1、cv::fisheye::initUndistortRectifyMap(intrinsics, distortion_coeffs, cv::Mat(), newCameraMatrix, cv::Size(width,height), CV_16SC2/CV_32FC1, map1, map2);
newCameraMatrix不能为空,可以给intrinsics值
鱼眼相机用cv::undistort(image, imageUndistorted, intrinsic, distCoeffs) 出来的图片有问题,不知道为什么