{ "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", "\n", "[ 96.88353003 -182.71196471 -526.67227754] [[-9.98889863e-01 -2.07240246e-02 -4.23029847e-02 -3.50000000e+00]\n", " [ 0.00000000e+00 8.98027539e-01 -4.39939260e-01 -1.20000000e+01]\n", " [ 4.71065566e-02 -4.39450860e-01 -8.97030592e-01 -2.60000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_10\n", "\n", "[ 47.24969801 -193.33973658 -436.10109339] [[-9.99657333e-01 -2.39135586e-02 -1.06470045e-02 -3.00000000e+00]\n", " [ 0.00000000e+00 4.06736732e-01 -9.13545430e-01 -3.55000000e+01]\n", " [ 2.61766482e-02 -9.13232386e-01 -4.06597346e-01 -7.80000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_1\n", "\n", "[ 43.95548274 -196.94735461 -448.47585301] [[ 2.11862668e-01 9.68500078e-01 -1.30850121e-01 9.50000000e+01]\n", " [ 9.71693397e-01 -1.94430411e-01 1.34196863e-01 -1.25000000e+02]\n", " [ 1.04528435e-01 -1.55577511e-01 -9.82277691e-01 2.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_4\n", "\n", "[ 43.80913853 -191.52057312 -430.68367466] [[ 8.60633850e-01 -4.97060508e-01 1.10635638e-01 -4.85000000e+01]\n", " [-2.30607986e-01 -1.86730266e-01 9.54961658e-01 -1.37500000e+02]\n", " [-4.54014719e-01 -8.47385764e-01 -2.75332510e-01 -7.00000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_6\n", "\n", "[ 38.39604961 -196.50142191 -436.11344514] [[ 2.55631745e-01 -9.60367620e-01 1.11114576e-01 -9.30000000e+01]\n", " [-9.54033911e-01 -2.31993899e-01 1.89731628e-01 -1.33500000e+02]\n", " [-1.56434208e-01 -1.54508501e-01 -9.75528300e-01 1.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_5\n", "\n", "[ 43.34125581 -194.87700573 -430.71911661] [[ 0.41846594 -0.87824839 0.23144332 -86.5 ]\n", " [ -0.76118821 -0.20012355 0.61688173 -133. ]\n", " [ -0.49545816 -0.43431592 -0.75225723 -26.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "100_17\n", "\n", "[ 53.82684112 -182.33570329 -527.67857239] [[-9.94521916e-01 9.45801437e-02 -4.45061401e-02 8.50000000e+00]\n", " [ 1.04528464e-01 8.99870276e-01 -4.23446864e-01 -1.15000000e+01]\n", " [ 8.74227766e-08 -4.25779343e-01 -9.04826999e-01 -2.40000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_15\n", "\n", "[ 4.96647160e-01 -1.82816779e+02 -5.25779058e+02] [[ -0.94585663 0.32039219 0.05200042 30.5 ]\n", " [ 0.25344154 0.82909268 -0.49837011 -16.5 ]\n", " [ -0.20278706 -0.45820761 -0.86540347 -28. ]\n", " [ 0. 0. 0. 1. ]]\n", "100_12\n", "\n", "[ 66.03221142 -184.28905224 -520.04285002] [[-9.99657333e-01 2.11775433e-02 -1.53865004e-02 0.00000000e+00]\n", " [ 2.61769518e-02 8.08739662e-01 -5.87584019e-01 -1.65000000e+01]\n", " [ 8.74227766e-08 -5.87785423e-01 -8.09016883e-01 -4.05000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_16\n", "\n", "[ 80.97409844 -182.06886505 -528.59689581] [[-9.96917307e-01 -7.18420893e-02 3.15363780e-02 -9.00000000e+00]\n", " [-7.84590915e-02 9.12839890e-01 -4.00708705e-01 -1.15000000e+01]\n", " [ 8.74227766e-08 -4.01947767e-01 -9.15662587e-01 -2.20000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_14\n", "\n", "[ 90.61353012 -183.42878894 -523.90613851] [[-9.98629510e-01 4.53242250e-02 -2.61680558e-02 2.50000000e+00]\n", " [ 5.23359589e-02 8.64838541e-01 -4.99314785e-01 -1.40000000e+01]\n", " [ 8.74227766e-08 -5.00000000e-01 -8.66025388e-01 -3.10000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_7\n", "\n", "[ 37.93027398 -196.79550279 -440.66303325] [[ 2.38290533e-01 -9.60046232e-01 1.46727204e-01 -9.30000000e+01]\n", " [-9.48678255e-01 -2.62437135e-01 -1.76454917e-01 -1.29000000e+02]\n", " [ 2.07911551e-01 -9.71493796e-02 -9.73311245e-01 8.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_13\n", "\n", "[ 19.00327789 -183.46791966 -521.16448282] [[ -0.99315894 0.10284057 0.05530913 8.5 ]\n", " [ 0.05204926 0.81388295 -0.57869285 -16.5 ]\n", " [ -0.10452826 -0.57185519 -0.81366789 -39. ]\n", " [ 0. 