Main function: line triangulation

limap.runners.line_triangulation.line_triangulation(cfg, imagecols, neighbors=None, ranges=None)

Main interface of line triangulation over multi-view images.

Parameters:

  • cfg (dict) – Configuration. Fields refer to cfgs/triangulation/default.yaml as an example

  • imagecols (limap.base.ImageCollection) – The image collection corresponding to all the images of interest

  • neighbors (dict[int -> list[int]], optional) – visual neighbors for each image. By default we compute neighbor information from the covisibility of COLMAP triangulation.

  • ranges (pair of np.array each of shape (3,), optional) – robust 3D ranges for the scene. By default we compute range information from the COLMAP triangulation.

Returns:

list of output 3D line tracks

Return type:

list[limap.base.LineTrack]