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See my comment behind @Tetragramm answer : I was using a function from the wrong module !

You get the same result between cv::fisheye::undistortImage and cv::fisheye::initUndistortRectifyMap + cv::remap, but if you use cv::initUndistortRectifyMap + cv::remap it seems that the transformation is contained in the frame (meaning no loss of data, the frame isn't cropped on the corners).