peg_tip_from_rgbd — DRIVE `pegsim` op

• Data kinds: rgb × image2d × matrix → table

• Call: import fullseye as fs; fs.ledger.peg_tip_from_rgbd(rgb, depth, K, r_peg: 'float' = 0.005, peg_mask=None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_tip_from_rgbd(rgb, depth, K, r_peg: 'float' = 0.005, peg_mask=None) -> 'dict'; from the registry, opsdrive.get("peg_tip_from_rgbd"))

Usage

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

手首 RGB-D 1 枚からペグ先端の中心を 3-D(カメラ座標)で: ペグの画素 → depth の点群 → PCA の軸 → 既知半径の円柱当てはめ、

先端の軸方向は影の端(副画素、被覆率)を、投影した縁の円の端と一致させる模型で決める。

返り: `tip_cam(3,)、axis(先端 → 上、単位)、rms_cyl、n_pts、uv(先端の投影)、delta_axial`。

正直に: 試作の 16 姿勢で軸方向の誤差 max 0.83 px(横方向 0.004 px)—— 影の端 1 画素の被覆率だけから軸方向を読む限界で、

目標 0.3 px は未達。Raises `RuntimeError`: ペグが見えない(芯の画素 < 50)。

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)

• (none yet)

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 (`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).*

peg_tip_from_rgbd — DRIVE pegsim op