lidar_scan — DRIVE `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"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

メッシュ世界 `(V, F) に姿勢 T_sensor`(world ← sensor)の LiDAR を 1 スイープ撃つ。

• `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: :func: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。

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_school — py -3.11 examples/poc_driving_school.py

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

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

Same category (`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).*

lidar_scan — DRIVE lidar op