0. 0. 1. ]]\n", "100_9\n", "\n", "[ 46.37920331 -193.29272623 -434.14921325] [[-9.98287320e-01 4.16681282e-02 4.10628766e-02 1.50000000e+00]\n", " [-2.61410717e-02 3.10214221e-01 -9.50307190e-01 -4.40000000e+01]\n", " [-5.23358099e-02 -9.49753046e-01 -3.08593690e-01 -8.30000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_18\n", "\n", "[ 2.39333694 -181.25285206 -529.5459963 ] [[ -0.99726093 0.02727492 -0.06875089 4.5 ]\n", " [ 0.05226423 0.91758466 -0.39408991 -11. ]\n", " [ 0.05233599 -0.39660367 -0.91649681 -21. ]\n", " [ 0. 0. 0. 1. ]]\n", "100_2\n", "\n", "[ 44.01551025 -196.95283722 -448.44038246] [[ 2.55631745e-01 9.60367620e-01 -1.11114532e-01 9.30000000e+01]\n", " [ 9.54033911e-01 -2.31993869e-01 1.89731792e-01 -1.30500000e+02]\n", " [ 1.56434372e-01 -1.54508501e-01 -9.75528300e-01 3.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_11\n", "\n", "[ 48.72040562 -193.32468566 -437.64849608] [[-1.00000000e+00 -8.63464535e-08 -1.36759688e-08 -1.50000000e+00]\n", " [ 0.00000000e+00 1.56434834e-01 -9.87688303e-01 -5.75000000e+01]\n", " [ 8.74227766e-08 -9.87688303e-01 -1.56434834e-01 -9.00000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_20\n", "\n", "[ 96.83044639 -182.8005874 -526.63677918] [[-9.99328375e-01 3.30740325e-02 -1.57756042e-02 1.00000000e+00]\n", " [ 3.66437063e-02 9.01979089e-01 -4.30222034e-01 -1.10000000e+01]\n", " [ 8.74227766e-08 -4.30511177e-01 -9.02585268e-01 -2.50000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_3\n", "\n", "[ 34.63774171 -190.44664173 -440.51382281] [[ 9.13180053e-01 3.97627652e-01 -8.94115567e-02 3.85000000e+01]\n", " [ 1.94099993e-01 -2.31403321e-01 9.53298330e-01 -1.41000000e+02]\n", " [ 3.58367652e-01 -8.87887776e-01 -2.88492441e-01 -7.20000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "100_8\n", "\n", "[ 42.57709049 -195.83523905 -441.29218429] [[ 4.21784110e-02 -9.73982930e-01 2.22661719e-01 -9.55000000e+01]\n", " [-8.04823279e-01 -1.65175676e-01 -5.70067108e-01 -1.07500000e+02]\n", " [ 5.92013896e-01 -1.55158803e-01 -7.90850997e-01 1.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "\n", "--- [카테고리: 75\n", "75_6\n", "\n", "[ 22.99786528 -193.48239809 -439.27272618] [[ 9.81293082e-01 3.60746197e-02 -1.89109653e-01 5.50000000e+00]\n", " [ 1.92519709e-01 -1.83875665e-01 9.63911772e-01 -1.43000000e+02]\n", " [ 8.74227766e-08 -9.82287288e-01 -1.87380999e-01 -8.35000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_12\n", "\n", "[ 68.4938508 -188.27382037 -512.17525781] [[-1.00000000e+00 -6.67731683e-08 -5.64277123e-08 -1.00000000e+00]\n", " [ 0.00000000e+00 6.45457745e-01 -7.63795972e-01 -2.85000000e+01]\n", " [ 8.74227766e-08 -7.63795972e-01 -6.45457745e-01 -6.05000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_9\n", "\n", "[ 40.04612673 -197.80353406 -443.29015136] [[ 0.16626319 -0.97814775 0.1248339 -97. ]\n", " [ -0.78220981 -0.20791093 -0.58729959 -109.5 ]\n", " [ 0.60042012 0. -0.79968476 16. ]\n", " [ 0. 0. 0. 1. ]]\n", "75_4\n", "\n", "[ 39.06209833 -197.6966263 -455.29229593] [[ 2.07500190e-01 9.51743126e-01 -2.26116657e-01 9.40000000e+01]\n", " [ 9.76217747e-01 -2.16301247e-01 -1.45847173e-02 -1.25500000e+02]\n", " [-6.27902225e-02 -2.17712760e-01 -9.73991036e-01 -3.