pegsym op• Data kinds: scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.search_expected_tries(n_sym: 'int', phi_cap: 'float', order: 'str' = 'alternate', estimate_sigma: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsym; pegsym.search_expected_tries(n_sym: 'int', phi_cap: 'float', order: 'str' = 'alternate', estimate_sigma: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("search_expected_tries"))
Expected number of tries of the rotation search (exact, when the unknown orientation error e is uniform over 1 period). With candidates c_k (rotation_search_plan), the k-th try succeeds when e first falls in [c_k − φ, c_k + φ] (period P), so E = Σ_k (1 − |∪_{i<k} I_i|/P). The computation splits the circle at the interval ends and, for each small interval, counts the index of the first candidate covering it (same value, O(M²) vector operations). If the step is exactly 2φ, E = (M + 1)/2 (closed). The ratio to a search unaware of the symmetry (period 2π, M₁ = ⌈π/φ⌉), ratio_vs_blind → 1/n. If estimate_sigma [rad] is given, e is assumed normal (wrapped to the period) with standard deviation σ around the estimate, and the expected count in "alternate" order is also returned (expected_with_estimate, numerical integration with 4,096 points). Returns expected, closed, M, blind_expected and ratio_vs_blind. Raises ValueError: n_sym < 1, phi_cap ≤ 0, sigma ≤ 0.
• 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
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsym)polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · plane_topview · polygon_yaw_read
*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.