输出Prescan中的lens_distortion.py代码

以下是Prescan中的lens_distortion.py代码：

import numpy as np
import cv2

def undistort(image, camera_matrix, dist_coeffs):
    h, w = image.shape[:2]
    new_camera_matrix, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist_coeffs, (w, h), 1, (w, h))
    mapx, mapy = cv2.initUndistortRectifyMap(camera_matrix, dist_coeffs, None, new_camera_matrix, (w, h), 5)
    dst = cv2.remap(image, mapx, mapy, cv2.INTER_LINEAR)
    x, y, w, h = roi
    dst = dst[y:y + h, x:x + w]
    return dst

def calculate_distortion_coefficients(objpoints, imgpoints, image_size):
    _, mtx, _, _, _ = cv2.calibrateCamera(objpoints, imgpoints, image_size, None, None)
    dist_coeffs = np.zeros((4, 1))
    _, dist_coeffs, _, _ = cv2.calibrateCamera(objpoints, imgpoints, image_size, mtx, dist_coeffs)
    return mtx, dist_coeffs

def calculate_undistorted_image(image, objpoints, imgpoints):
    image_size = (image.shape[1], image.shape[0])
    camera_matrix, dist_coeffs = calculate_distortion_coefficients(objpoints, imgpoints, image_size)
    undistorted_image = undistort(image, camera_matrix, dist_coeffs)
    return undistorted_image