def undistort_image()

in a2d2_helpers.py [0:0]

• 21 lines of code
• 4 McCabe index (conditional complexity)

def undistort_image(image, cam_name, config):
    if cam_name in ['front_left', 'front_center', \
                    'front_right', 'side_left', \
                    'side_right', 'rear_center']:
        # get parameters from config file
        intr_mat_undist = \
                  np.asarray(config['cameras'][cam_name]['CamMatrix'])
        intr_mat_dist = \
                  np.asarray(config['cameras'][cam_name]['CamMatrixOriginal'])
        dist_parms = \
                  np.asarray(config['cameras'][cam_name]['Distortion'])
        lens = config['cameras'][cam_name]['Lens']
        
        if (lens == 'Fisheye'):
            return cv2.fisheye.undistortImage(image, intr_mat_dist,\
                                      D=dist_parms, Knew=intr_mat_undist)
        elif (lens == 'Telecam'):
            return cv2.undistort(image, intr_mat_dist, \
                      distCoeffs=dist_parms, newCameraMatrix=intr_mat_undist)
        else:
            return image
    else:
        return image