optimize_pose_graph — 3D pose_graph op

• Data kinds: pose → table

• Call: import pose_graph; pose_graph.optimize_pose_graph(poses_init, edges, fix_first=True, max_iter=200) (or ops3d.get("optimize_pose_graph"))

Usage

Optimise the global poses from relative-pose constraints and loop closures. → dict{poses, rmse, cost}.

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.

Runnable examples (verified samples that actually call this op)

• pose_graph_slam — py -3.11 examples_3d/pose_graph_slam.py

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

fuse_to_voxel · mesh_select_lod

Same category (pose_graph)

relative_pose · 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.