【opencv3.0】鱼眼图像去畸变的问题

#include

#include

using namespace std;
using namespace cv;

int main()
{
	Mat img_fish = imread("a.bmp", 1);
	Size image_size = img_fish.size();
	Mat mapx = Mat(image_size, CV_32FC1);
	Mat mapy = Mat(image_size, CV_32FC1);
	Mat R = Mat::eye(3, 3, CV_32F);

	double intrinsic_mat[3][3] = { 335.7390696438087, 0, 838.7899308368163, 0,
		335.8271819763599, 858.7958702418043, 0, 0, 1 };
	Mat intrinsic_matrix = { 3, 3, CV_32FC1, intrinsic_mat };

	Vec4d distortion_coeffs = { 0.00588489, -0.00240325,
		0.000757753, -0.000371712 };
	

	Mat new_intrinsic;
	intrinsic_matrix.copyTo(new_intrinsic);
	

	cout << "保存矫正图像" << endl;
		fisheye::initUndistortRectifyMap(intrinsic_matrix,distortion_coeffs,R,new_intrinsic,image_size,CV_32FC1,mapx,mapy);
		
		Mat t;
	
		cv::remap(img_fish, t, mapx, mapy, INTER_LINEAR);

		imwrite("a1.bmp", t);
		namedWindow("原始图", CV_WINDOW_AUTOSIZE);
		namedWindow("校正图", CV_WINDOW_AUTOSIZE);
	
		imshow("校正图", t);
		imshow("原始图", img_fish);

		cout << "保存结束" << endl;
		waitKey(0);
		//销毁MyWindow的窗口
		destroyWindow("原始图");
		destroyWindow("校正图");

	return 0;
}

已知内参矩阵和畸变系数了，这个是通过标定出来的。然后利用这些参数进行鱼眼图像去畸变失败了，出现的校正图是一片黑。。。。。。。有没有大神指点一下