pegsim op• Data kinds: rgb × image2d × matrix → table
• Call: import fullseye as fs; fs.ledger.peg_tip_from_rgbd(rgb, depth, K, r_peg: 'float' = 0.005, peg_mask=None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_tip_from_rgbd(rgb, depth, K, r_peg: 'float' = 0.005, peg_mask=None) -> 'dict'; from the registry, opsdrive.get("peg_tip_from_rgbd"))
Peg tip center in 3-D (camera coordinates) from 1 wrist RGB-D frame: peg pixels → depth point cloud → PCA axis → known-radius cylinder fit; the tip's position along the axis is set by a model that matches the end of the shadow (subpixel, coverage) to the end of the projected edge circle.
Returns: tip_cam (3,), axis (tip → up, unit), rms_cyl, n_pts, uv (projection of the tip), delta_axial.
Honestly: over 16 poses in the prototype, the axial error was max 0.83 px (lateral 0.004 px) — the limit of reading the axial direction only from the coverage of the single pixel at the shadow edge; the target of 0.3 px is not met. Raises RuntimeError: the peg is not visible (core pixels < 50).
Empty input (rgb with 0 elements) raises ValueError.
• 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.