pass op• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.overtake_return_gap(*, lane_offset: 'float', lead_width: 'float', eye_xy=(0.0, -0.35), mirror_center_xy=(0.55, 0.0), mirror_normal_xy=None, mirror_width: 'float' = 0.25, eye_to_rear: 'float' = 2.8) -> 'Dict[str, object]' (to call the implementation directly, import drivepass; drivepass.overtake_return_gap(*, lane_offset: 'float', lead_width: 'float', eye_xy=(0.0, -0.35), mirror_center_xy=(0.55, 0.0), mirror_normal_xy=None, mirror_width: 'float' = 0.25, eye_to_rear: 'float' = 2.8) -> 'Dict[str, object]'; from the registry, opsdrive.get("overtake_return_gap"))
Gap (between the rear of the ego vehicle and the front of the overtaken vehicle) at which the overtaken vehicle appears entirely in the rearview mirror. Scenarios S086, S145.
Turns Driving Rules Manual (Kyosoku) 5-6-3(6) "proceed as you are until the overtaken vehicle is at a distance where it is visible in the rear-view mirror" and 7-2-3 "after the whole of the overtaken vehicle appears in the rear-view mirror" into geometry. Coordinates are in the ego frame (x = forward, y = left, origin = on the vehicle centreline level with the eye). The vehicle ahead is in the left lane (lateral centre = lane_offset, width lead_width) behind the ego vehicle. The rear-view mirror is a plane mirror (centre mirror_center_xy, width mirror_width, normal facing the eye). If the normal is omitted, it is the orientation that sends the ray from the eye to the mirror centre straight back (−x) (drivedecide.mirror_aim_normal).
Visible ⇔ the segment joining the virtual eye E' (the eye reflected across the mirror line) and the point passes through the mirror segment. On a line parallel to the road the boundary is the root of a linear equation, and it is determined by the two ends of the front edge (2 corners). Returns: gap = distance from the ego vehicle's rear end, eye_to_rear behind the eye, to the front end of the vehicle ahead at which both front corners become visible, corner_limit_x (upper limit of x at which each corner is visible), straight_back_s (where the straight-back direction passes on the mirror; if it falls outside the mirror, straight back is not visible = ValueError).
• 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_pass — py -3.11 examples/poc_driving_pass.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pass)overtake_requirement · no_overtaking_zones · overtake_permitted · overtaken_conduct_check · lane_change_follower_decel · lane_change_permitted · roundabout_entry_check · roundabout_signal_point
*Provenance: drivepass.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.