rigid_flow — 3D scene_flow3d op

• Data kinds: points × points → pose

• Call: import scene_flow3d; scene_flow3d.rigid_flow(pts0, pts1, max_iter: 'int' = 20) -> 'dict' (or ops3d.get("rigid_flow"))

Usage

Estimate the single rigid motion that explains pts0 -> pts1, via nearest-neighbour correspondences and Kabsch (ICP-like).

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)

• scene_flow_rigid — py -3.11 examples_3d/scene_flow_rigid.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 (scene_flow3d)

nearest_neighbor_flow · smooth_flow

*Provenance: scene_flow3d.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.