Projects points using fisheye model

imagePoints = cv.fisheyeProjectPoints(objectPoints, rvec, tvec, K)
[imagePoints, jacobian] = cv.fisheyeProjectPoints(...)
[...] = cv.fisheyeProjectPoints(..., 'OptionName', optionValue, ...)

Input

• objectPoints Array of object points, Nx3/Nx1x3/1xNx3 array or cell array of 3-element vectors {[x,y,z],...}, where N is the number of points in the view.
• rvec Rotation vector or matrix (3x1/1x3 or 3x3). See cv.Rodrigues for details.
• tvec Translation vector (3x1/1x3).
• K Camera matrix 3x3, K = [fx 0 cx; 0 fy cy; 0 0 1].

Output

• imagePoints Output array of image points, Nx2/Nx1x2/1xNx2 array or cell array of 2-element vectors {[x,y], ...}.
• jacobian Optional output (2N)x(2+2+4+3+3+1) jacobian matrix of derivatives of image points with respect to components of the focal lengths (2), coordinates of the principal point (2), distortion coefficients (4), rotation vector (3), translation vector (3), and the skew (1).

Options

• DistCoeffs Input vector of distortion coefficients [k1,k2,k3,k4]. If the vector is empty, the zero distortion coefficients are assumed. default empty
• Alpha The skew coefficient. default 0

The function computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of image points coordinates (as functions of all the input parameters) with respect to the particular parameters, intrinsic and/or extrinsic.