register_cpd_rigid — 3D deform op

• Data kinds: points × points → pose

• Call: import deform3d; deform3d.register_cpd_rigid(src, dst, iters=50, w=0.0, tol=1e-08) (or ops3d.get("register_cpd_rigid"))

Usage

EM-estimate rotation and translation with the rigid version of Coherent Point Drift (CPD).

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)

• motion_scene — py -3.11 examples_3d/motion_scene.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 (deform)

tps_fit · tps_warp · register_nonrigid

*Provenance: deform3d.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.