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egomotion-estimation

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Estimate camera motion with optical flow + affine/homography, allow multi-label per frame.

tasks/dynamic-object-aware-egomotion/environment/skills/egomotion-estimation/SKILL.md

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# When to use
- You need to classify camera motion (Stay/Dolly/Pan/Tilt/Roll) from video, allowing multiple labels on the same frame.

# Workflow
1) **Feature tracking**: `goodFeaturesToTrack` + `calcOpticalFlowPyrLK`; drop if too few points.
2) **Robust transform**: `estimateAffinePartial2D` (or homography) with RANSAC to get tx, ty, rotation, scale.
3) **Thresholding (example values)**  
   - Translate threshold `th_trans` (px/frame), rotation (rad), scale delta (ratio).  
   - Allow multiple labels: if scale and translate are both significant, emit Dolly + Pan; rotation independent for Roll.
4) **Temporal smoothing**: windowed mode/median to reduce flicker.
5) **Interval compression**: merge consecutive frames with identical label sets into `start->end`.

# Decision sketch
```python
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