calib_truth op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.calibration_next_pose(calibration, candidate_poses, image_shape, step=32, sigma_px=None) (to call the implementation directly, import calib_lm; calib_lm.calibration_next_pose(calibration, candidate_poses, image_shape, step=32, sigma_px=None); from the registry, opscalib.get("calibration_next_pose"))
• GPU: none (CPU reference implementation only)
Recommends, among candidate board poses, the one view that would reduce the calibration uncertainty (mean over the image) the most (table).
> The detailed description below is the original text — the summary and the headings are translated.
Recommend the next calibration view. The information already gathered is rebuilt from the calibration's own geometry (board, poses, current estimate — the Jacobian does not depend on the measured points) as JᵀJ/σ²; each candidate pose (board -> camera 4x4) adds its own block (with its 6 pose unknowns). The score is the mean of calibration_uncertainty_map after adding the candidate; lower is better. Candidates whose board leaves the image or goes behind the camera get inf. sigma_px overrides the corner noise (default: the calibration's sigma_px).
★これは予測(線形化した共分散)。モンテカルロで「推薦を足した校正の実際の誤差 < 最下位を足した校正」を門で確かめる(tests)。最適な実験計画の D 最適ではなく、画像の上の予測の不確かさの平均を直接減らす基準。画像の上の予測の再投影誤差で次の姿勢を選ぶ考え方は AprilCal(Richardson, Strom & Olson, IROS 2013)と同じ系統(あちらは最大値、こちらは平均)。★実測(tests の 6 候補): 候補どうしの差が小さいとき予測の順位と実際の順位は入れ替わりうる。確かなのは「最下位を避ける」ほうで、門もそこを見る。
返す dict: scores(候補ごと、px)、best_index、current_mean_px、improvement(現在 − 最良)、visible(候補ごと)、param_std(候補ごとの 9 変数の標準偏差)。
Raises ValueError: 校正の表に姿勢・板・雑音が無い、候補が空・剛体でない、引数の範囲外。
• camera_calibration family guide
• 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_calibration_truth_map — py -3.11 examples/poc_calibration_truth_map.py
table as input)image_points_to_world_plane · contour_to_world_plane_xld · sim_caltab · disp_caltab · calibration_error_map · calibration_uncertainty_map
calib_truth)calibration_error_map · calibration_uncertainty_map
*Provenance: calib_lm.py — CALIB 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.