tactile op• 資料種類:image → image
• 呼叫:fullseye.apply(img, "tac_surface_normal", a=0.5, b=0.5)(2-D 的模型是一張圖 + 兩個純量旋鈕 a,b∈[0,1])
> 該運算子的說明尚無譯文,以下照原文給出。
Surface-normal z-component (slope map) from the shading gradients, using
Horn's shape-from-shading normal parameterisation
`n = (-p, -q, 1)/sqrt(1+p^2+q^2) so that nz = 1/sqrt(1+p^2+q^2)` with
`p = gain*gx, q = gain*gy`. Flat (uncontacted) gel gives nz = 1, steep
indentation walls tend to 0, so the map is already a valid [0,1] encoding.
`a` = gradient gain (1..21x -- how steep the shading is taken to be),
`b` = pre-smoothing sigma of the image (0..3) to tame sensor noise.
Constant input -> all-ones (perfectly flat gel).
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• sim2real_and_alife — py -3.11 examples/sim2real_and_alife.py
image 作為輸入)identity · gaussian · mean_box · bilateral · unsharp · median · min_filter · max_filter
tactile)tac_contact_mask · tac_height_from_shading · tac_pressure_proxy · tac_shear_field
*Provenance: ops.py — 2D 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.