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Hi,

You should :

• first undistort your raw image

• then apply your warpperspective()

And use the undistorted camera matrix of course ( Intrinsic_undisto ).

To get the transform Mat, you don't have to do such complex computes.

Mat Trans_to_C= (   Mat_<double>(3,3) <<
1, 0, -Cx,
0, 1, -Cy,
0, 0, fx);

Mat Intrinsic_undisto = (   Mat_<double>(3,3) <<
fx, 0, Cx,
0, fy, Cy,
0, 0, 1);

Mat 3x3_Translation_bird_eye = (    Mat_<double>(3,3) <<
1, 0, Trans_X,
0, 1, Trans_Y,
0, 0, Trans_Z);

Mat transform =  3x3_Translation_bird_eye * Intrinsic_undisto * 3x3_Rot * Trans_to_C;

I'm not sure for 3x3_Translation_bird_eye, but you should try this...