road_row_distance — DRIVE env op

• Data kinds: any × scalar × scalar × scalar → any

• Call: import fullseye as fs; fs.ledger.road_row_distance(rows, horizon_row: 'float', focal: 'float', cam_height: 'float', pitch: 'float' = 0.0) -> 'np.ndarray' (to call the implementation directly, import driveenv; driveenv.road_row_distance(rows, horizon_row: 'float', focal: 'float', cam_height: 'float', pitch: 'float' = 0.0) -> 'np.ndarray'; from the registry, opsdrive.get("road_row_distance"))

Usage

Image row on a flat road surface → horizontal distance from the camera to the road point (exact). Rows above the horizon give inf.

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

俯角 α(下向き +、ラジアン)のピンホール: 地平線の行 v_h = c_y − f tan α、路面の水平距離 d の点の行は v − v_h = f H (1 + tan²α) / (d + H tan α) —— よって d = λ/(v − v_h) − H tan α、λ = f H / cos²α (Hautière ら 2006 の λ/(v − v_h) は第 1 項だけの形)。行は下向きが +。

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_driving_weather — py -3.11 examples/poc_driving_weather.py

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

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

Same category (env)

julian_day · sun_at · sun_events · sun_vector · sun_illuminance · koschmieder · mor_from_beta · beta_from_mor

*Provenance: driveenv.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.