Given a pinhole camera model, we have an image and according camera intrinsics
K and extrinsic parameters
When we scale the image or crop it, the corresponding camera intrinsics
K change in ways that can be found in literature.
However, assume we transform or distort the image using a projective projection
Q. How do the intrinsic parameters
K of the camera change?
For further reference,
Q is generated by
K * U * K^-1, where
U is a rotation matrix.
The projective transformation is illustrated in the two images below:
The transformation used in this example is a slight rotation around the vertical axis.