walkterrain op• 数据种类:depth → depth
• 调用: import fullseye as fs; fs.ledger.ground_surface(grid, cell: 'float' = 0.05, radius: 'float' = 0.4)(要直接调用实现,import terrain; terrain.ground_surface(grid, cell: 'float' = 0.05, radius: 'float' = 0.4);从台账取用则 opsdrive.get("ground_surface"))
• GPU:无(仅 CPU 参考实现)
通过灰度开运算(先最小滤波再最大滤波)得到平滑的可行走地面包络。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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)。
• 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_plane · 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.