limap.estimators package
Estimation of 3D structures and camera poses: triangulation of lines, robust fitting of 3D lines and group primitives, absolute pose estimation and the bundle adjusters.
Module Contents:
- Triangulation
- Estimate 3D lines
- Estimate 3D groups
- Estimate absolute pose
PointLineAbsolutePoseOptionsPointLineAbsolutePoseOptions.estimate_focal_lengthPointLineAbsolutePoseOptions.max_error_linePointLineAbsolutePoseOptions.max_error_pointPointLineAbsolutePoseOptions.max_iterationsPointLineAbsolutePoseOptions.mergedict()PointLineAbsolutePoseOptions.min_iterationsPointLineAbsolutePoseOptions.random_seedPointLineAbsolutePoseOptions.seedPointLineAbsolutePoseOptions.success_probPointLineAbsolutePoseOptions.summary()PointLineAbsolutePoseOptions.todict()PointLineAbsolutePoseOptions.weight_linePointLineAbsolutePoseOptions.weight_point
PointLineAbsolutePoseResultPointLineAbsolutePoseResult.cameraPointLineAbsolutePoseResult.inliers_linesPointLineAbsolutePoseResult.inliers_pointsPointLineAbsolutePoseResult.iterationsPointLineAbsolutePoseResult.mergedict()PointLineAbsolutePoseResult.model_scorePointLineAbsolutePoseResult.num_inliersPointLineAbsolutePoseResult.num_inliers_linesPointLineAbsolutePoseResult.num_inliers_pointsPointLineAbsolutePoseResult.posePointLineAbsolutePoseResult.successPointLineAbsolutePoseResult.summary()PointLineAbsolutePoseResult.todict()
estimate_absolute_pose()estimate_point_line_absolute_pose()
- Bundle adjustment
BasePointLineBundleAdjusterBasePointLineBundleAdjuster.constant_lines()BasePointLineBundleAdjuster.has_constant_line()BasePointLineBundleAdjuster.has_variable_line()BasePointLineBundleAdjuster.refine_lines()BasePointLineBundleAdjuster.refine_points()BasePointLineBundleAdjuster.variable_lines()BasePointLineBundleAdjuster.weight_line()BasePointLineBundleAdjuster.weight_point()
GroupBundleAdjusterGroupBundleAdjustmentConfigGroupBundleAdjustmentConfig.add_constant_group()GroupBundleAdjustmentConfig.add_variable_group()GroupBundleAdjustmentConfig.constant_groups()GroupBundleAdjustmentConfig.has_constant_group()GroupBundleAdjustmentConfig.has_group()GroupBundleAdjustmentConfig.has_variable_group()GroupBundleAdjustmentConfig.num_groups()GroupBundleAdjustmentConfig.remove_constant_group()GroupBundleAdjustmentConfig.remove_variable_group()GroupBundleAdjustmentConfig.variable_groups()
GroupBundleAdjustmentOptionsGroupBundleAdjustmentOptions.angular_constraint_min_covisible_imagesGroupBundleAdjustmentOptions.angular_constraint_threshold_degGroupBundleAdjustmentOptions.enforce_plane_angular_constraintsGroupBundleAdjustmentOptions.enforce_vp_angular_constraintsGroupBundleAdjustmentOptions.loss_function_scale_angleGroupBundleAdjustmentOptions.loss_function_scale_angular_constraintGroupBundleAdjustmentOptions.loss_function_scale_reprojectionGroupBundleAdjustmentOptions.loss_function_type_angleGroupBundleAdjustmentOptions.loss_function_type_angular_constraintGroupBundleAdjustmentOptions.loss_function_type_reprojectionGroupBundleAdjustmentOptions.mergedict()GroupBundleAdjustmentOptions.min_active_group_associationsGroupBundleAdjustmentOptions.min_reliable_group_associations_step2GroupBundleAdjustmentOptions.refine_groupsGroupBundleAdjustmentOptions.todict()GroupBundleAdjustmentOptions.vp_residual_typeGroupBundleAdjustmentOptions.weight_planeGroupBundleAdjustmentOptions.weight_plane_angular_constraintGroupBundleAdjustmentOptions.weight_vpGroupBundleAdjustmentOptions.weight_vp_angular_constraint
PointLineBundleAdjustmentConfigPointLineBundleAdjustmentConfig.add_constant_line()PointLineBundleAdjustmentConfig.add_variable_line()PointLineBundleAdjustmentConfig.constant_lines()PointLineBundleAdjustmentConfig.has_constant_line()PointLineBundleAdjustmentConfig.has_line()PointLineBundleAdjustmentConfig.has_variable_line()PointLineBundleAdjustmentConfig.num_lines()PointLineBundleAdjustmentConfig.remove_constant_line()PointLineBundleAdjustmentConfig.remove_variable_line()PointLineBundleAdjustmentConfig.variable_lines()
PointLineBundleAdjustmentOptionsPointLineBundleAdjustmentOptions.line_weight_normalization_lengthPointLineBundleAdjustmentOptions.loss_function_scale_linePointLineBundleAdjustmentOptions.loss_function_type_linePointLineBundleAdjustmentOptions.mergedict()PointLineBundleAdjustmentOptions.refine_linesPointLineBundleAdjustmentOptions.refine_pointsPointLineBundleAdjustmentOptions.todict()PointLineBundleAdjustmentOptions.use_parameter_block_orderingPointLineBundleAdjustmentOptions.weight_linePointLineBundleAdjustmentOptions.weight_point
StructureBundleAdjusterStructureBundleAdjustmentConfigStructureBundleAdjustmentOptionsStructureBundleAdjustmentOptions.force_reconstruct_wireframe3dStructureBundleAdjustmentOptions.loss_function_scale_wireframeStructureBundleAdjustmentOptions.loss_function_type_wireframeStructureBundleAdjustmentOptions.mergedict()StructureBundleAdjustmentOptions.refine_wireframeStructureBundleAdjustmentOptions.todict()StructureBundleAdjustmentOptions.weight_wireframeStructureBundleAdjustmentOptions.wireframe_voting
WireframeBundleAdjusterWireframeBundleAdjustmentOptionsWireframeBundleAdjustmentOptions.force_reconstruct_wireframe3dWireframeBundleAdjustmentOptions.loss_function_scale_wireframeWireframeBundleAdjustmentOptions.loss_function_type_wireframeWireframeBundleAdjustmentOptions.mergedict()WireframeBundleAdjustmentOptions.refine_wireframeWireframeBundleAdjustmentOptions.todict()WireframeBundleAdjustmentOptions.weight_wireframeWireframeBundleAdjustmentOptions.wireframe_voting
create_group_bundle_adjuster()create_point_line_bundle_adjuster()create_structure_bundle_adjuster()create_wireframe_bundle_adjuster()
- RANSAC