mrpark_save.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "5ece1191-8b35-4455-a08f-875b866ae585",
   "metadata": {},
   "outputs": [],
   "source": [
    "#!pip install dpkt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 106,
   "id": "16490df6-01e0-4c8b-89e9-74b951338625",
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "import dpkt\n",
    "from tqdm.auto import tqdm\n",
    "import datetime\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 107,
   "id": "082bf1cc-07ca-4aaf-b329-9208671dd6a8",
   "metadata": {},
   "outputs": [],
   "source": [
    "pcap_path=\".\"\n",
    "pcap_file=\"Velo.01.pcap\"\n",
    "full_path = os.path.join(pcap_path, pcap_file)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 108,
   "id": "90b6d56e-d2f6-4907-9af2-8e0631f55a50",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "max_pcap_counter=182036\n"
     ]
    }
   ],
   "source": [
    "fpcap = open(full_path, 'rb')\n",
    "lidar_reader = dpkt.pcap.Reader(fpcap)\n",
    "\n",
    "# check pcap length\n",
    "max_pcap_counter = 0\n",
    "# itearte through each data packet and timestamps\n",
    "for _, _ in enumerate(lidar_reader):\n",
    "    max_pcap_counter += 1\n",
    "fpcap.close()\n",
    "print(f'max_pcap_counter={max_pcap_counter}')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 109,
   "id": "7b957c41-d162-4373-aa5e-fc68f06dbf0a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "a0159b6043ac4dc7b054a18933916559",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "  0%|          | 0/182035 [00:00<?, ?it/s]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "fpcap = open(full_path, 'rb')\n",
    "lidar_reader = dpkt.pcap.Reader(fpcap)\n",
    "\n",
    "index_from = 0\n",
    "index_to = max_pcap_counter\n",
    "#index_to = 20\n",
    "anal_pcap_len = index_to - index_from - 1\n",
    "pbar = tqdm(total=anal_pcap_len)\n",
    "data_pcap = []\n",
    "for idx, (ts, buf) in enumerate(lidar_reader):\n",
    "    \n",
    "    if idx <= index_from:\n",
    "        continue\n",
    "    if index_to <= idx:\n",
    "        break\n",
    "        \n",
    "    strDatetime = datetime.datetime.utcfromtimestamp(ts)\n",
    "    eth = dpkt.ethernet.Ethernet(buf)\n",
    "    #print(f'eth.data.data.sport={eth.data.data.sport}')\n",
    "    if eth.data.data.sport == 2368: # self.params['data-port'] = 2368\n",
    "        data = eth.data.data.data\n",
    "        data_pcap.append(data)\n",
    "\n",
    "    #\n",
    "    #process_data_frame(data, ts, idx)\n",
    "    #print(f'strDatetime={strDatetime}')\n",
    "\n",
    "    pbar.update(1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 110,
   "id": "24176d36-5c27-42d7-8b39-219f6080a66d",
   "metadata": {},
   "outputs": [],
   "source": [
    "def read_uint32(data, idx):\n",
    "    return data[idx] + data[idx+1]*256 + data[idx+2]*256*256 + data[idx+3]*256*256*256\n",
    "\n",
    "def read_firing_data(data):\n",
    "    block_id = data[0] + data[1]*256\n",
    "    # 0xeeff is upper block\n",
    "    assert block_id == 0xeeff\n",
    "\n",
    "    azimuth = (data[2] + data[3] * 256) / 100 # 왜 100으로? 0.01도를 1로 세팅한 것으로 보임. \n",
    "\n",
    "    firings = data[4:].reshape(32, 3)\n",
    "    distances = firings[:, 0] + firings[:, 1] * 256\n",
    "    distances = distances/100.\n",
    "    intensities = firings[:, 2]\n",
    "    return distances, intensities, azimuth # 두개의 데이터가 스택되어 있다는 점 중요. \n",
    "\n",
    "def calc_precise_azimuth_2(azimuth):\n",
    "    org_azi = azimuth.copy()\n",
    "\n",
    "    precision_azimuth = []\n",
    "    # iterate through each block\n",
    "    for n in range(12): # n=0..11\n",
    "        azimuth = org_azi.copy()\n",
    "        # Determine the azimuth Gap between data blocks\n",
    "        if n < 11:\n",
    "            # First, adjust for an Azimuth rollover from 359.99° to 0°\n",
    "            if azimuth[n + 1] < azimuth[n]:\n",
    "                azimuth[n + 1] += 360.\n",
    "            azimuth_gap = azimuth[n + 1] - azimuth[n]\n",
    "        else:\n",
    "            # Last block.  Simply use last iteration `azimuth_gap`.\n",
    "            pass\n",
    "\n",
    "        # iterate through each firing\n",
    "        for k in range(32):\n",
    "            # Determine if you’re in the first or second firing sequence of the data block\n",
    "            if k < 16:\n",
    "                # Interpolate\n",
    "                precise_azimuth = azimuth[n] + (azimuth_gap * 2.304 * k) / (2 * 55.296)\n",
    "            else:\n",
    "                # Interpolate, but 55.296 us has passed.\n",
    "                precise_azimuth = azimuth[n] + (azimuth_gap * (55.296 + 2.304*(k - 16))) / (2 * 55.296)\n",
    "            if precise_azimuth >= 360.:\n",
    "                precise_azimuth -= 360.\n",
    "                #print(precise_azimuth)\n",
    "            precision_azimuth.append(precise_azimuth)\n",
    "    precision_azimuth = np.array(precision_azimuth)             \n",
    "    #print(f'*shape of precision_azimuth={precision_azimuth.shape}')\n",
    "    return precision_azimuth\n",
    "\n",
    "def calc_cart_coord(distances, azimuth): # X, Y, Z 생성에 대하여 완전히 이해함. \n",
    "    # convert distances to meters\n",
    "    distances = distances * FACTOR_MM2CM * FACTOR_CM2M\n",
    "\n",
    "    # convert deg to rad\n",
    "    longitudes = np.tile(npa_omega * np.pi / 180., 2)\n",
    "    latitudes = azimuth * np.pi / 180.\n",
    "\n",
    "    hypotenuses = distances * np.cos(longitudes)\n",
    "\n",
    "    X = hypotenuses * np.sin(latitudes)\n",
    "    Y = hypotenuses * np.cos(latitudes)\n",
    "    Z = distances * np.sin(longitudes)\n",
    "\n",
    "    # Apply vertical correction for laser positions\n",
    "    Z += 1e-3 * np.tile(npa_vcorr_mm, 2)\n",
    "\n",
    "    return X, Y, Z\n",
    "\n",
    "def calc_timing_offsets(dual_mode=False):\n",
    "    timing_offsets = [[0.0 for x in range(12)] for y in range(32)]  # Init matrix\n",
    "\n",
    "    # constants\n",
    "    full_firing_cycle = 55.296  # μs\n",
    "    single_firing = 2.304  # μs\n",
    "    # compute timing offsets\n",
    "    for x in range(12):\n",
    "        for y in range(32):\n",
    "            if dual_mode:\n",
    "                dataBlockIndex = (x - (x % 2)) + int((y / 16))\n",
    "            else:\n",
    "                dataBlockIndex = (x * 2) + int((y / 16))\n",
    "            dataPointIndex = y % 16\n",
    "            timing_offsets[y][x] = \\\n",
    "                (full_firing_cycle * dataBlockIndex) + (single_firing * dataPointIndex)\n",
    "    return np.array(timing_offsets).T\n",
    "\n",
    "def attach_2d_list(tlist2d, x, newRow):\n",
    "    #print(f'len(t)={len(tlist2d)}')\n",
    "    if newRow or (len(tlist2d)==0):\n",
    "        tlist2d = tlist2d+[x]\n",
    "        #print(f'x={x} for hstack. Finally t={tlist2d}') \n",
    "    else:\n",
    "\n",
    "        tlist2d[-1]=tlist2d[-1]+x\n",
    "        #print(f'x={x} for append at last row. Finally t={tlist2d}')\n",
    "    return tlist2d\n",
    "\n",
    "def attach_range_image_list(t2DImageList, vertical32, newRow):\n",
    "    #print(f'len(t)={len(tlist2d)}')\n",
    "    if newRow or (len(t2DImageList)==0):\n",
    "        t2DImageList = t2DImageList+[[[t] for t in vertical32[0:16][change_vertical_position]]]\n",
    "        t2DImageList[-1] = [t1+[t2] for t1, t2 in zip(t2DImageList[-1], vertical32[16:32][change_vertical_position])]\n",
    "        #print(f'newRow={newRow}, t2DImageList={t2DImageList} for a new image') \n",
    "    else:\n",
    "        t2DImageList[-1] = [t1+[t2] for t1, t2 in zip(t2DImageList[-1], vertical32[0:16][change_vertical_position])]\n",
    "        t2DImageList[-1] = [t1+[t2] for t1, t2 in zip(t2DImageList[-1], vertical32[16:32][change_vertical_position])]\n",
    "        #print(f'newRow={newRow}, t2DImageList={t2DImageList} for the existing image') \n",
    "    return t2DImageList"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 111,
   "id": "c0cb4f3f",
   "metadata": {},
   "outputs": [],
   "source": [
    "def write_rimg(path, distance):\n",
    "    print('distance.shape: ', distance.shape)\n",
    "    points = int(len(distance)/16)\n",
    "    distance = distance.astype(np.float16).reshape(1, -1)#(16, points)\n",
    "    print('distance.shape: ', distance.shape, ' points: ', points)\n",
    "    size_array = np.array([ 16,0, points, 0])\n",
    "    print('Writing array:', size_array)\n",
    "    fp = open(path, 'wb')\n",
    "    fp.write(size_array.tostring())\n",
    "    fp.write(distance.tostring())\n",
    "    fp.close()\n",
    "    print('Writing Completed.')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 112,