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_11\n", "\n", "[ 27.85506542 -194.68326031 -443.0662467 ] [[-9.98629570e-01 4.53241430e-02 2.61679050e-02 3.50000000e+00]\n", " [ 0.00000000e+00 4.99999970e-01 -8.66025448e-01 -2.65000000e+01]\n", " [-5.23358099e-02 -8.64838541e-01 -4.99314755e-01 -7.20000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_7\n", "\n", "[ 0.68679558 -194.64099111 -449.9477346 ] [[ 8.45944226e-01 -5.16349912e-01 1.33270934e-01 -5.20000000e+01]\n", " [-2.79770404e-01 -2.16967791e-01 9.35229123e-01 -1.44500000e+02]\n", " [-4.53989953e-01 -8.28436971e-01 -3.28002065e-01 -6.90000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_14\n", "\n", "[ -13.5947617 -181.88793193 -523.47370464] [[-9.99986291e-01 4.28375229e-03 -3.01077776e-03 1.50000000e+00]\n", " [ 5.23596397e-03 8.18138540e-01 -5.74997306e-01 -1.80000000e+01]\n", " [ 8.74227766e-08 -5.75005174e-01 -8.18149805e-01 -4.05000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_8\n", "\n", "[ 27.51734325 -197.89300113 -445.11348239] [[ 0.3015247 -0.93002748 0.21007545 -91.5 ]\n", " [ -0.91172761 -0.21677156 0.34894541 -133.5 ]\n", " [ -0.27899045 -0.29674724 -0.91329372 -13. ]\n", " [ 0. 0. 0. 1. ]]\n", "75_16\n", "\n", "[ 91.5925738 -184.59191059 -521.3745435 ] [[-9.87688363e-01 1.31196931e-01 -8.52003917e-02 1.15000000e+01]\n", " [ 1.56434476e-01 8.28345120e-01 -5.37933648e-01 -1.50000000e+01]\n", " [ 8.74227766e-08 -5.44639051e-01 -8.38670552e-01 -3.60000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_17\n", "\n", "[ -31.81848507 -184.26901623 -518.30028218] [[-9.95947778e-01 8.83071199e-02 1.70257539e-02 1.05000000e+01]\n", " [ 5.21954112e-02 7.21741796e-01 -6.90191627e-01 -2.30000000e+01]\n", " [-7.32370317e-02 -6.86506152e-01 -7.23426342e-01 -5.20000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_2\n", "\n", "[ 47.41392479 -194.77138749 -430.89370086] [[-1.59643093e-07 9.94521976e-01 -1.04527943e-01 9.70000000e+01]\n", " [ 2.89033055e-01 -1.00066550e-01 -9.52074885e-01 -8.20000000e+01]\n", " [-9.57319140e-01 -3.02121826e-02 -2.87449718e-01 2.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_3\n", "\n", "[ 41.66985315 -196.06356319 -443.65570859] [[ 7.32530057e-01 2.14003980e-01 6.46221340e-01 8.00000000e+00]\n", " [ 6.80714548e-01 -2.22977743e-01 -6.97788358e-01 -1.06000000e+02]\n", " [-5.23651438e-03 9.51043248e-01 -3.09013516e-01 9.65000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_1\n", "75_15\n", "\n", "[ 20.17697951 -183.26718247 -523.50616679] [[-9.98013675e-01 6.04840927e-02 1.76171884e-02 6.00000000e+00]\n", " [ 4.18291688e-02 8.45330656e-01 -5.32603383e-01 -1.45000000e+01]\n", " [-4.71063815e-02 -5.30808568e-01 -8.46181571e-01 -3.45000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_20\n", "\n", "[ 67.79982566 -186.34152663 -513.93197285] [[-9.97260928e-01 -1.49828533e-03 -7.39483610e-02 5.00000000e-01]\n", " [ 5.22642322e-02 6.93171620e-01 -7.18875229e-01 -2.40000000e+01]\n", " [ 5.23359850e-02 -7.20771074e-01 -6.91194654e-01 -5.50000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_10\n", "\n", "[ 42.70902759 -194.96430882 -437.77935645] [[ 9.78147149e-01 -1.03956945e-01 -1.80058509e-01 -7.50000000e+00]\n", " [-2.07913712e-01 -4.89073634e-01 -8.47100258e-01 -1.21000000e+02]\n", " [ 8.74227766e-08 8.66025388e-01 -5.00000060e-01 9.35000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_13\n", "\n", "[ 35.99968514 -182.02219133 -524.07380462] [[-9.98629570e-01 2.71113608e-02 4.47661839e-02 3.00000000e+00]\n", " [ 0.00000000e+00 8.55364263e-01 -5.18026948e-01 -1.55000000e+01]\n", " [-5.23358099e-02 -5.17317057e-01 -8.54192078e-01 -3.45000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_5\n", "\n", "[ 31.96447529 -197.86073198 -444.42462537] [[ 0.44785807 0.8473922 -0.28521851 85. ]\n", " [ 0.77570802 -0.20961609 0.59526312 -135. ]\n", " [ 0.44463491 -0.48783967 -0.75120717 -32.