reprojection_error — 3D `pose_estimation` op

• Data kinds: points × keypoints → measurement

• Call: import fullseye as fs; fs.ledger.reprojection_error(points_3d, points_2d, K, R, t) (to call the implementation directly, import pnp3d; pnp3d.reprojection_error(points_3d, points_2d, K, R, t); from the registry, ops3d.get("reprojection_error"))

Usage

Reprojection error (RMS pixels). For judging how well a pose fits. → scalar.

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

Raises ValueError: points_2d が (N,2) でない / 点数不一致 / 非有限。

計算: 各 3D 点を `x = K (R X + t) で投影して u = x0/x2, v = x1/x2 を取り、観測 2D 点とのユークリッド距離 d_i [px] の RMS sqrt(mean(d_i²))` を返す。

• `points_3d (N,3)、points_2d (N,2)(画素座標、project_points と同じ規約)、K (3,3)、R (3,3)、t (3,)。R, t は world → camera(Xc = R X + t`)。

• 深度 `x2 が負の点(カメラ後方)もそのまま割って投影するので、誤った姿勢では前後反転した点が「近く」に見えることがある。x2 = 0` は除算で inf/NaN になり検査しない。

• 単位は画素。対応が正しく K が合っていれば画素ノイズ程度(サブピクセル)。

• 典型: `dlt_pose / pnp_ransac の結果を評価する。pnp_ransac の info["rms"] は同じ量(inlier 集合上)。GT 姿勢との比較は pose_error`。

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)

• pnp_pose_outliers — py -3.11 examples_3d/pnp_pose_outliers.py

• pose_estimation — py -3.11 examples_3d/pose_estimation.py

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

vol_gaussian_psf · fuse_to_voxel · fresnel_reflectance · snell_angle

Same category (`pose_estimation`)

dlt_pose · pnp_ransac

*Provenance: pnp3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

reprojection_error — 3D pose_estimation op