   "id": "d8182528-64a3-4a8f-abb7-bea806937587",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'\\ndata = [-15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15]\\n# 원소에 인덱스를 붙입니다.\\nindexed_data = list(enumerate(data))\\n# 값을 기준으로 정렬합니다.\\nsorted_data = sorted(indexed_data, key=lambda x: x[1])\\nprint(sorted_data)\\n'"
      ]
     },
     "execution_count": 112,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "FACTOR_MM2CM = 0.2 # 왜? 0.1이 답일텐데... <= 비행거리 time-of-flight가 왕복이기 때문에 2배를 곱한 것. \n",
    "FACTOR_CM2M = 0.01\n",
    "npa_omega = np.array([-15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15])\n",
    "npa_vcorr_mm = np.array([11.2, -0.7, 9.7, -2.2, 8.1, -3.7, 6.6, -5.1, 5.1, -6.6, 3.7, -8.1, 2.2, -9.7, 0.7, -11.2])\n",
    "npa_timing_offsets = calc_timing_offsets()\n",
    "\n",
    "# 각도 순서에 따른 재배치\n",
    "change_vertical_position = [index for index, value in sorted(enumerate(npa_omega), key=lambda x: x[1])]\n",
    "\n",
    "'''\n",
    "data = [-15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15]\n",
    "# 원소에 인덱스를 붙입니다.\n",
    "indexed_data = list(enumerate(data))\n",
    "# 값을 기준으로 정렬합니다.\n",
    "sorted_data = sorted(indexed_data, key=lambda x: x[1])\n",
    "print(sorted_data)\n",
    "'''"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 113,
   "id": "0df32669-52d5-4736-98ea-149d540c9f5b",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'(-15, 0),(1, 2),(-13, 4),(3, 6),(-11, 8),(5, 10),(-9, 12),(7, 14),(-7, 1),(9, 3),(-5, 5),(11, 7),(-3, 9),(13, 11),(-1, 13),(15, 15)'"
      ]
     },
     "execution_count": 113,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "','.join([str((i,j)) for i,j in zip(npa_omega, change_vertical_position)])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 114,
   "id": "aa170176-b3a4-45ac-ad14-fee10e86b4f7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "27473244e5714faf8fe2adefeda3da02",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "  0%|          |0/1831308"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "#tpcap=data_pcap[0]\n",
    "sel_data_pcap = data_pcap[0:max_pcap_counter]\n",
    "frame_cnt = 0\n",
    "pre_azimuth = 0\n",
    "frame_angle_arr = []\n",
    "frame_image_arr = []\n",
    "#pr = update_print()\n",
    "#pbar = tqdm(total=len(sel_data_pcap)*12, bar_format=\"{l_bar}{bar}|{n_fmt}/{total_fmt} [{postfix}]\")\n",
    "#pbar = tqdm(total=len(sel_data_pcap)*12, bar_format=\"{l_bar}{bar}|{n_fmt}/{total_fmt}: {postfix['message']}\")\n",
    "#pbar = tqdm(total=len(sel_data_pcap)*12)\n",
    "#pbar.bar_format = \"{l_bar}{bar}|{n_fmt}/{total_fmt}: {postfix[message]}\"\n",
    "#pbar = tqdm(total=len(sel_data_pcap)*12, bar_format=\"{l_bar}{bar}|{n_fmt}/{total_fmt} [{postfix}]\")\n",
    "#pbar = tqdm(total=len(sel_data_pcap)*12, bar_format=\"{l_bar}{bar}|{n_fmt}/{total_fmt}{postfix}\")\n",
    "pbar = tqdm(total=len(sel_data_pcap)*12, bar_format=\"{l_bar}{bar}|{n_fmt}/{total_fmt}{postfix}\")\n",
    "\n",
    "for t, tpcap in enumerate(sel_data_pcap):\n",
    "    data = np.frombuffer(tpcap, dtype=np.uint8).astype(np.uint32)\n",
    "    \n",
    "    # frame length = 1206\n",
    "    timestamp = read_uint32(data, 1200)\n",
    "    factory = data[1204:]\n",
    "\n",
    "    # veldyne has 12 blocks each 100 bytes data\n",
    "    # data-legth = 1206 bytes\n",
    "    blocks = data[0:1200].reshape(12, 100) \n",
    "    list_azimuth = [np.dot(blocks[i][2:4], [1, 256]) for i,v in enumerate(blocks)]\n",
    "    #print(f'12 azimuth={list_azimuth}')\n",
    "\n",
    "    distances = []\n",
    "    intensities = []\n",
    "    azimuth_per_block = []\n",
    "    # iteratie through each block\n",
    "    for i, blk in enumerate(blocks):\n",
    "        dists, intens, angles = read_firing_data(blk)\n",
    "        #print(f'len(dists)={len(dists)},angles={angles}, dists={dists}')\n",
    "        #print(f'{int(angles*5), int(angles*5)+1}')\n",
    "        distances.append(dists)\n",
    "        intensities.append(intens)\n",
    "        azimuth_per_block.append(angles)\n",
    "        #print(f'i,list_azimuth[i]={i,list_azimuth[i]}')\n",
    "        if pre_azimuth < list_azimuth[i]:\n",
    "            pre_azimuth = list_azimuth[i]\n",
    "            frame_angle_arr = attach_2d_list(frame_angle_arr, [list_azimuth[i]/100], False)\n",
    "            frame_image_arr = attach_range_image_list(frame_image_arr, dists, False)\n",
    "        else:\n",
    "            pre_azimuth = 0 \n",
    "            frame_cnt += 1\n",
    "            #print(f'\\rframe changed at {i:3d}th datablock in {t:4d}th UPD packet')\n",
    "            #pr.print(f'frame changed at {i:3d}th datablock in {t:4d}th UPD packet')\n",
    "            #pbar.set_postfix({\"message\": f'frame changed at {i:3d}th datablock in {t:4d}th UPD packet'}, refresh=False)\n",
    "            #pbar.set_postfix({\"message\": f'frame changed at {i:3d}th datablock in {t:4d}th UPD packet'}, refresh=True)\n",
    "            #pbar.set_postfix({\"frame changed at \": f'{i:3d}th datablock in {t:4d}th UPD packet'}, refresh=True)\n",
    "            #pbar.set_postfix({\"\": f'frame changed at {i:3d}th datablock in {t:4d}th UPD packet'}, refresh=True)\n",
    "            pbar.set_postfix({\"message\": f\"{frame_cnt:3d}th frame start at {i:3d}th datablock in {t:4d}th UPD packet\"}, refresh=True)\n",
    "            frame_angle_arr = attach_2d_list(frame_angle_arr, [list_azimuth[i]/100], True)\n",
    "            frame_image_arr = attach_range_image_list(frame_image_arr, dists, True)\n",
    "        pbar.update(1)\n",
    "        #print(f'frame_angle_arr={frame_angle_arr}')\n",
    "                                  \n",
    "    #print(f'frame_angle_arr={frame_image_arr}')        \n",
    "    #print(f'len(blocks)={len(blocks)}')\n",
    "    #print(f'azimuth_per_block={azimuth_per_block}')\n",
    "\n",
    "    azimuth_per_block = np.array(azimuth_per_block)\n",
    "    #print(f'azimuth_per_block={azimuth_per_block}')\n",
    "\n",
    "    ## Note: all these arrray have th same size, number of firing in one packet\n",
    "    azimuth = calc_precise_azimuth_2(azimuth_per_block).reshape(12, 32)\n",
    "    distances = np.array(distances)\n",
    "    intensities = np.array(intensities)\n",
    "    #print(f'len(distances)={len(dists)}, len(azimuth)={len(azimuth)}')\n",
    "\n",
    "    # now calculate the cartesian coordinate of each point\n",
    "    X, Y, Z = calc_cart_coord(distances, azimuth)\n",
    "    #print(f'len(X)={len(X)}, len(Z)={len(Z)} / len(X[0])={len(X[0])}, len(Z[0])={len(Z[0])}')\n",
    "    #print(f'X={X}')\n",
    "    #print(f'Y={Y}')\n",
    "\n",
    "    # calculating timestamp [microsec] of each firing\n",
    "    timestamps = timestamp + npa_timing_offsets\n",
    "\n",
    "    X = X.flatten()\n",
    "    Y = Y.flatten()\n",
    "    Z = Z.flatten()\n",
    "    #print(f'len(X)={len(X)}, len(Z)={len(Z)}')\n",
    "    \n",
    "    intensities = intensities.flatten()\n",
    "    azimuth = azimuth.flatten()\n",
    "    timestamps = timestamps.flatten()\n",
    "    distances = distances.flatten() * FACTOR_MM2CM * FACTOR_CM2M\n",
    "    \n",
    "\n",
    "    # remeber the last azimuth for roll over checking\n",
    "    cur_azimuth = azimuth\n",
    "    #print(f'frame_angle_arr={frame_image_arr}')\n",
    "    \n",
    "\n",
    "\n",
    "    # print(X, Y, Z, intensities, azimuth, timestamps, distances)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 115,
   "id": "2a6ba1d5-7fdc-4a59-a23f-37fe2daebaba",
   "metadata": {},
   "outputs": [
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           38.47,
           38.37,
           38.36,
           38.49,
           38.45,
           38.41,
           38.32,
           38.45,
           38.55,
           38.47,
           38.59,
           38.74,
           38.51,
           38.61,
           38.63,
           38.69,
           38.69,
           38.83,
           38.99,
           38.75,
           38.89,
           39.03,
           38.76,
           38.8,
           38.74,
           38.71,
           38.95,
           38.66,
           38.77,
           38.71,
           38.95,
           38.68,
           38.57,
           38.73,
           38.59,
           38.65,
           38.75,
           38.58,
           38.69,
           38.67,
           38.83,
           38.91,
           38.6,
           38.64,
           38.58,
           38.65,
           38.6,
           38.65,
           38.59,
           38.61,
           38.73,
           38.61,
           38.53,
           38.52,
           38.51,
           38.43,
           38.55,
           38.51,
           38.49,
           38.51,
           38.56,
           38.26,
           38.34,
           38.35,
           38.35,
           38.41,
           38.38,
           38.26,
           38.18,
