Skip to content

API Reference

The chapters below document the underlying C++ Theia library (classes, functions, and conventions). pyTheia exposes the same concepts through Python bindings; see Python API overview for import layout and stubs. For runnable scripts see Examples showcase.

  • Image — scope of image handling in pyTheia (Python / OpenCV)
  • Ransac — robust estimation interfaces
  • Pose — absolute and relative pose / resectioning
  • Estimators — RANSAC-wrapped pose and two-view estimators (src/theia/sfm/estimators)
  • Global pose estimation — rotation averaging and global positions (src/theia/sfm/global_pose_estimation)
  • Math — math utilities and solvers
  • Cameras — camera models and projection
  • SfM — reconstruction, pipelines, core data structures
  • Triangulation — multi-view point estimation and robust triangulation
  • View graph — image pairs, TwoViewInfo, graph utilities
  • Matching — correspondences, match database, FeatureMatcherOptions (src/pytheia/matching)
  • MVS — view selection for MVSNet-style pipelines (pytheia.mvs)
  • Bundle adjustment — Ceres-based joint refinement
  • Transformations — Sim3 / Umeyama alignment, gDLS, transform reconstructions
  • IO — reading and writing reconstruction data