camera_utils.py 文件源码

def undistort_points(self, pts): 
        """
        Undistort image points using camera matrix, and distortion coeffs

        Have to provide P matrix for appropriate scaling
        http://code.opencv.org/issues/1964#note-2
        """
        out = cv2.undistortPoints(pts.reshape(-1,1,2).astype(np.float32), self.K, self.D, P=self.K)
        return out.reshape(-1,2)