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"cells": [
{
"cell_type": "markdown",
"id": "7d7011e4",
"metadata": {},
"source": [
"## load gt and translate"
]
},
{
"cell_type": "code",
"execution_count": 1,
"id": "878f605d",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"=== 데이터 처리 시작 ===\n",
"\n",
"--- [카테고리: 100\n",
"100_19\n",
"<class 'numpy.ndarray'>\n",
"[ 51.19733434 -10.83484204 -387.45794023] [[-2.93318480e-01 -8.46543729e-01 4.44216162e-01 1.75000000e+01]\n",
" [ 5.14243305e-01 -5.31416714e-01 -6.73164248e-01 1.43500000e+02]\n",
" [ 8.05926859e-01 3.09836771e-02 5.91203749e-01 -2.00000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_10\n",
"<class 'numpy.ndarray'>\n",
"[ 25.67619933 -15.94907366 -345.08978903] [[-6.65230572e-01 3.54238040e-07 -7.46638000e-01 7.05000000e+01]\n",
" [ 7.46638000e-01 4.32703331e-07 -6.65230572e-01 1.19000000e+02]\n",
" [ 8.74227766e-08 -1.00000000e+00 -5.52335052e-07 1.10500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_1\n",
"<class 'numpy.ndarray'>\n",
"[ 54.14357065 -18.01762774 -324.78425313] [[ 7.28970468e-01 -3.22459824e-02 -6.83785200e-01 7.25000000e+01]\n",
" [ 6.84545159e-01 3.43387984e-02 7.28161275e-01 -2.25000000e+01]\n",
" [ 8.74227766e-08 -9.98889923e-01 4.71058004e-02 1.00000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_4\n",
"<class 'numpy.ndarray'>\n",
"[ 54.71764735 -17.40441832 -330.81992476] [[-2.38532797e-01 -5.08246794e-02 -9.69803572e-01 9.95000000e+01]\n",
" [ 9.71134424e-01 -1.24836117e-02 -2.38205910e-01 6.65000000e+01]\n",
" [ 8.74227766e-08 -9.98629570e-01 5.23353480e-02 1.03000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_6\n",
"<class 'numpy.ndarray'>\n",
"[ 24.2281063 -17.30561922 -347.65201352] [[ 4.06735718e-01 2.39131302e-02 9.13232863e-01 -8.50000000e+01]\n",
" [-9.13545847e-01 1.06466869e-02 4.06596333e-01 5.00000000e+00]\n",
" [ 8.74227766e-08 -9.99657333e-01 2.61761285e-02 1.04000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_5\n",
"<class 'numpy.ndarray'>\n",
"[ 31.02152667 -16.37354795 -337.47553193] [[ 8.05927813e-01 2.47906260e-02 5.91494560e-01 -5.90000000e+01]\n",
" [-5.92013836e-01 3.37481424e-02 8.05220902e-01 -3.25000000e+01]\n",
" [ 8.74227766e-08 -9.99122858e-01 4.18749601e-02 1.05000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_17\n",
"<class 'numpy.ndarray'>\n",
"[ 41.83540301 -11.42143584 -357.66950004] [[ 0.34551173 -0.83580726 0.42667067 16.5 ]\n",
" [ -0.52599114 -0.54902297 -0.64954376 156. ]\n",
" [ 0.77714539 0. -0.6293211 82.5 ]\n",
" [ 0. 0. 0. 1. ]]\n",
"100_15\n",
"<class 'numpy.ndarray'>\n",
"[ 24.84687131 -12.3077729 -366.56053808] [[ 4.75527972e-01 -8.59782219e-01 -1.86138809e-01 7.10000000e+01]\n",
" [-8.23639393e-01 -5.09470284e-01 2.49114692e-01 6.75000000e+01]\n",
" [-3.09016585e-01 3.48502435e-02 -9.50417936e-01 1.11000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_12\n",
"<class 'numpy.ndarray'>\n",
"[ 41.42189298 -14.12100997 -352.32385985] [[-4.44922507e-01 -8.68288934e-01 -2.19358906e-01 7.30000000e+01]\n",
" [ 7.17583358e-01 -4.92189586e-01 4.92771238e-01 4.00000000e+01]\n",
" [-5.35833955e-01 6.18367195e-02 8.42055917e-01 -4.00000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_16\n",
"<class 'numpy.ndarray'>\n",
"[ 35.45306223 -8.66726484 -360.26216223] [[ 5.50878942e-01 -8.34482431e-01 -1.30962841e-02 5.65000000e+01]\n",
" [-8.19793046e-01 -5.38107276e-01 -1.95907772e-01 1.04500000e+02]\n",
" [ 1.56434372e-01 1.18657708e-01 -9.80534852e-01 1.20000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_14\n",
"<class 'numpy.ndarray'>\n",
"[ -4.11060848 -10.1532769 -348.5691703 ] [[ 3.01073521e-01 -8.68400633e-01 -3.93998891e-01 9.70000000e+01]\n",
" [-6.39815569e-01 -4.90323544e-01 5.91792881e-01 2.20000000e+01]\n",
" [-7.07100272e-01 7.39134625e-02 -7.03239679e-01 9.00000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_7\n",
"<class 'numpy.ndarray'>\n",
"[ 41.27617588 -17.8722464 -352.18525802] [[-4.06179309e-01 7.38384351e-02 9.10805285e-01 -9.45000000e+01]\n",
" [-9.12293434e-01 2.43186895e-02 -4.08814460e-01 8.85000000e+01]\n",
" [-5.23358099e-02 -9.96973693e-01 5.74845709e-02 1.01000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_13\n",
"<class 'numpy.ndarray'>\n",
"[ 27.57481428 -11.96131775 -340.67913273] [[ 4.17015217e-02 -8.65965843e-01 -4.98361468e-01 1.05500000e+02]\n",
" [-6.64780587e-02 -5.00094891e-01 8.63415182e-01 -1.00000000e+00]\n",
" [-9.96916056e-01 -2.87562096e-03 -7.84224495e-02 4.65000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_9\n",
"<class 'numpy.ndarray'>\n",
"[ 33.07159082 -19.30269462 -355.05924509] [[-9.94521916e-01 -4.92398394e-03 -1.04412429e-01 2.00000000e+01]\n",
