tactile op• Data kinds: image → image
• Call: fullseye.apply(img, "tac_height_from_shading", a=0.5, b=0.5) (the 2-D model is one image plus two scalar knobs a,b∈[0,1])
*The figure is the real output on a synthetic 128×128 input. Left: input, right: output (a non-image return value is shown as the value itself).*
Height/relief map by Poisson integration of the shading gradients -- the integration stage of GelSight depth reconstruction (and of photometric stereo): the image gradients are read as surface slopes `p = gain*gx, q = gain*gy and the Poisson equation lap(h) = div(p,q) is solved spectrally, h_hat = div_hat / lap_hat with the discrete Laplacian symbol 2cos(2*pi*u/W)+2cos(2*pi*v/H)-4 and the (undetermined) DC mode pinned to zero. a = gradient gain (0.25..4.25x), b` = pre-smoothing sigma of the gradient field (0..3). Output is min-max normalised to [0,1] and refit to HxW; a constant frame integrates to a flat (all-zero) relief.
• 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 program below has been verified to run (same input as the figure). In Studio's help this block becomes buttons that load and run it on the spot.
tac_height_from_shading 0.50 0.50
▸ Load this pipeline · Load & run
• sim2real_and_alife — py -3.11 examples/sim2real_and_alife.py
image as input)identity · gaussian · mean_box · bilateral · unsharp · median · min_filter · max_filter
tactile)tac_contact_mask · tac_surface_normal · tac_pressure_proxy · tac_shear_field
*Provenance: ops.py — 2D 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.