Computes undistortion and rectification maps (fisheye)

[map1, map2] = cv.fisheyeInitUndistortRectifyMap(K, D, siz)
[...] = cv.fisheyeInitUndistortRectifyMap(..., '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].
• size Undistorted image size [w,h].

Output

• map1 The first output map. See M1Type.
• map2 The second output map. See M1Type.

Options

• R Rectification transformation in the object space (3x3 matrix or 1x3/3x1 vector).
• P New camera matrix (3x3) or new projection matrix (3x4).
• M1Type Type of the first output map, default -1 (equivalent to int16). See cv.convertMaps for details. One of:
  • int16 (fixed-point representation).
  • single1 (separate floating-point representation).

The function computes undistortion and rectification maps for image transform by cv.remap. If D is empty zero distortion is used, if R or P is empty identity matrixes are used.