           38.38,
           38.33,
           38.15,
           38.18,
           38.18,
           38.2,
           38.29,
           38.17,
           38.06,
           37.98,
           38.09,
           38.17,
           38.07,
           38.25,
           37.98,
           38.02,
           38.02,
           37.88,
           37.78,
           37.71,
           37.77,
           37.81,
           37.87,
           37.66,
           37.66,
           37.65,
           37.91,
           37.59,
           37.54,
           37.57,
           37.49,
           37.41,
           37.43,
           37.41,
           37.45,
           37.43,
           37.35,
           37.27,
           37.25,
           37.06,
           37.23,
           37.29,
           37.11,
           37.16,
           37.17,
           37.07,
           36.98,
           37.06,
           37.02,
           37.08,
           37.04,
           36.86,
           36.9,
           36.85,
           36.95,
           36.81,
           36.85,
           36.65,
           36.6,
           36.65,
           36.64,
           36.68,
           36.55,
           36.52,
           36.56,
           36.47,
           36.55,
           36.43,
           36.33,
           36.37,
           36.28,
           36.35,
           36.35,
           36.35,
           36.29,
           36.26,
           36.33,
           36.2,
           36.23,
           36.24,
           36.12,
           36,
           36.22,
           36.17,
           36.13,
           36.17,
           36.21,
           36.21,
           36.01,
           36.05,
           36.19,
           36.11,
           36.15,
           36.03,
           36.07,
           36.04,
           36.13,
           35.84,
           35.95,
           36.05,
           35.97,
           35.93,
           35.94,
           35.84,
           35.89,
           35.95,
           35.89,
           35.85,
           35.75,
           35.83,
           35.86,
           35.78,
           35.91,
           35.78,
           35.77,
           35.78,
           36,
           35.75,
           35.75,
           35.59,
           35.62,
           35.93,
           35.77,
           35.63,
           35.59,
           35.57,
           35.61,
           35.69,
           35.45,
           35.53,
           35.84,
           35.55,
           35.41,
           35.45,
           35.42,
           35.48,
           35.44,
           35.58,
           35.44,
           35.45,
           35.38,
           35.44,
           35.33,
           35.21,
           35.33,
           35.35,
           35.22,
           35.27,
           35.31,
           35.35,
           35.23,
           35.22,
           35.32,
           35.23,
           35.2,
           35.28,
           35.28,
           35.22,
           35.3,
           35.16,
           35.18,
           35.24,
           35.14,
           35.16,
           35.18,
           35.08,
           35.14,
           35.06,
           35.08,
           35,
           34.98,
           35.02,
           34.96,
           34.92,
           34.84,
           34.92,
           34.88,
           34.76,
           34.8,
           34.78,
           34.8,
           34.74,
           34.82,
           34.68,
           34.72,
           34.7,
           34.56,
           34.74,
           34.54,
           34.62,
           34.54,
           34.46,
           34.46,
           34.44,
           34.42,
           34.34,
           34.24,
           34.22,
           34.18,
           34.18,
           34.14,
           34.12,
           34.2,
           34,
           34.1,
           33.92,
           33.88,
           33.86,
           33.84,
           33.8,
           33.84,
           33.78,
           33.84,
           33.82,
           33.72,
           33.68,
           33.64,
           33.68,
           33.66,
           33.52,
           33.58,
           33.54,
           33.4,
           33.46,
           33.42,
           33.38,
           33.32,
           33.36,
           33.36,
           33.34,
           33.28,
           33.2,
           33.2,
           33.22,
           33.12,
           33.16,
           33.08,
           33.1,
           33.04,
           33.02,
           33.06,
           32.96,
           33.04,
           32.88,
           32.82,
           32.84,
           32.94,
           32.92,
           32.84,
           32.74,
           32.82,
           32.78,
           32.86,
           32.66,
           32.74,
           32.62,
           32.6,
           32.7,
           32.56,
           32.56,
           32.56,
           32.64,
           32.62,
           32.48,
           32.48,
           32.52,
           32.5,
           32.44,
           32.34,
           32.46,
           32.34,
           32.42,
           32.36,
           32.26,
           32.28,
           32.24,
           32.22,
           32.28,
           32.16,
           32.2,
           32.16,
           32.18,
           32.06,
           32.14,
           32.04,
           32.14,
           32.06,
           32.02,
           32.02,
           32.08,
           32,
           32.04,
           32,
           31.9,
           32,
           31.86,
           31.92,
           31.8,
           31.78,
           31.82,
           31.88,
           31.8,
           31.86,
           31.66,
           31.76,
           31.74,
           31.72,
           31.76,
           31.78,
           31.7,
           31.66,
           31.66,
           31.62,
           31.64,
           31.64,
           31.73,
           31.71,
           31.71,
           31.46,
           31.52,
           31.54,
           31.54,
           31.52,
           31.46,
           31.5,
           31.48,
           31.46,
           31.48,
           31.36,
           31.3,
           31.4,
           31.38,
           31.4,
           31.18,
           31.22,
           31.32,
           31.34,
           31.28,
           31.22,
           31.26,
           31.24,
           31.28,
           31.22,
           31.2,
           31.1,
           31.12,
           31.12,
           31.02,
           30.98,
           30.92,
           31,
           30.96,
           31.08,
           30.98,
           30.94,
           30.92,
           30.98,
           30.96,
           30.78,
           30.86,
           30.8,
           30.88,
           30.88,
           30.84,
           30.82,
           30.8,
           30.81,
           30.82,
           30.76,
           30.66,
           30.74,
           30.84,
           30.7,
           30.58,
           30.68,
           30.62,
           30.64,
           30.66,
           30.52,
           30.54,
           30.5,
           30.56,
           30.6,
           30.44,
           30.5,
           30.44,
           30.36,
           30.4,
           30.34,
           30.36,
           30.34,
           30.42,
           30.36,
           30.32,
           30.36,
           30.32,
           30.4,
           30.24,
           30.32,
           30.3,
           30.26,
           30.16,
           30.12,
           30.2,
           30.14,
           30.14,
           30.08,
           30.18,
           30.06,
           30.1,
           30.14,
           30.06,
           29.98,
           30.1,
           30.04,
           30.04,
           30.1,
           30.1,
           30.06,
           30.1,
           30.04,
           30.06,
           29.96,
           30.02,
           30.02,
           29.9,
           30.04,
           29.94,
           29.94,
           29.92,
           29.98,
           29.86,
           30.04,
           29.72,
           29.8,
           29.92,
           29.9,
           29.84,
           29.74,
           29.78,
           29.7,
           29.8,
           29.8,
           29.76,
           29.68,
           29.78,
           29.72,
           29.74,
           29.62,
           29.76,
           29.64,
           29.68,
           29.6,
           29.46,
           29.68,
           29.74,
           29.62,
           29.58,
           29.62,
           29.4,
           29.5,
           29.64,
           29.54,
           29.62,
           29.42,
           29.52,
           29.4,
           29.48,
           29.38,
           29.42,
           29.5,
           29.4,
           29.34,
           29.34,
           29.32,
           29.34,
           29.3,
           29.32,
           29.28,
           29.3,
           29.34,
           29.16,
           29.26,
           29.2,
           29.18,
           29.18,
           29.28,
           29.18,
           29.22,
           29.1,
           29.14,
           29.14,
           29.1,
           29.12,
           29.12,
           29.18,
           29.06,
           29.08,
