com_from_silhouette — DRIVE locomotion op

• Data kinds: mask → keypoints

• Call: import fullseye as fs; fs.ledger.com_from_silhouette(mask) (to call the implementation directly, import locomotion; locomotion.com_from_silhouette(mask); from the registry, opsdrive.get("com_from_silhouette"))

• Return value through the ledger: fullseye.ledger.com_from_silhouette(...) returns only the declared out type keypoints (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.com_from_silhouette.raw(...) or call locomotion.com_from_silhouette directly.

• GPU: none (CPU reference implementation only)

Usage

Centre of mass (centroid) of a binary silhouette, as (row, col) in image coordinates. A cheap proxy for the body COM projection when a full mass model is unavailable (evis/hillco posture). Returns (nan, nan) for an empty mask.

> The detailed description below is the original text — the summary and the headings are translated.

空の入力(mask が 0 要素)は (nan, nan) を返す(理由: 画素の無いシルエットには重心が無く、0 で埋めると原点に人がいることになる)。

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)

• consumer_hillco — py -3.11 examples/consumer_hillco.py

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

Ops the type connects to (they accept keypoints as input)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

Same category (locomotion)

contact_points · support_polygon · com_support_margin · gait_phase · support_line_margin · lipm_capture_point · capture_margin · gait_step_events

*Provenance: locomotion.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.