diff --git "a/data/bottle_2/Eval_pipeline/dataset_pandas.ipynb" "b/data/bottle_2/Eval_pipeline/dataset_pandas.ipynb" new file mode 100644--- /dev/null +++ "b/data/bottle_2/Eval_pipeline/dataset_pandas.ipynb" @@ -0,0 +1,2199 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "781eee9c", + "metadata": {}, + "source": [ + "## using pandas\n" + ] + }, + { + "cell_type": "code", + "execution_count": 70, + "id": "70fc5658", + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import numpy as np\n", + "import os\n", + "import json\n", + "## column : file no 1~25\n", + "\n", + "# array 4X4\n", + "# for i in range(rows):\n", + "# for j in range(cols):\n", + "# object_array[i,j] = np.zeros((4,4))\n", + "\n", + "\n", + "data = np.zeros((20,25))\n", + "\n", + "\n", + "\n", + "## row : bottle_0, bottle_25 ... gt 0 25 --> 10 rows. \n", + "\n", + "categories = ['bottle2', 'lightbulb', 'lighter', 'eyeglasses', 'magnifying_glass', 'spray']\n", + "fill_rate = ['100', '75', '50', '25', '0']\n", + "\n", + "columns = [f'file_{i}' for i in range(1,26)]\n", + "\n", + "\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "id": "22195309", + "metadata": {}, + "source": [ + "## Get transformation file " + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "d3dcc164", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": 71, + "id": "86c0ea73", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 71, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "## Tmatrix FOlder access -> save in pandas\n", + "robust_no = ['0','2','3','6']\n", + "new_row_names = []\n", + "# 결과를 저장할 딕셔너리를 카테고리별로 초기화합니다.\n", + "grouped_files = {fill: [] for fill in fill_rate}\n", + "\n", + "for no in robust_no:\n", + " \n", + " ## get txt file\n", + "\n", + " ######################## We got the txt file list#################\n", + " for fills in fill_rate:\n", + " \n", + " if no =='0':\n", + " name = \"ICP\"\n", + " elif no == '2':\n", + " name = \"FAST ICP\"\n", + " elif no =='3':\n", + " name = \"Robust ICP\"\n", + " else:\n", + " name = \"Sparse ICP\"\n", + "\n", + " new_row_names.append(f\"bottle_{fills}_{name}\")\n", + "\n", + "df = pd.DataFrame(data, index=new_row_names, columns=columns, dtype=object)\n", + "# 2. df.index에 새로운 이름 리스트를 바로 할당 object for array 4x4\n", + "\n", + "df.info" + ] + }, + { + "cell_type": "markdown", + "id": "173149df", + "metadata": {}, + "source": [ + "## RMSE function" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "5334ae14", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[[ 9.96402e-01 -3.16667e-02 -7.86130e-02 2.24444e+01]\n", + " [ 2.69210e-02 9.97792e-01 -6.07107e-02 -1.51126e+01]\n", + " [ 8.03619e-02 5.83759e-02 9.95055e-01 -5.53658e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.728970468044281, -0.03224598243832588, -0.6837852001190186, 72.5], [0.6845451593399048, 0.03433879837393761, 0.7281612753868103, -22.5], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 100.0], [0.0, 0.0, 0.0, 1.0]]\n", + "81.70543470363305\n" + ] + } + ], + "source": [ + "def RMSE(T_star, T):\n", + " diff = T_star - T\n", + " sq_norms = np.sum(diff**2, axis =1)\n", + "\n", + " r = np.sqrt(np.mean(sq_norms))\n", + "\n", + " return r\n", + "\n", + "## get T from Result Txt file\n", + "def get_T(file_path):\n", + "\n", + " try:\n", + " with open(file_path, 'r') as f:\n", + " T_matrix = np.loadtxt(file_path)\n", + " return T_matrix\n", + " except FileNotFoundError:\n", + " # try 블록에서 FileNotFoundError가 발생했을 때만 이 코드가 실행됩니다.\n", + " print(f\"⚠️ 경고: '{file_path}' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\")\n", + " return None # 파일이 없으므로 None을 반환\n", + "\n", + "\n", + "\n", + "\n", + "def get_GT_T(file_path,data_name):\n", + "\n", + " try:\n", + " with open(file_path, 'r') as f:\n", + " loaded_data = json.load(f)\n", + " noisy_data = loaded_data[data_name]\n", + " T_matrix = noisy_data['matrix_world']\n", + " np.array(T_matrix)\n", + " return T_matrix\n", + "\n", + " except FileNotFoundError:\n", + " # try 블록에서 FileNotFoundError가 발생했을 때만 이 코드가 실행됩니다.\n", + " print(f\"⚠️ 경고: '{file_path}' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\")\n", + " return None # 파일이 없으므로 None을 반환\n", + "\n", + " except KeyError as e:\n", + " # try 블록에서 KeyError가 발생했을 때 실행됩니다. (e.g., 'matrix_world' 키가 없음)\n", + " print(f\"⚠️ 경고: 파일 '{os.path.basename(file_path)}' 안에 필요한 키({e})가 없습니다.\")\n", + " return None\n", + " \n", + " \n", + "\n", + "def compute_RMSE(gt_files):\n", + " \n", + " robust_no = ['0','2','3','6']\n", + " \n", + " for no in robust_no:\n", + " if no =='0':\n", + " name = \"ICP\"\n", + " elif no == '2':\n", + " name = \"FAST ICP\"\n", + " elif no =='3':\n", + " name = \"Robust ICP\"\n", + " else:\n", + " name = \"Sparse ICP\"\n", + "\n", + " for key, value_list in gt_files.items():\n", + " rmse = []\n", + " np.array(rmse)\n", + " # get gt_T and noisy_T\n", + " for value in value_list:\n", + " profix = value.split('_')[1]\n", + " gt_path = f\"./gt/noisy_filtered_{key}_{profix}.json\"\n", + " gt_name = f\"noisy_filtered_{key}_{profix}\"\n", + " result_path = f'./result{no}/result_{key}_{profix}.txt'\n", + " icp_T = get_T(result_path)\n", + " gt_T = get_GT_T(gt_path,gt_name)\n", + " \n", + " \n", + "\n", + " if (gt_T is None or icp_T is None):\n", + " df.loc[f'bottle_{key}_{name}',f'file_{profix}'] = 0\n", + "\n", + " else:\n", + " ## conpute rmse\n", + " r = RMSE(gt_T, icp_T)\n", + " \n", + " df.loc[f'bottle_{key}_{name}',f'file_{profix}'] = r\n", + "\n", + "\n", + "noisy_T = get_T(\"./result3/result_3_100_1.txt\")\n", + "gt_T = get_GT_T(\"./gt/noisy_filtered_100_1.json\",\"noisy_filtered_100_1\")\n", + "\n", + "r = RMSE(gt_T,noisy_T)\n", + "print(r)" + ] + }, + { + "cell_type": "markdown", + "id": "587f5b2d", + "metadata": {}, + "source": [ + "## Bring GT" + ] + }, + { + "cell_type": "code", + "execution_count": 87, + "id": "c4883f09", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[[ 7.19912e-01 1.40156e-02 6.93924e-01 -6.35963e+01]\n", + " [-2.14597e-01 9.55302e-01 2.03339e-01 -2.93896e+01]\n", + " [-6.60057e-01 -2.95301e-01 6.90741e-01 -7.30701e-02]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.2933184802532196, -0.8465437293052673, 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[-6.54950e-01 7.54156e-01 -4.78374e-02 3.13595e+00]\n", + " [-6.63089e-02 5.70480e-03 9.97783e-01 -4.32298e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.5441615581512451, -0.016725605353713036, -0.8388137221336365, 62.5], [0.8379347920417786, -0.06073562055826187, -0.5423803329467773, 109.5], [-0.0418742336332798, -0.9980137348175049, 0.04706495627760887, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.27119e-01 -2.01850e-01 3.15765e-01 -1.12278e+01]\n", + " [-4.77130e-02 7.72133e-01 6.33668e-01 -5.07057e+01]\n", + " [-3.71718e-01 -6.02551e-01 7.06228e-01 1.36342e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.36555567383766174, 0.8508994579315186, -0.377278596162796, -27.5], [0.3542492687702179, -0.5020136833190918, -0.7889801859855652, 154.0], [-0.8607418537139893, 0.1547655165195465, -0.4849444627761841, 68.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.93776e-01 1.33439e-02 -1.10594e-01 1.76771e+01]\n", + " [-6.82280e-03 9.98227e-01 5.91344e-02 -2.00233e+01]\n", + " [ 1.11187e-01 -5.80118e-02 9.92105e-01 -4.86662e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.7055214047431946, -0.040301572531461716, 0.7075417637825012, -51.5], [-0.7086766362190247, -0.03431997820734978, 0.7046982049942017, -25.5], [-0.004117628093808889, -0.9985979795455933, -0.05277426168322563, 118.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.722575 -0.0951811 -0.684709 86.2601 ]\n", + " [ 0.242041 0.962614 0.121614 -9.1584 ]\n", + " [ 0.647535 -0.253603 0.718599 -10.8428 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.9920113682746887, -0.050782762467861176, 0.11547522246837616, -13.5], [-0.11477961391210556, -0.016416819766163826, -0.9932553172111511, 163.0], [0.052335985004901886, -0.9985747933387756, 0.010456846095621586, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 8.72877e-01 2.79962e-02 -4.87136e-01 2.72167e+01]\n", + " [-5.99602e-02 9.96940e-01 -5.01448e-02 3.70173e+00]\n", + " [ 4.84242e-01 7.29791e-02 8.71885e-01 -2.97152e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_12.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 0.891241 0.234817 0.388008 -47.4084 ]\n", + " [ -0.0776539 0.921904 -0.379556 41.7412 ]\n", + " [ -0.446832 0.308146 0.839873 -61.0536 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_17.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 0.794943 -0.234354 0.559593 -6.46722 ]\n", + " [ 0.58076 0.560707 -0.590192 22.1238 ]\n", + " [ -0.175454 0.794157 0.581833 -80.354 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.1729227751493454, 0.9193835258483887, 0.3533152639865875, -78.5], [-0.28552910685539246, -0.3901084363460541, 0.8753790855407715, -40.5], [0.9426403641700745, 0.05049119144678116, 0.3299693763256073, 24.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.798964 -0.594372 0.0915362 5.91188 ]\n", + " [ 0.527936 0.620327 -0.580067 63.0654 ]\n", + " [ 0.287993 0.511778 0.809409 -72.3573 ]\n", + " [ 0. 0. 0. 