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1 | initial version |

A pinhole model is a projection matrix : sphere becomes a disk in image plane (if skew parameter is 0). Fisheye camera is not pinhole model, you have a distorsion coefficient theta=atan(r). Distorsion for a point near image center is less than a point far from center : sphere becomes ellipse.

2 | No.2 Revision |

A pinhole model is a projection matrix : sphere becomes a disk in image plane (if skew parameter is 0). Pure pinhole model a sphere is a disk (skew parameter is 0 and fx=fy )

Fisheye camera is not pinhole model, you have a distorsion coefficient theta=atan(r). Distorsion for a point near image center is less than a point far from center : sphere becomes ellipse.

3 | No.3 Revision |

A pinhole model is a projection matrix : sphere becomes a disk in image plane (if skew parameter is 0). Pure pinhole model a sphere is a disk (skew parameter is 0 and fx=fy ~~)~~)
skew parameter is not 0 when pixel are not square or ccd plane is not perpendiculat to optical axis. fx!=fy strange optics.

Fisheye camera is not pinhole model, you have a distorsion coefficient theta=atan(r). Distorsion for a point near image center is less than a point far from center : sphere becomes ellipse.

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