I determined both cameraMatrix and distortion coefficients of my camera with the opencv tools. After that I can undistort any grabbed image by means of
C++: void undistort(InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray newCameraMatrix=noArray() )
The question is: after the undistortion, does the principal point of the corrected image remain (xp,yp), or it is shifted in the center of the matrix, i.e. (Ncolumn/2,Nrow/2)?