pegsim op• Data kinds: matrix → table
• Call: import fullseye as fs; fs.ledger.camera_world_to_cv(cam_xmat, cam_xpos) -> 'dict' (to call the implementation directly, import pegsim; pegsim.camera_world_to_cv(cam_xmat, cam_xpos) -> 'dict'; from the registry, opsdrive.get("camera_world_to_cv"))
Converts a MuJoCo camera pose (d.cam_xmat 3×3 = camera axes in the world, d.cam_xpos) to OpenCV / Fullseye extrinsic parameters: X_cv = R X_w + t, R = diag(1, −1, −1) Rwcᵀ, t = −R p (MuJoCo looks along −Z with +Y up; OpenCV has +Z forward and +Y down).
> The detailed description below is the original text — the summary and the headings are translated.
返り: R(3×3)、t(3,)、R_cam_to_world = Rᵀ。numpy だけ(mujoco 不要)。Raises ValueError: 形が違う、R が回転でない。
• 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_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.