Observation

class Observation(camera: ViewPoint, landmark: Landmark, uv: ndarray)

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)	Add edge to the graph
next(vertex)	Return other end of an edge
vertices()

Properties

endpoints
p	Get image plane projection