//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();