ViewPoint#

class ViewPoint(x: ndarray, fixed: bool = False, color: str | None = None)[source]#

Create new camera viewpoint

Parameters:

  • x (array_like(6)) – viewpoint pose as translation + vector part of unit quaternion

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

  • color (str, optional) – color with which to draw camera icon, defaults to None

Represent a camera viewpoint in the bundle adjustment problem. If the camera 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)

pose

Get pose of camera

x

The x-coordinate of an embedded vertex

y

The y-coordinate of an embedded vertex

z

The z-coordinate of an embedded vertex