render_point_depth — 3D `render` op

• Data kinds: points → depth

• Call: import fullseye as fs; fs.ledger.render_point_depth(points, K, size, R=None, t=None) (to call the implementation directly, import match3d; match3d.render_point_depth(points, K, size, R=None, t=None); from the registry, ops3d.get("render_point_depth"))

Usage

Point set → a depth image (z-buffer; each pixel takes the depth of its nearest point). For synthesising observations and inspection samples.

Takes (u, v, z) with project_points(points, K, R, t), and only for points whose rounded pixel (row=v, col=u) lies within size=(H, W) and with z > 0, writes them from far to near so that nearer points overwrite (the minimum z remains for a shared pixel). Pixels with no point are 0 (the convention that tsdf_from_depth / depth_to_points treat as invalid). Returns (H, W) float64, in the units of the point coordinates.

• 1 point = 1 pixel, so sparse point clouds end up full of holes (densify first with mesh_to_points). There is no splat radius.

• K is numpy (3,3); R/t can be omitted.

Downstream: back with depth_to_points, normals with normals_from_depth, tsdf_from_depth.

Background guides (the physics and conventions behind this op)

• blender_interop — Using Blender alongside — build the shape, measure it with fullseye (pitfalls: axes, units, ground truth)

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)

• sfm_recon — py -3.11 examples_3d/sfm_recon.py

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

depth_to_points · tsdf_from_depth · to_points · fuse_to_voxel · depth_to_organized_points · normals_from_depth · occlusion_edges · bearing_angle_image

Same category (`render`)

project_points · render_volume_projection · render_shaded · ambient_occlusion · cast_shadow · phong_shade · matcap_shade · supersample_mesh

*Provenance: match3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

render_point_depth — 3D render op