Expand description
Synthetic scenes with analytically known null spaces.
These are the project’s measuring standard. The degeneracy detector is not judged by eye but against an answer derived by hand: for every scene it is known in advance how many degrees of freedom the geometry fails to determine, and which ones.
§Convention
Null spaces are written in ξ = [ρ; φ] coordinates and refer to
rotation about the coordinate origin. Scenes are built in a
canonical pose where the answer takes a simple form. Moving a scene by
a transform T maps the null space to Adj(T)·v — checked by its own
test, which incidentally confirms the adjoint implementation.
§What “known null space” means
A row of the point-to-plane Jacobian is [nᵀ | (p × n)ᵀ]. A vector v
is unobservable when [nᵀ | (p × n)ᵀ]·v = 0 for every point of the
scene. That condition is solved by hand below for each surface.
Modules§
- rng
- A deterministic pseudo-random generator.
Structs§
- Scene
- A generated scene.
- Scene
Params - Generation parameters.
Enums§
- Scene
Kind - The set of scenes whose answer is known.