Building Computer Vision Projects with OpenCV 4 and C++

Projecting the pose on the image

After obtaining the rotation and translation, we project four points from the object coordinate space to the preceding image: tip of the nose, x axis direction, y axis direction, and z axis direction, and draw the arrows in the preceding image:

vector<Point3f> objectPointsForReprojection {        objectPoints[2],                   // tip of nose        objectPoints[2] + Point3f(0,0,15), // nose and Z-axis        objectPoints[2] + Point3f(0,15,0), // nose and Y-axis        objectPoints[2] + Point3f(15,0,0)  // nose and X-axis};//...vector<Point2f> projectionOutput(objectPointsForReprojection.size());projectPoints(objectPointsForReprojection, rvec, tvec, K, Mat(), projectionOutput);arrowedLine(out, projectionOutput[0], projectionOutput[1], Scalar(255,255 ...