typed op• Data kinds: points → volume
• Call: fullseye.apply(img, "tb_occupancy_grid", a=0.5, b=0.5) (the 2-D model is one image plus two scalar knobs a,b∈[0,1])
*The figure is the actual output on a synthetic 128×128 input. Left: input, right: output. Point clouds are drawn as a top-down scatter (brightness = z), 1-D series as a line plot, volumes as the maximum-intensity projection along z, videos as the middle frame, complex images as magnitude; return values that are not pictures are shown as the values themselves.*
*Knob a does not change the output (measured: identical at 0.1 / 0.5 / 0.9).*
*Knob b does not change the output (measured: identical at 0.1 / 0.5 / 0.9).*
Stages (the ops that come before → this op, left to right):
▸ tb_occupancy_grid: stages (docs site)
On other images (synthetic scene / photo / coins. Top row: inputs, bottom row: their outputs. Knobs at default):
▸ tb_occupancy_grid: other inputs (docs site)
Motion (GIF: frames / views / slices in turn. The still figure is the complete one; the GIF is supplementary):
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.
2-D 進化レジストリへ橋渡しした 3d の op `occupancy_grid。実装は同じで、呼び出し規約だけ op(v, a, b) に合わせてある。この op に調整点は無く、a も b` も使われない。
• 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 program below has been verified to run (same input as the figure). In Studio's help this block becomes buttons that load and run it on the spot.
img_to_points 0.50 0.50 tb_occupancy_grid 0.50 0.50
▸ Load this pipeline · Load & run
The examples below call the underlying ledger op occupancy_grid. This bridge op is the same implementation adapted to the fn(v, a, b) convention, so the behaviour carries over unchanged (only the call form differs).
• occupancy_esdf — py -3.11 examples_3d/occupancy_esdf.py
volume as input)identity · vol_gaussian · vol_median · vol_erode · vol_dilate · vol_threshold · vol_reg_dilate · vol_reg_erode
typed)tb_points_to_voxel · tb_estimate_point_normals · tb_iss_keypoints · tb_project_points · tb_render_point_depth · tb_statistical_outlier_removal · tb_radius_outlier_removal · tb_voxel_grid_downsample
*Provenance: ops.py — 2D 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.