1. ]]\n", + 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-0.181111]\n", + " [ -0.119273 0.485441 0.866095 -60.5349 ]\n", + " [ -0.517953 -0.774638 0.362851 53.8301 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.27011966705322266, 0.8858069181442261, -0.37733468413352966, -31.0], [0.420756995677948, -0.4611014425754547, -0.7812483906745911, 149.5], [-0.8660247921943665, 0.05226434767246246, -0.49726203083992004, 74.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 7.61934e-01 6.47651e-01 2.20856e-03 -5.33751e+01]\n", + " [-6.16752e-01 7.24532e-01 3.07685e-01 -4.25009e+01]\n", + " [ 1.97672e-01 -2.35798e-01 9.51486e-01 -3.64979e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.15565210580825806, 0.9534396529197693, -0.25831228494644165, -39.0], [-0.34960028529167175, -0.2977452874183655, -0.8883284330368042, 176.5], [-0.9238787889480591, -0.047964151948690414, 0.3796674609184265, 22.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.655399 0.752662 0.0628739 -61.1708 ]\n", + " [ -0.726634 0.60564 0.324349 -7.33087 ]\n", + " [ 0.206046 -0.258264 0.943846 -21.2295 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.5416544079780579, 0.8398740887641907, -0.03495704010128975, -52.0], [0.8340768218040466, -0.5421565771102905, -0.1018923968076706, 95.5], [-0.10452897101640701, 0.026033610105514526, -0.9941810369491577, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.64712e-01 -5.52775e-03 -2.63250e-01 1.56679e+01]\n", + " [-1.97465e-03 9.99600e-01 -2.82260e-02 -1.29964e+01]\n", + " [ 2.63301e-01 2.77498e-02 9.64315e-01 -5.37592e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.5175713896751404, 0.8518037796020508, 0.08093322813510895, -59.5], [-0.8155573010444641, -0.5197250843048096, 0.25446435809135437, 66.0], [0.2588167190551758, 0.06569778174161911, 0.9636896252632141, -53.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.24293e-01 -9.22448e-02 -3.70370e-01 2.09652e+01]\n", + " [ 7.22737e-02 9.95100e-01 -6.74749e-02 -1.28470e+00]\n", + " [ 3.74779e-01 3.55986e-02 9.26430e-01 -5.00160e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.3436166048049927, -0.015230662189424038, -0.9389864802360535, 79.0], [0.9389786720275879, -0.011151148937642574, 0.3437946140766144, -2.5], [-0.015706997364759445, -0.9998218417167664, 0.010469547472894192, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 8.11021e-01 2.85052e-01 5.10872e-01 -5.13948e+01]\n", + " [-6.33966e-03 8.77492e-01 -4.79550e-01 4.73862e+01]\n", + " [-5.84983e-01 3.85686e-01 7.13471e-01 -5.43994e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.312351256608963, 0.8493592739105225, 0.4254709780216217, -80.5], [-0.4979262948036194, -0.5278062224388123, 0.688106119632721, 1.0], [0.8090155124664307, 0.0030776250641793013, 0.5877792239189148, 0.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 2.94644e-01 9.55385e-01 2.05922e-02 -4.73257e+01]\n", + " [-9.55451e-01 2.94917e-01 -1.17405e-02 3.25772e+01]\n", + " [-1.72897e-02 -1.62156e-02 9.99719e-01 -4.14438e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.5441615581512451, -0.016725605353713036, -0.8388137221336365, 62.5], [0.8379347920417786, -0.06073562055826187, -0.5423803329467773, 109.5], [-0.0418742336332798, -0.9980137348175049, 0.04706495627760887, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.825446 -0.45189 0.338282 2.67462 ]\n", + " [ -0.103965 0.467321 0.877954 -60.7125 ]\n", + " [ -0.554825 -0.759873 0.338767 55.3003 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.36555567383766174, 0.8508994579315186, -0.377278596162796, -27.5], [0.3542492687702179, -0.5020136833190918, -0.7889801859855652, 154.0], [-0.8607418537139893, 0.1547655165195465, -0.4849444627761841, 68.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.93800e-01 9.41367e-03 -1.10787e-01 1.79577e+01]\n", + " [-3.00250e-03 9.98318e-01 5.78943e-02 -1.98490e+01]\n", + " [ 1.11146e-01 -5.72027e-02 9.92156e-01 -4.87204e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.7055214047431946, -0.040301572531461716, 0.7075417637825012, -51.5], [-0.7086766362190247, -0.03431997820734978, 0.7046982049942017, -25.5], [-0.004117628093808889, -0.9985979795455933, -0.05277426168322563, 118.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 7.07793e-01 -1.49587e-01 -6.90400e-01 8.95205e+01]\n", + " [ 2.79793e-01 9.56760e-01 7.95430e-02 -4.11676e+00]\n", + " [ 6.48648e-01 -2.49469e-01 7.19042e-01 -1.11327e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9920113682746887, -0.050782762467861176, 0.11547522246837616, -13.5], [-0.11477961391210556, -0.016416819766163826, -0.9932553172111511, 163.0], [0.052335985004901886, -0.9985747933387756, 0.010456846095621586, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 8.75158e-01 -3.70394e-02 -4.82417e-01 3.01632e+01]\n", + " [-3.45492e-03 9.96562e-01 -8.27823e-02 5.61334e+00]\n", + " [ 4.83825e-01 7.41143e-02 8.72021e-01 -2.97928e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_12.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 2.72625e-01 9.20130e-01 -2.81135e-01 -1.85415e+01]\n", + " [-7.19619e-01 1.05993e-03 -6.94368e-01 1.08476e+02]\n", + " [-6.38611e-01 3.91612e-01 6.62432e-01 -5.42474e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_17.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 8.13204e-01 1.82749e-01 -5.52542e-01 1.44765e+01]\n", + " [-1.06310e-02 9.53925e-01 2.99857e-01 2.13010e+01]\n", + " [ 5.81882e-01 -2.37971e-01 7.77678e-01 7.84994e-01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.1729227751493454, 0.9193835258483887, 0.3533152639865875, -78.5], [-0.28552910685539246, -0.3901084363460541, 0.8753790855407715, -40.5], [0.9426403641700745, 0.05049119144678116, 0.3299693763256073, 24.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.771908 -0.624126 0.120934 5.08868 ]\n", + " [ 0.567903 0.591455 -0.572422 62.9483 ]\n", + " [ 0.285736 0.510536 0.810992 -72.3266 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.08567381650209427, -0.8495861887931824, 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-2.71117e-02 -3.28469e+01]\n", + " [-7.48880e-01 2.33780e-01 -6.20102e-01 6.02975e+01]\n", + " [-5.81278e-01 2.17662e-01 7.84053e-01 -5.76633e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9999451637268066, 0.010471858084201813, -0.00010961545194732025, -1.5], [0.0, 0.010467047803103924, 0.9999452233314514, -85.0], [0.010472431778907776, 0.9998903870582581, -0.01046647410839796, -23.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.594399 0.774316 0.217084 -72.9247 ]\n", + " [ -0.79877 0.537257 0.270779 35.4339 ]\n", + " [ 0.0930384 -0.33435 0.937845 -34.3623 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.9884401559829712, 0.15007643401622772, -0.02152068167924881, -9.0], [0.010351303964853287, -0.07481235265731812, -0.9971439242362976, 181.5], [-0.15125781297683716, -0.98583984375, 0.07239405065774918, 111.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.63497e-01 -2.61267e-01 -5.84156e-02 1.86507e+01]\n", + " [ 1.84673e-01 8.06585e-01 -5.61530e-01 3.62898e+01]\n", + " [ 1.93826e-01 5.30245e-01 8.25392e-01 -6.27982e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.5031844973564148, 0.8548824191093445, 0.12641774117946625, -57.0], [0.8508382439613342, -0.5156920552253723, 0.10067756474018097, 72.5], [0.151260107755661, 0.05690166354179382, -0.9868549108505249, 99.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.948977 0.142128 0.281501 -3.56008 ]\n", + " [ -0.111278 0.986175 -0.122781 0.829182 ]\n", + " [ -0.29506 0.0851915 0.951673 -34.5729 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.3528285324573517, 0.0382114015519619, -0.9349074363708496, 54.5], [0.9322513341903687, -0.07120097428560257, -0.3547362685203552, 95.0], [-0.08012128621339798, -0.9967297911643982, -0.010500894859433174, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.48866 0.828919 0.272223 -70.2408 ]\n", + " [ -0.826411 0.539794 -0.160207 65.183 ]\n", + " [ -0.279743 -0.146682 0.948804 -46.27 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.45788878202438354, -0.10529044270515442, 0.8827524185180664, -53.5], [-0.8871438503265381, -0.010178391821682453, -0.4613806903362274, 136.0], [0.05756397917866707, -0.9943894147872925, -0.08874720335006714, 118.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.56018e-01 2.10175e-01 2.04588e-01 -2.50210e+01]\n", + " [-2.88216e-01 8.02562e-01 5.22327e-01 -6.59285e+01]\n", + " [-5.44146e-02 -5.58320e-01 8.27839e-01 -1.17131e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.0362248420715332, 0.9260839819908142, -0.3755744695663452, -28.5], [-0.11998125165700912, -0.37713301181793213, -0.9183546304702759, 187.0], [-0.9921150207519531, 0.01179464254528284, 0.12477429956197739, 38.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.10959e-01 -5.90218e-02 -4.08253e-01 2.59497e+01]\n", + " [ 3.70732e-02 9.97420e-01 -6.14749e-02 -7.19084e+00]\n", + " [ 4.10828e-01 4.08658e-02 9.10796e-01 -5.43234e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9645589590072632, -0.11399248242378235, -0.23797427117824554, 31.5], [0.242280513048172, -0.02533912844955921, -0.9698752760887146, 161.0], [0.10452843457460403, -0.9931584000587463, 0.05205924063920975, 98.