Merge pull request #12948 from catree:add_drawFrameAxes

modules/calib3d/include/opencv2/calib3d.hpp

@@ -860,6 +860,26 @@ found, or as colored corners connected with lines if the board was found.
 CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
                                          InputArray corners, bool patternWasFound );
 
+/** @brief Draw axes of the world/object coordinate system from pose estimation. @sa solvePnP
+
+@param image Input/output image. It must have 1 or 3 channels. The number of channels is not altered.
+@param cameraMatrix Input 3x3 floating-point matrix of camera intrinsic parameters.
+\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+@param distCoeffs Input vector of distortion coefficients
+\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
+4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed.
+@param rvec Rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
+the model coordinate system to the camera coordinate system.
+@param tvec Translation vector.
+@param length Length of the painted axes in the same unit than tvec (usually in meters).
+@param thickness Line thickness of the painted axes.
+
+This function draws the axes of the world/object coordinate system w.r.t. to the camera frame.
+OX is drawn in red, OY in green and OZ in blue.
+ */
+CV_EXPORTS_W void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
+                                InputArray rvec, InputArray tvec, float length, int thickness=3);
+
 struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters
 {
     CV_WRAP CirclesGridFinderParameters();