转载地址：

https://blog.csdn.net/qq_15505637/article/details/76197820?locationNum=5&fps=1
https://stackoverflow.com/questions/8499984/how-to-undistort-points-in-camera-shot-coordinates-and-obtain-corresponding-undi


调用方法
std::vector<cv::Point2f> inputDistortedPoints = ...
std::vector<cv::Point2f> outputUndistortedPoints;
cv::Mat cameraMatrix = ...
cv::Mat distCoeffs = ...


cv::undistortPoints(inputDistortedPoints, outputUndistortedPoints, cameraMatrix, distCoeffs, cv::noArray(), cameraMatrix);
不要像下面这样调用，输出的点不正确
cv::undistortPoints(inputDistortedPoints, outputUndistortedPoints, cameraMatrix, distCoeffs）



UPDATE:
Following C++ function call should work as well:

std::vector<cv::Point2f> inputDistortedPoints = ...
std::vector<cv::Point2f> outputUndistortedPoints;
cv::Mat cameraMatrix = ...
cv::Mat distCoeffs = ...

cv::undistortPoints(inputDistortedPoints, outputUndistortedPoints, cameraMatrix, distCoeffs, cv::noArray(), cameraMatrix);