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How to get undistorded point

Hello,

I use that line to get undistor fisheye images:

  cv::fisheye::estimateNewCameraMatrixForUndistortRectify(
      camera_matrix, distortion_coefficients, image.size(),
      cv::Mat::eye(3, 3, CV_32F), new_camera_matrix,
      static_cast<double>(balance), image.size(),
      static_cast<double>(distance));
  cv::fisheye::initUndistortRectifyMap(
      camera_matrix, distortion_coefficients, new_camera_matrix,
      R, image.size(), CV_32F, map1, map2);

So I have my distorded image and my undistorded image. For one coordinate on the distorded image I want to get the coordinate in the undistorded image.

How can I get that coordinate? Is there a function in opencv to do that?