utils.py 文件源码

def undistort_stereo(stereo_rig, test_im_left, test_im_right, size_factor):
    im_size = test_im_left.shape
    map1x, map1y, map2x, map2y = compute_stereo_rectification_maps(stereo_rig, im_size, size_factor)
    rect_left = cv2.remap(test_im_left, map1x, map1y, cv2.INTER_LINEAR)
    rect_right = cv2.remap(test_im_right, map2x, map2y, cv2.INTER_LINEAR)
    return rect_left, rect_right