tacsim op• Data kinds: rgb × matrix × scalar → table
• Call: import fullseye as fs; fs.ledger.membrane_recover(rgb, lights, pitch: 'float', ambient: 'float' = 0.0, albedo: 'float' = 1.0) -> 'dict' (to call the implementation directly, import tacsim; tacsim.membrane_recover(rgb, lights, pitch: 'float', ambient: 'float' = 0.0, albedo: 'float' = 1.0) -> 'dict'; from the registry, opsdrive.get("membrane_recover"))
Visuotactile RGB (H, W, 3) → treats the 3 channels as images under 3 lights and obtains normals with photometric.photometric_stereo (lit_only) → height with photometric.integrate_normals (Frankot-Chellappa) (pixel units × pitch = m).
> The detailed description below is the original text — the summary and the headings are translated.
ambient・albedo は較正値: 像から albedo·ambient を引いてから解く(合成 albedo·(N·L + ambient) の ambient 項を Woodham の線形模型は持たないので、引かないと法線が z 側へ寄り、傾きが ambient/sin(仰角) ≈ 3.7 %(0.03/0.82)系統的に小さく出る —— 実機の参照フレーム較正に当たる。試作で δ が 3.5 % 低かった原因)。
返り: normals(H, W, 3)、albedo(H, W)、height(H, W)[m、平均 0 の相対値]、pitch。Raises ValueError: rgb が (H, W, 3) でない、pitch ≤ 0、ambient < 0。
• 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_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
• poc_tacsim_elastic_membrane — py -3.11 examples/poc_tacsim_elastic_membrane.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
tacsim)combined_modulus · hertz_sphere · hertz_force · hertz_cylinder · hertz_surface_uz · hertz_pressure · membrane_indent_sphere · membrane_indent_shape
*Provenance: tacsim.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.