" [ 1.04528464e-01 -4.68477383e-02 -9.93417859e-01 1.55000000e+02]\n",
" [ 8.74227766e-08 -9.98889923e-01 4.71058004e-02 1.01000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_18\n",
"<class 'numpy.ndarray'>\n",
"[ 29.45425976 -10.39854392 -371.09839178] [[-1.61214992e-02 -9.00317252e-01 4.34935510e-01 1.65000000e+01]\n",
" [ 3.29080857e-02 -4.35234129e-01 -8.99715662e-01 1.68000000e+02]\n",
" [ 9.99328375e-01 -1.91871048e-04 3.66443433e-02 4.00000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_2\n",
"<class 'numpy.ndarray'>\n",
"[ 54.11831137 -18.01841884 -324.7759575 ] [[ 7.49945462e-01 -3.64737324e-02 -6.60493314e-01 7.10000000e+01]\n",
" [ 6.61168039e-01 9.71948169e-03 7.50174880e-01 -2.60000000e+01]\n",
" [-2.09420230e-02 -9.99287367e-01 3.14043462e-02 1.02500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_11\n",
"<class 'numpy.ndarray'>\n",
"[ 22.03579253 -17.03875545 -340.16779864] [[-5.23394831e-02 -4.70412374e-02 -9.97520804e-01 9.65000000e+01]\n",
" [ 9.98629332e-01 -2.46540597e-03 -5.22813834e-02 5.85000000e+01]\n",
" [ 8.74227766e-08 -9.98889923e-01 4.71058004e-02 1.01500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_20\n",
"<class 'numpy.ndarray'>\n",
"[ 50.40114729 -13.0845525 -351.94462587] [[-5.15631497e-01 -8.28933716e-01 2.16778919e-01 3.70000000e+01]\n",
" [ 8.41432929e-01 -5.37620902e-01 -5.43539152e-02 9.00000000e+01]\n",
" [ 1.61600679e-01 1.54378325e-01 9.74706411e-01 -6.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_3\n",
"<class 'numpy.ndarray'>\n",
"[ 41.17514239 -18.68515214 -329.11994646] [[ 8.91007781e-01 -2.37595402e-02 -4.53365833e-01 5.55000000e+01]\n",
" [ 4.53987986e-01 4.66312431e-02 8.89786720e-01 -3.70000000e+01]\n",
" [ 8.74227766e-08 -9.98629570e-01 5.23353480e-02 1.01500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"100_8\n",
"<class 'numpy.ndarray'>\n",
"[ 39.3421297 -18.34427337 -353.48498967] [[-8.57876718e-01 -2.60340068e-02 5.13195634e-01 -5.50000000e+01]\n",
" [-5.13428628e-01 2.72471388e-03 -8.58127952e-01 1.36000000e+02]\n",
" [ 2.09421981e-02 -9.99657333e-01 -1.57040730e-02 1.07500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"\n",
"--- [카테고리: 75\n",
"75_6\n",
"<class 'numpy.ndarray'>\n",
"[ -10.28079148 -13.57670978 -333.97319473] [[ 2.84015656e-01 5.01801819e-02 9.57505643e-01 -9.55000000e+01]\n",
" [-9.58819628e-01 1.48639735e-02 2.83626437e-01 2.20000000e+01]\n",
" [ 8.74227766e-08 -9.98629570e-01 5.23353480e-02 1.07000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_12\n",
"<class 'numpy.ndarray'>\n",
"[ 53.5993972 -14.16602359 -353.43173679] [[-2.09197178e-01 -8.75313044e-01 -4.35962826e-01 1.03000000e+02]\n",
" [ 2.72632271e-01 -4.80357140e-01 8.33623827e-01 -3.00000000e+00]\n",
" [-9.39099669e-01 5.55342138e-02 3.39127928e-01 1.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_9\n",
"<class 'numpy.ndarray'>\n",
"[ -16.15560412 -16.54161382 -339.99475785] [[-6.33384287e-01 3.72045321e-07 -7.73837388e-01 7.65000000e+01]\n",
" [ 7.73837388e-01 4.17491378e-07 -6.33384287e-01 1.13500000e+02]\n",
" [ 8.74227766e-08 -1.00000000e+00 -5.52335052e-07 1.07000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_4\n",
"<class 'numpy.ndarray'>\n",
"[ 14.88823613 -16.12019282 -322.59421087] [[ 1.04506835e-01 -3.34254205e-02 -9.93962288e-01 9.75000000e+01]\n",
" [ 9.94303644e-01 -1.75337940e-02 1.05132356e-01 3.65000000e+01]\n",
" [-2.09420230e-02 -9.99287426e-01 3.14026177e-02 1.06000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_11\n",
"<class 'numpy.ndarray'>\n",
"[ 4.07306872 -16.04775377 -354.76939747] [[ 7.28970468e-01 1.43375667e-02 -6.84394956e-01 6.55000000e+01]\n",
" [ 6.84545159e-01 -1.52679132e-02 7.28810549e-01 -2.25000000e+01]\n",
" [ 8.74227766e-08 -9.99780655e-01 -2.09445693e-02 1.11500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_7\n",
"<class 'numpy.ndarray'>\n",
"[ -19.98757666 -19.97969048 -323.16157819] [[-6.57375097e-01 3.94375920e-02 7.52530813e-01 -7.65000000e+01]\n",
" [-7.53563523e-01 -3.44037041e-02 -6.56474233e-01 1.17000000e+02]\n",
" [ 8.74227766e-08 -9.98629570e-01 5.23348711e-02 9.80000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_14\n",
"<class 'numpy.ndarray'>\n",
"[ 2.75472692 -8.87751636 -360.52708487] [[ 3.65883231e-01 -8.72372746e-01 -3.24183911e-01 9.15000000e+01]\n",
" [-7.18088210e-01 -4.86214906e-01 4.97940153e-01 3.35000000e+01]\n",
" [-5.92012465e-01 5.06046824e-02 -8.04338455e-01 1.00000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_8\n",
"<class 'numpy.ndarray'>\n",
"[ 6.31429544 -20.70514197 -333.38406434] [[-9.98341978e-01 -2.10930570e-03 -5.75226769e-02 2.50000000e+01]\n",
" [ 5.75613379e-02 -3.65822129e-02 -9.97671485e-01 1.49000000e+02]\n",
