match_curvature_3d — 3D `match_localize` op

• Data kinds: voxel × voxel → position

• Call: import fullseye as fs; fs.ledger.match_curvature_3d(scene, template, device='cpu', mc=0.000625, subvoxel=True) (to call the implementation directly, import match3d; match3d.match_curvature_3d(scene, template, device='cpu', mc=0.000625, subvoxel=True); from the registry, ops3d.get("match_curvature_3d"))

• Return value through the ledger: fullseye.ledger.match_curvature_3d(...) returns **only the declared out type position** (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.match_curvature_3d.raw(...) or call match3d.match_curvature_3d directly.

• GPU: this op has a GPU path (device="cuda")

Usage

Curvature (shape-index) matching. The voxel × curvature column — the heart of the line-to-surface lift.

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

scene/template を curvedness で重み付けした shape-index 場へ変換 → 既存 3D NCC で定位。

強度でなく 局所曲面形状で一致を測るため、同じ強度でも形が違う対象(球 vs 円柱/鞍点)を

区別できる。S は回転不変なので回転にもある程度頑健。返り値 [score, d, h, w]。

手順: 両 volume で `curvature_maps → S × curvedness × mask` の重み付き shape-index 場

`w を作り、テンプレ側は |w| > 0.1·max|w|` の bbox を切り出して

`accel_match.ncc_locate_3d に渡す。返り値 [NCC, z, y, x]` float64、NCC ∈ [−1, 1]。

• 位置は切り出した bbox テンプレの中心が scene に載る座標。元テンプレ volume の中心とは

bbox のオフセット分ずれる(元テンプレ座標に戻すには bbox の lo を足し直す)。

• `mc: curvature_maps` の勾配マスク閾値(真の勾配単位、voxel あたり)。平坦部を除いて

曲率ノイズを抑える。

• テンプレの曲率場が全 0(平坦・`mc が高すぎ)なら [0,0,0,0]` を返す。

• 曲率は 2 階微分なのでノイズに敏感。ノイズが多い volume は先に `points_to_voxel` の

`smooth` 等で滑らかにする。

`subvoxel=True` で NCC ピークの ±2 近傍重心に精緻化。

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)

• matching_localize — py -3.11 examples_3d/matching_localize.py

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

refine_peak_newton · refine_translation_lk · refine_lm · fuse_to_voxel

Same category (`match_localize`)

match_shape_3d · match_chamfer_3d · match_hough_3d · match_mip_2d · match_points_ncc

*Provenance: match3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

match_curvature_3d — 3D match_localize op