler angles, quaternions, or rotation vectors, as directly optimizing the rotation matrix is not reasonable.