elevation_normals — DRIVE `walkterrain` op

• Data kinds: depth → normalmap

• Call: import fullseye as fs; fs.ledger.elevation_normals(grid, cell: 'float' = 0.05) (to call the implementation directly, import terrain; terrain.elevation_normals(grid, cell: 'float' = 0.05); from the registry, opsdrive.get("elevation_normals"))

• GPU: none (CPU reference implementation only)

Usage

Unit up-pointing normals (H, W, 3) of an elevation map — ledger door of surface_normals.

> The detailed description below is the original text — the summary and the headings are translated.

地形の高さ図の単位法線(+z 向き)。中身は surface_normals と同じ。台帳の名前を変えたのは、surface_normals が 3-D の測光(ops3d)の op 名で、terrain_surface_normals は facade の正式名(別名の表 opnames)として既に使われているため(op 名は全体で 1 つ)。空の入力(grid が 0 要素)は (0, W, 3) の空の配列を返す(理由: 観測の無い地図は法線も無く、形だけを保つ)。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

Ops the type connects to (they accept `normalmap` as input)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

Same category (`walkterrain`)

elevation_map · fill_gaps · elevation_traversability · foothold_score · ground_surface · ground_plane · detect_obstacles · fuse_elevation

*Provenance: terrain.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

elevation_normals — DRIVE walkterrain op