Does the P matrix contain the distortion information?

[zhang.wei...@gmail.com]

Now I successfully calibrated my cameras and obtained the P matrix.

Using this matrix I got somehow not bad projection results. I know that the P matrix could be decomposed into K, R, T, C matrix, which contain instinct and extinct calibration parameters. 

I am not sure that the distortion parameter (kc) is contained in the P matrix, when I use P matrix to project from 3D to 2D? If not, how can I use distortion parameters with P matrix?

Thanks very much!