Estimates new camera matrix for undistortion or rectification (fisheye)

P = cv.fisheyeEstimateNewCameraMatrixForUndistortRectify(K, D, imageSize)
[...] = cv.fisheyeEstimateNewCameraMatrixForUndistortRectify(..., 'OptionName',optionValue, ...)

Input

• K Camera matrix 3x3, K = [fx 0 cx; 0 fy cy; 0 0 1].
• D Input vector of distortion coefficients [k1,k2,k3,k4].
• imageSize Size of the image [w,h].

Output

• P New camera matrix (3x3).

Options

• R Rectification transformation in the object space (3x3 matrix or 1x3/3x1 vector).
• Balance Sets the new focal length in range between the min focal length and the max focal length. Balance is in range of [0,1]. default 0
• NewImageSize Image size after rectification [w,h]. By default, it is set to imageSize.
• FOVScale Divisor for new focal length. default 1.0