lidar op• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.lidar_spec(n_beams: 'int' = 32, v_fov_deg=(-25.0, 15.0), azimuth_res_deg: 'float' = 0.2, range_max: 'float' = 60.0, range_min: 'float' = 0.5, noise_std: 'float' = 0.0) -> 'dict' (to call the implementation directly, import lidarsim; lidarsim.lidar_spec(n_beams: 'int' = 32, v_fov_deg=(-25.0, 15.0), azimuth_res_deg: 'float' = 0.2, range_max: 'float' = 60.0, range_min: 'float' = 0.5, noise_std: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("lidar_spec"))
Creates the spec dict of a rotating LiDAR (default: 32 beams, elevation −25…+15°, azimuth 0.2° = 1800 columns).
> The detailed description below is the original text — the summary and the headings are translated.
• n_beams: レーザ層の数(≥ 1)。仰角帯 v_fov_deg=(v_min, v_max) [度] を等分し、行 0 が上端 v_max 側(spherical_proj と同じ)。v_min < v_max、いずれも [−90, 90] の中。
• azimuth_res_deg: 方位角の刻み [度] (> 0)。360° を割り切る値でなければ ValueError (等間隔の 1 周が前提。0.2 → 1800 列、0.1 → 3600 列)。
• range_min / range_max [m]: 測距範囲(0 ≤ range_min < range_max < ∞)。外の最近接は無返答。
• noise_std [m]: range 方向のガウスノイズの標準偏差(≥ 0、0 = 完全決定的)。
返り値の dict: n_beams, n_az, v_fov_deg, azimuth_res_deg, range_min, range_max, noise_std, elevations (n_beams,) [rad, 行 0 = 上端], azimuths (n_az,) [rad, 列 0 = −π 側の中心]。
• 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.
• poc_driving_school — py -3.11 examples/poc_driving_school.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
lidar)lidar_scan · ray_plane_range · ray_box_ranges
*Provenance: lidarsim.py — DRIVE 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.