pegsym op• Data kinds: image2d × image2d × scalar → table
• Call: import fullseye as fs; fs.ledger.relative_yaw_from_images(peg_view, hole_view, n: 'int', peg_polarity: 'str' = 'bright', hole_polarity: 'str' = 'dark', K: 'int' = 24) -> 'dict' (to call the implementation directly, import pegsym; pegsym.relative_yaw_from_images(peg_view, hole_view, n: 'int', peg_polarity: 'str' = 'bright', hole_polarity: 'str' = 'dark', K: 'int' = 24) -> 'dict'; from the registry, opsdrive.get("relative_yaw_from_images"))
> This operator's description has not been translated yet. The original text follows as it is.
ペグ(上向きカメラ → 先端面の平面に打ち直した図)と穴(手首カメラ → 口の平面の図)の向きの差を、n 回対称の商で:
Δ = symmetry_fold(yaw_peg − yaw_hole, n)。どちらも :func:polygon_yaw_read で読み、形ごとの位相の定数(頂点の向きと面の向きの差)は
同じ形どうしの差で消える(穴はペグを外へずらした相似形なので)。キー付き(n = 1)は相似でないので、ずれが小さく残る(門で測る)。
返り `delta(ペグを −delta 回せば揃う)、peg・hole(読み)、n`。
Raises ValueError: n < 1、読みが失敗した(:func:polygon_yaw_read の例外)。
• 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
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsym)polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · plane_topview · polygon_yaw_read
*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.