balltrack op• Data kinds: points × points → table
• Call: import fullseye as fs; fs.ledger.spin_from_markers(dirs0, dirs1, dt: 'float') -> 'dict' (to call the implementation directly, import balltrack; balltrack.spin_from_markers(dirs0, dirs1, dt: 'float') -> 'dict'; from the registry, opsdrive.get("spin_from_markers"))
Angular velocity vector ω [rad/s] from pairs of marker directions (before (M, 3), after (M, 3), unit vectors).
> The detailed description below is the original text — the summary and the headings are translated.
M ≥ 2 なら Kabsch(SVD)で回転 R を当て、回転角 θ と軸から ω = θ/dt·軸(既知の ω で回した向きを入れると 1e-9 で戻る = 門)。M = 1 なら d₀ → d₁ の最小回転(軸 = d₀ × d₁)を返す("full" = False): 模様の向きまわりの成分は原理的に決まらず、コマ間の回転角が大きいと ω の直交成分の近似としても外れる(模様は ω の軸まわりの小円を描くので、最小回転の大円と違う)。
正直に: 1 つの模様で ω を出したいなら dt を小さく(回転角 ≪ 1 rad)、それでも軸まわりの成分は別の模様が要る。返り値 {"omega", "angle", "axis", "R", "full", "rms"}。
• 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_ball_bounce — py -3.11 examples/poc_ball_bounce.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
balltrack)ball_detect · ball_track · kalman_ca · triangulate_dlt · track_triangulate · bounce_detect · marker_direction · spin_from_marker_sequence
*Provenance: balltrack.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.