Triangulation

limap.triangulation.triangulation.compute_epipolar_IoU(l1, view1, l2, view2)

Get the IoU between two lines from different views by intersecting the epipolar lines

Parameters:

• l1 (limap.base.Line2d) –

• view1 (limap.base.CameraView) –

• l2 (limap.base.Line2d) –

• view2 (limap.base.CameraView) –

Returns:

The calculated epipolar IoU

Return type:

IoU (float)

limap.triangulation.triangulation.compute_essential_matrix(view1, view2)

Get the essential matrix between two views

Parameters:

• view1 (limap.base.CameraView) –

• view2 (limap.base.CameraView) –

Returns:

essential_matrix (np.array of shape (3, 3))

limap.triangulation.triangulation.compute_fundamental_matrix(view1, view2)

Get the essential matrix between two views

Parameters:

• view1 (limap.base.CameraView) –

• view2 (limap.base.CameraView) –

Returns:

fundamental_matrix (np.array of shape (3, 3))

limap.triangulation.triangulation.get_direction_from_VP(vp, view)

Get the 3d direction from a 2D vanishing point

Parameters:

• vp (np.array of shape (3,)) –

• view (limap.base.CameraView) –

Returns:

direction (np.array of shape (3,))

limap.triangulation.triangulation.point_triangulation(p1, view1, p2, view2)

Two-view point triangulation (mid-point)

Parameters:

• p1 (np.array of shape (2,)) –

• view1 (limap.base.CameraView) –

• p2 (np.array of shape (2,)) –

• view2 (limap.base.CameraView) –

Returns:

point3d (np.array of shape (3,))

limap.triangulation.triangulation.triangulate(l1, view1, l2, view2)

Two-view triangulation of lines by ray-plane intersection

Parameters:

• l1 (limap.base.Line2d) –

• view1 (limap.base.CameraView) –

• l2 (limap.base.Line2d) –

• view2 (limap.base.CameraView) –

Returns:

line3d (limap.base.Line3d)

limap.triangulation.triangulation.triangulate_endpoints(l1, view1, l2, view2)

Two-view triangulation of lines with point triangulation on both endpoints (assuming correspondences)

Parameters:

• l1 (limap.base.Line2d) –

• view1 (limap.base.CameraView) –

• l2 (limap.base.Line2d) –

• view2 (limap.base.CameraView) –

Returns:

line3d (limap.base.Line3d)

limap.triangulation.triangulation.triangulate_with_direction(l1, view1, l2, view2, direc)

Two-view triangulation of lines with known 3D line direction

Parameters:

• l1 (limap.base.Line2d) –

• view1 (limap.base.CameraView) –

• l2 (limap.base.Line2d) –

• view2 (limap.base.CameraView) –

• direction (np.array of shape (3,)) –

Returns:

line3d (limap.base.Line3d)

limap.triangulation.triangulation.triangulate_with_one_point(l1, view1, l2, view2, p)

Two-view triangulation of lines with a known 3D point on the line

Parameters:

• l1 (limap.base.Line2d) –

• view1 (limap.base.CameraView) –

• l2 (limap.base.Line2d) –

• view2 (limap.base.CameraView) –

• point (np.array of shape (3,)) –

Returns:

line3d (limap.base.Line3d)