occupancy op• Data kinds: voxel → sdf
• Call: import fullseye as fs; fs.ledger.esdf(occupancy, voxel_size=1.0) (to call the implementation directly, import occupancy; occupancy.esdf(occupancy, voxel_size=1.0); from the registry, ops3d.get("esdf"))
Occupancy grid → Euclidean signed distance field (ESDF): outside = + to the nearest occupied, inside = − to the nearest free.
Applies scipy.ndimage.distance_transform_edt separately to the free side (outside) and the occupied side (inside), and signs the result as d_out - d_in. voxel_size is the voxel edge length (isotropic scalar or anisotropic length 3; passed to EDT's sampling), and the returned distances are in world units. All free gives +inf, all occupied gives -inf (honest: no nearest opposite side exists). The zero crossing falls midway between the centres of occupied/free voxels, so |ESDF| at the centre of a boundary cell is about 1 voxel (the basis for the tolerance in downstream tests).
Raises ValueError for voxel_size<=0.
• 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.
• occupancy_esdf — py -3.11 examples_3d/occupancy_esdf.py
sdf as input)sdf_to_occupancy · fuse_to_voxel · integrate · extract_surface_points · query_distance · sdf_union · sdf_intersect · sdf_subtract
occupancy)occupancy_grid · inflate · query_distance
*Provenance: occupancy.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.