motion_segment op• Data kinds: points × points → pose
• Call: import fullseye as fs; fs.ledger.fit_rigid(pts_from, pts_to) (to call the implementation directly, import motion_seg3d; motion_seg3d.fit_rigid(pts_from, pts_to); from the registry, ops3d.get("fit_rigid"))
Estimate the rigid transform (R, t) from correspondences by the closed-form Kabsch algorithm (pts_from[i] -> pts_to[i]).
From 2 (N, 3) point sets whose rows i correspond, returns the proper rotation that minimises || (R·p + t) - q || (det = +1, no reflection) and the translation. A thin wrapper around registration.kabsch that adds input validation (the rotation is unique for N >= 3).
Args:
pts_from: (N, 3) source (in correspondence order).
pts_to: (N, 3) destination (in correspondence order).
Returns:
(R, t): (3, 3) rotation matrix, (3,) translation vector.
Raises:
ValueError: shape mismatch / not (N, 3) / N < 3 / non-finite.
• 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.
• motion_scene — py -3.11 examples_3d/motion_scene.py
pose as input)fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · relative_pose · mean_edge_error · rotation_translation_error
motion_segment)segment_rigid_motions · estimate_flow
*Provenance: motion_seg3d.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.