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).
> The detailed description below is the original text — the summary and the headings are translated.
Δt = t_右 − t_左(左に先に着けば正)、 sin θ = c Δt / d、θ = 前方からの角(左が正)
Δt は相互相関 Σ right[n] left[n − k] の最大(周波数領域で 0 を詰めて upsample 倍に補間し、さらに放物線)。探す範囲は物理的にありうる |Δt| ≤ d/c に限る。前後(θ と π − θ)は区別できない。
返り値: delay(秒)、bearing_rad / bearing_deg、sin_theta(クリップ前)、ambiguous (主な周波数 f_peak で d > c/(2 f_peak) なら True = 相関の山が 1/f ごとに並び範囲内に 2 つ入りうる)、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.