polygon_yaw_read — DRIVE `pegsym` op

• Data kinds: image2d → table

• Call: import fullseye as fs; fs.ledger.polygon_yaw_read(topview, n: 'int | None' = None, polarity: 'str' = 'dark', K: 'int' = 24, rel: 'float' = 0.02) -> 'dict' (to call the implementation directly, import pegsym; pegsym.polygon_yaw_read(topview, n: 'int | None' = None, polarity: 'str' = 'dark', K: 'int' = 24, rel: 'float' = 0.02) -> 'dict'; from the registry, opsdrive.get("polygon_yaw_read"))

Usage

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

上から見た図(:func:plane_topview、列 = +x・行 = −y)の物体の輪郭(副画素の等値線、:mod:pegtactile と同じ `threshold_sub_pix`)

の複素フーリエ係数から、向きを周期 2π/n を法として読む。n 回対称なら非零の係数は k ≡ 1 (mod n) だけで、

arg(c₁₋ₙ c₁ⁿ⁻¹)/n は始点に依らない(:func:pegtactile.symmetry_order_contour)。`n` を渡すと検出した n でなくその n の位相を使う

(図面で n が分かっている時。実画像の縁の揺れで余分な係数が有意になっても位相は読める)。

`polarity` = 物体が暗い("dark"、穴)か明るい("bright"、ペグの端面)。濃淡は 2 % と 98 % の分位で 0..1 に伸ばしてから 0.5 の等値線。

返り `n_detected・n_used・yaw(世界の向き、像の行が −y なので符号を戻す、周期 2π/n_used の代表 [0, P))・centroid_px`

(row, col)・`amps`。n_used = 0(円)なら yaw = nan。

Raises ValueError: polarity が不明、像が平ら、輪郭が無い、n < 0。

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_peg_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.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 (`pegsym`)

polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · plane_topview · relative_yaw_from_images

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

polygon_yaw_read — DRIVE pegsym op