def __create_context(self, main_root):
		context_dir = os.path.join(main_root, 'context')
		safe_mkdir(context_dir)

		action_default = {}
		for unit, param in self.__task.data['workflow'].items():
			action_default[unit] = self.__action_mgr.default_config(param['type'])

		navigators = self.__config_mgr.navigator()
		context_format = self.__navigator_mgr.context_format(navigators)

		self.__context_mgr.create_context_file(self.__task.data, action_default, context_format, context_dir)
def draw_axis(img, charuco_corners, charuco_ids, board):
    vecs = np.load("./calib.npz")  # I already calibrated the camera
    mtx, dist, _, _ = [vecs[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
    ret, rvec, tvec = cv2.aruco.estimatePoseCharucoBoard(
        charuco_corners, charuco_ids, board, mtx, dist)
    if ret is not None and ret is True:
        cv2.aruco.drawAxis(img, mtx, dist, rvec, tvec, 0.1)