Recon_APS_APRIL_18.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import reconstruction\n",
    "import MicFileTool\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# find parameters"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(256, 3)\n",
      "7\n",
      "voxelpos shape is (10000, 3)\n",
      "loading det 0, rotation 0\n",
      "loading det 0, rotation 1\n",
      "loading det 0, rotation 2\n",
      "loading det 0, rotation 3\n",
      "loading det 0, rotation 4\n",
      "loading det 0, rotation 5\n",
      "loading det 0, rotation 6\n",
      "loading det 0, rotation 7\n",
      "loading det 0, rotation 8\n",
      "loading det 0, rotation 9\n",
      "loading det 0, rotation 10\n",
      "loading det 0, rotation 11\n",
      "loading det 0, rotation 12\n",
      "loading det 0, rotation 13\n",
      "loading det 0, rotation 14\n",
      "loading det 0, rotation 15\n",
      "loading det 0, rotation 16\n",
      "loading det 0, rotation 17\n",
      "loading det 0, rotation 18\n",
      "loading det 0, rotation 19\n",
      "loading det 0, rotation 20\n",
      "loading det 0, rotation 21\n",
      "loading det 0, rotation 22\n",
      "loading det 0, rotation 23\n",
      "loading det 0, rotation 24\n",
      "loading det 0, rotation 25\n",
      "loading det 0, rotation 26\n",
      "loading det 0, rotation 27\n",
      "loading det 0, rotation 28\n",
      "loading det 0, rotation 29\n",
      "loading det 0, rotation 30\n",
      "loading det 0, rotation 31\n",
      "loading det 0, rotation 32\n",
      "loading det 0, rotation 33\n",
      "loading det 0, rotation 34\n",
      "loading det 0, rotation 35\n",
      "loading det 0, rotation 36\n",
      "loading det 0, rotation 37\n",
      "loading det 0, rotation 38\n",
      "loading det 0, rotation 39\n",
      "loading det 0, rotation 40\n",
      "loading det 0, rotation 41\n",
      "loading det 0, rotation 42\n",
      "loading det 0, rotation 43\n",
      "loading det 0, rotation 44\n",
      "loading det 0, rotation 45\n",
      "loading det 0, rotation 46\n",
      "loading det 0, rotation 47\n",
      "loading det 0, rotation 48\n",
      "loading det 0, rotation 49\n",
      "loading det 0, rotation 50\n",
      "loading det 0, rotation 51\n",
      "loading det 0, rotation 52\n",
      "loading det 0, rotation 53\n",
      "loading det 0, rotation 54\n",
      "loading det 0, rotation 55\n",
      "loading det 0, rotation 56\n",
      "loading det 0, rotation 57\n",
      "loading det 0, rotation 58\n",
      "loading det 0, rotation 59\n",
      "loading det 0, rotation 60\n",
      "loading det 0, rotation 61\n",
      "loading det 0, rotation 62\n",
      "loading det 0, rotation 63\n",
      "loading det 0, rotation 64\n",
      "loading det 0, rotation 65\n",
      "loading det 0, rotation 66\n",
      "loading det 0, rotation 67\n",
      "loading det 0, rotation 68\n",
      "loading det 0, rotation 69\n",
      "loading det 0, rotation 70\n",
      "loading det 0, rotation 71\n",
      "loading det 0, rotation 72\n",
      "loading det 0, rotation 73\n",
      "loading det 0, rotation 74\n",
      "loading det 0, rotation 75\n",
      "loading det 0, rotation 76\n",
      "loading det 0, rotation 77\n",
      "loading det 0, rotation 78\n",
      "loading det 0, rotation 79\n",
      "loading det 0, rotation 80\n",
      "loading det 0, rotation 81\n",
      "loading det 0, rotation 82\n",
      "loading det 0, rotation 83\n",
      "loading det 0, rotation 84\n",
      "loading det 0, rotation 85\n",
      "loading det 0, rotation 86\n",
      "loading det 0, rotation 87\n",
      "loading det 0, rotation 88\n",
      "loading det 0, rotation 89\n",
      "loading det 0, rotation 90\n",
      "loading det 0, rotation 91\n",
      "loading det 0, rotation 92\n",
      "loading det 0, rotation 93\n",
      "loading det 0, rotation 94\n",
      "loading det 0, rotation 95\n",
      "loading det 0, rotation 96\n",
      "loading det 0, rotation 97\n",
      "loading det 0, rotation 98\n",
      "loading det 0, rotation 99\n",
      "loading det 0, rotation 100\n",
      "loading det 0, rotation 101\n",
      "loading det 0, rotation 102\n",
      "loading det 0, rotation 103\n",
      "loading det 0, rotation 104\n",
      "loading det 0, rotation 105\n",
      "loading det 0, rotation 106\n",
      "loading det 0, rotation 107\n",
      "loading det 0, rotation 108\n",
      "loading det 0, rotation 109\n",
      "loading det 0, rotation 110\n",
      "loading det 0, rotation 111\n",
      "loading det 0, rotation 112\n",
      "loading det 0, rotation 113\n",
      "loading det 0, rotation 114\n",
      "loading det 0, rotation 115\n",
      "loading det 0, rotation 116\n",
      "loading det 0, rotation 117\n",
      "loading det 0, rotation 118\n",
      "loading det 0, rotation 119\n",
      "loading det 0, rotation 120\n",
      "loading det 0, rotation 121\n",
      "loading det 0, rotation 122\n",
      "loading det 0, rotation 123\n",
      "loading det 0, rotation 124\n",
      "loading det 0, rotation 125\n",
      "loading det 0, rotation 126\n",
      "loading det 0, rotation 127\n",
      "loading det 0, rotation 128\n",
      "loading det 0, rotation 129\n",
      "loading det 0, rotation 130\n",
      "loading det 0, rotation 131\n",
      "loading det 0, rotation 132\n",
      "loading det 0, rotation 133\n",
      "loading det 0, rotation 134\n",
      "loading det 0, rotation 135\n",
      "loading det 0, rotation 136\n",
      "loading det 0, rotation 137\n",
      "loading det 0, rotation 138\n",
      "loading det 0, rotation 139\n",
      "loading det 0, rotation 140\n",
      "loading det 0, rotation 141\n",
      "loading det 0, rotation 142\n",
      "loading det 0, rotation 143\n",
      "loading det 0, rotation 144\n",
      "loading det 0, rotation 145\n",
      "loading det 0, rotation 146\n",
      "loading det 0, rotation 147\n",
      "loading det 0, rotation 148\n",
      "loading det 0, rotation 149\n",
      "loading det 0, rotation 150\n",
      "loading det 0, rotation 151\n",
      "loading det 0, rotation 152\n",
      "loading det 0, rotation 153\n",
      "loading det 0, rotation 154\n",
      "loading det 0, rotation 155\n",
      "loading det 0, rotation 156\n",
      "loading det 0, rotation 157\n",
      "loading det 0, rotation 158\n",
      "loading det 0, rotation 159\n",
      "loading det 0, rotation 160\n",
      "loading det 0, rotation 161\n",
      "loading det 0, rotation 162\n",
      "loading det 0, rotation 163\n",
      "loading det 0, rotation 164\n",
      "loading det 0, rotation 165\n",
      "loading det 0, rotation 166\n",
      "loading det 0, rotation 167\n",
      "loading det 0, rotation 168\n",
      "loading det 0, rotation 169\n",
      "loading det 0, rotation 170\n",
      "loading det 0, rotation 171\n",
      "loading det 0, rotation 172\n",
      "loading det 0, rotation 173\n",
      "loading det 0, rotation 174\n",
      "loading det 0, rotation 175\n",
      "loading det 0, rotation 176\n",
      "loading det 0, rotation 177\n",
      "loading det 0, rotation 178\n",
      "loading det 0, rotation 179\n",
      "loading det 1, rotation 0\n",
      "loading det 1, rotation 1\n",
      "loading det 1, rotation 2\n",
      "loading det 1, rotation 3\n",
      "loading det 1, rotation 4\n",
      "loading det 1, rotation 5\n",
      "loading det 1, rotation 6\n",
      "loading det 1, rotation 7\n",
      "loading det 1, rotation 8\n",
      "loading det 1, rotation 9\n",
      "loading det 1, rotation 10\n",
      "loading det 1, rotation 11\n",
      "loading det 1, rotation 12\n",
      "loading det 1, rotation 13\n",
      "loading det 1, rotation 14\n",
      "loading det 1, rotation 15\n",
      "loading det 1, rotation 16\n",
      "loading det 1, rotation 17\n",
      "loading det 1, rotation 18\n",
      "loading det 1, rotation 19\n",
      "loading det 1, rotation 20\n",
      "loading det 1, rotation 21\n",
      "loading det 1, rotation 22\n",
      "loading det 1, rotation 23\n",
      "loading det 1, rotation 24\n",
      "loading det 1, rotation 25\n",
      "loading det 1, rotation 26\n",
      "loading det 1, rotation 27\n",
      "loading det 1, rotation 28\n",
      "loading det 1, rotation 29\n",
      "loading det 1, rotation 30\n",
      "loading det 1, rotation 31\n",
      "loading det 1, rotation 32\n",
      "loading det 1, rotation 33\n",
      "loading det 1, rotation 34\n",
      "loading det 1, rotation 35\n",
      "loading det 1, rotation 36\n",
      "loading det 1, rotation 37\n",
      "loading det 1, rotation 38\n",
      "loading det 1, rotation 39\n",
      "loading det 1, rotation 40\n",
      "loading det 1, rotation 41\n",
      "loading det 1, rotation 42\n",
      "loading det 1, rotation 43\n",
      "loading det 1, rotation 44\n",
      "loading det 1, rotation 45\n",
      "loading det 1, rotation 46\n",
      "loading det 1, rotation 47\n",
      "loading det 1, rotation 48\n",
      "loading det 1, rotation 49\n",
      "loading det 1, rotation 50\n",
      "loading det 1, rotation 51\n",
      "loading det 1, rotation 52\n",
      "loading det 1, rotation 53\n",
      "loading det 1, rotation 54\n",
      "loading det 1, rotation 55\n",
      "loading det 1, rotation 56\n",
      "loading det 1, rotation 57\n",
      "loading det 1, rotation 58\n",
      "loading det 1, rotation 59\n",
      "loading det 1, rotation 60\n",
      "loading det 1, rotation 61\n",
      "loading det 1, rotation 62\n",
      "loading det 1, rotation 63\n",
      "loading det 1, rotation 64\n",
      "loading det 1, rotation 65\n",
      "loading det 1, rotation 66\n",
      "loading det 1, rotation 67\n",
      "loading det 1, rotation 68\n",
      "loading det 1, rotation 69\n",
      "loading det 1, rotation 70\n",
      "loading det 1, rotation 71\n",
      "loading det 1, rotation 72\n",
      "loading det 1, rotation 73\n",
      "loading det 1, rotation 74\n",
      "loading det 1, rotation 75\n",
      "loading det 1, rotation 76\n",
      "loading det 1, rotation 77\n",
      "loading det 1, rotation 78\n",
      "loading det 1, rotation 79\n",
      "loading det 1, rotation 80\n",
      "loading det 1, rotation 81\n",
      "loading det 1, rotation 82\n",
      "loading det 1, rotation 83\n",
      "loading det 1, rotation 84\n",
      "loading det 1, rotation 85\n",
      "loading det 1, rotation 86\n",
      "loading det 1, rotation 87\n",
      "loading det 1, rotation 88\n",
      "loading det 1, rotation 89\n",
      "loading det 1, rotation 90\n",
      "loading det 1, rotation 91\n",
      "loading det 1, rotation 92\n",
      "loading det 1, rotation 93\n",
      "loading det 1, rotation 94\n",
      "loading det 1, rotation 95\n",
      "loading det 1, rotation 96\n",
      "loading det 1, rotation 97\n",
      "loading det 1, rotation 98\n",
      "loading det 1, rotation 99\n",
      "loading det 1, rotation 100\n",
      "loading det 1, rotation 101\n",
      "loading det 1, rotation 102\n",
      "loading det 1, rotation 103\n",
      "loading det 1, rotation 104\n",
      "loading det 1, rotation 105\n",
      "loading det 1, rotation 106\n",
      "loading det 1, rotation 107\n",
      "loading det 1, rotation 108\n",
      "loading det 1, rotation 109\n",
      "loading det 1, rotation 110\n",
      "loading det 1, rotation 111\n",
      "loading det 1, rotation 112\n",
      "loading det 1, rotation 113\n",
      "loading det 1, rotation 114\n",
      "loading det 1, rotation 115\n",
      "loading det 1, rotation 116\n",
      "loading det 1, rotation 117\n",
      "loading det 1, rotation 118\n",
      "loading det 1, rotation 119\n",
      "loading det 1, rotation 120\n",
      "loading det 1, rotation 121\n",
      "loading det 1, rotation 122\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "loading det 1, rotation 123\n",
      "loading det 1, rotation 124\n",
      "loading det 1, rotation 125\n",
      "loading det 1, rotation 126\n",
      "loading det 1, rotation 127\n",
      "loading det 1, rotation 128\n",
      "loading det 1, rotation 129\n",
      "loading det 1, rotation 130\n",
      "loading det 1, rotation 131\n",
      "loading det 1, rotation 132\n",
      "loading det 1, rotation 133\n",
      "loading det 1, rotation 134\n",
      "loading det 1, rotation 135\n",
      "loading det 1, rotation 136\n",
      "loading det 1, rotation 137\n",
      "loading det 1, rotation 138\n",
      "loading det 1, rotation 139\n",
      "loading det 1, rotation 140\n",
      "loading det 1, rotation 141\n",
      "loading det 1, rotation 142\n",
      "loading det 1, rotation 143\n",
      "loading det 1, rotation 144\n",
      "loading det 1, rotation 145\n",
      "loading det 1, rotation 146\n",
      "loading det 1, rotation 147\n",
      "loading det 1, rotation 148\n",
      "loading det 1, rotation 149\n",
      "loading det 1, rotation 150\n",
      "loading det 1, rotation 151\n",
      "loading det 1, rotation 152\n",
      "loading det 1, rotation 153\n",
      "loading det 1, rotation 154\n",
      "loading det 1, rotation 155\n",
      "loading det 1, rotation 156\n",
      "loading det 1, rotation 157\n",
      "loading det 1, rotation 158\n",
      "loading det 1, rotation 159\n",
      "loading det 1, rotation 160\n",
      "loading det 1, rotation 161\n",
      "loading det 1, rotation 162\n",
      "loading det 1, rotation 163\n",
      "loading det 1, rotation 164\n",
      "loading det 1, rotation 165\n",
      "loading det 1, rotation 166\n",
      "loading det 1, rotation 167\n",
      "loading det 1, rotation 168\n",
      "loading det 1, rotation 169\n",
      "loading det 1, rotation 170\n",
      "loading det 1, rotation 171\n",
      "loading det 1, rotation 172\n",
      "loading det 1, rotation 173\n",
      "loading det 1, rotation 174\n",
      "loading det 1, rotation 175\n",
      "loading det 1, rotation 176\n",
      "loading det 1, rotation 177\n",
      "loading det 1, rotation 178\n",
      "loading det 1, rotation 179\n",
      "exp data loaded, shape is: (43503060, 4).\n",
      "=============start of copy exp data to gpu ===========\n",
