def __init__(self, manager, task_id, sub_ids=None, dry_run=False, resubmit=False):
		self.__manager = manager
		self.__task	= self.__manager.load_task(task_id)
		self.__sub_ids = sub_ids
		self.__dry_run = dry_run
		self.__resubmit = resubmit

		self.__logger = logging.getLogger('JSUB')
		if self.__sub_ids==None:
			self.__sub_ids=range(len(self.__task.data['jobvar']))

		self.__initialize_manager()
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)