" [ 8.74227766e-08 -9.99328434e-01 3.66429724e-02 1.00000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_16\n",
"<class 'numpy.ndarray'>\n",
"[ -18.92732154 -3.39734423 -361.08917408] [[ 4.85276163e-01 -8.50462437e-01 2.03028768e-01 4.70000000e+01]\n",
" [-7.47261703e-01 -5.23964822e-01 -4.08730775e-01 1.22000000e+02]\n",
" [ 4.53990102e-01 4.66316864e-02 -8.89785647e-01 1.16500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_17\n",
"<class 'numpy.ndarray'>\n",
"[ -9.48478114 -7.6458447 -376.1634084 ] [[ 3.70562911e-01 -8.56798828e-01 3.58579069e-01 2.75000000e+01]\n",
" [-4.77728516e-01 -5.06902754e-01 -7.17513144e-01 1.51000000e+02]\n",
" [ 7.96529114e-01 9.45803002e-02 -5.97156584e-01 8.05000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_2\n",
"<class 'numpy.ndarray'>\n",
"[ 40.87666511 -16.50623297 -345.97803966] [[-1.04529373e-01 -3.12379207e-02 -9.94031072e-01 9.45000000e+01]\n",
" [ 9.94521797e-01 -3.28317867e-03 -1.04477800e-01 7.05000000e+01]\n",
" [ 8.74227766e-08 -9.99506593e-01 3.14099826e-02 1.06500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_3\n",
"<class 'numpy.ndarray'>\n",
"[ 44.66045392 -16.332629 -318.40189155] [[ 5.31401873e-01 -1.33055728e-02 -8.47015381e-01 8.50000000e+01]\n",
" [ 8.47119868e-01 8.34674481e-03 5.31336308e-01 1.00000000e+00]\n",
" [ 8.74227766e-08 -9.99876618e-01 1.57068912e-02 1.06500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_1\n",
"<class 'numpy.ndarray'>\n",
"[ 41.09635179 -16.49375851 -345.7756453 ] [[-9.41086635e-02 -3.12710628e-02 -9.95070696e-01 9.85000000e+01]\n",
" [ 9.95561957e-01 -2.95590935e-03 -9.40622315e-02 6.60000000e+01]\n",
" [ 8.74227766e-08 -9.99506593e-01 3.14104594e-02 1.04000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_15\n",
"<class 'numpy.ndarray'>\n",
"[ -4.89271883 -12.75829091 -363.93432522] [[ 4.97526824e-01 -8.63186777e-01 -8.58815610e-02 6.35000000e+01]\n",
" [-8.61743987e-01 -5.03162324e-01 6.50001392e-02 7.60000000e+01]\n",
" [-9.93196219e-02 4.16686051e-02 -9.94182765e-01 1.13500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_20\n",
"<class 'numpy.ndarray'>\n",
"[ 8.30658836 -8.95998312 -370.69422623] [[-4.02583301e-01 -8.33207130e-01 3.79067987e-01 2.90000000e+01]\n",
" [ 6.64743483e-01 -5.50803840e-01 -5.04709125e-01 1.27000000e+02]\n",
" [ 6.29319310e-01 4.87955064e-02 7.75613427e-01 -3.65000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_10\n",
"<class 'numpy.ndarray'>\n",
"[ -12.03577189 -15.94498601 -348.25758199] [[-9.93204340e-02 -2.60467101e-02 -9.94714558e-01 9.65000000e+01]\n",
" [ 9.95055497e-01 -2.59973761e-03 -9.92864072e-02 6.40000000e+01]\n",
" [ 8.74227766e-08 -9.99657333e-01 2.61761285e-02 1.07000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_13\n",
"<class 'numpy.ndarray'>\n",
"[ 17.26730099 -11.93908139 -344.08557292] [[ 8.25190097e-02 -8.49209785e-01 -5.21568179e-01 1.08500000e+02]\n",
" [-3.43716562e-01 -5.15492618e-01 7.84937143e-01 8.00000000e+00]\n",
" [-9.35440838e-01 1.14499390e-01 -3.34425420e-01 5.80000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_5\n",
"<class 'numpy.ndarray'>\n",
"[ -13.14375458 -12.79746753 -336.26320302] [[ 8.30012262e-01 -1.16808610e-02 5.57622790e-01 -5.40000000e+01]\n",
" [-5.57745099e-01 -1.73831116e-02 8.29830229e-01 -2.95000000e+01]\n",
" [ 8.74227766e-08 -9.99780655e-01 -2.09431387e-02 1.13000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_19\n",
"<class 'numpy.ndarray'>\n",
"[ -5.15010367 -5.35148716 -376.2158517 ] [[-1.00854911e-01 -8.38657498e-01 5.35239995e-01 1.35000000e+01]\n",
" [ 2.54722267e-01 -5.41818321e-01 -8.00967813e-01 1.63000000e+02]\n",
" [ 9.61740553e-01 5.55559993e-02 2.68269777e-01 1.15000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"75_18\n",
"<class 'numpy.ndarray'>\n",
"[ -1.27348381 -3.52856113 -363.11010876] [[ 1.41220719e-01 -8.79481137e-01 4.54499364e-01 2.15000000e+01]\n",
" [-1.38294190e-01 -4.72124577e-01 -8.70616496e-01 1.68500000e+02]\n",
" [ 9.80271101e-01 6.00944757e-02 -1.88300893e-01 4.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"\n",
"--- [카테고리: 50\n",
"50_18\n",
"<class 'numpy.ndarray'>\n",
"[ 28.26907896 -17.23835968 -360.79007548] [[-1.70527339e-01 -8.65532279e-01 -4.70929146e-01 1.02000000e+02]\n",
" [ 2.27120772e-01 -4.99586582e-01 8.35960150e-01 -5.50000000e+00]\n",
" [-9.58820403e-01 3.55962664e-02 2.81773537e-01 2.15000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_8\n",
"<class 'numpy.ndarray'>\n",
"[ 40.10537581 -17.06463583 -349.99374741] [[-4.77158964e-01 4.43686872e-07 -8.78817022e-01 7.70000000e+01]\n",
" [ 8.78817022e-01 3.40380240e-07 -4.77158964e-01 9.75000000e+01]\n",
" [ 8.74227766e-08 -1.00000000e+00 -5.52335052e-07 1.07500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_13\n",