      "start of creating texture memory\n",
      "end of creating texture memory\n",
      "=============end of copy exp data to gpu ===========\n"
     ]
    }
   ],
   "source": [
    "# prepare reconstructor, load in data\n",
    "S = reconstruction.Reconstructor_GPU()\n",
    "S.set_Q(7)\n",
    "print(S.maxQ)\n",
    "S.FZFile = '/home/hedm/work/I9_test_data/FIT/DataFiles/HexFZ.dat'         # fundamental zone file\n",
    "S.expDataInitial = '/home/hedm/work/I9_test_data/Integrated/S18_z1_'      # educed binary data\n",
    "S.expdataNDigit = 6                                                       # number of digit in the binary file name\n",
    "S.create_square_mic([100,100],voxelsize=0.01)                             # resolution of reconstruction and voxel size\n",
    "S.squareMicOutFile = 'SearchBatchSize_13000_100x100_0.01.npy'             # output file name\n",
    "S.searchBatchSize = 13000                                                 # number of orientations search at each iteration, larger number will take longer time.\n",
    "S.recon_prepare()                                                         # load data to gpu,"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2011.11111111 2011.11111111]], max hitratio is  0.40000000596 ||angle [110.39322536  85.09152142 274.9896724 ]  \n",
      "update L to [[5.22222222 7.22222222]], max hitratio is  0.40000000596 ||euler angle [201.08100255  39.45258437 157.35975787]  \n",
      "update J to [[1017.70534974 1017.70534974]], max hitratio is  0.466666668653 ||ngle [247.79374429 119.13784329 321.63369331] \n",
      "update K to [[2011.11111111 2010.52685871]], max hitratio is  0.488888889551 ||ngle [343.6164086   87.88827888  22.29761017] \n",
      "update L to [[5.22222222 7.22546807]], max hitratio is  0.488888889551 ||uler angle [163.35020335  92.39010429 217.73006352] \n",
      "update J to [[1017.70534974 1016.06443574]], max hitratio is  0.478260874748 ||ngle [343.50786458  87.90236954  22.10971974] \n",
      "update rot to [[[ 9.00000000e+01  9.00000000e+01  0.00000000e+00]ructed euler angle [343.30074398  87.46431547  22.1507914 ] \n",
      "  [ 8.99994770e+01  8.99998305e+01 -3.41932163e-04]]], max hitratio is  0.444444447756 ,shape or rot is (1, 2, 3)||\n",
      "(1.7, 170.0, 85.0)\n",
      "update K to [[2010.62455717 2010.04030477]], max hitratio is  0.37209302187 ||angle [115.18713777  74.53490345 264.46560799]  \n",
      "update L to [[5.22970602 7.23295187]], max hitratio is  0.340909093618 ||uler angle [183.50680156  23.74884064 169.16315917]  \n",
      "update J to [[1027.30370377 1025.66278977]], max hitratio is  0.466666668653 ||ngle [191.10816055 105.30728233 138.50533509] \n",
      "update K to [[2010.62455717 2009.83661376]], max hitratio is  0.441860467196 ||ngle [344.03094548  87.39485914  21.49041631] \n",
      "update L to [[5.22970602 7.23335938]], max hitratio is  0.418604642153 ||uler angle [343.48904054  87.34148815  21.76815412] \n",
      "update J to [[1027.30370377 1025.5588744 ]], max hitratio is  0.418604642153 ||ngle [343.60184629  87.35529205  21.79674942] \n",
      "update rot to [[[ 9.00000000e+01  9.00000000e+01  0.00000000e+00]ructed euler angle [343.88491736  87.60571382  21.42596125] \n",
      "  [ 8.99994770e+01  8.99998305e+01 -3.41932163e-04]]], max hitratio is  0.428571432829 ,shape or rot is (1, 2, 3)||\n",
      "(1.4449999999999998, 144.5, 72.25)\n",
      "update K to [[2009.40671336 2008.61876994]], max hitratio is  0.533333361149 ||ngle [ 87.69079096  57.43609861 234.8827182 ]  \n",
      "update L to [[5.24977547 7.25342882]], max hitratio is  0.5 ||nstructed euler angle [168.0072036   63.85015782 184.45085679]  \n",
      "update J to [[1024.55069316 1022.80586379]], max hitratio is  0.555555582047 ||ngle [174.43795026  55.307542   183.02848323] \n",
      "update K to [[2009.40671336 2007.99934256]], max hitratio is  0.555555582047 ||ngle [343.31986861  87.53641482  22.19442832] \n",
      "update L to [[5.24977547 7.25247623]], max hitratio is  0.555555582047 ||uler angle [343.49056915  87.41908587  21.97180033] \n",
      "update J to [[1024.55069316 1020.94758163]], max hitratio is  0.555555582047 ||ngle [343.30303987  87.47846064  22.15620303] \n",
      "update rot to [[[ 9.00000000e+01  9.00000000e+01  0.00000000e+00]ructed euler angle [343.39489065  87.30966612  21.97234352] \n",
      "  [ 8.99994770e+01  8.99998305e+01 -3.41932163e-04]]], max hitratio is  0.555555582047 ,shape or rot is (1, 2, 3)||\n",
      "(1.2282499999999998, 122.825, 61.4125)\n",
      "update K to [[2009.65943972 2008.25206892]], max hitratio is  0.333333343267 ||ngle [ 96.0694247   95.72166553 271.398195  ] \n",
      "update L to [[5.24472094 7.2474217 ]], max hitratio is  0.333333343267 ||uler angle [130.04827819  86.94394357 208.45938233]  \n",
      "update J to [[1028.39570352 1024.79259199]], max hitratio is  0.454545468092 ||gle [163.33464522  92.51321169 217.76070454]  \n",
      "update K to [[2009.65943972 2008.04844645]], max hitratio is  0.404761910439 ||ngle [343.58168386  87.02867898  22.01937839] \n",
      "update L to [[5.24472094 7.2477901 ]], max hitratio is  0.404761910439 ||uler angle [343.48685156  87.2324031   21.90903942] \n",
      "update J to [[1028.39570352 1024.86046615]], max hitratio is  0.404761910439 ||ngle [343.52149364  87.20392117  21.8974864 ] \n",
      "update rot to [[[90.22532829 89.76622267 -0.56608435]: 43,reconstructed euler angle [343.79353001  86.81458674  21.87597022] \n",
      "  [90.79903723 89.60089887 -0.57906907]]], max hitratio is  0.418604642153 ,shape or rot is (1, 2, 3)||\n",
      "(1.0440124999999998, 104.40125, 52.200625)\n",
      "update K to [[2009.26504147 2007.6540482 ]], max hitratio is  0.408163279295 ||angle [303.55923149  93.81142583  30.10891974] \n",
      "update L to [[5.26876839 7.27183755]], max hitratio is  0.591836750507 ||uler angle [254.74898099  56.62184636 115.29758042]  \n",
      "update J to [[1022.12142922 1018.58619184]], max hitratio is  0.425925940275 ||ngle [239.11680866  99.44154405 146.4993848 ] \n",
      "update K to [[2009.26504147 2007.56951141]], max hitratio is  0.387755095959 ||ngle [ 48.07125391  71.41821957 324.88363254] \n",
      "update L to [[5.26876839 7.27448195]], max hitratio is  0.408163279295 ||uler angle [ 28.04490968  70.09354583 324.53520665] \n",
      "update J to [[1022.12142922 1018.10056344]], max hitratio is  0.395833343267 ||ngle [ 27.99246816  70.12068042 324.38092825] \n",
      "update rot to [[[90.22532829 89.76622267 -0.56608435]: 48,reconstructed euler angle [ 27.94962404  70.39519983 324.67875461] \n",
      "  [90.79903723 89.60089887 -0.57906907]]], max hitratio is  0.375 ,shape or rot is (1, 2, 3)||\n",
      "(0.8874106249999998, 88.7410625, 44.37053125)\n",
      "update K to [[2009.03394495 2007.33841489]], max hitratio is  0.25 ||ted euler angle [ 87.68163154  43.74900658 293.21764284] \n",
      "update L to [[5.27408446 7.27979803]], max hitratio is  0.377777785063 ||uler angle [ 56.865566    76.85847975 320.01799722]  \n",
      "update J to [[1018.5551252  1014.53425942]], max hitratio is  0.416666656733 ||ngle [ 28.5625727    8.70414057 330.64972949] \n",
      "update K to [[2009.03394495 2007.30149038]], max hitratio is  0.255319148302 ||ngle [ 48.61137118  74.94011705 318.90440126] \n",
      "update L to [[5.27408446 7.28040567]], max hitratio is  0.25 ||uler angle [  1.81738795 100.84650681 320.53184445] 3391013 ] \n",
      "update J to [[1018.5551252  1014.41610332]], max hitratio is  0.260869562626 ||ngle [ 48.15771556  74.86131821 318.54718227] \n",
      "update rot to [[[90.22532829 89.76622267 -0.56608435] 41,reconstructed euler angle [255.45098722  94.47170012  89.92187197]  \n",
      "  [90.79903723 89.60089887 -0.57906907]]], max hitratio is  0.239130437374 ,shape or rot is (1, 2, 3)||\n",
      "(0.7542990312499998, 75.429903125, 37.7149515625)\n",
      "update K to [[2007.61708215 2005.88462758]], max hitratio is  0.407407402992 ||ngle [ 49.45293208  74.11127415 319.97966716] \n",
      "update L to [[5.33146741 7.33778861]], max hitratio is  0.611111104488 ||uler angle [ 22.65885724  66.63056465 332.83069289]  \n",
      "update J to [[1021.15539016 1017.01636829]], max hitratio is  0.469387769699 ||ngle [ 27.53625609  70.51405215 324.76197179] \n",
      "update K to [[2007.61708215 2005.94151838]], max hitratio is  0.448979586363 ||ngle [ 28.08657531  70.61186881 324.46808425] \n",
      "update L to [[5.33146741 7.34187487]], max hitratio is  0.433962255716 ||uler angle [174.8494826   55.88427064 243.06574994] \n",
      "update J to [[1021.15539016 1017.17428123]], max hitratio is  0.4375 ||ngle [ 27.88790416  70.69660358 324.61031529] 369837] \n",
      "update rot to [[[90.45173763 89.53638055  0.38101268]onstructed euler angle [ 27.72103657  70.52983637 324.84483496] 874385] \n",
      "  [89.3646341  89.17295707  0.34693982]]], max hitratio is  0.479166656733 ,shape or rot is (1, 2, 3)||\n",
      "(0.6411541765624997, 64.11541765624999, 32.057708828124994)\n",
      "update K to [[2008.55521357 2006.8796498 ]], max hitratio is  0.444444447756 ||ngle [342.94371701  89.71752638  23.36769458] \n",
      "update L to [[5.32314306 7.33355052]], max hitratio is  0.488888889551 ||ler angle [ 96.22862971  78.92838857 249.32867903]  \n",
      "update J to [[1006.98188938 1003.00078045]], max hitratio is  0.604651153088 ||ngle [141.99635185  61.10813221 203.87444046] \n",
      "update K to [[2008.55521357 2006.90508794]], max hitratio is  0.522727251053 ||7154849  92.5542201  217.82805229] .38219085] \n",
      "update L to [[5.32314306 7.33607891]], max hitratio is  0.533333361149 ||uler angle [343.37970036  87.32027363  22.02028799] \n",
      "update J to [[1006.98188938 1002.3139506 ]], max hitratio is  0.522727251053 ||ngle [163.37753719  92.63340948 217.78973154] \n",
      "update rot to [[[89.35850372 89.43589568 -0.60967889] 45,reconstructed euler angle [343.54444431  87.0887231   21.86325815]  \n",
      "  [89.9491941  90.13890582 -0.25594217]]], max hitratio is  0.62222224474 ,shape or rot is (1, 2, 3)||\n",
      "(0.5449810500781248, 54.49810500781249, 27.249052503906245)\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2007.7021878  2006.05206218]], max hitratio is  0.454545468092 ||ngle [ 48.57418663  75.89086084 319.50991212] \n",
      "update L to [[5.33352602 7.34646188]], max hitratio is  0.555555582047 ||uler angle [164.18981115  93.37920444 219.16251979] \n",
      "update J to [[1010.76648001 1006.09854122]], max hitratio is  0.5 ||ted euler angle [174.6071066   55.18509872 182.77407283] \n",
      "update K to [[2007.7021878  2005.92669606]], max hitratio is  0.490909099579 ||ngle [174.59970245  55.67552802 183.30975052] \n",
      "update L to [[5.33352602 7.3468992 ]], max hitratio is  0.428571432829 ||uler angle [174.44741626  55.53688828 183.09360259] \n",
      "update J to [[1010.76648001 1005.99129276]], max hitratio is  0.428571432829 ||ngle [174.40864803  55.6367483  183.29364522] \n",
      "update rot to [[[8.96136413e+01 8.98153387e+01 3.07039614e-01]nstructed euler angle [174.11837878  55.27795968 184.02148384] \n",
      "  [8.94107314e+01 8.99876127e+01 1.71332110e-02]]], max hitratio is  0.490909099579 ,shape or rot is (1, 2, 3)||\n",
      "(0.46323389256640607, 46.32338925664062, 23.16169462832031)\n",
      "update K to [[2008.19008185 2006.41459011]], max hitratio is  0.574468076229 ||ngle [ 28.15306938  68.44256536 324.46024043] \n",
      "update L to [[5.34223935 7.35561253]], max hitratio is  0.553191483021 ||uler angle [174.71506398  56.27497728 182.40106233] \n",
      "update J to [[1009.74481586 1004.96962861]], max hitratio is  0.583333313465 ||ngle [ 27.45880165  70.88016336 325.09656772] \n",
      "update K to [[2008.19008185 2006.44481733]], max hitratio is  0.617021262646 ||ngle [ 27.646764    70.97651786 324.97971682] \n",
      "update L to [[5.34223935 7.35208858]], max hitratio is  0.595744669437 ||uler angle [ 27.46674481  70.93048807 325.14082934] \n",
      "update J to [[1009.74481586 1004.5162203 ]], max hitratio is  0.617021262646 ||ngle [ 27.53771475  70.76993869 325.04329176] \n",
      "update rot to [[[8.98518840e+01 9.01888345e+01 8.72686693e-02]nstructed euler angle [ 27.70709217  71.03817413 324.89682779] \n",
      "  [8.99476117e+01 9.04370793e+01 1.14802989e-01]]], max hitratio is  0.659574449062 ,shape or rot is (1, 2, 3)||\n",
      "(0.39374880868144513, 39.37488086814452, 19.68744043407226)\n",
      "update K to [[2007.32420923 2005.57894471]], max hitratio is  0.509090900421 ||ngle [181.00677497  80.54940394 160.18330367] \n",
      "update L to [[5.34833851 7.35818774]], max hitratio is  0.518518507481 ||uler angle [ 58.66483865  80.382215   275.0624551 ] \n",
      "update J to [[1011.38543589 1006.15684034]], max hitratio is  0.5 ||ted euler angle [181.08861414  78.6744491  158.98706476] \n",
      "update K to [[2007.32420923 2005.65661358]], max hitratio is  0.521739125252 ||ngle [180.94833576  78.60028694 158.99953721] \n",
      "update L to [[5.34833851 7.3590177 ]], max hitratio is  0.530612230301 ||uler angle [181.1404143   78.5830214  159.13926969] \n",
      "update J to [[1011.38543589 1005.6827872 ]], max hitratio is  0.543478250504 ||ngle [  1.08150248 101.40529851 320.37581639] \n",
      "update rot to [[[ 8.98042857e+01  9.02977415e+01  6.55247661e-02]r angle [181.05174496  78.94444719 159.36340675] 90437809]  \n",
      "  [ 9.04892121e+01  8.94641162e+01 -1.01065553e-01]]], max hitratio is  0.54545456171 ,shape or rot is (1, 2, 3)||\n",
      "(0.33468648737922835, 33.46864873792284, 16.73432436896142)\n",
      "update K to [[2007.50519282 2005.83759717]], max hitratio is  0.460000008345 ||ngle [182.55588893  68.65440319 162.21408348] \n",
      "update L to [[5.36067639 7.37135558]], max hitratio is  0.479999989271 ||uler angle [187.97604041  65.1710209  161.54680107] \n",
      "update J to [[1014.2883207  1008.58567201]], max hitratio is  0.538461565971 ||ngle [190.87079809 105.35774469 198.62023534] \n",
      "update K to [[2007.50519282 2005.73300764]], max hitratio is  0.5 ||ted euler angle [190.71502737 105.42029501 138.2392151 ] \n",
