decide op• Data kinds: signal × signal → table
• Call: import fullseye as fs; fs.ledger.tdoa_bearing(sig_left, sig_right, fs, mic_spacing, *, c: 'float' = 343.0, upsample: 'int' = 16) -> 'Dict[str, object]' (to call the implementation directly, import drivedecide; drivedecide.tdoa_bearing(sig_left, sig_right, fs, mic_spacing, *, c: 'float' = 343.0, upsample: 'int' = 16) -> 'Dict[str, object]'; from the registry, opsdrive.get("tdoa_bearing"))
Bearing of the sound source from the time difference of arrival at 2 microphones (left = +y, right = −y, spacing mic_spacing) (far-field approximation).
Δt = t_right − t_left (positive if it reaches the left first), sin θ = c Δt / d, θ = angle from the front (left is positive)
Δt is the maximum of the cross-correlation Σ right[n] left[n − k] (zero-padded in the frequency domain and interpolated upsample times, then a parabola). The search range is limited to the physically possible |Δt| ≤ d/c. Front and back (θ and π − θ) cannot be distinguished.
Return value: delay (seconds), bearing_rad / bearing_deg, sin_theta (before clipping), ambiguous (True if d > c/(2 f_peak) at the dominant frequency f_peak = correlation peaks repeat every 1/f, so two can fall within the range), f_peak.
• 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.
• poc_driving_decisions — py -3.11 examples/poc_driving_decisions.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
decide)mirror_reflection_matrix · mirror_virtual_camera · mirror_aim_normal · convex_mirror_fov · mirror_blind_zone · check_sequence_score · signal_phase_plan · signal_state
*Provenance: drivedecide.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.