walkterrain op• 数据种类:depth → table
• 调用: import fullseye as fs; fs.ledger.foothold_candidates(grid, cell: 'float' = 0.05, window: 'int' = 3, min_score: 'float' = 0.6, min_dist: 'float' = 0.15, max_n: 'int' = 50, extent=None)(要直接调用实现,import terrain; terrain.foothold_candidates(grid, cell: 'float' = 0.05, window: 'int' = 3, min_score: 'float' = 0.6, min_dist: 'float' = 0.15, max_n: 'int' = 50, extent=None);从台账取用则 opsdrive.get("foothold_candidates"))
• GPU:无(仅 CPU 参考实现)
从地形中挑选离散的安全落脚目标。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
Scores every cell with foothold_score, keeps local maxima above *min_score*, and greedily suppresses candidates within *min_dist* (world units) of a better one — turning the continuous flatness field into a short list of "here are places you may put a foot". Returns a list of dicts sorted best-first, each with cell (row, col), score, and xy (world) when *extent* is given. The actionable output a foot-placement planner consumes.
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者、年份)与用途见上面的族使用指南。
• consumer_hillco — py -3.11 examples/consumer_hillco.py
• physical_ai_perception — py -3.11 examples/physical_ai_perception.py
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
table 作为输入)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
walkterrain)elevation_map · fill_gaps · elevation_traversability · foothold_score · ground_surface · ground_plane · detect_obstacles · fuse_elevation
*Provenance: terrain.py — DRIVE 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.