limap.scene package

A reconstruction is a plain COLMAP model with the LIMAP structures beside it: HolisticReconstruction pairs a pycolmap.Reconstruction with a StructureReconstruction holding the 3D lines, groups, wireframe and the per-image 2D structures. This module defines those types, the structure database that carries the frontend output, and the helpers that fill it.

Reconstruction

The containers a pipeline reads and writes, serialized as a COLMAP model plus a structures/ folder; see the output format. The manager holds several of them, as COLMAP’s ReconstructionManager does for the point models.

class limap.scene.HolisticReconstruction

static exists_model(path: os.PathLike | str | bytes) → bool

Check if a complete holistic reconstruction exists at path

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.HolisticReconstruction) -> None

2. __init__(self: limap._limap._scene.HolisticReconstruction, point_recon: pycolmap._core.Reconstruction) -> None

3. __init__(self: limap._limap._scene.HolisticReconstruction, path: str) -> None

check_validity(self: limap._limap._scene.HolisticReconstruction) → bool

read(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

read_binary(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

read_text(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

write(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

write_binary(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

write_text(self: limap._limap._scene.HolisticReconstruction, arg0: os.PathLike | str | bytes) → None

property point_recon

property structure_recon

class limap.scene.StructureReconstruction

__init__(self: limap._limap._scene.StructureReconstruction, point_recon: pycolmap._core.Reconstruction) → None

add_group3D(*args, **kwargs)

Overloaded function.

1. add_group3D(self: limap._limap._scene.StructureReconstruction, group: limap._limap._scene.Group3d) -> int

Add a 3D group and return the assigned group3D_id

2. add_group3D(self: limap._limap._scene.StructureReconstruction, id: typing.SupportsInt | typing.SupportsIndex, group: limap._limap._scene.Group3d) -> None

Add a 3D group with a specific ID

add_group_observation(self: limap._limap._scene.StructureReconstruction, group3D_id: SupportsInt | SupportsIndex, track_element: pycolmap._core.TrackElement) → None

Add a group observation to an existing 3D group

add_line3D(*args, **kwargs)

Overloaded function.

1. add_line3D(self: limap._limap._scene.StructureReconstruction, line: limap._limap._geometry.Line3d) -> int

Add a 3D line and return the assigned line3D_id

2. add_line3D(self: limap._limap._scene.StructureReconstruction, id: typing.SupportsInt | typing.SupportsIndex, line: limap._limap._geometry.Line3d) -> None

Add a 3D line with a specific ID

add_line_observation(self: limap._limap._scene.StructureReconstruction, line3D_id: SupportsInt | SupportsIndex, track_element: pycolmap._core.TrackElement) → None

Add a line observation to an existing 3D line

add_structure2d(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex, structure: limap._limap._scene.Structure2d) → None

clear_groups3D(self: limap._limap._scene.StructureReconstruction) → None

clear_lines3D(self: limap._limap._scene.StructureReconstruction) → None

clear_structures2d(self: limap._limap._scene.StructureReconstruction) → None

compute_line_pixel_uncertainties(self: limap._limap._scene.StructureReconstruction, cauchy_scale: SupportsFloat | SupportsIndex = 1.0) → dict[int, float]

Compute pixel uncertainty (std dev) for all lines using backprojected endpoints. Returns dict mapping line3D_id to uncertainty (-1 = not computable, inf = degenerate). Uses Cauchy loss (matching BA).

construct_wireframe3d_from_2d(self: limap._limap._scene.StructureReconstruction, options: limap._limap._scene.WireframeVotingOptions = <limap._limap._scene.WireframeVotingOptions object at 0x7e10c9104bb0>) → None

Construct 3D wireframe from 2D associations via voting. Edges meeting vote count and weight thresholds are added.

delete_group3D(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → None

delete_group_observation(self: limap._limap._scene.StructureReconstruction, image_id: SupportsInt | SupportsIndex, group2D_idx: SupportsInt | SupportsIndex) → None

Delete a group observation from its 3D group

delete_line3D(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → None

delete_line_observation(self: limap._limap._scene.StructureReconstruction, image_id: SupportsInt | SupportsIndex, line2D_idx: SupportsInt | SupportsIndex) → None