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "75_19\n", "\n", "[ -7.03202205 -182.82289898 -522.41567717] [[-9.95127201e-01 9.78503898e-02 -1.21302642e-02 1.05000000e+01]\n", " [ 8.35631788e-02 7.71664381e-01 -6.30516708e-01 -2.30000000e+01]\n", " [-5.23358099e-02 -6.28457963e-01 -7.76080906e-01 -4.65000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "75_18\n", "\n", "[ 62.154216 -185.85236248 -516.69339825] [[-9.94521916e-01 6.99431375e-02 -7.76798427e-02 6.50000000e+00]\n", " [ 1.04528464e-01 6.65465057e-01 -7.39073753e-01 -2.85000000e+01]\n", " [ 8.74227766e-08 -7.43144810e-01 -6.69130623e-01 -5.85000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "\n", "--- [카테고리: 50\n", "50_18\n", "\n", "[ 70.37577381 -176.36483956 -527.50055309] [[-9.99725878e-01 -1.64672046e-03 -2.33560298e-02 -5.00000000e-01]\n", " [ 1.04694869e-02 8.60806465e-01 -5.08824706e-01 -2.15000000e+01]\n", " [ 2.09429134e-02 -5.08929729e-01 -8.60553265e-01 -3.25000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_8\n", "\n", "[ 42.28682367 -197.96051847 -458.71238061] [[ 1.84876353e-01 9.70302939e-01 -1.55990213e-01 9.50000000e+01]\n", " [ 9.42329586e-01 -2.20082849e-01 -2.52147734e-01 -1.23500000e+02]\n", " [-2.78990448e-01 -1.00378044e-01 -9.55033302e-01 6.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_13\n", "\n", "[ 39.96508672 -181.39553916 -525.53713661] [[ -0.98791659 0.09237372 -0.1244506 11. ]\n", " [ 0.14588283 0.8253724 -0.545416 -20.5 ]\n", " [ 0.05233599 -0.55698073 -0.82887483 -38.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "50_15\n", "\n", "[ 85.4131019 -182.08249339 -526.91567884] [[ -0.96854287 0.18559708 -0.16576621 20.5 ]\n", " [ 0.24328102 0.84630871 -0.47389436 -18. ]\n", " [ 0.05233599 -0.49931479 -0.86483854 -32.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "50_7\n", "\n", "[ 26.58441509 -193.95005115 -450.93825946] [[ 1.05835468e-01 9.67441320e-01 -2.29904592e-01 9.55000000e+01]\n", " [ 4.97918636e-01 -2.51689315e-01 -8.29897285e-01 -1.00000000e+02]\n", " [-8.60741496e-01 -2.66412199e-02 -5.08344710e-01 8.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_4\n", "\n", "[ 29.97613402 -200.04936789 -457.94136471] [[ 2.06883386e-01 -9.78147686e-01 -2.06496809e-02 -9.25000000e+01]\n", " [-9.73311305e-01 -2.07911387e-01 9.71492603e-02 -1.37500000e+02]\n", " [-9.93196219e-02 0.00000000e+00 -9.95055556e-01 1.35000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_5\n", "\n", "[ 37.32231395 -197.19992489 -461.72960086] [[ 1.36287317e-01 -9.74250674e-01 1.79614663e-01 -9.35000000e+01]\n", " [-8.60488355e-01 -2.06258371e-01 -4.65851158e-01 -1.23500000e+02]\n", " [ 4.90902841e-01 -9.10667107e-02 -8.66441727e-01 5.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_19\n", "\n", "[ 16.3611083 -176.13407603 -532.49996874] [[-9.88439679e-01 1.40982017e-01 -5.57767339e-02 1.25000000e+01]\n", " [ 1.51252508e-01 8.91518176e-01 -4.26987171e-01 -1.90000000e+01]\n", " [-1.04715424e-02 -4.30487454e-01 -9.02535796e-01 -2.60000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_16\n", "\n", "[ -26.8870106 -183.45533849 -520.71914889] [[-9.96658981e-01 -1.42452633e-02 8.04236308e-02 5.00000000e-01]\n", " [-6.27044737e-02 7.64409959e-01 -6.41673982e-01 -2.20000000e+01]\n", " [-5.23358099e-02 -6.44573092e-01 -7.62749314e-01 -4.80000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_20\n", "\n", "[ -37.49020019 -177.06888631 -530.46535715] [[ -0.99538666 -0.08181042 -0.05012429 -7. ]\n", " [ -0.04694124 0.87088519 -0.48923972 -20. ]\n", " [ 0.08367741 -0.48462981 -0.87070775 -32. ]\n", " [ 0. 0. 0. 1. ]]\n", "50_14\n", "\n", "[ -3.05882515 -180.21661508 -526.66663578] [[-9.96316969e-01 -2.94492152e-02 8.05306733e-02 -5.00000000e-01]\n", " [-6.79220781e-02 8.44280005e-01 -5.31580508e-01 -2.00000000e+01]\n", " [-5.23358099e-02 -5.35092533e-01 -8.43170762e-01 -3.50000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_12\n", "\n", "[ 80.4968676 -184.76622715 -518.68782144] [[-9.93854046e-01 9.71271917e-02 5.31075113e-02 8.50000000e+00]\n", " [ 3.64429727e-02 7.40082741e-01 -6.71527684e-01 -2.30000000e+01]\n", " [-1.04527548e-01 -6.65465117e-01 -7.39073873e-01 -4.95000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_11\n", "\n", "[ 37.12288865 -199.58856688 -474.00537674] [[ 2.43517235e-01 -9.64734793e-01 9.99309197e-02 -9.40000000e+01]\n", " [-9.08821762e-01 -1.90984339e-01 3.70901585e-01 -1.34500000e+02]\n", " [-3.38736415e-01 -1.81140319e-01 -9.23279941e-01 -2.