pegsym op• Data kinds: scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.rotation_search_plan(n_sym: 'int', phi_cap: 'float', estimate: 'float' = 0.0, order: 'str' = 'alternate') -> 'dict' (to call the implementation directly, import pegsym; pegsym.rotation_search_plan(n_sym: 'int', phi_cap: 'float', estimate: 'float' = 0.0, order: 'str' = 'alternate') -> 'dict'; from the registry, opsdrive.get("rotation_search_plan"))
Candidates for the rotation search (yaw corrections applied to the peg): step s = P/M dividing 1 period P = 2π/n_sym into M = ⌈P/(2 phi_cap)⌉ equal parts (≤ 2 phi_cap, so the capture windows cover it without gaps). order = "alternate" (0, +s, −s, +2s, … from the estimate) or "sweep" (0, s, 2s, …). n_sym = 0 (circle) gives 1 candidate. Returns angles (M,), step, period and M. Raises ValueError: n_sym < 0, phi_cap ≤ 0, unknown order.
• 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_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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.