JavaScript must be enabled in order to use this site.Please enable JavaScript in your browser and refresh the page. Fisheye camera model Last updated: April 09, 2021 The world-to-image projection is given by: where: , , , and are defined as in the perspective camera model. is the fisheye projection and distortion function defined by: being distortion coefficients is the fisheye focal matrix, set to when the symmetric mode is chosen, being the focal length of the camera, in pixels.