      "update L to [[5.36067639 7.37200997]], max hitratio is  0.490196079016 ||uler angle [10.64917516 74.31440412 41.60117961] 9] \n",
      "update J to [[1014.2883207  1008.69026154]], max hitratio is  0.5 ||ted euler angle [ 10.608156    74.53782679 341.75438954] \n",
      "update rot to [[[ 9.01042119e+01  9.05404959e+01 -1.62826450e-01]ructed euler angle [321.80843502 119.20420332 276.22560909] \n",
      "  [ 9.01576332e+01  9.01998137e+01  4.07650176e-02]]], max hitratio is  0.477272719145 ,shape or rot is (1, 2, 3)||\n",
      "(0.2844835142723441, 28.448351427234414, 14.224175713617207)\n",
      "update K to [[2007.19391626 2005.42173108]], max hitratio is  0.581818163395 ||ngle [174.94249598  55.92565422 182.97309076] \n",
      "update L to [[5.36814368 7.37947727]], max hitratio is  0.618181824684 ||uler angle [174.86587493  55.39972613 181.59040092] \n",
      "update J to [[1013.54159124 1007.94353207]], max hitratio is  0.618181824684 ||ngle [174.58515418  55.14995765 182.78707716] \n",
      "update K to [[2007.19391626 2005.25371695]], max hitratio is  0.618181824684 ||ngle [174.57594683  55.47114405 182.5615034 ] \n",
      "update L to [[5.36814368 7.38363737]], max hitratio is  0.629629611969 ||uler angle [174.30526611  55.37350624 182.78655826] \n",
      "update J to [[1013.54159124 1007.99953678]], max hitratio is  0.618181824684 ||ngle [174.32691858  55.3515888  182.79568322] \n",
      "update rot to [[[ 8.96339575e+01  9.06709920e+01 -6.00462905e-02]ructed euler angle [174.28737173  55.29540345 182.75986572] \n",
      "  [ 8.99684674e+01  9.03341496e+01 -2.99177131e-01]]], max hitratio is  0.672727286816 ,shape or rot is (1, 2, 3)||\n",
      "(0.24181098713149246, 24.18109871314925, 12.090549356574625)\n",
      "update K to [[2007.2744073  2005.33420798]], max hitratio is  0.391304343939 ||ngle [253.74379377  52.81325308  98.0046088 ] \n",
      "update L to [[5.37003699 7.38553068]], max hitratio is  0.413043469191 ||uler angle [181.56660447  79.46926485 159.12275254] \n",
      "update J to [[1010.35770152 1004.81564707]], max hitratio is  0.553191483021 ||ngle [ 47.74111307  73.86158177 319.92215332] \n",
      "update K to [[2007.2744073  2005.34361073]], max hitratio is  0.519230782986 ||8113551  74.67268167 319.34609558] .2995259 ] \n",
      "update L to [[5.37003699 7.38344735]], max hitratio is  0.5 ||nstructed euler angle [181.77466579  79.12795269 159.59089486] \n",
      "update J to [[1010.35770152 1004.72978996]], max hitratio is  0.521739125252 ||7248519  74.69136843 319.35118044] .34235017] \n",
      "update rot to [[[ 8.96339575e+01  9.06709920e+01 -6.00462905e-02]ructed euler angle [ 47.76800736  74.56634175 319.48493891] \n",
      "  [ 8.99684674e+01  9.03341496e+01 -2.99177131e-01]]], max hitratio is  0.5 ,shape or rot is (1, 2, 3)||\n",
      "(0.20553933906176858, 20.553933906176862, 10.276966953088431)\n",
      "update K to [[2008.50764348 2006.57684691]], max hitratio is  0.600000023842 ||ngle [343.41521715  87.16478412  22.10809765] \n",
      "update L to [[5.35523816 7.36864851]], max hitratio is  0.600000023842 ||uler angle [199.37912212  84.29493029 167.00873931] \n",
      "update J to [[1005.29063937  999.66272781]], max hitratio is  0.681818187237 ||ngle [343.48660599  87.12955411  21.92236923] \n",
      "update K to [[2008.50764348 2006.5217858 ]], max hitratio is  0.577777802944 ||ngle [178.02225536  26.80575581 207.53438076] \n",
      "update L to [[5.35523816 7.35900461]], max hitratio is  0.577777802944 ||[343.25987031  86.94052186  22.02133684] .03495499] \n",
      "update J to [[1005.29063937  999.36539778]], max hitratio is  0.577777802944 ||ngle [343.47002346  87.04177938  21.88477438] \n",
      "update rot to [[[ 8.97669050e+01  9.05694550e+01 -1.24648049e-02]ructed euler angle [343.25599341  87.00232136  21.96604313] \n",
      "  [ 9.05663559e+01  8.99651915e+01 -2.71459507e-01]]], max hitratio is  0.577777802944 ,shape or rot is (1, 2, 3)||\n",
      "(0.17470843820250329, 17.470843820250334, 8.735421910125167)\n",
      "update K to [[2007.14672924 2005.16087156]], max hitratio is  0.654545426369 ||ngle [174.05086921  56.55609573 183.3199823 ] \n",
      "update L to [[5.38646048 7.39022694]], max hitratio is  0.685185194016 || [ 11.8712313   74.15142177 340.97618393] 1210892]  \n",
      "update J to [[1002.16840654  996.24316495]], max hitratio is  0.685185194016 ||gle [174.42113425  55.43741576 182.71698582]  \n",
      "update K to [[2007.14672924 2005.05159341]], max hitratio is  0.685185194016 ||ngle [174.39968696  55.56834889 182.85484634] \n",
      "update L to [[5.38646048 7.38839467]], max hitratio is  0.690909087658 ||uler angle [174.40573836  55.5712408  182.85100785] \n",
      "update J to [[1002.16840654  996.00899749]], max hitratio is  0.685185194016 ||ngle [174.37033067  55.53603091 182.87688054] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update rot to [[[ 8.97669050e+01  9.05694550e+01 -1.24648049e-02]ructed euler angle [174.44039527  54.98533999 182.72217673] \n",
      "  [ 9.05663559e+01  8.99651915e+01 -2.71459507e-01]]], max hitratio is  0.672727286816 ,shape or rot is (1, 2, 3)||\n",
      "(0.1485021724721278, 14.850217247212782, 7.425108623606391)\n",
      "update K to [[2008.7024071  2006.60727127]], max hitratio is  0.645833313465 ||ngle [ 28.05960664  70.83694259 324.55782876] \n",
      "update L to [[5.40394024 7.40587443]], max hitratio is  0.596153855324 ||uler angle [174.62453694  55.4362257  182.90125049] \n",
      "update J to [[1000.93589195  994.77648289]], max hitratio is  0.530612230301 ||129389   70.55190569 325.08889318] .04550582] \n",
      "update K to [[2008.7024071  2006.64120049]], max hitratio is  0.489795923233 ||ngle [ 27.70900769  70.43118888 324.82420788] \n",
      "update L to [[5.40394024 7.4028184 ]], max hitratio is  0.479166656733 ||uler angle [ 27.723749    70.66623562 325.29841375] \n",
      "update J to [[1000.93589195  994.66129963]], max hitratio is  0.469387769699 ||ngle [ 27.72484572  70.44106572 324.79358223] \n",
      "update rot to [[[ 9.02817206e+01  8.98036307e+01  7.34482958e-02]ructed euler angle [ 27.65204731  70.40273517 324.89054348] \n",
      "  [ 9.04410783e+01  9.03292334e+01 -1.34172116e-01]]], max hitratio is  0.5 ,shape or rot is (1, 2, 3)||\n",
      "(0.12622684660130862, 12.622684660130865, 6.3113423300654325)\n",
      "update K to [[2009.30606648 2007.24485987]], max hitratio is  0.659574449062 ||ngle [ 28.0347471   71.04317412 324.57873057] \n",
      "update L to [[5.39991584 7.398794  ]], max hitratio is  0.659574449062 ||uler angle [ 27.68809777  70.4506674  324.86477919] \n",
      "update J to [[1001.31369943  995.03910711]], max hitratio is  0.645833313465 ||ngle [ 27.46196528  70.74481676 325.06258061] \n",
      "update K to [[2009.30606648 2007.16279412]], max hitratio is  0.638297855854 ||ngle [ 27.48834581  70.78146853 324.93807962] \n",
      "update L to [[5.39991584 7.39385573]], max hitratio is  0.666666686535 ||uler angle [ 27.48912042  70.59252461 324.98029293] \n",
      "update J to [[1001.31369943  995.18659619]], max hitratio is  0.654545426369 ||ngle [ 27.50614452  70.77074471 324.91745474] \n",
      "update rot to [[[ 8.97986514e+01  8.96750143e+01  5.71988231e-02]ructed euler angle [ 27.52938437  70.47437742 324.97810606] \n",
      "  [ 9.03628379e+01  9.01316330e+01 -3.87404019e-02]]], max hitratio is  0.645833313465 ,shape or rot is (1, 2, 3)||\n",
      "(0.10729281961111233, 10.729281961111235, 5.364640980555618)\n",
      "update K to [[2009.1454983  2007.00222595]], max hitratio is  0.645833313465 ||ngle [ 28.60802642  70.79065433 323.98647239] \n",
      "update L to [[5.39670448 7.39064437]], max hitratio is  0.645833313465 ||le [ 27.54311974  70.7577122  325.28267887] 523063] \n",
      "update J to [[998.13465264 992.0075494 ]], max hitratio is  0.666666686535 || angle [ 27.417259    70.90431601 325.02296582] \n",
      "update K to [[2009.1454983  2007.04637937]], max hitratio is  0.666666686535 ||ngle [ 27.44183574  70.87606459 325.05047593] \n",
      "update L to [[5.39670448 7.38914783]], max hitratio is  0.645833313465 ||e [ 27.46184431  70.77198723 325.06771868] 6444099] \n",
      "update J to [[998.13465264 991.76912089]], max hitratio is  0.666666686535 || angle [ 27.4462843   70.85344344 325.04105178] \n",
      "update rot to [[[ 8.97986514e+01  8.96750143e+01  5.71988231e-02]ructed euler angle [ 27.94949273  70.06959805 324.51791441] \n",
      "  [ 9.03628379e+01  9.01316330e+01 -3.87404019e-02]]], max hitratio is  0.666666686535 ,shape or rot is (1, 2, 3)||\n",
      "(0.09119889666944547, 9.11988966694455, 4.559944833472275)\n",
      "update K to [[2009.03400457 2006.93488564]], max hitratio is  0.418604642153 ||ngle [163.48773567  92.72714004 158.16427301] \n",
      "update L to [[5.40140823 7.39385157]], max hitratio is  0.404761910439 ||uler angle [184.13325314  84.22542568 164.2929185 ] \n",
      "update J to [[997.42092951 991.05539776]], max hitratio is  0.465116292238 || angle [326.26362969  74.82293932  20.09240818] \n",
      "update K to [[2009.03400457 2006.9255945 ]], max hitratio is  0.418604642153 ||ngle [326.5351157   74.57652669  20.13402868] \n",
      "update L to [[5.40140823 7.39425908]], max hitratio is  0.418604642153 ||uler angle [326.51001009  74.60407906  20.22634614] \n",
      "update J to [[997.42092951 991.06097245]], max hitratio is  0.418604642153 || angle [120.92811746  59.21010687 266.51870818] \n",
      "update rot to [[[90.6849502  89.46081308  0.27285808]: 42,reconstructed euler angle [343.86559991  86.72770658  21.78910275] \n",
      "  [90.93480376 89.98822554 -0.29975595]]], max hitratio is  0.325581401587 ,shape or rot is (1, 2, 3)||\n",
      "(0.07751906216902865, 7.751906216902867, 3.8759531084514336)\n",
      "update K to [[2009.2156822  2007.10727213]], max hitratio is  0.438596487045 ||ngle [208.53496417  71.14600831 152.50079061] \n",
      "update L to [[5.3979594  7.39081025]], max hitratio is  0.431034475565 ||uler angle [ 47.28006818  71.39225199 325.62254801] \n",
      "update J to [[996.91163677 990.55167971]], max hitratio is  0.403508782387 || angle [ 47.78463101  71.80203386 325.00750182] \n",
      "update K to [[2009.2156822  2007.10108172]], max hitratio is  0.385964900255 ||ngle [208.46719556  71.0731635  152.54672806] \n",
      "update L to [[5.3979594 7.3876923]], max hitratio is  0.396551728249 || euler angle [ 47.379547    72.02321642 325.17661713] \n",
      "update J to [[996.91163677 990.53045918]], max hitratio is  0.403508782387 || angle [ 28.31788267 108.90307592 327.27701351] \n",
      "update rot to [[[90.55371716 90.09266365 -0.30461654]: 58,reconstructed euler angle [208.42084627  71.19559498 151.94373319] \n",
      "  [89.38396326 90.19576971 -0.14384029]]], max hitratio is  0.448979586363 ,shape or rot is (1, 2, 3)||\n",
      "(0.06589120284367435, 6.589120284367437, 3.2945601421837183)\n",
      "update K to [[2010.28625338 2008.17165289]], max hitratio is  0.6875 ||ngle [ 28.10063478  70.85498739 324.61238864] 355984] \n",
      "update L to [[5.38988658 7.37961948]], max hitratio is  0.604166686535 ||uler angle [207.55678685 109.45414891 154.84676953] \n",
      "update J to [[997.46780095 991.08662336]], max hitratio is  0.632653057575 || angle [ 27.64089835  70.46803186 324.87723892] \n",
      "update K to [[2010.28625338 2008.13532521]], max hitratio is  0.604166686535 ||ngle [ 27.67408491  70.4814647  324.88682833] \n",
      "update L to [[5.38988658 7.3783445 ]], max hitratio is  0.612244904041 ||le [ 27.55119142  70.53730835 324.89428514] 832854] \n",
      "update J to [[997.46780095 991.14963078]], max hitratio is  0.612244904041 || angle [ 27.70845532  70.45718367 324.81636484] \n",
      "update rot to [[[90.55371716 90.09266365 -0.30461654]: 49,reconstructed euler angle [ 28.13577944  70.56075705 324.42324919] \n",
      "  [89.38396326 90.19576971 -0.14384029]]], max hitratio is  0.604166686535 ,shape or rot is (1, 2, 3)||\n",
      "(0.056007522417123194, 5.600752241712321, 2.8003761208561606)\n",
      "update K to [[2009.56459375 2007.41366558]], max hitratio is  0.636363625526 ||ngle [ 24.30694627  72.28257318 319.96247703] \n",
      "update L to [[5.40985538 7.39831331]], max hitratio is  0.7090908885 ||uler angle [174.41352507  55.64091678 182.82568156] ] \n",
      "update J to [[996.46688464 990.14871447]], max hitratio is  0.685185194016 || angle [174.4234563   55.54766558 182.89032232] \n",
      "update K to [[2009.56459375 2007.3777482 ]], max hitratio is  0.690909087658 ||ngle [174.36661527  55.49353365 182.82748454] \n",
      "update L to [[5.40985538 7.41714904]], max hitratio is  0.722222208977 ||uler angle [174.36309079  55.41406883 182.75330856] \n",
      "update J to [[996.46688464 990.1324502 ]], max hitratio is  0.703703701496 || angle [174.28260386  55.41894383 182.87642966] \n",
      "update rot to [[[ 9.03706880e+01  8.96784656e+01 -8.59091593e-02]ructed euler angle [174.44572255  55.73497586 182.88499481] \n",
      "  [ 8.99171736e+01  9.00909335e+01 -1.18504349e-01]]], max hitratio is  0.690909087658 ,shape or rot is (1, 2, 3)||\n",
      "(0.04760639405455471, 4.760639405455473, 2.3803197027277365)\n",
      "update K to [[2009.19627447 2007.00942892]], max hitratio is  0.653061211109 ||ngle [ 11.0714719   74.75014882 341.23258907] \n",
      "update L to [[5.41153198 7.41882563]], max hitratio is  0.681818187237 ||uler angle [ 11.03392857  74.56442296 341.30911614] \n",
      "update J to [[995.14093523 988.80650079]], max hitratio is  0.653061211109 || angle [11.13911775 74.69263954 41.28774395] 6] \n",
      "update K to [[2009.19627447 2007.0220034 ]], max hitratio is  0.681818187237 ||ngle [ 11.08911805  74.56849417 341.3697946 ] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update L to [[5.41153198 7.41727828]], max hitratio is  0.653061211109 ||uler angle [ 10.91053068  74.72231037 341.42725098] \n",
      "update J to [[995.14093523 988.70705458]], max hitratio is  0.653061211109 || angle [ 11.07432876  74.58677724 341.36263773] \n",
