单目去畸变和恢复成畸变

去畸变

import cv2
import os
import numpy as np

# 相机内参和畸变系数
fx = 605.371
fy = 605.245
cx = 635.308
cy = 366.51

k1 = -0.052405
k2 = -1.75822
k3 = 1.0281
k4 = -0.171968
k5 = -1.57579
k6 = 0.954648
p1 = 0.000439
p2 = -0.000216

# 相机内参矩阵
camera_matrix = np.array([
    [fx, 0, cx],
    [0, fy, cy],
    [0, 0, 1]
])

# 畸变系数
dist_coeffs = np.array([k1, k2, p1, p2, k3, k4, k5, k6])

# 输入和输出文件夹路径
input_folder = 'path_to_input_folder'
output_folder = 'path_to_output_folder'

# 创建输出文件夹（如果不存在）
os.makedirs(output_folder, exist_ok=True)

# 遍历文件夹中的所有PNG图像
for filename in os.listdir(input_folder):
    if filename.endswith('.png'):
        image_path = os.path.join(input_folder, filename)
        
        # 读取深度图像
        depth_image = cv2.imread(image_path, cv2.IMREAD_UNCHANGED)
        
        # 获取图像尺寸
        h, w = depth_image.shape[:2]
        
        # 计算去畸变映射
        new_camera_matrix, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist_coeffs, (w, h), 1, (w, h))
        map1, map2 = cv2.initUndistortRectifyMap(camera_matrix, dist_coeffs, None, new_camera_matrix, (w, h), 5)
        
        # 应用映射去畸变
        undistorted_image = cv2.remap(depth_image, map1, map2, cv2.INTER_LINEAR)
        
        # 裁剪图像（如果需要）
        x, y, w, h = roi
        undistorted_image = undistorted_image[y:y+h, x:x+w]
        
        # 保存去畸变后的图像
        output_path = os.path.join(output_folder, filename)
        cv2.imwrite(output_path, undistorted_image)

print("去畸变处理完成！")

恢复畸变前

import cv2
import os
import numpy as np

# 相机内参和畸变系数
fx = 605.371
fy = 605.245
cx = 635.308
cy = 366.51

k1 = -0.052405
k2 = -1.75822
k3 = 1.0281
k4 = -0.171968
k5 = -1.57579
k6 = 0.954648
p1 = 0.000439
p2 = -0.000216

# 相机内参矩阵
camera_matrix = np.array([
    [fx, 0, cx],
    [0, fy, cy],
    [0, 0, 1]
])

# 畸变系数
dist_coeffs = np.array([k1, k2, p1, p2, k3, k4, k5, k6])

# 输入和输出文件夹路径
input_folder = '/media/kj/2B9747BF3C0EC4D0/Project/hierarchical-3d-gaussians/data/data01/camera_calibration/rectified/depths/cam1'  # 去畸变后的图像文件夹
output_folder = '/media/kj/2B9747BF3C0EC4D0/Project/hierarchical-3d-gaussians/data/data01/camera_calibration/rectified/depths/cam2'  # 恢复畸变后的图像文件夹

# 创建输出文件夹（如果不存在）
os.makedirs(output_folder, exist_ok=True)

# 遍历文件夹中的所有PNG图像
for filename in os.listdir(input_folder):
    if filename.endswith('.png'):
        image_path = os.path.join(input_folder, filename)

        # 读取去畸变后的图像
        undistorted_image = cv2.imread(image_path, cv2.IMREAD_UNCHANGED)

        # 获取图像尺寸
        h, w = undistorted_image.shape[:2]

        # 计算反向映射
        map1, map2 = cv2.initUndistortRectifyMap(camera_matrix, dist_coeffs, None, camera_matrix, (w, h), cv2.CV_32FC1,
                                                 cv2.CV_32FC1)

        # 应用反向映射恢复畸变
        distorted_image = cv2.remap(undistorted_image, map1, map2, cv2.INTER_LINEAR)

        # 保存恢复畸变后的图像
        output_path = os.path.join(output_folder, filename)
        cv2.imwrite(output_path, distorted_image)

print("恢复畸变处理完成！")