esdf — 3D occupancy op

• Data kinds: voxel → sdf

• Call: import fullseye as fs; fs.ledger.esdf(occupancy, voxel_size=1.0) (to call the implementation directly, import occupancy; occupancy.esdf(occupancy, voxel_size=1.0); from the registry, ops3d.get("esdf"))

Usage

Occupancy grid → Euclidean signed distance field (ESDF): outside = + to the nearest occupied, inside = − to the nearest free.

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

`scipy.ndimage.distance_transform_edt` を自由側(外)と占有側(内)に別々にかけ、

`d_out - d_in で符号を付ける。voxel_size` はボクセル辺長(等方スカラ or 異方

長さ3。EDT の `sampling` に渡す)で、返る距離は world 単位。全自由なら +inf、全占有

なら -inf(honest: 最近対辺が存在しない)。ゼロ交差は占有/自由ボクセル中心の中間に

落ちるため、境界セル中心の |ESDF| は約 1 ボクセル(下流テストの許容根拠)。

Raises ValueError for voxel_size<=0.

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.

Runnable examples (verified samples that actually call this op)

• occupancy_esdf — py -3.11 examples_3d/occupancy_esdf.py

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

sdf_to_occupancy · fuse_to_voxel · integrate · extract_surface_points · query_distance · sdf_union · sdf_intersect · sdf_subtract

Same category (occupancy)

occupancy_grid · inflate · query_distance

*Provenance: occupancy.py — 3D 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.