Head4.ipynb

{
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  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
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       "<div id=\"glowscript\" class=\"glowscript\"></div>"
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       "if (typeof Jupyter !== \"undefined\") { window.__context = { glowscript_container: $(\"#glowscript\").removeAttr(\"id\")};}else{ element.textContent = ' ';}"
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     "text": [
      "C:\\Data Science\\Advanced Vision\\Coursework\\AV_CW\\SIFT.py:3: TqdmExperimentalWarning: Using `tqdm.autonotebook.tqdm` in notebook mode. Use `tqdm.tqdm` instead to force console mode (e.g. in jupyter console)\n",
      "  from tqdm.autonotebook import tqdm\n"
     ]
    }
   ],
   "source": [
    "import single_head\n",
    "import multi_head\n",
    "import copy\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import cv2\n",
    "from scipy.ndimage.morphology import binary_fill_holes\n",
    "import sys\n",
    "np.set_printoptions(threshold=sys.maxsize)\n",
    "from scipy.signal import detrend\n",
    "from single_head import SingleHead\n",
    "from multi_head import MultiHead\n",
    "import matplotlib.gridspec as gridspec\n",
    "%load_ext autoreload\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Loading Sequence 4...done\n"
     ]
    }
   ],
   "source": [
    "# gen pickled heads\n",
    "Sequence=4\n",
    "mhead=MultiHead.load_from_pickle(Sequence)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "mean distance: 0.04873550545912354\n",
      "mean distance: 0.060410568096966835\n",
      "mean distance: 0.07153907929016022\n",
      "mean distance: 0.05314529504310421\n",
      "mean distance: 0.032927820992824534\n",
      "mean distance: 0.04994406240424017\n",
      "mean distance: 0.0034705397333392686\n",
      "mean distance: 0.0035104555505854292\n",
      "mean distance: 0.005089756894280539\n",
      "mean distance: 0.001793048937656728\n",
      "mean distance: 0.015984248316159078\n",
      "mean distance: 0.015984248316159078\n"
     ]
    },
    {
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       "<div>\n",
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       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>method</th>\n",
       "      <th>sift_transform_method</th>\n",
       "      <th>icp</th>\n",
       "      <th>refine_range</th>\n",
       "      <th>refine_local</th>\n",
       "      <th>mean_dist</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.048736</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.060411</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>A</td>\n",
       "      <td>matches</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.071539</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>A</td>\n",
       "      <td>matches</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.053145</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>A</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.032928</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>A</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.049944</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.003471</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.003510</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.005090</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.001793</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.015984</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.015984</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   method sift_transform_method    icp refine_range refine_local  mean_dist\n",
       "0       A              coverage   True        False        False   0.048736\n",
       "1       A              coverage  False        False        False   0.060411\n",
       "2       A               matches   True        False        False   0.071539\n",
       "3       A               matches  False        False        False   0.053145\n",
       "4       A               dynamic   True        False        False   0.032928\n",
       "5       A               dynamic  False        False        False   0.049944\n",
       "6       C              coverage   True        False        False   0.003471\n",
       "7       C              coverage  False        False        False   0.003510\n",
       "8       C               matches   True        False        False   0.005090\n",
       "9       C               matches  False        False        False   0.001793\n",
       "10      C               dynamic   True        False        False   0.015984\n",
       "11      C               dynamic  False        False        False   0.015984"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mhead.try_methods()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "2-1, Count=67, Err Matches=0.0011, Cov=99.8\n",
      "3-2, Count=60, Err Matches=0.0025, Cov=98.5\n",
      "4-3, Count=37, Err Matches=0.0061, Cov=92.7\n",
      "5-4, Count=34, Err Matches=0.0069, Cov=85.0\n",
      "6-5, Count=24, Err Matches=0.0091, Cov=87.8\n",
