Welcome to LIMAP’s documentation!

LIMAP is a toolbox for mapping and localization with line features. The system was initially described in the highlight paper 3D Line Mapping Revisited at CVPR 2023 in Vancouver, Canada. Contributors to this project are from the Computer Vision and Geometry Group at ETH Zurich.

In this project, we provide interfaces for various geometric operations on 2D/3D lines. We support off-the-shelf SfM software including VisualSfM, Bundler, and COLMAP to initialize the camera poses to build 3D line maps on the database. The line detectors, matchers, and vanishing point estimators are abstracted to ensure flexibility to support recent advances and future development.

Tutorials:

• Installation
• Quickstart
• Line detection, description and matching
• Line mapping
• Localization with points & lines
• Visualization

API references:

• limap.base package
  • Cameras, poses, and images
  • Lines
  • Line distance
  • Line track
  • Readers for depths and point clouds
• limap.line2d package
  • Base line detector/descriptor
  • Instantiate a line detector/descriptor
  • Base line matcher
  • Instantiate a line matcher
• limap.estimators package
  • Estimate absolute pose
  • RANSAC options and statistics
• limap.evaluation package
  • Evaluate w.r.t. a Mesh
  • Evaluate w.r.t. a Point Cloud
• limap.runners package
  • Main function: line triangulation
  • Main function: line reconstruction given depths
  • Main function: hybrid localization
  • Main utilities
• limap.triangulation package
  • Triangulation
• limap.undistortion package
  • Undistortion
• limap.visualize package
  • Utilities
• limap.vplib package
  • Base VP detector
  • Instantiate a VP detector
  • Subpackages

Community:

• Main developers