Observation#

class Observation(camera: ViewPoint, landmark: Landmark, uv: ndarray)[source][source]#

Create new landmark observation

Parameters:

  • camera (ViewPoint) – the camera that made the observation

  • landmark (Landmark) – the observed landmark

  • uv (ndarray(2)) – the image plane coordinates of the observed landmark

Represent the observation of a point by a camera in the bundle adjustment problem.

Seealso:

pgraph.Edge

Methods

connect(v1, v2)

Attach this edge to a pair of vertices

next(vertex)

Return other end of an edge

remove()

Remove this edge from its graph

vertices()

Vertices of an edge (deprecated)

Properties

endpoints

The two vertices of this edge

p

Get image plane projection

v1

First vertex of the edge, the start vertex for a directed edge

v2

Second vertex of the edge, the end vertex for a directed edge