integrate op• データ種: matrix × table → measurement
• 呼び出し: import fullseye as fs; fs.ledger.fly_hs_readout(responses, lattice, n_pref, el_min_deg=0.0, rectify=True) (実装を直接呼ぶなら import flyvision; flyvision.fly_hs_readout(responses, lattice, n_pref, el_min_deg=0.0, rectify=True)、台帳から引くなら opsflyvision.get("fly_hs_readout"))
水平系の広視野読み出し —— 上半視野での好み方向 対 反対方向の opponent 和。
> 以下の詳細説明は原文のままです —— 要約と見出しは訳出済み。
Given a stack of motion-detector responses over the ommatidia — the first
*n_pref* rows the preferred-direction type, the rest the anti-preferred — the
opponent readout over the ommatidia above the horizon is::
(a - b) / (a + b + 1e-6)
where `a and b` are the (optionally rectified) totals of the preferred
and anti-preferred responses over the columns with `el > el_min_deg`.
Only the upper visual field is used because the ground flow of forward motion
is `1/distance` while the rotational flow it must be separated from is
distance-independent: an eye 1.2 mm above the floor sees floor flow of
330-1000 deg/s, above the ~200 deg/s bandwidth of the motion detectors, so the
lower field carries speed the correlator cannot read and is excluded.
responses: a `(k, n) matrix of responses, n` matching the lattice.
lattice: the dict returned by :func:fly_hex_lattice.
n_pref: how many leading rows are the preferred-direction type
(`1 <= n_pref < k`).
el_min_deg: the horizon; only ommatidia above it contribute.
rectify: half-wave rectify (clip negatives to 0) before summing.
Returns the opponent ratio as a float in `[-1, 1]`.
Ground truth: with the preferred rows active only in the upper field and the
anti-preferred rows silent, the readout is `+1` (and the sign and value
match the hand calculation); an `el_min_deg` above every ommatidium raises
(pinned in the tests).
Raises `ValueError`: a non-2-D / empty / non-finite *responses*, a
*responses* over the element cap, a *lattice* that is not a
:func:fly_hex_lattice result, a column count not matching the lattice, a
*n_pref* outside `[1, k-1]`, a non-real *el_min_deg*, a non-bool *rectify*,
and an *el_min_deg* above every ommatidium (no upper field to read).
• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。
• poc_fly_vision — py -3.11 examples/poc_fly_vision.py
measurement を入力に取れる)—
integrate)—
*Provenance: flyvision.py — FLYVISION operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.