Delete a line observation from its 3D line

delete_structure2d(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → None

exists_group3D(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → bool

exists_line3D(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → bool

exists_structure2d(self: limap._limap._scene.StructureReconstruction, id: SupportsInt | SupportsIndex) → bool

group(self: limap._limap._scene.StructureReconstruction, arg0: SupportsInt | SupportsIndex) → limap._limap._scene.Group3dWithActiveLabels

group3D_ids(self: limap._limap._scene.StructureReconstruction) → set[int]

initialize_all_wireframes(self: limap._limap._scene.StructureReconstruction, threshold: SupportsFloat | SupportsIndex = 2.0) → None

line(self: limap._limap._scene.StructureReconstruction, arg0: SupportsInt | SupportsIndex) → limap._limap._scene.Line3dWithActiveLabels

line3D_ids(self: limap._limap._scene.StructureReconstruction) → set[int]

load(self: limap._limap._scene.StructureReconstruction, structure_database: limap._limap._scene.StructureDatabaseCache) → None

merge_groups3D(self: limap._limap._scene.StructureReconstruction, group3D_id1: SupportsInt | SupportsIndex, group3D_id2: SupportsInt | SupportsIndex) → int

Merge two 3D groups into one

merge_lines3D(self: limap._limap._scene.StructureReconstruction, line3D_id1: SupportsInt | SupportsIndex, line3D_id2: SupportsInt | SupportsIndex) → int

Merge two 3D lines into one

num_groups3D(self: limap._limap._scene.StructureReconstruction) → int

num_lines3D(self: limap._limap._scene.StructureReconstruction) → int

read(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

read_binary(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

read_text(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

structure2d(self: limap._limap._scene.StructureReconstruction, arg0: SupportsInt | SupportsIndex) → limap._limap._scene.Structure2d

write(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

write_binary(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

write_text(self: limap._limap._scene.StructureReconstruction, arg0: os.PathLike | str | bytes) → None

property groups3D

property lines3D

property point_recon

property structures2d

property wireframe

class limap.scene.HolisticReconstructionManager

__init__(self: limap._limap._scene.HolisticReconstructionManager) → None

add(self: limap._limap._scene.HolisticReconstructionManager) → int

clear(self: limap._limap._scene.HolisticReconstructionManager) → None

delete(self: limap._limap._scene.HolisticReconstructionManager, idx: SupportsInt | SupportsIndex) → None

get(self: limap._limap._scene.HolisticReconstructionManager, idx: SupportsInt | SupportsIndex) → limap._limap._scene.HolisticReconstruction

read(self: limap._limap._scene.HolisticReconstructionManager, path: os.PathLike | str | bytes) → int

size(self: limap._limap._scene.HolisticReconstructionManager) → int

write(self: limap._limap._scene.HolisticReconstructionManager, path: os.PathLike | str | bytes) → None

2D structures

What a single image observes: the line segments, groups and wireframe detected in it, together with the features associated to them.

class limap.scene.Structure2d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.Structure2d) -> None

2. __init__(self: limap._limap._scene.Structure2d, lines: collections.abc.Sequence[limap._limap._geometry.Line2d], groups: collections.abc.Sequence[limap._limap._scene.Group2d], wireframe: limap._limap._scene.Wireframe2d, num_points: typing.SupportsInt | typing.SupportsIndex = 0) -> None

add_group(self: limap._limap._scene.Structure2d, arg0: limap._limap._scene.Group2d) → None

add_groups(self: limap._limap._scene.Structure2d, arg0: collections.abc.Sequence[limap._limap._scene.Group2d]) → None

group(self: limap._limap._scene.Structure2d, arg0: SupportsInt | SupportsIndex) → limap._limap._scene.Group2d

line(self: limap._limap._scene.Structure2d, arg0: SupportsInt | SupportsIndex) → limap._limap._geometry.Line2d

num_groups(self: limap._limap._scene.Structure2d) → int

num_lines(self: limap._limap._scene.Structure2d) → int

num_points(self: limap._limap._scene.Structure2d) → int

set_groups(self: limap._limap._scene.Structure2d, arg0: collections.abc.Sequence[limap._limap._scene.Group2d]) → None

set_lines(self: limap._limap._scene.Structure2d, arg0: collections.abc.Sequence[limap._limap._geometry.Line2d]) → None

set_num_points(self: limap._limap._scene.Structure2d, arg0: SupportsInt | SupportsIndex) → None

set_wireframe(self: limap._limap._scene.Structure2d, arg0: limap._limap._scene.Wireframe2d) → None

property groups

property lines

property wireframe

class limap.scene.AssociatedFeature2d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.AssociatedFeature2d) -> None

