april tag code incomplete

apriltag.py

@@ -0,0 +1,46 @@
+import numpy as np
+import cv2
+import matplotlib.pyplot as plt
+
+def getCallibration():
+    ret, cameraMatrix, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, frameSize, None, None)
+    return rect, cameraMatrix, dist, revecs, tvecs
+
+def findCorners(image):
+    return image.corners
+
+def drawBoundingBox(image):
+    (ptA, ptB, ptC, ptD) = image.corners
+	ptB = (int(ptB[0]), int(ptB[1]))
+	ptC = (int(ptC[0]), int(ptC[1]))
+	ptD = (int(ptD[0]), int(ptD[1]))
+	ptA = (int(ptA[0]), int(ptA[1]))
+
+    # draw the bounding box of the AprilTag detection
+	cv2.line(img_bgr, ptA, ptB, (0, 255, 0), 2)
+	cv2.line(img_bgr, ptB, ptC, (0, 255, 0), 2)
+	cv2.line(img_bgr, ptC, ptD, (0, 255, 0), 2)
+	cv2.line(img_bgr, ptD, ptA, (0, 255, 0), 2)
+
+	# draw the center (x, y)-coordinates of the AprilTag
+	(cX, cY) = (int(image.center[0]), int(image.center[1]))
+	cv2.circle(image, (cX, cY), 5, (0, 0, 255), -1)
+
+	# draw the tag family on the image
+	tagFamily = image.tag_family.decode("utf-8")
+	cv2.putText(img_bgr, tagFamily, (ptA[0], ptA[1] - 15),
+		cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+	print("[INFO] tag family: {}".format(tagFamily))
+
+    # show the output image after AprilTag detection
+    #resize later if necessary
+    plt.imshow(image)
+
+def undistort(image):
+    #slicing the datea from image.shape() to only get the height and width
+    h,  w = image.shape[:2]
+
+    newCameraMatrix, roi = cv.getOptimalNewCameraMatrix(cameraMatrix, dist, (w,h), 1, (w,h))
+
+    # Undistort
+    dst = cv.undistort(img, cameraMatrix, dist, None, newCameraMatrix)