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 7.34904e-01 7.88453e-02 6.73572e-01 -1.63531e+01]\n", + " [-4.95372e-02 9.96806e-01 -6.26339e-02 -9.38145e+00]\n", + " [-6.76360e-01 1.26631e-02 7.36463e-01 -4.33302e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.8382581472396851, 0.00789983943104744, 0.5452163815498352, -35.0], [0.5443676710128784, 0.06973815709352493, 0.835942804813385, -69.0], [-0.0314185731112957, 0.9975340366363525, -0.06275899708271027, -13.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.74175e-01 2.15819e-01 6.63689e-02 -2.24926e+01]\n", + " [-2.25711e-01 9.22859e-01 3.12066e-01 -5.24828e+00]\n", + " [ 6.10065e-03 -3.18987e-01 9.47739e-01 -3.59142e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9920293092727661, 0.08331215381622314, 0.09453517943620682, -12.5], [-0.10221744328737259, -0.09335654228925705, -0.9903717041015625, 180.0], [-0.07368452101945877, -0.9921409487724304, 0.10112838447093964, 108.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 7.70566e-01 3.73918e-01 -5.16152e-01 2.36853e+01]\n", + " [-6.35542e-01 3.89645e-01 -6.66530e-01 7.08877e+01]\n", + " [-4.81115e-02 8.41642e-01 5.37888e-01 -5.34925e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.2705030143260956, 0.8542031049728394, -0.4440328776836395, -41.0], [0.431221067905426, -0.5198780298233032, -0.7374112010002136, 132.0], [-0.8607418537139893, 0.00799562782049179, -0.5089789628982544, 64.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 4.69746e-01 8.62063e-01 1.90228e-01 -5.62078e+01]\n", + " [-8.82713e-01 4.55617e-01 1.15023e-01 3.07435e+01]\n", + " [ 1.24859e-02 -2.21949e-01 9.74978e-01 -4.17418e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9540337324142456, -0.2769567668437958, -0.11451896280050278, 31.0], [0.15110407769680023, -0.11451807618141174, -0.9818620681762695, 176.0], [0.2588188350200653, -0.9540338516235352, 0.1511034071445465, 99.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_19.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.2933184802532196, -0.8465437293052673, 0.44421616196632385, 17.5], [0.5142433047294617, -0.5314167141914368, -0.6731642484664917, 143.5], [0.8059268593788147, 0.03098367713391781, 0.5912037491798401, -20.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_10.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.6652305722236633, 3.542380397902889e-07, -0.7466380000114441, 70.5], [0.7466380000114441, 4.327033309436956e-07, -0.6652305722236633, 119.0], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 110.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_1.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.728970468044281, -0.03224598243832588, -0.6837852001190186, 72.5], [0.6845451593399048, 0.03433879837393761, 0.7281612753868103, -22.5], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 100.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_4.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.23853279650211334, -0.05082467943429947, -0.9698035717010498, 99.5], [0.9711344242095947, -0.012483611702919006, -0.2382059097290039, 66.5], [8.742277657347586e-08, -0.9986295700073242, 0.05233534798026085, 103.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_6.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.40673571825027466, 0.023913130164146423, 0.9132328629493713, -85.0], [-0.9135458469390869, 0.010646686889231205, 0.4065963327884674, 5.0], [8.742277657347586e-08, -0.9996573328971863, 0.026176128536462784, 104.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_5.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.8059278130531311, 0.024790626019239426, 0.5914945602416992, -59.0], [-0.5920138359069824, 0.033748142421245575, 0.805220901966095, -32.5], [8.742277657347586e-08, -0.9991228580474854, 0.041874960064888, 105.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_17.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.3455117344856262, -0.8358072638511658, 0.4266706705093384, 16.5], [-0.5259911417961121, -0.5490229725837708, -0.6495437622070312, 156.0], [0.7771453857421875, 0.0, -0.6293210983276367, 82.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_15.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.47552797198295593, -0.8597822189331055, -0.1861388087272644, 71.0], [-0.8236393928527832, -0.5094702839851379, 0.24911469221115112, 67.5], [-0.3090165853500366, 0.03485024347901344, -0.9504179358482361, 111.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_12.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.4449225068092346, -0.8682889342308044, -0.2193589061498642, 73.0], [0.7175833582878113, -0.49218958616256714, 0.4927712380886078, 40.0], [-0.5358339548110962, 0.06183671951293945, 0.8420559167861938, -40.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_16.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.5508789420127869, -0.8344824314117432, -0.013096284121274948, 56.5], [-0.8197930455207825, -0.5381072759628296, -0.19590777158737183, 104.5], [0.15643437206745148, 0.11865770816802979, -0.9805348515510559, 120.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_14.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.30107352137565613, -0.8684006333351135, -0.3939988911151886, 97.0], [-0.6398155689239502, -0.490323543548584, 0.5917928814888, 22.0], [-0.7071002721786499, 0.07391346246004105, -0.7032396793365479, 90.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_7.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.4061793088912964, 0.07383843511343002, 0.9108052849769592, -94.5], [-0.9122934341430664, 0.024318689480423927, -0.4088144600391388, 88.5], [-0.05233580991625786, -0.9969736933708191, 0.057484570890665054, 101.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_13.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.04170152172446251, -0.8659658432006836, -0.4983614683151245, 105.5], [-0.06647805869579315, -0.5000948905944824, 0.8634151816368103, -1.0], [-0.9969160556793213, -0.0028756209649145603, -0.07842244952917099, 46.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_9.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9945219159126282, -0.004923983942717314, -0.10441242903470993, 20.0], [0.10452846437692642, -0.046847738325595856, -0.9934178590774536, 155.0], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 101.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_18.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.016121499240398407, -0.9003172516822815, 0.4349355101585388, 16.5], [0.032908085733652115, -0.4352341294288635, -0.8997156620025635, 168.0], [0.9993283748626709, -0.00019187104771845043, 0.0366443432867527, 40.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_2.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.7499454617500305, -0.03647373244166374, -0.6604933142662048, 71.0], [0.6611680388450623, 0.009719481691718102, 0.750174880027771, -26.0], [-0.020942023023962975, -0.9992873668670654, 0.031404346227645874, 102.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_11.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.05233948305249214, -0.047041237354278564, -0.9975208044052124, 96.5], [0.9986293315887451, -0.0024654059670865536, -0.05228138342499733, 58.5], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 101.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_20.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.5156314969062805, -0.8289337158203125, 0.2167789191007614, 37.0], [0.8414329290390015, -0.5376209020614624, -0.05435391515493393, 90.0], [0.16160067915916443, 0.15437832474708557, 0.9747064113616943, -65.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_3.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.8910077810287476, -0.023759540170431137, -0.45336583256721497, 55.5], [0.4539879858493805, 0.04663124307990074, 0.8897867202758789, -37.0], [8.742277657347586e-08, -0.9986295700073242, 0.05233534798026085, 101.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_100_8.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.857876718044281, -0.026034006848931313, 0.5131956338882446, -55.0], [-0.5134286284446716, 0.0027247138787060976, -0.8581279516220093, 136.0], [0.020942198112607002, -0.9996573328971863, -0.015704073011875153, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_6.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.2840156555175781, 0.05018018186092377, 0.9575056433677673, -95.5], [-0.9588196277618408, 0.01486397348344326, 0.2836264371871948, 22.0], [8.742277657347586e-08, -0.9986295700073242, 0.05233534798026085, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_12.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.20919717848300934, -0.8753130435943604, -0.43596282601356506, 103.0], [0.27263227105140686, -0.4803571403026581, 0.8336238265037537, -3.0], [-0.9390996694564819, 0.05553421378135681, 0.33912792801856995, 15.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_9.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.6333842873573303, 3.7204532077339536e-07, -0.7738373875617981, 76.5], [0.7738373875617981, 4.174913783572265e-07, -0.6333842873573303, 113.5], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_4.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.10450683534145355, -0.03342542052268982, -0.993962287902832, 97.5], [0.9943036437034607, -0.017533794045448303, 0.10513235628604889, 36.5], [-0.020942023023962975, -0.9992874264717102, 0.03140261769294739, 106.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_11.