relative_pose — 3D pose_graph op

• Data kinds: pose × pose → pose

• Call: import pose_graph; pose_graph.relative_pose(pose_i, pose_j) (or ops3d.get("relative_pose"))

Usage

T_i⁻¹ ∘ T_j = the relative pose i←j. pose_* = [rvec|t] (6,). → (rvec_ij (3,), t_ij (3,)).

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)

• pose_graph_slam — py -3.11 examples_3d/pose_graph_slam.py

• sfm_recon — py -3.11 examples_3d/sfm_recon.py

Ops the type connects to (they accept pose as input)

fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · mean_edge_error · rotation_translation_error

Same category (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.