Shunichi Kasahara shks

## opencv_rvec_tvec_to_matrix.py
retval, rvec, tvec = aruco.estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, None, None)

#rvec, tvec  : 3 float vector

#ロドリゲス公式で、rvecから回転行列へ変換する
Rmatrix, Jacob = cv2.Rodrigues(rvec)

# [3 x 4 matrix]で、R|t マトリクスを作成
RTmatrix34_L = np.concatenate([Rmatrix, tvec],  axis=1)

## projectPoints_with_matrix.py

# カメラ内部パラメータ(内部パラメータ行列)
# ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
# -----reading camera intrinsic matrix
cameraMatrix = np.loadtxt("calib/cameraMatrix.csv",delimiter=",")
distCoeffs = np.loadtxt("calib/distCoeffs.csv",delimiter=",")


# 外部パラメータ行列
# https://gist.github.com/shks/e3cd5fc22ad9f4ddbccd5312a64803c3
	retval, rvec, tvec = aruco.estimatePoseBoard(corners, ids, board, cameraMatrix, distCoeffs, None, None)

	#rvec, tvec : 3 float vector

	#ロドリゲス公式で、rvecから回転行列へ変換する
	Rmatrix, Jacob = cv2.Rodrigues(rvec)

	# [3 x 4 matrix]で、R\|t マトリクスを作成
	RTmatrix34_L = np.concatenate([Rmatrix, tvec], axis=1)

	# カメラ内部パラメータ(内部パラメータ行列)
	# ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
	# -----reading camera intrinsic matrix
	cameraMatrix = np.loadtxt("calib/cameraMatrix.csv",delimiter=",")
	distCoeffs = np.loadtxt("calib/distCoeffs.csv",delimiter=",")


	# 外部パラメータ行列
	# https://gist.github.com/shks/e3cd5fc22ad9f4ddbccd5312a64803c3