pose_to_matrix — REPRCONV `exit` op

• Data kinds: pose → matrix

• Call: import fullseye as fs; fs.ledger.pose_to_matrix(pose) (to call the implementation directly, import reprconv; reprconv.pose_to_matrix(pose); from the registry, opsreprconv.get("pose_to_matrix"))

• GPU: none (CPU reference implementation only)

Usage

A rigid pose pose (R, t) → a 4×4 homogeneous transform matrix.

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

dlt_pose / icp_point2point_3d / fit_rigid などは (R (3,3), t (3,)) を返すが、rotation_translation_error などは 4×4 を受ける。[[R, t], [0, 0, 0, 1]] に詰める。既に 4×4 の配列が来たら、最下行が (0, 0, 0, 1) であることを確かめて写しを返す。R が回転行列であること(RᵀR = I、det R = +1、公差 1e-6)を確かめる —— 相似変換や鏡映を黙って剛体として通さない。

Args:

pose: (R, t) の 2-tuple / list、{"R": .., "t": ..} の dict、または 4×4 配列。

Returns:

(4, 4) float64。

Raises:

ValueError: 形が違う / R が回転行列でない / 非有限。

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.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• type_connectivity_tour — py -3.11 examples/type_connectivity_tour.py

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

matrix_to_descriptor · matrix_to_angle · matrix_to_rot_scale

Same category (`exit`)

tokens_to_matrix · pairs_peak_x

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

pose_to_matrix — REPRCONV exit op