relative_motion — DRIVE `ttc` op

• Data kinds: matrix × matrix → matrix

• Call: import fullseye as fs; fs.ledger.relative_motion(pose0, pose1, motion=None) -> 'np.ndarray' (to call the implementation directly, import drivettc; drivettc.relative_motion(pose0, pose1, motion=None) -> 'np.ndarray'; from the registry, opsdrive.get("relative_motion"))

Usage

Rigid motion T_rel of points seen in camera coordinates between 2 frames (P_c1 = T_rel · P_c0).

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

pose0 / pose1 は各コマの world → camera(driveworld.camera_pose)。motion は対象が世界で動いた 4×4(world → world、静止した世界なら None = 単位)。T_rel = pose1 · motion · pose0⁻¹。

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)

• poc_ttc_rss — py -3.11 examples/poc_ttc_rss.py

• poc_world_terrain — py -3.11 examples/poc_world_terrain.py

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

world_camera · lidar_scan · foe_from_motion · flow_from_depth_motion · ttc_truth · world_materials · mesh_signed_volume · triangulate_dlt

Same category (`ttc`)

foe_from_motion · flow_from_depth_motion · ttc_truth · ttc_from_flow · ttc_from_scale · ttc_from_range · label_extent · foe_from_flow

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

relative_motion — DRIVE ttc op