Pixel-wise varifocal camera model for handling multilayer refractions

When observing a scene by a perspective camera through multiple refractive planes (e.g. underwater imaging), distortions and illusions, mainly caused by the refractions occurring at the interfaces between the different mediums, will be brought into the imaging system. Traditional pin-hole camera model becomes invalid in handling such case. A novel general camera model is presented, which is in fac...