undistortPoint函数介绍请看:传送门
Point p0 , _p0;
cv::Mat mat(1,2,CV_32F);
mat.at<float>(i,0)=p0.x;
mat.at<float>(i,1)=p0.y;
mat=mat.reshape(2);
cv::undistortPoints(mat,mat,K2, D2, R2, P2);
mat=mat.reshape(1);
_p0.x=mat.at<float>(i,0);
_p0.y=mat.at<float>(i,1);