ken_truth — DRIVE kendamaworld op

• Data kinds: table × table → table

• Call: import fullseye as fs; fs.ledger.ken_truth(world: 'dict', i_ken: 'int', cam: 'dict') -> 'dict' (to call the implementation directly, import kendamaworld; kendamaworld.ken_truth(world: 'dict', i_ken: 'int', cam: 'dict') -> 'dict'; from the registry, opsdrive.get("ken_truth"))

Usage

Ground-truth projection of ken i_ken: the (col, row) of the rim center of the receiving cup (anchors[kp["catch_cup"] + "_rim"] moved by the pose), its depth, the cup radius in the image [px] (using the big cup's radius), and visible (in front of the camera with the pixel inside the image). Same form as ballworld.ball_truth.

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• (none yet)

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (kendamaworld)

ken_mesh · add_ken · ken_set_pose · string_mesh · add_string · string_set · kendama_world · kendama_rig

*Provenance: kendamaworld.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.