fidelity_correlation_rotated.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": true,
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "import sys\n",
    "import cv2\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib.image as mpimg\n",
    "from replay_analysis import ExperienceRelay\n",
    "from replay_analysis import filter_frames\n",
    "from replay_analysis import get_debug_values\n",
    "\n",
    "from rover_model.perception import PerspectiveRender\n",
    "from rover_model.perception import StripwiseInterpolationOptimized\n",
    "from rover_model.perception import PitchCalibratedPerspectiveInference\n",
    "from rover_model.perception import ZYXRotatedPerspectiveInference\n",
    "from rover_model.perception import ZXYRotatedPerspectiveInference\n",
    "from rover_model.perception import highlight_position\n",
    "from rover_model.perception import GradientAnalysis\n",
    "\n",
    "from rover_agent.frame_geometry import convert_camera_coords\n",
    "from rover_agent.frame_geometry import color_thresh\n",
    "from rover_agent.frame_geometry import circle_distance\n",
    "from rover_agent.frame_geometry import inverse_rotation_matrix\n",
    "\n",
    "from rover_resource import VIEW_POINT_POSITION\n",
    "from rover_resource import PIXEL_SCALING\n",
    "from rover_resource import CAMERA_POSITION\n",
    "from rover_resource import FRAME_SHAPE\n",
    "from rover_resource import DEFAULT_THRESHOLD\n",
    "from rover_resource import GROUND_TRUTH_MAP\n",
    "\n",
    "gradient_analyzer = GradientAnalysis(GROUND_TRUTH_MAP)\n",
    "replay = ExperienceRelay('./experiments/optimize_mapping_rotated/', from_csv=True)\n",
    "replay.replay()\n",
    "frames = replay.frames\n",
    "map_gradients = get_debug_values(frames, 'map_gradients')\n",
    "\n",
    "SINGULAR_PIXEL = int(VIEW_POINT_POSITION[0] * PIXEL_SCALING)\n",
    "interpo = StripwiseInterpolationOptimized(\n",
    "    SINGULAR_PIXEL, PIXEL_SCALING, \n",
    "    lambda x: np.array(color_thresh(x, (160, 160, 160), 'float32').nonzero()))\n",
    "perspect = PitchCalibratedPerspectiveInference(CAMERA_POSITION, VIEW_POINT_POSITION)\n",
    "rot_perspect = ZYXRotatedPerspectiveInference(CAMERA_POSITION, VIEW_POINT_POSITION)\n",
    "render = PerspectiveRender(scale=1, resolution=60)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "frame size zyx =  2831  pitch =  2890\n",
      "pitch and zyx cases num: 2123 2129\n"
     ]
    }
   ],
   "source": [
    "zyx_frames = filter_frames(frames, key='type', value='zyx')\n",
    "pitch_frames = filter_frames(frames, key='type', value='pitch')\n",
    "print('frame size zyx = ', len(zyx_frames), ' pitch = ', len(pitch_frames))\n",
    "pitch_cases = [x for x in pitch_frames if x.fidelity < 80]\n",
    "zyx_cases = [x for x in zyx_frames if x.fidelity < 80]\n",
    "print('pitch and zyx cases num:', len(pitch_cases), len(zyx_cases))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "from collections import namedtuple\n",
    "import matplotlib.image as mpimg\n",
    "\n",
    "GradientMetric = namedtuple('GradientMetric', ('pos', 'neg', 'render', 'ratio'))\n",
    "\n",
    "class GradientAnalysis(object):\n",
    "\n",
    "  def __init__(self, ground_truth):\n",
    "    truth = mpimg.imread(ground_truth)\n",
    "    self._truth = np.zeros(shape=truth.shape + (3,), dtype=np.uint8)\n",
    "    self._truth[:, :, 1] = truth * 255\n",
    "\n",
    "  def analysis(self, gradient, render=False):\n",
    "    num_pos = (self._truth[gradient[1], gradient[0], 1] > 0).sum()\n",
    "    num_neg = gradient.shape[1] - num_pos\n",
    "    ratio = float(num_pos) / gradient.shape[1]\n",
    "    if render:\n",
    "        ret = self._truth.copy()\n",
    "        ret[gradient[1], gradient[0], :] = 255\n",
    "        render = np.flipud(ret)\n",
    "    else:\n",
    "        render = None\n",
    "    return GradientMetric(pos=num_pos, neg=num_neg, render=render, ratio=ratio)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "number of cases: 134 169\n"
     ]
    }
   ],
   "source": [
    "pitch_analysis = [(gradient_analyzer.analysis(x.debug['map_gradients']), x) for x in pitch_frames]\n",
    "zyx_analysis = [(gradient_analyzer.analysis(x.debug['map_gradients']), x) for x in zyx_frames]\n",
    "pitch_cases = [x for m, x in pitch_analysis if m.ratio < 0.6]\n",
    "zyx_cases = [x for m, x in zyx_analysis if m.ratio < 0.6]\n",
    "print('number of cases:', len(pitch_cases), len(zyx_cases))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "frame type info zyx\n",
      "roll and pitch error: 1.13171386719 1.83657205105\n",
      "yaw = 299.586 pitch =  1.83657 roll =  358.868\n",
      "frame position: 111.39 53.0997\n",
      "SINGULAR =  80\n",
      "max x info: 0.03996875 5.5454370257\n",
      "map gradient: ratio = 0.5263157894736842 pos = 10 neg = 9\n"
     ]
    },
    {
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      "text/plain": [
       "<matplotlib.figure.Figure at 0x184b24588>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "frame = zyx_cases[110]\n",
    "#frame = frames[2100]\n",
    "print('frame type info', frame.debug['type'])\n",
    "#frame = frames[252]\n",
    "#frame = high_fid_frames[0]\n",
    "print('roll and pitch error:', circle_distance(frame.metric['Roll'], 0), \n",
    "      circle_distance(frame.metric['Pitch'], 0))\n",
    "print ('yaw =', frame.metric['Yaw'], 'pitch = ', frame.metric['Pitch'], 'roll = ', frame.metric['Roll'])\n",
    "print('frame position:', frame.metric['X_Position'], frame.metric['Y_Position'])\n",
    "fig = plt.figure(figsize=(80,160)) # Create a figure for plotting\n",
    "mp = highlight_position(frame.map, frame.metric['X_Position'], frame.metric['Y_Position'])\n",
    "\n",
    "horizon_length = 320.0 / PIXEL_SCALING\n",
    "\n",
    "pitch = (frame.metric['Pitch'] / 180) * np.pi\n",
    "roll = -(frame.metric['Roll'] / 180) * np.pi\n",
    "SINGULAR_ORI = int(perspect.get_singular(pitch) * PIXEL_SCALING)\n",
    "SINGULAR = int(rot_perspect.get_singular(\n",
    "    roll=roll, pitch=pitch, horizon_length=horizon_length) * PIXEL_SCALING)\n",
    "print('SINGULAR = ', SINGULAR)\n",
    "coords = convert_camera_coords(frame.frame)\n",
    "particles = interpo.extract_particles(coords, singular=SINGULAR)\n",
