Hi @rg0001
Images are too dark, but what I see is an undistorted image as output. What is it you say is not working? I believe you already have fisheye distortion parameters for your lens, and used the with fisheye::undistort to get the output.
There is radial distortion and there is tangential distortion. I’m a bit confused about perspective distortion. If you want to get a frontal view of what appears to be a rectangle, after undistortion you can apply an homography (it is easy to say, not so easy to do).