图像去畸变（python）

功能：鱼眼图像去除畸变并将视频保存成图片保存。

video2image.py如下

import os 
import cv2
import csv
import numpy as np
#scale数值可以防止去畸变后，fov过小
def undistortRectifyMap(K,D,DIM,scale=1.0):
    Knew = K.copy()
    
    if scale:#change fov
        Knew[(0,1), (0,1)] = scale * Knew[(0,1), (0,1)]
    map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), Knew, DIM, cv2.CV_16SC2)
    
    return map1, map2

def undistort(img, map1, map2, DIM, imshow=False):
    dim1 = img.shape[:2][::-1]
    assert dim1[0]/dim1[1] == DIM[0]/DIM[1], "Image to undistort needs to have same aspect ratio as the ones used in calibration"
    if dim1[0]!=DIM[0]:
        img = cv2.resize(img,DIM,interpolation=cv2.INTER_AREA)
    undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
    if imshow:
        cv2.imshow("undistorted", undistorted_img)
    return undistorted_img


def AVI_To_Img_And_save(video_file, map1, map2 ,DIM):
    video_name = video_file.split('/')[-1].split('.')[0]
    print('当前处理的视频为：',video_file)
    cap = cv2.VideoCapture(video_file)
    rval = cap.isOpened()
    framenum=0
    print(rval)
    while rval:
        rval, frame  = cap.read()

        if framenum%25!=0:
            framenum+=1
            continue
        print('1')
        save_dir     = './'
        Img_savename = save_dir + video_name + '_' + '%08d'%framenum +'.jpg'
        if rval:
            if os.path.exists(Img_savename)==False:
                img = undistort(frame, map1, map2, DIM)
                cv2.imwrite(Img_savename, img,[int(cv2.IMWRITE_JPEG_QUALITY), 100]) 
        else:
            break
        framenum+=1
        print('正在处理视频{}的第{}帧,rval = {}...'.format(video_name,framenum,rval))


if __name__ == '__main__':
    DIM=(1920, 1080)
    K=np.array([[9.5749393532104671e+02, 0., 1.0143950223349893e+03], [0., 9.5697913744394737e+02, 5.4154074349276050e+02], [0.0, 0.0, 1.0]])
    D=np.array([[-3.4795012656299869e-02], [-9.6299582609726160e-03], [3.9250075601799878e-03], [-8.2559708738055783e-04]])

    map1, map2 = undistortRectifyMap(K,D,DIM,0.9)
    AVI_To_Img_And_save("/media/data/zs/project/天准车机/caiji/result2.avi", map1, map2, DIM)

标定文件如下：

calib.yaml

%YAML:1.0
---
CameraNum: 1
CameraModel: OPENCV_FISHEYE
CalibMode: CAMERA_SINGLE
K0: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.5749393532104671e+02, 0., 1.0143950223349893e+03, 0.,
       9.5697913744394737e+02, 5.4154074349276050e+02, 0., 0., 1. ]
D0: !!opencv-matrix
   rows: 4
   cols: 1
   dt: d
   data: [ -3.4795012656299869e-02, -9.6299582609726160e-03,
       3.9250075601799878e-03, -8.2559708738055783e-04 ]
ImageSize0: [ 1920, 1080 ]
R: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ -1.6918078081605778e-01, 1.3851567051419672e-03,
       -9.8558406274826371e-01, 9.8557019727130768e-01,
       5.7251557764026349e-03, -1.6917035450082124e-01,
       5.4082948391265054e-03, -9.9998265181564017e-01,
       -2.3337554916848433e-03 ]
T: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 2.9429394656648822e+00, 8.2697708602684283e-01,
       -2.9463223695744905e+01 ]

标定图像如下：