camera_utils.py 文件源码

def undistort_image(im, K, D): 
    """
    Optionally: 
        newcamera, roi = cv2.getOptimalNewCameraMatrix(self.K, self.D, (W,H), 0) 
    """
    H,W = im.shape[:2]
    Kprime, roi = cv2.getOptimalNewCameraMatrix(K, D, (W,H), 1, (W,H))
    return cv2.undistort(im, K, D, None, K)

# def camera_from_P(P):