           29.1,
           29.12,
           29.1,
           29.08,
           29.04,
           29.06,
           29,
           29.1,
           29.02,
           29.08,
           29.04,
           29,
           28.96,
           29.02,
           29.04,
           28.84,
           29.04,
           28.98,
           29.02,
           29.12,
           28.9,
           28.94,
           28.92,
           29.14,
           28.86,
           29.04,
           28.86,
           28.92,
           28.9,
           29.02,
           28.88,
           28.94,
           29.04,
           28.9,
           29.1,
           28.94,
           28.88,
           28.94,
           29,
           28.96,
           28.94,
           28.98,
           28.88,
           28.92,
           28.86,
           28.86,
           28.88,
           28.92,
           28.9,
           28.96,
           28.8,
           28.82,
           29,
           28.86,
           28.94,
           28.94,
           28.84,
           28.86,
           28.92,
           28.96,
           28.91,
           28.95,
           28.87,
           28.87,
           28.89,
           28.85,
           28.81,
           28.79,
           28.89,
           28.85,
           28.93,
           28.91,
           28.93,
           28.92,
           28.91,
           28.93,
           28.88,
           28.92,
           28.88,
           28.82,
           28.85,
           28.82,
           28.89,
           28.82,
           28.88,
           28.85,
           28.82,
           28.86,
           28.78,
           28.86,
           28.77,
           28.93,
           28.78,
           28.85,
           28.78,
           28.8,
           28.77,
           28.84,
           28.83,
           28.9,
           28.7,
           28.89,
           28.8,
           28.74,
           28.84,
           28.79,
           28.76,
           28.85,
           28.82,
           28.82,
           28.85,
           28.77,
           28.88,
           28.84,
           28.85,
           28.76,
           28.8,
           28.88,
           28.85,
           28.88,
           28.92,
           28.91,
           28.95,
           28.91,
           28.88,
           28.93,
           28.89,
           28.98,
           28.92,
           28.95,
           28.9,
           28.91,
           28.89,
           28.9,
           28.9,
           28.84,
           28.92,
           28.82,
           28.88,
           28.78,
           28.9,
           28.88,
           28.86,
           28.88,
           28.8,
           28.82,
           28.82,
           28.88,
           28.8,
           29,
           28.88,
           28.9,
           28.92,
           28.97,
           28.97,
           28.94,
           29.01,
           28.93,
           29.02,
           29.01,
           28.96,
           29.02,
           28.94,
           29.04,
           29.06,
           29.02,
           29,
           29.08,
           29.04,
           29.08,
           29.08,
           29.18,
           29.12,
           29.1,
           29.12,
           29.14,
           29.06,
           29.14,
           29.18,
           29.06,
           29.17,
           29.2,
           29.08,
           29.14,
           29.22,
           29.22,
           29.14,
           29.22,
           29.24,
           29.17,
           29.12,
           29.35,
           29.14,
           29.31,
           29.3,
           29.28,
           29.3,
           29.29,
           29.32,
           29.28,
           29.3,
           29.33,
           29.29,
           29.38,
           29.35,
           29.28,
           29.38,
           29.48,
           29.4,
           29.44,
           29.4,
           29.49,
           29.46,
           29.48,
           29.53,
           29.5,
           29.4,
           29.5,
           29.65,
           29.54,
           29.52,
           29.64,
           29.62,
           29.6,
           29.62,
           29.52,
           29.64,
           29.8,
           29.76,
           29.7,
           29.68,
           29.81,
           29.78,
           29.77,
           29.84,
           29.78,
           29.83,
           29.86,
           29.87,
           29.92,
           29.86,
           29.86,
           29.85,
           29.94,
           30.01,
           29.93,
           29.98,
           29.94,
           29.95,
           30.12,
           29.97,
           29.92,
           30.04,
           30.02,
           30,
           30.02,
           30.04,
           30.1,
           30.12,
           30.12,
           30.08,
           30.05,
           30.16,
           30.1,
           30.24,
           30.2,
           30.18,
           30.26,
           30.26,
           30.29,
           30.28,
           30.32,
           30.32,
           30.48,
           30.4,
           30.4,
           30.46,
           30.46,
           30.46,
           30.55,
           30.49,
           30.55,
           30.54,
           30.68,
           30.63,
           30.65,
           30.59,
           30.62,
           30.74,
           30.6,
           30.68,
           30.66,
           30.68,
           30.84,
           30.74,
           30.7,
           30.78,
           30.77,
           30.77,
           30.85,
           30.83,
           30.82,
           30.89,
           30.87,
           30.97,
           30.9,
           30.97,
           30.96,
           31.03,
           30.95,
           31.03,
           30.9,
           30.94,
           31.1,
           31.09,
           30.94,
           31.12,
           31.06,
           31.08,
           31.04,
           31.05,
           31.16,
           31.16,
           31.21,
           31.16,
           31.06,
           31.12,
           31.12,
           31.19,
           31.18,
           31.18,
           31.13,
           31.27,
           31.29,
           31.18,
           31.26,
           31.21,
           31.29,
           31.33,
           31.21,
           31.35,
           31.36,
           31.35,
           31.38,
           31.45,
           31.3,
           31.36,
           31.38,
           31.49,
           31.4,
           31.39,
           31.55,
           31.58,
           31.66,
           31.57,
           31.54,
           31.65,
           31.57,
           31.67,
           31.65,
           31.7,
           31.68,
           31.74,
           31.78,
           31.69,
           31.64,
           31.79,
           31.81,
           31.75,
           31.85,
           31.78,
           31.81,
           31.94,
           31.9,
           31.88,
           31.84,
           31.89,
           31.94,
           31.9,
           31.85,
           31.87,
           31.96,
           31.97,
           31.93,
           32.02,
           31.93,
           31.96,
           32.09,
           32.04,
           32.06,
           32,
           31.98,
           32.04,
           31.98,
           32.04,
           32.08,
           32.1,
           32.16,
           32.16,
           32.11,
           32.06,
           32.18,
           32.14,
           32.16,
           32.3,
           32.24,
           32.23,
           32.34,
           32.25,
           32.38,
           32.3,
           32.35,
           32.32,
           32.38,
           32.33,
           32.32,
           32.44,
           32.44,
           32.46,
           32.4,
           32.45,
           32.5,
           32.45,
           32.58,
           32.56,
           32.55,
           32.58,
           32.59,
           32.61,
           32.72,
           32.66,
           32.63,
           32.74,
           32.8,
           32.73,
           32.78,
           32.82,
           32.83,
           32.82,
           32.83,
           32.77,
           32.88,
           32.84,
           32.96,
           32.94,
           32.92,
           32.86,
           32.94,
           32.98,
           32.99,
           32.94,
           32.96,
           33.01,
           33.09,
           33.05,
           33.06,
           33.1,
           33.08,
           33.08,
           33.2,
           33.16,
           33.21,
           33.2,
           33.26,
           33.24,
           33.36,
           33.18,
           0,
           20.28,
           20.01,
           19.85,
           19.92,
           19.78,
           19.75,
           19.65,
           19.57,
           19.49,
           19.53,
           19.49,
           19.43,
           19.31,
           19.39,
           19.37,
           19.29,
           21.43,
           19.41,
           19.51,
           19.7,
           19.88,
           20,
           20.1,
           20.28,
           20.43,
           20.51,
           20.72,
           20.84,
           20.88,