"<class 'numpy.ndarray'>\n",
"[ 38.87510909 -16.11698246 -391.01243428] [[ 5.17667353e-01 8.54664147e-01 -3.96198146e-02 -4.90000000e+01]\n",
" [ 8.44749629e-01 -5.17910421e-01 -1.34784400e-01 9.60000000e+01]\n",
" [-1.35714903e-01 3.63046639e-02 -9.90082562e-01 1.15000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_15\n",
"<class 'numpy.ndarray'>\n",
"[ 9.54939332 -17.56393199 -373.96317135] [[ 2.90624380e-01 8.73271525e-01 3.91068190e-01 -9.30000000e+01]\n",
" [ 5.15770555e-01 -4.87224042e-01 7.04693913e-01 8.50000000e+00]\n",
" [ 8.05926919e-01 -3.09977727e-03 -5.92006922e-01 9.35000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_7\n",
"<class 'numpy.ndarray'>\n",
"[ 52.13405573 -16.19737249 -357.43718045] [[ 1.82236373e-01 5.59017678e-07 -9.83254731e-01 9.00000000e+01]\n",
" [ 9.83254731e-01 -1.46966714e-08 1.82236373e-01 3.20000000e+01]\n",
" [ 8.74227766e-08 -1.00000000e+00 -5.52335052e-07 1.09500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_4\n",
"<class 'numpy.ndarray'>\n",
"[ 42.48308957 -13.34240294 -343.44224666] [[ 4.76922661e-01 1.49888871e-02 8.78817439e-01 -8.05000000e+01]\n",
" [-8.78383815e-01 -2.76041720e-02 4.77158129e-01 2.50000000e+00]\n",
" [ 3.14110965e-02 -9.99506533e-01 9.41284725e-07 1.12500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_5\n",
"<class 'numpy.ndarray'>\n",
"[ 37.35970129 -14.24316042 -336.57444623] [[ 8.65977049e-01 1.40418659e-03 5.00081718e-01 -4.85000000e+01]\n",
" [-4.99974072e-01 2.33705416e-02 8.65724981e-01 -3.70000000e+01]\n",
" [-1.04715424e-02 -9.99725878e-01 2.09404100e-02 1.09000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_19\n",
"<class 'numpy.ndarray'>\n",
"[ 18.13099468 -15.09828699 -373.56972069] [[ 1.69344455e-01 -8.62255633e-01 -4.77323413e-01 1.02500000e+02]\n",
" [-3.75056893e-01 -5.04259884e-01 7.77852356e-01 3.50000000e+00]\n",
" [-9.11402643e-01 4.72984463e-02 -4.08788532e-01 6.85000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_16\n",
"<class 'numpy.ndarray'>\n",
"[ 54.96526723 -6.24934125 -372.58995266] [[-4.84127194e-01 -8.51330519e-01 2.02131584e-01 4.65000000e+01]\n",
" [ 8.18616331e-01 -5.22263169e-01 -2.38973722e-01 1.03000000e+02]\n",
" [ 3.09011519e-01 4.97745462e-02 9.49754894e-01 -5.35000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_20\n",
"<class 'numpy.ndarray'>\n",
"[ 6.9073331 -12.50545741 -376.94878724] [[ 4.52463269e-01 -8.56338322e-01 2.48921052e-01 3.45000000e+01]\n",
" [-6.88811421e-01 -5.12875915e-01 -5.12344778e-01 1.30000000e+02]\n",
" [ 5.66406071e-01 6.03575222e-02 -8.21913123e-01 1.10000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_14\n",
"<class 'numpy.ndarray'>\n",
"[ 26.84217318 -13.37724083 -373.07124676] [[ 4.91954267e-01 8.43542457e-01 2.15446383e-01 -7.50000000e+01]\n",
" [ 7.93443859e-01 -5.36261320e-01 2.87872612e-01 5.85000000e+01]\n",
" [ 3.58368307e-01 2.93244496e-02 -9.33119595e-01 1.23500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_12\n",
"<class 'numpy.ndarray'>\n",
"[ 59.89943686 -13.35773397 -398.58164983] [[ 4.00223613e-01 8.52581263e-01 -3.36045057e-01 -2.70000000e+01]\n",
" [ 6.09276235e-01 -5.21465302e-01 -5.97374618e-01 1.39000000e+02]\n",
" [-6.84546232e-01 3.43391597e-02 -7.28160203e-01 9.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_11\n",
"<class 'numpy.ndarray'>\n",
"[ 58.33317475 -12.89082022 -326.86482127] [[-7.99684465e-01 3.77000421e-02 5.99235713e-01 -5.95000000e+01]\n",
" [-6.00420475e-01 -5.02118543e-02 -7.98106492e-01 1.36500000e+02]\n",
" [ 8.74227766e-08 -9.98026788e-01 6.27895147e-02 1.06500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_9\n",
"<class 'numpy.ndarray'>\n",
"[ 27.92755044 -15.93361787 -333.39666851] [[-8.49892676e-01 -2.48230007e-02 -5.26370823e-01 4.90000000e+01]\n",
" [ 5.26955843e-01 -4.00352329e-02 -8.48949194e-01 1.45000000e+02]\n",
" [ 8.74227766e-08 -9.98889863e-01 4.71062772e-02 1.06500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_6\n",
"<class 'numpy.ndarray'>\n",
"[ 43.07009535 -13.964573 -345.44811509] [[ 9.99972582e-01 5.15297474e-03 5.31978253e-03 4.50000000e+00]\n",
" [-5.23811160e-03 -1.57352034e-02 9.99862492e-01 -4.85000000e+01]\n",
" [ 5.23597375e-03 -9.99862909e-01 -1.57077797e-02 1.12000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_17\n",
"<class 'numpy.ndarray'>\n",
"[ 21.19433361 -13.9616235 -385.61167404] [[-4.56769258e-01 -8.58143985e-01 -2.34415770e-01 7.85000000e+01]\n",
" [ 7.03364849e-01 -5.09721696e-01 4.95440930e-01 3.60000000e+01]\n",
" [-5.44646442e-01 6.14223853e-02 8.36413503e-01 -3.90000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_1\n",
"<class 'numpy.ndarray'>\n",
