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import numpy as np
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from scipy.optimize import minimize
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#保存相机内参、外参等参数
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# class Model:
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# def __init__(self):
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# # 内参
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# self.K = np.array([[801.8319, 0, 647.8920],
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# [0, 801.7619, 532],
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# [0, 0, 1]])
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# self.f = 3.6
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# self.H = 1019.0000170167332
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# self.dx = self.f / self.K[0, 0]
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# self.dy = self.f / self.K[1, 1]
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# self.u0 = self.K[0, 2]
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# self.v0 = self.K[1, 2]
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# # 外参
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# self.alpha = 0.7072338025822084
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# self.beta = 0.9077237961986776
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# # 位置修正
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# self.y = -70
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# self.x = 22
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# # 数据截断线
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# self.limit_slope = 0.3259949467095897
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# self.limit_intercept = 452.86565535382374
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class Model:
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def __init__(self):
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# 内参
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self.K = np.array([[1.08632711e+03, 0.00000000e+00, 6.57410789e+02],
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[0.00000000e+00, 1.08644329e+03, 960-4.83660145e+02],
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[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
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self.f = 3.6
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self.H = 1009.0000170167332
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self.dx = self.f / self.K[0, 0]
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self.dy = self.f / self.K[1, 1]
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self.u0 = self.K[0, 2]
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self.v0 = self.K[1, 2]
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# 外参
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# self.alpha = 8.749e-01
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# self.beta = 7.664e-01
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self.alpha = 9.951e-01
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self.beta = 7.263e-01
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# 位置修正
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self.y = -50
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self.x = 22
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# 数据截断线
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self.limit_slope = 0.3259949467095897
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self.limit_intercept = 452.86565535382374
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