typed op• Data kinds: points → keypoints
• Call: fullseye.apply(img, "tb_project_points", a=0.5, b=0.5) (the 2-D model is one image plus two scalar knobs a,b∈[0,1])
*The figure is the actual output on a synthetic 128×128 input. Left: input, right: output. Point clouds are drawn as a top-down scatter (brightness = z), 1-D series as a line plot, volumes as the maximum-intensity projection along z, videos as the middle frame, complex images as magnitude; return values that are not pictures are shown as the values themselves.*
*Knob a does not change the output (measured: identical at 0.1 / 0.5 / 0.9).*
*Knob b does not change the output (measured: identical at 0.1 / 0.5 / 0.9).*
Stages (the ops that come before → this op, left to right):
▸ tb_project_points: stages (docs site)
On other images (synthetic scene / photo / coins. Top row: inputs, bottom row: their outputs. Knobs at default):
▸ tb_project_points: other inputs (docs site)
3D point cloud (N,3) → image coordinates (u,v) and depth. Pinhole model (the forward direction of depth_to_points).
> The detailed description below is the original text — the summary and the headings are translated.
K=カメラ内部行列 [[fx,0,cx],[0,fy,cy],[0,0,1]]。R,t で外部姿勢。世界モデルの観測写像。
`P_cam = R @ P + t(R (3,3)、t (3,)。None は恒等・零)を u = fx·X/Z + cx`、
`v = fy·Y/Z + cy で投影する。返り値 (uv (N,2), depth (N,)): uv[:,0] = u`(列)、
`uv[:,1] = v(行)、depth` はカメラ座標の Z(clip 前の生値で、負もそのまま)。
`K は K[0,0]` 等で添字するので numpy 配列(nested list は不可)。
Z は `1e-6` 以上に clip してから割るので、カメラ後方の点も捨てず巨大な u,v になる
(`depth > 0 で呼び手が除く)。画像外の点も返す(render_point_depth` が範囲で切る)。
`depth_to_points の逆で、depth_to_points(render_point_depth(...))` が往復になる。
2-D 進化レジストリへ橋渡しした 3d の op `project_points。実装は同じで、呼び出し規約だけ op(v, a, b) に合わせてある。この op に調整点は無く、a も b` も使われない。
• 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.
The program below has been verified to run (same input as the figure). In Studio's help this block becomes buttons that load and run it on the spot.
img_to_points 0.50 0.50 tb_project_points 0.50 0.50
▸ Load this pipeline · Load & run
The examples below call the underlying ledger op project_points. This bridge op is the same implementation adapted to the fn(v, a, b) convention, so the behaviour carries over unchanged (only the call form differs).
• pnp_pose_outliers — py -3.11 examples_3d/pnp_pose_outliers.py
• pose_estimation — py -3.11 examples_3d/pose_estimation.py
keypoints as input)identity · tb_keypoints_uv_to_points · tb_keypoints_to_image2d
typed)tb_points_to_voxel · tb_estimate_point_normals · tb_iss_keypoints · tb_render_point_depth · tb_statistical_outlier_removal · tb_radius_outlier_removal · tb_voxel_grid_downsample · tb_mls_smooth
*Provenance: ops.py — 2D 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.