selfmotion op• 数据种类:table → matrix
• 调用: import fullseye as fs; fs.ledger.fly_matched_filter(lattice, axis=(0.0, 0.0, 1.0), motion='rotation', depth_m=1.0)(要直接调用实现,import flyvision; flyvision.fly_matched_filter(lattice, axis=(0.0, 0.0, 1.0), motion='rotation', depth_m=1.0);从台账取用则 opsflyvision.get("fly_matched_filter"))
> 该算子的说明尚无译文,以下照原文给出。
The flow field one unit of self-motion writes on the eye — the template a
wide-field neuron is matched to.
Krapp & Hengstenberg measured the local motion sensitivity of single
lobula-plate tangential cells across the whole visual field and found a
structured vector field, one that looks like the optic flow of a particular
rotation of the fly (*Nature* 384:463, 1996). Reading self-motion out of such
a cell is then a matched filter (Franz & Krapp, *Biol. Cybern.* 83:185, 2000):
correlate the measured flow against the template of the motion you are asking
about. This op builds the template, for the isotropic world model — every
point at the same distance — which is the case in which the rotation template
is exactly the geometry and nothing is assumed about the scene:
• `motion="rotation"`: one radian per second about the unit vector *axis*
moves the viewing direction `d at -axis x d`, which is already
tangent to the sphere. Its length is `sin` of the angle between the axis
and the line of sight, so the template is zero on the axis itself.
• `motion="translation"`: one metre per second along *axis*, with every
point at *depth_m* metres, moves it at `-(v - (v.d) d)/Z`. The depth is
an input, not a measurement — translation flow and distance are the same
unknown and no eye can separate them from one frame pair.
lattice: a :func:fly_hex_lattice result. axis: the rotation axis or
translation direction in body coordinates (x forward, y left, z up); it is
normalised, and a zero vector is refused. depth_m: the uniform distance,
`motion="translation"` only.
Returns `(n, 2)` float64 — the azimuth and elevation components of the flow
at each ommatidium, in radians per second, the same layout
:func:fly_flow_from_directions returns.
Ground truth: for a rotation, `|f| = sin(angle(axis, d))` exactly, so it is
0 where the line of sight is along the axis and 1 where it is perpendicular;
and the flow is perpendicular to both the axis and the line of sight. For a
translation, `|f| = sin(angle)/depth` and the flow points away from the
direction of travel (the focus of expansion is where the template vanishes).
Raises `ValueError`: a malformed *lattice*, an *axis* that is not three
finite numbers or is zero-length, an unknown *motion*, and a non-positive
*depth_m*.
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者・年份)与用途见上面的族使用指南。
• poc_fly_optomotor_steering — py -3.11 examples/poc_fly_optomotor_steering.py
matrix 作为输入)fly_lamina_filter · fly_onoff_split · fly_t4t5_field · fly_flow_from_directions · fly_egomotion_from_flow · fly_hs_readout
selfmotion)fly_egomotion_from_flow · fly_eye_merge
*Provenance: flyvision.py — FLYVISION 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.