estimate_covariances — 3D gicp op

• Data kinds: points → descriptor

• Call: import gicp; gicp.estimate_covariances(points, k: 'int' = 20, epsilon: 'float' = 0.001) -> 'np.ndarray' (or ops3d.get("estimate_covariances"))

Usage

Plane-to-plane covariances (N,3,3): each point's local covariance with its eigenvalues replaced by (ε,1,1).

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)

• gicp_register — py -3.11 examples_3d/gicp_register.py

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

fuse_to_voxel · shape_distance

Same category (gicp)

gicp

*Provenance: gicp.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.