undistort.py

# -*- coding: utf-8 -*-
#
# Autor: Kenneth Jiang
# Post: Calibrate fishete lens using OpenCV
# Obtenido en: https://medium.com/@kennethjiang/calibrate-fisheye-lens-using-opencv-333b05afa0b0
# Publicado: 28/09/2017
#
# You should replace these 3 lines with the output in calibration step

import sys
import cv2
import numpy as np

#variables para correción del efecto ojo de pez obtenidas en la calibración
#DIM= (640, 480)
#K = np.array([[392.2587784103325, 0.0, 349.5946215390046], [0.0, 429.2697800524658, 219.08594079864957], [0.0, 0.0, 1.0]])
#D= np.array([[-0.5947515245760245], [1.210686515239806], [-1.8039526380719182], [0.7464215045731002]])
DIM=(640, 480)

K=np.array([[325.1564515669869, 0.0, 318.97813943722116], [0.0, 321.50468917410274, 249.05011600944852], [0.0, 0.0, 1.0]])

D=np.array([[0.4567841421603866], [-2.375800551358405], [4.190925078868009], [-2.8322958563831335]])

def undistort_image(img):
    #Calcula mapas que resuelve la distorsión y rectifica con remap()
    map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, DIM, cv2.CV_16SC2)
    #Transforma la imagen a quitar efecto ojo de pez
    undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
    return undistorted_img