{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "11cc2345",
   "metadata": {},
   "outputs": [],
   "source": [
    "import awkward as ak\n",
    "import numpy as np\n",
    "from pathlib import Path"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "84348d97",
   "metadata": {},
   "outputs": [],
   "source": [
    "CAMERA_INDEX ={\n",
    "    2:\"5602\",\n",
    "    4:\"5604\",\n",
    "}\n",
    "index = 4\n",
    "CAMERA_PATH = Path(\"/home/admin/Documents/ActualTest_QuanCheng/camera_ex_params_1_2025_4_20/camera_params\")\n",
    "camera_data = ak.from_parquet(CAMERA_PATH / CAMERA_INDEX[index]/ \"extrinsic.parquet\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "1d771740",
   "metadata": {},
   "outputs": [
    {
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       "---------------------------------------------------------------------------\n",
       "backend: cpu\n",
       "nbytes: 10.1 kB\n",
       "type: 90 * {\n",
       "    rvec: var * var * float64,\n",
       "    tvec: var * var * float64\n",
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      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "display(camera_data)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "59fde11b",
   "metadata": {},
   "outputs": [],
   "source": [
    "data = []\n",
    "for element in camera_data:\n",
    "    rvec = element[\"rvec\"]\n",
    "    if rvec[0]<0:\n",
    "        data.append({\"rvec\": rvec, \"tvec\": element[\"tvec\"]})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "4792cbc4",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       "  serialized_size: 0"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "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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   "outputs": [
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       "backend: cpu\n",
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       "    rvec: var * var * float64,\n",
       "    tvec: var * var * float64\n",
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     },
     "metadata": {},
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    }
   ],
   "source": [
    "temp_data = ak.from_parquet(\"/home/admin/Documents/ActualTest_QuanCheng/camera_ex_params_1_2025_4_20/camera_params/5604/re_extrinsic.parquet\")\n",
    "display(temp_data)"
   ]
  }
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