fullseye

fly_hs_readout — FLYVISION integrate op

• データ種: matrix × table → measurement
• 呼び出し: import fullseye as fs; fs.ledger.fly_hs_readout(responses, lattice, n_pref, el_min_deg=0.0, rectify=True) (実装を直接呼ぶなら import flyvision; flyvision.fly_hs_readout(responses, lattice, n_pref, el_min_deg=0.0, rectify=True)、台帳から引くなら opsflyvision.get("fly_hs_readout"))

使い方

Horizontal-system wide-field readout: opponent sum over the upper field.

Given a stack of motion-detector responses over the ommatidia — the first n_pref rows the preferred-direction type, the rest the anti-preferred — the opponent readout over the ommatidia above the horizon is::

(a - b) / (a + b + 1e-6)

where a and b are the (optionally rectified) totals of the preferred and anti-preferred responses over the columns with el > el_min_deg.

Only the upper visual field is used because the ground flow of forward motion is 1/distance while the rotational flow it must be separated from is distance-independent: an eye 1.2 mm above the floor sees floor flow of 330-1000 deg/s, above the ~200 deg/s bandwidth of the motion detectors, so the lower field carries speed the correlator cannot read and is excluded.

responses: a (k, n) matrix of responses, n matching the lattice. lattice: the dict returned by :func:fly_hex_lattice. n_pref: how many leading rows are the preferred-direction type (1 <= n_pref < k). el_min_deg: the horizon; only ommatidia above it contribute. rectify: half-wave rectify (clip negatives to 0) before summing.

Returns the opponent ratio as a float in [-1, 1].

Ground truth: with the preferred rows active only in the upper field and the anti-preferred rows silent, the readout is +1 (and the sign and value match the hand calculation); an el_min_deg above every ommatidium raises (pinned in the tests).

Raises ValueError: a non-2-D / empty / non-finite responses, a responses over the element cap, a lattice that is not a :func:fly_hex_lattice result, a column count not matching the lattice, a n_pref outside [1, k-1], a non-real el_min_deg, a non-bool rectify, and an el_min_deg above every ommatidium (no upper field to read).

参考(サンプルデータ・文献)

• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。

実行できる例(この op を実際に呼ぶ検証済みサンプル)

• poc_fly_vision — py -3.11 examples/poc_fly_vision.py

型が繋がる次の op(measurement を入力に取れる)

—

同カテゴリ(integrate)

—

---

Provenance: flyvision.py — FLYVISION operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.

This site is open source. Improve this page.