town_centerline — DRIVE town op

• Data kinds: table → any

• Call: import fullseye as fs; fs.ledger.town_centerline(layout, step: 'float' = 0.5) -> 'np.ndarray' (to call the implementation directly, import drivetown; drivetown.town_centerline(layout, step: 'float' = 0.5) -> 'np.ndarray'; from the registry, opsdrive.get("town_centerline"))

Usage

Samples the chained centerline every step of arc length → (N, 4) = (s, x, y, yaw) (the end point is always included).

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

門: 直線部では隣接点の間隔が厳密に step、始点 = 最初の要素の entry、終点 = 最後の要素の exit。

Raises ValueError: layout が town_chain の物でない、step が正でない。

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_driving_town — py -3.11 examples/poc_driving_town.py

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

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

Same category (town)

town_chain · town_layout · town_world · town_stop_lines · town_rules · town_crossing_state · town_run · town_checks

*Provenance: drivetown.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.