"[ 59.52117866 -15.3738714 -347.71641335] [[-1.19972751e-01 2.48980802e-02 9.92464900e-01 -9.15000000e+01]\n",
" [-9.91396725e-01 -5.57048060e-02 -1.18446149e-01 6.85000000e+01]\n",
" [ 5.23359850e-02 -9.98136818e-01 3.13669369e-02 1.08000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_10\n",
"<class 'numpy.ndarray'>\n",
"[ 38.45517695 -25.38650074 -331.90212336] [[-9.99602497e-01 8.94374773e-03 -2.67361123e-02 -3.00000000e+00]\n",
" [ 2.61755064e-02 -5.78178689e-02 -9.97983932e-01 1.55500000e+02]\n",
" [-1.04715424e-02 -9.98287082e-01 5.75607792e-02 9.30000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_3\n",
"<class 'numpy.ndarray'>\n",
"[ 47.77424912 -14.1188276 -331.79743582] [[-7.67154515e-01 2.28467248e-02 6.41055346e-01 -6.55000000e+01]\n",
" [-6.41440928e-01 -3.54810432e-02 -7.66351461e-01 1.31000000e+02]\n",
" [ 5.23668900e-03 -9.99109149e-01 4.18742672e-02 1.09000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"50_2\n",
"<class 'numpy.ndarray'>\n",
"[ 59.42157252 -15.51625781 -347.62839332] [[-1.14937671e-01 -5.58722718e-07 9.93372679e-01 -9.10000000e+01]\n",
" [-9.93372679e-01 -2.33593003e-08 -1.14937671e-01 6.45000000e+01]\n",
" [ 8.74227766e-08 -1.00000000e+00 -5.52335052e-07 1.10500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"\n",
"--- [카테고리: 25\n",
"25_6\n",
"<class 'numpy.ndarray'>\n",
"[ 8.61615697 -31.8045368 -351.10071425] [[-2.61689126e-02 8.90969396e-01 4.53308612e-01 -9.00000000e+01]\n",
" [-4.53255996e-02 -4.54055071e-01 8.89819980e-01 -2.00000000e+01]\n",
" [ 9.98629451e-01 2.73913727e-03 5.22658490e-02 4.20000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_19\n",
"<class 'numpy.ndarray'>\n",
"[ -3.05976304 -13.79157959 -338.19754376] [[-7.10789740e-01 2.20553949e-02 -7.03058660e-01 5.30000000e+01]\n",
" [ 7.03385055e-01 2.97254249e-02 -7.10187197e-01 1.40500000e+02]\n",
" [ 5.23525849e-03 -9.99314725e-01 -3.66419628e-02 1.12000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_17\n",
"<class 'numpy.ndarray'>\n",
"[ 47.73491514 -7.13858754 -353.31326402] [[-8.57488573e-01 4.48732153e-02 5.12542367e-01 -4.95000000e+01]\n",
" [-5.13196528e-01 -3.64979031e-03 -8.58263373e-01 1.47000000e+02]\n",
" [-3.66423652e-02 -9.98986006e-01 2.61584315e-02 1.16000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_9\n",
"<class 'numpy.ndarray'>\n",
"[ 23.41583283 -14.79229727 -365.86318633] [[-4.22979087e-01 8.85387242e-01 -1.92816377e-01 -2.65000000e+01]\n",
" [-8.30143154e-01 -4.63932246e-01 -3.09239805e-01 1.27000000e+02]\n",
" [-3.63250703e-01 2.92632300e-02 9.31231737e-01 -3.05000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_11\n",
"<class 'numpy.ndarray'>\n",
"[ 31.82878222 -14.1290978 -328.08744427] [[-9.99931514e-01 -5.06819226e-03 1.05502456e-02 -7.50000000e+00]\n",
" [-1.04691898e-02 -1.57619193e-02 -9.99820948e-01 1.63500000e+02]\n",
" [ 5.23357699e-03 -9.99862909e-01 1.57077797e-02 1.07000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_20\n",
"<class 'numpy.ndarray'>\n",
"[ 19.60748626 -17.66528259 -358.65433521] [[ 3.66388112e-02 -4.76490818e-02 -9.98191953e-01 8.45000000e+01]\n",
" [ 9.99205112e-01 -1.39529109e-02 3.73420455e-02 4.75000000e+01]\n",
" [-1.57069974e-02 -9.98766661e-01 4.70999889e-02 1.05500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_14\n",
"<class 'numpy.ndarray'>\n",
"[ 19.89107552 -18.53665048 -356.73167077] [[ 9.50848758e-01 2.76911701e-03 -3.09643239e-01 2.90000000e+01]\n",
" [ 3.08946699e-01 -7.61085898e-02 9.48029220e-01 -5.15000000e+01]\n",
" [-2.09413078e-02 -9.97095704e-01 -7.32232705e-02 1.13000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_4\n",
"<class 'numpy.ndarray'>\n",
"[ 14.5972955 -19.92519179 -379.18381659] [[ 4.04507875e-01 8.49457979e-01 3.38813305e-01 -7.50000000e+01]\n",
" [ 7.00630009e-01 -5.25954723e-01 4.82171327e-01 4.40000000e+01]\n",
" [ 5.87784767e-01 4.23406847e-02 -8.07908595e-01 1.04500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_16\n",
"<class 'numpy.ndarray'>\n",
"[ 23.9261915 -6.66387486 -387.36830495] [[ 1.04527801e-01 -6.58727515e-07 9.94521976e-01 -8.20000000e+01]\n",
" [-9.94521976e-01 -1.57138928e-07 1.04527801e-01 4.30000000e+01]\n",
" [ 8.74227766e-08 -1.00000000e+00 -6.71544342e-07 1.20500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_5\n",
"<class 'numpy.ndarray'>\n",
"[ 6.65038734 -24.28279954 -377.78655465] [[ 3.07082146e-01 8.68339777e-01 3.89469624e-01 -7.95000000e+01]\n",
" [ 5.58580637e-01 -4.95790064e-01 6.64966106e-01 2.70000000e+01]\n",
" [ 7.70511687e-01 1.33509627e-02 -6.37286067e-01 9.70000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_2\n",
"<class 'numpy.ndarray'>\n",
"[ 50.34458922 -6.53171928 -392.03081776] [[ 2.70119667e-01 8.85806918e-01 -3.77334684e-01 -3.10000000e+01]\n",
