project_spherical — 3D `lidar_projection` op

• Data kinds: points → image2d

• Call: import fullseye as fs; fs.ledger.project_spherical(points, h_res: 'int' = 1024, v_res: 'int' = 64, v_fov=(-25.0, 15.0)) -> 'np.ndarray' (to call the implementation directly, import spherical_proj; spherical_proj.project_spherical(points, h_res: 'int' = 1024, v_res: 'int' = 64, v_fov=(-25.0, 15.0)) -> 'np.ndarray'; from the registry, ops3d.get("project_spherical"))

Usage

Project into the spherical range image of a spinning LiDAR (v_res, h_res). Empty cells are 0; nearer points win (minimum range).

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

各点を方位角(列)× 仰角(行)ビンへ落とし、センサ原点からの range(slant distance)を書く。

v_fov=(v_min,v_max)[度] の仰角帯の外側、原点上(r=0)、非有限座標の点は落とす(honest drop)。

空/全 drop の場合は全ゼロ画像を返す(=何も見えていない、honest)。

• `points: (N,3)、センサ原点基準で x=前, y=左, z=上。非 (N,3) は ValueError`。

• `h_res / v_res: 列数(方位角 360° の等分)・行数(仰角帯の等分)。正でなければ ValueError`。

• `v_fov: (v_min, v_max) [度]。v_min < v_max でなければ ValueError`。

列は `floor((atan2(y,x) + π) / 2π · h_res) で、列 0 が真後ろ(-x)、h_res//2` が正面(+x)、

反時計回りに増える。行は `(v_res-1) - floor((θ - v_min)/(v_max - v_min) · v_res)`(θ は仰角

[度])で、行 0 が帯の上端(θ=v_max)。画素値は slant range `sqrt(x²+y²+z²)`(座標の単位)。

同じセルに複数点が落ちたら `np.minimum.at` で最小 range を残す(奥の点は失われる)。

逆変換は `unproject_spherical(同じ v_fov` を渡す)。高さで層を切る変種が

`project_cylindrical`。

Background guides (the physics and conventions behind this op)

• depth_sensors — 深度センサの知識 — 測距原理・実機の値・欠測の出方

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)

• lidar_projection — py -3.11 examples_3d/lidar_projection.py

Ops the type connects to (they accept `image2d` as input)

fuse_to_voxel · fit_poly_surface · eval_poly_surface · surface_form_error · background_flatten · polar_unwrap · fit_zernike · matcap_shade

Same category (`lidar_projection`)

unproject_spherical · project_cylindrical

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

project_spherical — 3D lidar_projection op