    "\n",
    "particles_ori = interpo.extract_particles(coords, singular=SINGULAR_ORI)\n",
    "s_coords_ori = perspect.particle_transform(pitch, particles_ori)\n",
    "s_coords = rot_perspect.particle_transform(\n",
    "    pitch=pitch, roll=roll, particles=particles)\n",
    "\n",
    "print('max x info:', particles[0, :].max(), s_coords[:, 0].max())\n",
    "persp = render.render(s_coords)\n",
    "persp_ori = render.render(s_coords_ori)\n",
    "\n",
    "analysis = gradient_analyzer.analysis(\n",
    "    frame.debug['map_gradients'], render=True)\n",
    "print('map gradient: ratio =', analysis.ratio, \n",
    "      'pos =',analysis.pos, 'neg =', analysis.neg)\n",
    "plt.subplot(141)\n",
    "plt.imshow(analysis.render)\n",
    "plt.subplot(142)\n",
    "plt.imshow(frame.frame)\n",
    "plt.subplot(143)\n",
    "plt.imshow(persp)\n",
    "plt.subplot(144)\n",
    "plt.imshow(mp)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "frame type info pitch\n",
      "roll and pitch error: 0.00381105905399 1.4541260004\n",
      "yaw = 121.782 pitch =  1.45413 roll =  0.00381106\n",
      "frame position: 119.366 129.292\n",
      "SINGULAR =  83\n",
      "max x info: 0.04040625 9.2530826442\n",
      "map gradient: ratio = 0.5925925925925926 pos = 16 neg = 11\n"
     ]
    },
    {
     "data": {
      "image/png": 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      "text/plain": [
       "<matplotlib.figure.Figure at 0x104c03908>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "frame = pitch_cases[100]\n",
    "#frame = frames[2100]\n",
    "print('frame type info', frame.debug['type'])\n",
    "#frame = frames[252]\n",
    "#frame = high_fid_frames[0]\n",
    "print('roll and pitch error:', circle_distance(frame.metric['Roll'], 0), \n",
    "      circle_distance(frame.metric['Pitch'], 0))\n",
    "print ('yaw =', frame.metric['Yaw'], 'pitch = ', frame.metric['Pitch'], 'roll = ', frame.metric['Roll'])\n",
    "print('frame position:', frame.metric['X_Position'], frame.metric['Y_Position'])\n",
    "fig = plt.figure(figsize=(80,160)) # Create a figure for plotting\n",
    "mp = highlight_position(frame.map, frame.metric['X_Position'], frame.metric['Y_Position'])\n",
    "\n",
    "horizon_length = 320.0 / PIXEL_SCALING\n",
    "\n",
    "pitch = (frame.metric['Pitch'] / 180) * np.pi\n",
    "roll = -(frame.metric['Roll'] / 180) * np.pi\n",
    "SINGULAR_ORI = int(perspect.get_singular(pitch) * PIXEL_SCALING)\n",
    "SINGULAR = int(rot_perspect.get_singular(\n",
    "    roll=roll, pitch=pitch, horizon_length=horizon_length) * PIXEL_SCALING)\n",
    "print('SINGULAR = ', SINGULAR)\n",
    "coords = convert_camera_coords(frame.frame)\n",
    "particles = interpo.extract_particles(coords, singular=SINGULAR)\n",
    "\n",
    "particles_ori = interpo.extract_particles(coords, singular=SINGULAR_ORI)\n",
    "s_coords_ori = perspect.particle_transform(pitch, particles_ori)\n",
    "s_coords = rot_perspect.particle_transform(\n",
    "    pitch=pitch, roll=roll, particles=particles)\n",
    "\n",
    "print('max x info:', particles[0, :].max(), s_coords[:, 0].max())\n",
    "persp = render.render(s_coords)\n",
    "persp_ori = render.render(s_coords_ori)\n",
    "\n",
    "analysis = gradient_analyzer.analysis(\n",
    "    frame.debug['map_gradients'], render=True)\n",
    "print('map gradient: ratio =', analysis.ratio, \n",
    "      'pos =',analysis.pos, 'neg =', analysis.neg)\n",
    "plt.subplot(141)\n",
    "plt.imshow(analysis.render)\n",
    "plt.subplot(142)\n",
    "plt.imshow(frame.frame)\n",
    "plt.subplot(143)\n",
    "plt.imshow(persp)\n",
    "plt.subplot(144)\n",
    "plt.imshow(mp)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 66,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "0.039984375000000003"
      ]
     },
     "execution_count": 66,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "particles[0, :].max()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 68,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "s_coords = cperspect.particle_transform(particles)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 69,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "41.807765004679794"
      ]
     },
     "execution_count": 69,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "s_coords[:, 0].max()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 90,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[ 0.22027432  0.        ]\n",
      " [-0.00774633  0.21374336]] [[-0.02074355]\n",
      " [-0.01685651]]\n"
     ]
    }
   ],
   "source": [
    "s_coords = pcperspect.particle_transform((frame.metric['Pitch'] / 180) * np.pi, particles)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 92,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "7.2085968727585215"
      ]
     },
     "execution_count": 92,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "s_coords[:, 0].max()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[-0.21238859  0.        ]\n",
      " [-0.0077488  -0.22471291]]\n"
     ]
    }
   ],
   "source": [
    "print(cperspect._w)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 105,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 134,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 135,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "interpo = StripwiseInterpolationOptimized(\n",
    "    SINGULAR_PIXEL, PIXEL_SCALING, \n",
    "    lambda x: np.array(color_thresh(x, (160, 160, 160), 'float32').nonzero()))\n",
    "pcperspect = PitchCalibratedPerspectiveInference(CAMERA_POSITION, VIEW_POINT_POSITION)\n",
    "render = PerspectiveRender(scale=1, resolution=60)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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ZDDWX6nOFfXDwnsMt2Nbsg7588bdhHYayH+QxrMn9I3gKXRiIlyHQtOJKI3Qa3kpUiTJj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\ni8VisVgsFovFYrFYLJYl4f8Bv6YZALFT+68AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x16BB063C8>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(('write_map', 1),)"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[0].debug"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "2822"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(frames)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 0.,  0.])"
