gs_from_world — DRIVE `gsplat` op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.gs_from_world(world: 'dict', *, spacing: 'float' = 0.004, max_per_object: 'int' = 20000, pos_noise: 'float' = 0.0, color_noise: 'float' = 0.0, sigma_ratio: 'float' = 1.0, normal_ratio: 'float' = 0.1, opacity: 'float' = 0.99, curv_ratio: 'float' = 0.5, edge_ratio: 'float' = 0.25, seed: 'int' = 0) -> 'dict' (to call the implementation directly, import gsplatnp; gsplatnp.gs_from_world(world: 'dict', *, spacing: 'float' = 0.004, max_per_object: 'int' = 20000, pos_noise: 'float' = 0.0, color_noise: 'float' = 0.0, sigma_ratio: 'float' = 1.0, normal_ratio: 'float' = 0.1, opacity: 'float' = 0.99, curv_ratio: 'float' = 0.5, edge_ratio: 'float' = 0.25, seed: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("gs_from_world"))

Usage

Returns a 3DGS with Gaussians attached to the faces of the world (world = a driveworld world dict: V, F, face_color, objects).

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

物体ごとに間隔 s_o = max(spacing, √(物体の面積 / max_per_object))、個数 N_o = ⌈面積 / s_o²⌉。面は面積に比例した層化抽出(累積面積の (k + u)/N_o 点、u は物体ごとの一様乱数)で選び、面の中は R2 低食い違い列(一様乱数だと隙間 = 穴が空く)。共分散は面に沿う平たい円盤局所間隔 s_f = max(s_o / 8, min(s_o, curv_ratio · R_f / sigma_ratio))(R_f = 面の曲率半径の見積り、角 ≥ 75° は数えない):

平たい円盤が曲面からはみ出さない大きさに抑え、細い所(糸)はそのぶん密に置く(個数の重み = 面積 / s_f²)。角(隣の面と 75° 以上)に接する面は s_f ≤ edge_ratio · s_o(3DGS が縁で細かくするのと同じ: 大きな円盤が縁の外 —— 玉の穴の口 —— へはみ出して穴を塞いだ)。Σ = R diag(σt², σt², σn²) Rᵀ、σt = sigma_ratio · s_f(既定 1.0 = 3DGS の初期値「近い 3 点までの平均距離」と同じ。0.7 では板の 7 % の画素で α < 0.95 の隙間が残った)、σn = normal_ratio · σt、R = [t1 t2 n] (面の局所座標)。誤差(1 個ごとに固定、コマをまたいで同じ): 面の局所座標での位置 N(0, pos_noise²)(3 軸)・色 N(0, color_noise²)(切り詰め)。

返り値 dict: face (N,)・bary (N,3)・offset_local (N,3)・color (N,3)・opacity (N,)・sigma_t (N,)・sigma_n (N,)・ obj (N,)(世界の objects の索引)・label (N,)・spacing_obj (物体数,)、加えて gs_update が埋める mu (N,3)・ R (N,3,3)(列 = t1, t2, n)・normal (N,3)。

fail-closed: spacing ≤ 0、max_per_object < 1、雑音 < 0、sigma_ratio ≤ 0、normal_ratio ≤ 0、opacity ∉ (0, 1]、面の無い世界は ValueError。

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_kendama — py -3.11 examples/poc_kendama.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 (`gsplat`)

gs_update · gs_render · gs_render_fn · gs_read_file

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

gs_from_world — DRIVE gsplat op