relative_yaw_from_images — DRIVE pegsym op

• Data kinds: image2d × image2d × scalar → table

• Call: import fullseye as fs; fs.ledger.relative_yaw_from_images(peg_view, hole_view, n: 'int', peg_polarity: 'str' = 'bright', hole_polarity: 'str' = 'dark', K: 'int' = 24) -> 'dict' (to call the implementation directly, import pegsym; pegsym.relative_yaw_from_images(peg_view, hole_view, n: 'int', peg_polarity: 'str' = 'bright', hole_polarity: 'str' = 'dark', K: 'int' = 24) -> 'dict'; from the registry, opsdrive.get("relative_yaw_from_images"))

Usage

Orientation difference between the peg (upward camera → view resampled onto the plane of the tip face) and the hole (wrist camera → view of the mouth plane), on the n-fold symmetry quotient: Δ = symmetry_fold(yaw_peg − yaw_hole, n). Both are read with polygon_yaw_read; the shape-dependent phase constant (difference between vertex direction and face direction) cancels in the difference between identical shapes (since the hole is a similar shape obtained by shifting the peg outward). Keyed shapes (n = 1) are not similar, so a small offset remains (measured by a gate). Returns delta (rotating the peg by −delta aligns it), peg and hole (readings) and n. Raises ValueError: n < 1, reading failed (exception from polygon_yaw_read).

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)

• poc_peg_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.py

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 (pegsym)

polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · plane_topview · polygon_yaw_read

*Provenance: pegsym.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.