roughness_map — DRIVE `walkterrain` op

• Data kinds: depth → image2d

• Call: import fullseye as fs; fs.ledger.roughness_map(grid, window: 'int' = 3) (to call the implementation directly, import terrain; terrain.roughness_map(grid, window: 'int' = 3); from the registry, opsdrive.get("roughness_map"))

• GPU: none (CPU reference implementation only)

Usage

Per-cell surface roughness = local height standard deviation over a window neighbourhood. High on rubble / vegetation, ~0 on smooth ground.

> The detailed description below is the original text — the summary and the headings are translated.

★dem_roughness(Riley 1999 の TRI = 8 近傍との差の二乗平均平方根、近傍 1 セル固定) とは別の量なので別の op として残す: こちらは窓の中の標準偏差(中心を含む、窓の幅がつまみ)。傾き a の平面では a·cell·√(2/3) と TRI の a·cell·√(3/4) で、乱れた地形では TRI の約 0.7 倍(実測の中央値)。foothold_score の粗さの項はこの量。空の入力(grid が 0 要素)は形を保った空の配列を返す(理由: 観測の無い地図は形を保った空の地図で、どの格子も測っていない)。A different quantity from dem_roughness (TRI): a windowed standard deviation.

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

Ops the type connects to (they accept `image2d` as input)

flow_from_depth_motion · ttc_truth · ttc_from_flow · foe_from_flow · perlin2 · fbm_height · fbm_gradient · radial_periodogram

Same category (`walkterrain`)

elevation_map · fill_gaps · elevation_traversability · foothold_score · ground_surface · ground_plane · detect_obstacles · fuse_elevation

*Provenance: terrain.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

roughness_map — DRIVE walkterrain op