{"id":806,"date":"2022-04-07T11:00:28","date_gmt":"2022-04-07T03:00:28","guid":{"rendered":"https:\/\/swordofmorning.com\/?p=806"},"modified":"2025-10-09T13:55:35","modified_gmt":"2025-10-09T05:55:35","slug":"pycv-esti-distortion","status":"publish","type":"post","link":"https:\/\/swordofmorning.com\/index.php\/2022\/04\/07\/pycv-esti-distortion\/","title":{"rendered":"Python-OpenCV \u53cc\u76ee\u6444\u50cf\u5934\u6d88\u9664\u7578\u53d8"},"content":{"rendered":"<pre><code class=\"language-python\"># \u6d4b\u8bd5\u53cc\u76ee\u6444\u50cf\u5934\u6d88\u9664\u7578\u53d8\n\nimport cv2\nimport numpy as np\nfrom merge_img import merge_img\n\n# \u56fe\u50cf\u5206\u8fa8\u7387\nimgHeight = 720\nimgWidth = 1280\n\n# \u8bfb\u53d6\u56fe\u50cf\nimgLeft = cv2.imread(&#039;.\/BinaryTestImg\/imgLeft_4.jpg&#039;)\nimgRight = cv2.imread(&#039;.\/BinaryTestImg\/imgRight_4.jpg&#039;)\n\n# ========== Sec 00 : \u6d88\u9664\u7578\u53d8 ==========\n\n# \u5185\u53c2\u77e9\u9635 Matlab\u5bfc\u51fa\u9700\u8981\u8f6c\u7f6e\nleftIntrinsics = np.array([\n    [1053.38265791018,  3.08399216907875,   594.257941839620],\n    [0, 1048.69424857472,   624.403559476866],\n    [0, 0,  1],\n])\n\nrightIntrinsics = np.array([\n    [1031.31775398865,  0.995415539960191,  611.944908905225],\n    [0, 1026.31331337872,   590.452376918678],\n    [0, 0,  1],\n])\n\n# \u7578\u53d8\u53c2\u6570\uff0c{Radial[1, 2], Tangential[1, 2], Radial[3]}\nleftDistortion = np.array(\n    [-0.244068633392664,    0.0659908657440612, -0.0335847762686548,    -0.0105353212103192, 0]\n)\nrightDistortion = np.array(\n    [-0.268439587426849,    0.0945428197668436, -0.0365036859972193,    -0.0108213400372969, 0]\n)\n\n# \u5173\u7cfb\u5411\u91cf\nRotationVec = np.array([\n    [0.999984802772915, -0.00130238961541062,   0.00535705184827462],\n    [0.00132326239961219,   0.999991540412283,  -0.00389462199592219],\n    [-0.00535193421458117,  0.00390165159375090,    0.999978066716967],\n]) # Matlab\u5bfc\u51fa\uff0c\u65e0\u9700\u8f6c\u7f6e\nTranslationVec = np.array(\n    [-65.5771474903306, 1.82703288393659,   -0.224757807802837]\n)\n\n# \u7acb\u4f53\u66f4\u6b63\nR1, R2, P1, P2, Q, validPixROI1, validPixROI2 =  cv2.stereoRectify(\n        leftIntrinsics, leftDistortion, rightIntrinsics, rightDistortion,\n        (imgHeight, imgWidth), RotationVec, TranslationVec)\n\n# \u8ba1\u7b97\u66f4\u6b63map\nleftMap1, leftMap2 = cv2.initUndistortRectifyMap(leftIntrinsics, leftDistortion, R1, P1, (imgWidth, imgHeight), cv2.CV_16SC2)\nrightMap1, rightMap2 = cv2.initUndistortRectifyMap(rightIntrinsics, rightDistortion, R2, P2, (imgWidth, imgHeight), cv2.CV_16SC2)\n\nimgLeftRemap = cv2.remap(imgLeft, leftMap1, leftMap2, cv2.INTER_LINEAR)\nimgRightRemap = cv2.remap(imgRight, rightMap1, rightMap2, cv2.INTER_LINEAR)\n\ncv2.imwrite(&#039;.\/BinaryTestImg\/imgLeftRemap.jpg&#039;, imgLeftRemap)\ncv2.imwrite(&#039;.\/BinaryTestImg\/imgRightRemap.jpg&#039;, imgRightRemap)<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p># \u6d4b\u8bd5\u53cc\u76ee\u6444\u50cf\u5934\u6d88\u9664\u7578\u53d8 import cv2 import numpy as np from merge_img import &#8230;<\/p>","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[57],"tags":[],"amp_enabled":true,"_links":{"self":[{"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/posts\/806"}],"collection":[{"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/comments?post=806"}],"version-history":[{"count":2,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/posts\/806\/revisions"}],"predecessor-version":[{"id":808,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/posts\/806\/revisions\/808"}],"wp:attachment":[{"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/media?parent=806"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/categories?post=806"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/swordofmorning.com\/index.php\/wp-json\/wp\/v2\/tags?post=806"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}