2. __init__(self: limap._limap._scene.AssociatedFeature2d, idx: typing.SupportsInt | typing.SupportsIndex, w: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> None

3. __init__(self: limap._limap._scene.AssociatedFeature2d, kwargs: dict) -> None

4. __init__(self: limap._limap._scene.AssociatedFeature2d, **kwargs) -> None

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

summary(self: limap._limap._scene.AssociatedFeature2d, write_type: bool = False) → str

todict(self: limap._limap._scene.AssociatedFeature2d, recursive: bool = True) → dict

property idx

Type:

(int, default

property w

1.0)

Type:

(float, default

class limap.scene.Group2d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.Group2d) -> None

2. __init__(self: limap._limap._scene.Group2d, arg0: limap._limap._geometry.GroupType) -> None

3. __init__(self: limap._limap._scene.Group2d, type: limap._limap._geometry.GroupType, points: collections.abc.Sequence[limap._limap._scene.AssociatedFeature2d], lines: collections.abc.Sequence[limap._limap._scene.AssociatedFeature2d] = []) -> None

4. __init__(self: limap._limap._scene.Group2d, kwargs: dict) -> None

5. __init__(self: limap._limap._scene.Group2d, **kwargs) -> None

add_line(*args, **kwargs)

Overloaded function.

1. add_line(self: limap._limap._scene.Group2d, arg0: limap._limap._scene.AssociatedFeature2d) -> None

2. add_line(self: limap._limap._scene.Group2d, arg0: typing.SupportsInt | typing.SupportsIndex) -> None

add_lines(*args, **kwargs)

Overloaded function.

1. add_lines(self: limap._limap._scene.Group2d, arg0: collections.abc.Sequence[limap._limap._scene.AssociatedFeature2d]) -> None

2. add_lines(self: limap._limap._scene.Group2d, feats: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], weights: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] = []) -> None

add_point(*args, **kwargs)

Overloaded function.

1. add_point(self: limap._limap._scene.Group2d, arg0: limap._limap._scene.AssociatedFeature2d) -> None

2. add_point(self: limap._limap._scene.Group2d, arg0: typing.SupportsInt | typing.SupportsIndex) -> None

add_points(*args, **kwargs)

Overloaded function.

1. add_points(self: limap._limap._scene.Group2d, arg0: collections.abc.Sequence[limap._limap._scene.AssociatedFeature2d]) -> None

2. add_points(self: limap._limap._scene.Group2d, feats: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], weights: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] = []) -> None

get_max_line_id(self: limap._limap._scene.Group2d) → int | None

get_max_point_id(self: limap._limap._scene.Group2d) → int | None

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

summary(self: limap._limap._scene.Group2d, write_type: bool = False) → str

todict(self: limap._limap._scene.Group2d, recursive: bool = True) → dict

property group3D_id

Type:

(int, default

property lines

[])

Type:

(list, default

property params

[])

Type:

(list, default

property points

[])

Type:

(list, default

property type

GroupType.INVALID)

Type:

(GroupType, default

class limap.scene.Wireframe2d

__init__(self: limap._limap._scene.Wireframe2d) → None

add_edge(*args, **kwargs)

Overloaded function.

1. add_edge(self: limap._limap._scene.Wireframe2d, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex, arg2: typing.SupportsFloat | typing.SupportsIndex) -> None

2. add_edge(self: limap._limap._scene.Wireframe2d, arg0: limap._limap._scene.WireframeConnection2d) -> None

clear(self: limap._limap._scene.Wireframe2d) → None

count_edges(self: limap._limap._scene.Wireframe2d) → int

count_lines(self: limap._limap._scene.Wireframe2d) → int

count_neighboring_lines(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex) → bool

count_neighboring_points(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex) → bool

count_points(self: limap._limap._scene.Wireframe2d) → int

get_all_edges(self: limap._limap._scene.Wireframe2d) → list[limap._limap._scene.WireframeConnection2d]

get_edge(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → limap._limap._scene.WireframeConnection2d

get_edge_weight(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → float

get_neighboring_line_ids(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex) → list[int]

get_neighboring_point_ids(self: limap._limap._scene.Wireframe2d, arg0: SupportsInt | SupportsIndex) → list[int]

remove_edge(*args, **kwargs)

Overloaded function.

