{ "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Jupyter environment detected. Enabling Open3D WebVisualizer.\n", "[Open3D INFO] WebRTC GUI backend enabled.\n", "[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n" ] } ], "source": [ "import os\n", "import sys\n", "import numpy as np\n", "import open3d as o3d\n", "import copy\n", "\n", "def load_transformation_matrix(file_path):\n", " \"\"\"\n", " Load a 4x4 transformation matrix from a text file.\n", " The file should have 4 rows with 4 numbers each.\n", " \"\"\"\n", " try:\n", " T = np.loadtxt(file_path)\n", " if T.shape != (4, 4):\n", " raise ValueError(f\"Matrix shape is {T.shape}, expected (4, 4)\")\n", " return T\n", " except Exception as e:\n", " print(f\"Error loading {file_path}: {e}\")\n", " return None\n", "\n", "def compute_rmse(target_pcd, transformed_source_pcd):\n", " \"\"\"\n", " Compute the RMSE error between the target point cloud and\n", " the transformed source point cloud using nearest neighbor distances.\n", " \"\"\"\n", " distances = target_pcd.compute_point_cloud_distance(transformed_source_pcd)\n", " distances = np.asarray(distances)\n", " if distances.size == 0:\n", " return float('inf')\n", " rmse = np.sqrt(np.mean(distances**2))\n", " return rmse\n", "\n", "def find_best_registration(results_dir, global_target_pcd, global_source_pcd):\n", " best_error = float('inf')\n", " best_folder = None\n", " best_T = None\n", " best_source_pcd = None\n", " best_target_pcd = None\n", "\n", " # Iterate over subdirectories in the results directory.\n", " for folder in os.listdir(results_dir):\n", " folder_path = os.path.join(results_dir, folder)\n", " if os.path.isdir(folder_path):\n", " trans_file = os.path.join(folder_path, \"m3trans.txt\")\n", " if not os.path.isfile(trans_file):\n", " print(f\"No m3trans.txt found in {folder_path}, skipping.\")\n", " continue\n", "\n", " T = load_transformation_matrix(trans_file)\n", " if T is None:\n", " continue\n", "\n", " # Try to load local source and target point clouds based on folder name.\n", " # Expected folder name pattern: cluster__source_cluster__target\n", " folder_name = os.path.basename(folder_path)\n", " parts = folder_name.split('_')\n", " if (len(parts) >= 6 and parts[0] == \"cluster\" and parts[2] == \"source\" and \n", " parts[3] == \"cluster\" and parts[5] == \"target\"):\n", " source_cluster = parts[1]\n", " target_cluster = parts[4]\n", " if int(source_cluster) <0: continue\n", " src_file = os.path.join(results_dir, f\"cluster_{source_cluster}_source.ply\")\n", " tgt_file = os.path.join(results_dir, f\"cluster_{target_cluster}_target.ply\")\n", " if os.path.isfile(src_file) and os.path.isfile(tgt_file):\n", " local_source = o3d.io.read_point_cloud(src_file)\n", " local_target = o3d.io.read_point_cloud(tgt_file)\n", " print(f\"Loaded local source: {src_file} and target: {tgt_file} for folder {folder_name}\")\n", " else:\n", " print(f\"Local source or target file not found for folder {folder_name}. Using global point clouds.\")\n", " local_source = copy.deepcopy(global_source_pcd)\n", " local_target = copy.deepcopy(global_target_pcd)\n", " else:\n", " local_source = copy.deepcopy(global_source_pcd)\n", " local_target = copy.deepcopy(global_target_pcd)\n", " print(f\"Folder name {folder_name} does not match expected pattern. Using global point clouds.\")\n", " if np.nan in T: print(\"Nan\"); continue\n", " # Apply transformation to a copy of the source.\n", " transformed_source = copy.deepcopy(local_source)\n", " transformed_source.transform(T)\n", " \n", " local_target.paint_uniform_color([1, 0, 0]) # red for target\n", " transformed_source.paint_uniform_color([0, 1, 0]) # blue for transformed source\n", "\n", " # Visualize the best registration result\n", " # print(\"Visualizing best registration result ...\")\n", " # o3d.visualization.draw_geometries(\n", " # [local_target, transformed_source],\n", " # window_name=\"Best Registration Result\",\n", " # width=800, height=600\n", " # )\n", "\n", " # Compute RMSE error between local target and transformed source.\n", " error = compute_rmse(local_target, transformed_source)\n", " print(f\"Folder '{folder_path}' RMSE error: {error:.4f}\")\n", "\n", " if error < best_error:\n", " best_error = error\n", " best_folder = folder_path\n", " best_T = T\n", " best_source_pcd = local_source\n", " best_target_pcd = local_target\n", "\n", " return best_folder, best_error, best_T, best_source_pcd, best_target_pcd" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: gt_filtered.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: noisy_filtered_4.