" [ 4.20756996e-01 -4.61101443e-01 -7.81248391e-01 1.49500000e+02]\n",
" [-8.66024792e-01 5.22643477e-02 -4.97262031e-01 7.40000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_10\n",
"<class 'numpy.ndarray'>\n",
"[ 19.80598694 5.54998488 -349.78725865] [[-1.55652106e-01 9.53439653e-01 -2.58312285e-01 -3.90000000e+01]\n",
" [-3.49600285e-01 -2.97745287e-01 -8.88328433e-01 1.76500000e+02]\n",
" [-9.23878789e-01 -4.79641519e-02 3.79667461e-01 2.25000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_3\n",
"<class 'numpy.ndarray'>\n",
"[ 32.64899358 -13.09385106 -384.42097825] [[ 5.41654408e-01 8.39874089e-01 -3.49570401e-02 -5.20000000e+01]\n",
" [ 8.34076822e-01 -5.42156577e-01 -1.01892397e-01 9.55000000e+01]\n",
" [-1.04528971e-01 2.60336101e-02 -9.94181037e-01 1.14000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_8\n",
"<class 'numpy.ndarray'>\n",
"[ 2.7573541 -14.86633456 -356.21006468] [[-5.17571390e-01 8.51803780e-01 8.09332281e-02 -5.95000000e+01]\n",
" [-8.15557301e-01 -5.19725084e-01 2.54464358e-01 6.60000000e+01]\n",
" [ 2.58816719e-01 6.56977817e-02 9.63689625e-01 -5.30000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_13\n",
"<class 'numpy.ndarray'>\n",
"[ 27.29416278 -18.17496673 -357.47004385] [[ 3.43616605e-01 -1.52306622e-02 -9.38986480e-01 7.90000000e+01]\n",
" [ 9.38978672e-01 -1.11511489e-02 3.43794614e-01 -2.50000000e+00]\n",
" [-1.57069974e-02 -9.99821842e-01 1.04695475e-02 1.07000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_7\n",
"<class 'numpy.ndarray'>\n",
"[ -4.18285571 -33.39064946 -355.47568268] [[-3.12351257e-01 8.49359274e-01 4.25470978e-01 -8.05000000e+01]\n",
" [-4.97926295e-01 -5.27806222e-01 6.88106120e-01 1.00000000e+00]\n",
" [ 8.09015512e-01 3.07762506e-03 5.87779224e-01 5.00000000e-01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_12\n",
"<class 'numpy.ndarray'>\n",
"[ 14.94080716 -12.84743322 -362.73966275] [[-5.44161558e-01 -1.67256054e-02 -8.38813722e-01 6.25000000e+01]\n",
" [ 8.37934792e-01 -6.07356206e-02 -5.42380333e-01 1.09500000e+02]\n",
" [-4.18742336e-02 -9.98013735e-01 4.70649563e-02 1.07500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_1\n",
"<class 'numpy.ndarray'>\n",
"[ 50.87395532 -6.51268418 -391.69625226] [[ 0.36555567 0.85089946 -0.3772786 -27.5 ]\n",
" [ 0.35424927 -0.50201368 -0.78898019 154. ]\n",
" [ -0.86074185 0.15476552 -0.48494446 68.5 ]\n",
" [ 0. 0. 0. 1. ]]\n",
"25_15\n",
"<class 'numpy.ndarray'>\n",
"[ 13.02554317 -11.10753714 -382.33100474] [[ 7.05521405e-01 -4.03015725e-02 7.07541764e-01 -5.15000000e+01]\n",
" [-7.08676636e-01 -3.43199782e-02 7.04698205e-01 -2.55000000e+01]\n",
" [-4.11762809e-03 -9.98597980e-01 -5.27742617e-02 1.18500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"25_18\n",
"<class 'numpy.ndarray'>\n",
"[ 19.24908623 -10.19467014 -340.9759356 ] [[-9.92011368e-01 -5.07827625e-02 1.15475222e-01 -1.35000000e+01]\n",
" [-1.14779614e-01 -1.64168198e-02 -9.93255317e-01 1.63000000e+02]\n",
" [ 5.23359850e-02 -9.98574793e-01 1.04568461e-02 1.14000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"\n",
"--- [카테고리: 0\n",
"0_12\n",
"0_17\n",
"0_16\n",
"<class 'numpy.ndarray'>\n",
"[ 30.33364947 -48.24128986 -365.61265488] [[-1.72922775e-01 9.19383526e-01 3.53315264e-01 -7.85000000e+01]\n",
" [-2.85529107e-01 -3.90108436e-01 8.75379086e-01 -4.05000000e+01]\n",
" [ 9.42640364e-01 5.04911914e-02 3.29969376e-01 2.40000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_15\n",
"<class 'numpy.ndarray'>\n",
"[ 47.83855301 -40.63630415 -374.67333886] [[-8.56738165e-02 -8.49586189e-01 -5.20445287e-01 8.50000000e+01]\n",
" [ 1.24656409e-01 -5.27401686e-01 8.40421438e-01 -1.55000000e+01]\n",
" [-9.88494217e-01 7.12527009e-03 1.51090875e-01 2.85000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_2\n",
"<class 'numpy.ndarray'>\n",
"[ 53.98529817 -23.34183389 -318.12190071] [[-9.96255994e-01 -8.23962316e-03 -8.60589445e-02 1.40000000e+01]\n",
" [ 8.63362178e-02 -4.32123058e-02 -9.95328486e-01 1.60500000e+02]\n",
" [ 4.48232563e-03 -9.99031961e-01 4.37618978e-02 9.40000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_5\n",
"<class 'numpy.ndarray'>\n",
"[ 52.34242901 -11.5680847 -364.04068114] [[ 2.73865104e-01 -5.74945211e-02 -9.60048079e-01 7.30000000e+01]\n",
" [ 9.61411834e-01 -1.08027589e-02 2.74901092e-01 1.25000000e+01]\n",
" [-2.61764750e-02 -9.98287380e-01 5.23174144e-02 1.10500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_14\n",
"<class 'numpy.ndarray'>\n",
"[ 32.66934429 -31.03419982 -419.4400454 ] [[ 3.93467128e-01 8.50530863e-01 3.48971128e-01 -4.90000000e+01]\n",
" [ 6.81505263e-01 -5.24617076e-01 5.10223031e-01 6.25000000e+01]\n",
