register_cpd_rigid — 3D deform op

• Data kinds: points × points → pose

• Call: import fullseye as fs; fs.ledger.register_cpd_rigid(src, dst, iters=50, w=0.0, tol=1e-08) (to call the implementation directly, import deform3d; deform3d.register_cpd_rigid(src, dst, iters=50, w=0.0, tol=1e-08); from the registry, ops3d.get("register_cpd_rigid"))

Usage

EM-estimate rotation and translation with the rigid version of Coherent Point Drift (CPD).

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

`src(移動側 Y, M点)を dst`(固定側 X, N点)へ剛体変換で合わせる。CPD は

dst を、src を中心に置いた等方ガウス混合の重心と見なし、E ステップで軟対応

(posterior)を、M ステップで最尤の剛体変換と分散を更新する。ICP と違い対応を

ハードに決めないため、初期ずれ・部分的外れ値に頑健。スケールは 1 固定(純剛体)。

参考: Myronenko & Song, "Point Set Registration: Coherent Point Drift", 2010。

引数:

src: (M,3) 移動側点群。

dst: (N,3) 固定側点群。

iters: 最大 EM 反復回数。

w: 外れ値(一様分布)混合比 0≤w<1。0 で外れ無し。

tol: 分散 σ² の相対変化がこの値未満で収束打ち切り。

返り値:

R: (3,3) 回転(`dst ≈ src @ R.T + t`)。

t: (3,) 並進。

info: dict。"sigma2"(最終分散)、"iters"、"converged"、"rmse"

(変換後 src の最近傍 RMSE)。

例外:

ValueError: 形状不正、点数不足、w 範囲外、または `N*M` が

`CPD_MAX_PAIRS`(25M)超(密な (N,M) 責務行列を毎反復組むため。

両点群を間引いてから渡す)。

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)

• motion_scene — py -3.11 examples_3d/motion_scene.py

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

fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · relative_pose · mean_edge_error · rotation_translation_error

Same category (deform)

tps_fit · tps_warp · register_nonrigid

*Provenance: deform3d.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.