transform op• Data kinds: depth → points
• Call: import fullseye as fs; fs.ledger.depth_to_points(depth, fx, fy, cx, cy, stride=1) (to call the implementation directly, import match3d; match3d.depth_to_points(depth, fx, fy, cx, cy, stride=1); from the registry, ops3d.get("depth_to_points"))
Depth map (2.5-D) → point cloud (pinhole back-projection). It connects the depth row to every method.
From the depth z of pixel (row v, column u), X = (u − cx)·z/fx, Y = (v − cy)·z/fy, Z = z are formed. Returns (N,3) float64; the columns are camera coordinates (X, Y, Z) (same unit as the depth). Pixels with z of 0 or less are discarded, so N is at most the number of pixels (convention: invalid depth is represented by 0).
• fx, fy, cx, cy: focal length and principal point in pixels. Same convention as K in project_points.
• stride: rows and columns are both thinned to every stride-th pixel. u, v are the post-thinning index multiplied by stride,
i.e. computed as pixel coordinates of the original image, so thinning does not change the geometry.
• No input validation (if not 2-D, indexing fails). NaN depths are discarded because z > 0 is false.
• Points are ordered row-major, but the row/column information is not kept. To keep the grid structure, use
depth_to_organized_points.
Downstream: points_to_voxel / estimate_point_normals / icp_point2plane. Inverse mapping: project_points; TSDF conversion: tsdf_from_depth.
• 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.
• structured_light_scan — py -3.11 examples_3d/structured_light_scan.py
• transforms_repr — py -3.11 examples_3d/transforms_repr.py
points as input)points_to_voxel · gaussians_to_voxel · estimate_point_normals · to_points · match_points_ncc · match_pca · moment_axes · icp_point2point_3d
transform)points_to_voxel · gaussians_to_voxel · mesh_to_voxel · mesh_to_points · voxel_to_mips · voxel_to_mesh · tsdf_from_depth · signed_distance_field
*Provenance: match3d.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.