mean_reprojection_error — 3D bundle_adjust op

• Data kinds: pose × points → measurement

• Call: import fullseye as fs; fs.ledger.mean_reprojection_error(cameras, points, obs_cam, obs_pt, obs_uv, K) (to call the implementation directly, import bundle3d; bundle3d.mean_reprojection_error(cameras, points, obs_cam, obs_pt, obs_uv, K); from the registry, ops3d.get("mean_reprojection_error"))

Usage

The RMS reprojection error (in pixels).

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

全観測 k について `project(points[obs_pt[k]], cameras[obs_cam[k]]) と obs_uv[k]` の差

(du, dv) を取り、`sqrt(mean_k(du² + dv²))` = 観測ごとの再投影距離の 2 乗平均平方根を float で

返す(実装は `r.reshape(-1,2)**2 * 2 の平均の平方根で、同じ量)。単位は obs_uv` と K に

従うピクセル。

• `cameras: (nc,6) の [rvec(3) | t(3)](X_cam = R X + t`)。

• `points`: (m,3) の 3D 点。

• `obs_cam / obs_pt: 各観測のカメラ添字・点添字(int)。obs_uv`: (K,2) の観測画素。

• `K`: 全カメラ共通の (3,3) 内部行列。

`bundle_adjust の返り値 rmse` と同じ計算で、最適化前後の比較に使う。観測が 0 件だと空の

平均で NaN になる(長さの検証は `bundle_adjust` 側にあり、この関数単体では行わない)。

カメラ後方の点も `project` がそのまま射影するので、可視性は呼び出し側で保証する。

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)

• bundle_adjust — py -3.11 examples_3d/bundle_adjust.py

Ops the type connects to (they accept measurement as input)

vol_gaussian_psf · fuse_to_voxel · fresnel_reflectance · snell_angle

Same category (bundle_adjust)

bundle_adjust · project

*Provenance: bundle3d.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.