" [ 6.17036641e-01 3.70696560e-02 -7.86060810e-01 8.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_9\n",
"<class 'numpy.ndarray'>\n",
"[ 33.45435988 -9.86960392 -390.26269769] [[-5.52335052e-07 1.57068912e-02 9.99876618e-01 -7.10000000e+01]\n",
" [-1.00000000e+00 -9.60874615e-08 -5.50893787e-07 6.00000000e+01]\n",
" [ 8.74227766e-08 -9.99876618e-01 1.57068912e-02 1.13500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_22\n",
"<class 'numpy.ndarray'>\n",
"[ 24.14234403 -44.48885363 -376.81869704] [[ 4.61720601e-02 -8.39288235e-01 -5.41722655e-01 8.65000000e+01]\n",
" [-1.94662526e-01 -5.39464176e-01 8.19197714e-01 -2.40000000e+01]\n",
" [-9.79782939e-01 6.76290542e-02 -1.88286141e-01 5.50000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_4\n",
"<class 'numpy.ndarray'>\n",
"[ 22.34787415 -12.38490572 -361.83273303] [[-2.43611336e-01 -4.94846478e-02 -9.68609691e-01 6.60000000e+01]\n",
" [ 9.69858825e-01 -1.78214479e-02 -2.43015021e-01 8.50000000e+01]\n",
" [-5.23651438e-03 -9.98615861e-01 5.23346290e-02 1.09500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_18\n",
"<class 'numpy.ndarray'>\n",
"[ 94.3018499 9.95712859 -403.02370763] [[-4.40655112e-01 8.44817400e-01 -3.03490698e-01 -3.35000000e+01]\n",
" [-7.63237119e-01 -5.30567527e-01 -3.68737340e-01 1.61000000e+02]\n",
" [-4.72538024e-01 6.91493675e-02 8.78593266e-01 -4.00000000e+00]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_8\n",
"<class 'numpy.ndarray'>\n",
"[ 4.89130441 -10.65416859 -363.34594537] [[-6.29009902e-01 -2.90704630e-02 -7.76853561e-01 5.40000000e+01]\n",
" [-7.76762486e-01 6.38768151e-02 6.26545906e-01 -3.65000000e+01]\n",
" [ 3.14089544e-02 9.97534275e-01 -6.27599955e-02 -1.85000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_7\n",
"<class 'numpy.ndarray'>\n",
"[ 33.38694694 -8.22702268 -321.43350163] [[-9.99945164e-01 1.04718581e-02 -1.09615452e-04 -1.50000000e+00]\n",
" [ 0.00000000e+00 1.04670478e-02 9.99945223e-01 -8.50000000e+01]\n",
" [ 1.04724318e-02 9.99890387e-01 -1.04664741e-02 -2.30000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_11\n",
"<class 'numpy.ndarray'>\n",
"[ 39.39567817 -7.81152401 -331.79231827] [[-9.88440156e-01 1.50076434e-01 -2.15206817e-02 -9.00000000e+00]\n",
" [ 1.03513040e-02 -7.48123527e-02 -9.97143924e-01 1.81500000e+02]\n",
" [-1.51257813e-01 -9.85839844e-01 7.23940507e-02 1.11000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_13\n",
"<class 'numpy.ndarray'>\n",
"[ 47.8849601 -21.10832864 -406.85110541] [[ 5.03184497e-01 8.54882419e-01 1.26417741e-01 -5.70000000e+01]\n",
" [ 8.50838244e-01 -5.15692055e-01 1.00677565e-01 7.25000000e+01]\n",
" [ 1.51260108e-01 5.69016635e-02 -9.86854911e-01 9.90000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_23\n",
"<class 'numpy.ndarray'>\n",
"[ 34.1425256 -13.99516051 -436.24154435] [[-3.52828532e-01 3.82114016e-02 -9.34907436e-01 5.45000000e+01]\n",
" [ 9.32251334e-01 -7.12009743e-02 -3.54736269e-01 9.50000000e+01]\n",
" [-8.01212862e-02 -9.96729791e-01 -1.05008949e-02 1.07500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_10\n",
"<class 'numpy.ndarray'>\n",
"[ 75.30314 -10.69616655 -360.85009292] [[-4.57888782e-01 -1.05290443e-01 8.82752419e-01 -5.35000000e+01]\n",
" [-8.87143850e-01 -1.01783918e-02 -4.61380690e-01 1.36000000e+02]\n",
" [ 5.75639792e-02 -9.94389415e-01 -8.87472034e-02 1.18000000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_19\n",
"<class 'numpy.ndarray'>\n",
"[ 54.61536245 5.98952087 -390.19254055] [[-3.62248421e-02 9.26083982e-01 -3.75574470e-01 -2.85000000e+01]\n",
" [-1.19981252e-01 -3.77133012e-01 -9.18354630e-01 1.87000000e+02]\n",
" [-9.92115021e-01 1.17946425e-02 1.24774300e-01 3.80000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_1\n",
"<class 'numpy.ndarray'>\n",
"[ 54.25867277 -22.806361 -318.17092856] [[-9.64558959e-01 -1.13992482e-01 -2.37974271e-01 3.15000000e+01]\n",
" [ 2.42280513e-01 -2.53391284e-02 -9.69875276e-01 1.61000000e+02]\n",
" [ 1.04528435e-01 -9.93158400e-01 5.20592406e-02 9.80000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_6\n",
"<class 'numpy.ndarray'>\n",
"[ 77.66232163 -15.57184449 -330.88443051] [[-8.38258147e-01 7.89983943e-03 5.45216382e-01 -3.50000000e+01]\n",
" [ 5.44367671e-01 6.97381571e-02 8.35942805e-01 -6.90000000e+01]\n",
" [-3.14185731e-02 9.97534037e-01 -6.27589971e-02 -1.30000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_21\n",
"<class 'numpy.ndarray'>\n",
"[ 75.01018329 -10.05817754 -341.89935495] [[-9.92029309e-01 8.33121538e-02 9.45351794e-02 -1.25000000e+01]\n",
" [-1.02217443e-01 -9.33565423e-02 -9.90371704e-01 1.80000000e+02]\n",
" [-7.36845210e-02 -9.92140949e-01 1.01128384e-01 1.08500000e+02]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_20\n",