      "7-6, Count=35, Err Matches=0.0034, Cov=72.3\n",
      "8-7, Count=21, Err Matches=0.0047, Cov=61.4\n",
      "9-8, Count=6, Err Matches=inf, Cov=71.6\n",
      "10-9, Count=6, Err Matches=inf, Cov=43.4\n",
      "11-10, Count=7, Err Matches=0.0219, Cov=73.0\n",
      "12-11, Count=31, Err Matches=0.0050, Cov=69.5\n",
      "13-12, Count=29, Err Matches=0.0059, Cov=79.8\n",
      "14-13, Count=26, Err Matches=0.0070, Cov=81.7\n",
      "15-14, Count=49, Err Matches=0.0056, Cov=94.3\n"
     ]
    }
   ],
   "source": [
    "mhead.Method_A(sift_transform_method=\"dynamic\", icp=True, refine_range=False, refine_local=False)\n",
    "mhead.show_spheres(sparcity=0.2, name=None, alpha=0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "ename": "AttributeError",
     "evalue": "'Link' object has no attribute 'kp_sample_matches'",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
      "\u001b[1;32m<ipython-input-6-34867c20f7d1>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[0mmhead\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mreset_all_head_positions\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 2\u001b[1;33m \u001b[0mmhead\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mMethod_A\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0msift_transform_method\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m\"matches\"\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0micp\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;32mFalse\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mrefine_range\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;32mFalse\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mrefine_local\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;32mFalse\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      3\u001b[0m \u001b[0mmhead\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mleft_eye_deviation\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Data Science\\Advanced Vision\\Coursework\\AV_CW\\multi_head.py\u001b[0m in \u001b[0;36mMethod_A\u001b[1;34m(self, sift_transform_method, icp, refine_range, refine_local, verbose)\u001b[0m\n\u001b[0;32m    492\u001b[0m             \u001b[1;31m# calculate and perform all transformations for each link:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    493\u001b[0m             \u001b[1;32mif\u001b[0m \u001b[0mverbose\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 494\u001b[1;33m                 \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mlinks\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mlink_idx\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mprint_short\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    495\u001b[0m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mall_transforms_from_link\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mlinks\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mlink_idx\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msift_transform_method\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0msift_transform_method\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0micp\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0micp\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mrefine_range\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mrefine_range\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mrefine_local\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mrefine_local\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    496\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Data Science\\Advanced Vision\\Coursework\\AV_CW\\link.py\u001b[0m in \u001b[0;36mprint_short\u001b[1;34m(self)\u001b[0m\n\u001b[0;32m     58\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mprint_short\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     59\u001b[0m         print(\n\u001b[1;32m---> 60\u001b[1;33m             f\"{self.left}-{self.right}, Count={np.sum(self.kp_sample_matches)}, Err Matches={self.err_matches:.4f}, Cov={100 * self.coverage_all_points:.1f}\")\n\u001b[0m\u001b[0;32m     61\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     62\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;31mAttributeError\u001b[0m: 'Link' object has no attribute 'kp_sample_matches'"
     ]
    }
   ],
   "source": [
    "mhead.reset_all_head_positions()\n",
    "mhead.Method_A(sift_transform_method=\"matches\", icp=False, refine_range=False, refine_local=False)\n",
    "mhead.left_eye_deviation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[14, 15, 1, 2, 3, 4, 5, 6, 13, 7, 8, 9, 10, 11]\n"
     ]
    }
   ],
   "source": [
    "mhead.create_png_series(name=\"C\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Right</th>\n",
       "      <th>Left</th>\n",
       "      <th>Err</th>\n",
       "      <th>Matches</th>\n",
       "      <th>Inliers for Matches</th>\n",
       "      <th>Inliers for Coverage</th>\n",
       "      <th>Coverage</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>1.0</td>\n",
       "      <td>2.0</td>\n",
       "      <td>0.000823</td>\n",
       "      <td>166.0</td>\n",
