OpenCV for Unity鱼眼校正

//实际测试时D取以下值更好

(0, 0, -0.1222723392670962, 1.8382109174553397, 0.004643509151558462, 0.003429485001340429, -0.09370053614249967); 

        //摄像机内参数矩阵
            Mat K = new Mat(3, 3, CvType.CV_64FC1);
            K.put(0, 0, 964.2931236266057, 0, 621.9682241925731,0, 958.3006969434483, 252.3649268231244, 0, 0, 1);

            //摄像机的4个畸变系数：k1,k2,k3,k4
            Mat D = new Mat(2, 2, CvType.CV_64FC1);
            D.put(0, 0, -0.4222723392670962, 0.2382109174553397, 0.004643509151558462, 0.003429485001340429, -0.09370053614249967);
            
            Size image_size = rgbaMat.size();
            Mat mapx = new Mat(image_size, CvType.CV_32FC1);
            Mat mapy = new Mat(image_size, CvType.CV_32FC1);
            Mat R = Mat.eye(3, 3, CvType.CV_32F);

            Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32FC1, Scalar.all(0));
            OpenCVForUnity.Calib3dModule.Calib3d.fisheye_initUndistortRectifyMap(K, D, R, K, image_size, CvType.CV_32FC1, mapx, mapy);

            Mat t = new Mat(image_size, CvType.CV_32FC3);
            Imgproc.remap(rgbaMat, t, mapx, mapy, Imgproc.INTER_LINEAR);
            rgbaMat = t.clone();

            K.release();
            D.release();
            mapx.release();
            mapy.release();
            R.release();
            newCameraMatrix.release();
            t.release();