ozaki op• Data kinds: points × points → table
• Call: import fullseye as fs; fs.ledger.kabsch_reproducible(P, Q) (to call the implementation directly, import ozakimm; ozakimm.kabsch_reproducible(P, Q); from the registry, opsdrive.get("kabsch_reproducible"))
Returns the rigid R and t minimizing |R p + t − q| (Kabsch 1976) with bits independent of the point order.
> The detailed description below is the original text — the summary and the headings are translated.
返り: {"R": (3, 3), "t": (3,), "H": (3, 3)}。H は cross_covariance_reproducible(どの計算機でも同じビット)、R は H の特異値分解から(反射は det で直す)。特異値分解は LAPACK なので、R・t が同じビットになるのは同じ計算機・同じ LAPACK の上(3×3 なのでスレッド数には依らない)。
• 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.
• poc_reproducible_icp — py -3.11 examples/poc_reproducible_icp.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
ozaki)matmul_ozaki · matmul_reproducible · ozaki_error_bound · cross_covariance_reproducible · fp64_emulation_probe
*Provenance: ozakimm.py — DRIVE 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.