Finished draft of the report and update estimators

h33p · Apr 7, 2022 · b107b5a · b107b5a
1 parent 96d8001
commit b107b5a
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diff --git a/almeida-estimator/src/lib.rs b/almeida-estimator/src/lib.rs
@@ -61,6 +61,7 @@ pub struct AlmeidaEstimator {
     use_ransac: bool,
     /// Number of iterations for ransac.
     num_iters: usize,
+    cnt: usize,
 }
 
 impl Properties for AlmeidaEstimator {
@@ -92,13 +93,25 @@ impl Estimator for AlmeidaEstimator {
             motion_vectors.iter().copied().collect()
         };
 
-        let limit = (15.0 / ALPHA).ceil() as usize;
+        let limit = 5;//(15.0 / ALPHA).ceil() as usize;
+
+        self.cnt += 1;
+        println!("{}", self.cnt);
+
+        use std::io::Write;
 
         for i in 0..limit {
             let model = if i == 0 && self.use_ransac {
                 let (model, new_inliers) =
                     solve_ypr_ransac(motion_vectors, camera, self.num_iters, eps);
                 inliers = new_inliers;
+
+                let mut f = std::fs::File::create("docs/report/mfield/base.csv").unwrap();
+                write!(&mut f, "x,y,u,v\n").unwrap();
+                for (pos, motion) in &inliers {
+                    write!(&mut f, "{},{},{},{}\n", pos.coords.x, pos.coords.y, motion.x, motion.y).unwrap();
+                }
+
                 model
             } else {
                 solve_ypr(camera, &inliers, eps)
@@ -122,8 +135,11 @@ impl Estimator for AlmeidaEstimator {
             let rotm =
                 na::UnitQuaternion::from_euler_angles(-model.y, model.x, -model.z).to_homogeneous();
 
+            let mut f = std::fs::File::create(format!("docs/report/mfield/{i}.csv")).unwrap();
+            write!(&mut f, "x,y,u,v\n").unwrap();
             for (pos, motion) in &mut inliers {
                 let delta = camera.delta(*pos, rotm);
+                write!(&mut f, "{},{},{},{}\n", pos.coords.x, pos.coords.y, delta.x, delta.y).unwrap();
                 *pos += delta;
                 *motion -= delta;
             }

diff --git a/block-motion-detector/src/lib.rs b/block-motion-detector/src/lib.rs
@@ -55,7 +55,9 @@ impl Detector for BlockMotionDetection {
 
         // Add all the motion to the field densifier.
         let mut mf = MotionFieldDensifier::new(block_dim, block_dim);
-        motion.for_each(|(pos, motion)| mf.add_vector(pos, motion));
+        motion.for_each(|(pos, motion)| {
+            mf.add_vector(pos, motion);
+        });
         let mf = MotionField::from(mf);
 
         let mut map = vec![vec![false; block_dim]; block_dim];

diff --git a/docs/report.bib b/docs/report.bib
@@ -87,10 +87,6 @@ @misc{libmv
 
 @misc{blender-motion-tracking, author={Blender}, title = {Motion Tracking Introduction}, url = {https://docs.blender.org/manual/en/latest/movie_clip/tracking/introduction.html}}
 
-@misc{fc7f41a484c3cb8df94e71b591076ab3c9e84827, author={Aurimas Blažulionis}, title = {Commit fc7f41}, url = {https://github.com/h33p/libmv/commit/fc7f41a484c3cb8df94e71b591076ab3c9e84827}}
-
-@misc{14ba45e82847ff6bc98edad5abfd67c212328482, author={Aurimas Blažulionis}, title = {Commit 14ba45}, url = {https://github.com/h33p/libmv/commit/14ba45e82847ff6bc98edad5abfd67c212328482}}
-
 @misc{libmv-fork, author={Aurimas Blažulionis}, title = {Libmv fork}, url = {https://github.com/h33p/libmv}}
 
 @inproceedings{zhao2020maskflownet,

diff --git a/docs/report.tex b/docs/report.tex
diff --git a/docs/report/detection.jpg b/docs/report/detection.jpg
diff --git a/docs/report/distortion.jpg b/docs/report/distortion.jpg
diff --git a/docs/report/epipolar-geometry.jpg b/docs/report/epipolar-geometry.jpg
diff --git a/docs/report/epipolar-view1.jpg b/docs/report/epipolar-view1.jpg
diff --git a/docs/report/farneback-vs-rlof.jpg b/docs/report/farneback-vs-rlof.jpg
diff --git a/docs/report/feature-tracking.jpg b/docs/report/feature-tracking.jpg
diff --git a/docs/report/gunnar-farneback-mask.jpg b/docs/report/gunnar-farneback-mask.jpg
diff --git a/docs/report/mfield/0.csv b/docs/report/mfield/0.csv
diff --git a/docs/report/mfield/1.csv b/docs/report/mfield/1.csv
diff --git a/docs/report/mfield/2.csv b/docs/report/mfield/2.csv
diff --git a/docs/report/mfield/3.csv b/docs/report/mfield/3.csv
diff --git a/docs/report/mfield/4.csv b/docs/report/mfield/4.csv