      "update rot to [[[ 9.03706880e+01  8.96784656e+01 -8.59091593e-02]ucted euler angle [ 10.98367569  74.92005016 341.50508642]  \n",
      "  [ 8.99171736e+01  9.00909335e+01 -1.18504349e-01]]], max hitratio is  0.653061211109 ,shape or rot is (1, 2, 3)||\n",
      "(0.040465434946371504, 4.046543494637152, 2.023271747318576)\n",
      "update K to [[2008.75095    2006.57667892]], max hitratio is  0.603773593903 ||ngle [ 27.7758563   70.71871344 324.79765384] \n",
      "update L to [[5.42139522 7.42714152]], max hitratio is  0.67924529314 ||uler angle [174.2888059   55.34457265 182.84338551]  \n",
      "update J to [[995.01145058 988.57756993]], max hitratio is  0.660377383232 || angle [174.30209746  55.30539373 182.8627147 ] \n",
      "update K to [[2008.75095    2006.57029913]], max hitratio is  0.574074089527 ||ngle [174.24537985  55.40151118 182.98742042] \n",
      "update L to [[5.42139522 7.42814907]], max hitratio is  0.566037714481 ||uler angle [174.42669374  55.42390555 243.13733028] \n",
      "update J to [[995.01145058 988.4901678 ]], max hitratio is  0.660377383232 || angle [174.16937285  55.30096529 183.16924025] \n",
      "update rot to [[[ 9.03706880e+01  8.96784656e+01 -8.59091593e-02]ructed euler angle [174.43368785  55.45738931 183.25737665] \n",
      "  [ 8.99171736e+01  9.00909335e+01 -1.18504349e-01]]], max hitratio is  0.660377383232 ,shape or rot is (1, 2, 3)||\n",
      "(0.03439561970441578, 3.4395619704415794, 1.7197809852207897)\n",
      "update K to [[2009.07751431 2006.89686344]], max hitratio is  0.625 ||ngle [ 27.51603359  70.56424002 324.97512644] 2952423] \n",
      "update L to [[5.41299785 7.4197517 ]], max hitratio is  0.625 ||tructed euler angle [ 27.4680867   70.79148137 325.04337453] \n",
      "update J to [[995.2390296  988.71774682]], max hitratio is  0.583333313465 || angle [ 27.56469792  70.55756783 324.98892374] \n",
      "update K to [[2009.07751431 2006.88155924]], max hitratio is  0.5625 ||ngle [ 27.50592738  70.52437926 324.95947405] \n",
      "update L to [[5.41299785 7.40982693]], max hitratio is  0.583333313465 ||uler angle [ 27.42711488  70.41648247 325.10370117] \n",
      "update J to [[995.2390296 988.7689521]], max hitratio is  0.583333313465 ||er angle [ 27.49821385  70.50550159 325.05124546] \n",
      "update rot to [[[ 9.03706880e+01  8.96784656e+01 -8.59091593e-02]ructed euler angle [ 27.64024223  70.76941959 325.15722207] \n",
      "  [ 8.99171736e+01  9.00909335e+01 -1.18504349e-01]]], max hitratio is  0.583333313465 ,shape or rot is (1, 2, 3)||\n",
      "(0.029236276748753412, 2.9236276748753425, 1.4618138374376712)\n",
      "update K to [[2008.88382678 2006.68787171]], max hitratio is  0.509803950787 ||ngle [208.53628997  71.10359378 152.39923843] \n",
      "update L to [[5.4168716  7.41370068]], max hitratio is  0.509803950787 ||uler angle [ 28.65021922 109.25764532 326.89449342] \n",
      "update J to [[994.75520751 988.28513001]], max hitratio is  0.549019634724 || angle [ 28.94974548 109.10953931 326.89301754] \n",
      "update K to [[2008.88382678 2006.67818733]], max hitratio is  0.509803950787 ||ngle [208.61438693  70.95001547 152.78790341] \n",
      "update L to [[5.4168716  7.41296458]], max hitratio is  0.509803950787 ||uler angle [208.41666585  71.18617727 152.54332808] \n",
      "update J to [[994.75520751 988.26898938]], max hitratio is  0.509803950787 || angle [ 28.78268997 109.08343406 326.87618604] \n",
      "update rot to [[[90.76211159 90.62701418 -0.53357016]: 51,reconstructed euler angle [ 28.64827899 108.87352102 327.06830871] \n",
      "  [90.08473093 90.08425725 -0.41072166]]], max hitratio is  0.509803950787 ,shape or rot is (1, 2, 3)||\n",
      "(0.0248508352364404, 2.485083523644041, 1.2425417618220205)\n",
      "update K to [[2009.19027714 2006.98463769]], max hitratio is  0.627118647099 ||ngle [181.14701233  79.12867039 159.21605481] \n",
      "update L to [[5.41975375 7.41584673]], max hitratio is  0.593220353127 ||uler angle [181.07595102  79.109006   159.24636513] \n",
      "update J to [[994.92813652 988.44191839]], max hitratio is  0.593220353127 || angle [181.03525671  79.08941747 159.30862964] \n",
      "update K to [[2009.19027714 2006.97274825]], max hitratio is  0.576271176338 ||ngle [181.08340957  79.11492123 159.30871123] \n",
      "update L to [[5.41975375 7.41236739]], max hitratio is  0.593220353127 ||uler angle [181.03296183  79.09755249 159.29413689] \n",
      "update J to [[994.92813652 988.42894872]], max hitratio is  0.593220353127 || angle [181.09021252  79.06207628 159.29887721] \n",
      "update rot to [[[ 9.01770721e+01  8.96900157e+01 -2.65820697e-02]ructed euler angle [180.99834646  78.99807657 159.10608818] \n",
      "  [ 9.00324786e+01  9.01797717e+01 -2.22913646e-01]]], max hitratio is  0.593220353127 ,shape or rot is (1, 2, 3)||\n",
      "(0.021123209950974338, 2.1123209950974347, 1.0561604975487173)\n",
      "update K to [[2008.90270109 2006.68517219]], max hitratio is  0.64814811945 ||angle [174.3518077   55.46659291 182.81529946] \n",
      "update L to [[5.42694058 7.41955422]], max hitratio is  0.698113203049 ||uler angle [174.31596287  55.39757468 182.8006011 ] \n",
      "update J to [[994.30226358 987.80307577]], max hitratio is  0.666666686535 || angle [174.30384601  55.44791871 182.81158407] \n",
      "update K to [[2008.90270109 2006.67079339]], max hitratio is  0.64814811945 ||ngle [174.30411881  55.44162329 182.81187076]  \n",
      "update L to [[5.42694058 7.41501615]], max hitratio is  0.64814811945 ||euler angle [174.497181    55.63780561 182.89608726] \n",
      "update J to [[994.30226358 987.78826699]], max hitratio is  0.654545426369 ||angle [174.30297209  55.39887817 182.84100845]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 54,reconstructed euler angle [174.20142087  55.2530555  182.80855116] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.703703701496 ,shape or rot is (1, 2, 3)||\n",
      "(0.017954728458328188, 1.7954728458328193, 0.8977364229164096)\n",
      "update K to [[2008.75107074 2006.51916304]], max hitratio is  0.672413766384 ||ngle [181.14007285  79.11089799 159.28640502] \n",
      "update L to [[5.42383223 7.4119078 ]], max hitratio is  0.677966117859 ||uler angle [181.1574215   79.10470961 159.20643708] \n",
      "update J to [[993.9914283  987.47743171]], max hitratio is  0.677966117859 || angle [181.16624602  79.10187533 159.20655938] \n",
      "update K to [[2008.75107074 2006.50517546]], max hitratio is  0.677966117859 ||ngle [181.15333706  79.10857562 159.20994765] \n",
      "update L to [[5.42383223 7.41017658]], max hitratio is  0.677966117859 ||uler angle [181.13698563  79.12425126 159.20151917] \n",
      "update J to [[993.9914283  987.43546895]], max hitratio is  0.677966117859 || angle [181.16141048  79.10530418 159.2303556 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 55,reconstructed euler angle [180.8871646   78.90103398 159.13145501] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.677966117859 ,shape or rot is (1, 2, 3)||\n",
      "(0.01526151918957896, 1.5261519189578963, 0.7630759594789481)\n",
      "(array([[5.42383223, 7.41017658]]), array([[993.9914283 , 987.43546895]]), array([[2008.75107074, 2006.50517546]]), array([[[89.7739212 , 90.7694346 , -0.12662033],\n",
      "        [89.81791158, 90.31760014, -0.23845468]]]))\n"
     ]
    }
   ],
   "source": [
    "# find approximate parameter first, after maxhitratio mostly above 0.65, can move to the next phase\n",
    "centerL, centerJ, centerK, centerRot = S.geo_opt_phase_0(rotOptimization=True) "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "==========start of reconstruction======== \n",
      "\n",
      "number of flood fills: 0\n",
      "1.601922\n",
      "max misorien: 1.6021989584io: 0.29411765933, peakcnt: 51,reconstructed euler angle [177.38814063  65.15710766 159.4887418 ]  \n",
      "1.602199\n",
      "max misorien: 1.55188167095o: 0.395833343267, peakcnt: 48,reconstructed euler angle [ 48.15436688  74.88815958 319.46909475] \n",
      "1.5518817\n",
      "max misorien: 1.42837798595o: 0.452380955219, peakcnt: 42,reconstructed euler angle [ 23.51085691  81.13326927 338.91639181] \n",
      "1.428378\n",
      "max misorien: 0.890063345432: 0.450980395079, peakcnt: 51,reconstructed euler angle [191.39471394  54.86415343 150.58530214] \n",
      "0.89006335\n",
      "max misorien: 0.008300805464390.723404228687, peakcnt: 47,reconstructed euler angle [227.48537756  79.18060685 141.72489435] \n",
      "number of post process iteration: 5, number of voxel revisited: 8946\n",
      " post process takes is 46.2358129025 seconds\n",
      "===========end of reconstruction========== \n",
      "\n",
      "SourceModule time 46.240171875 seconds.\n",
      "saved as npy format\n",
      "saved as npy format\n",
      "saved as npy format\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "(array([  3.,  13.,  17.,  18.,  36., 137., 417., 547., 195.,  38.]),\n",
       " array([0.17073171, 0.23490854, 0.29908537, 0.3632622 , 0.42743903,\n",
       "        0.49161585, 0.55579268, 0.61996951, 0.68414634, 0.74832317,\n",
       "        0.8125    ]),\n",
       " <a list of 10 Patch objects>)"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7fcb97d0a9d0>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# reconstruct sample with parameter and take the voxels at grain boundary.\n",
    "S.set_Q(7)\n",
    "aIdxVoxel = S.geo_opt_phase_1(centerL, centerJ, centerK, centerRot)\n",
    "S.save_square_mic('geo_opt_test.npy')\n",
    "misOrienTmp = S.get_misorien_map(S.accMat)\n",
    "grainBoundaryMask = misOrienTmp>0.1\n",
    "#grainBoundary = ndi.maximum_filter(grainBoundary,size=3)\n",
    "conf = S.squareMicData[:,:,6]\n",
    "boundaryConf = conf.copy()\n",
    "boundaryConf[misOrienTmp<0.1] = 0\n",
    "f, axarr = plt.subplots(2,2)\n",
    "cf00 = axarr[0,0].imshow(conf.swapaxes(0,1),origin='lower')\n",
    "f.colorbar(cf00,ax=axarr[0,0])\n",
    "axarr[0,1].imshow(S.squareMicData[:,:,3].swapaxes(0,1),origin='lower')\n",
    "cf10 = axarr[1,0].imshow(boundaryConf.swapaxes(0,1),origin='lower')\n",
    "f.colorbar(cf10,ax=axarr[1,0])\n",
    "axarr[1,1].hist(boundaryConf[boundaryConf>0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.93974602 2012.4550735 ]], max hitratio is  0.532141935825 ||ngle [343.21107726  87.03262692  22.09361646] \n",
      "update L to [[5.53988937 7.54504965]], max hitratio is  0.531394189596 ||euler angle [343.18976683  86.08507455  20.64686307]  \n",
      "update J to [[982.0446267  975.67590559]], max hitratio is  0.530781888962 || angle [178.19195831  27.44345162 207.35816373]  \n",
      "update K to [[2014.93974602 2012.37270697]], max hitratio is  0.529266530275 ||ngle [178.28509488  27.46614045 207.33674398] \n",
      "update L to [[5.53988937 7.54586689]], max hitratio is  0.527886629105 ||uler angle [178.08671877  27.16150885 207.02105401] \n",
      "update J to [[982.0446267  975.92409191]], max hitratio is  0.530041283369 || angle [178.13903787  27.37213339 207.47520458] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [178.30006646  27.45447582 207.30901392] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.532055932283 ,shape or rot is (1, 2, 3)||\n",
      "(0.2974999999999997, 11.9, 5.95)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.01473253 2012.44769348]], max hitratio is  0.484064126015 ||angle [ 27.92348116  70.10984832 324.42168979] \n",
      "update L to [[5.53585699 7.54183451]], max hitratio is  0.495951241255 ||uler angle [174.35876026  55.49137452 182.76128663]  \n",
      "update J to [[980.80985137 974.68931657]], max hitratio is  0.51096970439 ||er angle [ 27.63167463  70.68980788 324.9343396 ] \n",
      "update K to [[2015.01473253 2012.50602609]], max hitratio is  0.49802942276 || angle [ 27.61980928  70.6588793  324.78997548] \n",
      "update L to [[5.53585699 7.54111966]], max hitratio is  0.504850101471 ||euler angle [ 27.60032971  70.49153974 324.96791661] \n",
      "update J to [[980.80985137 974.5083722 ]], max hitratio is  0.503607821465 ||r angle [ 27.61829844  70.59381602 324.83562691] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 105,reconstructed euler angle [ 27.61959509  70.59340553 324.83611948] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.49745272994 ,shape or rot is (1, 2, 3)||\n",
      "(0.25287499999999974, 10.115, 5.0575)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.09136561 2012.58265916]], max hitratio is  0.514723843336 ||ngle [174.40856627  55.74744622 182.78924927]  \n",
      "update L to [[5.52214469 7.52740736]], max hitratio is  0.545894289017 ||euler angle [174.07431037  55.74620431 183.43897808] \n",
      "update J to [[980.32967463 974.02819547]], max hitratio is  0.522218388319 || angle [174.46662297  55.57516397 182.64469509] \n",
      "update K to [[2015.09136561 2012.73384441]], max hitratio is  0.500734597445 ||ngle [174.20234954  55.93063906 182.71473203] \n",
      "update L to [[5.52214469 7.52812444]], max hitratio is  0.505373722315 ||uler angle [ 45.98933257  65.26738069 328.9898876 ]  \n",
      "update J to [[980.32967463 973.58142404]], max hitratio is  0.49822537899 ||r angle [ 46.67566045  65.2855832  328.48169025] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 46.15966726  65.17509847 328.68446764]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.500538653135 ,shape or rot is (1, 2, 3)||\n",
      "(0.21494374999999977, 8.59775, 4.298875)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.15358711 2012.79606591]], max hitratio is  0.506923860312 ||ngle [345.54730244  89.27580438  11.67460254] \n",
      "update L to [[5.51846609 7.52444584]], max hitratio is  0.53604362607 ||euler angle [174.26897056  55.85297518 182.3390167 ]  \n",
      "update J to [[981.27886669 974.53061609]], max hitratio is  0.521640437841 || angle [ 10.80219554  74.37770753 341.68906678] \n",
      "update K to [[2015.15358711 2012.67611614]], max hitratio is  0.489363193512 ||ngle [345.23926271  89.46432443  11.85763324] \n",
      "update L to [[5.51846609 7.52377289]], max hitratio is  0.494786417484 ||uler angle [ 10.9095176   74.62103285 341.56642324] \n",
