cylinder_fit_known_radius — DRIVE `pegsim` op

• Data kinds: points → table

• Call: import fullseye as fs; fs.ledger.cylinder_fit_known_radius(points, r: 'float', axis_point, axis, iters: 'int' = 25) -> 'dict' (to call the implementation directly, import pegsim; pegsim.cylinder_fit_known_radius(points, r: 'float', axis_point, axis, iters: 'int' = 25) -> 'dict'; from the registry, opsdrive.get("cylinder_fit_known_radius"))

Usage

Fits a cylinder of known radius r to a 3-D point cloud (N, 3): a point on the axis (2 degrees of freedom perpendicular to the axis) and the axis direction (2 degrees of freedom) by Gauss-Newton.

Starting from initial values axis_point, axis, residual = distance from the axis − r. Returns: axis_point (3,), axis (unit, keeps the input direction), rms, n. Raises ValueError: fewer than 5 points, r ≤ 0, axis is zero.

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)

• gallery_drive_peg — py -3.11 examples/gallery_drive_peg.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`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).*

cylinder_fit_known_radius — DRIVE pegsim op