           20.96,
           21.04,
           21.14,
           21.14,
           21.14,
           21.11,
           20.82,
           20.04,
           18.96,
           18.66,
           18.7,
           18.62,
           18.48,
           18.39,
           18.48,
           18.49,
           18.35,
           18.42,
           18.38,
           18.25,
           18.36,
           18.37,
           18.24,
           18.34,
           18.36,
           18.36,
           18.38,
           18.42,
           18.5,
           18.52,
           18.62,
           18.64,
           18.76,
           18.72,
           18.82,
           20.86,
           20.82,
           20.87,
           20.77,
           20.75,
           20.75,
           20.77,
           20.53,
           20.34,
           20.35,
           20.27,
           20.14,
           20.16,
           19.9,
           17.93,
           17.56,
           0,
           17.36,
           17.3,
           17.32,
           17.3,
           17.28,
           17.28,
           17.44,
           17.24,
           17.22,
           17.22,
           17.18,
           17.14,
           17.16,
           17.14,
           17.12,
           17.08,
           17.08,
           17.06,
           17.04,
           17.05,
           17.03,
           16.99,
           16.99,
           16.97,
           17.01,
           16.99,
           16.97,
           16.97,
           16.95,
           16.93,
           16.93,
           16.97,
           16.93,
           16.93,
           16.97,
           16.93,
           16.93,
           16.89,
           16.89,
           16.89,
           16.91,
           16.87,
           16.85,
           16.85,
           16.89,
           16.87,
           16.81,
           16.83,
           16.85,
           16.87,
           16.85,
           16.81,
           16.79,
           16.81,
           16.83,
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           32.76,
           32.66,
           32.72,
           32.68,
           32.62,
           32.68,
           32.66,
           32.64,
           32.66,
           32.58,
           32.6,
           32.6,
           32.62,
           32.6,
           32.52,
           32.52,
           32.56,
           32.56,
           32.48,
           32.52,
           32.6,
           32.56,
           32.54,
           32.52,
           32.48,
           32.5,
           32.48,
           32.48,
           32.48,
           32.44,
           32.5,
           32.48,
           32.5,
           32.4,
           32.42,
           32.36,
           32.46,
           32.46,
           32.34,
           32.4,
           32.38,
           32.46,
           32.4,
           32.4,
           32.34,
           32.3,
           32.34,
           32.36,
           32.24,
           32.34,
           32.32,
           32.3,
           32.28,
           32.18,
           32.2,
           32.24,
           32.24,
           32.2,
           32.2,
           32.26,
           32.18,
           32.26,
           32.24,
           32.16,
           32.16,
           32.14,
           32.24,
           32.2,
           32.18,
           32.14,
           32.16,
           32.18,
           32.24,
           32.16,
           32.06,
           32.12,
           32.2,
           32.2,
           32.12,
           32.14,
           32.08,
           32.12,
           32.2,
           32.08,
           32.1,
           32.1,
           32.14,
           32.08,
           32.04,
           32.06,
           32.18,
           32.16,
           32.1,
           32.04,
           31.95,
           32.04,
           32.1,
           32.11,
           31.93,
           32.06,
           31.99,
           32.04,
           32.06,
           31.92,
           32.06,
           31.96,
           32.02,
           32.02,
           31.98,
           31.94,
           32.08,
           32,
           32.02,
           32,
           31.88,
           31.96,
           32.02,
           32.04,
           31.94,
           32.04,
           32,
           32.04,
           32.02,
           31.96,
           32.02,
           32.06,
           32.02,
           32.02,
           32,
           32,
           32.02,
           32.02,
           31.96,
           32.04,
           32,
           32.08,
           32.04,
           32.1,
           32.06,
           32.1,
           32.1,
           32.12,
           32.08,
           32.14,
           32.12,
           32.08,
           32.18,
           32.2,
           32.12,
           32.22,
           32.2,
           32.2,
           32.22,
           32.18,
           32.18,
           32.22,
           32.26,
           32.26,
           32.22,
           32.26,
           32.26,
           32.24,
           32.26,
           32.28,
           32.3,
           32.26,
           32.32,
           32.32,
           32.32,
           32.32,
           32.26,
           32.34,
           32.34,
           32.24,
           32.3,
           32.28,
           32.32,
           32.34,
           32.32,
           32.38,
           32.32,
           32.36,
           32.36,
           32.26,
           32.3,
           32.34,
           32.4,
           32.38,
           32.4,
           32.44,
           32.46,
           32.48,
           32.5,
           32.42,
           32.5,
           32.5,
           32.52,
           32.5,
           32.48,
           32.56,
           32.62,
           32.58,
           32.58,
           32.6,
           32.66,
           32.64,
           32.62,
           32.66,
           32.66,
           32.66,
           32.74,
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           32.72,
           32.72,
           32.8,
           32.82,
           32.78,
           32.76,
           32.76,
           32.84,
           32.8,
           32.82,
           32.78,
           32.78,
           32.84,
           32.88,
           32.86,
           32.96,
           32.92,
           33.02,
           33,
           33.08,
           33.04,
           33.06,
           33.04,
           33.12,
           33.18,
           33.06,
           33.16,
           33.2,
           33.2,
           33.28,
           33.22,
           33.3,
           33.38,
           33.4,
           33.38,
           33.42,
           33.4,
           33.46,
           33.46,
           33.46,
           33.46,
           33.48,
           33.48,
           33.54,
           33.52,
           33.5,
           33.56,
           33.56,
           33.6,
           33.66,
           33.62,
           33.58,
           33.72,
           33.7,
           33.78,
           33.76,
           33.64,
           33.7,
           33.78,
           33.78,
           33.76,
           33.76,
           33.86,
           33.8,
           33.86,
           33.84,
           33.9,
           33.92,
           33.98,
           33.98,
           33.98,
           34.06,
           34.12,
           34.12,
           34.16,
           34.18,
           34.16,
           34.34,
           34.36,
           34.34,
           34.4,
           34.4,
           34.46,
           34.46,
           34.5,
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           34.58,
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           34.81,
           34.81,
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           34.7,
           34.7,
           34.72,
           34.64,
           34.68,
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           34.78,
           34.8,
           34.74,
           34.78,
           34.88,
           34.82,
           34.88,
           34.94,
           35,
           35.02,
           35.12,
           35.14,
           35.14,
           35.23,
           35.18,
           35.24,
           35.24,
           35.18,
           35.22,
           35.26,
           35.26,
           35.3,
           35.26,
           35.24,
           35.28,
           35.36,
           35.36,
           35.3,
           35.38,
           35.4,
           35.4,
           35.46,
           35.44,
           35.44,
           35.44,
           35.5,
           35.56,
           35.64,
           35.56,
           35.6,
           35.62,
           35.6,
           35.38,
           35.2,
           35.1,
           35.08,
           35.02,
           34.92,
           34.94,
           34.9,
           34.9,
           34.82,
           34.72,
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           34.8,
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           34.78,
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           34.76,
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           34.9,
           34.9,