      ]
     },
     "execution_count": 20,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "particles[:, 0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(0.023573848399758263, 6.2828172583169373)"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "roll, pitch"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 0.04027264,  0.08037242, -0.05411853])"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "VIEW_POINT_POSITION"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 0.27883144,  0.07262362,  0.17211595])"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CAMERA_POSITION"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 0.52422919,  0.43719429])"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "s_coords[0, :]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1.3506820201873779"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "rolls.max()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "117"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "rolls.argmax()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [
    {
     "ename": "IndexError",
     "evalue": "tuple index out of range",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mIndexError\u001b[0m                                Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-28-21d4f54d912a>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mframes\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m117\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmetrics\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'Roll'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;31mIndexError\u001b[0m: tuple index out of range"
     ]
    }
   ],
   "source": [
    "frames[117].metrics['Roll']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "frames = []\n",
    "for i in range(len(replay)):\n",
    "    frame = replay.at(i)\n",
    "    frames.append(frame)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "rolls = np.array([circle_distance(x.metric['Roll'], 0) for x in frames])\n",
    "pitches = np.array([circle_distance(x.metric['Pitch'], 0) for x in frames])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "499"
      ]
     },
     "execution_count": 35,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(rolls)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(array([108, 109, 117, 118, 119, 171, 172, 173, 212, 213, 214, 215, 227,\n",
       "        228, 229, 245, 246, 247, 251, 252, 253, 254, 255, 372, 373, 397,\n",
       "        398, 399, 400, 401, 402, 403, 404, 405, 406, 469, 470, 471, 472,\n",
       "        487, 488, 489]),)"
      ]
     },
     "execution_count": 20,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "np.where(rolls > 1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[]"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "5721"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(replay)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]],\n",
       "\n",
       "       [[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]],\n",
       "\n",
       "       [[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]],\n",
       "\n",
       "       ..., \n",
       "       [[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]],\n",
       "\n",
       "       [[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]],\n",
       "\n",
       "       [[ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        ..., \n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.],\n",
       "        [ 0.,  0.,  0.]]])"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frame[-1]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "frames = []\n",
    "for i in range(len(replay)):\n",