       "      <td>149.0</td>\n",
       "      <td>146.0</td>\n",
       "      <td>0.998444</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>2.0</td>\n",
       "      <td>3.0</td>\n",
       "      <td>0.002133</td>\n",
       "      <td>144.0</td>\n",
       "      <td>91.0</td>\n",
       "      <td>86.0</td>\n",
       "      <td>0.982812</td>\n",
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       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>3.0</td>\n",
       "      <td>4.0</td>\n",
       "      <td>0.004873</td>\n",
       "      <td>91.0</td>\n",
       "      <td>52.0</td>\n",
       "      <td>36.0</td>\n",
       "      <td>0.933651</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>4.0</td>\n",
       "      <td>5.0</td>\n",
       "      <td>0.004206</td>\n",
       "      <td>70.0</td>\n",
       "      <td>43.0</td>\n",
       "      <td>29.0</td>\n",
       "      <td>0.843036</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>5.0</td>\n",
       "      <td>6.0</td>\n",
       "      <td>0.003117</td>\n",
       "      <td>71.0</td>\n",
       "      <td>42.0</td>\n",
       "      <td>16.0</td>\n",
       "      <td>0.888437</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>6.0</td>\n",
       "      <td>7.0</td>\n",
       "      <td>0.001900</td>\n",
       "      <td>89.0</td>\n",
       "      <td>43.0</td>\n",
       "      <td>31.0</td>\n",
       "      <td>0.768798</td>\n",
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       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>7.0</td>\n",
       "      <td>8.0</td>\n",
       "      <td>0.003688</td>\n",
       "      <td>53.0</td>\n",
       "      <td>34.0</td>\n",
       "      <td>6.0</td>\n",
       "      <td>0.886523</td>\n",
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       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>8.0</td>\n",
       "      <td>9.0</td>\n",
       "      <td>0.002545</td>\n",
       "      <td>20.0</td>\n",
       "      <td>16.0</td>\n",
       "      <td>7.0</td>\n",
       "      <td>0.659493</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>9.0</td>\n",
       "      <td>10.0</td>\n",
       "      <td>0.013684</td>\n",
       "      <td>26.0</td>\n",
       "      <td>19.0</td>\n",
       "      <td>7.0</td>\n",
       "      <td>0.543692</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>10.0</td>\n",
       "      <td>11.0</td>\n",
       "      <td>0.003093</td>\n",
       "      <td>23.0</td>\n",
       "      <td>19.0</td>\n",
       "      <td>7.0</td>\n",
       "      <td>0.803750</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>11.0</td>\n",
       "      <td>12.0</td>\n",
       "      <td>0.003074</td>\n",
       "      <td>67.0</td>\n",
       "      <td>42.0</td>\n",
       "      <td>24.0</td>\n",
       "      <td>0.777557</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>12.0</td>\n",
       "      <td>13.0</td>\n",
       "      <td>0.003625</td>\n",
       "      <td>85.0</td>\n",
       "      <td>50.0</td>\n",
       "      <td>37.0</td>\n",
       "      <td>0.765249</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>12</th>\n",
       "      <td>13.0</td>\n",
       "      <td>14.0</td>\n",
       "      <td>0.003444</td>\n",
       "      <td>84.0</td>\n",
       "      <td>49.0</td>\n",
       "      <td>37.0</td>\n",
       "      <td>0.714539</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>13</th>\n",
       "      <td>14.0</td>\n",
       "      <td>15.0</td>\n",
       "      <td>0.003428</td>\n",
       "      <td>131.0</td>\n",
       "      <td>63.0</td>\n",
       "      <td>39.0</td>\n",
       "      <td>0.717219</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>14</th>\n",
       "      <td>15.0</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.003611</td>\n",
       "      <td>127.0</td>\n",
       "      <td>71.0</td>\n",
       "      <td>51.0</td>\n",
       "      <td>0.810455</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "    Right  Left       Err  Matches  Inliers for Matches  Inliers for Coverage  \\\n",
       "0     1.0   2.0  0.000823    166.0                149.0                 146.0   \n",
       "1     2.0   3.0  0.002133    144.0                 91.0                  86.0   \n",
       "2     3.0   4.0  0.004873     91.0                 52.0                  36.0   \n",
       "3     4.0   5.0  0.004206     70.0                 43.0                  29.0   \n",
       "4     5.0   6.0  0.003117     71.0                 42.0                  16.0   \n",
       "5     6.0   7.0  0.001900     89.0                 43.0                  31.0   \n",
       "6     7.0   8.0  0.003688     53.0                 34.0                   6.0   \n",
       "7     8.0   9.0  0.002545     20.0                 16.0                   7.0   \n",
       "8     9.0  10.0  0.013684     26.0                 19.0                   7.0   \n",
       "9    10.0  11.0  0.003093     23.0                 19.0                   7.0   \n",
       "10   11.0  12.0  0.003074     67.0                 42.0                  24.0   \n",
