Fullseye

Documentation: furuse.work — the operator index (3,838 operators in the machine-readable index, docs/OP_INDEX.json: 947 single-input 2-D operators + 17 n-ary + 2,874 in the typed ledgers, each with a per-operator note), the family guides, and the release notes.

What it can do: CAPABILITIES.en.md — an index organised by what you want to do, every entry tied to operators that exist and an example that runs. What the PoCs hardened: HARDENING.en.md — the ledger of defects the PoC series found, what changed, and which gate now stops each one coming back.

Real RGB-D 6-DoF PoC: poc_real_tless_6dof runs the depth-to-point-cloud, normal, table-removal, clustering, PPF and ICP chain on BOP T-LESS (CC BY 4.0), scores it with symmetry-aware MSSD/MSPD, and compares it with the public Drost and Vidal baselines. The dataset is not in the repository: on a machine without it (FULLSEYE_TLESS_DATA, as in CI) the script prints the recorded 2026-11-01 run instead of re-measuring, so CI checks the record, not the data, and the maturity ledger does not count it as real-data validation. Dataset citation: Hodaň et al., T-LESS, WACV 2017, doi:10.1109/WACV.2017.8.

Real-hardware and real-data results wanted. Fullseye is developed without physical measurement rigs, so it is validated against virtual optical systems and simulated ground truth. Results from real hardware or real data are very welcome — your data does not have to be shared: results-only reports are accepted, and python -m fullseye.validation_kit writes only aggregate numbers from your local data. Report form · Discussions › Show and tell · how reports are judged

Every frame is real operator output — no mockups. 960x360, 13.5 s, regenerated by tools/gen_hero_gif.py.

An in-house, numpy-native image-processing operator library and evolutionary pipeline designer. Every operator is reimplemented from published algorithms and open-source libraries (OpenCV, scikit-image, SciPy, Pillow, PyWavelets, SimpleITK, mahotas, kornia/torch), given a single typed interface, and contract-tested (finite, deterministic, sort-typed). On top of the operators sits an evolutionary search that designs pipelines and gates them honestly on a held-out set.

Two ways to use it: apply known operators (most of the time), or evolve a new pipeline when no single operator solves the task. It is pip-installable and works on plain numpy arrays, so other projects can drop it into a vision pipeline directly.

Rendered by Fullseye's numpy renderer (SDF → marching cubes → AO / soft shadows / ACES). More real outputs below.

New here? Read the full introduction. A single long-form article walks through the whole system — the three layers, the Studio IDE, the honest-evaluation discipline, and a museum of worked exhibits, all illustrated with real operator output. English · 日本語

How it is checked

None of these numbers is typed by hand: tools/gen_trust_block.py renders them from measurement files in docs/ (test_count.json, gate_inventory.json, maturity.json, op_count_history.json), and tests/test_trust_block.py fails if this section drifts from them. Every number carries the version and date it was measured at.

28,758 regression tests — included in 1.1.0, commit 7df6a9be1f, counted with pytest --collect-only on 2026-11-12 with every optional backend installed (without them, tests for the missing backends are not collected and the count is lower).

If you add one operator, what checks it

For each tier, one deliberately broken operator was injected and the whole suite run; failing tests were counted (mutation probe). ✓ = a gate catches that breakage, ✗ = nothing catches it yet.

• Measurement ①: commit e97e94bae2, 2026-10-11, the tree after 0.6.0 (includes unreleased changes).

Bookkeeping gates fire for any new operator, even a correct one, until its note and index entries are regenerated. Behavioural gates = the further distinct tests that fail because of how the operator is broken.

Not measured: plausible but wrong values (distance from ground truth), speed, OS-specific failures, two breakages at once. ✓ means at least one test failed, not that its message explains why.

Verification stage

The 101 capabilities, split by how they are verified (docs/maturity.json, rebuilt by tools/gen_maturity.py from the current tree (pyproject version 1.1.0); stage definitions in MATURITY.md).

Of 500 examples, 496 are actually run by a gate.

Operator counts by version

• The HALCON figure 323 for 0.1.0–0.1.8 is the value recorded at the time; from 0.1.9 it is 979 under a revised count (not 656 new implementations).
• 0.2.0 is the first version whose index includes the typed ledger: 918 → 1,942 is a change in what is counted, not new implementation (the ledger existed from 0.1.6 but sat outside the index).

— = not measured for that version. All versions and column definitions: OP_COUNT_HISTORY.md.

Three ways in

Fullseye is wide; the hard part is picking the first file to open. These are not new demos — every command below is an example a gate already runs on each push, so if one of them breaks, CI goes red.

Every one of them carries a ground truth and prints the null (do-nothing) result beside the method. How far each capability is actually verified is a generated ledger: docs/MATURITY.md.

Two more doors, both new since 0.1.11 and both honest about their limits:

Install

pip install fullseye        # PyPI (numpy + scipy core)
pip install "fullseye[all]" # + opencv, scikit-image, Pillow, PyWavelets, SimpleITK, kornia/torch, PySide6
# from a checkout: pip install -e .   (per-backend extras: .[opencv] .[skimage] .[gpu] ...)