    "    frame = replay.at(i)\n",
    "    frames.append(frame)\n",
    "        "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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NDLGUrKrDEvw7vZsD/7mOZHeQLTqqyMDPcA61az3J3oIHCfOjA7yHHnwOv8Hm2D7X8BhC\nx3qhpRFbgzVQP7konhEWOsD/wCoswQVswCr0JPXKHbgECy7k2VV25ED9bGEr3eUAPocnUId9cLXk\nLVNfXSt94G+ZCda+ks1eFk5gHO/AE+gJq1SjrIGcXdjF7iWJrgPYhSfwEr5Oyi8/ZeSfCpW+fCiG\nkwj+kGCjbHTE0FLF6cprV0Irb8MfUuPPAgtb0SuwX2zK8uo97MMBzoHGp4kTy7ZkUv4CWvBtSr/3\n8ErS3VZxLDEKuLAJy7IhRyHxIfkeW7u4AyxqWqayPuwU9rmKwEASK7EIkcLtfL9rHer+8tjuia0L\nsERXvQ334B58gDPRqIJwuVPowppoMJdCQbU87A1owhgNdmAKfgBfwIOkTkpDf+X/6g7yFKlHZQW6\n4S2paXiOc4n9FCxowAdZFKsPuw1bsAEHxXy0IpDfCf1dvw5N+JDvUq4IfOXnWkoy89zVzBaunPUJ\nTmQhuYqzCKtyHSbKqmvLwgt4mcKqNhzCt7CDE0TqqaH2ZNUcp0Lap/gBpwnPoIK9BU3tU3dhB6z0\niOcpIM9UuAlrsAAN7IdwCkdwBG1N5LThASyIgFmHo7B75xhqcAGr8siuyvO3kLK0VhVvL0Qg6Waw\nFjRxbOjCoZ8TYbzQZygLW62FX6ZYnral0NweHOL0whcJSDmUHU6psL6jsBueQ5dnp6BrNrGq8sNb\n8BFWxVjyUeYdS5Yw6jmr+0Lezmn5VRkvVNzSEqyLGQJhZLAgDzbZdeRGWzhdeA6XcDpmWRXRe5ax\nLfgB/p7U+Qe4gDacQAfHjelPhK82IK6tiXHXfkDZ6VveM4ilHsogqKgmE1ZPc9S42j/9RPp/tuvF\no4VTxw5UpSqsw1ORcG0hWVXMyh/hFjTgEc5HeDQeQ45OJt0BVcduwruU5GnPcI7hk0RfWddCLrSz\nebTHwBdaaYcHdZeNBWnKe+Cf6crbgC76So0kAuV7XELfi4ujbA11cLEv4Hu4gp7U+1M/yUcxSajB\n/AzfwK/weGzrbd0Biphqf0px6j2Hc/gEx5peGHEPTOD3ngmfRE5zQ00s5q5GLD1lRSGwZMoLvNfy\n89iuHK3L1FzzDRCOUpxXY5pW4rp9oAErSqnBdKCOvQWPUqzqbXiB04U9jYuRp7FEyGNusES6Blqh\nqz2RBcLS/vZCd/H13y50sVfgjugTe9hNnDU4SXpIamGCDoSq/LVElG6mswoZz4G2d9kSF14ZkUdi\nVbX13fjinyxNQgSPeNoCp4bdEgquwwNYwQFa2jRkiRrkahdME2NWWC+pilB0xa+8CY/hfvr4t+El\nDto+GXciy9UZRR5iTcZhoidXcXOtme0GrEIdmtCCz3GAP+C+7KOqy2W72iROErEiqMly+AK7A5uw\nmeUSpo2zLdEKSBnfksoqhdnZ/lXVhGJ+1KCOvQB12PCjvx3gF9gKm1gj2mEGt5TtYxlbxUgtwdcp\nJlDkdr9LKLoK1tib+qJs6pgRYo1igKn6ksm2oAWP/eoPDvAc9iSG4kqWS/EYy6pMxG2xX29gL8C+\n+AFTooqvF7a/iYvzXBzkZceMECuf6SsZlpjcAAt7Abau/cE+vZQRX/k63TC3LLG4VsVU1sS+B0tw\nBl+mWEGDiwNt2IUz2C+zUhXBLBDLGnnPhZJ2sinIViTb1qIt3uO8E6PlRznlXEtObMEd+Bq7I+bW\nFo4NeZIs7OAcwvbshAXPAmaEWKPPHQG3ZKlvK3fkf6TDOexAD6cqsdQNocIGrAiBlPg5xPke6jlY\ndYqzDa9KaKnKxiwQqygECriSWFXoYm/CO61PsFJbTN6OrGa3vKlgwHkPL+AkaU0wmdX0jGIuiRXY\nsSzoYXtjvKezCztwoBn5ivMJ3mTMU1IQN/a2J1mERsGfsJ2slTvALclaG0RH6fbk8mKeiEXSb9nF\nscIF5QfCDrzEeQVPtZ1qOnQC1SXfy6DWuDnEPE2FCnHNxoJ97AxvTBq24QC2xQrfgLeh4w7wQeoP\nHkuQz5FhFTczjVE24kLLTfHx/Qkvca5gD7squa8fwRocwxkcgNrJeAr3cNwkpf4ubEno1QlczULI\nyixg/iRWIn7G/jra5sSjuO7BAnZPwlYJuyzVVhyNXCHL+z6cScR2qbUrhTnTsRJRhf1om2+R16FS\nLV7hHOKca9XeAhyklKH/ADVYM6qVjpJILHyjg9OBn+ChGOUdeAnIvjSSipHob1bg5PrdtcT6Hfbh\n7U2sWDkmlINYNuCJlDoVa9M72d5+JIpRP1rYhDaC+8Q6hR/hICnncXlRgqnQFzlv5O8e7MMhtGAb\nnkILyCVsHAtexXyCByWP6UtECYjl4zEshKOr2/AjHMJm7ipIyv75ONy4DudGYY9g3okVyukVUcZV\nIP/3sAersJyLXo6KHNT3fNdTlHqDOUaqO7mqBUMDK3Avd33Ah9h72B6of+5NLPs2bsy7xEre1RkE\nKwfz16m237qvhXMntDbkM2MUjWPeiZWAwOcT0YrOJXa5L0tcOILfNXH4c7FDnAOUkFgZ2887EvTS\nl1vbYaHVyl0sriwoIbGy0dWyCqTDAfYklSFQl7xqBj4MsRIRhApmYBfa2mzYMCq8jvmLbigKeexS\nH7XXzXEN5GbCSKwhEEiyLgQWDVcs+AZgiDU4LIlFVgFYx9J+26/JO/xl58pmYYg1BFzYxFmBxVj6\nteHIYcVe3HgYYg2KIGHJU0kbFuBkcI9hkOgruPicwBBrCLh+dQznpd/gq1kDyRtLy/ccXHZ+YIg1\nHHqwE/NqxxNDJqIqtceXk5xLcwJDrKGxL9GngBJajzJNWZZGqSYsQkfLOT1vMHasoaESQz7S9oTd\nh9Wwq0fvrKolNEQ+Hc13blIjsUaE4laA/2oJSBEjgso5uAkPoQnr4URw84lyxLyPBaJO2WoX0BoE\nUTqPJTllwKoqtMT0tQNHc7/twhBrZNhqv+Fzv3CLz61dOAULGrAum4K2YR92Z6QqyVhhiDU6NrC/\ngKfXVQUi0YXXuzn2/IJNJYBR3kfHFVzARWopUB87OHuTG9S0YYg1Os7hHA61dNwRvMbZTdiNPdcw\nU+EosHwN3S+K+SxBWPkTX+m+ZyOxRoGEJDhWwvQX0qW8snHLEGsU9LTKOfSLxyoXt4yBdEQE/sHV\nUEZ4X1y9gWdaGfBxZkOdMRhijQjl5luFzdihUziCffhes857Wvb5eYYh1ohQnpnlpLIor6ANbTiF\nPViXnTxnIe/1nMIQa3TEU7QBbUlh6kps4DE8gy8BsFPr88wLDLEKwV7Mnv5K+KTHWnXhAFZhG55L\nrXW0gHcrnFHiBsMQqxB0YhtWOylRVipV7lP4ya/f6cPV8pTMQ3iWIVZR+C78NnvHfU/SJ21AQ/qv\nSHXZeUCJLCtjh312veJzyPHdqtqITSl+dgmnc0MsI7GKwhrshluyd9wrdUolmGxCY55YhbG8jwB9\nz5aqqhJRup+H58dIsYy61Ai2JNH3PKhWAYzEGhqKB8EWrgMcnVgf5GhdNlDUtcRuK/AM1qVe8P78\nZTE1EmsUuJq7sBm2Zt2FGqzCJ61REWsTHsMFnMDhvKZbNsQaEcpYtQbElKo6bGlBWl2oQwsegQWH\nsDfH1X4NsUaHklsb8PS6zQZnAVxYlxJOVc1RvR3qPI8wxBodijTNWC3gBpyABWvQhJqYrHbCO8bm\nE0Z5Hx1KYp3EjO9LANRhXWPVb/DVpAc4DRhiFYVjOAy3fAY1MSgoVv2eFF0znzDEKgSn8ClJFG3A\nPWHVLmxMelzTgyFWUXgPV6EGG6EUsA3/O+EBTReGWAXiUUpluR14NjfxMDlhiFUg3JStha+1cKuy\nwBCrQEimvxDewJp4coL08fPPMGPHKg42SWFYHQkiDdKNumVICmKIVSyWYi2q4mYTroRhc+vG0WGm\nwmLxMKlFLzjQnuhwpgdDrAJxT7MvAGpyVDGlV9AuwwwYwBCrQHRT8vRdSDHEEsEQq0CcJ+hPNnA0\nZ0F8eWCIVSzup7SXKGuDgiFWscgoh1kubhliFYvnmUdLxC1DrGLRkW0UaXibeXR+YIhVOO6G3l3n\ndFBRoy1tW/08wxBrzPBTSP4JB7AA38FiGXyFhliFYzep0ZWSTG/gYNIjmgYMsQpHov5e1UxZc1hE\nLg6TFKRQ+BOftvrLlR1kDmEk1jhQ0V6UkVUGBgYGBgYGBgYGBgYGBgYGBgY3BP8P9k3KDYuNE1sA\nAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17B2A66A0>"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "fidelities = np.array([x.fidelity for x in frames])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 38.6,  38.6,  38.6, ...,  29.1,  29.1,  29.1])"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "fidelities"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAM+klEQVR4nO2dP4zcxhWHvzVcGHul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\nDEEz5wAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x113C1B4A8>"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll zxy\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAM3UlEQVR4nO2dL5DcRhaHv03FZJYY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\nsjxWHxwYCymqSgghhBBCCCGEEEKImfB/3vwG2TziaRwAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x117880518>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll zxy\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAMRklEQVR4nO2dsZPbxhWHv9OooDpe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\nRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x1191E5470>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll zyx\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAMRklEQVR4nO2dLZTbSBaFr3NCFOiG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\nRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x11E60D5C0>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll zyx\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAANoElEQVR4nO2dP3TbRhLGP/q5Mt2a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\nAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x118355550>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll zyx full\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAOS0lEQVR4nO2dLZTkxhVGb/v4OKAb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\nAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x11103D518>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll zyx full\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAMgAAADICAIAAAAiOjnJAAAM1UlEQVR4nO2dP6jk1hWHv2cW8161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\nD0IIIYQQQgghhBBCiAnyfx72soO1ho/YAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x11A5BD4E0>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll zyx full - 1\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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P4OcAPAWn4VG4X4dJ1a2swAFU4Lc69LdtPPtZ3bQ+glZg6qnAFjRgE4BVQNcXDSOy1YJ3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\n4/F4PB6Px+PxeDw55P8BuqKRAFIwfVsAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17892C630>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll combined\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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CgE3QXtRnkSZwE4AGVMUxH0o9+wvsSmdlS4xWbaHvN6wE76So6h5swufQ3AYn47zAgbvp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\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17E62B5F8>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll combined\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17D12D668>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll combined -4\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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wuDjxqPA6wftM3R/wNKypmVtbyKbJC3Tj7Jvq6hLcxHXVws0if4qowBqspHgSypOUwnKf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\nYrFYLBaLxVJA/h+zAFPfD5l4RQAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x1846A9630>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll combined -4\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(('type', 'zyx'),)"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[3000].debug"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-4.5083596441344485"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "s_coords[:, 1].min()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "mp = np.zeros((200, 200), dtype=np.uint8)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "mp[[1,1, 2,3], [4,4, 5,6]] = 1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(array([1, 2, 3]), array([4, 5, 6]))"
      ]
     },
     "execution_count": 40,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mp.nonzero()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "rot = inverse_rotation_matrix(frame.metric['Yaw'])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 102,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[ 0.74015474,  0.67243659],\n",
       "       [-0.67243659, -0.74015474]])"
      ]
     },
     "execution_count": 102,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "rot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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ERcVzzr9TMAezMIl00qpPw1sDO/xUK68h7oNHjbc+t7mKfAgeGpgZo8SITJuRK7vbYlLl\n/YsAwoljPgarcDruzKHjGo+ogYc/CVYV8BM4HevRR5gR8VgmogjHoaIGefYhgTo8CVtwre8D5FWe\n7AOIW6AMFVgKvg18FU4iX+r7uGPCyAqL9hvbFqDcCsJkXuXMXoaf9de6k7CdRdwDC1AJfcr0aeTT\n8KP+jjhWjLKw2ogpOAazMAUl5JTKhH2lv2ZvhiU4CgswHzjzTj4Gf9bXgcaRsRCWg5iCu+Fwa7aJ\ndJJhL6jZTl0xiSjDIhyCu+CA/5Q9CVyHt6f24b4EGSNhOYi74BgsQQPWkDvwJqzBkxHGf5whqXk1\nTWgTyvAdWPK/UK0UyQfgXBxR3VgxdsICNe5UgQnYgjVYQ9bhTXgxQF6TrfBcXFODAWXks/Ao4iOw\nLzi6WoeTyKcGdjKjyjgKy0Eswl0wqxIQ9dYQuKzD92AKyjAPJ+BjsIyoqgHQZVhA3g51RBkWQqeu\nP4P8Q9sVmoyvsBzEXXAUJtU8VScOe4df1R04j7wANbXgrDO3bFKNnZvauoz8FvzNgM9hJBmRBGnP\nyJcQW3AcTnaqOgF5xD64qEraUxHXYU2F8DrrSQyBjwbjLiyAVyJPuZyGVW22RVlN18nDMlRaK6G1\nkTV4bSAmjz4j+4h9dCSh01/b7MAGbKjJ02uwAlVYQ55XIvPEUm+kdumExMmAsAB5Nvi7OrwIP4XX\nYRWuwRosqzmGBdhAlGFVParVVDtehwsDt3xkyUJXGMKXkStwGuGMDO6BQ+pZ3EsqMVGBTZhEnkdM\naWHWjbBkI/cgMiwsCTzVmo4nHQ1dg7MI5xE0Z7L1nHp0ewZRMZ7dKA/R3BEjI8IylvuR04HJJ9mA\ntxB5WIOymvgFvGk8OtFx3Y7skhFhqYnO0Z8hlg24ApsIJ9iaVAvClLXnveYGY+04kA1hiQVwVDXf\n5UzAGnIVVuEVmEYUoQIFlSxN6qnGESADd4UCKMFjcEQtSdIDNfg28hQsa4XjPm7RB9nwWDwLP46j\nnbNwGha04Z3JFC56lgbG3WO1niqLsLRLROQp90M49sYwmwxkDdz3I/4P0YQm/A/sH8QxRp1x91gD\nearzebXoErBXW6PQssu4C2tQPAd15Q5tjOWDFVZvPAWXoQ7NtD/rnhBWWD0hj8E2VGET7k7amjRi\nhdUbX4NluIyo2vy7L1ZYPbOuNvJwX5KGpBIrrJ55vvWqZlGFpaSNSR1WWD1zGq7AGtTgQNLGpA4r\nrF6RwAUowSwchBNJG5QurLD64WWoqjVRv560MenCCqsP5PNqja4JuFU9oW8BK6y+KcE+tf3LJA1J\nGVZYffKtVt5BALdCSt/QPHyssPrkdff7fB5Jyo60YYXVD84SXPpyzp9JzJaUYYXVD867g9Vjq63J\nDk0bxWOF1TfbrpegtrTlzHr4TwDy2dSZfRygf6YQv3C9r9Azj0YAD8ADrUerszHLxgorDsQn4Ieh\nNc7AezIiKYeMPKUzaELecfIr+Dgyc6sdWWHFQtC09yeQfzRUQ1KD7QpjIY+4arwSfDbLq2fZu8JY\naBhP7u9kWVVYYcXEFLzqKtDfKpVJrLDi4iXY0T5eDKqXEaywYmFTvay6TdYfNrTCiosz7tHog4kZ\nkg6ssGJCvjbAl0CPIFZYcdFw3wZuBVbMBlZYMaLHWB3fNDbmWGHFyCVtO+trG1lhxchL2vYq3JGU\nHWnACitGLmrvrdif8XFYK6z4kM47gq/DdSB0ysP4Y4UVI2uwpcL2BiwmbE6iZNpdD4CaesthA5Zg\nHVazmd+yHitGnLdm1iGHmIbjcATqSVuVDFZYMeK8Z7qdzZqBozCbzadYrbBipAabsAY7cFW987eS\nzbXgrbBipKZeiFKAvTALzkKSXb29Z0ywwooXx0s5cVUB/hJey+ZUUiusGGnADrzRElbr4dWMjkZb\nYcVIHkpQgpdVyS/cA4gZwgorRmZVdrS9TMh2ZqeSWmHFSFmt1HCnKrk5SXMSxQorPgSwCR/VivYF\nVB1/rLBiZNkoKWRzqRmssGJlxu8t0Q8nYEgKsMKKkWOuxYxwOscvJGJK4lhhxcg+mIGr7sLfSsaW\npLHCiou8eoOheyaSuBBQf8yx87HiogHXYAUm3MvOZPRxHeuxYmQKNr1hVlaxwoqR7xp3hdeTMSQF\nWGHFy0fdH7P7PIUV1kC5LVML2upYYcWI30xRMXQr0oEVVoxcS9qAFGGFFS9XjZKiT60MYIUVHxL4\nTViCDWhCHS4jszjhHZsgHQA/g7fBz6EB70naGIvFYrFYLBaLxWKxWCwWi8USwv8DIh6I1Fg6fDoA\nAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x1889DB2B0>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# negative roll\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x1817E1240>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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bcQ3xMDxl7Prc4jrycXi8b2YME0MybUYu7xyLCRX3LwAIpx/zcViB03FHDh3XeEgNPPyB\nv6qAH8PpWGsfYobEY5mIAhyFshrk2YMEanASNuFGzxXkVJzsg4g7oARlWPR/DHwdjiPP9FzviDC0\nwqK1Y9s8lJqdMJlTMbNX4ae9le4EbGcQD8I8lAPfMn0O+Rz8qLcaR4phFlYLMQlHYAYmoYicVJGw\nr/RW7O2wCIdhHuZ8Z97Jp+GPeqpoFBkJYTmISbgfDjZnm0gnGPaymu3UFROIEizAAbgP9nlP2ZPA\nTXhnal/uS5AREpaDuA+OwCLUYRW5DW/BKpwMMf7jDEnNqWlCG1CC78Ci941qhkg+COfj6NWNFCMn\nLFDjTmUYh01YhVVkDd6CV3zkNdHsnosbajCghHwBnkJ8FPb4967W4DjyVN8uZlgZRWE5iAW4D2ZU\nAKLWHAKXNfgeTEIJ5uAYfByWEBU1ALoE88i7oYYowXzg1PXnkb9nm0KT0RWWg7gPDsOEmqfq9MPe\n5ZV1Gy4iL0FVLTjrzC2bUGPnprauIr8Ff9HnaxhKhiRAGhl5BrEJR+F4p6zjkEPsgcsqpTUVcQ1W\nVRdeZy2JIfDhYNSFBfBa6CmXU7CizbYoqek6OViCcnMltBayChf6YvLwM7Sv2IdHEjj9tcU2rMO6\nmjy9CstQgVXkRSUyV1/qzdQunZA4GRAWIM/5f1eDV+An8AaswA1YhSU1xzAP64gSrKhXtRrqxJtw\nqe+WDy1ZaAoD+DJyGU4jnJHBXXBAvYt7RQUmyrABE8iLiEmtm3UrLNqeux8ZFpYETjWn40lHQzfg\nHMJ5Bc2ZbD2rXt2eRpSNdzdKAzR3yMiIsIzlfuSUb/BJ1uFtRA5WoaQmfgFvGa9OdFy3I7tkRFhq\nonP4d4hlHa7BBsLpbE2oBWFK2vtes/2xdhTIhrDEPDiqmutyJmAVuQIr8BpMIQpQhrwKlib1VuMQ\nkIGnQgEU4Wk4pJYkiUAVvo08AUta4qiPW/RANjwWL8A/xFHOOTgN89rwzkQKFz1LA6PusZpvlYVY\n2iUk8kT7Szj2wTCb9GUN3A8g/g/RgAb8D+ztRx3Dzqh7rL681fmSWnQJ2K2tUWjZYdSF1S9ehJpy\nh7aP5YEVVjROwVWoQSPt77onhBVWJOQR2IIKbMD9SVuTRqywovE1WIKriIqNv3tihRWZNXWQg4eT\nNCSVWGFF5qXmVs2iAotJG5M6rLAicxquwSpUYV/SxqQOK6yoSOASFGEG9sOxpA1KF1ZYvfAqVNSa\nqF9P2ph0YYXVA/IltUbXONyp3tC3gBVWzxRhjzr+RZKGpAwrrB75VjPuIIA7IaU7NA8eK6weeaN9\nP58nk7IjbVhh9YKzBJe+nPNnErMlZVhh9YKzd7B6bbU52aFhe/FYYfXMVtsmqE1tObMe/gOAXDZ1\nZl8H6J1JxM/b9it0zaMRwKPwaPPV6mzMsrHCigPxAPwwMMdZeG9GJOWQkbd0+k3AHie/hE8gM7fa\nkRVWLPhNe38W+fsDNSQ12KYwFnKI68aW4DNZXj3LPhXGQt14c387y6rCCismJuH1tgR9V6lMYoUV\nF2dgW/t42S9fRrDCioUNtVl1i6y/bGiFFRdn20ej9ydmSDqwwooJeaGPm0APIVZYcVFvfwzc9M2Y\nDaywYkTvY3XcaWzEscKKkSvacdbXNrLCipEz2vEK3JOUHWnACitGLmv7VuzN+DisFVZ8SGeP4Jtw\nEwic8jD6WGHFyCpsqm57HRYSNidRMu2u+0BV7XJYh0VYg5Vsxresx4oRZ9fMGowhpuAoHIJa0lYl\ngxVWjDj7TLeiWdNwGGay+RarFVaMVGEDVmEbrqs9f8vZXAveCitGqmpDlDzshhlwFpLsaveeEcEK\nK14cL+X0q/LwZ3Ahm1NJrbBipA7b8GZTWM2XVzM6Gm2FFSM5KEIRXlUpP28fQMwQVlgxMqOio61l\nQrYyO5XUCitGSmqlhntVyu1JmpMoVljxIYAN+JiWtMcn6+hjhRUjS0ZKPptLzWCFFSvTXrtEP5GA\nISnACitGjrQtZoTTOH4hEVMSxworRvbANFxvT/z1ZGxJGiusuMipHQzbZyKJSz75Rxw7Hysu6nAD\nlmG8fdmZjL6uYz1WjEzChrublVWssGLku8ZT4c1kDEkBVljx8rH2j9l9n8IKq6/clakFbXWssGLE\na6aoGLgV6cAKK0ZuJG1AirDCipfrRkrBI1cGsMKKDwn8KizCOjSgBleRWZzwjg2Q9oGfwjvgZ1CH\n9yZtjMVisVgsFovFYrFYLBaLxWIJ4P8B+dLS9li5bl4AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17E10C1D0>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# positive roll\n",