           34.86,
           34.9,
           35.02,
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           35.16,
           35.12,
           35.3,
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           35.48,
           35.54,
           35.56,
           35.64,
           35.78,
           35.84,
           35.96,
           35.94,
           35.94,
           36,
           36.16,
           36.22,
           36.2,
           36.2,
           36.26,
           36.28,
           36.3,
           36.28,
           36.26,
           36.34,
           36.36,
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           36.4,
           36.44,
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           36.44,
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           36.46,
           36.52,
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           36.54,
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           36.52,
           36.6,
           36.58,
           36.66,
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           36.68,
           36.62,
           36.74,
           36.76,
           36.76,
           36.7,
           36.82,
           36.84,
           36.86,
           36.88,
           36.94,
           36.98,
           37.02,
           37.06,
           37,
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           37.12,
           37.18,
           37.18,
           37.16,
           37.26,
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           37.3,
           37.3,
           37.3,
           37.34,
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           38,
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           38.13,
           38.17,
           38.25,
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           0,
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           0,
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           0,
           18.18,
           18.19,
           18.15,
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           18.23,
           18.27,
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           18.25,
           18.39,
           18.34,
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           20.61,
           20.58,
           20.64,
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           20.81,
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           16.43,
           16.41,
           16.37,
           16.52,
           21.2,
           21.32,
           21.3,
           21.36,
           21.42,
           21.44,
           21.5,
           21.6,
           21.68,
           21.7,
           21.72,
           21.85,
           21.89,
           21.97,
           21.91,
           22.07,
           22.12,
           22.21,
           22.14,
           22.29,
           22.32,
           22.39,
           22.34,
           22.2,
           22.18,
           22,
           21.94,
           21.82,
           21.75,
           21.67,
           21.39,
           14.53,
           14.49,
           14.52,
           14.6,
           14.63,
           14.49,
           14.45,
           14.22,
           14.31,
           14.2,
           14.17,
           14.15,
           14.13,
           13.95,
           14.01,
           13.95,
           13.84,
           13.52,
           13.66,
           13.83,
           13.57,
           13.42,
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           13.24,
           13.06,
           13.02,
           13.2,
           13.1,
           12.97,
           13.15,
           13.17,
           13.11,
           13.25,
           13.21,
           13.17,
           13.42,
           13.52,
           13.52,
           13.12,
           12.88,
           13.2,
           13.02,
           13.3,
           12.97,
           13.06,
           12.8,
           12.87,
           12.91,
           12.74,
           13.19,
           13.3,
           0,
           13.18,
           13.24,
           13.26,
           13.32,
           13.4,
           13.84,
           13.76,
           13.4,
           13.64,
           13.96,
           14.02,
           13.73,
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           13.83,
           13.83,
           14.03,
           14.06,
           0,
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           14.07,
           14.13,
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           0,
           14.52,
           14.52,
           14.76,
           14.68,
           14.66,
           14.48,
           14.65,
           14.71,
           14.65,
           15.03,
           14.99,
           14.93,
           15.15,
           15.03,
           15.22,
           15.1,
           15.32,
           15.44,
           15.42,
           15.66,
           15.4,
           15.76,
           15.78,
           15.62,
           15.8,
           15.76,
           15.86,
           16.1,
           16.02,
           16.28,
           16.22,
           16.33,
           16.31,
           16.35,
           16.45,
           16.59,
           16.69,
           16.62,
           35.99,
           35.93,
           35.85,
           35.85,
           35.77,
           35.63,
           35.57,
           35.57,
           35.57,
           35.71,
           35.81,
           35.79,
           35.77,
           35.67,
           35.71,
           35.63,
           35.63,
           35.73,
           35.71,
           35.69,
           35.72,
           22.6,
           22.61,
           22.55,
           22.53,
           22.45,
           22.43,
           22.39,
           22.37,
           22.33,
           22.21,
           17.96,
           17.87,
           17.85,
           17.83,
           17.79,
           17.77,
           17.72,
           17.74,
           17.9,
           18,
           18.1,
           37.46,
           37.28,
           37.63,
           0,
           22.99,
           0,
           0,
           48.37,
           48.51,
           48.41,
           48.41,
           48.59,
           24.5,
           24.27,
           48.38,
           48.57,
           48.59,
           31.38,
           31.24,
           31.19,
           31.21,
           31.13,
           31.09,
           30.99,
           30.89,
           30.94,
           30.83,
           30.79,
           30.71,
           30.69,
           30.63,
           30.57,
           30.57,
           30.49,
           30.49,
           30.51,
           30.43,
           30.39,
           30.37,
           30.31,
           30.34,
           30.41,
           30.47,
           30.67,
           31.01,
           31.43,
           31.73,
           32.15,
           32.52,
           32.9,
           0,
           39.44,
           39.53,
           39.39,
           39.39,
           39.2,
           39.3,
           39.37,
           39.69,
           40.21,
           46.33,
           46.27,
           46.23,
           46.15,
           46.15,
           46.14,
           46.06,
           46.02,
           45.96,
           45.94,
           45.82,
           45.86,
           0,
           46.1,
           46.07,
           43.01,
           43,
           42.92,
           42.88,
           42.81,
           42.85,
           0,
           49.1,
           48.94,
           49.12,
           48.94,
           49.17,
           49.17,
           49.35,
           49.37,
           49.33,
           49.49,
           49.45,
           49.38,
           49.49,
           49.45,
           49.51,
           49.57,
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           49.51,
           49.53,
           49.55,
           49.53,
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           49.53,
           49.55,
           49.57,
           49.51,
           49.49,
           49.57,
           49.43,
           49.57,
           49.43,
           49.57,
           49.51,
           49.45,
           49.49,
           49.41,
           49.47,
           49.59,
           49.55,
           49.41,
           49.55,
           49.37,
           49.61,
           49.67,
           49.69,
           49.49,
           49.61,
           49.71,
           49.59,
           49.79,
           49.67,
           49.81,
           49.81,
           49.95,
           49.81,
           49.97,
           49.95,
           49.97,
           50.11,
           50.23,
           50.15,
           50.09,
           50.21,
           50.25,
           50.33,
           50.47,
           50.39,
           50.29,
           50.35,
           50.35,
           50.27,
           50.31,
           50.25,
           50.33,
           50.25,
