walkterrain op• データ種: depth → mask
• 呼び出し: import fullseye as fs; fs.ledger.detect_obstacles(grid, cell: 'float' = 0.05, clearance: 'float' = 0.12, ground: 'str' = 'plane', ground_radius: 'float' = 0.4, trim: 'float' = 0.3, min_area: 'float' = 0.01, extent=None) (実装を直接呼ぶなら import terrain; terrain.detect_obstacles(grid, cell: 'float' = 0.05, clearance: 'float' = 0.12, ground: 'str' = 'plane', ground_radius: 'float' = 0.4, trim: 'float' = 0.3, min_area: 'float' = 0.01, extent=None)、台帳から引くなら opsdrive.get("detect_obstacles"))
• 台帳経由の戻り値: fullseye.ledger.detect_obstacles(...) は宣言 out 型 mask の値だけを返す(本体は補助情報も返す)。捨てられた側が要るときは fullseye.ledger.detect_obstacles.raw(...)、または terrain.detect_obstacles を直接呼ぶ。
• GPU: なし(CPU 参照実装のみ)
Segment cells rising more than *clearance* above the walkable ground.
The ground model isolates obstacles from a sloped surface: ground='plane' (default) fits a robust ground_plane (best when the ground is planar — flat or ramp); ground='opening' uses the morphological ground_surface envelope (best for rough/curved terrain); or pass a precomputed ground height array. So a ramp is not an obstacle but a box, curb, or rock on it is. Returns (mask, obstacles): a boolean obstacle mask and a list of per-obstacle dicts sorted largest-first, each with area_cells / area (m²) / height (peak rise above ground) / centroid_cell (row, col) / bbox_cells (i0, j0, i1, j1), plus centroid_xy in world units when *extent* (from elevation_map) is given. Blobs smaller than *min_area* (m²) are dropped as noise.
★ground_radius は ground='opening' のときだけ読まれ、trim は 'plane' のときだけ。空の入力(grid が 0 要素)は空の mask と空の listを返す(理由: 観測の無い地図には障害物も無く、形だけを保つ)。
• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
mask を入力に取れる)spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse
walkterrain)elevation_map · fill_gaps · elevation_traversability · foothold_score · ground_surface · ground_plane · fuse_elevation · roughness_map
*Provenance: terrain.py — DRIVE operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.