project — 3D `bundle_adjust` op

• Data kinds: points → keypoints

• Call: import fullseye as fs; fs.ledger.project(points, rvec, t, K) (to call the implementation directly, import bundle3d; bundle3d.project(points, rvec, t, K); from the registry, ops3d.get("project"))

Usage

Project 3-D points (n,3) to 2-D (n,2) with a camera (rvec, t, K) (perspective division).

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

`X_cam = R(rvec) @ X + t、x = K @ X_cam、uv = x[:2] / x[2]` を全点まとめて計算する

(`project_points と同じ規約)。rvec` は回転ベクトル(軸 × 角 [rad]、scipy の

`Rotation.from_rotvec)、t は (3,) 並進、K` は (3,3) 内部行列。返り値は (n,2) float で

列 0 が u(横・列方向)、列 1 が v(縦・行方向)、単位は K に従いピクセル。

注意(検証なし): カメラ後方や像平面上の点(`Z_cam <= 0`)を弾かず、そのまま除算する。

`Z_cam = 0` は 0 割で inf/NaN、負の Z は画像内に見える偽の座標になるので、可視性の判定は

呼び出し側で行う。形状の検証もしない(`np.asarray` で float 化するのみ)。

`bundle_adjust / mean_reprojection_error` の再投影残差はこの関数で作られる。

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 `keypoints` as input)

fuse_to_voxel · dlt_pose · pnp_ransac · reprojection_error

Same category (`bundle_adjust`)

bundle_adjust · mean_reprojection_error

*Provenance: bundle3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

project — 3D bundle_adjust op