Can this be used for cameras with distortion?

[nickponline]

I am looking to extend this example:

https://github.com/uoip/g2opy/blob/master/python/examples/ba_demo.py

To handle a Brown Camera model with distortion parameters k1, k2, k3, k4, p1, p2.

Could you please point me in the right direction and maybe I can contribute back the example?

I saw this which seem similar in the g2o main repo: https://github.com/RainerKuemmerle/g2o/blob/master/g2o/examples/bal/bal_example.cpp