How to do it with another input size? about cal_pnp HOT 7 CLOSED

from_pt = [[ 426.5,  640],
       [ 719 ,  503.5],
       [ 873.5,  513],
       [1194.5,  561.5],
       [1469.5,  589 ],
       [1404.5,  614],
       [1519 ,  751.5],
       [1660 , 1014 ],
       [ 460.5,  614.5]]
to_pt = [[28.605053, -81.196441],
      [28.605271, -81.196252],
      [28.605189, -81.196192],
      [28.605038, -81.196111],
      [28.604943, -81.196044],
      [28.604938, -81.196108],
      [28.604849, -81.196214],
      [28.604783, -81.196325],
      [28.605071, -81.196426]]
#Fill the matrices
A_data = []
for pt in from_pt:
    A_data.append( [-pt[1], pt[0], 1, 0] )
    A_data.append( [ pt[0], pt[1], 0, 1] )
b_data = []
for pt in to_pt:
    b_data.append(pt[0])
    b_data.append(pt[1])
A = np.matrix( A_data )
b = np.matrix( b_data ).T
c = np.linalg.lstsq(A, b)[0].T
c = np.array(c)[0]
print("Solved coefficients:")
print(c)
print("Translated 'from_pt':")
#These will be identical to 'to_pt' since
#ur example transformation is exact
for pt in from_pt:
    print ("%f, %f" % (
    c[1]*pt[0] - c[0]*pt[1] + c[2],
    c[1]*pt[1] + c[0]*pt[0] + c[3] ))
#calculate error
from math import radians, degrees, sin, cos, asin, acos, sqrt
def great_circle(lon1, lat1, lon2, lat2):
    lon1, lat1, lon2, lat2 = map(radians, [lon1, lat1, lon2, lat2])    
    return 6371 * (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon1 - lon2)))
total_dis = 0
for i in range(9):
    print(i)
    pt = from_pt[i]
    lon1,lat1 = (
    c[1]*pt[0] - c[0]*pt[1] + c[2],
    c[1]*pt[1] + c[0]*pt[0] + c[3] )  
    print(lat1,lon1)
    lon2,lat2 = to_pt[i]
    print(lat2,lon2)
    distance = great_circle(lon1,lat1,lon2,lat2)
    total_dis += distance
total_dis
#Reference
https://elonen.iki.fi/code/misc-notes/2d-rigid-fit/index.html