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_9\n", "\n", "[ 53.95475082 -199.00050272 -476.02429383] [[ 1.33364841e-01 9.78147745e-01 1.59501642e-01 9.15000000e+01]\n", " [ 6.27434611e-01 -2.07910925e-01 7.50399113e-01 -1.42000000e+02]\n", " [ 7.67163336e-01 0.00000000e+00 -6.41451776e-01 1.00000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_6\n", "\n", "[ 42.30078986 -194.44280838 -445.6775794 ] [[ 3.75276874e-03 9.99521136e-01 -3.07153836e-02 9.65000000e+01]\n", " [ 3.58349621e-01 -3.00198477e-02 -9.33104694e-01 -7.65000000e+01]\n", " [-9.33579922e-01 -7.50512071e-03 -3.58290672e-01 1.05000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_17\n", "\n", "[ 43.16114622 -180.34025999 -528.36120599] [[-9.95372117e-01 9.56402421e-02 -9.34061222e-03 1.00000000e+01]\n", " [ 8.88346061e-02 8.78742635e-01 -4.68956083e-01 -1.65000000e+01]\n", " [-3.66430804e-02 -4.67615604e-01 -8.83172095e-01 -2.95000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_1\n", "\n", "[ 31.7108678 -194.77907179 -414.89497182] [[ 0.96420342 0.1987351 -0.17554514 21. ]\n", " [ 0.21022844 -0.16946615 0.96285266 -144.5 ]\n", " [ 0.16160366 -0.96529043 -0.20517962 -83. ]\n", " [ 0. 0. 0. 1. ]]\n", "50_10\n", "\n", "[ 43.11974598 -196.44254798 -476.8620787 ] [[ 7.11605012e-01 -7.00605094e-01 5.26378527e-02 -6.70000000e+01]\n", " [-3.12369883e-01 -2.48384759e-01 9.16913331e-01 -1.49500000e+02]\n", " [-6.29319727e-01 -6.68922603e-01 -3.95599782e-01 -5.40000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "50_3\n", "\n", "[ 44.40218802 -196.73726755 -469.9966751 ] [[ 0.79479843 -0.5807398 0.17617242 -57.5 ]\n", " [ -0.34394187 -0.19187725 0.91917741 -145.5 ]\n", " [ -0.49999943 -0.79115385 -0.35224447 -66.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "50_2\n", "\n", "[ 31.69084386 -194.7122418 -414.93086147] [[ 9.72725391e-01 8.05615336e-02 -2.17520356e-01 1.00000000e+01]\n", " [ 2.28148505e-01 -1.62995115e-01 9.59885836e-01 -1.45000000e+02]\n", " [ 4.18751240e-02 -9.83332336e-01 -1.76929474e-01 -8.60000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "\n", "--- [카테고리: 25\n", "25_6\n", "\n", "[ 53.37793854 -193.37398286 -452.28872982] [[ 2.32740596e-01 -9.16346252e-01 3.25793415e-01 -9.25000000e+01]\n", " [-6.06311738e-01 -3.98637563e-01 -6.88094616e-01 -1.13500000e+02]\n", " [ 7.60406435e-01 -3.73848155e-02 -6.48370624e-01 8.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_19\n", "\n", "[ 110.37908634 -179.73757915 -518.7221053 ] [[-9.96658981e-01 1.71826445e-02 -7.98477679e-02 -5.00000000e-01]\n", " [ 6.27044961e-02 7.87410080e-01 -6.13232017e-01 -2.40000000e+01]\n", " [ 5.23359850e-02 -6.16190016e-01 -7.85856724e-01 -4.10000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_17\n", "\n", "[ -11.68801433 -176.10877536 -529.46153323] [[-9.92559433e-01 -1.21658236e-01 -5.00230910e-03 -1.20000000e+01]\n", " [-1.04322173e-01 8.70871007e-01 -4.80312973e-01 -2.00000000e+01]\n", " [ 6.27903938e-02 -4.76217330e-01 -8.77082884e-01 -2.95000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_9\n", "\n", "[ 29.47255918 -198.46798749 -454.02202689] [[ 2.22466066e-01 9.74512398e-01 2.88872067e-02 9.10000000e+01]\n", " [ 9.71342921e-01 -2.24090904e-01 7.92225301e-02 -1.40500000e+02]\n", " [ 8.36766958e-02 1.04350587e-02 -9.96438324e-01 1.60000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_11\n", "\n", "[ 34.90718895 -196.65399028 -475.40778807] [[ 0.94684535 -0.23738845 0.21709576 -27.5 ]\n", " [ -0.27508575 -0.24763641 0.92898011 -150.5 ]\n", " [ -0.16676834 -0.93932045 -0.29977557 -81. ]\n", " [ 0. 