pegsym op• Data kinds: image2d × matrix × matrix × signal → image2d
• Call: import fullseye as fs; fs.ledger.plane_topview(image, K, R, t, z: 'float' = 0.0, centre=(0.0, 0.0), extent: 'float' = 0.02, res: 'float' = 5e-05, fill: 'float' = 0.0) -> 'np.ndarray' (to call the implementation directly, import pegsym; pegsym.plane_topview(image, K, R, t, z: 'float' = 0.0, centre=(0.0, 0.0), extent: 'float' = 0.02, res: 'float' = 5e-05, fill: 'float' = 0.0) -> 'np.ndarray'; from the registry, opsdrive.get("plane_topview"))
> This operator's description has not been translated yet. The original text follows as it is.
斜めや下からの画像を、世界の平面 z = `z` を真上から見た図に打ち直す(ホモグラフィ = 各格子点を投影して双線形で引く)。
カメラは世界 → OpenCV カメラの `R・t(x_c = R X + t)、内部 K(画素中心が整数の規約)。格子は centre` = (x, y) を中心に
一辺 `extent [m]、画素 res` [m]。列 = +x、行 = −y(北が上)。下から見た画像(鏡像)もこの図では同じ向きになる。カメラの後ろ・
画像の外の格子点は `fill`。返り = (S, S) の濃淡(カラーは輝度にする)。
Raises ValueError: 画像が 2-D 濃淡か (H, W, 3) でない、K・R が 3×3 でない、t が 3 成分でない、extent ≤ 0、res ≤ 0、S > 4096。
• 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.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• poc_peg_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.py
image2d as input)flow_from_depth_motion · ttc_truth · ttc_from_flow · foe_from_flow · perlin2 · fbm_height · fbm_gradient · radial_periodogram
pegsym)polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · polygon_yaw_read · relative_yaw_from_images
*Provenance: pegsym.py — DRIVE 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.