diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f137ecb1..2951599a6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -130,3 +130,6 @@ else()
 	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
 endif()
 
+add_executable(dso_converter ${PROJECT_SOURCE_DIR}/src/util/DatasetUndistorter.cpp)
+target_link_libraries(dso_converter dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${OpenCV_LIBS})
+
diff --git a/src/util/DatasetUndistorter.cpp b/src/util/DatasetUndistorter.cpp
new file mode 100644
index 000000000..5a971b280
--- /dev/null
+++ b/src/util/DatasetUndistorter.cpp
@@ -0,0 +1,19 @@
+#include "IOWrapper/ImageRW.h"
+#include "util/DatasetReader.h"
+
+#include <opencv2/opencv.hpp>
+
+using namespace dso;
+
+int main(int argc, char *argv[]) {
+    ImageFolderReader reader(argv[1], argv[2], argv[3], argv[4]);
+    for (int i = 0; i < reader.getNumImages(); ++i) {
+        ImageAndExposure* output = reader.getImage(i);
+        MinimalImage<float> outImage(output->w, output->h, output->image);
+        char fname[256];
+        sprintf(fname, "%06d.png", i);
+        IOWrap::writeImage(fname, &outImage);
+    }
+
+    return 0;
+}