import numpy as np
from scipy.optimize import minimize

#保存相机内参、外参等参数
class Model:
    def __init__(self):
        self.K = np.array([[801.8319, 0, 647.8920],
                           [0, 801.7619, 532],
                           [0, 0, 1]])
        self.f = 3.6
        self.H = 1019.0000170167332-9
        self.dx = self.f / self.K[0, 0]
        self.dy = self.f / self.K[1, 1]
        self.u0 = self.K[0, 2]
        self.v0 = self.K[1, 2]
        # self.alpha = 0.7474
        # self.beta = 0.954
        self.alpha = 0.7072338025822084
        self.beta = 0.9077237961986776
        # self.alpha = 0.7281555851322634
        # self.beta = 0.8871365166099384
        # X轴距离车轮线的距离
        self.distance = 60
        self.tire_x = 160
        self.tire_y = 22
        #位置修正
        self.y = -70
        self.x = 22