debugtools.py 文件源码

def drawBox(camera_parameters, markers, frame):
    objpts = np.float32([[0,0,0], [1,0,0], [1,1,0], [0,1,0],
                         [0,0,1], [1,0,1], [1,1,1], [0,1,1]]).reshape(-1,3)
    mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff

    for marker in markers:
        rvec, tvec = marker.rvec, marker.tvec
        imgpts, jac = cv2.projectPoints(objpts, rvec, tvec, mtx, dist)

        cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[1].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[2].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[3].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[0].ravel()), (0,0,255), 2)

        cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)

        cv2.line(frame, tuple(imgpts[0+4].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[1+4].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[2+4].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
        cv2.line(frame, tuple(imgpts[3+4].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)