foe_from_motion — DRIVE ttc op

• Data kinds: matrix × matrix → signal

• Call: import fullseye as fs; fs.ledger.foe_from_motion(K, T_rel) -> 'np.ndarray' (to call the implementation directly, import drivettc; drivettc.foe_from_motion(K, T_rel) -> 'np.ndarray'; from the registry, opsdrive.get("foe_from_motion"))

Usage

Pixel (col, row) of the focus of expansion (FoE): the projection at infinity of the translation t of the relative motion.

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

T_rel の回転が単位でないと FoE は定義されない(ValueError)。奥行き方向の並進が 0(純粋な横滑り)なら (nan, nan)。

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.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_ttc_rss — py -3.11 examples/poc_ttc_rss.py

• poc_world_terrain — py -3.11 examples/poc_world_terrain.py

Ops the type connects to (they accept signal as input)

flight_vacuum · magnus_lift_coefficient · drag_coefficient_sphere · restitution_from_apexes · restitution_from_intervals · fit_parabola · flight_fit · fit_aero

Same category (ttc)

relative_motion · flow_from_depth_motion · ttc_truth · ttc_from_flow · ttc_from_scale · ttc_from_range · label_extent · foe_from_flow

*Provenance: drivettc.py — DRIVE 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.