def load(self, filename, create_if_missing=True):
        filename = Path(filename)
        if not filename.exists() and create_if_missing:
            self.load_pip_requirements()
            with filename.open("w") as f:
                f.write(yaml.dump(self.serialized, default_flow_style=False,
                                  encoding=None))
            self.filename = filename
            return self.save(filename)
        with filename.open() as f:
            for group, requirements in yaml.load(f.read()).items():
                for requirement in requirements:
                    self[group].add(Requirement.coerce(requirement))
        self.filename = filename
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)