elevation_step_edges — DRIVE walkterrain op

• Data kinds: depth → mask

• Call: import fullseye as fs; fs.ledger.elevation_step_edges(grid, min_rise: 'float' = 0.05, window: 'int' = 3) (to call the implementation directly, import terrain; terrain.elevation_step_edges(grid, min_rise: 'float' = 0.05, window: 'int' = 3); from the registry, opsdrive.get("elevation_step_edges"))

• Return value through the ledger: fullseye.ledger.elevation_step_edges(...) returns only the declared out type mask (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.elevation_step_edges.raw(...) or call terrain.elevation_step_edges directly.

• GPU: none (CPU reference implementation only)

Usage

Step edges (curbs / stair nosings) of an elevation map -> (edge_mask, signed_rise) (ledger door).

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

中身は step_edges と同じで、cell を持たない。step_edges の cell は勾配の 符号を選ぶのにしか使われず(段差の高さ = 窓の max − min、向き = 勾配の大きいほうの成分の符号。どちらも cell で割っても変わらない)効かないノブになるので、台帳の入口から外した(素の関数の引数は公開の約束なので外さない)。台帳の宣言 out は mask(edge_mask)。空の入力(grid が 0 要素)は空の 2 枚の配列を返す(理由: 観測の無い地図には段差も無く、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 mask 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).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.