使用OpenCV校准鱼眼镜头-第2部分

# You should replace these 3 lines with the output in calibration stepDIM=XXXK=np.array(YYY)D=np.array(ZZZ)def undistort(img_path, balance=0.0, dim2=None, dim3=None):    img = cv2.imread(img_path)    dim1 = img.shape[:2][::-1]  #dim1 is the dimension of input image to un-distort    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 not dim2:        dim2 = dim1    if not dim3:        dim3 = dim1    scaled_K = K * dim1[0] / DIM[0]  # The values of K is to scale with image dimension.    scaled_K[2][2] = 1.0  # Except that K[2][2] is always 1.0    # This is how scaled_K, dim2 and balance are used to determine the final K used to un-distort image. OpenCV document failed to make this clear!    new_K = cv2.fisheye.estimateNewCameraMatrixForUndistortRectify(scaled_K, D, dim2, np.eye(3), balance=balance)    map1, map2 = cv2.fisheye.initUndistortRectifyMap(scaled_K, D, np.eye(3), new_K, dim3, cv2.CV_16SC2)    undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)    cv2.imshow("undistorted", undistorted_img)    cv2.waitKey(0)    cv2.destroyAllWindows()if __name__ == '__main__':    for p in sys.argv[1:]:        undistort(p)