plane op• Data kinds: table → keypoints
• Call: import fullseye as fs; fs.ledger.image_points_to_world_plane(cam_par, pose, image_points, scale=1.0) (to call the implementation directly, import calib; calib.image_points_to_world_plane(cam_par, pose, image_points, scale=1.0); from the registry, opscalib.get("image_points_to_world_plane"))
• HALCON equivalent: image_points_to_world_plane (the HALCON reference is a useful guide to its meaning and parameters)
• GPU: none (CPU reference implementation only)
Back-projects pixels onto the world plane z=0 from the camera intrinsics and extrinsics (image_points_to_world_plane).
> The detailed description below is the original text — the summary and the headings are translated.
返り値は (N,2) の world 座標 × scale。視線が z=0 平面とカメラの前で交わらない画素(地平線より上など、交点がカメラの後ろ)は平面上の点を見ていないので、その行は nan。視線が平面と平行な画素は ValueError。
★2026-11-05(敵対的検証 geometry、未再現の疑いを確認): 以前は交点の係数 lam < 0(カメラの後ろ)でも有限の world 点を返していた(深度 −6.7 の点が「見えている点」として返った)。
• camera_calibration family guide
• 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 canonical algorithm (author, year) and its uses are named in the family usage guide above.
• (none yet)
keypoints as input)image_to_world_plane · camera_calibration · camera_calibration_lm · stereo_calibration_lm · vector_to_rigid · vector_to_similarity · hom_vector_to_proj_hom_mat2d
plane)image_to_world_plane · contour_to_world_plane_xld · gen_image_to_world_plane_map · gen_radial_distortion_map
*Provenance: calib.py — CALIB 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.