pnp_ransac — 3D pose_estimation op

• Data kinds: points × keypoints → pose

• Call: import pnp3d; pnp3d.pnp_ransac(points_3d, points_2d, K, thresh=2.0, iters=300, seed=0) (or ops3d.get("pnp_ransac"))

Usage

Outlier-robust PnP (RANSAC plus a final DLT refit). → (R, t, inlier_mask, info).

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)

• pnp_pose_outliers — py -3.11 examples_3d/pnp_pose_outliers.py

• pose_estimation — py -3.11 examples_3d/pose_estimation.py

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

fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · relative_pose · mean_edge_error · rotation_translation_error

Same category (pose_estimation)

dlt_pose · reprojection_error

*Provenance: pnp3d.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.