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.728970468044281, 0.014337566681206226, -0.6843949556350708, 65.5], [0.6845451593399048, -0.015267913229763508, 0.7288105487823486, -22.5], [8.742277657347586e-08, -0.9997806549072266, -0.020944569259881973, 111.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_7.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.6573750972747803, 0.03943759202957153, 0.7525308132171631, -76.5], [-0.7535635232925415, -0.03440370410680771, -0.656474232673645, 117.0], [8.742277657347586e-08, -0.9986295700073242, 0.052334871143102646, 98.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_14.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.3658832311630249, -0.8723727464675903, -0.3241839110851288, 91.5], [-0.7180882096290588, -0.48621490597724915, 0.49794015288352966, 33.5], [-0.5920124650001526, 0.0506046824157238, -0.8043384552001953, 100.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_8.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.998341977596283, -0.002109305700287223, -0.05752267688512802, 25.0], [0.05756133794784546, -0.03658221289515495, -0.9976714849472046, 149.0], [8.742277657347586e-08, -0.9993284344673157, 0.03664297237992287, 100.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_16.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.48527616262435913, -0.8504624366760254, 0.20302876830101013, 47.0], [-0.7472617030143738, -0.5239648222923279, -0.40873077511787415, 122.0], [0.45399010181427, 0.04663168638944626, -0.889785647392273, 116.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_17.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.37056291103363037, -0.8567988276481628, 0.3585790693759918, 27.5], [-0.4777285158634186, -0.5069027543067932, -0.7175131440162659, 151.0], [0.7965291142463684, 0.09458030015230179, -0.5971565842628479, 80.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_2.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.10452937334775925, -0.031237920746207237, -0.9940310716629028, 94.5], [0.9945217967033386, -0.0032831786666065454, -0.10447780042886734, 70.5], [8.742277657347586e-08, -0.9995065927505493, 0.03140998259186745, 106.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_3.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.5314018726348877, -0.013305572792887688, -0.847015380859375, 85.0], [0.8471198678016663, 0.008346744813024998, 0.5313363075256348, 1.0], [8.742277657347586e-08, -0.9998766183853149, 0.01570689119398594, 106.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_1.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.09410866349935532, -0.031271062791347504, -0.9950706958770752, 98.5], [0.995561957359314, -0.002955909352749586, -0.09406223148107529, 66.0], [8.742277657347586e-08, -0.9995065927505493, 0.03141045942902565, 104.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_15.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.4975268244743347, -0.863186776638031, -0.0858815610408783, 63.5], [-0.8617439866065979, -0.5031623244285583, 0.06500013917684555, 76.0], [-0.09931962192058563, 0.0416686050593853, -0.9941827654838562, 113.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_20.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.4025833010673523, -0.8332071304321289, 0.379067987203598, 29.0], [0.6647434830665588, -0.5508038401603699, -0.5047091245651245, 127.0], [0.6293193101882935, 0.04879550635814667, 0.7756134271621704, -36.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_10.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.0993204340338707, -0.026046710088849068, -0.9947145581245422, 96.5], [0.9950554966926575, -0.0025997376069426537, -0.09928640723228455, 64.0], [8.742277657347586e-08, -0.9996573328971863, 0.026176128536462784, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_13.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.08251900970935822, -0.8492097854614258, -0.5215681791305542, 108.5], [-0.343716561794281, -0.5154926180839539, 0.7849371433258057, 8.0], [-0.9354408383369446, 0.11449939012527466, -0.3344254195690155, 58.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_5.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.8300122618675232, -0.011680861003696918, 0.5576227903366089, -54.0], [-0.557745099067688, -0.017383111640810966, 0.8298302292823792, -29.5], [8.742277657347586e-08, -0.9997806549072266, -0.020943138748407364, 113.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_19.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.10085491091012955, -0.8386574983596802, 0.5352399945259094, 13.5], [0.2547222673892975, -0.5418183207511902, -0.800967812538147, 163.0], [0.9617405533790588, 0.05555599927902222, 0.26826977729797363, 11.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_75_18.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.14122071862220764, -0.8794811367988586, 0.45449936389923096, 21.5], [-0.13829419016838074, -0.4721245765686035, -0.8706164956092834, 168.5], [0.9802711009979248, 0.060094475746154785, -0.18830089271068573, 45.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_18.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.17052733898162842, -0.8655322790145874, -0.4709291458129883, 102.0], [0.2271207720041275, -0.4995865821838379, 0.8359601497650146, -5.5], [-0.9588204026222229, 0.03559626638889313, 0.28177353739738464, 21.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_8.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.47715896368026733, 4.436868721313658e-07, -0.8788170218467712, 77.0], [0.8788170218467712, 3.4038023954963137e-07, -0.47715896368026733, 97.5], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_13.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.5176673531532288, 0.854664146900177, -0.0396198146045208, -49.0], [0.8447496294975281, -0.5179104208946228, -0.13478440046310425, 96.0], [-0.13571490347385406, 0.03630466386675835, -0.9900825619697571, 115.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_15.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.29062438011169434, 0.8732715249061584, 0.3910681903362274, -93.0], [0.5157705545425415, -0.4872240424156189, 0.7046939134597778, 8.5], [0.8059269189834595, -0.0030997772701084614, -0.5920069217681885, 93.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_7.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.18223637342453003, 5.590176783698553e-07, -0.9832547307014465, 90.0], [0.9832547307014465, -1.4696671435387998e-08, 0.18223637342453003, 32.0], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 109.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_4.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.4769226610660553, 0.014988887123763561, 0.8788174390792847, -80.5], [-0.8783838152885437, -0.027604172006249428, 0.4771581292152405, 2.5], [0.03141109645366669, -0.9995065331459045, 9.412847248313483e-07, 112.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_5.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.8659770488739014, 0.001404186594299972, 0.5000817179679871, -48.5], [-0.4999740719795227, 0.023370541632175446, 0.8657249808311462, -37.0], [-0.010471542365849018, -0.999725878238678, 0.02094040997326374, 109.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_19.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.1693444550037384, -0.8622556328773499, -0.47732341289520264, 102.5], [-0.3750568926334381, -0.5042598843574524, 0.7778523564338684, 3.5], [-0.9114026427268982, 0.04729844629764557, -0.4087885320186615, 68.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_16.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.4841271936893463, -0.8513305187225342, 0.20213158428668976, 46.5], [0.8186163306236267, -0.5222631692886353, -0.2389737218618393, 103.0], [0.3090115189552307, 0.049774546176195145, 0.9497548937797546, -53.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_20.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.4524632692337036, -0.8563383221626282, 0.24892105162143707, 34.5], [-0.6888114213943481, -0.5128759145736694, -0.5123447775840759, 130.0], [0.5664060711860657, 0.06035752221941948, -0.8219131231307983, 110.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_14.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.4919542670249939, 0.8435424566268921, 0.2154463827610016, -75.0], [0.7934438586235046, -0.5362613201141357, 0.2878726124763489, 58.5], [0.35836830735206604, 0.029324449598789215, -0.9331195950508118, 123.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_12.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.40022361278533936, 0.852581262588501, -0.3360450565814972, -27.0], [0.6092762351036072, -0.5214653015136719, -0.5973746180534363, 139.0], [-0.6845462322235107, 0.03433915972709656, -0.7281602025032043, 95.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_11.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.799684464931488, 0.03770004212856293, 0.5992357134819031, -59.5], [-0.6004204750061035, -0.05021185427904129, -0.7981064915657043, 136.5], [8.742277657347586e-08, -0.9980267882347107, 0.06278951466083527, 106.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_9.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.8498926758766174, -0.02482300065457821, -0.5263708233833313, 49.0], [0.5269558429718018, -0.04003523290157318, -0.8489491939544678, 145.0], [8.742277657347586e-08, -0.9988898634910583, 0.04710627719759941, 106.