occupancy op• Data kinds: voxel → voxel
• Call: import fullseye as fs; fs.ledger.inflate(occupancy, radius, voxel_size=1.0) (to call the implementation directly, import occupancy; occupancy.inflate(occupancy, radius, voxel_size=1.0); from the registry, ops3d.get("inflate"))
A bool occupancy grid with the obstacles inflated by `radius` (in world units) — i.e. ESDF <= radius counts as occupied.
> The detailed description below is the original text — the summary and the headings are translated.
planner の安全マージン: 点ロボットが膨張格子上で衝突回避すれば、半径 radius の実
ロボットが障害物から離隔を保つ(configuration-space obstacle)。ESDF は外で正の
最近占有距離なので、`ESDF<=radius` は「占有(負)∪ 障害物から radius 以内の自由」を
捕らえる。radius を増やすと単調に占有が増える(下流テストの GT)。
Raises ValueError for radius<0 or voxel_size<=0 (both validated up-front, before
the radius==0 / empty-occupancy short-circuit — otherwise an invalid voxel_size
slips through unchecked when esdf is never reached).
• 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.
• sensor_seg — py -3.11 examples_3d/sensor_seg.py
voxel as input)voxel_to_mips · voxel_to_mesh · signed_distance_field · to_points · sobel3d · hessian3d · curvature_maps · edt_jfa
occupancy)occupancy_grid · esdf · 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.