--- a/python/cvutils.py	Fri May 23 16:27:26 2014 -0400
+++ b/python/cvutils.py	Fri May 23 17:33:11 2014 -0400
@@ -110,6 +110,15 @@
         else:
             cv2.imshow(windowName, img)
 
+    def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
+        from copy import deepcopy
+        from numpy import identity, array
+        newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
+        newCameraMatrix = deepcopy(intrinsicCameraMatrix)
+        newCameraMatrix[0,2] = newImgSize[0]/2.
+        newCameraMatrix[1,2] = newImgSize[1]/2.
+        return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
+
     def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
         '''Plays the video'''
         wait = 5
@@ -206,20 +215,13 @@
         '''Displays the objects overlaid frame by frame over the video '''
         from moving import userTypeNames
         from math import ceil, log10
-        from numpy import identity, array
 
         capture = cv2.VideoCapture(videoFilename)
         width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
         height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
 
         if undistort: # setup undistortion
-            newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
-            from copy import deepcopy
-            newCameraMatrix = deepcopy(intrinsicCameraMatrix)
-            newCameraMatrix[0,2] = newImgSize[0]/2.
-            newCameraMatrix[1,2] = newImgSize[1]/2.
-            [map1, map2] = cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
-
+            [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
         if capture.isOpened():
             key = -1
             ret = True

--- a/scripts/compute-homography.py	Fri May 23 16:27:26 2014 -0400
+++ b/scripts/compute-homography.py	Fri May 23 17:33:11 2014 -0400
@@ -25,6 +25,10 @@
 parser.add_argument('-n', dest = 'nPoints', help = 'number of corresponding points to input', default = 4, type = int)
 parser.add_argument('-u', dest = 'unitsPerPixel', help = 'number of units per pixel', default = 1., type = float)
 parser.add_argument('--display', dest = 'displayPoints', help = 'display original and projected points on both images', action = 'store_true')
+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('--undistort', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
 
 args = parser.parse_args()
 
@@ -76,6 +80,9 @@
 elif args.videoFrameFilename != None and args.worldFilename != None:
     worldImg = plt.imread(args.worldFilename)
     videoImg = plt.imread(args.videoFrameFilename)
+    if args.undistort:        
+        [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
+        videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
     print('Click on {0} points in the video frame'.format(args.nPoints))
     plt.figure()
     plt.imshow(videoImg)
@@ -98,6 +105,9 @@
 if args.displayPoints and args.videoFrameFilename != None and args.worldFilename != None and homography.size>0:
     worldImg = cv2.imread(args.worldFilename)
     videoImg = cv2.imread(args.videoFrameFilename)
+    if args.undistort:        
+        [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
+        videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
     invHomography = np.linalg.inv(homography)
     projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T
     projectedVideoPts = cvutils.projectArray(homography, videoPts.T).T