match_localize op• Data kinds: points × points → position
• Call: import fullseye as fs; fs.ledger.match_points_ncc(pts_scene, pts_model, size, bounds, device='cpu', smooth=0.8) (to call the implementation directly, import match3d; match3d.match_points_ncc(pts_scene, pts_model, size, bounds, device='cpu', smooth=0.8); from the registry, ops3d.get("match_points_ncc"))
• Return value through the ledger: fullseye.ledger.match_points_ncc(...) returns only the declared out type position (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.match_points_ncc.raw(...) or call match3d.match_points_ncc directly.
• GPU: this op has a GPU path (device="cuda")
Point-set to point-set matching (structure = point cloud × method = NCC, transform = splat). Locates the model within the scene.
Procedure: pts_scene and pts_model are passed, with the same bounds=(lo,hi) and size, through points_to_voxel (with smoothing of σ=smooth voxels); on the model side the bbox of > 5%·max is cropped as the template, and NCC localisation is done with accel_match.ncc_locate_3d. Returns [NCC, z, y, x] float64 (NCC ∈ [−1,1]; the position is a voxel index, refined to subvoxel by the centroid of the ±2 neighbourhood).
• The position is where in the scene voxels the centre of the cropped bbox template lands. To go back to world coordinates:
lo + idx/(size−1)·(hi−lo) (the grid of points_to_voxel).
• bounds is required (validated by _lo_hi; invalid gives ValueError). Unless the range contains both clouds, out-of-range
points are clipped to the edge voxels.
• If the model's voxels are all 0, [0,0,0,0].
• Translation only. Align rotation and scale first with match_pca / match_logpolar_z.
Downstream: init_t of icp_point2point_3d, refine_translation_lk.
• 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.
• matching_localize — py -3.11 examples_3d/matching_localize.py
position as input)refine_peak_newton · refine_translation_lk · refine_lm · fuse_to_voxel
match_localize)match_shape_3d · match_chamfer_3d · match_curvature_3d · match_hough_3d · match_mip_2d
*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.