tac_surface_normal — 2D tactile op

• 数据种类:image → image

• 调用:fullseye.apply(img, "tac_surface_normal", 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。

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).

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 image 作为输入)

identity · gaussian · mean_box · bilateral · unsharp · median · min_filter · max_filter

同类别(tactile)

tac_contact_mask · tac_height_from_shading · 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.