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_6.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.9999725818634033, 0.005152974743396044, 0.00531978253275156, 4.5], [-0.005238111596554518, -0.01573520340025425, 0.9998624920845032, -48.5], [0.005235973745584488, -0.9998629093170166, -0.015707779675722122, 112.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_17.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.45676925778388977, -0.8581439852714539, -0.23441576957702637, 78.5], [0.7033648490905762, -0.5097216963768005, 0.49544093012809753, 36.0], [-0.5446464419364929, 0.06142238527536392, 0.8364135026931763, -39.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_1.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.11997275054454803, 0.02489808015525341, 0.9924649000167847, -91.5], [-0.9913967251777649, -0.05570480599999428, -0.11844614893198013, 68.5], [0.052335985004901886, -0.9981368184089661, 0.03136693686246872, 108.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_10.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9996024966239929, 0.008943747729063034, -0.02673611231148243, -3.0], [0.02617550641298294, -0.05781786888837814, -0.9979839324951172, 155.5], [-0.010471542365849018, -0.9982870817184448, 0.05756077915430069, 93.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_3.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.7671545147895813, 0.022846724838018417, 0.6410553455352783, -65.5], [-0.6414409279823303, -0.0354810431599617, -0.7663514614105225, 131.0], [0.005236689001321793, -0.999109148979187, 0.04187426716089249, 109.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_50_2.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.1149376705288887, -5.587227178693865e-07, 0.9933726787567139, -91.0], [-0.9933726787567139, -2.3359300271863503e-08, -0.1149376705288887, 64.5], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 110.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_6.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.026168912649154663, 0.8909693956375122, 0.4533086121082306, -90.0], [-0.04532559961080551, -0.4540550708770752, 0.8898199796676636, -20.0], [0.9986294507980347, 0.0027391372714191675, 0.052265848964452744, 42.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_19.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.7107897400856018, 0.02205539494752884, -0.703058660030365, 53.0], [0.703385055065155, 0.02972542494535446, -0.7101871967315674, 140.5], [0.005235258489847183, -0.9993147253990173, -0.036641962826251984, 112.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_17.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.8574885725975037, 0.04487321525812149, 0.5125423669815063, -49.5], [-0.5131965279579163, -0.0036497903056442738, -0.858263373374939, 147.0], [-0.03664236515760422, -0.998986005783081, 0.02615843154489994, 116.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_9.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.42297908663749695, 0.8853872418403625, -0.1928163766860962, -26.5], [-0.83014315366745, -0.46393224596977234, -0.30923980474472046, 127.0], [-0.3632507026195526, 0.02926323004066944, 0.9312317371368408, -30.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_11.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9999315142631531, -0.005068192258477211, 0.010550245642662048, -7.5], [-0.01046918984502554, -0.01576191931962967, -0.9998209476470947, 163.5], [0.005233576986938715, -0.9998629093170166, 0.015707779675722122, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_20.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.036638811230659485, -0.0476490817964077, -0.9981919527053833, 84.5], [0.9992051124572754, -0.013952910900115967, 0.037342045456171036, 47.5], [-0.015706997364759445, -0.9987666606903076, 0.04709998890757561, 105.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_14.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.9508487582206726, 0.002769117010757327, -0.3096432387828827, 29.0], [0.3089466989040375, -0.07610858976840973, 0.9480292201042175, -51.5], [-0.02094130776822567, -0.9970957040786743, -0.07322327047586441, 113.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_4.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.4045078754425049, 0.8494579792022705, 0.33881330490112305, -75.0], [0.7006300091743469, -0.5259547233581543, 0.48217132687568665, 44.0], [0.5877847671508789, 0.042340684682130814, -0.8079085946083069, 104.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_16.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.1045278012752533, -6.587275152014627e-07, 0.994521975517273, -82.0], [-0.994521975517273, -1.5713892764779303e-07, 0.1045278012752533, 43.0], [8.742277657347586e-08, -1.0, -6.715443419125222e-07, 120.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_5.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.3070821464061737, 0.8683397769927979, 0.38946962356567383, -79.5], [0.5585806369781494, -0.4957900643348694, 0.6649661064147949, 27.0], [0.7705116868019104, 0.013350962661206722, -0.6372860670089722, 97.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_2.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.27011966705322266, 0.8858069181442261, -0.37733468413352966, -31.0], [0.420756995677948, -0.4611014425754547, -0.7812483906745911, 149.5], [-0.8660247921943665, 0.05226434767246246, -0.49726203083992004, 74.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_10.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.15565210580825806, 0.9534396529197693, -0.25831228494644165, -39.0], [-0.34960028529167175, -0.2977452874183655, -0.8883284330368042, 176.5], [-0.9238787889480591, -0.047964151948690414, 0.3796674609184265, 22.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_3.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.5416544079780579, 0.8398740887641907, -0.03495704010128975, -52.0], [0.8340768218040466, -0.5421565771102905, -0.1018923968076706, 95.5], [-0.10452897101640701, 0.026033610105514526, -0.9941810369491577, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_8.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.5175713896751404, 0.8518037796020508, 0.08093322813510895, -59.5], [-0.8155573010444641, -0.5197250843048096, 0.25446435809135437, 66.0], [0.2588167190551758, 0.06569778174161911, 0.9636896252632141, -53.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_13.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.3436166048049927, -0.015230662189424038, -0.9389864802360535, 79.0], [0.9389786720275879, -0.011151148937642574, 0.3437946140766144, -2.5], [-0.015706997364759445, -0.9998218417167664, 0.010469547472894192, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_7.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.312351256608963, 0.8493592739105225, 0.4254709780216217, -80.5], [-0.4979262948036194, -0.5278062224388123, 0.688106119632721, 1.0], [0.8090155124664307, 0.0030776250641793013, 0.5877792239189148, 0.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_12.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.5441615581512451, -0.016725605353713036, -0.8388137221336365, 62.5], [0.8379347920417786, -0.06073562055826187, -0.5423803329467773, 109.5], [-0.0418742336332798, -0.9980137348175049, 0.04706495627760887, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_1.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.36555567383766174, 0.8508994579315186, -0.377278596162796, -27.5], [0.3542492687702179, -0.5020136833190918, -0.7889801859855652, 154.0], [-0.8607418537139893, 0.1547655165195465, -0.4849444627761841, 68.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_15.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.7055214047431946, -0.040301572531461716, 0.7075417637825012, -51.5], [-0.7086766362190247, -0.03431997820734978, 0.7046982049942017, -25.5], [-0.004117628093808889, -0.9985979795455933, -0.05277426168322563, 118.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_25_18.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9920113682746887, -0.050782762467861176, 0.11547522246837616, -13.5], [-0.11477961391210556, -0.016416819766163826, -0.9932553172111511, 163.0], [0.052335985004901886, -0.9985747933387756, 0.010456846095621586, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_12.txt' 경로에 파일이 없습니다. 해당 처리��� 건너뜁니다.\n", + "⚠️ 경고: './gt/noisy_filtered_0_12.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "⚠️ 경고: './result3/result_0_17.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "⚠️ 경고: './gt/noisy_filtered_0_17.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "⚠️ 경고: './result3/result_0_16.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.1729227751493454, 0.9193835258483887, 0.3533152639865875, -78.5], [-0.28552910685539246, -0.3901084363460541, 0.8753790855407715, -40.5], [0.9426403641700745, 0.05049119144678116, 0.3299693763256073, 24.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_15.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.08567381650209427, -0.8495861887931824, -0.5204452872276306, 85.0], [0.12465640902519226, -0.5274016857147217, 0.8404214382171631, -15.5], [-0.9884942173957825, 0.007125270087271929, 0.15109087526798248, 28.