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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bcQ3xMDxl7Prc4jrycXi8b2YME0MybUYu7xyLCRX3LwAIpx/zcViB03FHDh3XeEgNPPyB\nv6qAH8PpWGsfYobEY5mIAhyFshrk2YMEanASNuFGzxXkVJzsg4g7oARlWPR/DHwdjiPP9FzviDC0\nwqK1Y9s8lJqdMJlTMbNX4ae9le4EbGcQD8I8lAPfMn0O+Rz8qLcaR4phFlYLMQlHYAYmoYicVJGw\nr/RW7O2wCIdhHuZ8Z97Jp+GPeqpoFBkJYTmISbgfDjZnm0gnGPaymu3UFROIEizAAbgP9nlP2ZPA\nTXhnal/uS5AREpaDuA+OwCLUYRW5DW/BKpwMMf7jDEnNqWlCG1CC78Ci941qhkg+COfj6NWNFCMn\nLFDjTmUYh01YhVVkDd6CV3zkNdHsnosbajCghHwBnkJ8FPb4967W4DjyVN8uZlgZRWE5iAW4D2ZU\nAKLWHAKXNfgeTEIJ5uAYfByWEBU1ALoE88i7oYYowXzg1PXnkb9nm0KT0RWWg7gPDsOEmqfq9MPe\n5ZV1Gy4iL0FVLTjrzC2bUGPnprauIr8Ff9HnaxhKhiRAGhl5BrEJR+F4p6zjkEPsgcsqpTUVcQ1W\nVRdeZy2JIfDhYNSFBfBa6CmXU7CizbYoqek6OViCcnMltBayChf6YvLwM7Sv2IdHEjj9tcU2rMO6\nmjy9CstQgVXkRSUyV1/qzdQunZA4GRAWIM/5f1eDV+An8AaswA1YhSU1xzAP64gSrKhXtRrqxJtw\nqe+WDy1ZaAoD+DJyGU4jnJHBXXBAvYt7RQUmyrABE8iLiEmtm3UrLNqeux8ZFpYETjWn40lHQzfg\nHMJ5Bc2ZbD2rXt2eRpSNdzdKAzR3yMiIsIzlfuSUb/BJ1uFtRA5WoaQmfgFvGa9OdFy3I7tkRFhq\nonP4d4hlHa7BBsLpbE2oBWFK2vtes/2xdhTIhrDEPDiqmutyJmAVuQIr8BpMIQpQhrwKlib1VuMQ\nkIGnQgEU4Wk4pJYkiUAVvo08AUta4qiPW/RANjwWL8A/xFHOOTgN89rwzkQKFz1LA6PusZpvlYVY\n2iUk8kT7Szj2wTCb9GUN3A8g/g/RgAb8D+ztRx3Dzqh7rL681fmSWnQJ2K2tUWjZYdSF1S9ehJpy\nh7aP5YEVVjROwVWoQSPt77onhBVWJOQR2IIKbMD9SVuTRqywovE1WIKriIqNv3tihRWZNXWQg4eT\nNCSVWGFF5qXmVs2iAotJG5M6rLAicxquwSpUYV/SxqQOK6yoSOASFGEG9sOxpA1KF1ZYvfAqVNSa\nqF9P2ph0YYXVA/IltUbXONyp3tC3gBVWzxRhjzr+RZKGpAwrrB75VjPuIIA7IaU7NA8eK6weeaN9\nP58nk7IjbVhh9YKzBJe+nPNnErMlZVhh9YKzd7B6bbU52aFhe/FYYfXMVtsmqE1tObMe/gOAXDZ1\nZl8H6J1JxM/b9it0zaMRwKPwaPPV6mzMsrHCigPxAPwwMMdZeG9GJOWQkbd0+k3AHie/hE8gM7fa\nkRVWLPhNe38W+fsDNSQ12KYwFnKI68aW4DNZXj3LPhXGQt14c387y6rCCismJuH1tgR9V6lMYoUV\nF2dgW/t42S9fRrDCioUNtVl1i6y/bGiFFRdn20ej9ydmSDqwwooJeaGPm0APIVZYcVFvfwzc9M2Y\nDaywYkTvY3XcaWzEscKKkSvacdbXNrLCipEz2vEK3JOUHWnACitGLmv7VuzN+DisFVZ8SGeP4Jtw\nEwic8jD6WGHFyCpsqm57HRYSNidRMu2u+0BV7XJYh0VYg5Vsxresx4oRZ9fMGowhpuAoHIJa0lYl\ngxVWjDj7TLeiWdNwGGay+RarFVaMVGEDVmEbrqs9f8vZXAveCitGqmpDlDzshhlwFpLsaveeEcEK\nK14cL+X0q/LwZ3Ahm1NJrbBipA7b8GZTWM2XVzM6Gm2FFSM5KEIRXlUpP28fQMwQVlgxMqOio61l\nQrYyO5XUCitGSmqlhntVyu1JmpMoVljxIYAN+JiWtMcn6+hjhRUjS0ZKPptLzWCFFSvTXrtEP5GA\nISnACitGjrQtZoTTOH4hEVMSxworRvbANFxvT/z1ZGxJGiusuMipHQzbZyKJSz75Rxw7Hysu6nAD\nlmG8fdmZjL6uYz1WjEzChrublVWssGLku8ZT4c1kDEkBVljx8rH2j9l9n8IKq6/clakFbXWssGLE\na6aoGLgV6cAKK0ZuJG1AirDCipfrRkrBI1cGsMKKDwn8KizCOjSgBleRWZzwjg2Q9oGfwjvgZ1CH\n9yZtjMVisVgsFovFYrFYLBaLxWIJ4P8B+dLS9li5bl4AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17E10C1D0>"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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cBf/h2NLDwTvIv8/gSyh8GRBh2Wm89qgMs41QqrRayQ/h+R40QDthL4zCHOIBW3DYxcfw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\nAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x18181A390>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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+qDgDX9gHq9xEvuf/plx+GRNh6QhgCeZhqR1flV4tuTGc6I73SjEHhxAX7J/ivQ6XkF+M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\ncDgcDofD4XA4HI5s8/9T7MMiEMrnzgAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x17F2222E8>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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wAftgqeXGyN2T3Ya4He6FUYOq/gu+BQe65cWsztC1wsLRlrP+4nhlcpJEOc7faVlbyyAP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\nRU5ErkJggg==\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x16D989320>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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NwQWPvXBBe3VvcelBYXkI4CBsV7NHysg1uAivm9qvlhmCI4gZ2A9j6rZX50F4t1cezOoO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\n4f8BQss0BwrPc58AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x182650320>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=200x200 at 0x182650320>"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames[-1].map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "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": "3.5.2"
  },
  "widgets": {
   "state": {},
   "version": "1.1.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}