pose_graph op• Data kinds: pose × pose → pose
• Call: import fullseye as fs; fs.ledger.relative_pose(pose_i, pose_j) (to call the implementation directly, import pose_graph; pose_graph.relative_pose(pose_i, pose_j); from the registry, ops3d.get("relative_pose"))
T_i⁻¹ ∘ T_j = the relative pose i←j. pose_* = [rvec|t] (6,). → (rvec_ij (3,), t_ij (3,)).
The pose convention is world←body (p_world = R p_body + t). Composes T_i⁻¹ = (R_iᵀ, -R_iᵀ t_i) and T_j to get R_ij = R_iᵀ R_j and t_ij = R_iᵀ (t_j - t_i), and returns the rotation converted back to a rotation vector (axis × angle [rad], scipy's as_rotvec). This is "the pose of frame j seen from frame i", and measurements for the edges (i, j, rvec_ij, t_ij) passed to optimize_pose_graph are consistent as-is when built with this convention (also used to generate synthetic edges from GT poses).
• pose_i / pose_j: length-6 [rvec(3) | t(3)]. Shape is not validated (it is only sliced by pose[:3] / pose[3:]).
• Units: translation in coordinate units, rotation in rad. The angle of the returned rvec_ij is folded into [0, π].
• 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.
• pose_graph_slam — py -3.11 examples_3d/pose_graph_slam.py
• sfm_recon — py -3.11 examples_3d/sfm_recon.py
pose as input)fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · mean_edge_error · rotation_translation_error
pose_graph)optimize_pose_graph · mean_edge_error
*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.