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_2.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9962559938430786, -0.00823962315917015, -0.08605894446372986, 14.0], [0.08633621782064438, -0.04321230575442314, -0.9953284859657288, 160.5], [0.004482325632125139, -0.9990319609642029, 0.04376189783215523, 94.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_5.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.27386510372161865, -0.057494521141052246, -0.9600480794906616, 73.0], [0.9614118337631226, -0.010802758857607841, 0.2749010920524597, 12.5], [-0.02617647498846054, -0.9982873797416687, 0.05231741443276405, 110.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_14.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.39346712827682495, 0.8505308628082275, 0.3489711284637451, -49.0], [0.6815052628517151, -0.524617075920105, 0.5102230310440063, 62.5], [0.6170366406440735, 0.0370696559548378, -0.7860608100891113, 85.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_9.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-5.52335052361741e-07, 0.01570689119398594, 0.9998766183853149, -71.0], [-1.0, -9.608746154299297e-08, -5.508937874765252e-07, 60.0], [8.742277657347586e-08, -0.9998766183853149, 0.01570689119398594, 113.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_22.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.04617206007242203, -0.8392882347106934, -0.5417226552963257, 86.5], [-0.19466252624988556, -0.5394641757011414, 0.8191977143287659, -24.0], [-0.9797829389572144, 0.06762905418872833, -0.18828614056110382, 55.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_4.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.24361133575439453, -0.04948464781045914, -0.9686096906661987, 66.0], [0.9698588252067566, -0.017821447923779488, -0.24301502108573914, 85.0], [-0.005236514378339052, -0.9986158609390259, 0.052334628999233246, 109.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_18.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.4406551122665405, 0.8448173999786377, -0.30349069833755493, -33.5], [-0.7632371187210083, -0.5305675268173218, -0.3687373399734497, 161.0], [-0.472538024187088, 0.06914936751127243, 0.8785932660102844, -4.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_8.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.6290099024772644, -0.02907046303153038, -0.7768535614013672, 54.0], [-0.7767624855041504, 0.06387681514024734, 0.6265459060668945, -36.5], [0.03140895441174507, 0.9975342750549316, -0.06275999546051025, -18.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_7.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9999451637268066, 0.010471858084201813, -0.00010961545194732025, -1.5], [0.0, 0.010467047803103924, 0.9999452233314514, -85.0], [0.010472431778907776, 0.9998903870582581, -0.01046647410839796, -23.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_11.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9884401559829712, 0.15007643401622772, -0.02152068167924881, -9.0], [0.010351303964853287, -0.07481235265731812, -0.9971439242362976, 181.5], [-0.15125781297683716, -0.98583984375, 0.07239405065774918, 111.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_13.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.5031844973564148, 0.8548824191093445, 0.12641774117946625, -57.0], [0.8508382439613342, -0.5156920552253723, 0.10067756474018097, 72.5], [0.151260107755661, 0.05690166354179382, -0.9868549108505249, 99.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_23.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.3528285324573517, 0.0382114015519619, -0.9349074363708496, 54.5], [0.9322513341903687, -0.07120097428560257, -0.3547362685203552, 95.0], [-0.08012128621339798, -0.9967297911643982, -0.010500894859433174, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_10.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.45788878202438354, -0.10529044270515442, 0.8827524185180664, -53.5], [-0.8871438503265381, -0.010178391821682453, -0.4613806903362274, 136.0], [0.05756397917866707, -0.9943894147872925, -0.08874720335006714, 118.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_19.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.0362248420715332, 0.9260839819908142, -0.3755744695663452, -28.5], [-0.11998125165700912, -0.37713301181793213, -0.9183546304702759, 187.0], [-0.9921150207519531, 0.01179464254528284, 0.12477429956197739, 38.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_1.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9645589590072632, -0.11399248242378235, -0.23797427117824554, 31.5], [0.242280513048172, -0.02533912844955921, -0.9698752760887146, 161.0], [0.10452843457460403, -0.9931584000587463, 0.05205924063920975, 98.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_6.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.8382581472396851, 0.00789983943104744, 0.5452163815498352, -35.0], [0.5443676710128784, 0.06973815709352493, 0.835942804813385, -69.0], [-0.0314185731112957, 0.9975340366363525, -0.06275899708271027, -13.0], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_21.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9920293092727661, 0.08331215381622314, 0.09453517943620682, -12.5], [-0.10221744328737259, -0.09335654228925705, -0.9903717041015625, 180.0], [-0.07368452101945877, -0.9921409487724304, 0.10112838447093964, 108.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_20.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[0.2705030143260956, 0.8542031049728394, -0.4440328776836395, -41.0], [0.431221067905426, -0.5198780298233032, -0.7374112010002136, 132.0], [-0.8607418537139893, 0.00799562782049179, -0.5089789628982544, 64.5], [0.0, 0.0, 0.0, 1.0]]\n", + "⚠️ 경고: './result3/result_0_3.txt' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[-0.9540337324142456, -0.2769567668437958, -0.11451896280050278, 31.0], [0.15110407769680023, -0.11451807618141174, -0.9818620681762695, 176.0], [0.2588188350200653, -0.9540338516235352, 0.1511034071445465, 99.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.60251e-01 3.19558e-02 2.77301e-01 -2.09426e+01]\n", + " [-4.48674e-03 9.95064e-01 -9.91330e-02 -3.62133e+00]\n", + " [-2.79101e-01 9.39484e-02 9.55655e-01 -4.47618e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.2933184802532196, -0.8465437293052673, 0.44421616196632385, 17.5], [0.5142433047294617, -0.5314167141914368, -0.6731642484664917, 143.5], [0.8059268593788147, 0.03098367713391781, 0.5912037491798401, -20.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.93798e-01 4.63056e-02 -1.01103e-01 1.02516e+01]\n", + " [-5.43635e-02 9.95434e-01 -7.84565e-02 1.15226e-01]\n", + " [ 9.70080e-02 8.34662e-02 9.91778e-01 -5.73417e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.6652305722236633, 3.542380397902889e-07, -0.7466380000114441, 70.5], [0.7466380000114441, 4.327033309436956e-07, -0.6652305722236633, 119.0], [8.742277657347586e-08, -1.0, -5.52335052361741e-07, 110.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.52526e-01 -1.87422e-02 -3.03879e-01 4.42905e+01]\n", + " [-2.60368e-03 9.97565e-01 -6.96879e-02 -3.42209e-01]\n", + " [ 3.04445e-01 6.71708e-02 9.50159e-01 -5.14345e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.728970468044281, -0.03224598243832588, -0.6837852001190186, 72.5], [0.6845451593399048, 0.03433879837393761, 0.7281612753868103, -22.5], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 100.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.960108 -0.250249 0.124771 -8.88603 ]\n", + " [ 0.186578 0.905662 0.380742 -47.108 ]\n", + " [ -0.208281 -0.342274 0.916225 -17.3018 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.23853279650211334, -0.05082467943429947, -0.9698035717010498, 99.5], [0.9711344242095947, -0.012483611702919006, -0.2382059097290039, 66.5], [8.742277657347586e-08, -0.9986295700073242, 0.05233534798026085, 103.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.73116e-01 1.98712e-02 2.29456e-01 -2.21094e+01]\n", + " [-8.47025e-03 9.98685e-01 -5.05656e-02 -1.65864e+01]\n", + " [-2.30159e-01 4.72627e-02 9.72005e-01 -4.92921e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.40673571825027466, 0.023913130164146423, 0.9132328629493713, -85.0], [-0.9135458469390869, 0.010646686889231205, 0.4065963327884674, 5.0], [8.742277657347586e-08, -0.9996573328971863, 0.026176128536462784, 104.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.97936e-01 -5.53364e-02 3.25789e-02 -5.07604e+00]\n", + " [ 5.65643e-02 9.97673e-01 -3.80565e-02 -2.49933e+01]\n", + " [-3.03972e-02 3.98207e-02 9.98744e-01 -5.55862e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.8059278130531311, 0.024790626019239426, 0.5914945602416992, -59.0], [-0.5920138359069824, 0.033748142421245575, 0.805220901966095, -32.5], [8.742277657347586e-08, -0.9991228580474854, 0.041874960064888, 105.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.99324e-01 -1.70952e-02 3.25532e-02 -8.77728e+00]\n", + " [ 1.18464e-02 9.87829e-01 1.55092e-01 -2.74107e+01]\n", + " [-3.48084e-02 -1.54601e-01 9.87364e-01 -3.11589e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.3455117344856262, -0.8358072638511658, 0.4266706705093384, 16.5], [-0.5259911417961121, -0.5490229725837708, -0.6495437622070312, 156.0], [0.7771453857421875, 0.0, -0.6293210983276367, 82.