fit_rigid — 3D `motion_segment` op

• Data kinds: points × points → pose

• Call: import fullseye as fs; fs.ledger.fit_rigid(pts_from, pts_to) (to call the implementation directly, import motion_seg3d; motion_seg3d.fit_rigid(pts_from, pts_to); from the registry, ops3d.get("fit_rigid"))

Usage

Estimate the rigid transform (R, t) from correspondences by the closed-form Kabsch algorithm (pts_from[i] -> pts_to[i]).

> The detailed description below is the original text — the summary and the headings are translated.

行 i どうしが対応する (N, 3) 2 点集合から、`|| (R·p + t) - q ||` を最小化する

proper rotation(det = +1, 反射なし)と並進を返す。:func:registration.kabsch の

薄いラッパで、入力検証を付す(N >= 3 で回転が一意)。

Args:

pts_from: (N, 3) 変換元(対応順)。

pts_to: (N, 3) 変換先(対応順)。

Returns:

(R, t): (3, 3) 回転行列, (3,) 並進ベクトル。

Raises:

ValueError: 形状不一致 / (N, 3) でない / N < 3 / 非有限。

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• motion_scene — py -3.11 examples_3d/motion_scene.py

Ops the type connects to (they accept `pose` as input)

fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · relative_pose · mean_edge_error · rotation_translation_error

Same category (`motion_segment`)

segment_rigid_motions · estimate_flow

*Provenance: motion_seg3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

fit_rigid — 3D motion_segment op