stereo_utils.py 文件源码

def rectify(self, l, r): 
        """
        Rectify frames passed as (left, right) 
        Remapping is done with nearest neighbor for speed.
        """
        return [cv2.remap(l, self.undistortion_map[cidx], self.rectification_map[cidx], cv2.INTER_NEAREST)
                for cidx in range(len(self.cams))]