       "11   12.0  13.0  0.003625     85.0                 50.0                  37.0   \n",
       "12   13.0  14.0  0.003444     84.0                 49.0                  37.0   \n",
       "13   14.0  15.0  0.003428    131.0                 63.0                  39.0   \n",
       "14   15.0   1.0  0.003611    127.0                 71.0                  51.0   \n",
       "\n",
       "    Coverage  \n",
       "0   0.998444  \n",
       "1   0.982812  \n",
       "2   0.933651  \n",
       "3   0.843036  \n",
       "4   0.888437  \n",
       "5   0.768798  \n",
       "6   0.886523  \n",
       "7   0.659493  \n",
       "8   0.543692  \n",
       "9   0.803750  \n",
       "10  0.777557  \n",
       "11  0.765249  \n",
       "12  0.714539  \n",
       "13  0.717219  \n",
       "14  0.810455  "
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mhead.create_dataframe()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\\begin{tabular}{lrrll}\n",
      "\\toprule\n",
      "    Pair &  Matches &  Inliers &     Err & Coverage \\\\\n",
      "\\midrule\n",
      "   2 - 1 &      166 &       47 &  0.0008 &  100.00\\% \\\\\n",
      "   3 - 2 &      144 &       43 &  0.0021 &   99.85\\% \\\\\n",
      "   4 - 3 &       91 &       33 &  0.0064 &   97.90\\% \\\\\n",
      "   5 - 4 &       70 &       27 &  0.0072 &   95.54\\% \\\\\n",
      "   6 - 5 &       71 &       28 &  0.0050 &   95.32\\% \\\\\n",
      "   7 - 6 &       89 &       32 &  0.0027 &   78.88\\% \\\\\n",
      "   8 - 7 &       53 &       18 &  0.0097 &   90.30\\% \\\\\n",
      "   9 - 8 &       20 &        7 &     nan &   78.20\\% \\\\\n",
      "  10 - 9 &       26 &       11 &     nan &   61.21\\% \\\\\n",
      " 11 - 10 &       23 &        6 &  0.0057 &   83.96\\% \\\\\n",
      " 12 - 11 &       67 &       30 &  0.0043 &   81.24\\% \\\\\n",
      " 13 - 12 &       85 &       40 &  0.0044 &   89.88\\% \\\\\n",
      " 14 - 13 &       84 &       30 &  0.0102 &   93.09\\% \\\\\n",
      " 15 - 14 &      131 &       48 &  0.0035 &   99.39\\% \\\\\n",
      "  1 - 15 &      127 &       44 &  0.0072 &   98.59\\% \\\\\n",
      "\\bottomrule\n",
      "\\end{tabular}\n",
      "\n"
     ]
    },
    {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Pair</th>\n",
       "      <th>Matches</th>\n",
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       "      <th>Err</th>\n",
       "      <th>Coverage</th>\n",
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       "  <tbody>\n",
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       "      <th>0</th>\n",
       "      <td>2 - 1</td>\n",
       "      <td>166</td>\n",
       "      <td>47</td>\n",
       "      <td>0.0008</td>\n",
       "      <td>100.00%</td>\n",
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       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>3 - 2</td>\n",
       "      <td>144</td>\n",
       "      <td>43</td>\n",
       "      <td>0.0021</td>\n",
       "      <td>99.85%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>4 - 3</td>\n",
       "      <td>91</td>\n",
       "      <td>33</td>\n",
       "      <td>0.0064</td>\n",
       "      <td>97.90%</td>\n",
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       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>5 - 4</td>\n",
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       "      <td>27</td>\n",
       "      <td>0.0072</td>\n",
       "      <td>95.54%</td>\n",
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       "      <th>4</th>\n",
       "      <td>6 - 5</td>\n",
       "      <td>71</td>\n",
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       "      <td>95.32%</td>\n",
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       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>7 - 6</td>\n",
       "      <td>89</td>\n",
       "      <td>32</td>\n",
       "      <td>0.0027</td>\n",
       "      <td>78.88%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>8 - 7</td>\n",
       "      <td>53</td>\n",
       "      <td>18</td>\n",
       "      <td>0.0097</td>\n",
       "      <td>90.30%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>9 - 8</td>\n",
       "      <td>20</td>\n",
       "      <td>7</td>\n",
       "      <td>nan</td>\n",
       "      <td>78.20%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>10 - 9</td>\n",
       "      <td>26</td>\n",
       "      <td>11</td>\n",
       "      <td>nan</td>\n",
       "      <td>61.21%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>11 - 10</td>\n",
       "      <td>23</td>\n",
       "      <td>6</td>\n",
       "      <td>0.0057</td>\n",
       "      <td>83.96%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>12 - 11</td>\n",
       "      <td>67</td>\n",
       "      <td>30</td>\n",
       "      <td>0.0043</td>\n",
       "      <td>81.24%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>13 - 12</td>\n",
       "      <td>85</td>\n",
       "      <td>40</td>\n",
       "      <td>0.0044</td>\n",
       "      <td>89.88%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>12</th>\n",
