def handle(self):
		run_root = self.__backend_mgr.get_run_root(self.__task.data['backend'], self.__task.data['id'])

		main_root = os.path.join(run_root, 'main')

		safe_rmdir(main_root)
		safe_mkdir(main_root)

		self.__create_input(main_root)
		self.__create_context(main_root)
		self.__create_action(main_root)
		self.__create_navigator(main_root)
		self.__create_bootstrap(main_root)

		launcher_param = self.__create_launcher(run_root)

		self.__submit(launcher_param)
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)