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2014-03-17 17:46:34 -0600 commented answer Undistortion at far edges of image

I have seen this effect as well, especially as observed with strong radial distortion cameras. This explanation is good, but is there a reference in the literature to the algorithm used in getOptimalNewCameraMatrix? We've been experimenting some, and its not conclusive but it seems sometimes the algorithm mis-behavior seems a bit arbitrary (i.e., another adjacent point gives a seemingly sane answer).