reference_surface.py 文件源码

def add_marker(self,marker,visible_markers,camera_calibration,min_marker_perimeter,min_id_confidence):
        '''
        add marker to surface.
        '''
        res = self._get_location(visible_markers,camera_calibration,min_marker_perimeter,min_id_confidence,locate_3d=False)
        if res['detected']:
            support_marker = Support_Marker(marker['id'])
            marker_verts = np.array(marker['verts'])
            marker_verts.shape = (-1,1,2)
            marker_verts_undistorted_normalized = cv2.undistortPoints(marker_verts, camera_calibration['camera_matrix'],camera_calibration['dist_coefs']*self.use_distortion)
            marker_uv_coords =  cv2.perspectiveTransform(marker_verts_undistorted_normalized,res['m_from_undistored_norm_space'])
            support_marker.load_uv_coords(marker_uv_coords)
            self.markers[marker['id']] = support_marker