      "update J to [[981.27886669 974.65377499]], max hitratio is  0.493688970804 || angle [ 10.90121886  74.59317859 341.57986419] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [345.16530394  89.37643356  11.99629134] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.49016572237 ,shape or rot is (1, 2, 3)||\n",
      "(0.1827021874999998, 7.308087499999999, 3.6540437499999996)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.10374974 2012.62627877]], max hitratio is  0.496982729435 ||ngle [ 46.14300177  65.1953856  328.80659318] \n",
      "update L to [[5.51588388 7.52119069]], max hitratio is  0.502916973829 ||uler angle [188.30405339  65.8666888  160.92840913]  \n",
      "update J to [[981.597137   974.97204531]], max hitratio is  0.507424247265 || angle [ 72.57608576  60.94250086 274.75138074] \n",
      "update K to [[2015.10374974 2012.66301344]], max hitratio is  0.502216529846 ||ngle [ 72.62940343  61.01927196 274.77001409] \n",
      "update L to [[5.51588388 7.52050627]], max hitratio is  0.497582620382 ||uler angle [ 72.63975909  60.93805406 274.61759126] \n",
      "update J to [[981.597137   975.08296495]], max hitratio is  0.503301239014 || angle [ 72.75807256  61.12272304 274.7794393 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 87,reconstructed euler angle [ 72.56558325  60.95474809 274.82520176] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.493725681305 ,shape or rot is (1, 2, 3)||\n",
      "(0.15529685937499985, 6.211874374999999, 3.1059371874999995)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.93875532 2012.49801902]], max hitratio is  0.542166423798 ||ngle [  6.65078807  80.46314602 331.87118809] \n",
      "update L to [[5.51846168 7.52308407]], max hitratio is  0.530611008406 ||uler angle [343.79287373  87.33400221  21.63842821]  \n",
      "update J to [[981.48762345 974.97345139]], max hitratio is  0.541372144222 || angle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update K to [[2014.93875532 2012.29477655]], max hitratio is  0.548370528221 ||ngle [182.76063083  68.6383382  162.3811759 ] \n",
      "update L to [[5.51846168 7.52396846]], max hitratio is  0.541966927052 ||uler angle [182.82956105  68.77387147 162.28233196] \n",
      "update J to [[981.48762345 974.85434063]], max hitratio is  0.544088083506 || angle [182.76063083  68.6383382  162.3811759 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [182.76063083  68.6383382  162.3811759 ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.542812633514 ,shape or rot is (1, 2, 3)||\n",
      "(0.13200233046874987, 5.280093218749999, 2.6400466093749997)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.82795662 2012.18397786]], max hitratio is  0.501204270124 ||ngle [289.01491875  80.86336161  96.98688281]  \n",
      "update L to [[5.51187363 7.5173804 ]], max hitratio is  0.531005495787 ||uler angle [174.36403339  55.48311939 182.62312536]  \n",
      "update J to [[980.79818702 974.1649042 ]], max hitratio is  0.507322603464 ||r angle [194.19603462  66.71553927 136.51650597] \n",
      "update K to [[2014.82795662 2012.20924227]], max hitratio is  0.494033032656 ||ngle [289.01229632  80.89572984  97.05219317]  \n",
      "update L to [[5.51187363 7.51671816]], max hitratio is  0.492149329185 ||uler angle [194.19603462  66.71553927 136.51650597]  \n",
      "update J to [[980.79818702 974.08686166]], max hitratio is  0.49887265563 ||er angle [194.19603462  66.71553927 136.51650597] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [194.19603462  66.71553927 136.51650597] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.49396276474 ,shape or rot is (1, 2, 3)||\n",
      "(0.11220198089843739, 4.4880792359375, 2.24403961796875)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.64820889 2012.02949453]], max hitratio is  0.524366736412 ||ngle [343.85461743  87.33191197  21.7888968 ] \n",
      "update L to [[5.51356983 7.51841437]], max hitratio is  0.514328241348 ||uler angle [343.97600271  86.76779324  21.91461948]  \n",
      "update J to [[980.0929058  973.38158044]], max hitratio is  0.53963561058 ||r angle [343.79333769  87.1969749   21.82816181] \n",
      "update K to [[2014.64820889 2011.95267776]], max hitratio is  0.523871719837 ||ngle [343.68492894  87.40499509  21.87368069] \n",
      "update L to [[5.51356983 7.51764964]], max hitratio is  0.516328895092 ||uler angle [343.83232508  87.07473485  21.79936258]  \n",
      "update J to [[980.0929058  972.99229128]], max hitratio is  0.526227682829 || angle [343.79333769  87.1969749   21.82816181] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [343.68492894  87.40499509  21.87368069] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.51439704895 ,shape or rot is (1, 2, 3)||\n",
      "(0.09537168376367178, 3.8148673505468746, 1.9074336752734373)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.46104122 2011.76551008]], max hitratio is  0.501543521881 ||ngle [175.08868944  55.80985552 182.65465358]  \n",
      "update L to [[5.5147853  7.51886511]], max hitratio is  0.485872125626 ||[174.87281437  55.78823101 183.14211059] .33066638]  \n",
      "update J to [[979.81373371 972.71311919]], max hitratio is  0.508809274435 ||[174.77910444  55.62445511 182.94693099] 93238]  \n",
      "update K to [[2014.46104122 2011.78421016]], max hitratio is  0.498029273748 ||ngle [174.99157796  55.9729741  182.61270239]  \n",
      "update L to [[5.5147853  7.51817273]], max hitratio is  0.499503296614 ||uler angle [174.5510853   55.42114503 182.69462394]  \n",
      "update J to [[979.81373371 972.5449832 ]], max hitratio is  0.497866714001 ||angle [174.71933968  55.23436034 182.92109919]   \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [174.67573613  55.32523233 183.00393572] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.492012935877 ,shape or rot is (1, 2, 3)||\n",
      "(0.081065931199121, 3.2426372479648435, 1.6213186239824218)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.70154396 2012.02471291]], max hitratio is  0.529359310865 ||angle [163.21441826  77.29570735 217.63446795] \n",
      "update L to [[5.5134503  7.51683773]], max hitratio is  0.52921076417 || euler angle [163.1323475   77.47103053 217.61101535] \n",
      "update J to [[979.43635848 972.16760797]], max hitratio is  0.530892390013 || angle [163.19655161  77.33343133 217.69396035]  \n",
      "update K to [[2014.70154396 2011.969436  ]], max hitratio is  0.523168456554 ||angle [163.19920041  77.36255428 217.66274579] \n",
      "update L to [[5.5134503  7.51764684]], max hitratio is  0.526131016016 ||euler angle [163.09829191  77.43661423 217.70052948] \n",
      "update J to [[979.43635848 972.33342434]], max hitratio is  0.523153370619 ||r angle [163.0742498   77.3710032  217.66671953] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [163.10243139  77.42304271 217.69819374]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.525392091274 ,shape or rot is (1, 2, 3)||\n",
      "(0.06890604151925285, 2.756241660770117, 1.3781208303850585)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.72746616 2011.99535819]], max hitratio is  0.553191697598 ||gle [100.22627799  90.17848218 264.62655437] ] \n",
      "update L to [[5.51472976 7.5189263 ]], max hitratio is  0.550812983513 ||uler angle [ 99.98401109  90.22610225 264.43995389]  \n",
      "update J to [[979.59049691 972.48756278]], max hitratio is  0.551533168554 || angle [100.22627799  90.17848218 264.62655437]  \n",
      "update K to [[2014.72746616 2011.90321639]], max hitratio is  0.552319002151 ||ngle [100.05710818  90.33074077 264.66458448]  \n",
      "update L to [[5.51472976 7.5180436 ]], max hitratio is  0.541620671749 ||uler angle [100.22627799  90.17848218 264.62655437]  \n",
      "update J to [[979.59049691 972.54183718]], max hitratio is  0.54893257618 ||r angle [100.17834312  90.19634314 264.71728661]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 77,reconstructed euler angle [100.17834312  90.19634314 264.71728661]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.54585043788 ,shape or rot is (1, 2, 3)||\n",
      "(0.05857013529136492, 2.3428054116545995, 1.1714027058272998)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.66898123 2011.84473146]], max hitratio is  0.53107150197 ||angle [194.2491731   66.65779537 136.7936487 ]  \n",
      "update L to [[5.51379236 7.5171062 ]], max hitratio is  0.524200236797 ||uler angle [174.41782815  55.58943345 182.95406166]  \n",
      "update J to [[979.29830675 972.24964702]], max hitratio is  0.543281120062 || angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update K to [[2014.66898123 2011.88421124]], max hitratio is  0.521161800623 ||ngle [194.22681138  66.71374942 136.75618841] \n",
      "update L to [[5.51379236 7.51631518]], max hitratio is  0.522180038691 ||uler angle [194.41439592  66.76069975 136.8834081 ]  \n",
      "update J to [[979.29830675 972.37054643]], max hitratio is  0.524745440483 || angle [194.22876463  66.64147214 136.80461726] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [194.22681138  66.71374942 136.75618841] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.518098407984 ,shape or rot is (1, 2, 3)||\n",
      "(0.04978461499766018, 1.9913845999064095, 0.9956922999532047)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.74614016 2011.96137017]], max hitratio is  0.518614345789 ||angle [ 28.19601504  70.84408688 324.38150227] \n",
      "update L to [[5.51303    7.51555282]], max hitratio is  0.516537040472 ||euler angle [ 27.55234379  70.6872931  324.87986189] \n",
      "update J to [[979.07094687 972.14318655]], max hitratio is  0.527514481544 || angle [ 28.05916455  70.80348868 324.54387039]  \n",
      "update K to [[2014.74614016 2011.9950045 ]], max hitratio is  0.521557641029 ||angle [ 27.98035557  70.75222923 324.56326838] \n",
      "update L to [[5.51303    7.51475316]], max hitratio is  0.524074953794 ||euler angle [ 28.01408617  70.75562918 324.57881069] \n",
      "update J to [[979.07094687 972.10973065]], max hitratio is  0.520633727312 ||r angle [ 27.98886505  70.68157005 324.52586729] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 107,reconstructed euler angle [ 28.08018449  70.88987714 324.55908759] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.519389271736 ,shape or rot is (1, 2, 3)||\n",
      "(0.04231692274801115, 1.692676909920448, 0.846338454960224)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.64138968 2011.89025402]], max hitratio is  0.498353272676 ||ngle [174.5340511   55.51584354 182.89974798]  \n",
      "update L to [[5.51362068 7.51534384]], max hitratio is  0.500833535194 ||uler angle [174.54403644  55.53748357 182.86488699]  \n",
      "update J to [[979.2892775  972.32806128]], max hitratio is  0.505258387327 || angle [174.62924936  55.43754317 182.89248084]  \n",
      "update K to [[2014.64138968 2011.91579229]], max hitratio is  0.502302747965 ||ngle [174.46742909  55.60752256 182.84935483]  \n",
      "update L to [[5.51362068 7.51467066]], max hitratio is  0.494843441248 ||uler angle [174.55193194  55.22710436 182.751451  ]  \n",
      "update J to [[979.2892775  972.35361039]], max hitratio is  0.502373838425 || angle [174.61502944  55.5124242  182.85013376]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.6003578   55.51828496 182.85040658]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.493744534254 ,shape or rot is (1, 2, 3)||\n",
      "(0.03596938433580948, 1.4387753734323807, 0.7193876867161904)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.67247282 2011.94687543]], max hitratio is  0.506089931726 ||ngle [343.8263679   87.25068059  21.84381083] \n",
      "update L to [[5.5120271  7.51307708]], max hitratio is  0.510333937407 ||uler angle [343.7815343   87.24587209  21.8866557 ]  \n",
      "update J to [[979.39822441 972.46255731]], max hitratio is  0.514633613825 || angle [343.8263679   87.25068059  21.84381083]  \n",
      "update K to [[2014.67247282 2011.93946997]], max hitratio is  0.506197243929 ||ngle [343.75976035  87.16392364  21.86978893] \n",
      "update L to [[5.5120271  7.51380128]], max hitratio is  0.507042121887 ||uler angle [343.79333769  87.1969749   21.82816181]  \n",
      "update J to [[979.39822441 972.66546845]], max hitratio is  0.508686125278 || angle [343.8263679   87.25068059  21.84381083] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [343.8263679   87.25068059  21.84381083] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.509320223331 ,shape or rot is (1, 2, 3)||\n",
      "(0.030573976685438056, 1.2229590674175235, 0.6114795337087617)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.34904957 2012.61604672]], max hitratio is  0.495079737902 ||angle [ 27.91915063  70.82949827 324.58763733] \n",
      "update L to [[5.53924932 7.5410235 ]], max hitratio is  0.490237671137 ||uler angle [174.85892198  55.99736585 182.74247594]  \n",
      "update J to [[979.64830349 972.91554753]], max hitratio is  0.504478770494 || angle [ 27.84716482  70.67811375 324.72030466]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2015.34904957 2012.68623211]], max hitratio is  0.501771980524 ||angle [ 28.04564423  70.67670576 324.5329962 ] \n",
      "update L to [[5.53924932 7.54031531]], max hitratio is  0.503276717663 ||euler angle [ 28.04564423  70.67670576 324.5329962 ] \n",
      "update J to [[979.64830349 972.71202533]], max hitratio is  0.49612107873 ||er angle [ 28.04564423  70.67670576 324.5329962 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 103,reconstructed euler angle [ 28.04564423  70.67670576 324.5329962 ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.503438901901 ,shape or rot is (1, 2, 3)||\n",
      "(0.20825000000000007, 8.329999999999961, 4.165000000000077)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.39454749 2012.73173003]], max hitratio is  0.461536794901 ||ngle [183.20963348  68.59822548 162.84658696] \n",
      "update L to [[5.53154723 7.53261322]], max hitratio is  0.480523955822 ||uler angle [174.17730998  55.73205044 182.53358167]  \n",
      "update J to [[978.48064157 971.5443634 ]], max hitratio is  0.519466292858 ||r angle [15.32846744 81.24535274 13.12124767] ]  \n",
