stereo_utils.py 文件源码

def __init__(self, left, right):
        self.cams = [left, right]
        self.undistortion_map = {}
        self.rectification_map = {}

        for cidx, cam in enumerate(self.cams):
            (self.undistortion_map[cidx], self.rectification_map[cidx]) = cv2.initUndistortRectifyMap(
                cam.K, cam.D, cam.R, cam.P, cam.shape[:2], cv2.CV_32FC1)