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I solved this problem.

That was because fisheye camera parameter was wrong.

I computed fisheye camera parameters by the following code:

rms_err = fisheye::calibrate(object_points, image_points, img_size, camera_matrix, distortion,
            cv::noArray(), cv::noArray(),  fisheye::CALIB_CHECK_COND | fisheye::CALIB_FIX_SKEW);

I solved the problem by changing the code:

rms_err = fisheye::calibrate(object_points, image_points, img_size, camera_matrix, distortion,
cv::noArray(), cv::noArray(), fisheye::CALIB_RECOMPUTE_EXTRINSIC | fisheye::CALIB_CHECK_COND | fisheye::CALIB_FIX_SKEW);