opencv对鱼眼图像畸变矫正

            //=========================对原始图像畸变矫正==========================
			double fx= 355.0974745605948;
			double fy= 355.47832693317105;
			double cx= 357.7074039567714;
			double cy= 351.0244037313849;

			double k1= -0.023790306606729556;
			double k2= -0.0007571494794293715;
			double p1= 0.00016452517056601848;
			double p2= -0.0005743824914513448;

            cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1);
            cv::Mat distCoeffs = (cv::Mat_<float>(4, 1) << k1, k2, p1, p2);

			cv::Mat dst_Left;
			// 普通图像畸变矫正
            //undistort(imLeft, dst_Left, cameraMatrix, distCoeffs);
		
	
			cv::Size corrected_size(imLeft.cols,imLeft.rows);
			cv::Mat mapx, mapy;
            // 鱼眼图像畸变矫正
		    cv::fisheye::initUndistortRectifyMap(cameraMatrix, distCoeffs, cv::Matx33d::eye(), cameraMatrix, corrected_size, CV_16SC2, mapx, mapy);

            remap(imLeft, dst_Left, mapx, mapy, cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
		    
			// cv::imshow("leftImage", imLeft);
			// cv::imshow("dst_Left", dst_Left);
			// cv::waitKey(2);

			imLeft=dst_Left;
            //=========================对原始图像畸变矫正==========================