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With the regular undistortPoints function you have to pass your camera matrix as the P parameter in addition to passing it as the K parameter to convert the coordinates from -1..+1 back to pixels. I imagine fisheye::undistortPoints works the same way.

void fisheye::undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray())

Here's how I call it:

undistortPoints(thePoints, undistortedPoints, _cameraMatrix, _distortionCoefficients, noArray(), _cameraMatrix);