--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/scripts/undistort-video.py	Fri Dec 05 12:13:53 2014 -0500
@@ -0,0 +1,47 @@
+#! /usr/bin/env python
+
+import sys, argparse
+
+import numpy as np
+import cv2
+
+import cvutils
+from math import ceil, log10
+
+parser = argparse.ArgumentParser(description='''The program converts a video into a series of images corrected for distortion. One can then use mencoder to generate a movie, eg
+$ mencoder 'mf://./*.png' -mf fps=[framerate]:type=png -ovc xvid -xvidencopts bitrate=[bitrate] -nosound -o [output.avi]''')
+
+parser.add_argument('-i', dest = 'videoFilename', help = 'filename of the video sequence')
+parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
+parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
+parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
+parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
+parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to save', type = int)
+
+args = parser.parse_args()
+
+intrinsicCameraMatrix = np.loadtxt(args.intrinsicCameraMatrixFilename)
+#distortionCoefficients = args.distortionCoefficients
+#undistortedImageMultiplication = args.undistortedImageMultiplication
+#firstFrameNum = params.firstFrameNum
+
+capture = cv2.VideoCapture(args.videoFilename)
+width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
+height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
+[map1, map2] = cvutils.computeUndistortMaps(width, height, args.undistortedImageMultiplication, intrinsicCameraMatrix, args.distortionCoefficients)
+if capture.isOpened():
+    ret = True
+    frameNum = args.firstFrameNum
+    capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, args.firstFrameNum)
+    if args.lastFrameNum == None:
+        from sys import maxint
+        lastFrameNum = maxint
+    else:
+        lastFrameNum = args.lastFrameNum
+        nZerosFilename = int(ceil(log10(lastFrameNum)))
+        while ret and frameNum < lastFrameNum:
+            ret, img = capture.read()
+            if ret:
+                img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
+                cv2.imwrite('undistorted-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
+            frameNum += 1