Landmark

class Landmark(P: ndarray, fixed: bool = False)

Create new landmark point

Parameters:

• P (ndarray(3)) – landmark coordinate

• fixed (bool, optional) – point is fixed, defaults to False

Represent a world point in the bundle adjustment problem. If the point is not fixed it will be adjusted during the optimization.

Seealso:

pgraph.UVertex

Methods

closest()
connect(other, **kwargs)	Connect two vertices with an edge
copy([cls])
distance(coord)	Distance from vertex to point
edges()	All outgoing edges of vertex
edgeto(dest)	Get edge connecting vertex to specific neighbour
heuristic_distance(v2)
incidences()	Neighbours and edges of a vertex
isneighbour(vertex)	Test if vertex is a neigbour
neighbors()	Neighbors of a vertex
neighbours()	Neighbours of a vertex

Properties

degree	Degree of vertex
index	Index into the state vector (base method)
index2	Index into the variable state vector (base method)
isfixed	Value is fixed (base method)
P	Get landmark position
x	The x-coordinate of an embedded vertex
y	The y-coordinate of an embedded vertex
z	The z-coordinate of an embedded vertex