       "      <td>14 - 13</td>\n",
       "      <td>84</td>\n",
       "      <td>30</td>\n",
       "      <td>0.0102</td>\n",
       "      <td>93.09%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>13</th>\n",
       "      <td>15 - 14</td>\n",
       "      <td>131</td>\n",
       "      <td>48</td>\n",
       "      <td>0.0035</td>\n",
       "      <td>99.39%</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>14</th>\n",
       "      <td>1 - 15</td>\n",
       "      <td>127</td>\n",
       "      <td>44</td>\n",
       "      <td>0.0072</td>\n",
       "      <td>98.59%</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "       Pair  Matches  Inliers     Err Coverage\n",
       "0     2 - 1      166       47  0.0008  100.00%\n",
       "1     3 - 2      144       43  0.0021   99.85%\n",
       "2     4 - 3       91       33  0.0064   97.90%\n",
       "3     5 - 4       70       27  0.0072   95.54%\n",
       "4     6 - 5       71       28  0.0050   95.32%\n",
       "5     7 - 6       89       32  0.0027   78.88%\n",
       "6     8 - 7       53       18  0.0097   90.30%\n",
       "7     9 - 8       20        7     nan   78.20%\n",
       "8    10 - 9       26       11     nan   61.21%\n",
       "9   11 - 10       23        6  0.0057   83.96%\n",
       "10  12 - 11       67       30  0.0043   81.24%\n",
       "11  13 - 12       85       40  0.0044   89.88%\n",
       "12  14 - 13       84       30  0.0102   93.09%\n",
       "13  15 - 14      131       48  0.0035   99.39%\n",
       "14   1 - 15      127       44  0.0072   98.59%"
      ]
     },
     "execution_count": 21,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mhead.create_df_for_report()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "mean distance: 0.023997550128584934\n",
      "mean distance: 0.020714120320158968\n",
      "mean distance: 0.033247077907184897\n",
      "mean distance: 0.059801335603280416\n",
      "mean distance: 0.03950228396884237\n",
      "mean distance: 0.03062116135425156\n",
      "mean distance: 0.00455402622353261\n",
      "mean distance: 0.0064769750302035925\n",
      "mean distance: 0.007566145229624977\n",
      "mean distance: 0.00940227046073585\n",
      "mean distance: 0.01598644387518167\n",
      "mean distance: 0.01598644387518167\n"
     ]
    },
    {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>method</th>\n",
       "      <th>sift_transform_method</th>\n",
       "      <th>icp</th>\n",
       "      <th>refine_range</th>\n",
       "      <th>refine_local</th>\n",
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       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.023998</td>\n",
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       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
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       "      <th>2</th>\n",
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       "      <td>False</td>\n",
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       "      <th>4</th>\n",
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       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.039502</td>\n",
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       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>A</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.030621</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.004554</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.006477</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.007566</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.009402</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>True</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.015986</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>False</td>\n",
       "      <td>0.015986</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   method sift_transform_method    icp refine_range refine_local  mean_dist\n",
       "0       A              coverage   True        False        False   0.023998\n",
       "1       A              coverage  False        False        False   0.020714\n",
       "2       A               matches   True        False        False   0.033247\n",
       "3       A               matches  False        False        False   0.059801\n",
       "4       A               dynamic   True        False        False   0.039502\n",
       "5       A               dynamic  False        False        False   0.030621\n",
       "6       C              coverage   True        False        False   0.004554\n",
       "7       C              coverage  False        False        False   0.006477\n",
       "8       C               matches   True        False        False   0.007566\n",
       "9       C               matches  False        False        False   0.009402\n",
       "10      C               dynamic   True        False        False   0.015986\n",
       "11      C               dynamic  False        False        False   0.015986"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mhead.try_methods()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\\begin{tabular}{lllr}\n",