      "update K to [[2015.39454749 2012.78261882]], max hitratio is  0.475873935223 ||ngle [183.16249167  68.66119453 162.78258703] \n",
      "update L to [[5.53154723 7.53085287]], max hitratio is  0.472697377205 ||uler angle [183.12002175  68.79779609 162.64121602]  \n",
      "update J to [[978.48064157 971.3960025 ]], max hitratio is  0.471357691288 || angle [183.15684991  68.60821167 162.80488138]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [183.12002175  68.79779609 162.64121602] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.472513145208 ,shape or rot is (1, 2, 3)||\n",
      "(0.17701250000000004, 7.080499999999967, 3.5402500000000656)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.32501372 2012.71308505]], max hitratio is  0.5612221241 ||r angle [215.30118023  78.19905415 165.11215996] \n",
      "update L to [[5.52845061 7.52775626]], max hitratio is  0.539976787567 ||ler angle [174.07795752  55.78489956 182.41730434]   \n",
      "update J to [[978.34395297 971.2593139 ]], max hitratio is  0.558003544807 || angle [ 10.9095176   74.62103285 341.56642324]  \n",
      "update K to [[2015.32501372 2012.64280835]], max hitratio is  0.559433782101 ||ngle [ 10.82780467  74.57201893 341.61221152]  \n",
      "update L to [[5.52845061 7.52869368]], max hitratio is  0.552588450909 ||uler angle [ 10.63616638  74.48775321 341.68674321]  \n",
      "update J to [[978.34395297 971.4645062 ]], max hitratio is  0.554402041435 || angle [ 10.89811433  74.46832232 341.59327772]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 10.63309503  74.49440699 341.79815742]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.557543337345 ,shape or rot is (1, 2, 3)||\n",
      "(0.15046062500000004, 6.018424999999972, 3.009212500000056)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.15128218 2012.46907681]], max hitratio is  0.470146024227 ||ngle [174.9542848   55.92716758 182.7065494 ]  \n",
      "update L to [[5.52284057 7.52308363]], max hitratio is  0.481823813915 ||uler angle [174.85807459  55.82929199 183.12776716]  \n",
      "update J to [[977.55660692 970.67716015]], max hitratio is  0.507645958662 ||[174.59971633  55.53682684 183.03221269] 10341]  \n",
      "update K to [[2015.15128218 2012.43388265]], max hitratio is  0.468988406658 ||ngle [174.81050905  56.06533919 182.76849931]  \n",
      "update L to [[5.52284057 7.52364826]], max hitratio is  0.46667137146 ||euler angle [174.54526567  55.54370988 182.82950654]  \n",
      "update J to [[977.55660692 970.77889343]], max hitratio is  0.463218438625 || angle [174.69277052  55.23128047 182.75662819]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.69517502  55.23313807 182.81763565]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.462832862139 ,shape or rot is (1, 2, 3)||\n",
      "(0.12789153125000002, 5.1156612499999765, 2.5578306250000473)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.36591064 2012.64851111]], max hitratio is  0.532552802563 ||ngle [ 11.29703217  74.44504398 341.03618101] \n",
      "update L to [[5.52049761 7.5213053 ]], max hitratio is  0.548346364498 ||uler angle [142.60983811  61.52522205 203.38348603]  \n",
      "update J to [[976.64193402 969.86422054]], max hitratio is  0.563362598419 || angle [174.39337605  55.61179807 182.51341903] \n",
      "update K to [[2015.36591064 2012.78687195]], max hitratio is  0.541788244247 ||ngle [ 11.28273265  74.63484234 341.08358259] \n",
      "update L to [[5.52049761 7.52041788]], max hitratio is  0.542583465576 ||uler angle [174.07885971  55.9369674  182.32575255] \n",
      "update J to [[976.64193402 970.00228921]], max hitratio is  0.54140663147 ||r angle [ 11.69629976  74.55934073 340.79070409] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [ 11.27611422  74.50515153 341.09981227] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.543604433537 ,shape or rot is (1, 2, 3)||\n",
      "(0.10870780156250001, 4.34831206249998, 2.1741560312500403)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.33271126 2012.75367256]], max hitratio is  0.516052556038 ||angle [194.20530975  66.72055121 136.7751117 ] \n",
      "update L to [[5.51471517 7.51463544]], max hitratio is  0.542405259609 ||uler angle [174.23621367  55.62372363 182.79547836]  \n",
      "update J to [[976.15253266 969.51288784]], max hitratio is  0.525004446507 ||.2719624   55.38642858 182.84543455] .11747816]  \n",
      "update K to [[2015.33271126 2012.58291528]], max hitratio is  0.517442822456 ||ngle [174.53969234  56.02476263 182.83282569]  \n",
      "update L to [[5.51471517 7.51543005]], max hitratio is  0.522968310118 ||uler angle [174.32540188  55.63111274 182.88218083]  \n",
      "update J to [[976.15253266 969.61615482]], max hitratio is  0.51880723238 ||er angle [174.49164853  55.60784901 182.64727719] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [174.35291364  55.56280874 182.5344971 ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.513603395224 ,shape or rot is (1, 2, 3)||\n",
      "(0.09240163132812501, 3.696065253124983, 1.8480326265625342)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.2359801  2012.48618412]], max hitratio is  0.539501518011 ||angle [194.19603462  66.71553927 136.51650597] \n",
      "update L to [[5.51631838 7.51703326]], max hitratio is  0.538498002291 ||uler angle [174.25089842  55.37629306 182.99705104]  \n",
      "update J to [[975.56412412 969.02774628]], max hitratio is  0.541975653172 ||r angle [194.23351902  66.70064744 136.7894664 ] \n",
      "update K to [[2015.2359801  2012.45184664]], max hitratio is  0.547237449884 ||angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update L to [[5.51631838 7.51783121]], max hitratio is  0.523701369762 ||euler angle [194.44222261  66.72039326 137.09339825] \n",
      "update J to [[975.56412412 968.55169502]], max hitratio is  0.533057188988 || angle [194.23351902  66.70064744 136.7894664 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [194.22876463  66.64147214 136.80461726] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.530722212791 ,shape or rot is (1, 2, 3)||\n",
      "(0.07854138662890625, 3.1416554651562354, 1.5708277325781541)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.41796851 2012.63383505]], max hitratio is  0.487496751547 ||ngle [142.45945163  61.60231533 203.34357116]  \n",
      "update L to [[5.51222463 7.51373746]], max hitratio is  0.538742768764 ||uler angle [188.08382074  65.48318289 161.20889824]  \n",
      "update J to [[975.27419026 968.26176115]], max hitratio is  0.491392230988 ||angle [142.77723534  61.74851622 203.6264359 ] ] \n",
      "update K to [[2015.41796851 2012.6956258 ]], max hitratio is  0.487207615376 ||ngle [142.41502946  61.52478553 203.40877095]  \n",
      "update L to [[5.51222463 7.51308331]], max hitratio is  0.490137296915 ||uler angle [142.47126695  61.94356437 203.89140587]  \n",
      "update J to [[975.27419026 968.3231364 ]], max hitratio is  0.486113107204 ||angle [142.50686966  61.65217612 203.48408036] ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 88,reconstructed euler angle [142.935915    61.77499536 203.60692773]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.47923963666 ,shape or rot is (1, 2, 3)||\n",
      "(0.06676017863457032, 2.6704071453828, 1.3352035726914309)\n",
      "(5, 5, 5, 9)\n",
      "1000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2015.1922804  2012.46993769]], max hitratio is  0.552909094095 ||ngle [163.61764699  77.34017778 218.27341877]  \n",
      "update L to [[5.51612594 7.51698462]], max hitratio is  0.559678161144 ||euler angle [ 27.57467608  70.38287123 324.81620454] \n",
      "update J to [[975.22500036 968.2739465 ]], max hitratio is  0.549347275496 ||r angle [ 27.64351658  70.55891387 324.7959858 ] \n",
      "update K to [[2015.1922804  2012.39496484]], max hitratio is  0.548573225737 ||ngle [163.61764699  77.34017778 218.27341877]  \n",
      "update L to [[5.51612594 7.51788143]], max hitratio is  0.544490522146 ||euler angle [ 27.59994648  70.37828198 324.64717105] \n",
      "update J to [[975.22500036 968.34846172]], max hitratio is  0.547454810143 ||.60811121  77.33370422 218.28750308] .34707114]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [163.61764699  77.34017778 218.27341877]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.545544880629 ,shape or rot is (1, 2, 3)||\n",
      "(0.056746151839384765, 2.26984607357538, 1.134923036787716)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.29096385 2012.4936483 ]], max hitratio is  0.538910704851 ||ngle [343.79333769  87.1969749   21.82816181]  \n",
      "update L to [[5.51317663 7.51493212]], max hitratio is  0.538230788708 ||ler angle [343.76489594  87.08472762  21.90300174]   \n",
      "update J to [[974.86276294 967.9862243 ]], max hitratio is  0.542415761948 || angle [343.79333769  87.1969749   21.82816181]  \n",
      "update K to [[2015.29096385 2012.5134085 ]], max hitratio is  0.53550619483 ||angle [343.79333769  87.1969749   21.82816181]  \n",
      "update L to [[5.51317663 7.51409728]], max hitratio is  0.531647890806 ||uler angle [343.83232508  87.07473485  21.79936258]  \n",
      "update J to [[974.86276294 967.56189928]], max hitratio is  0.539502972364 || angle [343.79333769  87.1969749   21.82816181]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [343.8263679   87.25068059  21.84381083]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.529717928171 ,shape or rot is (1, 2, 3)||\n",
      "(0.048234229063477047, 1.9293691625390728, 0.9646845812695587)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.21001304 2012.43245768]], max hitratio is  0.532561129332 ||ngle [100.2928242   90.45782327 264.42219548]  \n",
      "update L to [[5.51556791 7.51648857]], max hitratio is  0.52982480526 ||euler angle [100.46326447  90.46171647 264.6279751 ]  \n",
      "update J to [[974.57110024 967.27023658]], max hitratio is  0.53270714283 ||r angle [280.27656658  89.73822185  95.59472671]  \n",
      "update K to [[2015.21001304 2012.35184671]], max hitratio is  0.528245484829 ||ngle [280.15048163  89.61961562  95.64781099]  \n",
      "update L to [[5.51556791 7.51567239]], max hitratio is  0.527658033371 ||[280.42560121  89.51038042  95.28495674] 4.54157811] \n",
      "update J to [[974.57110024 967.12325583]], max hitratio is  0.530518335104 ||100.11816937  90.32929276 264.37531243] 7402694] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 80,reconstructed euler angle [100.37659669  90.41402126 264.42132119]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.531139391661 ,shape or rot is (1, 2, 3)||\n",
      "(0.04099909470395549, 1.6399637881582119, 0.8199818940791249)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.07499054 2012.21682421]], max hitratio is  0.596003460884 ||ngle [182.84695065  68.7137375  162.46244356]  \n",
      "update L to [[5.51656525 7.51666973]], max hitratio is  0.602703464031 ||ler angle [182.84919103  68.84728874 162.2053811 ]   \n",
      "update J to [[974.29232638 966.84448197]], max hitratio is  0.602357172966 || angle [182.86551523  68.88152062 162.3899864 ]  \n",
      "update K to [[2015.07499054 2012.27632794]], max hitratio is  0.597533690929 ||ngle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update L to [[5.51656525 7.5155093 ]], max hitratio is  0.593331205845 ||uler angle [182.69170055  68.76600202 162.18225517]  \n",
      "update J to [[974.29232638 967.3839783 ]], max hitratio is  0.599003946781 || angle [182.95564632  68.79102216 162.46621328]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [182.9545263   68.85600442 162.33896557]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.594929695129 ,shape or rot is (1, 2, 3)||\n",
      "(0.034849230498362166, 1.39396921993448, 0.6969846099672562)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.16738787 2012.36872527]], max hitratio is  0.554447257519 ||ngle [343.68197849  87.15563859  21.70775123]  \n",
      "update L to [[5.5158954  7.51483945]], max hitratio is  0.557197403908 ||uler angle [343.7413462   87.12073624  21.57982675]  \n",
      "update J to [[974.03379616 967.12544807]], max hitratio is  0.570277249813 || angle [343.80961919  87.3234973   21.62710341]  \n",
      "update K to [[2015.16738787 2012.32652537]], max hitratio is  0.562529361248 ||ngle [343.70804051  87.14249042  21.62021256]  \n",
      "update L to [[5.5158954  7.51580624]], max hitratio is  0.558302295208 ||uler angle [343.76880422  87.10436437  21.55258279]  \n",
      "update J to [[974.03379616 967.50513804]], max hitratio is  0.562475466728 || angle [343.7413462   87.12073624  21.57982675]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 86,reconstructed euler angle [343.68197849  87.15563859  21.70775123]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.561277699471 ,shape or rot is (1, 2, 3)||\n",
      "(0.02962184592360784, 1.184873836944308, 0.5924369184721677)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.06614128 2012.22527878]], max hitratio is  0.554940086603 ||ngle [174.68778472  56.02929617 182.73470358] \n",
      "update L to [[5.52033194 7.52024278]], max hitratio is  0.577464807034 ||uler angle [174.68085857  55.59937301 182.86690865]  \n",
      "update J to [[974.05606459 967.52740647]], max hitratio is  0.553035914898 || angle [174.71933968  55.23436034 182.92109919] \n",
      "update K to [[2015.06614128 2012.14352521]], max hitratio is  0.558142435551 ||ngle [174.64635222  55.75264837 182.86178582] \n",
      "update L to [[5.52033194 7.52311691]], max hitratio is  0.556611949205 ||uler angle [174.69671865  55.23109937 183.08481879] \n",
      "update J to [[974.05606459 967.84683746]], max hitratio is  0.560548573732 || angle [174.74601849  55.62238995 183.01006935] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [174.64047868  55.53047951 183.04636476] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.557917720079 ,shape or rot is (1, 2, 3)||\n",
      "(0.025178569035066663, 1.0071427614026618, 0.5035713807013426)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.11772245 2012.19510638]], max hitratio is  0.508773952723 ||angle [184.35735165  64.62272111 153.39708746] \n",
      "update L to [[5.51618859 7.51897356]], max hitratio is  0.547991222143 ||euler angle [214.94604818  78.21009925 165.09629958] \n",
