194 lines
6.3 KiB
Plaintext
194 lines
6.3 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 8,
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"id": "11cc2345",
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"metadata": {},
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"outputs": [],
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"source": [
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"import awkward as ak\n",
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"import numpy as np\n",
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"from pathlib import Path"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 9,
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"id": "84348d97",
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"metadata": {},
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"outputs": [],
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"source": [
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"CAMERA_INDEX ={\n",
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" 2:\"5602\",\n",
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" 4:\"5604\",\n",
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"}\n",
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"index = 4\n",
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"CAMERA_PATH = Path(\"/home/admin/Documents/ActualTest_QuanCheng/camera_ex_params_1_2025_4_20/camera_params\")\n",
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"camera_data = ak.from_parquet(CAMERA_PATH / CAMERA_INDEX[index]/ \"extrinsic.parquet\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 10,
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"id": "1d771740",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/html": [
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"<pre>[{rvec: [[-2.26], [0.0669], [-2.15]], tvec: [[0.166], ...]},\n",
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" {rvec: [[2.07], [0.144], [2.21]], tvec: [[0.143], ...]},\n",
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" {rvec: [[2.09], [0.0872], [2.25]], tvec: [[0.141], ...]},\n",
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" {rvec: [[2.16], [0.172], [2.09]], tvec: [[0.162], ...]},\n",
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" {rvec: [[2.15], [0.18], [2.09]], tvec: [[0.162], ...]},\n",
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" {rvec: [[-2.22], [0.117], [-2.14]], tvec: [[0.162], ...]},\n",
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" {rvec: [[2.18], [0.176], [2.08]], tvec: [[0.166], ...]},\n",
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" {rvec: [[2.18], [0.176], [2.08]], tvec: [[0.166], ...]},\n",
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" {rvec: [[-2.26], [0.116], [-2.1]], tvec: [[0.17], ...]},\n",
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" {rvec: [[-2.26], [0.124], [-2.09]], tvec: [[0.171], ...]},\n",
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" ...,\n",
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" {rvec: [[-2.2], [0.0998], [-2.17]], tvec: [[0.158], ...]},\n",
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" {rvec: [[-2.2], [0.0998], [-2.17]], tvec: [[0.158], ...]},\n",
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" {rvec: [[2.12], [0.151], [2.16]], tvec: [[0.152], ...]},\n",
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" {rvec: [[-2.3], [0.0733], [-2.1]], tvec: [[0.175], ...]},\n",
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" {rvec: [[2.1], [0.16], [2.17]], tvec: [[0.149], ...]},\n",
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" {rvec: [[2.1], [0.191], [2.13]], tvec: [[0.153], ...]},\n",
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" {rvec: [[2.11], [0.196], [2.12]], tvec: [[0.154], ...]},\n",
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" {rvec: [[2.19], [0.171], [2.08]], tvec: [[0.166], ...]},\n",
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" {rvec: [[2.24], [0.0604], [2.12]], tvec: [[0.166], ...]}]\n",
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"---------------------------------------------------------------------------\n",
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"backend: cpu\n",
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"nbytes: 10.1 kB\n",
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"type: 90 * {\n",
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" rvec: var * var * float64,\n",
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" tvec: var * var * float64\n",
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"}</pre>"
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],
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"text/plain": [
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"<Array [{rvec: [...], tvec: [...]}, ..., {...}] type='90 * {rvec: var * var...'>"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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}
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],
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"source": [
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"display(camera_data)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 11,
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"id": "59fde11b",
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"metadata": {},
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"outputs": [],
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"source": [
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"data = []\n",
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"for element in camera_data:\n",
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" rvec = element[\"rvec\"]\n",
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" if rvec[0]<0:\n",
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" data.append({\"rvec\": rvec, \"tvec\": element[\"tvec\"]})"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 12,
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"id": "4792cbc4",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"<pyarrow._parquet.FileMetaData object at 0x7799cbf62d40>\n",
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" created_by: parquet-cpp-arrow version 19.0.1\n",
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" num_columns: 2\n",
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" num_rows: 30\n",
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" num_row_groups: 1\n",
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" format_version: 2.6\n",
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" serialized_size: 0"
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]
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},
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"execution_count": 12,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"ak.to_parquet(ak.from_iter(data),\"/home/admin/Documents/ActualTest_QuanCheng/camera_ex_params_1_2025_4_20/camera_params/5604/re_extrinsic.parquet\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 13,
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"id": "8225ee33",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/html": [
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" {rvec: [[-2.26], [0.116], [-2.1]], tvec: [[0.17], ...]},\n",
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" {rvec: [[-2.26], [0.124], [-2.09]], tvec: [[0.171], ...]},\n",
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" {rvec: [[-2.24], [0.133], [-2.11]], tvec: [[0.167], ...]},\n",
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" {rvec: [[-2.22], [0.0556], [-2.2]], tvec: [[0.158], ...]},\n",
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" {rvec: [[-2.34], [0.0663], [-2.06]], tvec: [[0.181], ...]},\n",
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" {rvec: [[-2.21], [0.117], [-2.15]], tvec: [[0.161], ...]},\n",
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" {rvec: [[-2.33], [0.0731], [-2.08]], tvec: [[0.179], ...]},\n",
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" ...,\n",
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" {rvec: [[-2.23], [0.106], [-2.13]], tvec: [[0.166], ...]},\n",
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" {rvec: [[-2.21], [0.054], [-2.2]], tvec: [[0.157], ...]},\n",
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" {rvec: [[-2.19], [0.0169], [-2.25]], tvec: [[0.151], ...]},\n",
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" {rvec: [[-2.2], [0.0719], [-2.19]], tvec: [[0.157], ...]},\n",
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" {rvec: [[-2.22], [0.0726], [-2.18]], tvec: [[0.161], ...]},\n",
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" {rvec: [[-2.2], [0.0742], [-2.19]], tvec: [[0.158], ...]},\n",
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" {rvec: [[-2.2], [0.0998], [-2.17]], tvec: [[0.158], ...]},\n",
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" {rvec: [[-2.2], [0.0998], [-2.17]], tvec: [[0.158], ...]},\n",
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" {rvec: [[-2.3], [0.0733], [-2.1]], tvec: [[0.175], ...]}]\n",
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"---------------------------------------------------------------------------\n",
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"backend: cpu\n",
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"nbytes: 3.4 kB\n",
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"type: 30 * {\n",
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" rvec: var * var * float64,\n",
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" tvec: var * var * float64\n",
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"}</pre>"
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],
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"text/plain": [
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"<Array [{rvec: [...], tvec: [...]}, ..., {...}] type='30 * {rvec: var * var...'>"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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}
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],
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"source": [
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"temp_data = ak.from_parquet(\"/home/admin/Documents/ActualTest_QuanCheng/camera_ex_params_1_2025_4_20/camera_params/5604/re_extrinsic.parquet\")\n",
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"display(temp_data)"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": ".venv",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.9"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}
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