How to calculate fisheye intrinsics?

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I have performed camera calibration for a 360 camera and obtained camera params as follows:
However, I want the intrinsics to be in this form as it is the standard form used by many applications for image correction
How to format the parameters in the form shown above?

Accepted Answer

Qu Cao
Qu Cao on 25 Jun 2020
You can use undistortFisheyeImage function to produce a "virtual perspective" camera intrinsics, which is the format you need. See syntax which returns "camIntrinsics". Note that in CVT, the intrisnics matrix is the transpose of the one you mentioned.

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