match_points_ncc — 3D match_localize op

• Data kinds: points × points → position

• Call: import fullseye as fs; fs.ledger.match_points_ncc(pts_scene, pts_model, size, bounds, device='cpu', smooth=0.8) (to call the implementation directly, import match3d; match3d.match_points_ncc(pts_scene, pts_model, size, bounds, device='cpu', smooth=0.8); from the registry, ops3d.get("match_points_ncc"))

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

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

Usage

Point-set to point-set matching (structure = point cloud × method = NCC, transform = splat). Locates the model within the scene.

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

手順: `pts_scene と pts_model を **同じ** bounds=(lo,hi) と size` で

`points_to_voxel(σ=smooth voxel の平滑つき)に通し、model 側は > 5%·max` の bbox を

切り出してテンプレにし、`accel_match.ncc_locate_3d` で NCC 定位する。

返り値 `[NCC, z, y, x]` float64(NCC ∈ [−1,1]、位置は voxel index、±2 近傍重心で

サブボクセル)。

• 位置は 切り出した bbox テンプレの中心が scene voxel のどこに載るか。world 座標に戻すには

`lo + idx/(size−1)·(hi−lo)(points_to_voxel` の格子)。

• `bounds は必須(_lo_hi` で検証、不正は ValueError)。両雲を含む範囲にしないと範囲外の

点が端 voxel に clip される。

• model の voxel が全 0 なら `[0,0,0,0]`。

• 並進のみ。回転・スケールは `match_pca / match_logpolar_z` で先に合わせる。

後段: `icp_point2point_3d の init_t、refine_translation_lk`。

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_curvature_3d · match_hough_3d · match_mip_2d

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

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.