1. remove_edge(self: limap._limap._scene.Wireframe2d, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None

2. remove_edge(self: limap._limap._scene.Wireframe2d, arg0: limap._limap._scene.WireframeConnection2d) -> None

class limap.scene.WireframeConnection2d

__init__(self: limap._limap._scene.WireframeConnection2d) → None

property line_idx

property point_idx

property w

limap.scene.create_wireframe2d(points: collections.abc.Sequence[Eigen::Matrix<double, 2, 1, 0, 2, 1>], lines: collections.abc.Sequence[limap._limap._geometry.Line2d], threshold: typing.SupportsFloat | typing.SupportsIndex = 2.0) → limap._limap._scene.Wireframe2d

3D structures

Their counterparts in the reconstruction. The WithActiveLabels variants additionally track which of their observations are currently active, a transient state that is not serialized.

class limap.scene.AssociatedFeature3d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.AssociatedFeature3d) -> None

2. __init__(self: limap._limap._scene.AssociatedFeature3d, idx: typing.SupportsInt | typing.SupportsIndex, w: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> None

property idx

property w

class limap.scene.Group3d

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.Group3d) -> None

2. __init__(self: limap._limap._scene.Group3d, arg0: limap._limap._geometry.GroupType) -> None

3. __init__(self: limap._limap._scene.Group3d, arg0: limap._limap._geometry.GroupType, arg1: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]) -> None

4. __init__(self: limap._limap._scene.Group3d, type: limap._limap._geometry.GroupType, params: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], points: collections.abc.Sequence[limap._limap._scene.AssociatedFeature3d], lines: collections.abc.Sequence[limap._limap._scene.AssociatedFeature3d] = []) -> None

add_line(*args, **kwargs)

Overloaded function.

1. add_line(self: limap._limap._scene.Group3d, arg0: limap._limap._scene.AssociatedFeature3d) -> None

2. add_line(self: limap._limap._scene.Group3d, arg0: typing.SupportsInt | typing.SupportsIndex) -> None

add_lines(*args, **kwargs)

Overloaded function.

1. add_lines(self: limap._limap._scene.Group3d, arg0: collections.abc.Sequence[limap._limap._scene.AssociatedFeature3d]) -> None

2. add_lines(self: limap._limap._scene.Group3d, arg0: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], arg1: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]) -> None

add_point(*args, **kwargs)

Overloaded function.

1. add_point(self: limap._limap._scene.Group3d, arg0: limap._limap._scene.AssociatedFeature3d) -> None

2. add_point(self: limap._limap._scene.Group3d, arg0: typing.SupportsInt | typing.SupportsIndex) -> None

add_points(*args, **kwargs)

Overloaded function.

1. add_points(self: limap._limap._scene.Group3d, arg0: collections.abc.Sequence[limap._limap._scene.AssociatedFeature3d]) -> None

2. add_points(self: limap._limap._scene.Group3d, arg0: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], arg1: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]) -> None

check_params(self: limap._limap._scene.Group3d, tol: SupportsFloat | SupportsIndex = 1e-06) → bool

Check if params are valid and normalized

normalize_params(self: limap._limap._scene.Group3d) → None

Normalize params in-place to canonical form

property lines

property params

property points

property track

property type

class limap.scene.Group3dWithActiveLabels

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.Group3dWithActiveLabels) -> None

2. __init__(self: limap._limap._scene.Group3dWithActiveLabels, arg0: limap._limap._scene.Group3d) -> None

cleanup_inactive_sets(self: limap._limap._scene.Group3dWithActiveLabels) → None

clear_inactive_labels(self: limap._limap._scene.Group3dWithActiveLabels) → None

count_active_associations(self: limap._limap._scene.Group3dWithActiveLabels) → int

count_active_lines(self: limap._limap._scene.Group3dWithActiveLabels) → int

count_active_points(self: limap._limap._scene.Group3dWithActiveLabels) → int

is_line_active(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → bool

is_point_active(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → bool

purge_inactive_associations(self: limap._limap._scene.Group3dWithActiveLabels) → int

set_line_active(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → None

set_line_inactive(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → None

set_point_active(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → None

set_point_inactive(self: limap._limap._scene.Group3dWithActiveLabels, id: SupportsInt | SupportsIndex) → None

class limap.scene.Line3dWithActiveLabels

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.Line3dWithActiveLabels) -> None

