something wrong with calibration

[ccqedq]

the project first use chessboard to calibration camera intrinsic, and then get pixel coordinate of corners from well calibrated images with OptimalNewCameraMatrix to calculate extrinsic in the code, but in projectCloud.cpp, it use intrinsic instead of OptimalNewCameraMatrix to calculate theoryUV, and draw it on the uncalibrated images, finally use initUndistortRectifyMap and remap function to Undistort images, does that mean anything?