> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# lingbot-map

> Reconstruct camera-to-world poses + clip-relative depth from an ordered clip of frames

Reconstruct camera-to-world poses + clip-relative depth from an ordered clip of frames.

## Parameters

<ParamField body="images" type="Sequence[ImageInput]" required>
  Ordered clip of 1-32 RGB frames (path, URL, PIL Image, or numpy array). Each call is a self-contained window; chunk longer sequences into overlapping clips and align them client-side.
</ParamField>

<ParamField body="timeout" type="float | None">
  Optional timeout in seconds for the HTTP request.
</ParamField>

## Returns

Dict\[str, np.ndarray]: Dict with `"extrinsic"` (N,3,4) camera-to-world in OpenCV axes,
`"intrinsic"` (N,3,3), `"depth"` (N,H,W), and `"depth_conf"`
(N,H,W), all float32. Depth and translation are in one
clip-relative scale (normalised by the clip's mean anchor
distance) — not metres; recover physical scale externally.

## Example

```python theme={null}
from grid_cortex_client import CortexClient, ModelType
client = CortexClient()
result = client.run(ModelType.LINGBOT_MAP, images=frames)
print(result["extrinsic"].shape, result["depth"].shape)  # (N, 3, 4) (N, H, W)
```


## Related topics

- [zoedepth](/models/cortex/zoedepth.md)
- [da3metric](/models/cortex/da3metric.md)
- [fast-foundationstereo](/models/cortex/fast-foundationstereo.md)
- [foundationstereo](/models/cortex/foundationstereo.md)
- [metric3d](/models/cortex/metric3d.md)