2. __init__(self: limap._limap._scene.Line3dWithActiveLabels, line: limap._limap._geometry.Line3d) -> None

active_ratio(self: limap._limap._scene.Line3dWithActiveLabels) → float

cleanup_inactive_set(self: limap._limap._scene.Line3dWithActiveLabels) → None

clear_inactive_labels(self: limap._limap._scene.Line3dWithActiveLabels) → None

count_active_observations(self: limap._limap._scene.Line3dWithActiveLabels) → int

is_observation_active(self: limap._limap._scene.Line3dWithActiveLabels, image_id: SupportsInt | SupportsIndex) → bool

is_reliable(self: limap._limap._scene.Line3dWithActiveLabels, min_active: SupportsInt | SupportsIndex = 1) → bool

merge_inactive_from(self: limap._limap._scene.Line3dWithActiveLabels, other: limap._limap._scene.Line3dWithActiveLabels) → None

set_observation_active(self: limap._limap._scene.Line3dWithActiveLabels, image_id: SupportsInt | SupportsIndex) → None

set_observation_inactive(self: limap._limap._scene.Line3dWithActiveLabels, image_id: SupportsInt | SupportsIndex) → None

property inactive_images

class limap.scene.Wireframe3d

__init__(self: limap._limap._scene.Wireframe3d) → None

add_edge(*args, **kwargs)

Overloaded function.

1. add_edge(self: limap._limap._scene.Wireframe3d, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex, arg2: typing.SupportsFloat | typing.SupportsIndex) -> None

2. add_edge(self: limap._limap._scene.Wireframe3d, arg0: limap._limap._scene.WireframeConnection3d) -> None

clear(self: limap._limap._scene.Wireframe3d) → None

count_edges(self: limap._limap._scene.Wireframe3d) → int

count_lines(self: limap._limap._scene.Wireframe3d) → int

count_neighboring_lines(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex) → bool

count_neighboring_points(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex) → bool

count_points(self: limap._limap._scene.Wireframe3d) → int

get_all_edges(self: limap._limap._scene.Wireframe3d) → list[limap._limap._scene.WireframeConnection3d]

get_edge(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → limap._limap._scene.WireframeConnection3d

get_edge_weight(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → float

get_neighboring_line_ids(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex) → list[int]

get_neighboring_point_ids(self: limap._limap._scene.Wireframe3d, arg0: SupportsInt | SupportsIndex) → list[int]

remove_edge(*args, **kwargs)

Overloaded function.

1. remove_edge(self: limap._limap._scene.Wireframe3d, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None

2. remove_edge(self: limap._limap._scene.Wireframe3d, arg0: limap._limap._scene.WireframeConnection3d) -> None

class limap.scene.WireframeConnection3d

__init__(self: limap._limap._scene.WireframeConnection3d) → None

property line_idx

property point_idx

property w

class limap.scene.WireframeVotingOptions

__init__(self: limap._limap._scene.WireframeVotingOptions) → None

property min_num_votes

property min_weight_sum

Matches and correspondences

Line and group correspondences ride in the same TwoViewGeometry structures as the point matches, and are collected into a pair of colmap::CorrespondenceGraph instances, one for lines and one for groups.

class limap.scene.LineMatch

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.LineMatch) -> None

2. __init__(self: limap._limap._scene.LineMatch, line2D_idx1: typing.SupportsInt | typing.SupportsIndex, line2D_idx2: typing.SupportsInt | typing.SupportsIndex) -> None

property line2D_idx1

property line2D_idx2

class limap.scene.LineMatches

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.LineMatches) -> None

2. __init__(self: limap._limap._scene.LineMatches, arg0: collections.abc.Sequence[limap._limap._scene.LineMatch]) -> None

Copy constructor

3. __init__(self: limap._limap._scene.LineMatches, arg0: collections.abc.Iterable) -> None

append(self: collections.abc.Sequence[limap._limap._scene.LineMatch], x: limap._limap._scene.LineMatch) → None

Add an item to the end of the list

clear(self: collections.abc.Sequence[limap._limap._scene.LineMatch]) → None

Clear the contents

extend(*args, **kwargs)

Overloaded function.