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.98648e-01 -2.36596e-02 -4.62850e-02 5.37973e+00]\n", + " [ 2.78731e-02 9.95312e-01 9.26165e-02 -1.88525e+01]\n", + " [ 4.38768e-02 -9.37814e-02 9.94625e-01 -2.72292e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.47552797198295593, -0.8597822189331055, -0.1861388087272644, 71.0], [-0.8236393928527832, -0.5094702839851379, 0.24911469221115112, 67.5], [-0.3090165853500366, 0.03485024347901344, -0.9504179358482361, 111.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.89700e-01 3.33673e-02 1.39212e-01 -1.17360e+00]\n", + " [-4.52346e-02 9.95525e-01 8.29720e-02 -2.61683e+01]\n", + " [-1.35821e-01 -8.84147e-02 9.86780e-01 -3.87207e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.4449225068092346, -0.8682889342308044, -0.2193589061498642, 73.0], [0.7175833582878113, -0.49218958616256714, 0.4927712380886078, 40.0], [-0.5358339548110962, 0.06183671951293945, 0.8420559167861938, -40.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.85179e-01 -5.23968e-02 1.63331e-01 -5.57972e+00]\n", + " [ 9.26306e-02 9.63935e-01 -2.49497e-01 8.15827e+00]\n", + " [-1.44368e-01 2.60929e-01 9.54502e-01 -5.45850e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.5508789420127869, -0.8344824314117432, -0.013096284121274948, 56.5], [-0.8197930455207825, -0.5381072759628296, -0.19590777158737183, 104.5], [0.15643437206745148, 0.11865770816802979, -0.9805348515510559, 120.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.93567e-01 -6.92447e-02 -8.96079e-02 1.98552e+01]\n", + " [ 6.56455e-02 9.96937e-01 -4.25120e-02 -1.58781e+01]\n", + " [ 9.22772e-02 3.63562e-02 9.95069e-01 -3.91794e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.30107352137565613, -0.8684006333351135, -0.3939988911151886, 97.0], [-0.6398155689239502, -0.490323543548584, 0.5917928814888, 22.0], [-0.7071002721786499, 0.07391346246004105, -0.7032396793365479, 90.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.70417e-01 2.68203e-02 -2.39942e-01 3.05661e+01]\n", + " [-4.10733e-02 9.97663e-01 -5.45988e-02 -2.66926e-01]\n", + " [ 2.37917e-01 6.28388e-02 9.69251e-01 -5.22043e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.4061793088912964, 0.07383843511343002, 0.9108052849769592, -94.5], [-0.9122934341430664, 0.024318689480423927, -0.4088144600391388, 88.5], [-0.05233580991625786, -0.9969736933708191, 0.057484570890665054, 101.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.832372 -0.257871 -0.490571 57.0336 ]\n", + " [ 0.142371 0.954945 -0.260405 6.60127 ]\n", + " [ 0.535619 0.146911 0.831582 -43.0995 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.04170152172446251, -0.8659658432006836, -0.4983614683151245, 105.5], [-0.06647805869579315, -0.5000948905944824, 0.8634151816368103, -1.0], [-0.9969160556793213, -0.0028756209649145603, -0.07842244952917099, 46.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.14752e-01 -1.61324e-02 -4.03693e-01 7.70922e+00]\n", + " [ 1.37966e-01 9.51610e-01 2.74597e-01 -2.00998e+01]\n", + " [ 3.79728e-01 -3.06884e-01 8.72713e-01 -2.03143e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9945219159126282, -0.004923983942717314, -0.10441242903470993, 20.0], [0.10452846437692642, -0.046847738325595856, -0.9934178590774536, 155.0], [8.742277657347586e-08, -0.9988899230957031, 0.04710580036044121, 101.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.96727e-01 -8.06195e-02 5.91088e-03 1.03269e+01]\n", + " [ 7.64247e-02 9.63639e-01 2.56045e-01 -3.82981e+01]\n", + " [-2.63381e-02 -2.54755e-01 9.66647e-01 -3.34289e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.016121499240398407, -0.9003172516822815, 0.4349355101585388, 16.5], [0.032908085733652115, -0.4352341294288635, -0.8997156620025635, 168.0], [0.9993283748626709, -0.00019187104771845043, 0.0366443432867527, 40.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.53188e-01 -1.46878e-02 -3.02020e-01 4.38768e+01]\n", + " [-6.35853e-03 9.97625e-01 -6.85840e-02 -4.31515e-01]\n", + " [ 3.02310e-01 6.72938e-02 9.50831e-01 -5.15189e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.7499454617500305, -0.03647373244166374, -0.6604933142662048, 71.0], [0.6611680388450623, 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1.00000e+00]]\n", + "[[-0.15565210580825806, 0.9534396529197693, -0.25831228494644165, -39.0], [-0.34960028529167175, -0.2977452874183655, -0.8883284330368042, 176.5], [-0.9238787889480591, -0.047964151948690414, 0.3796674609184265, 22.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.91304e-01 1.31506e-02 1.30935e-01 -7.67876e+00]\n", + " [-1.28113e-02 9.99912e-01 -3.43391e-03 -1.44512e+01]\n", + " [-1.30969e-01 1.72660e-03 9.91385e-01 -3.34860e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.5416544079780579, 0.8398740887641907, -0.03495704010128975, -52.0], [0.8340768218040466, -0.5421565771102905, -0.1018923968076706, 95.5], [-0.10452897101640701, 0.026033610105514526, -0.9941810369491577, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.965658 0.0609044 -0.252576 16.1624 ]\n", + " [ -0.0862838 0.992138 -0.0906462 -6.67391 ]\n", + " [ 0.24507 0.109326 0.963322 -20.5027 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.5175713896751404, 0.8518037796020508, 0.08093322813510895, -59.5], [-0.8155573010444641, -0.5197250843048096, 0.25446435809135437, 66.0], [0.2588167190551758, 0.06569778174161911, 0.9636896252632141, -53.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.981426 -0.165563 -0.0969142 19.3416 ]\n", + " [ 0.0854864 0.829671 -0.551669 52.0556 ]\n", + " [ 0.171743 0.533137 0.828413 -65.4964 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.3436166048049927, -0.015230662189424038, -0.9389864802360535, 79.0], [0.9389786720275879, -0.011151148937642574, 0.3437946140766144, -2.5], [-0.015706997364759445, -0.9998218417167664, 0.010469547472894192, 107.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.975641 -0.110647 -0.189427 30.9068 ]\n", + " [ 0.119378 0.992222 0.0352812 -5.96273 ]\n", + " [ 0.18405 -0.0570351 0.981261 -31.8461 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.312351256608963, 0.8493592739105225, 0.4254709780216217, -80.5], [-0.4979262948036194, -0.5278062224388123, 0.688106119632721, 1.0], [0.8090155124664307, 0.0030776250641793013, 0.5877792239189148, 0.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.93324e-01 1.02309e-01 5.32920e-02 7.56375e+00]\n", + " [-8.61695e-02 9.65213e-01 -2.46856e-01 6.99589e+00]\n", + " [-7.66937e-02 2.40616e-01 9.67586e-01 -5.65432e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.5441615581512451, -0.016725605353713036, -0.8388137221336365, 62.5], [0.8379347920417786, -0.06073562055826187, -0.5423803329467773, 109.5], [-0.0418742336332798, -0.9980137348175049, 0.04706495627760887, 107.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.964193 -0.172511 0.201425 -2.42614 ]\n", + " [ 0.127753 0.967716 0.217267 -31.2256 ]\n", + " [ -0.232403 -0.183754 0.955104 -22.6967 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.36555567383766174, 0.8508994579315186, -0.377278596162796, -27.5], [0.3542492687702179, -0.5020136833190918, -0.7889801859855652, 154.0], [-0.8607418537139893, 0.1547655165195465, -0.4849444627761841, 68.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.977061 -0.120527 0.175568 12.2578 ]\n", + " [ 0.129445 0.990771 -0.0402137 -17.3714 ]\n", + " [ -0.169101 0.0620176 0.983646 -22.6584 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.7055214047431946, -0.040301572531461716, 0.7075417637825012, -51.5], [-0.7086766362190247, -0.03431997820734978, 0.7046982049942017, -25.5], [-0.004117628093808889, -0.9985979795455933, -0.05277426168322563, 118.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.679896 -0.210891 0.702329 -20.5946 ]\n", + " [ 0.0292497 0.964791 0.261386 -18.9996 ]\n", + " [ -0.732725 -0.157172 0.662126 -25.4767 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.9920113682746887, -0.050782762467861176, 0.11547522246837616, -13.5], [-0.11477961391210556, -0.016416819766163826, -0.9932553172111511, 163.0], [0.052335985004901886, -0.9985747933387756, 0.010456846095621586, 114.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.928834 -0.0386919 -0.36847 14.0149 ]\n", + " [ -0.0592569 0.966215 -0.250833 -5.34109 ]\n", + " [ 0.365727 0.254817 0.895161 -24.3526 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_12.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 0.896724 0.0909317 -0.433148 33.6331 ]\n", + " [ 0.0629559 0.942509 0.328197 -20.7746 ]\n", + " [ 0.438089 -0.321572 0.839446 1.52833 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "⚠️ 경고: './gt/noisy_filtered_0_17.json' 경로에 파일이 없습니다. 해당 처리를 건너뜁니다.\n", + "[[ 0.955567 0.108261 0.274172 -18.7192 ]\n", + " [ 0.184484 0.505791 -0.842698 60.8831 ]\n", + " [ -0.229905 0.855836 0.463345 -77.3734 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.1729227751493454, 0.9193835258483887, 0.3533152639865875, -78.5], [-0.28552910685539246, -0.3901084363460541, 0.8753790855407715, -40.5], [0.9426403641700745, 0.05049119144678116, 0.3299693763256073, 24.