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+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | pyTheia License | +================================================================================================================================================================================================================+ | | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | pyTheia is licensed under the New BSD license, whose terms are as follows. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Copyright © 2021. Steffen Urban. All rights reserved. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 1. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 2. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 3. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Neither the name of The Regents or the University of California nor the names of | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | its contributors may be used to endorse or promote products derived from this | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | software without specific prior written permission. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Citation | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Theia License | +================================================================================================================================================================================================================+ | | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Theia is licensed under the New BSD license, whose terms are as follows. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Copyright © 2013, 2014. The Regents of the University of California (Regents). All | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | rights reserved. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 1. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 2. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | 3. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Neither the name of The Regents or the University of California nor the names of | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | its contributors may be used to endorse or promote products derived from this | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | software without specific prior written permission. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Citation | +----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

If you use Theia for an academic publication, please cite this manual. e.g., :

@misc{theia-manual,
  author = {Chris Sweeney},
  title = {Theia Multiview Geometry Library: Tutorial \& Reference},
  howpublished = "\url{http://theia-sfm.org}",
}

Third-party code: PoseLib

pyTheiaSfM includes minimal relative-pose solvers and dense LO refiners (src/theia/math/sturm.h, src/theia/sfm/pose/five_point_relative_pose_sturm.*, src/theia/sfm/pose/relative_pose_monodepth_3pt.*, src/theia/math/lmlsq/*, src/theia/sfm/pose/refine_relative_pose.*, src/theia/sfm/pose/refine_monodepth_relative_pose.*, src/theia/sfm/pose/refine_absolute_pose.*) adapted from PoseLib by Viktor Larsson and contributors. PoseLib is not a dependency or submodule; the algorithms were ported to use pyTheiaSfM's own Eigen-based types. Full license text: docs/licenses/POSELIB_LICENSE.txt.

BSD 3-Clause License

Copyright (c) 2020, Viktor Larsson
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Cite, if used academically:

  • D. Nistér, "An Efficient Solution to the Five-Point Relative Pose Problem", IEEE TPAMI, 2004.
  • Y. Ding, V. Larsson, et al., "RePoseD: Efficient Relative Pose Estimation With Known Depth Information", ICCV 2025.