1. extend(self: collections.abc.Sequence[limap._limap._scene.LineMatch], L: collections.abc.Sequence[limap._limap._scene.LineMatch]) -> None

Extend the list by appending all the items in the given list

2. extend(self: collections.abc.Sequence[limap._limap._scene.LineMatch], L: collections.abc.Iterable) -> None

Extend the list by appending all the items in the given list

insert(self: collections.abc.Sequence[limap._limap._scene.LineMatch], i: SupportsInt | SupportsIndex, x: limap._limap._scene.LineMatch) → None

Insert an item at a given position.

pop(*args, **kwargs)

Overloaded function.

1. pop(self: collections.abc.Sequence[limap._limap._scene.LineMatch]) -> limap._limap._scene.LineMatch

Remove and return the last item

2. pop(self: collections.abc.Sequence[limap._limap._scene.LineMatch], i: typing.SupportsInt | typing.SupportsIndex) -> limap._limap._scene.LineMatch

Remove and return the item at index i

class limap.scene.GroupMatch

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.GroupMatch) -> None

2. __init__(self: limap._limap._scene.GroupMatch, group2D_idx1: typing.SupportsInt | typing.SupportsIndex, group2D_idx2: typing.SupportsInt | typing.SupportsIndex) -> None

property group2D_idx1

property group2D_idx2

class limap.scene.GroupMatches

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.GroupMatches) -> None

2. __init__(self: limap._limap._scene.GroupMatches, arg0: collections.abc.Sequence[limap._limap._scene.GroupMatch]) -> None

Copy constructor

3. __init__(self: limap._limap._scene.GroupMatches, arg0: collections.abc.Iterable) -> None

append(self: collections.abc.Sequence[limap._limap._scene.GroupMatch], x: limap._limap._scene.GroupMatch) → None

Add an item to the end of the list

clear(self: collections.abc.Sequence[limap._limap._scene.GroupMatch]) → None

Clear the contents

extend(*args, **kwargs)

Overloaded function.

1. extend(self: collections.abc.Sequence[limap._limap._scene.GroupMatch], L: collections.abc.Sequence[limap._limap._scene.GroupMatch]) -> None

Extend the list by appending all the items in the given list

2. extend(self: collections.abc.Sequence[limap._limap._scene.GroupMatch], L: collections.abc.Iterable) -> None

Extend the list by appending all the items in the given list

insert(self: collections.abc.Sequence[limap._limap._scene.GroupMatch], i: SupportsInt | SupportsIndex, x: limap._limap._scene.GroupMatch) → None

Insert an item at a given position.

pop(*args, **kwargs)

Overloaded function.

1. pop(self: collections.abc.Sequence[limap._limap._scene.GroupMatch]) -> limap._limap._scene.GroupMatch

Remove and return the last item

2. pop(self: collections.abc.Sequence[limap._limap._scene.GroupMatch], i: typing.SupportsInt | typing.SupportsIndex) -> limap._limap._scene.GroupMatch

Remove and return the item at index i

class limap.scene.StructureCorrespondenceGraph

__init__(self: limap._limap._scene.StructureCorrespondenceGraph) → None

add_group_matches(self: limap._limap._scene.StructureCorrespondenceGraph, image_id1: SupportsInt | SupportsIndex, image_id2: SupportsInt | SupportsIndex, matches: collections.abc.Sequence[limap._limap._scene.GroupMatch]) → None

add_line_matches(self: limap._limap._scene.StructureCorrespondenceGraph, image_id1: SupportsInt | SupportsIndex, image_id2: SupportsInt | SupportsIndex, matches: collections.abc.Sequence[limap._limap._scene.LineMatch]) → None

property group_graph

property line_graph

Structure database

structure_database.db is LIMAP’s counterpart of COLMAP’s database.db: it stores the 2D lines and groups, their associations and their matches.

