marker.py 文件源码

def calculateExtrinsics(self, cameraParameters):
        '''
        Inputs:
        cameraParameters is CameraParameters object

        Calculate: rotate vector and transform vector

        >>> marker.calculateExtrinsics(camera_matrix, dist_coeff)
        >>> print(marker.rvec, marker.tvec)
        '''
        object_points = np.zeros((4,3), dtype=np.float32)
        object_points[:,:2] = np.mgrid[0:2,0:2].T.reshape(-1,2)
        # Test Code.
        # object_points[:] -= 0.5
        marker_points = self.corners
        if marker_points is None: raise TypeError('The marker.corners is None')
        camera_matrix = cameraParameters.camera_matrix
        dist_coeff = cameraParameters.dist_coeff
        ret, rvec, tvec = cv2.solvePnP(object_points, marker_points,
                                       camera_matrix, dist_coeff)
        if ret: self.rvec, self.tvec = rvec, tvec
        return ret