repose_angle_heightmap — DRIVE `granular` op

• Data kinds: image2d × scalar → table

• Call: import fullseye as fs; fs.ledger.repose_angle_heightmap(hm, pitch: 'float', *, ground=None, min_rel_height: 'float' = 0.1, max_rel_height: 'float' = 0.9, bin_deg: 'float' = 0.25, method: 'str' = 'horn', smooth_cells: 'int' = 1) -> 'dict' (to call the implementation directly, import granular; granular.repose_angle_heightmap(hm, pitch: 'float', *, ground=None, min_rel_height: 'float' = 0.1, max_rel_height: 'float' = 0.9, bin_deg: 'float' = 0.25, method: 'str' = 'horn', smooth_cells: 'int' = 1) -> 'dict'; from the registry, opsdrive.get("repose_angle_heightmap"))

Usage

Angle of repose φ from a heightmap — mode of the histogram of demops.dem_slope gradients.

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

手順: ①ground があれば引く(datum の補正; 無ければ外周 1 画素の中央値を地面とする)②smooth_cells (奇数)の移動平均 —— 粒が見える高さ図では必須: 球の山(粒径 5.3 px)を平滑なしで測ると勾配の最頻は 62 度(球面の縁)、2 粒径 = 11 セルで 24.5 度(MuJoCo の球の山の実測)。粒が見えない粉の山では 1 のまま ③高さが最大の min_rel_height〜max_rel_height の帯のセルだけ使う(裾の丸みと頂の鈍りを除く) ④dem_slope(method) を bin_deg 刻みで数え、最頻ビンとその両隣に入る値の平均で φ(ビン中心の重心だと半ビン = 0.125 度の偏りが出た、実測)。

返り: phi_deg, phi_median_deg, frac_within_1deg(最頻 ±1 度に入るセルの割合 —— 円錐なら ≈ 1、起伏があれば下がる)、n_cells, hist_centers, hist_counts。Raises ValueError: 形・pitch・選択肢(method は "horn" / "central" のみ)/ 山が無い(地面より高いセルが無い)/ 帯に 20 セル未満。

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)

• poc_granular_heap_repose — py -3.11 examples/poc_granular_heap_repose.py

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

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`granular`)

heap_volume_cone · heap_mass · heap_volume_heightmap · beverloo_rate · beverloo_fit · discharge_synth · dispense_mass_from_video · hopper_discharge_rate

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

repose_angle_heightmap — DRIVE granular op