           50.17,
           50.23,
           50.17,
           50.25,
           50.05,
           50.09,
           50.11,
           50.09,
           50.05,
           50.03,
           49.99,
           49.99,
           49.95,
           49.97,
           49.93,
           49.93,
           49.83,
           49.87,
           49.83,
           49.83,
           49.69,
           49.64,
           49.78,
           49.59,
           49.59,
           49.53,
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           18.93,
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           20.01,
           20.06,
           20.12,
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           20.2,
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           20.34,
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           0,
           14.35,
           0,
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           14.34,
           14.24,
           14.18,
           14.06,
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           13.1,
           13.02,
           12.96,
           13.02,
           13.03,
           12.98,
           13.2,
           13.36,
           13.2,
           12.84,
           13,
           12.94,
           12.48,
           12.62,
           12.42,
           12.7,
           12.82,
           12.96,
           13,
           12.9,
           13.04,
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           13.26,
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           13.81,
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           13.87,
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           14.02,
           14.12,
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           13.99,
           14.01,
           13.93,
           14.19,
           13.91,
           14.15,
           14.45,
           14.25,
           0,
           14.25,
           14.24,
           14.36,
           14.42,
           14.44,
           14.52,
           14.57,
           14.65,
           14.69,
           14.73,
           14.75,
           14.9,
           0,
           15.1,
           15.12,
           15.1,
           15.36,
           15.2,
           15.38,
           15.82,
           15.54,
           15.82,
           15.8,
           15.94,
           15.94,
           15.98,
           16.12,
           16.02,
           16.12,
           16.28,
           16.36,
           16.5,
           16.36,
           16.74,
           16.84,
           60.3,
           60.05,
           59.86,
           60.15,
           60.63,
           62.86,
           62.76,
           62.82,
           62.95,
           63.04,
           64.02,
           65.43,
           65.05,
           65.15,
           64.63,
           64.75,
           64.83,
           64.66,
           64.66,
           65.46,
           66.36,
           66.99,
           23.2,
           22.3,
           22.36,
           22.3,
           22.24,
           22.13,
           22.09,
           22.08,
           21.95,
           21.96,
           21.91,
           21.85,
           21.81,
           21.75,
           21.78,
           21.83,
           21.79,
           21.79,
           21.73,
           21.71,
           21.69,
           21.67,
           21.65,
           21.57,
           21.63,
           22.68,
           22.64,
           22.61,
           22.7,
           22.59,
           78.47,
           78.89,
           79.59,
           80.09,
           80.91,
           81.35,
           82.16,
           82.62,
           83.25,
           83.97,
           84.52,
           85.16,
           85.02,
           84.99,
           85.52,
           86.06,
           86.76,
           87.38,
           31.9,
           32.02,
           32.14,
           32.38,
           32.34,
           32.34,
           32.51,
           32.56,
           32.52,
           32.52,
           32.34,
           97,
           97.04,
           97.06,
           97.46,
           43.84,
           43.94,
           43.75,
           43.77,
           43.79,
           44.31,
           0,
           0,
           38.72,
           38.54,
           38.45,
           38.47,
           38.46,
           39.04,
           38.99,
           38.87,
           39.27,
           39.83,
           45.87,
           45.74,
           45.66,
           45.68,
           45.62,
           45.58,
           45.58,
           45.5,
           45.5,
           45.48,
           45.38,
           45.37,
           45.58,
           45.54,
           45.88,
           42.56,
           42.49,
           42.43,
           42.43,
           42.37,
           42.56,
           0,
           49.74,
           49.92,
           100.5,
           49.83,
           100.7,
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                       {\"title\":{\"text\":\"2D Array Heatmap\"},\"template\":{\"data\":{\"histogram2dcontour\":[{\"type\":\"histogram2dcontour\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"choropleth\":[{\"type\":\"choropleth\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}],\"histogram2d\":[{\"type\":\"histogram2d\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"heatmap\":[{\"type\":\"heatmap\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"heatmapgl\":[{\"type\":\"heatmapgl\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"contourcarpet\":[{\"type\":\"contourcarpet\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}],\"contour\":[{\"type\":\"contour\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"surface\":[{\"type\":\"surface\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"},\"colorscale\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]]}],\"mesh3d\":[{\"type\":\"mesh3d\",\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}],\"scatter\":[{\"fillpattern\":{\"fillmode\":\"overlay\",\"size\":10,\"solidity\":0.2},\"type\":\"scatter\"}],\"parcoords\":[{\"type\":\"parcoords\",\"line\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scatterpolargl\":[{\"type\":\"scatterpolargl\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"bar\":[{\"error_x\":{\"color\":\"#2a3f5f\"},\"error_y\":{\"color\":\"#2a3f5f\"},\"marker\":{\"line\":{\"color\":\"#E5ECF6\",\"width\":0.5},\"pattern\":{\"fillmode\":\"overlay\",\"size\":10,\"solidity\":0.2}},\"type\":\"bar\"}],\"scattergeo\":[{\"type\":\"scattergeo\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scatterpolar\":[{\"type\":\"scatterpolar\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"histogram\":[{\"marker\":{\"pattern\":{\"fillmode\":\"overlay\",\"size\":10,\"solidity\":0.2}},\"type\":\"histogram\"}],\"scattergl\":[{\"type\":\"scattergl\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scatter3d\":[{\"type\":\"scatter3d\",\"line\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}},\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scattermapbox\":[{\"type\":\"scattermapbox\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scatterternary\":[{\"type\":\"scatterternary\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"scattercarpet\":[{\"type\":\"scattercarpet\",\"marker\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}}}],\"carpet\":[{\"aaxis\":{\"endlinecolor\":\"#2a3f5f\",\"gridcolor\":\"white\",\"linecolor\":\"white\",\"minorgridcolor\":\"white\",\"startlinecolor\":\"#2a3f5f\"},\"baxis\":{\"endlinecolor\":\"#2a3f5f\",\"gridcolor\":\"white\",\"linecolor\":\"white\",\"minorgridcolor\":\"white\",\"startlinecolor\":\"#2a3f5f\"},\"type\":\"carpet\"}],\"table\":[{\"cells\":{\"fill\":{\"color\":\"#EBF0F8\"},\"line\":{\"color\":\"white\"}},\"header\":{\"fill\":{\"color\":\"#C8D4E3\"},\"line\":{\"color\":\"white\"}},\"type\":\"table\"}],\"barpolar\":[{\"marker\":{\"line\":{\"color\":\"#E5ECF6\",\"width\":0.5},\"pattern\":{\"fillmode\":\"overlay\",\"size\":10,\"solidity\":0.2}},\"type\":\"barpolar\"}],\"pie\":[{\"automargin\":true,\"type\":\"pie\"}]},\"layout\":{\"autotypenumbers\":\"strict\",\"colorway\":[\"#636efa\",\"#EF553B\",\"#00cc96\",\"#ab63fa\",\"#FFA15A\",\"#19d3f3\",\"#FF6692\",\"#B6E880\",\"#FF97FF\",\"#FECB52\"],\"font\":{\"color\":\"#2a3f5f\"},\"hovermode\":\"closest\",\"hoverlabel\":{\"align\":\"left\"},\"paper_bgcolor\":\"white\",\"plot_bgcolor\":\"#E5ECF6\",\"polar\":{\"bgcolor\":\"#E5ECF6\",\"angularaxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\"},\"radialaxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\"}},\"ternary\":{\"bgcolor\":\"#E5ECF6\",\"aaxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\"},\"baxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\"},\"caxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\"}},\"coloraxis\":{\"colorbar\":{\"outlinewidth\":0,\"ticks\":\"\"}},\"colorscale\":{\"sequential