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.Vertex

Methods

adjacent()	Vertices adjacent to this vertex
closest()	Return the closest vertex to this vertex
connect(dest[, edge, cost, data])	Connect two vertices with an edge
copy([cls])	Copy a vertex
distance(coord)	Distance from vertex to point
edges()	The edges at the vertex, in the order they were connected
edges_to(dest)	All the edges from this vertex to another vertex
edgeto(dest)	The edge from this vertex to an adjacent vertex
heuristic_distance(v2)	Heuristic distance to another vertex
in_edges()	The edges entering the vertex
incidences()	Adjacent vertices paired with the edges that lead to them
isadjacent(vertex)	Test if a vertex is adjacent to this vertex
isneighbor(vertex)	Test if a vertex is adjacent to this vertex
isneighbour(vertex)	Test if a vertex is adjacent to this vertex
neighbors()	Vertices adjacent to this vertex
neighbours()	Vertices adjacent to this vertex
out_edges()	The edges leaving the vertex
predecessors()	Vertices that have an edge to this vertex
remove()	Remove this vertex, and all its edges, from its graph
successors()	Vertices that this vertex has an edge to

Properties

coord
degree	Degree of vertex
in_degree	Number of edges entering the vertex
index	Index into the state vector (base method)
index2	Index into the variable state vector (base method)
isfixed	Value is fixed (base method)
label	Number of the graph component that contains the vertex
name	Name of the vertex
out_degree	Number of edges leaving the vertex
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