markerfunctions.py 文件源码

def get_vectors(image, points, mtx, dist):

    # order points
    points = _order_points(points)

    # set up criteria, image, points and axis
    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)

    imgp = np.array(points, dtype='float32')

    objp = np.array([[0.,0.,0.],[1.,0.,0.],
                        [1.,1.,0.],[0.,1.,0.]], dtype='float32')  

    # calculate rotation and translation vectors
    cv2.cornerSubPix(gray,imgp,(11,11),(-1,-1),criteria)
    rvecs, tvecs, _ = cv2.solvePnPRansac(objp, imgp, mtx, dist)

    return rvecs, tvecs