      "update J to [[973.91853284 967.70930572]], max hitratio is  0.514956611395 ||r angle [184.33632827  64.61802152 153.38006646] \n",
      "update K to [[2015.11772245 2012.17194906]], max hitratio is  0.513245135546 ||angle [184.30352989  64.65191823 153.32080735] \n",
      "update L to [[5.51618859 7.51825197]], max hitratio is  0.506432068348 ||uler angle [214.98434302  78.07180083 164.98805562]  \n",
      "update J to [[973.91853284 967.82360041]], max hitratio is  0.511031240225 || angle [184.33632827  64.61802152 153.38006646]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [184.32583728  64.64635328 153.38271751] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.508991873264 ,shape or rot is (1, 2, 3)||\n",
      "(0.021401783679806663, 0.8560713471922625, 0.42803567359614114)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.36856752 2012.42279413]], max hitratio is  0.554944908619 ||ngle [343.95540435  87.04634871  21.19574054] \n",
      "update L to [[5.53524414 7.53730752]], max hitratio is  0.535691487789 ||uler angle [178.30018943  27.82028457 207.09863079]  \n",
      "update J to [[974.93448737 968.83955493]], max hitratio is  0.550074338913 || angle [178.28792241  27.41824655 207.20123152] \n",
      "update K to [[2015.36856752 2012.5092012 ]], max hitratio is  0.537783241272 ||ngle [178.36536315  27.16454764 206.57185881] \n",
      "update L to [[5.53524414 7.53642176]], max hitratio is  0.542245876789 ||uler angle [178.18706775  27.32835765 206.84219906]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[974.93448737 968.57449625]], max hitratio is  0.541790139675 || angle [178.41164456  27.45133914 207.15444756] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]onstructed euler angle [178.20402033  27.53226702 207.07120054] 894426] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.542599606514 ,shape or rot is (1, 2, 3)||\n",
      "(0.145775, 5.831000000000011, 2.915500000000054)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.40231311 2012.5429468 ]], max hitratio is  0.470524436235 ||ngle [188.13075778  65.35784721 161.22120644]  \n",
      "update L to [[5.53359377 7.53477139]], max hitratio is  0.467068892717 ||uler angle [188.25908325  65.86016746 161.26063068]  \n",
      "update J to [[975.29062397 968.93063285]], max hitratio is  0.479051303864 ||.12753441  65.27920369 161.1572748 ] .94822875]  \n",
      "update K to [[2015.40231311 2012.59123048]], max hitratio is  0.467610937357 ||ngle [187.82462855  65.2374717  160.92663185]  \n",
      "update L to [[5.53359377 7.53533112]], max hitratio is  0.46531919837 ||euler angle [188.15944511  65.22325661 161.26445554]  \n",
      "update J to [[975.29062397 969.07625559]], max hitratio is  0.468439859152 || angle [188.07108908  65.09416699 161.13282444]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [188.33778111  65.39113814 161.15790417]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.463105666637 ,shape or rot is (1, 2, 3)||\n",
      "(0.12390874999999998, 4.956350000000009, 2.478175000000046)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.44410342 2012.63302079]], max hitratio is  0.533411091566 ||ngle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update L to [[5.52276255 7.5244999 ]], max hitratio is  0.539861786366 ||uler angle [215.29336643  78.29910971 165.16316859]  \n",
      "update J to [[976.11700031 969.90263193]], max hitratio is  0.550391817093 || angle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update K to [[2015.44410342 2012.57297051]], max hitratio is  0.530863946676 ||ngle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update L to [[5.52276255 7.52536704]], max hitratio is  0.538418984413 ||uler angle [182.8848308   68.80607419 162.34227112]  \n",
      "update J to [[976.11700031 970.09007399]], max hitratio is  0.53793130517 ||r angle [182.84695065  68.7137375  162.46244356]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [182.80230851  68.8095649  162.32970356]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.533747559786 ,shape or rot is (1, 2, 3)||\n",
      "(0.10532243749999999, 4.2128975000000075, 2.106448750000039)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.47815286 2012.60701995]], max hitratio is  0.525937139988 ||angle [15.40506074 81.5112659  12.9431264 ] ]  \n",
      "update L to [[5.51394413 7.51654862]], max hitratio is  0.532166409492 ||ler angle [215.27187931  77.96499797 164.96248332]   \n",
      "update J to [[976.04813416 970.02120785]], max hitratio is  0.527905029058 ||r angle [15.37661938 81.43151033 12.99906526] ]  \n",
      "update K to [[2015.47815286 2012.75683113]], max hitratio is  0.527002775669 ||angle [15.40506074 81.5112659  12.9431264 ] ]  \n",
      "update L to [[5.51394413 7.51737764]], max hitratio is  0.530411249399 ||euler angle [15.34434026 81.41886028 12.99438504] ]  \n",
      "update J to [[976.04813416 969.87037332]], max hitratio is  0.528200018406 || angle [15.34397949 81.42726185 12.92890232] 6]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 106,reconstructed euler angle [15.37661938 81.43151033 12.99906526]    \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.52891471982 ,shape or rot is (1, 2, 3)||\n",
      "(0.08952407187499999, 3.580962875000006, 1.7904814375000329)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.31603822 2012.5947165 ]], max hitratio is  0.54622926712 ||angle [343.78598771  87.21678258  21.55994828]  \n",
      "update L to [[5.50589248 7.50932599]], max hitratio is  0.545011800528 ||uler angle [142.28624021  61.22389816 202.79689445]  \n",
      "update J to [[975.42048964 969.2427288 ]], max hitratio is  0.559634709358 || angle [343.81456569  87.33454876  21.62595431]  \n",
      "update K to [[2015.31603822 2012.54856126]], max hitratio is  0.541925114393 ||ngle [343.76148225  87.1447375   21.56630547]  \n",
      "update L to [[5.50589248 7.51020959]], max hitratio is  0.541804152727 ||uler angle [343.74926871  87.1368212   21.55085894]  \n",
      "update J to [[975.42048964 968.51601411]], max hitratio is  0.550752520561 || angle [343.76148225  87.1447375   21.56630547]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 86,reconstructed euler angle [343.81456569  87.33454876  21.62595431]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.552485990524 ,shape or rot is (1, 2, 3)||\n",
      "(0.07609546109374998, 3.043818443750005, 1.5219092218750279)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.49883433 2012.73135736]], max hitratio is  0.536505550146 ||angle [194.16171974  66.77361548 136.53403362] \n",
      "update L to [[5.49976888 7.50408599]], max hitratio is  0.525178211927 ||euler angle [194.74059169  66.91355289 136.88651182] \n",
      "update J to [[974.9219947  968.01751917]], max hitratio is  0.547117578983 ||r angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update K to [[2015.49883433 2012.69199388]], max hitratio is  0.542530024052 ||angle [194.07098682  66.82322384 136.53168267] \n",
      "update L to [[5.49976888 7.50324591]], max hitratio is  0.532760107517 ||uler angle [194.22681138  66.71374942 136.75618841]  \n",
      "update J to [[974.9219947 967.4392699]], max hitratio is  0.538766485453 ||ler angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [194.16171974  66.77361548 136.53403362] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.535450643301 ,shape or rot is (1, 2, 3)||\n",
      "(0.06468114192968748, 2.587245677187504, 1.2936228385937736)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.33181141 2012.52497097]], max hitratio is  0.549588477612 ||ngle [142.33794456  61.48437789 203.30346423]  \n",
      "update L to [[5.49583098 7.49930801]], max hitratio is  0.567374193668 ||[187.84876647  65.37050401 160.89358988] 4.65380795] \n",
      "update J to [[974.61045402 967.12772921]], max hitratio is  0.536958253384 || angle [ 21.68280754  56.34007736 316.99303909]  \n",
      "update K to [[2015.33181141 2012.62225109]], max hitratio is  0.536892420053 ||ngle [142.37851648  61.42793529 203.32331009] \n",
      "update L to [[5.49583098 7.49654539]], max hitratio is  0.549318134785 ||uler angle [ 21.59416275  56.42226047 316.93506609]  \n",
      "update J to [[974.61045402 966.83449372]], max hitratio is  0.537746584415 || angle [142.37851648  61.42793529 203.32331009] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [142.37851648  61.42793529 203.32331009] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.535993301868 ,shape or rot is (1, 2, 3)||\n",
      "(0.054978970640234354, 2.1991588256093784, 1.0995794128047076)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.23227611 2012.52271579]], max hitratio is  0.488238108158 ||angle [ 27.92542179  70.73426496 324.58438426] \n",
      "update L to [[5.4979033  7.49861771]], max hitratio is  0.483571380377 ||euler angle [ 27.84716482  70.67811375 324.72030466] \n",
      "update J to [[974.34362045 966.56766015]], max hitratio is  0.49506393671 ||r angle [ 27.80826873  70.6894507  324.6476356 ]  \n",
      "update K to [[2015.23227611 2012.4640343 ]], max hitratio is  0.478894621134 ||angle [ 28.0051263   70.69193754 324.57304965] \n",
      "update L to [[5.4979033  7.49921476]], max hitratio is  0.475438964367 ||euler angle [ 28.01616135  70.65626504 324.57138073] \n",
      "update J to [[974.34362045 966.26246566]], max hitratio is  0.48522349 ||euler angle [ 28.02216238  70.68470542 324.55094803] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 104,reconstructed euler angle [ 27.96413358  70.74933112 324.59791138] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.472690075636 ,shape or rot is (1, 2, 3)||\n",
      "(0.0467321250441992, 1.8692850017679716, 0.9346425008840015)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.31181821 2012.5435764 ]], max hitratio is  0.53506680727 ||ngle [ 63.27336953  88.02971157 274.80107741] ] \n",
      "update L to [[5.4987034  7.50001486]], max hitratio is  0.536113196611 ||uler angle [100.24291617  90.25117588 264.50402061]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[974.12578041 966.04462562]], max hitratio is  0.531131696701 || angle [ 63.24349299  87.98614872 274.77260939]  \n",
      "update K to [[2015.31181821 2012.52072515]], max hitratio is  0.53244779706 ||ngle [ 63.5364143   88.07415572 274.69190345]   \n",
      "update L to [[5.4987034 7.5008249]], max hitratio is  0.526331990957 || euler angle [ 63.45378103  88.27674571 274.61048779]  \n",
      "update J to [[974.12578041 966.26382828]], max hitratio is  0.543886327744 || angle [ 63.20303919  87.97548001 274.74310287]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 83,reconstructed euler angle [ 63.27336953  88.02971157 274.80107741]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.529665130377 ,shape or rot is (1, 2, 3)||\n",
      "(0.03972230628756932, 1.588892251502776, 0.7944461257514013)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.16016746 2012.3690744 ]], max hitratio is  0.57578458786 ||angle [280.26260591  89.76371894  95.47743836]  \n",
      "update L to [[5.49952018 7.50164168]], max hitratio is  0.56986464262 ||euler angle [280.22618706  89.68427017  95.46087552]  \n",
      "update J to [[973.83073606 965.96878394]], max hitratio is  0.570511341095 || angle [100.32056198  90.39187775 264.4577122 ]  \n",
      "update K to [[2015.16016746 2012.29766844]], max hitratio is  0.569777274132 ||6260591  89.76371894  95.47743836] .27341877]  \n",
      "update L to [[5.49952018 7.50266566]], max hitratio is  0.569097733498 ||uler angle [280.47314012  89.50732733  95.336566  ]  \n",
      "update J to [[973.83073606 965.60038791]], max hitratio is  0.575760614872 || angle [100.37659669  90.41402126 264.42132119]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 80,reconstructed euler angle [280.26260591  89.76371894  95.47743836]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.564062893391 ,shape or rot is (1, 2, 3)||\n",
      "(0.03376396034443392, 1.3505584137773594, 0.675279206888691)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.10122606 2012.23872705]], max hitratio is  0.539597398043 ||ngle [ 46.21219888  65.34220568 328.8659319 ]  \n",
      "update L to [[5.50277395 7.50591943]], max hitratio is  0.557701802254 ||uler angle [ 72.50992254  60.85573162 274.56696579]  \n",
      "update J to [[973.95562529 965.72527714]], max hitratio is  0.55008276701 ||r angle [ 72.58439339  61.08074448 274.60893059] \n",
      "update K to [[2015.10122606 2012.18560139]], max hitratio is  0.545032125711 ||ngle [ 72.71177453  61.08996399 274.63499459]  \n",
      "update L to [[5.50277395 7.50678769]], max hitratio is  0.538652193546 ||uler angle [ 72.5302748   60.81838762 274.60341209]  \n",
      "update J to [[973.95562529 966.00353247]], max hitratio is  0.553535097837 || angle [ 72.67080271  61.01946368 274.60084332]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [ 72.6062273   61.05586165 274.60081596] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.540874415636 ,shape or rot is (1, 2, 3)||\n",
      "(0.028699366292768834, 1.1479746517107554, 0.5739873258553874)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.00997321 2012.09434853]], max hitratio is  0.541728127003 ||ngle [ 46.10408565  65.3148041  328.94958909]  \n",
      "update L to [[5.50561443 7.50962817]], max hitratio is  0.562683266401 ||uler angle [ 46.20857746  65.17058418 328.64832034]  \n",
      "update J to [[973.89276916 965.94067634]], max hitratio is  0.547661495209 || angle [ 46.11350395  65.27433577 328.95461486]  \n",
      "update K to [[2015.00997321 2011.98792368]], max hitratio is  0.546851968765 ||ngle [ 45.89364257  65.15700688 328.86301076]  \n",
      "update L to [[5.50561443 7.51051601]], max hitratio is  0.542668753862 ||uler angle [ 46.11270408  65.12959681 328.76320549]  \n",
      "update J to [[973.89276916 966.27207214]], max hitratio is  0.553686594963 || angle [ 46.14023544  65.20368401 328.67463143]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [ 45.97724032  65.10491214 328.89467143]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.544688749313 ,shape or rot is (1, 2, 3)||\n",
