pegtactile op• Data kinds: matrix → table
• Call: import fullseye as fs; fs.ledger.symmetry_order_contour(contour, K: 'int' = 24, rel: 'float' = 0.01) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.symmetry_order_contour(contour, K: 'int' = 24, rel: 'float' = 0.01) -> 'dict'; from the registry, opsdrive.get("symmetry_order_contour"))
> This operator's description has not been translated yet. The original text follows as it is.
閉輪郭 (N, 2) = (row, col) の複素フーリエ係数(:func:fourierdesc.contour_fourier_complex、弧長で打ち直し、±K 次)から n 回対称の
次数を読む: n 回対称なら非零の係数は k ≡ 1 (mod n) だけ。有意(|c_k| > rel·|c_1|、k ≠ 0, 1)な k の (k − 1) の最大公約数が n。
有意な k が無ければ円(`n` = 0 = 連続)。向き α̂ = arg(c₁₋ₙ c₁ⁿ⁻¹)/n(始点の取り方に依らない不変量、mod 2π/n)。n = 1 は
c₂ c₁⁻² から α̂ = −arg(·) —— k = −1(振幅は 3 倍)は形ごとの定数位相が違い、枝(α / α + π)を参照なしに決められない(試作で
180° 取り違えた)。返り `n・angle(rad、n = 0 は nan)・amps(k → |c_k|/|c_1|)・sig・centroid`(c₀ = (row, col))。
2 次モーメントの向きは n ≥ 3 で慣性が等方になり使えない(PoC の罠の門)。Raises ValueError: 輪郭が (N ≥ 8, 2) でない、K < 6。
• 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
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegtactile)pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read
*Provenance: pegtactile.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.