Group primitives

“Groups” is the umbrella term for vanishing points, planes and parametric primitives (sphere, cylinder, ellipsoid, cuboid, cone). Each type is identified by a GroupType and parameterized by a flat vector of parameters, whose layout and length depend on the type. The helpers below query, initialize and normalize those parameters.

class limap.geometry.GroupType

Members:

INVALID

VP

PLANE

SPHERE

CYLINDER

ELLIPSOID

CUBOID

CONE

CONE = <GroupType.CONE: 6>

CUBOID = <GroupType.CUBOID: 5>

CYLINDER = <GroupType.CYLINDER: 3>

ELLIPSOID = <GroupType.ELLIPSOID: 4>

INVALID = <GroupType.INVALID: -1>

PLANE = <GroupType.PLANE: 1>

SPHERE = <GroupType.SPHERE: 2>

VP = <GroupType.VP: 0>

GroupType.name -> str

property value

limap.geometry.get_num_params_in_2d_by_group_type(type: limap._limap._geometry.GroupType) → int: Get number of parameters for the corresponding group type in 2D

limap.geometry.get_num_params_in_3d_by_group_type(type: limap._limap._geometry.GroupType) → int: Get number of parameters for the corresponding group type in 3D

limap.geometry.get_default_group_params_2d(type: limap._limap._geometry.GroupType) → list[float]: Get default 2D parameters for a group type

limap.geometry.get_default_group_params_3d(type: limap._limap._geometry.GroupType) → list[float]: Get default 3D parameters for a group type

limap.geometry.initialize_group_params(type: limap._limap._geometry.GroupType, points: collections.abc.Sequence[Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']], lines: collections.abc.Sequence[limap::Line3d], init_ransac_thresh: SupportsFloat | SupportsIndex = -1.0) → list[float] | None: Initialize group parameters from geometric features. Returns the parameter vector if successful, None otherwise. If init_ransac_thresh <= 0, uses the group’s default threshold.

limap.geometry.normalize_group_params_3d(type: limap._limap._geometry.GroupType, params: collections.abc.Sequence[SupportsFloat | SupportsIndex]) → list[float]: Normalize 3D group parameters to canonical form. Returns normalized params.

limap.geometry.check_group_params_3d(type: limap._limap._geometry.GroupType, params: collections.abc.Sequence[SupportsFloat | SupportsIndex], tol: SupportsFloat | SupportsIndex = 1e-06) → bool: Check if 3D group parameters are valid and normalized