\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]],\"sequentialminus\":[[0.0,\"#0d0887\"],[0.1111111111111111,\"#46039f\"],[0.2222222222222222,\"#7201a8\"],[0.3333333333333333,\"#9c179e\"],[0.4444444444444444,\"#bd3786\"],[0.5555555555555556,\"#d8576b\"],[0.6666666666666666,\"#ed7953\"],[0.7777777777777778,\"#fb9f3a\"],[0.8888888888888888,\"#fdca26\"],[1.0,\"#f0f921\"]],\"diverging\":[[0,\"#8e0152\"],[0.1,\"#c51b7d\"],[0.2,\"#de77ae\"],[0.3,\"#f1b6da\"],[0.4,\"#fde0ef\"],[0.5,\"#f7f7f7\"],[0.6,\"#e6f5d0\"],[0.7,\"#b8e186\"],[0.8,\"#7fbc41\"],[0.9,\"#4d9221\"],[1,\"#276419\"]]},\"xaxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\",\"title\":{\"standoff\":15},\"zerolinecolor\":\"white\",\"automargin\":true,\"zerolinewidth\":2},\"yaxis\":{\"gridcolor\":\"white\",\"linecolor\":\"white\",\"ticks\":\"\",\"title\":{\"standoff\":15},\"zerolinecolor\":\"white\",\"automargin\":true,\"zerolinewidth\":2},\"scene\":{\"xaxis\":{\"backgroundcolor\":\"#E5ECF6\",\"gridcolor\":\"white\",\"linecolor\":\"white\",\"showbackground\":true,\"ticks\":\"\",\"zerolinecolor\":\"white\",\"gridwidth\":2},\"yaxis\":{\"backgroundcolor\":\"#E5ECF6\",\"gridcolor\":\"white\",\"linecolor\":\"white\",\"showbackground\":true,\"ticks\":\"\",\"zerolinecolor\":\"white\",\"gridwidth\":2},\"zaxis\":{\"backgroundcolor\":\"#E5ECF6\",\"gridcolor\":\"white\",\"linecolor\":\"white\",\"showbackground\":true,\"ticks\":\"\",\"zerolinecolor\":\"white\",\"gridwidth\":2}},\"shapedefaults\":{\"line\":{\"color\":\"#2a3f5f\"}},\"annotationdefaults\":{\"arrowcolor\":\"#2a3f5f\",\"arrowhead\":0,\"arrowwidth\":1},\"geo\":{\"bgcolor\":\"white\",\"landcolor\":\"#E5ECF6\",\"subunitcolor\":\"white\",\"showland\":true,\"showlakes\":true,\"lakecolor\":\"white\"},\"title\":{\"x\":0.05},\"mapbox\":{\"style\":\"light\"}}}},                        {\"responsive\": true}                    ).then(function(){\n",
       "                            \n",
       "var gd = document.getElementById('c2751799-6623-46a3-94e6-c22d8ae5523e');\n",
       "var x = new MutationObserver(function (mutations, observer) {{\n",
       "        var display = window.getComputedStyle(gd).display;\n",
       "        if (!display || display === 'none') {{\n",
       "            console.log([gd, 'removed!']);\n",
       "            Plotly.purge(gd);\n",
       "            observer.disconnect();\n",
       "        }}\n",
       "}});\n",
       "\n",
       "// Listen for the removal of the full notebook cells\n",
       "var notebookContainer = gd.closest('#notebook-container');\n",
       "if (notebookContainer) {{\n",
       "    x.observe(notebookContainer, {childList: true});\n",
       "}}\n",
       "\n",
       "// Listen for the clearing of the current output cell\n",
       "var outputEl = gd.closest('.output');\n",
       "if (outputEl) {{\n",
       "    x.observe(outputEl, {childList: true});\n",
       "}}\n",
       "\n",
       "                        })                };                });            </script>        </div>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import plotly.graph_objs as go\n",
    "import plotly\n",
    "\n",
    "heatmap = go.Heatmap(z=frame_image_arr[1])\n",
    "\n",
    "# 그래프 설정\n",
    "layout = go.Layout(title=\"2D Array Heatmap\")\n",
    "fig = go.Figure(data=[heatmap], layout=layout)\n",
    "\n",
    "# 그래프 출력\n",
    "plotly.io.show(fig)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 116,
   "id": "1c1b463a-ad7f-475b-819d-681690009905",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "126f110d48114c488fcb5e0cdced2f42",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "interactive(children=(IntSlider(value=0, description='time_step', max=2025), Output()), _dom_classes=('widget-…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import plotly.graph_objs as go\n",
    "import plotly.subplots as sp\n",
    "import ipywidgets as widgets\n",
    "from IPython.display import display\n",
    "\n",
    "def plot_heatmap(data):\n",
    "    heatmap = go.Heatmap(z=data)\n",
    "    layout = go.Layout(title=\"2D Array Heatmap\")\n",
    "    fig = go.Figure(data=[heatmap], layout=layout)\n",
    "    return fig\n",
    "\n",
    "# 슬라이더를 사용하여 시간 단계를 변경할 수 있는 그래프 생성\n",
    "@widgets.interact(time_step=(0, len(frame_image_arr) - 1))\n",
    "def update(time_step=0):\n",
    "    return plotly.io.show(plot_heatmap(frame_image_arr[time_step]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "id": "bb0d5a76-34e9-4516-96e4-227b6f6ba813",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "3376aa4219d54bc4addbca3454c8f87c",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "HBox(children=(Play(value=0, description='Press play', max=2025), IntSlider(value=0, description='Time step:',…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "8a56189bea544d05bacb700fd7743eb2",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "Output()"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import plotly.graph_objs as go\n",
    "import ipywidgets as widgets\n",
    "import plotly.io as pio\n",
    "from IPython.display import display\n",
    "\n",
    "def plot_heatmap(data):\n",
    "    heatmap = go.Heatmap(z=data)\n",
    "    layout = go.Layout(title=\"2D Array Heatmap\")\n",
    "    fig = go.Figure(data=[heatmap], layout=layout)\n",
    "    return fig\n",
    "\n",
    "def update(time_step=0):\n",
    "    fig = plot_heatmap(frame_image_arr[time_step])\n",
    "    pio.show(fig)\n",
    "\n",
    "# 슬라이더 생성\n",
    "time_step_slider = widgets.IntSlider(min=0, max=len(frame_image_arr) - 1, step=1, description='Time step:')\n",
    "\n",
    "# Play 위젯 생성\n",
    "play_widget = widgets.Play(\n",
    "    value=0,\n",
    "    min=0,\n",
    "    max=len(frame_image_arr) - 1,\n",
    "    step=1,\n",
    "    interval=100,  # 500ms 간격으로 값이 변경됩니다.\n",
    "    description=\"Press play\"\n",
    ")\n",
    "\n",
    "# Play 위젯과 슬라이더를 연결\n",
    "widgets.jslink((play_widget, 'value'), (time_step_slider, 'value'))\n",
    "\n",
    "# 슬라이더 값이 변경될 때마다 update 함수를 호출\n",
    "interactive_output = widgets.interactive_output(update, {'time_step': time_step_slider})\n",
    "\n",
    "# 위젯을 표시\n",
    "display(widgets.HBox([play_widget, time_step_slider]))\n",
    "display(interactive_output)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "id": "a02c48be-d4e9-4ae1-a904-c76d30e93e5d",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "182036\n"
     ]
    }
   ],
   "source": [
    "print(max_pcap_counter)\n",
    "#frame_image_arr[time_step]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 105,
   "id": "bb711fac",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "c:\\Temp\\ipykernel_30460\\1076844846.py:2: VisibleDeprecationWarning:\n",
      "\n",
      "Creating an ndarray from ragged nested sequences (which is a list-or-tuple of lists-or-tuples-or ndarrays with different lengths or shapes) is deprecated. If you meant to do this, you must specify 'dtype=object' when creating the ndarray.\n",
      "\n"
     ]
    }
   ],
   "source": [
    "print(len(frame_image_arr))\n",
    "pcap_frame = np.array(frame_image_arr)\n",
    "#pcap_frame=pcap_frame.reshape(16,len(frame_image_arr))\n",
    "#pcap_frame = pcap_frame.reshape(16,2026)\n",
    "print(pcap_frame.shape)\n",
    "\n",
    "if len(pcap_frame[1][15]) >=1800:\n",
    "    print(pcap_frame[20][15])\n",
    "    \n",
    "#for i in range(2):\n",
    "#    path = \"./\"+\"rimg_\" + str(i)+\".rimg\"\n",
    "#    print(path)\n",
    "#    write_rimg(path, frame_image_arr[i])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 81,
   "id": "c44aae83",
   "metadata": {},
   "outputs": [
    {
     "ename": "AttributeError",
     "evalue": "'list' object has no attribute 'transpose'",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
      "Cell \u001b[1;32mIn[81], line 1\u001b[0m\n\u001b[1;32m----> 1\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[43mpcap_frame\u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m2025\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m15\u001b[39;49m\u001b[43m]\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mtranspose\u001b[49m())\n",
      "\u001b[1;31mAttributeError\u001b[0m: 'list' object has no attribute 'transpose'"
     ]
    }
   ],
   "source": [
    "print(pcap_frame[2025][15].transpose())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "a0b637bd",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
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    "name": "ipython",
    "version": 3
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   "file_extension": ".py",
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   "name": "python",
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   "pygments_lexer": "ipython3",
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