detector_aruco.py 文件源码

def detect(self, img):
        self.likelihood = self.detector.detect_mat(img)
        detection = None
        if self.likelihood > 0.1:
            # get board and draw it
            board = self.detector.getDetectedBoard()

            rvec = board.Rvec.copy()
            tvec = board.Tvec.copy()
            matrix = cv2.Rodrigues(rvec)[0]
            rodrigues = mat2euler(matrix)
            detection = Transform.from_parameters(tvec[0], -tvec[1], -tvec[2], rodrigues[0], -rodrigues[1], -rodrigues[2])
        return detection