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):
#         # 内参
#         self.K = np.array([[801.8319, 0, 647.8920],
#                            [0, 801.7619, 532],
#                            [0, 0, 1]])
#         self.f = 3.6
#         self.H = 1019.0000170167332
#         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]
#         # 外参
#         self.alpha = 0.7072338025822084
#         self.beta = 0.9077237961986776
#         # 位置修正
#         self.y = -70
#         self.x = 22
#         # 数据截断线
#         self.limit_slope = 0.3259949467095897
#         self.limit_intercept = 452.86565535382374

class Model:
    def __init__(self):
        # 内参
        self.K = np.array([[1.08632711e+03, 0.00000000e+00, 6.57410789e+02],
                            [0.00000000e+00, 1.08644329e+03, 960-4.83660145e+02],
                            [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
        self.f = 3.6
        self.H = 1009.0000170167332
        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]
        # 外参
        # self.alpha = 8.749e-01
        # self.beta = 7.664e-01
        self.alpha = 9.951e-01
        self.beta = 7.263e-01
        # 位置修正
        self.y = -50
        self.x = 22
        # 数据截断线
        self.limit_slope = 0.3259949467095897
        self.limit_intercept = 452.86565535382374