PyPI: https://pypi.org/project/fullseye/ · Source / issues / operator corpus: GitHub (linked from the PyPI sidebar). After installing, fullseye-rag sets up the Claude Code RAG skill; py -3.11 tools/update_fullseye.py updates a checkout without touching your environment (see docs/AI_RAG_GUIDE.md).

Only numpy and scipy are required; every other backend is optional and only its own operators are affected when it is absent (graceful degradation). GPU is opt-in.

Quickstart (programmatic API)

import fullseye, numpy as np

frame = np.asarray(img, np.float64)                 # gray H×W in [0,1] (H×W×3 for color)
edges = fullseye.apply(frame, "sobel_amp")          # numpy in, numpy out
seg   = fullseye.apply(frame, "otsu")               # image → region (binary {0,1})
n     = fullseye.apply(seg,   "count_obj")          # region → feature → a float
out   = fullseye.run_pipeline(frame, ["gaussian", "sobel_amp", "otsu"])          # shared knobs
out   = fullseye.run_pipeline(frame, [("gaussian",0.3,0.5), ("otsu",0.4,0.5)])   # per-stage knobs
fullseye.list_ops(sort="region"); fullseye.op_names()   # discover
fullseye.apply([a, b], "add_image")                      # n-ary ops take a LIST of inputs
fullseye.apply(img, "ncc_locate", template=patch)        # match ops take the template here
fullseye.apply(frame, "otsu", on_error="raise")          # fail-closed (default: sort-valid fallback,
fullseye.fallbacks()                                     #   recorded + one warning per op)

Argument order is apply(image, name, a, b) — array first, op name second. Swapped arguments raise TypeError: ... arguments look swapped (0.1.9+).

apply(image, name, a=0.5, b=0.5) and run_pipeline take an operator name and two knobs in [0, 1]. Feature operators return a Python float; contour operators a dict.

Operator library

3,838 typed operators (964 2-D in the registry, 17 of them n-ary, + 2,874 in the typed ledgers, the 3-D ledger among them), covering denoising, smoothing, sharpening, thresholding/segmentation, morphology, edge/corner/blob detection, distance transforms, color-space conversion, texture/shape features, contours, and the 3-D modality (point clouds / meshes / volumes / SDF / 6-DoF pose). Sorts: image (gray [0,1]), color (RGB), region (binary), feature (scalar), contour, volume.

Every operator carries a machine-readable Markdown note under docs/ops/ (call form, type contract, HALCON counterpart, references, author/license/version fingerprint) — a single source of truth that generates the Studio help pages and doubles as a retrieval (RAG) corpus for AI coding assistants: an agent such as Claude Code can look up operators by contract, chain them by sort, and inspect every intermediate result. One command installs the bundled Claude Code skill and pins the corpus path (py -3.11 tools/setup_claude_rag.py — see docs/AI_RAG_GUIDE.md). Coverage against HALCON's 2313 operators is measured, not asserted (py -3.11 imgevolve.py coverage).

py -3.11 imgevolve.py ops --search edge      # search implemented operators
py -3.11 imgevolve.py apply gaussian in.png out.png --a 0.6
py -3.11 imgevolve.py pipeline in.png out.png --ops "gaussian,sobel_amp,otsu"
py -3.11 imgevolve.py coverage               # honest coverage numbers

Adding one operator makes evolution, code generation, the catalog, and the machine-readable index (docs/OP_INDEX.json) follow automatically.

How to call one — the 3,838 operators are not all reachable the same way. Measured on this version (fullseye.list_ops(include_ledger=True), then hasattr per name):

So fullseye.<name> is a convenience for a minority of names; when a name is not an attribute of fullseye, call it with fullseye.apply (2-D ops, fullseye.op.<name>) or fullseye.ledger.<name> / fullseye.op_run("name") (ledger ops). fullseye.list_ops() lists only the 964 2-D ops by default; pass include_ledger=True for the full 3,838.

Perception stack (robotics-friendly)

Building blocks that turn frames into geometry and objects — the pieces a robot needs to perceive, measure, and act. A sensor-simulation suite (pseudo-LiDAR, stereo, event camera / DVS, photometric stereo, TSDF fusion, polarization, focus stacking) lets you develop and test perception pipelines without hardware:

The 3-D side is where Fullseye differentiates most: 377 typed 3-D operators spanning point clouds / meshes / volumes / SDF — 3-D feature descriptors (SHOT, FPFH, spin images), TSDF fusion, fringe projection, photometric stereo, superquadric fitting, medial axis, geodesic distance, visual hull, and boundary-preserving manifold-strict QEM decimation — all pure numpy behind one typed registry. Real data, real numbers (asteroid 25143 Itokawa, JAXA Hayabusa / Gaskell shape model):

import fullseye as fs
disp  = fs.disparity_map(left, right, max_disp=16)         # dense stereo (block matching)
Z     = fs.depth_from_disparity(disp, focal=f, baseline=B) # Z = f·B/d
pts   = fs.reproject_to_points(Z, fx=f, fy=f)              # point cloud (N,3)
grid,_= fs.elevation_map(world_pts, cell=0.05)            # 2.5-D terrain heightmap
ok    = fs.traversability(grid, cell=0.05, max_step=0.1)  # foothold / obstacle mask
objs  = fs.segment_objects(frame, threshold="otsu")       # per-object records (geometry + descriptors)
rgb   = fs.colorize_depth(Z); fs.save_ply("cloud.ply", pts)   # visualise / export (no matplotlib)

