sampson_distance — 3D `two_view` op

• Data kinds: image2d × image2d → signal

• Call: import fullseye as fs; fs.ledger.sampson_distance(F, pts1, pts2) (to call the implementation directly, import twoview; twoview.sampson_distance(F, pts1, pts2); from the registry, ops3d.get("sampson_distance"))

Usage

The Sampson distance of the epipolar constraint (the first-order geometric error, per correspondence). → (N,).

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

Raises ValueError: 点が (N,2) でない/非有限/対応数不一致。

計算: 同次座標 x1=(u1,v1,1)、x2=(u2,v2,1) で `(x2ᵀ F x1)² / ((F x1)_0² + (F x1)_1² + (Fᵀ x2)_0² + (Fᵀ x2)_1² + 1e-12)`。

• 単位は画素の 2 乗(距離の 2 乗)。画素で閾値を切るなら `sqrt` を取るか、閾値側を 2 乗する。

• F は `fundamental_8point の規約 x2ᵀ F x1 = 0`(pts1 → x1、pts2 → x2)。順序を入れ替えるなら F を転置する。

• 分母に 1e-12 を足しているので F=0 でも例外にはならず 0 を返す(F の検査は行わない)。

• 返り値は float64 (N,)。決定論的。(N,2) でない・非有限・点数不一致は `ValueError`。

• 典型: `fundamental_8point の当てはまり確認、誤対応(大きい値)の選別、recover_pose` 前の前処理。

Background guides (the physics and conventions behind this op)

• depth_sensors — 深度センサの知識 — 測距原理・実機の値・欠測の出方

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)

• two_view_pose — py -3.11 examples_3d/two_view_pose.py

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

fuse_to_voxel

Same category (`two_view`)

fundamental_8point · essential_8point · recover_pose · triangulate

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

sampson_distance — 3D two_view op