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evo-egomotion-dynamic-analysis

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For consecutive sampled frame pairs, computes sparse optical flow, estimates camera egomotion via partial affine transform, and detects dynamic objects via homography-based motion compensation and frame differencing.

tasks-evolved/dynamic-object-aware-egomotion/environment/skills/evo-egomotion-dynamic-analysis/SKILL.md

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Sep 10, 2026
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Apache-2.0

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# evo-egomotion-dynamic-analysis

Analyzes consecutive grayscale frame pairs to classify camera motion and detect dynamic objects.

## Key Functions

- `compute_egomotion_labels(prev_gray, curr_gray, th_trans=2.0, th_scale=0.015, th_rot=0.01)`
  Returns `(labels, good_prev, good_curr)` where labels is a list of motion strings.

- `detect_dynamic_objects(prev_gray, curr_gray, good_prev, good_curr)`
  Returns boolean mask (H,W) where True = dynamic pixel.

- `analyze_frame_pairs(frames)`
  Processes all consecutive pairs. Returns `(motion_labels, dynamic_masks)`.
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