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_0_source.ply and target: ./cluster_0_target.ply for folder cluster_0_source_cluster_0_target\n", "Folder './cluster_0_source_cluster_0_target' RMSE error: 0.0004\n", "No m3trans.txt found in ./part, skipping.\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_6_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_6_source.ply and target: ./cluster_1_target.ply for folder cluster_6_source_cluster_1_target\n", "Folder './cluster_6_source_cluster_1_target' RMSE error: 39.5467\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_3_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_3_source.ply and target: ./cluster_1_target.ply for folder cluster_3_source_cluster_1_target\n", "Folder './cluster_3_source_cluster_1_target' RMSE error: 47.2294\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_10_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_10_source.ply and target: ./cluster_0_target.ply for folder cluster_10_source_cluster_0_target\n", "Folder './cluster_10_source_cluster_0_target' RMSE error: 0.0002\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_1_source.ply and target: ./cluster_1_target.ply for folder cluster_1_source_cluster_1_target\n", "Folder './cluster_1_source_cluster_1_target' RMSE error: 48.3564\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_0_source.ply and target: ./cluster_1_target.ply for folder cluster_0_source_cluster_1_target\n", "Folder './cluster_0_source_cluster_1_target' RMSE error: 48.1529\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_9_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_9_source.ply and target: ./cluster_0_target.ply for folder cluster_9_source_cluster_0_target\n", "Folder './cluster_9_source_cluster_0_target' RMSE error: 0.0004\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_10_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_10_source.ply and target: ./cluster_1_target.ply for folder cluster_10_source_cluster_1_target\n", "Folder './cluster_10_source_cluster_1_target' RMSE error: 45.4237\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_8_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_8_source.ply and target: ./cluster_0_target.ply for folder cluster_8_source_cluster_0_target\n", "Folder './cluster_8_source_cluster_0_target' RMSE error: 0.0002\n", "Folder name res does not match expected pattern. Using global point clouds.\n", "Folder './res' RMSE error: 32.6656\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_3_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_3_source.ply and target: ./cluster_0_target.ply for folder cluster_3_source_cluster_0_target\n", "Folder './cluster_3_source_cluster_0_target' RMSE error: 0.0002\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_11_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_11_source.ply and target: ./cluster_1_target.ply for folder cluster_11_source_cluster_1_target\n", "Folder './cluster_11_source_cluster_1_target' RMSE error: 39.8181\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_6_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_6_source.ply and target: ./cluster_0_target.ply for folder cluster_6_source_cluster_0_target\n", "Folder './cluster_6_source_cluster_0_target' RMSE error: 0.0002\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_5_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_5_source.ply and target: ./cluster_0_target.ply for folder cluster_5_source_cluster_0_target\n", "Folder './cluster_5_source_cluster_0_target' RMSE error: 0.0004\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_2_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_2_source.ply and target: ./cluster_0_target.ply for folder cluster_2_source_cluster_0_target\n", "Folder './cluster_2_source_cluster_0_target' RMSE error: 0.0001\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_7_source.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", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_7_source.ply and target: ./cluster_1_target.ply for folder cluster_7_source_cluster_1_target\n", "Folder './cluster_7_source_cluster_1_target' RMSE error: 39.1515\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_11_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_11_source.ply and target: ./cluster_0_target.ply for folder cluster_11_source_cluster_0_target\n", "Folder './cluster_11_source_cluster_0_target' RMSE error: 0.0001\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_1_source.ply and target: ./cluster_0_target.ply for folder cluster_1_source_cluster_0_target\n", "Folder './cluster_1_source_cluster_0_target' RMSE error: 0.0003\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_4_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_4_source.ply and target: ./cluster_1_target.ply for folder cluster_4_source_cluster_1_target\n", "Folder './cluster_4_source_cluster_1_target' RMSE error: 46.8525\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_5_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_5_source.ply and target: ./cluster_1_target.ply for folder cluster_5_source_cluster_1_target\n", "Folder './cluster_5_source_cluster_1_target' RMSE error: 31.7604\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_2_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_2_source.ply and target: ./cluster_1_target.ply for folder cluster_2_source_cluster_1_target\n", "Folder './cluster_2_source_cluster_1_target' RMSE error: 48.6952\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_7_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_7_source.ply and target: ./cluster_0_target.ply for folder cluster_7_source_cluster_0_target\n", "Folder './cluster_7_source_cluster_0_target' RMSE error: 0.0003\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_8_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_8_source.ply and target: ./cluster_1_target.ply for folder cluster_8_source_cluster_1_target\n", "Folder './cluster_8_source_cluster_1_target' RMSE error: 46.7701\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_9_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_9_source.ply and target: ./cluster_1_target.ply for folder cluster_9_source_cluster_1_target\n", "Folder './cluster_9_source_cluster_1_target' RMSE error: 46.9942\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_4_source.ply\u001b[0;m\n", "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n", "Loaded local source: ./cluster_4_source.ply and target: ./cluster_0_target.ply for folder cluster_4_source_cluster_0_target\n", "Folder './cluster_4_source_cluster_0_target' RMSE error: 0.0001\n", "\n", "Best registration found:\n", "Folder: ./cluster_11_source_cluster_0_target\n", "RMSE error: 0.0001\n" ] }, { "name": "stderr", "output_type": "stream", "text": [ "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n", "RPly: Unexpected end of file\n", "RPly: Error reading 'view_px' of 'camera' number 0\n" ] } ], "source": [ "results_dir = '.'\n", "target_pcd_file = 'gt_filtered.ply'\n", "source_pcd_file = 'noisy_filtered_4.ply'\n", "# Load the point clouds using Open3D.\n", "target_pcd = o3d.io.read_point_cloud(target_pcd_file)\n", "source_pcd = o3d.io.read_point_cloud(source_pcd_file)\n", "\n", "best_folder, best_error, best_T, _,_ = find_best_registration(results_dir, target_pcd, source_pcd)\n", "if best_folder is not None:\n", " print(\"\\nBest registration found:\")\n", " print(f\"Folder: {best_folder}\")\n", " print(f\"RMSE error: {best_error:.4f}\")\n", "else:\n", " print(\"No valid registration results found.\")" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Visualizing best registration result ...\n" ] } ], "source": [ "# Apply the best transformation to a copy of the source point cloud\n", "best_transformed_source = copy.deepcopy(source_pcd)\n", "best_transformed_source.transform(best_T)\n", "\n", "# Optionally color the point clouds for visualization\n", "target_pcd.paint_uniform_color([0, 1, 0]) # red for target\n", "best_transformed_source.paint_uniform_color([1, 0, 0]) # blue for transformed source\n", "\n", "# Visualize the best registration result\n", "print(\"Visualizing best registration result ...\")\n", "o3d.visualization.draw_geometries(\n", " [target_pcd, best_transformed_source],\n", " window_name=\"Best Registration Result\",\n", " width=800, height=600\n", ")" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[ 1. , 0. , 0. , 1.59822],\n", " [ 0. , 1. , 0. , -30.9117 ],\n", " [ 0. , 0. , 1. , -415.328 ],\n", " [ 0. , 0. , 0. , 1. ]])" ] }, "execution_count": 4, "metadata": {}, "output_type": "execute_result" } ], "source": [ "best_T" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "ename": "NameError", "evalue": "name 's' is not defined", "output_type": "error", "traceback": [ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", "Cell \u001b[0;32mIn[5], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43ms\u001b[49m\n", "\u001b[0;31mNameError\u001b[0m: name 's' is not defined" ] } ], "source": [ "s" ] } ], "metadata": { "kernelspec": { "display_name": "vision", "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": "3.9.20" } }, "nbformat": 4, "nbformat_minor": 2 }