pyhton 图片去畸变

import os
import sys
import cv2
import shutil
import numpy as np


ImgPath = input("Please enter the path where the JPG is located: ") + '/'
Savepath = '/home/moonx/Desktop/undistorted_pictures/'


fx = 1990.992014
cx = 911.5402
fy = 1993.371404
cy = 603.671151
k1, k2, p1, p2, k3 = -0.551182, 0.289106, 0.000385, -0.001226, 0.0

#相机坐标系到像素坐标系的转换矩阵
k = np.array([
    [fx, 0, cx],
    [0, fy, cy],
    [0, 0, 1]
])
#畸变系数
d = np.array([
    k1, k2, p1, p2, k3
])

#璜老板的三行去畸变
def undistort(img):
    h, w = img.shape[:2]
    mapx, mapy = cv2.initUndistortRectifyMap(k, d, None, k, (w, h), 5)
    return cv2.remap(img, mapx, mapy, cv2.INTER_LINEAR)

os.mkdir(Savepath)
print('\n' + 'Dictory /home/moonx/Desktop/annotated_pictures/ has been created!' + '\n')
imagelist = os.listdir(ImgPath)
for image in imagelist:
    img = ImgPath + image
    print(img)
    img = cv2.imread(img)
    img = undistort(img)
    cv2.imwrite(Savepath+image, img)

升级版

#!/usr/bin/env python
import cv2
import shutil
import numpy as np
import yaml
import argparse
import os
########################
parser = argparse.ArgumentParser()
parser.add_argument("--image_dir_path", type=str, default='calibrationdata')
parser.add_argument("--undistorted_image_dir_path", type=str, default='undistorted')
parser.add_argument("--intrinsics_file_path", type=str, default='test.yaml')
args = parser.parse_args()

########################
def load_yaml_file(file_path):
    with open(file_path, 'r') as f:
        ret = yaml.safe_load(f.read())
    return ret

########################
def load_intrinsics(yaml_path):
    params = load_yaml_file(yaml_path)
    k = np.array(params['K']).reshape(3, 3)
    d = np.array(params['D'])
    return k, d

########################
def undistort(img, k, d):
    h, w = img.shape[:2]
    mapx, mapy = cv2.initUndistortRectifyMap(k, d, None, k, (w, h), 5)
    return cv2.remap(img, mapx, mapy, cv2.INTER_LINEAR)

########################
def main():
    k, d = load_intrinsics(args.intrinsics_file_path)
    image_name_list = os.listdir(args.image_dir_path)
    image_path_list = [os.path.join(args.image_dir_path, x) for x in image_name_list]
    for image_path in image_path_list:
        print(image_path)
        image = cv2.imread(image_path)
        image = undistort(image, k, d)
        undistorted_image_path = image_path.replace(args.image_dir_path, args.undistorted_image_dir_path)
        cv2.imwrite(undistorted_image_path, image)

########################
if __name__ == '__main__':
	main()

intrinsics yaml

header: 
  seq: 313
  stamp: 
    secs: 33051
    nsecs: 670597000
  frame_id: usb_cam
height: 1080
width: 1920
distortion_model: plumb_bob
D: [-0.567029, 0.291274, 0.006039, 0.002272, 0.000000]
K: [2003.097697, 0.000000, 937.207244, 0.000000, 1999.234506, 484.602893, 0.000000, 0.000000, 1.000000]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [1750.765991, 0.0, 961.122152, 0.0, 0.0, 1979.051758, 506.167732, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False