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).
An ellipse fit in the image plane (measure.fit_ellipse) is also returned for reference, but under perspective the ellipse centre ≠ the projection of the circle centre (up to 1.9 px of bias in the prototype), so the fit is done in 3-D. Passing the jig drawing's value (outer diameter of the chamfer R + W) as radius solves only the centre with circle_fit_known_radius —— in a pose where the peg is held low and hides nearly half of the rim (ε = −3 mm, height 4 mm), the free fit's 0.18 px becomes 0.05 px with the known radius.
Returns: centre_cam (3,), radius, rms_circle, n_edge, edge_uv, plane_n / plane_c, ellipse, uv (projection of the centre), peg (peg mask). depth is the +Z distance at pixel centres [m] (MSAA depth is not used). Raises RuntimeError: rim not found.
• 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.
• gallery_drive_peg — py -3.11 examples/gallery_drive_peg.py
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.