class limap.scene.StructureDatabase

static open(path: os.PathLike | str | bytes) → limap._limap._scene.StructureDatabase

__init__(self: limap._limap._scene.StructureDatabase) → None

clear_all_tables(self: limap._limap._scene.StructureDatabase) → None

clear_group_matches(self: limap._limap._scene.StructureDatabase) → None

clear_line_matches(self: limap._limap._scene.StructureDatabase) → None

clear_structures2d(self: limap._limap._scene.StructureDatabase) → None

close(self: limap._limap._scene.StructureDatabase) → None

delete_group_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → None

delete_line_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → None

exists_group_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → bool

exists_line_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → bool

exists_structure2d(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex) → bool

read_all_group_matches(self: limap._limap._scene.StructureDatabase) → list[tuple[int, list[limap._limap._scene.GroupMatch]]]

read_all_group_matches_blob(self: limap._limap._scene.StructureDatabase) → list[tuple[int, Annotated[numpy.typing.NDArray[numpy.uint32], '[m, 2]']]]

read_all_line_matches(self: limap._limap._scene.StructureDatabase) → list[tuple[int, list[limap._limap._scene.LineMatch]]]

read_all_line_matches_blob(self: limap._limap._scene.StructureDatabase) → list[tuple[int, Annotated[numpy.typing.NDArray[numpy.uint32], '[m, 2]']]]

read_all_structures2d(self: limap._limap._scene.StructureDatabase) → dict[int, limap._limap._scene.Structure2d]

read_group_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → list[limap._limap._scene.GroupMatch]

read_group_matches_blob(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → Annotated[numpy.typing.NDArray[numpy.uint32], '[m, 2]']

read_line_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → list[limap._limap._scene.LineMatch]

read_line_matches_blob(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → Annotated[numpy.typing.NDArray[numpy.uint32], '[m, 2]']

read_structure2d(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex) → limap._limap._scene.Structure2d

update_structure2d(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: limap._limap._scene.Structure2d) → None

write_group_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex, arg2: Annotated[numpy.typing.ArrayLike, numpy.uint32, '[m, 2]']) → None

write_line_matches(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex, arg2: Annotated[numpy.typing.ArrayLike, numpy.uint32, '[m, 2]']) → None

write_structure2d(self: limap._limap._scene.StructureDatabase, arg0: SupportsInt | SupportsIndex, arg1: limap._limap._scene.Structure2d) → None

class limap.scene.StructureDatabaseCache

static create(struct_db: limap._limap._scene.StructureDatabase) → limap._limap._scene.StructureDatabaseCache

__init__(self: limap._limap._scene.StructureDatabaseCache) → None

structure2d(self: limap._limap._scene.StructureDatabaseCache, image_id: SupportsInt | SupportsIndex) → limap._limap._scene.Structure2d

property structure_correspondence_graph

property structures2d

class limap.scene.StructureDatabaseTransaction

__init__(self: limap._limap._scene.StructureDatabaseTransaction, db: limap._limap._scene.StructureDatabase) → None

limap.scene.create_structure_db(db_path: Path, delete_if_exist=True) → None

limap.scene.initialize_structures(structure_db: StructureDatabase, image_ids: list[int], db: Database) → None

limap.scene.initialize_structures_from_reconstruction(structure_db: StructureDatabase, recon: Reconstruction) → None

Initialize structures with num_points from the reconstruction.

Use this instead of initialize_structures() when skipping point detection — the COLMAP database has no imported keypoints, but the reconstruction’s image.num_points2D() has the correct count.

limap.scene.import_line_detections(structure_db: StructureDatabase, all_2d_lines: dict[int, list[Line2d]]) → None

limap.scene.import_line_matches(structure_db: StructureDatabase, matches_dir: Path) → None

limap.scene.import_group_descriptions(structure_db: StructureDatabase, all_groups2d: dict[int, list[Group2d]]) → None

Depth and point cloud readers

Interfaces for the geometry-guided pipelines, which reconstruct lines from depth maps or a point cloud instead of triangulating them.

class limap.scene.BaseDepthReader(filename)

Base class for the depth reader storing the filename and potentially other information.

__init__(filename)

read(filename)

Virtual method - Read depth from a filename.

