diabolo op• Data kinds: rgb × table × table → table
• Call: import fullseye as fs; fs.ledger.diabolo_axis_from_image(img, cam: 'dict', params: 'dict', *, refine: 'bool' = True, iters: 'int' = 15) -> 'dict' (to call the implementation directly, import diabolo; diabolo.diabolo_axis_from_image(img, cam: 'dict', params: 'dict', *, refine: 'bool' = True, iters: 'int' = 15) -> 'dict'; from the registry, opsdrive.get("diabolo_axis_from_image"))
From 1 frame, finds the center of the near cup's rim center_rim and the axis axis (pointing toward the camera). Diabolo center center = center_rim − (L/2) axis. No learning.
> The detailed description below is the original text — the summary and the headings are translated.
初期値(弱透視): 縁の楕円の長半径 → 深度、短 / 長 = cos θ、底の板の中心のずれ = (L/2 − z_h) sin θ、θ = atan2(sin, cos) (acos の床を避ける)、ずれの向き = 軸の像の向き。仕上げ: 縁の円(半径 R、中心 C)と底の板(半径 r_h、中心 C − (L/2 − z_h) a)の厳密な透視投影の多角形モーメント(面積・重心・2 次)を、マスクのモーメントに Gauss–Newton で合わせる(5 自由度、8 残差)。残差 residual_px が 0.15 px を超えたら ok = False(底の板が壁に隠れた等。視線から 45° で 2.8 px、38° まで ≤ 0.02 px)。
返り {"center", "center_rim", "axis", "axis_init", "tilt_init_deg", "a_px", "b_px", "residual_px", "ok", "seg"}。Raises ValueError: 画像の形、カップの内側か底の板が見えない(推定不能)。
• 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.
• poc_diabolo_model_and_vision — py -3.11 examples/poc_diabolo_model_and_vision.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
diabolo)diabolo_params · diabolo_spheroid · spheroid_closest · diabolo_dynamics_step · diabolo_simulate · diabolo_state_sequence · diabolo_throw_catch_truth · string_tension_static
*Provenance: diabolo.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.