query_distance — 3D `occupancy` op

• Data kinds: sdf × points → signal

• Call: import fullseye as fs; fs.ledger.query_distance(esdf_grid, bounds, res, query_points, mode='trilinear') (to call the implementation directly, import occupancy; occupancy.query_distance(esdf_grid, bounds, res, query_points, mode='trilinear'); from the registry, ops3d.get("query_distance"))

Usage

The ESDF values (M,) at arbitrary world coordinates (M,3) (mode = 'trilinear' interpolation or 'nearest').

bounds/res are the same as the grid the ESDF was built on (res is a scalar = cube, or the number of voxels per axis, length 3). World→continuous voxel coordinates are c=(q-lo)/span*res-0.5 (the centre of voxel i is at c=i). Trilinear interpolation weights the 8 neighbouring voxel centres (outside the grid it clamps to the edge = extrapolates with the nearest edge value). Intended for the planner to query clearance at any point on a node/path. The return value is in the same world units as the ESDF.

Raises ValueError for res<=0, degenerate bounds, non-(M,3) query, or unknown mode.

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.

Runnable examples (verified samples that actually call this op)

• occupancy_esdf — py -3.11 examples_3d/occupancy_esdf.py

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

fuse_to_voxel

Same category (`occupancy`)

occupancy_grid · esdf · inflate

*Provenance: occupancy.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

query_distance — 3D occupancy op