What Lens Model does Blender use for Camera Tracking? I recently started working with the camera-tracking estimator to produce short augmented reality videos. I'd like to learn more about the lens model and its parameters (K1, K2, etc...).
Can anyone tell me the specific name of this lens model, or the general theory it belongs to? Would this model/theory fall be covered by the general study of undergraduate-level Optics as taught by a Physics department, or in what book or article would I be able to learn more about it? (Assuming I meet any basic calculus and linear algebra prerequisites).
As far as I know Blender works with a pinhole camera matrix. Where an image is created by a projection of the 3d coordinates into a 2d plane.

k1, k2 etc are radial distortion coefficients. Blender does not deal with tangential distortion.
For a deeper explanation refer to the following links:
http://lfa.mobivap.uva.es/~fradelg/phd/tracking/camera.html
https://calib.io/blogs/knowledge-base/camera-models
3x4 camera matrix from blender camera
You can get more information also reading on OpenCV and camera calibration.