0. 0. 1. ]]\n", "25_20\n", "\n", "[ -22.14632438 -178.5087232 -524.63364245] [[ -0.97923857 0.1956968 0.05286382 20.5 ]\n", " [ 0.1289192 0.80247098 -0.58259779 -24.5 ]\n", " [ -0.15643421 -0.56368709 -0.81103957 -38.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "25_14\n", "\n", "[ 29.2332177 -181.65633119 -522.14184262] [[-9.98341799e-01 4.63924222e-02 -3.40787433e-02 6.00000000e+00]\n", " [ 5.75640276e-02 8.04591775e-01 -5.91031671e-01 -2.00000000e+01]\n", " [ 8.74227766e-08 -5.92013299e-01 -8.05928171e-01 -4.10000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_4\n", "\n", "[ 37.25662519 -199.29901967 -453.78649162] [[ 3.17406356e-01 -9.47668076e-01 -3.43277082e-02 -9.05000000e+01]\n", " [-7.44152188e-01 -2.71353185e-01 6.10413790e-01 -1.52000000e+02]\n", " [-5.87784588e-01 -1.68204188e-01 -7.91338503e-01 -4.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_16\n", "\n", "[ 64.89867817 -188.53696748 -513.95801899] [[ -0.9744218 0.18775725 -0.1234885 19. ]\n", " [ 0.21245831 0.59059465 -0.77849817 -33. ]\n", " [ -0.07323703 -0.78482175 -0.61537886 -65. ]\n", " [ 0. 0. 0. 1. ]]\n", "25_5\n", "\n", "[ 34.57694111 -199.67632627 -460.76349114] [[ 1.71589240e-01 -9.84489262e-01 3.65789197e-02 -9.50000000e+01]\n", " [-9.83165562e-01 -1.73488781e-01 -5.73336482e-02 -1.29000000e+02]\n", " [ 6.27903938e-02 -2.61252970e-02 -9.97684717e-01 1.30000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_2\n", "\n", "[ 47.97647654 -197.35613806 -434.53719315] [[ 9.27723169e-01 9.36964899e-02 -3.61318022e-01 1.40000000e+01]\n", " [ 3.72938395e-01 -1.91934317e-01 9.07787502e-01 -1.51000000e+02]\n", " [ 1.57071725e-02 -9.76924837e-01 -2.13004932e-01 -8.55000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_10\n", "\n", "[ 24.13556849 -201.32455041 -460.42834212] [[ 0.4878684 0.8552683 -0.17464416 85.5 ]\n", " [ 0.67149502 -0.23987381 0.70110983 -150.5 ]\n", " [ 0.55774444 -0.45932201 -0.69133526 -34. ]\n", " [ 0. 0. 0. 1. ]]\n", "25_3\n", "\n", "[ 39.60388511 -196.06228767 -440.38792398] [[ 9.88371611e-01 -4.66363728e-02 1.44729435e-01 -8.00000000e+00]\n", " [-1.51244327e-01 -2.03195706e-01 9.67386484e-01 -1.50500000e+02]\n", " [-1.57069974e-02 -9.78026867e-01 -2.07886353e-01 -8.55000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_8\n", "\n", "[ 25.41073895 -200.51423573 -482.20356475] [[ 9.75851268e-02 9.50939238e-01 -2.93584198e-01 9.40000000e+01]\n", " [ 9.28466439e-01 -1.93210334e-01 -3.17206383e-01 -1.28000000e+02]\n", " [-3.58367503e-01 -2.41628453e-01 -9.01769638e-01 -9.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_13\n", "\n", "[ 68.82074103 -179.377593 -523.6670548 ] [[-9.85996008e-01 1.27939135e-01 -1.06973834e-01 1.25000000e+01]\n", " [ 1.66768774e-01 7.56421804e-01 -6.32466733e-01 -2.85000000e+01]\n", " [ 8.74227766e-08 -6.41449630e-01 -7.67165184e-01 -4.75000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_7\n", "\n", "[ 16.77591302 -195.56643262 -459.9666797 ] [[-1.00000000e+00 -8.48210249e-08 -2.12193036e-08 -6.00000000e+00]\n", " [-1.45704637e-09 2.58819312e-01 -9.65925753e-01 -4.80000000e+01]\n", " [ 8.74227766e-08 -9.65925753e-01 -2.58819312e-01 -8.85000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_12\n", "\n", "[ 74.58381103 -180.88307253 -523.05920996] [[-9.92493212e-01 1.20989822e-01 1.78532582e-02 9.50000000e+00]\n", " [ 7.81109035e-02 7.39424825e-01 -6.68692470e-01 -3.15000000e+01]\n", " [-9.41061303e-02 -6.62278175e-01 -7.43324697e-01 -5.15000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_1\n", "\n", "[ 47.82075727 -197.42790355 -434.39839485] [[ 0.86301535 0.35669193 -0.35773653 36. ]\n", " [ 0.43972522 -0.181798 0.87954032 -149. ]\n", " [ 0.24868914 -0.91636258 -0.31374088 -79.