pegsym op• Data kinds: image2d × matrix × matrix × signal → image2d
• Call: import fullseye as fs; fs.ledger.plane_topview(image, K, R, t, z: 'float' = 0.0, centre=(0.0, 0.0), extent: 'float' = 0.02, res: 'float' = 5e-05, fill: 'float' = 0.0) -> 'np.ndarray' (to call the implementation directly, import pegsym; pegsym.plane_topview(image, K, R, t, z: 'float' = 0.0, centre=(0.0, 0.0), extent: 'float' = 0.02, res: 'float' = 5e-05, fill: 'float' = 0.0) -> 'np.ndarray'; from the registry, opsdrive.get("plane_topview"))
Resamples an oblique or from-below image into a view of the world plane z = z seen from directly above (homography = project each grid point and sample bilinearly). The camera is given by world → OpenCV camera R and t (x_c = R X + t) and intrinsics K (convention: pixel centers at integers). The grid is centered at centre = (x, y) with side extent [m] and pixel size res [m]. Columns = +x, rows = −y (north up). An image taken from below (mirrored) also comes out in the same orientation in this view. Grid points behind the camera or outside the image get fill. Returns an (S, S) grayscale image (color is converted to luminance). Raises ValueError: image is not 2-D grayscale or (H, W, 3), K or R is not 3×3, t does not have 3 components, extent ≤ 0, res ≤ 0, S > 4096.
• 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_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.py
image2d as input)flow_from_depth_motion · ttc_truth · ttc_from_flow · foe_from_flow · perlin2 · fbm_height · fbm_gradient · radial_periodogram
pegsym)polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · polygon_yaw_read · 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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.