pegsim op• Data kinds: rgb × image2d × matrix → table
• Call: import fullseye as fs; fs.ledger.hole_centre_from_rgbd(rgb, depth, K, peg_mask=None, radius: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.hole_centre_from_rgbd(rgb, depth, K, peg_mask=None, radius: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("hole_centre_from_rgbd"))
Hole (dark disk) center in 3-D (camera coordinates) from 1 wrist RGB-D frame: fit the board plane from depth, lift the anti-aliased edge onto the plane, and fit a circle within the plane (measure.fit_circle).
> The detailed description below is the original text — the summary and the headings are translated.
画像面の楕円当てはめ(measure.fit_ellipse)も参考に返すが、透視では楕円の中心 ≠ 円の中心の投影(試作で最大 1.9 px の偏り)なので 3-D で当てる。radius に治具の図面の値(面取りの外径 R + W)を渡すと circle_fit_known_radius で中心だけを解く —— ペグが低く構えて縁の半分近くを隠す姿勢(ε = −3 mm、高さ 4 mm)では自由な当てはめの 0.18 px が既知半径で 0.05 px になる。
返り: centre_cam(3,)、radius、rms_circle、n_edge、edge_uv、plane_n・plane_c、ellipse、uv(中心の投影)、peg(ペグのマスク)。depth は画素中心の +Z 距離 [m] (MSAA の深度は使わない)。Raises RuntimeError: 縁が見つからない。
• 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.
• (none yet)
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · whitney_clearance · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius
*Provenance: pegsim.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.