Camera Undistortion

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Hello,

I have the camera calibration Parameters as followings, and it works well for undistortion function, how I can Transfer these parametrs if I changed the angle of camera axes 90 degree to the left or the right?!

uint w= 1040, h= 1392; double disto[5]= { -0.205410121, 0.091357057, 0.000740608, 0.000895488, 0.053117702, };

cv::Mat cameraMatrix;
cv::Mat distCoeffs;
cv::Mat cameraIdeal;
cv::Mat ROTATION(3,3,CV_64F);


ocv_setcam(cameraMatrix, 1286.635225995, 1287.007162383, 520, 730.910560759);
ocv_setcam(cameraIdeal,  1288,           1288,           520,           762);       
vect2ocv(distCoeffs, disto,5);

assert(ROTATION.isContinuous());  
double * R= ((double*) ROTATION.data);

R[0]= 1.0; // col=0 auf row=0
R[1]= 0.0;
R[2]= 0.0;  

R[3]=  0.0;  
R[4]=  1.0; 
R[5]=  0.0;  

R[6]=  0.0;
R[7]=  0.0;  
R[8]=  1.0;