Motion, over time — feed it a real clip:

frames = fs.read_frames("clip.mp4", gray=True, step=2)     # (T,H,W) float64 [0,1] (mp4/gif)
for a, b in fs.frame_pairs(frames):
    u, v = fs.optical_flow_lk(a, b)                         # dense flow; also track_points / motion_*

fs.to_float01(x) coerces uint8/uint16/bool/PIL/path inputs to float64 [0,1]; fs.read_frames / iter_frames / write_video / probe handle video I/O (see docs/PERCEPTION_REALDATA.md for measured results on real footage).

Evolutionary pipeline design

When the task is "find an algorithm that maximizes metric M on my data", evolve one. Fitness is measured on the training split only; a held-out split is tracked but never selected on, so the reported generalization is honest rather than a fit to the evaluation set.

py -3.11 baseline.py --problem denoise --workdir out/mine     # honest floor first
py -3.11 evolve.py   --problem denoise --workdir out/mine --gens 40 --pop 24
py -3.11 robust.py   --problem denoise --workdir out/mine --seeds 5   # best-of-N, train-selected

Performance (optional GPU batch backend)

The default per-image path uses scipy/OpenCV. A batched torch fast path (accel.py, --device cuda) accelerates the compute-heavy vectorizable operators. Honest note: on CPU the batch path speeds up heavy operators (≈1.6–2.2×) but loses on trivial pointwise ops (tensor-conversion overhead); the real win is on GPU, where that overhead amortizes over large parallelism.

Fullseye Studio (HDevelop-style IDE)

fullseye-studio (or py -3.11 studio.py from a checkout) opens the visual workbench: operator browser with generated help (2-D and 3-D), pipeline editor with per-stage timing, breakpoints, continue / run-from-line execution control, a variable window with watch expressions and right-click inspection, multi-window graphics scriptable from programs (dev_open_window / dev_set_window / dev_set_window_extents), worked-example galleries, and a tabbed Python Editor that opens any sample as editable, runnable code (F5, subprocess). Combined with the RAG corpus this is aimed at being an integrated environment for Physical-AI perception work: the AI writes and runs the pipeline, and the human inspects what it "sees" in the same windows.

Academic use

Fullseye is designed to be citable and reproducible: per-operator notes carry real literature references (no fabricated DOIs), versions are pinned to the code by a registry fingerprint with a CI drift test, and evaluation follows the honest held-out discipline above. If you use it in academic work, please cite via CITATION.cff.

Archival status, stated plainly: archived on Zenodo from v0.1.11 onwards. Concept DOI (always resolves to the newest version): 10.5281/zenodo.22761195; the v0.2.1 version DOI is 10.5281/zenodo.22851588 (v0.2.0: 10.5281/zenodo.22772164). Each GitHub Release mints a new version DOI (.zenodo.json describes the record and is kept in step with CITATION.cff and pyproject.toml by a CI gate — see "Zenodo" in CONTRIBUTING.md). Versions before 0.1.11 exist only as git tags and on PyPI, not as Zenodo records.

Documentation map

Everything below lives in the repo — start at the guide that matches what you want to do:

Design principles

• Reimplemented from public knowledge — published algorithms and open-source libraries, unified behind one typed interface; not derived from any proprietary product.
• Honest by construction — held-out data is never used for selection; coverage and benchmark numbers are measured, not asserted; limitations are disclosed, not hidden.
• Optional heavy dependencies — a numpy+scipy core always works; richer backends and GPU are opt-in.

Scope

• Out of scope: deep learning. Fullseye is classical image processing plus physical models. It does not train or ship deep networks or pretrained weights (HALCON's Deep Learning chapter is not a target).
• Classical trained classifiers: included. Small classifiers that you train on your own feature vectors, in numpy (HALCON's Classification chapter): train_class_gmm / train_class_knn (mvclass), train_class_mlp (one hidden layer) / train_class_svm (linear, one-vs-rest), fisher_lda_fit (two-class, closed form). Nothing is pretrained; the model is whatever your labelled data makes it.
• OCR: classical, included since 0.9.0. opssymbol ships a classical OCR (ocrclassic, 8 ops: a built-in 5x7 font, line segmentation, features, training and classification, reading a line, scoring), alongside 1-D / 2-D code reading and print-quality grading. Its classifier is k-NN over feature templates rendered from the font, not a neural network.
• Some HALCON names are only partial analogues and are not counted as covered — see the "Partial analogues" table in docs/HALCON_COVERAGE.md.

ViEW2026 入口メディアの検証(2026-11-01)

poc_interferometry_step — 09_csi_scan_explained

poc_polarization_specular — 08_analyzer_sweep_explained

License

Apache-2.0.