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.87003e-01 2.93665e-03 -1.60677e-01 5.22815e+00]\n", + " [-1.40175e-01 5.04702e-01 -8.51838e-01 5.32326e+01]\n", + " [ 7.85926e-02 8.63289e-01 4.98554e-01 -8.01881e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.08567381650209427, -0.8495861887931824, -0.5204452872276306, 85.0], [0.12465640902519226, 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0.0, 1.0]]\n", + "[[ 9.81317e-01 -4.78309e-02 1.86360e-01 -3.27612e+00]\n", + " [ 1.81369e-01 5.53226e-01 -8.13047e-01 5.35847e+01]\n", + " [-6.42106e-02 8.31657e-01 5.51565e-01 -8.23048e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[0.04617206007242203, -0.8392882347106934, -0.5417226552963257, 86.5], [-0.19466252624988556, -0.5394641757011414, 0.8191977143287659, -24.0], [-0.9797829389572144, 0.06762905418872833, -0.18828614056110382, 55.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.948569 0.298781 0.104627 -10.6773 ]\n", + " [ -0.200329 0.822444 -0.532405 33.0703 ]\n", + " [ -0.245122 0.484063 0.839999 -43.5527 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[-0.24361133575439453, -0.04948464781045914, -0.9686096906661987, 66.0], [0.9698588252067566, -0.017821447923779488, -0.24301502108573914, 85.0], [-0.005236514378339052, -0.9986158609390259, 0.052334628999233246, 109.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.37421 0.67584 -0.634986 -14.1755 ]\n", + " [ 0.653958 -0.677809 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161.0], [0.10452843457460403, -0.9931584000587463, 0.05205924063920975, 98.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 6.52982e-01 1.81032e-02 7.57157e-01 -4.18517e+01]\n", + " [-8.71753e-03 9.99828e-01 -1.63872e-02 -1.08754e+01]\n", + " [-7.57323e-01 4.09998e-03 6.53027e-01 -3.73486e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.8382581472396851, 0.00789983943104744, 0.5452163815498352, -35.0], [0.5443676710128784, 0.06973815709352493, 0.835942804813385, -69.0], [-0.0314185731112957, 0.9975340366363525, -0.06275899708271027, -13.0], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.83305e-01 -3.62799e-02 1.78310e-01 -7.22027e+00]\n", + " [-1.77744e-02 9.56086e-01 2.92548e-01 -2.56571e+01]\n", + " [-1.81094e-01 -2.90834e-01 9.39479e-01 -3.67859e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9920293092727661, 0.08331215381622314, 0.09453517943620682, -12.5], [-0.10221744328737259, -0.09335654228925705, -0.9903717041015625, 180.0], [-0.07368452101945877, -0.9921409487724304, 0.10112838447093964, 108.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 0.764575 -0.41084 0.496623 24.3488 ]\n", + " [ 0.055407 0.809558 0.584419 -8.77659 ]\n", + " [-0.642148 -0.419316 0.641732 33.1875 ]\n", + " [ 0. 0. 0. 1. ]]\n", + "[[0.2705030143260956, 0.8542031049728394, -0.4440328776836395, -41.0], [0.431221067905426, -0.5198780298233032, -0.7374112010002136, 132.0], [-0.8607418537139893, 0.00799562782049179, -0.5089789628982544, 64.5], [0.0, 0.0, 0.0, 1.0]]\n", + "[[ 9.97256e-01 7.23413e-02 1.57010e-02 -9.69243e+00]\n", + " [-7.40231e-02 9.72818e-01 2.19423e-01 -2.06642e+01]\n", + " [ 5.99080e-04 -2.19983e-01 9.75503e-01 -3.95754e+01]\n", + " [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n", + "[[-0.9540337324142456, -0.2769567668437958, -0.11451896280050278, 31.0], [0.15110407769680023, -0.11451807618141174, -0.9818620681762695, 176.0], [0.2588188350200653, -0.9540338516235352, 0.1511034071445465, 99.0], [0.0, 0.0, 0.0, 1.0]]\n", + " file_1 file_2 file_3 file_4 file_5 file_6 file_7 file_8 file_9 file_10 file_11 file_12 file_13 file_14 file_15 file_16 file_17 file_18 file_19 file_20 file_21 file_22 file_23 file_24 file_25\n", + "bottle_100_ICP 85.041286 86.053263 84.476357 105.592252 89.68882 77.488889 109.901429 108.411588 104.123387 112.595403 108.579392 61.436623 77.436257 101.006289 87.691857 110.117188 107.097493 110.930644 96.010561 52.072044 0.0 0.0 0.0 0.0 0.0\n", + "bottle_75_ICP 109.516952 110.054329 87.096022 107.425106 87.977752 90.180082 107.496425 111.990047 109.657805 110.84821 89.854001 59.342683 90.938175 68.196308 89.187494 113.000084 101.089644 113.169256 106.317756 73.05013 0.0 0.0 0.0 0.0 0.0\n", + "bottle_50_ICP 108.199887 108.8664 113.765863 87.955245 84.503134 70.667032 81.321917 103.381068 112.885832 85.984837 113.215969 106.850555 83.42222 93.65133 108.246189 61.712792 67.787964 61.33757 94.512744 107.460303 0.0 0.0 0.0 0.0 0.0\n", + "bottle_25_ICP 106.286651 105.03501 85.084294 80.054638 102.515712 42.6084 48.901371 54.184837 104.76723 119.414592 112.031616 102.119453 84.129463 71.707018 90.505144 74.489942 111.627913 117.45599 115.89601 71.459164 0.0 0.0 0.0 0.0 0.0\n", + "bottle_0_ICP 112.625974 109.897308 110.484549 94.044975 76.342752 34.784615 47.721119 31.617997 90.481393 90.319353 122.653983 0 91.108491 79.803084 75.177598 70.72517 0 100.871376 118.246782 78.597118 122.185781 85.760306 89.986044 0.0 0.0\n", + "bottle_100_FAST ICP 84.701296 86.034402 84.475511 111.30493 89.828869 77.348048 110.135037 108.176477 90.416999 111.523692 108.079937 61.605369 77.205465 102.558301 87.664465 96.736246 110.091857 110.938777 95.810976 59.970011 0.0 0.0 0.0 0.0 0.0\n", + "bottle_75_FAST ICP 108.919031 110.146115 87.076641 88.918223 86.673304 89.73031 103.916577 112.060317 109.632176 111.656121 90.018517 59.0003 90.105782 105.479413 89.207631 112.520568 88.037061 113.154243 106.42047 103.793662 0.0 0.0 0.0 0.0 0.0\n", + "bottle_50_FAST ICP 92.017376 109.250033 114.404366 88.018823 84.437101 71.595848 81.685487 103.516325 111.669745 84.900059 113.990404 107.205289 82.030033 93.494988 108.558959 61.897192 20.121941 60.487986 95.991547 83.85823 0.0 0.0 0.0 0.0 0.0\n", + "bottle_25_FAST ICP 108.621079 106.629328 85.07821 80.051656 97.39668 46.592675 38.79436 54.537425 108.344922 113.637538 110.349406 100.213448 83.708127 72.173527 90.586557 70.095386 108.581179 116.411607 117.734606 71.203358 0.0 0.0 0.0 0.0 0.0\n", + "bottle_0_FAST ICP 113.49972 107.843389 110.136501 96.237346 76.351307 34.743849 76.32657 40.358385 90.205883 89.839276 107.887318 0 91.132455 79.894568 75.354019 57.026074 0 117.289948 128.902434 73.902028 117.558542 85.433917 90.043619 0.0 0.0\n", + "bottle_100_Robust ICP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0 0.0 0.0 0.0 0.0\n", + "bottle_75_Robust ICP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0 0.0 0.0 0.0 0.0\n", + "bottle_50_Robust ICP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0 0.0 0.0 0.0 0.0\n", + "bottle_25_Robust ICP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0 0.0 0.0 0.0 0.0\n", + "bottle_0_Robust ICP 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0 0.0\n", + "bottle_100_Sparse ICP 77.819386 79.239489 82.576883 98.909768 84.788685 83.553134 108.397124 107.344103 106.695605 107.169971 102.882481 49.718633 51.094177 77.590649 87.860708 104.430983 108.633121 109.539918 77.04265 57.084762 0.0 0.0 0.0 0.0 0.0\n", + "bottle_75_Sparse ICP 103.998274 104.377792 68.685388 97.255523 86.72701 96.838347 112.541769 103.411539 109.422944 105.862677 76.110114 66.802559 63.606657 79.035162 90.467474 107.43503 102.505393 111.677842 102.327685 70.992356 0.0 0.0 0.0 0.0 0.0\n", + "bottle_50_Sparse ICP 101.798962 102.110063 113.393056 86.267373 55.34544 69.952583 91.269323 100.657312 114.30136 95.542916 108.012125 101.53625 93.258314 100.087925 91.251375 77.687328 48.248073 75.320734 74.303104 103.111406 0.0 0.0 0.0 0.0 0.0\n", + "bottle_25_Sparse ICP 103.997124 103.613498 94.622567 79.279761 72.891998 41.227703 58.122393 54.927784 68.859092 104.62831 112.883823 100.551984 95.258695 81.57719 77.559208 94.36986 114.662058 114.712041 93.890823 82.845125 0.0 0.0 0.0 0.0 0.0\n", + "bottle_0_Sparse ICP 114.326807 112.77027 122.00792 89.455241 83.817968 31.719323 42.8171 22.007087 79.795219 115.084963 127.542747 0 84.641383 56.224171 75.678299 77.680109 0 39.49974 112.297321 79.178479 125.935097 90.74655 85.680443 0.0 0.0\n" + ] + } + ], + "source": [ + "json_path = \"ply_files.json\"\n", + "try: \n", + " with open(json_path, \"r\", encoding=\"utf-8\") as f:\n", + " gt_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", + "compute_RMSE(gt_files)\n", + "\n", + "# 모든 행/열을 전부 보여줌\n", + "pd.set_option('display.max_rows', None) # 행 전체 출력\n", + "pd.set_option('display.max_columns', None) # 열 전체 출력\n", + "\n", + "# 각 열의 너비 제한 해제 (긴 문자열도 잘리지 않음)\n", + "pd.set_option('display.max_colwidth', None)\n", + "\n", + "# 화면 너비에 따라 줄바꿈을 할지 말지\n", + "pd.set_option('display.width', None) # None이면 자동으로 콘솔 너비를 사용\n", + "pd.set_option('display.expand_frame_repr', False) # True면 줄바꿈 허용, False면 한 줄로 출력 시도\n", + "\n", + "# 예: DataFrame 출력\n", + "print(df)\n", + " \n", + "\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "id": "7493fb27", + "metadata": {}, + "source": [ + "## GET RMSE VAL" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e49285b9", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + " Matrix_Column\n", + "A [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [...\n", + "\n", + "저장된 요소의 타입: \n" + ] + }, + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 46, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "14ebb074", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "id": "d03a908e", + "metadata": {}, + "source": [ + "## Save in Pandas" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "92386801", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "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 +}