pose_graph op• Data kinds: pose → measurement
• Call: import fullseye as fs; fs.ledger.mean_edge_error(poses, edges) (to call the implementation directly, import pose_graph; pose_graph.mean_edge_error(poses, edges); from the registry, ops3d.get("mean_edge_error"))
The RMS of the edge residuals (how consistent the pose graph is). → scalar.
For each edge (i, j, rvec_meas, t_meas[, w_rot, w_trans]), turns the discrepancy measured⁻¹ ∘ predicted between the predicted relative pose T_i⁻¹ ∘ T_j and the measurement (rvec_meas, t_meas) into a 6-dimensional residual of 3 rotation-vector components + 3 translation components (multiplied by sqrt(w_rot) and sqrt(w_trans) respectively; weights default to 1 if omitted), and returns the root of the mean of the 2nd powers over all edges and all components. Same quantity as rmse returned by optimize_pose_graph; use it to compare before and after optimisation.
• poses: [rvec | t] reshapeable to (N,6) (world←body).
• edges: list of the tuples above. Returns 0.0 if empty.
Caution: rotation components (rad) and translation components (coordinate units) are averaged in the same array, so the value has mixed dimensions. In scenes with a large translation scale the translation terms dominate; to align units, weight with w_rot / w_trans. This function does not validate the edge index range (a negative index silently refers to another node via numpy's wrap-around; optimize_pose_graph does validate).
• 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.
• sfm_recon — py -3.11 examples_3d/sfm_recon.py
measurement as input)vol_gaussian_psf · fuse_to_voxel · fresnel_reflectance · snell_angle
pose_graph)optimize_pose_graph · relative_pose
*Provenance: pose_graph.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.