opencv 去畸变

import cv2
import numpy as np
 
 
 
 
# 相机坐标系到像素坐标系的转换矩阵
fx = 831.514230246688
fy = 831.972596866759
cx = 327.324903206150
cy = 262.347092547845
K = np.array([[fx, 0., cx],
              [0., fy, cy],
              [0., 0., 1.0]])
  
#畸变系数k1 k2 pq p2 k3
k1, k2, p1, p2, k3 = 0.195387502976378, -1.36446754085673, 0.0, 0.0, 0.0
d=np.array(([[k1 ,k2, p1 ,p2 ,k3]]))
 
 
#返回畸变矫正后的图像
def undistort(frame):
 
    h, w = frame.shape[:2]
    mapx, mapy = cv2.initUndistortRectifyMap(K, d, None, K, (w, h), 5)
    return cv2.remap(frame, mapx, mapy, cv2.INTER_LINEAR)
  
 
 
#检测实时画面
cap = cv2.VideoCapture(1)
 
while(cap.isOpened()):
    ret, frame = cap.read()
   # frame =
    cv2.imshow('frame', undistort(frame))
  
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
 
 
cap.release()
cv2.destroyAllWindows()