Lines

class limap.geometry.Line2d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._geometry.Line2d) -> None

2. __init__(self: limap._limap._geometry.Line2d, seg2d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[m, n]”]) -> None

3. __init__(self: limap._limap._geometry.Line2d, start: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[2, 1]”], end: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[2, 1]”]) -> None

as_array(self: limap._limap._geometry.Line2d) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, n]']

coords(self: limap._limap._geometry.Line2d) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

direction(self: limap._limap._geometry.Line2d) → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

has_line3D(self: limap._limap._geometry.Line2d) → bool

length(self: limap._limap._geometry.Line2d) → float

midpoint(self: limap._limap._geometry.Line2d) → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

perp_direction(self: limap._limap._geometry.Line2d) → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

point_distance(self: limap._limap._geometry.Line2d, p: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]']) → float

point_projection(self: limap._limap._geometry.Line2d, p: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

property end

property line3D_id

property score

property start

class limap.geometry.Line3d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._geometry.Line3d) -> None

2. __init__(self: limap._limap._geometry.Line3d, seg3d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[m, n]”]) -> None

3. __init__(self: limap._limap._geometry.Line3d, start: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”], end: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”], uncertainty: typing.SupportsFloat | typing.SupportsIndex = -1.0) -> None

as_array(self: limap._limap._geometry.Line3d) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, n]']

compute_uncertainty(self: limap._limap._geometry.Line3d, image: pycolmap._core.Image, var2d: SupportsFloat | SupportsIndex = 5.0) → float

direction(self: limap._limap._geometry.Line3d) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

length(self: limap._limap._geometry.Line3d) → float

midpoint(self: limap._limap._geometry.Line3d) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

point_distance(self: limap._limap._geometry.Line3d, p: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → float

point_projection(self: limap._limap._geometry.Line3d, p: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

projection(self: limap._limap._geometry.Line3d, image: pycolmap._core.Image) → limap._limap._geometry.Line2d | None

sensitivity(self: limap._limap._geometry.Line3d, image: pycolmap._core.Image) → float

set_uncertainty(self: limap._limap._geometry.Line3d, val: SupportsFloat | SupportsIndex) → None

property end

property start

property track

property uncertainty

class limap.geometry.InfiniteLine2d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._geometry.InfiniteLine2d) -> None

2. __init__(self: limap._limap._geometry.InfiniteLine2d, coords: Eigen::Matrix<double, 3, 1, 0, 3, 1>) -> None

3. __init__(self: limap._limap._geometry.InfiniteLine2d, point: Eigen::Matrix<double, 2, 1, 0, 2, 1>, direction: Eigen::Matrix<double, 2, 1, 0, 2, 1>) -> None

4. __init__(self: limap._limap._geometry.InfiniteLine2d, line: limap._limap._geometry.Line2d) -> None

direction(self: limap._limap._geometry.InfiniteLine2d) → Eigen::Matrix<double, 2, 1, 0, 2, 1>

point(self: limap._limap._geometry.InfiniteLine2d) → Eigen::Matrix<double, 2, 1, 0, 2, 1>

point_distance(self: limap._limap._geometry.InfiniteLine2d, q: Eigen::Matrix<double, 2, 1, 0, 2, 1>) → float

point_projection(self: limap._limap._geometry.InfiniteLine2d, q: Eigen::Matrix<double, 2, 1, 0, 2, 1>) → Eigen::Matrix<double, 2, 1, 0, 2, 1>

property coords

class limap.geometry.InfiniteLine3d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._geometry.InfiniteLine3d) -> None

2. __init__(self: limap._limap._geometry.InfiniteLine3d, a: Eigen::Matrix<double, 3, 1, 0, 3, 1>, b: Eigen::Matrix<double, 3, 1, 0, 3, 1>, use_normal: bool = True) -> None

3. __init__(self: limap._limap._geometry.InfiniteLine3d, line: limap._limap._geometry.Line3d) -> None

direction(self: limap._limap._geometry.InfiniteLine3d) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

matrix(self: limap._limap._geometry.InfiniteLine3d) → Eigen::Matrix<double, 4, 4, 0, 4, 4>

point(self: limap._limap._geometry.InfiniteLine3d) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

point_distance(self: limap._limap._geometry.InfiniteLine3d, q: Eigen::Matrix<double, 3, 1, 0, 3, 1>) → float

point_projection(self: limap._limap._geometry.InfiniteLine3d, q: Eigen::Matrix<double, 3, 1, 0, 3, 1>) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

project_from_infinite_line(self: limap._limap._geometry.InfiniteLine3d, line: limap._limap._geometry.InfiniteLine3d) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

project_to_infinite_line(self: limap._limap._geometry.InfiniteLine3d, line: limap._limap._geometry.InfiniteLine3d) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

projection(self: limap._limap._geometry.InfiniteLine3d, image: pycolmap._core.Image) → limap._limap._geometry.InfiniteLine2d

unprojection(self: limap._limap._geometry.InfiniteLine3d, p2d: Eigen::Matrix<double, 2, 1, 0, 2, 1>, image: pycolmap._core.Image) → Eigen::Matrix<double, 3, 1, 0, 3, 1>

property d

property m

class limap.geometry.MinimalInfiniteLine3d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._geometry.MinimalInfiniteLine3d) -> None

2. __init__(self: limap._limap._geometry.MinimalInfiniteLine3d, line: limap._limap._geometry.Line3d) -> None

3. __init__(self: limap._limap._geometry.MinimalInfiniteLine3d, inf_line: limap._limap._geometry.InfiniteLine3d) -> None

4. __init__(self: limap._limap._geometry.MinimalInfiniteLine3d, values: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]) -> None

get_infinite_line(self: limap._limap._geometry.MinimalInfiniteLine3d) → limap._limap._geometry.InfiniteLine3d

property data

property uvec

property wvec