occupancy_grid — 3D `occupancy` op

• Data kinds: points → voxel

• Call: import fullseye as fs; fs.ledger.occupancy_grid(points, bounds, res) (to call the implementation directly, import occupancy; occupancy.occupancy_grid(points, bounds, res); from the registry, ops3d.get("occupancy_grid"))

Usage

Point cloud (N,3) → a 3-D occupancy voxel grid, bool (a voxel a point falls into counts as occupied).

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

`bounds=((xmin,xmax),(ymin,ymax),(zmin,zmax)) が格子の張る体積、res` は各軸の

ボクセル数(スカラ = 立方 res³、または長さ 3 の軸ごと)。ボクセルは半開区間 [lo+i/res*span, lo+(i+1)/res*span) で、

上端 (frac==1) の点は最終ボクセルに含める。bounds 外の点は落とす(端セルへ

clamp すると境界に幻の障害物が積もるため)。match3d.points_to_voxel が密度(float)

を作るのに対し、これは planning 用の占有(bool)を作る点が固有。

Raises ValueError for res<=0, non-(N,3) points, or degenerate bounds.

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 `voxel` as input)

voxel_to_mips · voxel_to_mesh · signed_distance_field · to_points · sobel3d · hessian3d · curvature_maps · edt_jfa

Same category (`occupancy`)

esdf · inflate · query_distance

*Provenance: occupancy.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

occupancy_grid — 3D occupancy op