def init(cls, typ, class2type):
        """
        Defines custom fields in the value factory so that the importer can find them
        @param typ
        @param class2type
        """
        field = typ.getField(cls.FIELD_NAME)
        class2type.put( StrStrHashMap , typ )
        typ.setComponentType( StrStrHashMap )
        typ.setImportExportHelper( StrStrHashMapSerializer(typ, field))
        typ.putValidator(field, Validator_object.get(1))
        typ.lock()
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)