scatter_offroad — DRIVE terrain op

• Data kinds: table → points

• Call: import fullseye as fs; fs.ledger.scatter_offroad(course, bounds, n: 'int' = 60, r_min: 'float' = 4.0, margin: 'float' = 3.0, seed: 'int' = 0, max_tries: 'int' = 20000) -> 'np.ndarray' (to call the implementation directly, import driveterrain; driveterrain.scatter_offroad(course, bounds, n: 'int' = 60, r_min: 'float' = 4.0, margin: 'float' = 3.0, seed: 'int' = 0, max_tries: 'int' = 20000) -> 'np.ndarray'; from the registry, opsdrive.get("scatter_offroad"))

Usage

Scatters objects off the road (dart throwing): each point is at least margin from the course and at least r_min from every other point.

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

返り値 (n', 3) = (x, y, yaw)。max_tries で n に届かなければあるだけ返す(n' ≤ n)。

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_world_terrain — py -3.11 examples/poc_world_terrain.py

Ops the type connects to (they accept points as input)

course_contains · ray_plane_range · ray_box_ranges · course_distance · mesh_signed_volume · fit_parabola · flight_fit · fit_aero

Same category (terrain)

perlin2 · fbm_params · fbm_height · fbm_gradient · radial_periodogram · spectral_slope · course_distance · terrain_params

*Provenance: driveterrain.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.