lidar op• Data kinds: mesh × table × matrix → table
• Call: import fullseye as fs; fs.ledger.lidar_scan(V, F, spec, T_sensor, *, labels=None, seed: 'int' = 0) -> 'dict' (to call the implementation directly, import lidarsim; lidarsim.lidar_scan(V, F, spec, T_sensor, *, labels=None, seed: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("lidar_scan"))
Fires 1 sweep of a LiDAR with pose T_sensor (world ← sensor) into the mesh world (V, F).
> The detailed description below is the original text — the summary and the headings are translated.
• V (N,3) float / F (M,3) int: 三角形メッシュ(空・非 (N,3)・非有限・範囲外の面番号は ValueError)。
• spec: lidar_spec の dict。
• T_sensor: 4×4 同次行列(world ← sensor)。センサ座標は x=前, y=左, z=上。
• labels: 面ごとの int ラベル (M,) または None(None なら当たったセルのラベルは 0)。
• seed: ノイズの乱数種(noise_std == 0 なら乱数を一切引かず、ビット単位で決定的)。
返り値の dict:
points (K,3) 世界座標の反射点(行優先: beam 0 の列 0 から)/ ranges (n_beams, n_az) [m] (0 = 無返答)/ hit_face (n_beams, n_az) int(−1 = 無し)/ labels (n_beams, n_az) int (−1 = 無し)/ beam (K,) int / col (K,) int / n_hits int。最近接の面が range_min 未満または range_max 超なら無返答(奥の面へ抜けない)。ノイズは無ノイズ距離で返答の有無を決めた後、ranges と points に足す。
• 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 · rss_longitudinal_same · rss_longitudinal_opposite
lidar)lidar_spec · 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.