cv::getOptimalNewCameraMatrix()函数

函数参数说明：

@param cameraMatrix Input camera matrix.
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are
assumed.
@param imageSize Original image size.
@param alpha Free scaling parameter between 0 (when all the pixels in the undistorted image are
valid) and 1 (when all the source image pixels are retained in the undistorted image). See
stereoRectify for details.
@param newImgSize Image size after rectification. By default, it is set to imageSize .
@param validPixROI Optional output rectangle that outlines all-good-pixels region in the
undistorted image. See roi1, roi2 description in stereoRectify .
@param centerPrincipalPoint Optional flag that indicates whether in the new camera matrix the
principal point should be at the image center or not. By default, the principal point is chosen to
best fit a subset of the source image (determined by alpha) to the corrected image.
@return new_camera_matrix Output new camera matrix.

这里前几个参数都很常规，最后一个参数需要注意：

最后一个参数默认是false，也就是相机光心不在默认的图像中心位置，可能导致去除畸变后的图像边缘仍存在畸变。。。 需要改成true