tac_contact_mask — 2D tactile op

• 数据种类:image → region

• 调用:fullseye.apply(img, "tac_contact_mask", a=0.5, b=0.5)(2-D 的模型是一张图 + 两个标量旋钮 a,b∈[0,1])

用法

> 该算子的说明尚无译文,以下照原文给出。

Contact region of a tactile frame by pseudo-reference background

subtraction: `dev = |v - G_sigma(v)| with sigma = max(2, min(H,W)/6)`

(the low-frequency envelope stands in for the undeformed reference frame),

thresholded at `thr = 0.005 + 0.145*a` gray levels, then cleaned with

`round(3*b)` iterations of binary opening followed by binary closing

(3x3, 8-connected). `a = deviation threshold (sensitivity), b` =

morphological cleanup strength. Returns a BINARY 0/1 float64 region of the

input HxW; a perfectly flat (constant) frame has zero deviation everywhere

and therefore yields an EMPTY mask.

参考(示例数据・文献)

• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。

• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。

可运行的示例(实际调用该算子并已验证的样例)

• sim2real_and_alife — py -3.11 examples/sim2real_and_alife.py

类型可衔接的下一个算子(可接受 region 作为输入)

identity · reg_erode · reg_dilate · reg_open · reg_close · fill_holes · select_largest · remove_small

同类别(tactile)

tac_height_from_shading · tac_surface_normal · tac_pressure_proxy · tac_shear_field

*Provenance: ops.py — 2D 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.