walkterrain op• 資料種類:depth → depth
• 呼叫: import fullseye as fs; fs.ledger.ground_plane(grid, trim: 'float' = 0.3, iters: 'int' = 3)(要直接呼叫實作,import terrain; terrain.ground_plane(grid, trim: 'float' = 0.3, iters: 'int' = 3);從台帳取用則 opsdrive.get("ground_plane"))
• GPU:無(僅 CPU 參考實作)
每格的穩健最小平方地面平面 z = a·x + b·y + c。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
Fits a plane to the (filled) elevation, then re-fits a few times after trimming the highest-residual cells — the ones that rise above the ground and are therefore obstacles, not ground. Recovers a flat *or* tilted (ramp) ground exactly, with no boundary artefact, which is what obstacle detection wants when the walkable surface is planar. *trim* is the top residual fraction discarded each iteration.
空の入力(grid が 0 要素)は形を保った空の配列を返す(理由: 当てはめる高さが無く、形だけを保つ。観測が 3 セル未満の地図は nan の平面)。
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• 演算法的正典(作者、年份)與用途見上面的族使用指南。
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
depth 作為輸入)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 · detect_obstacles · fuse_elevation · roughness_map
*Provenance: terrain.py — DRIVE 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.