walkterrain op• 資料種類:depth → depth
• 呼叫: import fullseye as fs; fs.ledger.ground_surface(grid, cell: 'float' = 0.05, radius: 'float' = 0.4)(要直接呼叫實作,import terrain; terrain.ground_surface(grid, cell: 'float' = 0.05, radius: 'float' = 0.4);從台帳取用則 opsdrive.get("ground_surface"))
• GPU:無(僅 CPU 參考實作)
以灰階開運算(先最小濾波再最大濾波)得到平滑的可行走地面包絡。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
A morphological opening with a structuring element radius wide follows gentle undulation and erases anything narrower that sticks *up*, which makes it a good ground model for rough / curved terrain. Honest limit: a flat structuring element cannot sit under a steep ramp at the grid's up-slope border, so on a strong planar slope the envelope lags by ~radius*slope there and detect_obstacles with ground='opening' can report a phantom obstacle in the last radius/cell cells — use the default ground='plane' for planar/ramp ground. nan cells are filled first.
空の入力(grid が 0 要素)は形を保った空の配列を返す(理由: 観測の無い地図には地面の包絡も無く、形だけを保つ)。
• 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_plane · 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.