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 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 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.