Method destroy_node

tinynav/core/map_node.py:550–558

(self)

            u = int(kp[0])
            v = int(kp[1])
            Z = depth[v, u]
            if Z > 0 and Z < 50:
                X = (u - cx) * Z / fx
                Y = (v - cy) * Z / fy
                inliers.append(True)
            else:
                X = 0
                Y = 0
                inliers.append(False)
            point_in_camera.append(np.array([X, Y, Z]))
        # shape: (N, 3)
        point_in_camera = np.array(point_in_camera)