一个单目定位问题

from tkinter import Y
import numpy as np
input_params = {
"pt":{
"down":[2021,1693],
"left":[1700,1458],
"right":[2431,1464],
"up":[2102,1268]
},
"camera":{
"image_size":[4624, 2064],
"focal_length":25e-2
}
}
def get_two_points_angle(pt1, pt2, focal_length):
x = np.abs(pt1[0] - pt2[0]);
y = np.abs(pt1[1] - pt2[1]);
lenInPos = np.sqrt(x*x + y*y)
angle = np.arctan2(lenInPos, focal_length)
return (angle, lenInPos, x, y)
def get_four_edge_angle(input_params):
up_left, _, _, _ = get_two_points_angle(input_params["pt"]["up"],input_params["pt"]["left"], input_params["camera"]["focal_length"]);
up_right, _, _, _ = get_two_points_angle(input_params["pt"]["up"],input_params["pt"]["right"], input_params["camera"]["focal_length"]);
down_left, _, _, _ = get_two_points_angle(input_params["pt"]["down"],input_params["pt"]["left"], input_params["camera"]["focal_length"]);
down_right, _, _, _ = get_two_points_angle(input_params["pt"]["down"],input_params["pt"]["right"], input_params["camera"]["focal_length"]);
return (up_left, up_right, down_left, down_right)
def calc_camera_pos(input_params):
print(input_params)
edgeAngles = get_four_edge_angle(input_params)
print(edgeAngles)
if __name__ == "__main__":
calc_camera_pos(input_params)
返回值：
{'pt': {'down': [2021, 1693], 'left': [1700, 1458], 'right': [2431, 1464], 'up': [2102, 1268]}, 'camera': {'image_size': [4624, 2064], 'focal_length': 0.25}}
(1.570234073207835, 1.5701435141642968, 1.5701679123802046, 1.5702639791980226)
有趣，似乎我只是验算了4边相对摄像机镜头的夹角相等。