Estimate absolute pose
- class limap.estimators.absolute_pose.PointLineAbsolutePoseOptions
Bases:
pybind11_object- property estimate_focal_length
False)
- Type:
(bool, default
- property max_error_line
12.0)
- Type:
(float, default
- property max_error_point
12.0)
- Type:
(float, default
- property max_iterations
- Type:
(int, default
- mergedict(self: object, kwargs: dict) None
- property min_iterations
- Type:
(int, default
- property random_seed
True)
- Type:
(bool, default
- property seed
- Type:
(int, default
- property success_prob
0.9999)
- Type:
(float, default
- summary(self: limap._limap._estimators._absolute_pose.PointLineAbsolutePoseOptions, write_type: bool = False) str
- todict(self: limap._limap._estimators._absolute_pose.PointLineAbsolutePoseOptions, recursive: bool = True) dict
- property weight_line
1.0)
- Type:
(float, default
- property weight_point
1.0)
- Type:
(float, default
- class limap.estimators.absolute_pose.PointLineAbsolutePoseResult
Bases:
pybind11_object- property camera
None)
- Type:
(NoneType, default
- property inliers_lines
[])
- Type:
(list, default
- property inliers_points
[])
- Type:
(list, default
- property iterations
- Type:
(int, default
- mergedict(self: object, kwargs: dict) None
- property model_score
1.7976931348623157e+308)
- Type:
(float, default
- property num_inliers
- Type:
(int, default
- property num_inliers_lines
- Type:
(int, default
- property num_inliers_points
- Type:
(int, default
- property pose
Rigid3d(rotation_xyzw=[0, 0, 0, 1], translation=[0, 0, 0]))
- Type:
(Rigid3d, default
- property success
False)
- Type:
(bool, default
- summary(self: limap._limap._estimators._absolute_pose.PointLineAbsolutePoseResult, write_type: bool = False) str
- todict(self: limap._limap._estimators._absolute_pose.PointLineAbsolutePoseResult, recursive: bool = True) dict
- limap.estimators.absolute_pose.estimate_absolute_pose(l3ds: list[Line3d], l2ds: list[Line2d], p3ds: list[np.ndarray], p2ds: list[np.ndarray], camera: pycolmap.Camera, options: _estimators.PointLineAbsolutePoseOptions | None = None) _estimators.PointLineAbsolutePoseResult
Estimate absolute camera pose from point and line correspondences.
Uses PoseLib’s hybrid RANSAC with adaptive solver selection (P3P, P2P1LL, P1P2LL, P3LL).
- Parameters:
l3ds – Matched 3D line segments (same size as l2ds)
l2ds – Matched 2D lines (same size as l3ds)
p3ds – Matched 3D points (same size as p2ds)
p2ds – Matched 2D points (same size as p3ds)
camera – Camera intrinsics
options – Estimation options (uses defaults if None)
- Returns:
PointLineAbsolutePoseResult containing pose and RANSAC statistics
- limap.estimators.absolute_pose.estimate_point_line_absolute_pose(l3ds: collections.abc.Sequence[limap._limap._geometry.Line3d], l2ds: collections.abc.Sequence[limap._limap._geometry.Line2d], p3ds: collections.abc.Sequence[Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']], p2ds: collections.abc.Sequence[Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]']], cam: pycolmap._core.Camera, options: limap._limap._estimators._absolute_pose.PointLineAbsolutePoseOptions) limap._limap._estimators._absolute_pose.PointLineAbsolutePoseResult