walkterrain op• 数据种类:depth → depth
• 调用: import fullseye as fs; fs.ledger.ground_plane(grid, trim: 'float' = 0.3, iters: 'int' = 3)(要直接调用实现,import terrain; terrain.ground_plane(grid, trim: 'float' = 0.3, iters: 'int' = 3);从台账取用则 opsdrive.get("ground_plane"))
• GPU:无(仅 CPU 参考实现)
每个单元的稳健最小二乘地面平面 z = a·x + b·y + c。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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)。
• 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。
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
depth 作为输入)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 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.