      "\\toprule\n",
      "method &    method &    icp &  mean\\_dist \\\\\n",
      "\\midrule\n",
      "     A &  coverage &   True &   0.024518 \\\\\n",
      "     A &  coverage &  False &   0.035543 \\\\\n",
      "     A &   matches &   True &   0.074510 \\\\\n",
      "     A &   matches &  False &   0.090304 \\\\\n",
      "     A &   dynamic &   True &   0.008726 \\\\\n",
      "     A &   dynamic &  False &   0.024667 \\\\\n",
      "     C &  coverage &   True &   0.003930 \\\\\n",
      "     C &  coverage &  False &   0.003762 \\\\\n",
      "     C &   matches &   True &   0.005297 \\\\\n",
      "     C &   matches &  False &   0.001670 \\\\\n",
      "     C &   dynamic &   True &   0.015986 \\\\\n",
      "     C &   dynamic &  False &   0.015986 \\\\\n",
      "\\bottomrule\n",
      "\\end{tabular}\n",
      "\n"
     ]
    },
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       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>method</th>\n",
       "      <th>method</th>\n",
       "      <th>icp</th>\n",
       "      <th>mean_dist</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>0.024518</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>A</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>0.035543</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>A</td>\n",
       "      <td>matches</td>\n",
       "      <td>True</td>\n",
       "      <td>0.074510</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>A</td>\n",
       "      <td>matches</td>\n",
       "      <td>False</td>\n",
       "      <td>0.090304</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>A</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>True</td>\n",
       "      <td>0.008726</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>A</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>0.024667</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>True</td>\n",
       "      <td>0.003930</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>C</td>\n",
       "      <td>coverage</td>\n",
       "      <td>False</td>\n",
       "      <td>0.003762</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>True</td>\n",
       "      <td>0.005297</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>C</td>\n",
       "      <td>matches</td>\n",
       "      <td>False</td>\n",
       "      <td>0.001670</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>True</td>\n",
       "      <td>0.015986</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>C</td>\n",
       "      <td>dynamic</td>\n",
       "      <td>False</td>\n",
       "      <td>0.015986</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   method    method    icp  mean_dist\n",
       "0       A  coverage   True   0.024518\n",
       "1       A  coverage  False   0.035543\n",
       "2       A   matches   True   0.074510\n",
       "3       A   matches  False   0.090304\n",
       "4       A   dynamic   True   0.008726\n",
       "5       A   dynamic  False   0.024667\n",
       "6       C  coverage   True   0.003930\n",
       "7       C  coverage  False   0.003762\n",
       "8       C   matches   True   0.005297\n",
       "9       C   matches  False   0.001670\n",
       "10      C   dynamic   True   0.015986\n",
       "11      C   dynamic  False   0.015986"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
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   "source": [
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   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [
    {
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     "text": [
      "[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]\n"
     ]
    }
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   "outputs": [
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     "text": [
      "2-1, Count=68, Err Matches=0.0008, Cov=100.0\n",
      "3-2, Count=60, Err Matches=0.0021, Cov=99.8\n",
      "4-3, Count=42, Err Matches=0.0064, Cov=97.9\n",
      "1-15, Count=61, Err Matches=0.0072, Cov=98.6\n",
      "15-14, Count=56, Err Matches=0.0035, Cov=99.4\n",
      "5-4, Count=19, Err Matches=0.0072, Cov=95.5\n",
      "6-5, Count=26, Err Matches=0.0050, Cov=95.3\n",
      "7-6, Count=31, Err Matches=0.0027, Cov=78.9\n",
      "8-7, Count=17, Err Matches=0.0097, Cov=90.3\n",
      "14-13, Count=33, Err Matches=0.0102, Cov=93.1\n",
      "13-12, Count=30, Err Matches=0.0044, Cov=89.9\n",
      "12-11, Count=20, Err Matches=0.0043, Cov=81.2\n",
      "11-10, Count=9, Err Matches=0.0057, Cov=84.0\n"
     ]
    }
   ],
   "source": [
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   "execution_count": 9,
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   "execution_count": 10,
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     "text": [
      "\n",
      "completed\n"
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  {
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   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
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