find_marks_and_pose — CALIB `calibrate` op

• Data kinds: image2d → table

• Call: import fullseye as fs; fs.ledger.find_marks_and_pose(image, cam_par, caltab, thresh=0.5, max_reproj_rms=3.0) (to call the implementation directly, import caltab; caltab.find_marks_and_pose(image, cam_par, caltab, thresh=0.5, max_reproj_rms=3.0); from the registry, opscalib.get("find_marks_and_pose"))

• GPU: none (CPU reference implementation only)

Usage

Mark detection + pose estimation of the calibration plate (plane homography → pose) (find_marks_and_pose).

> The detailed description below is the original text — the summary and the headings are translated.

対応づけは行優先ソートではなく ホモグラフィ誘導: 検出マークと理想格子の 4 隅(row±col の極値)から初期 H を作り、理想点を投影して最近傍マークを 1 対 1 に割り当て、全対応で H を再推定(2 反復)。板の面内回転が ±45° 未満なら傾き(rx, ry)の大きさに関係なく正しく対応する(2026-09-02 以前は少しの傾きで行が交錯し、深度が数百 mm ずれても無警告だった)。

fail-closed: マークが 4 個未満/対応が 4 組未満/再投影 RMS が max_reproj_rms [px] を超えるときは ValueError(None で無効化可)。

戻り値: marks (M,2) 対応づいた検出マーク(ideal_index の順)、pose 4x4、homography (x,y)→(col,row)、reproj_rms [px]、residuals (M,)、n_marks、reproj_margin(max_reproj_rms - reproj_rms [px]。拒否の線までの余裕で、小さいほど「かろうじて通った」。max_reproj_rms=None なら None)。world は caltab["points"] の (y, x) をそのまま (x, y, 0) とする。

Detailed usage guide

• camera_calibration family guide

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.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• (none yet)

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

image_points_to_world_plane · contour_to_world_plane_xld · sim_caltab · disp_caltab · calibration_error_map · calibration_uncertainty_map · calibration_next_pose

Same category (`calibrate`)

camera_calibration · hand_eye_calibration · camera_calibration_lm · stereo_calibration_lm

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

find_marks_and_pose — CALIB calibrate op