Bundle adjustment

Joint refinement of camera poses and structures. The adjusters build on COLMAP’s bundle adjustment and add the residuals of the LIMAP structures: lines, groups and the wireframe connecting them.

class limap.estimators.bundle_adjustment.BasePointLineBundleAdjuster

Bases: CeresBundleAdjuster

constant_lines(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → boost::unordered::unordered_flat_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

has_constant_line(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster, arg0: SupportsInt | SupportsIndex) → bool

has_variable_line(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster, arg0: SupportsInt | SupportsIndex) → bool

refine_lines(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → bool

refine_points(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → bool

variable_lines(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → boost::unordered::unordered_flat_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

weight_line(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → float

weight_point(self: limap._limap._estimators._bundle_adjustment.BasePointLineBundleAdjuster) → float

class limap.estimators.bundle_adjustment.GroupBundleAdjuster

Bases: BasePointLineBundleAdjuster

constant_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster) → boost::unordered::unordered_node_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

has_constant_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster, arg0: SupportsInt | SupportsIndex) → bool

has_variable_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster, arg0: SupportsInt | SupportsIndex) → bool

refine_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster) → bool

variable_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster) → boost::unordered::unordered_node_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

weight_plane(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster) → float

weight_vp(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjuster) → float

class limap.estimators.bundle_adjustment.GroupBundleAdjustmentConfig

Bases: PointLineBundleAdjustmentConfig

add_constant_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

add_variable_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

constant_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig) → boost::unordered::unordered_node_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

has_constant_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

has_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

has_variable_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

num_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig) → int

remove_constant_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

remove_variable_group(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

variable_groups(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentConfig) → boost::unordered::unordered_node_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

class limap.estimators.bundle_adjustment.GroupBundleAdjustmentOptions

Bases: PointLineBundleAdjustmentOptions

property angular_constraint_min_covisible_images

Type:

(int, default

Type:

(int, default

property angular_constraint_threshold_deg

5.0)

Type:: (float, default
Type:: 5.0) (float, default

property enforce_plane_angular_constraints

True)

Type:: (bool, default
Type:: True) (bool, default

property enforce_vp_angular_constraints

True)

Type:: (bool, default
Type:: True) (bool, default

property loss_function_scale_angle

0.2)

Type:: (float, default
Type:: 0.2) (float, default

property loss_function_scale_angular_constraint

0.1)

Type:: (float, default
Type:: 0.1) (float, default

property loss_function_scale_reprojection

1.5)

Type:: (float, default
Type:: 1.5) (float, default

property loss_function_type_angle

LossFunctionType.CAUCHY)

Type:: (LossFunctionType, default
Type:: LossFunctionType.CAUCHY) (LossFunctionType, default

property loss_function_type_angular_constraint

LossFunctionType.CAUCHY)

Type:: (LossFunctionType, default
Type:: LossFunctionType.CAUCHY) (LossFunctionType, default

property loss_function_type_reprojection

LossFunctionType.CAUCHY)

Type:: (LossFunctionType, default
Type:: LossFunctionType.CAUCHY) (LossFunctionType, default

mergedict(self: object, kwargs: dict) → None

property min_active_group_associations

Type:

(int, default

Type:

(int, default

property min_reliable_group_associations_step2

Type:

(int, default

Type:

(int, default

property refine_groups

True)

Type:: (bool, default
Type:: True) (bool, default

todict(self: limap._limap._estimators._bundle_adjustment.GroupBundleAdjustmentOptions, recursive: bool = True) → dict

property vp_residual_type

sin)

Type:: (str, default
Type:: sin) (str, default

property weight_plane

0.5)

Type:: (float, default
Type:: 0.5) (float, default

property weight_plane_angular_constraint

100000.0)

Type:: (float, default
Type:: 100000.0) (float, default

property weight_vp

5000.0)

Type:: (float, default
Type:: 5000.0) (float, default

property weight_vp_angular_constraint

100000.0)

Type:: (float, default
Type:: 100000.0) (float, default

class limap.estimators.bundle_adjustment.PointLineBundleAdjustmentConfig

Bases: BundleAdjustmentConfig

add_constant_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

add_variable_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

constant_lines(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig) → boost::unordered::unordered_flat_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >

has_constant_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

has_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

has_variable_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → bool

num_lines(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig) → int

remove_constant_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

remove_variable_line(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig, arg0: SupportsInt | SupportsIndex) → None

variable_lines(self: limap._limap._estimators._bundle_adjustment.PointLineBundleAdjustmentConfig) → boost::unordered::unordered_flat_set<unsigned long, std::hash<unsigned long>, std::equal_to<unsigned long>, std::allocator<unsigned long> >