render op• Data kinds: points → keypoints
• Call: import fullseye as fs; fs.ledger.project_points(points, K, R=None, t=None) (to call the implementation directly, import match3d; match3d.project_points(points, K, R=None, t=None); from the registry, ops3d.get("project_points"))
• Return value through the ledger: fullseye.ledger.project_points(...) returns **only the declared out type keypoints** (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.project_points.raw(...) or call match3d.project_points directly.
• Underlying return: (uv (N,2), depth (N,)) → uv
3-D point set (N,3) → image coordinates (u,v) and depth. Pinhole (the forward direction of depth_to_points).
> The detailed description below is the original text — the summary and the headings are translated.
K=カメラ内部行列 [[fx,0,cx],[0,fy,cy],[0,0,1]]。R,t で外部姿勢。世界モデルの観測写像。
`P_cam = R @ P + t(R (3,3)、t (3,)。None は恒等・零)を u = fx·X/Z + cx`、
`v = fy·Y/Z + cy で投影する。返り値 (uv (N,2), depth (N,)): uv[:,0] = u`(列)、
`uv[:,1] = v(行)、depth` はカメラ座標の Z(clip 前の生値で、負もそのまま)。
`K は K[0,0]` 等で添字するので numpy 配列(nested list は不可)。
Z は `1e-6` 以上に clip してから割るので、カメラ後方の点も捨てず巨大な u,v になる
(`depth > 0 で呼び手が除く)。画像外の点も返す(render_point_depth` が範囲で切る)。
`depth_to_points の逆で、depth_to_points(render_point_depth(...))` が往復になる。
• blender_interop — Blender との併用 — 形を作って fullseye で測る(軸・単位・正解データの罠)
• 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.
• pnp_pose_outliers — py -3.11 examples_3d/pnp_pose_outliers.py
• pose_estimation — py -3.11 examples_3d/pose_estimation.py
keypoints as input)fuse_to_voxel · dlt_pose · pnp_ransac · reprojection_error
render)render_point_depth · render_volume_projection · render_shaded · ambient_occlusion · cast_shadow · phong_shade · matcap_shade · supersample_mesh
*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.