Parameters:

filename (str) – The filename of the depth image

Returns:

The array for the depth map

Return type:

depth (np.array of shape (H, W))

read_depth(img_hw=None)

Read depth using the read(self, filename) function.

Parameters:

img_hw (pair of int, optional) – The height and width for the read depth. By default we keep the original resolution of the file

Returns:

The array for the depth map

Return type:

depth (np.array of shape (H, W))

class limap.scene.BasePointCloudReader(filename)

Base class for point cloud readers storing the filename and potentially other information.

The point cloud should be in world coordinates and organized as an image-like array (H, W, 3) for pixel-based lookup during line fitting.

__init__(filename)

read(filename)

Virtual method - Read a point cloud from a filename.

Parameters:

filename (str) – The filename of the point cloud file

Returns:

The array for the 3D points in world coordinates, organized as an image for pixel-based lookup

Return type:

point cloud (np.array of shape (H, W, 3))

read_point_cloud()

Read a point cloud using the read(self, filename) function.

Returns:

The array for the 3D points in world coordinates

Return type:

point cloud (np.array of shape (H, W, 3))

COLMAP MVS models

class limap.scene.COLMAPMVSModel

__init__(self: limap._limap._scene.COLMAPMVSModel) → None

add_image(self: limap._limap._scene.COLMAPMVSModel, image: limap._limap._scene.COLMAPMVSImage, img_id: SupportsInt | SupportsIndex = -1) → None

add_point(self: limap._limap._scene.COLMAPMVSModel, x: SupportsFloat | SupportsIndex, y: SupportsFloat | SupportsIndex, z: SupportsFloat | SupportsIndex, image_ids: collections.abc.Sequence[SupportsInt | SupportsIndex]) → None

compute_ranges(self: limap._limap._scene.COLMAPMVSModel, range_robust: tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], kstretch: SupportsFloat | SupportsIndex) → tuple[Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]'], Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']]

get_image_names(self: limap._limap._scene.COLMAPMVSModel) → list[str]

get_max_dice_coeff_images(self: limap._limap._scene.COLMAPMVSModel, num_images: SupportsInt | SupportsIndex, min_tri_angle: SupportsFloat | SupportsIndex) → dict[int, list[int]]

get_max_iou_images(self: limap._limap._scene.COLMAPMVSModel, num_images: SupportsInt | SupportsIndex, min_tri_angle: SupportsFloat | SupportsIndex) → dict[int, list[int]]

get_max_overlap_images(self: limap._limap._scene.COLMAPMVSModel, num_images: SupportsInt | SupportsIndex, min_tri_angle: SupportsFloat | SupportsIndex) → dict[int, list[int]]

read_from_colmap(self: limap._limap._scene.COLMAPMVSModel, path: os.PathLike | str | bytes, sparse_path: os.PathLike | str | bytes, image_path: os.PathLike | str | bytes) → None

class limap.scene.COLMAPMVSImage

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: limap._limap._scene.COLMAPMVSImage) -> None

2. __init__(self: limap._limap._scene.COLMAPMVSImage, arg0: str, arg1: typing.SupportsInt | typing.SupportsIndex, arg2: typing.SupportsInt | typing.SupportsIndex, arg3: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], arg4: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], arg5: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]) -> None

get_K(self: limap._limap._scene.COLMAPMVSImage) → float

get_P(self: limap._limap._scene.COLMAPMVSImage) → float

get_R(self: limap._limap._scene.COLMAPMVSImage) → float

get_T(self: limap._limap._scene.COLMAPMVSImage) → float

get_inv_P(self: limap._limap._scene.COLMAPMVSImage) → float

limap.scene.compute_neighbors(model: COLMAPMVSModel, n_neighbors: int, min_triangulation_angle: float = 1.0, neighbor_type: Literal['iou', 'overlap', 'dice'] = 'iou') → dict[int, list[int]]

Compute neighboring images for each image based on point visibility.

Parameters:

• model – The COLMAP MVS model containing images and points.

• n_neighbors – Number of neighbors to compute for each image.

• min_triangulation_angle – Minimum triangulation angle in degrees.

• neighbor_type – Type of neighbor selection metric: - “iou”: Intersection over Union of visible points - “overlap”: Number of shared visible points - “dice”: Dice coefficient of visible points

Returns:

Dictionary mapping image ID to list of neighbor image IDs.