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "25_15\n", "\n", "[ 7.33782545 -179.61025897 -528.5588377 ] [[-9.99972582e-01 7.31346756e-03 1.15816935e-03 1.00000000e+00]\n", " [ 5.23589319e-03 8.08989763e-01 -5.87799370e-01 -2.65000000e+01]\n", " [-5.23579912e-03 -5.87777197e-01 -8.09005916e-01 -4.55000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "25_18\n", "\n", "[ 32.84119121 -180.15841432 -524.6286809 ] [[-9.98629510e-01 -3.31486128e-02 -4.04996909e-02 -2.00000000e+00]\n", " [ 0.00000000e+00 7.73840189e-01 -6.33380890e-01 -2.65000000e+01]\n", " [ 5.23359850e-02 -6.32512867e-01 -7.72779703e-01 -4.75000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "\n", "--- [카테고리: 0\n", "0_12\n", "\n", "[ 80.53155526 -171.27538743 -501.80717278] [[ 9.94522154e-01 -8.45604688e-02 6.14426695e-02 -9.00000000e+00]\n", " [-1.04525954e-01 -8.04585636e-01 5.84565043e-01 -2.70500000e+02]\n", " [ 4.79222126e-06 -5.87785244e-01 -8.09017003e-01 -1.95000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_17\n", "\n", "[ -26.72692702 -175.23722224 -497.41196086] [[ 1.00000000e+00 -1.76892513e-06 1.46753780e-06 -5.00000000e+00]\n", " [-2.29676311e-06 -7.93353379e-01 6.08761370e-01 -2.76500000e+02]\n", " [ 8.74227766e-08 -6.08761370e-01 -7.93353379e-01 -2.15000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_16\n", "\n", "[ 37.81393594 -176.90891993 -495.99839167] [[ 9.99986291e-01 -3.50496289e-03 3.89278797e-03 5.00000000e-01]\n", " [-5.23818331e-03 -6.69121265e-01 7.43134737e-01 -2.67000000e+02]\n", " [ 8.74227766e-08 -7.43144989e-01 -6.69130445e-01 -4.20000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_15\n", "\n", "[ 90.74832682 -176.071279 -496.94246734] [[ 9.95561719e-01 -6.92746863e-02 6.37014508e-02 -5.50000000e+00]\n", " [-9.41108763e-02 -7.32830107e-01 6.73871815e-01 -2.71000000e+02]\n", " [ 8.74227766e-08 -6.76875949e-01 -7.36097097e-01 -3.10000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_2\n", "\n", "[ 88.63787927 -208.43023832 -477.84577371] [[ 1.01510510e-01 9.67605293e-01 -2.31161341e-01 9.45000000e+01]\n", " [ 9.65814233e-01 -1.51565969e-01 -2.10310847e-01 -1.57000000e+02]\n", " [-2.38534078e-01 -2.01910138e-01 -9.49912488e-01 -9.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_5\n", "\n", "[ 33.47334646 -205.418141 -425.67705624] [[ 9.65926468e-01 5.11571318e-02 -2.53710359e-01 6.50000000e+00]\n", " [ 2.58816540e-01 -1.90922663e-01 9.46869850e-01 -1.69500000e+02]\n", " [ 8.74227766e-08 -9.80271101e-01 -1.97657570e-01 -9.15000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_14\n", "\n", "[ 0.84797773 -177.94614399 -495.47257647] [[ 9.95548129e-01 -6.46770671e-02 6.85625076e-02 -1.40000000e+01]\n", " [-9.41091105e-02 -7.22494245e-01 6.84942007e-01 -2.74500000e+02]\n", " [ 5.23597375e-03 -6.88345075e-01 -7.25364447e-01 -3.40000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_9\n", "0_22\n", "\n", "[ 6.867098 -205.90995156 -467.74259288] [[ 1.03955187e-01 -9.94451106e-01 1.61332600e-02 -9.50000000e+01]\n", " [-9.89073873e-01 -1.05070673e-01 -1.03407092e-01 -1.52000000e+02]\n", " [ 1.04528435e-01 -5.20728249e-03 -9.94508266e-01 8.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_4\n", "\n", "[ 47.18579615 -205.5214783 -428.22946938] [[ 0.70389777 0.59218282 -0.39223391 59.5 ]\n", " [ 0.58231735 -0.16489705 0.79606247 -164. ]\n", " [ 0.40673628 -0.78875118 -0.46090901 -70.5 ]\n", " [ 0. 0. 0. 1. ]]\n", "0_18\n", "\n", "[ 27.6214713 -176.7529836 -497.96412537] [[ 1.00000000e+00 -1.64833023e-06 1.60180230e-06 2.50000000e+00]\n", " [-2.29676311e-06 -7.43144810e-01 6.69130623e-01 -2.73500000e+02]\n", " [ 8.74227766e-08 -6.69130623e-01 -7.43144810e-01 -3.25000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_8\n", "\n", "[ -25.39788656 -207.49896101 -494.75948199] [[ 9.97212380e-02 -9.85809863e-01 1.35035589e-01 -9.60000000e+01]\n", " [-9.49015677e-01 -1.35017812e-01 -2.84849852e-01 -1.56000000e+02]\n", " [ 2.99040020e-01 -9.97453034e-02 -9.49013174e-01 0.