The standard camera model used in OpenCV and ROS is referred to as the Pinhole model. You can read more about it here:
{% embed url="https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html" %}
The camera can be calibrated by one of the three following ways:
Kalibr is toolbox for multiple camera and sensor calibration.
{% embed url="https://github.com/ethz-asl/kalibr" %}
Use the functions mentioned in the above link after installing and importing the OpenCV package.
Use the camera_calibration ROS package:
{% embed url="http://wiki.ros.org/camera_calibration" %}
Use the MATLAB app for camera calibration:
{% embed url="https://in.mathworks.com/help/vision/ug/single-camera-calibrator-app.html" %}