Triangulation

Two-view triangulation of points and line segments, including the variants that constrain the 3D line with a known direction (e.g. from a vanishing point) or with a point on it.

limap.estimators.triangulation.compute_epipolar_IoU(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image, arg2: limap._limap._geometry.Line2d, arg3: pycolmap._core.Image) → float

limap.estimators.triangulation.compute_essential_matrix(arg0: pycolmap._core.Rigid3d, arg1: pycolmap._core.Rigid3d) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

limap.estimators.triangulation.compute_fundamental_matrix(arg0: pycolmap._core.Image, arg1: pycolmap._core.Image) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

limap.estimators.triangulation.get_direction_from_VP(arg0: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]'], arg1: pycolmap._core.Image) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

limap.estimators.triangulation.get_normal_direction(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

limap.estimators.triangulation.triangulate_line(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image, arg2: limap._limap._geometry.Line2d, arg3: pycolmap._core.Image) → limap._limap._geometry.Line3d | None

limap.estimators.triangulation.triangulate_line_by_endpoints(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image, arg2: limap._limap._geometry.Line2d, arg3: pycolmap._core.Image) → limap._limap._geometry.Line3d | None

limap.estimators.triangulation.triangulate_line_with_direction(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image, arg2: limap._limap._geometry.Line2d, arg3: pycolmap._core.Image, arg4: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → limap._limap._geometry.Line3d | None

limap.estimators.triangulation.triangulate_line_with_one_point(arg0: limap._limap._geometry.Line2d, arg1: pycolmap._core.Image, arg2: limap._limap._geometry.Line2d, arg3: pycolmap._core.Image, arg4: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → limap._limap._geometry.Line3d | None

limap.estimators.triangulation.triangulate_point(arg0: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]'], arg1: pycolmap._core.Image, arg2: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]'], arg3: pycolmap._core.Image) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]'] | None