pegsim op• Data kinds: rgb × image2d × matrix × matrix → table
• Call: import fullseye as fs; fs.ledger.peg_offset_from_rgbd(rgb, depth, K, R_cam_to_world, r_peg: 'float' = 0.005, hole_radius: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_offset_from_rgbd(rgb, depth, K, R_cam_to_world, r_peg: 'float' = 0.005, hole_radius: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("peg_offset_from_rgbd"))
> This operator's description has not been translated yet. The original text follows as it is.
手首 RGB-D 1 枚から、穴中心に対するペグ先端の相対ずれ (dx, dy) [m] を世界(搬送台)座標で —— 視覚サーボの観測量。
`R_cam_to_world はカメラ座標のベクトルを世界へ回す 3×3(hand-eye)。ずれは板の平面内の成分、height` は先端の板からの高さ。
`hole_radius を与えると穴の円を既知半径で当てる(:func:hole_centre_from_rgbd`)。
返り: `hole・tip(各計測の dict)、dx・dy・height`。試作(16 姿勢): |dx|, |dy| の最大 0.010 mm。
• 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_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · whitney_clearance · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius
*Provenance: pegsim.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.