puck op• Data kinds: image2d × table → any
• Call: import fullseye as fs; fs.ledger.puck_detect(frame, cam: 'dict', *, mode: 'str' = 'dark', thresh: 'float' = 0.85, radius_tol: 'float' = 0.5, color=None, color_tol: 'float' = 0.25) (to call the implementation directly, import puck; puck.puck_detect(frame, cam: 'dict', *, mode: 'str' = 'dark', thresh: 'float' = 0.85, radius_tol: 'float' = 0.5, color=None, color_tol: 'float' = 0.25); from the registry, opsdrive.get("puck_detect"))
Facade over balltrack.ball_detect: takes 1 disk from an overhead frame and maps it to the table plane (x, y) [m] via the homography.
> The detailed description below is the original text — the summary and the headings are translated.
mode = "dark"(白い台に暗いパック、合成)/ "color"・"chroma"(色で、MuJoCo の赤いパック)。thresh は台の値(0.92)の少し下に置く: ball_detect の重みは (thresh − 画素値) なので、しきい値が台に近いほど重み ∝ 被覆率で重心が面積重心に一致する。中間の 0.5 では縁の画素が切れて位相依存の偏りが出る(実測 2026-10-04、r = 6.3 px:
thresh 0.5 → 最大 0.08 px / 0.7 → 0.03 / 0.85 → 0.005、雑音 σ 0.01 でも 0.014)。半径が期待(puck_radius·px_per_m)の (1 ± radius_tol) 倍から外れる塊は捨てる。返り値 {"col","row","radius","fill","x","y"} か、見つからなければ None(fail-closed)。知らない mode は ValueError。
• 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_air_hockey_intercept — py -3.11 examples/poc_air_hockey_intercept.py
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
puck)puck_table · puck_wall_bounce · puck_slide_predict · puck_state_at · puck_crossing_point · puck_mirror_path · puck_stop_distance · puck_camera
*Provenance: puck.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.