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_7\n", "\n", "[ -13.7861446 -206.51030644 -448.87538658] [[ 0.5554117 -0.63053501 0.54216558 -65.5 ]\n", " [ -0.79027259 -0.19729933 0.58012259 -165. ]\n", " [ -0.25881869 -0.75066543 -0.60787684 -66. ]\n", " [ 0. 0. 0. 1. ]]\n", "0_11\n", "\n", "[ 64.57653473 -208.24503669 -476.94371585] [[ 1.40900865e-01 9.53553796e-01 -2.66236991e-01 9.40000000e+01]\n", " [ 9.90023732e-01 -1.35710418e-01 3.78911160e-02 -1.55500000e+02]\n", " [ 8.74227766e-08 -2.68919826e-01 -9.63162541e-01 -1.50000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_13\n", "\n", "[ 42.41810623 -172.11294728 -498.78403373] [[ 9.75053310e-01 -1.52186155e-01 1.61587149e-01 -2.30000000e+01]\n", " [-2.10383996e-01 -8.65736067e-01 4.54136163e-01 -2.76000000e+02]\n", " [ 7.07785934e-02 -4.76802319e-01 -8.76156330e-01 -1.50000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_23\n", "\n", "[ 23.43748254 -175.48147902 -500.22398243] [[-1.00000000e+00 -5.13858112e-08 -7.07265215e-08 -2.00000000e+00]\n", " [ 0.00000000e+00 8.09017062e-01 -5.87785125e-01 -1.25000000e+01]\n", " [ 8.74227766e-08 -5.87785125e-01 -8.09017062e-01 -1.90000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_10\n", "\n", "[ 51.27528301 -205.31271927 -506.16422491] [[ 2.21751872e-02 9.90745962e-01 -1.33905381e-01 9.15000000e+01]\n", " [ 8.46831918e-01 -8.98061097e-02 -5.24223804e-01 -1.46000000e+02]\n", " [-5.31398177e-01 -1.01770580e-01 -8.40986788e-01 -3.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_19\n", "\n", "[ -52.5956403 -175.47504306 -497.04696574] [[ 9.99328494e-01 2.84759160e-02 -2.30592303e-02 -2.00000000e+00]\n", " [ 3.66415866e-02 -7.76624084e-01 6.28897786e-01 -2.78500000e+02]\n", " [ 8.74227766e-08 -6.29320383e-01 -7.77145922e-01 -2.55000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_1\n", "\n", "[ 88.57300541 -208.33628751 -478.05814325] [[ 8.69514421e-02 9.90454853e-01 -1.06951267e-01 9.60000000e+01]\n", " [ 9.74275291e-01 -1.06951021e-01 -1.98366255e-01 -1.53000000e+02]\n", " [-2.07911372e-01 -8.69517475e-02 -9.74275231e-01 2.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_6\n", "\n", "[ 7.45903468 -205.19790926 -432.94662917] [[ 8.60646009e-01 -5.02147198e-01 8.44784752e-02 -4.85000000e+01]\n", " [-2.30611250e-01 -2.36459121e-01 9.43877935e-01 -1.71500000e+02]\n", " [-4.53989953e-01 -8.31826448e-01 -3.19308400e-01 -7.50000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_21\n", "\n", "[ 61.51953313 -208.32050468 -448.17963194] [[ 7.26055726e-02 9.97301936e-01 1.08272517e-02 9.70000000e+01]\n", " [ 9.84849632e-01 -7.34046698e-02 1.57108009e-01 -1.50000000e+02]\n", " [ 1.57478899e-01 -7.43702054e-04 -9.87522066e-01 1.00000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_20\n", "\n", "[ 66.70532008 -176.17307928 -497.92402324] [[ 9.98026609e-01 -5.04109450e-02 3.74385789e-02 -3.00000000e+00]\n", " [-6.27925992e-02 -8.01233232e-01 5.95048249e-01 -2.77500000e+02]\n", " [ 8.74227766e-08 -5.96224844e-01 -8.02817464e-01 -2.00000000e+01]\n", " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n", "0_3\n", "\n", "[ 67.44456831 -206.88533743 -441.1489047 ] [[ 2.87321419e-01 9.34833765e-01 -2.08643839e-01 9.20000000e+01]\n", " [ 8.11371207e-01 -1.21777251e-01 5.71705461e-01 -1.56500000e+02]\n", " [ 5.09041488e-01 -3.33550811e-01 -7.93486357e-01 -2.25000000e+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": 5, "id": "463b3159", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "0_8\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 }