hole_detect — DRIVE `kendama` op

• Data kinds: image2d → table

• Call: import fullseye as fs; fs.ledger.hole_detect(img, ball_center, ball_radius, *, dark_ratio: 'float' = 0.45, min_sat: 'float' = 0.35, min_chroma: 'float' = 0.1, min_area: 'int' = 3) -> 'dict' (to call the implementation directly, import kendama; kendama.hole_detect(img, ball_center, ball_radius, *, dark_ratio: 'float' = 0.45, min_sat: 'float' = 0.35, min_chroma: 'float' = 0.1, min_area: 'int' = 3) -> 'dict'; from the registry, opsdrive.get("hole_detect"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

玉の像の中の暗い円盤(けん先の穴)を探す: 玉の中心 `ball_center (col, row)・像の半径 ball_radius` [px] の円の内側で、

明るさ(RGB の平均)が玉の明るさの中央値の `dark_ratio 倍未満、彩度 (max − min)/max ≥ min_sat`(灰色の糸を除く)、

かつ色度(RGB / |RGB|)が玉の色度の中央値から `min_chroma` 以上離れた(陰になった玉の面は明るさだけが落ちて色度は同じ

—— 明るさだけで拾うと影を穴と取り違えた、測って退けた)画素の連結成分のうち最大のもの。返り値 ``{"found", "col", "row", "angle" (玉の中心 → 穴の重心の像の角度 [rad]、

atan2(Δrow, Δcol)), "offset" (距離 / ball_radius: 0 = 正面、→ 1 = 縁), "ellipticity" (短軸 / 長軸、2 次モーメントから:

1 = 正面の円、→ 0 = 真横), "area" [px]}``。見つからなければ found False(他は NaN)。

正面から見た穴の中心は玉の中心と重なり、横へ回るほど縁へ寄って潰れる(offset ≈ sin φ、ellipticity ≈ cos φ、φ = 穴の軸と視線の角)。

img (H, W, 3)、ball_radius > 0 でなければ ValueError。

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.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_kendama — py -3.11 examples/poc_kendama.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`kendama`)

kendama_params · elliptic_k_agm · pendulum_period_exact · pendulum_launch_speed · pendulum_rod_simulate · tether_tension_fixed · tether_slack_angle · swing_up_plan

*Provenance: kendama.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

hole_detect — DRIVE kendama op