Estimate absolute pose

limap.estimators.absolute_pose.pl_estimate_absolute_pose(cfg, l3ds, l3d_ids, l2ds, p3ds, p2ds, camera, campose=None, inliers_line=None, inliers_point=None, jointloc_cfg=None, silent=True, logger=None)

Estimate absolute camera pose of a image from matched 2D-3D line and point correspondences.

Parameters:

  • cfg (dict) – Localization config, fields refer to “localization” section in cfgs/localization/default.yaml

  • l3ds (list[limap.base.Line3d]) – Matched 3D line segments

  • l3d_ids (list[int]) – Indices into l3ds for match of each limap.base.Line3d in l2ds, same length of l2ds

  • l2ds (list[limap.base.Line2d]) – Matched 2d lines, same length of l3d_ids

  • p3ds (list[np.array]) – Matched 3D points, same length of p2ds

  • p2ds (list[np.array]) – Matched 2D points, same length of p3ds

  • camera (limap.base.Camera) – Camera of the query image

  • campose (limap.base.CameraPose, optional) – Initial camera pose, only useful for pose refinement (when cfg["ransac"]["method"] is None)

  • inliers_line (list[int], optional) – Indices of line inliers, only useful for pose refinement

  • inliers_point (list[int], optional) – Indices of point inliers, only useful for pose refinement

  • jointloc_cfg (dict, optional) – Config for joint optimization, fields refer to limap.optimize.LineLocConfig, pass None for default

  • silent (bool, optional) – Turn off to print logs during Ceres optimization

  • logger (logging.Logger) – Logger to print logs for information

Returns:

Estimated pose and ransac statistics.

Return type:

tuple[limap.base.CameraPose, limap.estimators.RansacStatistics]