rotation_translation_error — 3D `registration_metrics` op

• Data kinds: pose × pose → measurement

• Call: import fullseye as fs; fs.ledger.rotation_translation_error(gt, est) (to call the implementation directly, import registration_eval; registration_eval.rotation_translation_error(gt, est); from the registry, ops3d.get("rotation_translation_error"))

Usage

The relative rotation error (geodesic angle [deg], RRE) and relative translation error (RTE) between two 4×4 transforms.

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

RRE = 角度(gt_R^T · est_R) = arccos((tr−1)/2) を度で。任意軸まわりの角 θ の

回転差なら RRE=θ。RTE = ‖gt_t − est_t‖。→ (rre_deg, rte)。

非 4×4 は ValueError(fail-closed)。

• `gt / est: 4×4 同次変換(左上 3×3 が回転、右列が並進)。非有限を含むと ValueError`。

• `rre_deg は [0, 180] の度(cos は [-1,1] にクリップしてから arccos)。rte` は並進列の差の

ノルムで座標の単位。並進列は回転の原点に依存するので、同じ姿勢誤差でも原点が物体から遠い

ほど RTE は大きく出る(比較は同じフレーム規約の変換どうしで行う)。

• 回転行列が直交でなくても検査しないので、`gicp` 等の出力 (R,t) を同モジュールの

`make_transform で組んだ正しい変換を渡す。inlier_ratio / registration_recall` が点群上の残差で測るのに対し、

こちらは変換パラメータそのものの差を測る。

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)

• reg_eval — py -3.11 examples_3d/reg_eval.py

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

vol_gaussian_psf · fuse_to_voxel · fresnel_reflectance · snell_angle

Same category (`registration_metrics`)

inlier_ratio · rmse_inliers · registration_recall

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

rotation_translation_error — 3D registration_metrics op