"<class 'numpy.ndarray'>\n",
"[ 27.12234241 -2.73171326 -424.23229279] [[ 2.70503014e-01 8.54203105e-01 -4.44032878e-01 -4.10000000e+01]\n",
" [ 4.31221068e-01 -5.19878030e-01 -7.37411201e-01 1.32000000e+02]\n",
" [-8.60741854e-01 7.99562782e-03 -5.08978963e-01 6.45000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n",
"0_3\n",
"<class 'numpy.ndarray'>\n",
"[ 18.07637881 -9.88668362 -329.27505922] [[-9.54033732e-01 -2.76956767e-01 -1.14518963e-01 3.10000000e+01]\n",
" [ 1.51104078e-01 -1.14518076e-01 -9.81862068e-01 1.76000000e+02]\n",
" [ 2.58818835e-01 -9.54033852e-01 1.51103407e-01 9.90000000e+01]\n",
" [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n"
]
}
],
"source": [
"import json\n",
"import numpy as np\n",
"\n",
"name = \"bottle2\"\n",
"folder = \"./dataset\"\n",
"json_path = \"ply_files.json\"\n",
"\n",
"try:\n",
" with open(json_path, \"r\", encoding=\"utf-8\") as f:\n",
" categorized_files = json.load(f)\n",
"except FileNotFoundError:\n",
" print(f\"오류: '{json_path}' 파일을 찾을 수 없습니다. 먼저 파일 분류 코드를 실행해 주세요.\")\n",
" exit() # 파일이 없으면 프로그램 종료\n",
"\n",
"# 3. 모든 카테고리와 파일을 순회하는 반복문\n",
"print(\"=== 데이터 처리 시작 ===\")\n",
"categories = [\"100\", \"75\", \"50\", \"25\", \"0\"]\n",
"\n",
"# resolutions 딕셔너리를 기준으로 외부 루프를 실행합니다.\n",
"for category in categories:\n",
" \n",
" print(f\"\\n--- [카테고리: {category}\")\n",
" \n",
" # JSON에서 현재 카테고리에 해당하는 파일 리스트를 가져옵니다.\n",
" # .get(category, [])를 사용하면 JSON에 해당 카테고리가 없어도 오류 없이 빈 리스트를 반환합니다.\n",
" filenames_in_category = categorized_files.get(category, [])\n",
" \n",
" if not filenames_in_category:\n",
" print(\"처리할 파일이 없습니다.\")\n",
" continue # 파일이 없으면 다음 카테고리로 넘어감\n",
"\n",
" # 내부 루프에서 해당 카테고리의 모든 파일을 하나씩 처리합니다.\n",
" for filename in filenames_in_category:\n",
" gt_path =f\"./gt/noisy_filtered_{filename}.json\"\n",
" print(filename)\n",
" try:\n",
" with open(gt_path, \"r\", encoding='utf-8') as f:\n",
" gt_processed = json.load(f)\n",
" gt = np.array(gt_processed[f\"noisy_filtered_{filename}\"][\"matrix_world\"])\n",
"\n",
" print(type(gt))\n",
" ## get translted \n",
" center_path = f\"./centroid/{filename}.txt\"\n",
" translated = np.loadtxt(center_path) \n",
" print(translated, gt)\n",
" ## generate translate T\n",
" tran_T = np.eye(4)\n",
" tran_T[0:3,3] = translated\n",
" \n",
"\n",
" final_T = gt @ tran_T\n",
" real_final_T = np.linalg.inv(final_T)\n",
"\n",
" gt_list = real_final_T.tolist()\n",
" gt_processed[f\"noisy_filtered_{filename}\"][\"matrix_world\"] = gt_list\n",
"\n",
" with open(f'./gt_raw/noisy_filtered_{filename}.json', 'w', encoding='utf-8') as f:\n",
" json.dump(gt_processed, f, ensure_ascii=False, indent=4)\n",
"\n",
"\n",
" except FileNotFoundError:\n",
" continue"
]
},
{
"cell_type": "markdown",
"id": "a0277328",
"metadata": {},
"source": [
"## verify"
]
},
{
"cell_type": "code",
"execution_count": 10,
"id": "463b3159",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"100_7\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./gt_filtered.ply\u001b[0;m\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n"
]
}
],
"source": [
"import json\n",
"import numpy as np\n",
"import open3d as o3d\n",
"\n",
"\n",
"def get_T(file_path):\n",
" with open(file_path, 'r') as f:\n",
" T_matrix = np.loadtxt(file_path)\n",
" print(T_matrix)\n",
" return T_matrix\n",
" \n",
"filenames = []\n",
"with open(\"filename.txt\", \"r\") as f:\n",
" for line in f:\n",
" filenames.append(line.strip())\n",
"\n",
"\n",
"filename = filenames[0]\n",
"print(filename)\n",
"\n",
"with open(f\"./gt_raw/noisy_filtered_{filename}.json\", 'r') as f:\n",
" loaded_data = json.load(f)\n",
"\n",
"\n",
"\n",
"noisy_data = loaded_data[f'noisy_filtered_{filename}']\n",
"T_matrix = noisy_data['matrix_world']\n",
"\n",
"\n",
"##Translated\n",
"\n",
"gt_path = \"./gt_filtered.ply\"\n",
"noisy_path = f\"./dataset/{filename}.ply\"\n",
"translated_path = f\"./result3/result_{filename}.ply\"\n",
"\n",
"\n",
"\n",
"gt_pcd = o3d.io.read_point_cloud(gt_path)\n",
"gt_pcd.paint_uniform_color([0,0,1])\n",
"noisy_pcd = o3d.io.read_point_cloud(noisy_path)\n",
"noisy_pcd.paint_uniform_color([1,0,0])\n",
"\n",
"translated_noisy_pcd = o3d.io.read_point_cloud(translated_path)\n",
"translated_noisy_pcd.paint_uniform_color([0,1,0])\n",
"\n",
"\n",
"gt = np.array(T_matrix)\n",
"\n",
"## move and check gt and noisy\n",
"\n",
"o3d.visualization.draw_geometries([gt_pcd, noisy_pcd, translated_noisy_pcd])\n",
"# noisy_pcd.transform(tran_T)\n",
"gt_pcd.transform(gt)\n",
"\n",
"o3d.visualization.draw_geometries([noisy_pcd, translated_noisy_pcd])\n"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.12"
}
},
"nbformat": 4,
"nbformat_minor": 5
}
|