marker.py 文件源码

def cvt2ModelView(self, Rx=np.array([[1,0,0],[0,-1,0],[0,0,-1]])):
        R, _ = cv2.Rodrigues(self.rvec)
        Rt = np.hstack((R, self.tvec))
        M = np.eye(4)
        M[:3,:] = np.dot(Rx, Rt)
        return M