selfmotion optable × table → tableimport fullseye as fs; fs.ledger.fly_eye_merge(lattice_a, lattice_b, *more) (実装を直接呼ぶなら import flyvision; flyvision.fly_eye_merge(lattice_a, lattice_b, *more)、台帳から引くなら opsflyvision.get("fly_eye_merge"))Several lattices seen as one wide eye — the viewing directions of all of them.
:func:fly_hex_resample needs a lattice that fits inside one pinhole image,
which caps a single patch at well under a hemisphere. A fly is not so
limited: its two compound eyes together see almost the whole sphere, and the
wide-field cells that read self-motion out of them integrate over all of it.
This op is that integration made explicit — render each patch through its own
camera, run the pathway on each, then merge the geometry so that one
least-squares fit sees every ommatidium at once.
It matters more than it looks. In a naturalistic 1/f scene the response of a correlation detector is contrast-weighted, so a narrow patch is at the mercy of whichever few large features happen to be in it; widening the field is what turns the estimate from a guess into a measurement (the PoC measures how much).
lattice_a / lattice_b / *more: two or more :func:fly_hex_lattice results. They must
share the inter-ommatidial angle and the geometry (different spacings are
different eyes and the merged field would silently mix two sampling scales),
and no two ommatidia may look in exactly the same direction (merging a patch
with itself would double its vote without saying so).
Returns a lattice dict with the same keys plus "eye", the index of the
patch each ommatidium came from, in input order. The merged lattice is what
:func:fly_matched_filter and :func:fly_egomotion_from_flow take;
:func:fly_hex_resample and :func:fly_flow_from_directions stay per patch,
because a pinhole image and a hexagonal neighbourhood are both local.
Raises ValueError: a malformed lattice (including a sequence handed
in where a lattice was expected), a mismatched dphi_rad or geometry,
and a direction that appears twice.
py -3.11 examples/poc_fly_optomotor_steering.pytable を入力に取れる)fly_t4t5_field · fly_flow_from_directions · fly_matched_filter · fly_egomotion_from_flow · fly_hex_resample · fly_hs_readout
selfmotion)fly_matched_filter · fly_egomotion_from_flow
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.