pose_graph op• Data kinds: pose × pose → pose
• Call: import fullseye as fs; fs.ledger.relative_pose(pose_i, pose_j) (to call the implementation directly, import pose_graph; pose_graph.relative_pose(pose_i, pose_j); from the registry, ops3d.get("relative_pose"))
T_i⁻¹ ∘ T_j = the relative pose i←j. pose_* = [rvec|t] (6,). → (rvec_ij (3,), t_ij (3,)).
> The detailed description below is the original text — the summary and the headings are translated.
姿勢の規約は world←body(`p_world = R p_body + t)。T_i⁻¹ = (R_iᵀ, -R_iᵀ t_i) と T_j` を
合成して `R_ij = R_iᵀ R_j、t_ij = R_iᵀ (t_j - t_i)` を求め、回転は回転ベクトル(軸 × 角
[rad]、scipy の `as_rotvec`)に戻して返す。これは「フレーム i から見たフレーム j の姿勢」で、
`optimize_pose_graph に渡すエッジ (i, j, rvec_ij, t_ij)` の計測値をこの規約で作ればそのまま
整合する(GT 姿勢からの合成エッジ生成にも使う)。
• `pose_i / pose_j: 長さ 6 の [rvec(3) | t(3)]。形状検証はしない(pose[:3]` /
`pose[3:]` でスライスするだけ)。
• 単位は並進が座標の単位、回転が rad。返る `rvec_ij` の角度は [0, π] に折り畳まれる。
• 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.
• pose_graph_slam — py -3.11 examples_3d/pose_graph_slam.py
• sfm_recon — py -3.11 examples_3d/sfm_recon.py
pose as input)fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · mean_edge_error · rotation_translation_error
pose_graph)optimize_pose_graph · mean_edge_error
*Provenance: pose_graph.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.