tac_height_from_shading — 2D tactile op

• 資料種類:image → image

• 呼叫:fullseye.apply(img, "tac_height_from_shading", 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])

用法

> 該運算子的說明尚無譯文,以下照原文給出。

Height/relief map by Poisson integration of the shading gradients -- the

integration stage of GelSight depth reconstruction (and of photometric

stereo): the image gradients are read as surface slopes `p = gain*gx`,

`q = gain*gy and the Poisson equation lap(h) = div(p,q)` is solved

spectrally, `h_hat = div_hat / lap_hat` with the discrete Laplacian symbol

`2cos(2*pi*u/W)+2cos(2*pi*v/H)-4` and the (undetermined) DC mode pinned to

zero. `a = gradient gain (0.25..4.25x), b` = pre-smoothing sigma of the

gradient field (0..3). Output is min-max normalised to [0,1] and refit to

HxW; a constant frame integrates to a flat (all-zero) relief.

參考(範例資料・文獻)

• 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。

可執行的範例(實際呼叫該運算子並已驗證的樣例)

• sim2real_and_alife — py -3.11 examples/sim2real_and_alife.py

型別可銜接的下一個運算子(可接受 image 作為輸入)

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

同類別(tactile)

tac_contact_mask · tac_surface_normal · 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.