      "(0.024394461348853508, 0.9757784539541421, 0.48788922697707926)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.07282628 2012.05077676]], max hitratio is  0.505050843954 ||ngle [ 21.51694303  56.22740709 317.06475976]  \n",
      "update L to [[5.50198869 7.50689026]], max hitratio is  0.529706537724 ||uler angle [187.99281443  65.34870295 160.934106  ]  \n",
      "update J to [[973.76549421 966.14479719]], max hitratio is  0.50714315176 ||r angle [ 21.59416275  56.42226047 316.93506609]  \n",
      "update K to [[2015.07282628 2012.10086106]], max hitratio is  0.50233374238 ||angle [ 21.54373273  56.23219554 316.95506507]  \n",
      "update L to [[5.50198869 7.50617292]], max hitratio is  0.505435621738 ||uler angle [187.94579547  65.35216435 160.72986982]  \n",
      "update J to [[973.76549421 966.23422365]], max hitratio is  0.500982987881 || angle [ 21.54373273  56.23219554 316.95506507]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 93,reconstructed euler angle [ 21.51802891  56.22702251 317.04541761] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.501976048946 ,shape or rot is (1, 2, 3)||\n",
      "(0.02073529214652548, 0.8294116858610208, 0.4147058429305174)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.02204967 2012.05008445]], max hitratio is  0.539953076839 ||angle [  7.15603488  80.69454573 331.63612009] \n",
      "update L to [[5.50457093 7.50875517]], max hitratio is  0.543013501167 ||euler angle [  7.15603488  80.69454573 331.63612009] \n",
      "update J to [[973.69079679 966.15952623]], max hitratio is  0.545258760452 ||r angle [  7.0871195   80.72047988 331.68051543] \n",
      "update K to [[2015.02204967 2012.08252267]], max hitratio is  0.54398560524 || angle [  7.16172368  80.66908341 331.6797511 ] \n",
      "update L to [[5.50457093 7.50787138]], max hitratio is  0.54184294939 ||euler angle [  7.30031511  80.54361918 331.45339881]  \n",
      "update J to [[973.69079679 966.39317944]], max hitratio is  0.549194657803 ||r angle [  7.18544908  80.69111076 331.72308306] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [  7.15475365  80.61850505 331.65926005] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.545083546638 ,shape or rot is (1, 2, 3)||\n",
      "(0.01762499832454666, 0.7049999329818676, 0.3524999664909398)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.06960613 2012.13007912]], max hitratio is  0.512881225348 ||ngle [174.58343339  55.5415847  182.87488611]  \n",
      "update L to [[5.50264214 7.50594259]], max hitratio is  0.520116072893 ||gle [174.63901687  55.44905893 182.9620123 ] 627096] \n",
      "update J to [[973.59153582 966.29391847]], max hitratio is  0.520231300592 || angle [174.53549822  55.47293672 183.13758878]  \n",
      "update K to [[2015.06960613 2012.15367183]], max hitratio is  0.516441780329 ||ngle [174.65001378  55.44618569 182.89797242]  \n",
      "update L to [[5.50264214 7.50518697]], max hitratio is  0.51427052021 ||euler angle [174.73410691  55.65108865 183.29451925]  \n",
      "update J to [[973.59153582 966.22245995]], max hitratio is  0.518091356754 ||[174.54422754  55.46778351 183.13969246] 256615] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.65001378  55.44618569 182.89797242]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.512878906727 ,shape or rot is (1, 2, 3)||\n",
      "(0.01498124857586466, 0.5992499430345875, 0.29962497151729883)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.3363839  2012.42044961]], max hitratio is  0.554943645 ||r angle [ 72.85952684  61.40087232 274.73157326]  \n",
      "update L to [[5.51109014 7.51363497]], max hitratio is  0.568084400892 ||uler angle [ 72.83110641  61.81723249 274.9248404 ]  \n",
      "update J to [[973.34707429 965.97799842]], max hitratio is  0.566987085342 || angle [ 72.85747681  61.38874118 274.76788262] \n",
      "update K to [[2015.3363839  2012.52178289]], max hitratio is  0.56711987257 ||angle [ 72.71018969  61.06318941 274.73722896]  \n",
      "update L to [[5.51109014 7.51260671]], max hitratio is  0.569889426231 ||uler angle [ 72.85952684  61.40087232 274.73157326]  \n",
      "update J to [[973.34707429 966.28041702]], max hitratio is  0.566134881973 || angle [ 72.88966561  61.42750985 274.76036985]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [ 72.86266559  61.39752716 274.75911281] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.56489559412 ,shape or rot is (1, 2, 3)||\n",
      "(0.1020425, 4.081700000000017, 2.040850000000057)\n",
      "(5, 5, 5, 9)\n",
      "1000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2015.15079933 2012.33619831]], max hitratio is  0.547017347813 ||ngle [174.63778757  55.50173723 182.88469419]  \n",
      "update L to [[5.51282333 7.51433991]], max hitratio is  0.534690862894 ||uler angle [174.84444205  55.80267084 183.17173999]  \n",
      "update J to [[972.80176567 965.73510839]], max hitratio is  0.555881112814 || angle [112.27661514  89.92811476 261.72189324]  \n",
      "update K to [[2015.15079933 2012.26101942]], max hitratio is  0.541979891062 ||ngle [174.60606783  55.43120908 182.84905467]  \n",
      "update L to [[5.51282333 7.51342395]], max hitratio is  0.548340076208 ||uler angle [174.52081379  55.34757062 183.54492778]  \n",
      "update J to [[972.80176567 965.50160569]], max hitratio is  0.548287165165 || angle [174.53306662  55.45665452 183.45172313]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]constructed euler angle [174.62158649  55.465513   183.09733149] 799082] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.540756028891 ,shape or rot is (1, 2, 3)||\n",
      "(0.086736125, 3.4694450000000145, 1.7347225000000486)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.18457238 2012.29479247]], max hitratio is  0.55957840085 ||angle [ 46.45014421  65.18082348 328.75940836] \n",
      "update L to [[5.51112693 7.51172755]], max hitratio is  0.560432702303 ||uler angle [188.38458064  65.36482098 161.1473844 ]  \n",
      "update J to [[972.3050371  965.00487711]], max hitratio is  0.568854504824 || angle [ 72.66952399  61.02526793 274.69070175] \n",
      "update K to [[2015.18457238 2012.3665142 ]], max hitratio is  0.563242131472 ||ngle [ 46.23820988  65.37278525 328.87390935] \n",
      "update L to [[5.51112693 7.51075811]], max hitratio is  0.55880933404 ||euler angle [ 72.40434275  60.71829187 274.73313113]  \n",
      "update J to [[972.3050371  965.22047426]], max hitratio is  0.563618797064 ||72.46230321  60.89188259 274.60516057] 442501 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 46.22212882  65.27871372 328.87221617] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.562934309244 ,shape or rot is (1, 2, 3)||\n",
      "(0.07372570625, 2.9490282500000125, 1.4745141250000413)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.931209   2012.11315082]], max hitratio is  0.555944752693 ||gle [174.78027836  56.03856914 182.70094858] ] \n",
      "update L to [[5.51246267 7.51209385]], max hitratio is  0.546322011948 ||uler angle [174.75559473  55.3019802  182.8311044 ]  \n",
      "update J to [[972.25289399 965.16833116]], max hitratio is  0.541901248693 || angle [174.72642961  55.50251198 183.07684111]  \n",
      "update K to [[2014.931209   2011.95658249]], max hitratio is  0.534809929132 ||ngle [174.91808497  56.03523022 182.64573338]  \n",
      "update L to [[5.51246267 7.51295951]], max hitratio is  0.538111793995 ||uler angle [174.59531758  55.14832547 182.75522129]  \n",
      "update J to [[972.25289399 965.33129641]], max hitratio is  0.541996514797 || angle [174.4641641   55.59801109 182.64282367]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 96,reconstructed euler angle [174.60313066  55.5526799  182.79370231]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.534576928616 ,shape or rot is (1, 2, 3)||\n",
      "(0.0626668503125, 2.5066740125000107, 1.253337006250035)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.09901545 2012.12438895]], max hitratio is  0.556282103062 ||angle [194.22681138  66.71374942 136.75618841] \n",
      "update L to [[5.5112769  7.51177374]], max hitratio is  0.554287624359 ||euler angle [174.36742118  55.4319641  182.93417234] \n",
      "update J to [[972.10786289 965.1862653 ]], max hitratio is  0.557820987701 || angle [194.22681138  66.71374942 136.75618841]  \n",
      "update K to [[2015.09901545 2012.17531749]], max hitratio is  0.559997403622 ||angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update L to [[5.5112769  7.51081489]], max hitratio is  0.556767034531 ||euler angle [194.45328625  66.69375035 136.8474848 ] \n",
      "update J to [[972.10786289 965.33427175]], max hitratio is  0.554096484184 || angle [194.22876463  66.64147214 136.80461726]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [194.39222486  66.84945016 136.90555287] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.562272679806 ,shape or rot is (1, 2, 3)||\n",
      "(0.05326682276562499, 2.130672910625009, 1.0653364553125297)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97689447 2012.0531965 ]], max hitratio is  0.48577426672 || angle [ 47.37041805  71.58803764 324.86073758] \n",
      "update L to [[5.50436968 7.50390767]], max hitratio is  0.550381422043 ||euler angle [ 28.04564423  70.67670576 324.5329962 ] \n",
      "update J to [[971.92821904 965.1546279 ]], max hitratio is  0.47681145072 ||er angle [ 47.41157605  71.60889753 324.90131024] \n",
      "update K to [[2014.97689447 2012.23613309]], max hitratio is  0.473289430141 ||angle [208.71971822  70.86942668 153.17751202] \n",
      "update L to [[5.50436968 7.50332975]], max hitratio is  0.470305812359 ||euler angle [ 47.10356235  71.34728114 325.30751136] \n",
      "update J to [[971.92821904 965.23303689]], max hitratio is  0.473304712772 ||r angle [ 47.14217605  71.46725839 325.07113438] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 107,reconstructed euler angle [ 47.13666966  71.47102334 324.91565351] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.473813056946 ,shape or rot is (1, 2, 3)||\n",
      "(0.045276799350781244, 1.8110719740312575, 0.9055359870156503)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.99501046 2012.25424908]], max hitratio is  0.564676386118 ||ngle [ 72.86234686  61.39837276 274.7521185 ] \n",
      "update L to [[5.50348342 7.50244349]], max hitratio is  0.560586595535 ||uler angle [ 72.86234686  61.39837276 274.7521185 ]  \n",
      "update J to [[971.67816246 964.98298032]], max hitratio is  0.562016433477 || angle [ 72.81598957  61.31844158 274.80632302] \n",
      "update K to [[2014.99501046 2012.14717862]], max hitratio is  0.554330950975 ||ngle [ 72.75595979  61.31009359 274.79758069] \n",
      "update L to [[5.50348342 7.50343249]], max hitratio is  0.562543594837 ||uler angle [ 72.84305297  61.32138671 274.75337513] \n",
      "update J to [[971.67816246 964.86945109]], max hitratio is  0.565260255337 || angle [ 72.86668488  61.36683064 274.76993147]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [ 72.86668488  61.36683064 274.76993147] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.559440743923 ,shape or rot is (1, 2, 3)||\n",
      "(0.03848527944816406, 1.539411177926569, 0.7697055889633028)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88033942 2012.03250758]], max hitratio is  0.53012265563 ||angle [ 11.09384261  74.5185652  341.13691153]  \n",
      "update L to [[5.50412499 7.50407406]], max hitratio is  0.531370961666 ||uler angle [ 11.64098412  74.45294027 340.72895902]  \n",
      "update J to [[971.5445456  964.73583423]], max hitratio is  0.538591772318 || angle [ 11.67966449  74.64644101 340.77535018]  \n",
      "update K to [[2014.88033942 2012.00616775]], max hitratio is  0.528831917048 ||ngle [ 11.3223942   74.69489284 341.02167373]  \n",
      "update L to [[5.50412499 7.50325687]], max hitratio is  0.52787604928 ||euler angle [ 11.65011467  74.39543837 340.88417016]  \n",
      "update J to [[971.5445456  964.49261392]], max hitratio is  0.533374750614 || angle [ 11.49958936  74.47780999 340.99828695]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [ 11.03366765  74.58766634 341.31936085]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.523401683569 ,shape or rot is (1, 2, 3)||\n",
      "(0.03271248753093945, 1.3084995012375835, 0.6542497506188073)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.93032662 2012.05615495]], max hitratio is  0.516173738241 ||ngle [289.17575488  81.02084464  96.81807494]  \n",
      "update L to [[5.49992982 7.4990617 ]], max hitratio is  0.548352992535 ||uler angle [289.57321848  80.38135417  96.87572864]  \n",
      "update J to [[971.44351128 964.3915796 ]], max hitratio is  0.517991489172 || angle [289.17575488  81.02084464  96.81807494]  \n",
      "update K to [[2014.93032662 2012.077104  ]], max hitratio is  0.517243677378 ||ngle [289.32320522  80.83514501  96.83793019]  \n",
      "update L to [[5.49992982 7.49830324]], max hitratio is  0.514913535118 ||uler angle [289.64048207  80.54924784  96.97636471]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[971.44351128 964.58163465]], max hitratio is  0.518624073267 || angle [289.28708885  80.96691337  96.72963777]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 93,reconstructed euler angle [289.17575488  81.02084464  96.81807494]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.518392258883 ,shape or rot is (1, 2, 3)||\n",
      "(0.027805614401298532, 1.112224576051946, 0.5561122880259862)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.93992382 2012.0867012 ]], max hitratio is  0.537536722422 ||angle [ 27.89302459  70.70192479 324.62886332] \n",
      "update L to [[5.49856227 7.49693569]], max hitratio is  0.528417700529 ||euler angle [ 28.04605803  70.57862608 324.5054813 ] \n",
      "update J to [[971.46247451 964.60059788]], max hitratio is  0.535370069742 ||r angle [ 27.96491119  70.71607599 324.56460879] \n",
      "update K to [[2014.93992382 2012.06728573]], max hitratio is  0.532373827696 ||angle [ 28.04116931  70.71025012 324.60249768] \n",
      "update L to [[5.49856227 7.49774272]], max hitratio is  0.525678902864 ||euler angle [ 27.96491119  70.71607599 324.56460879] \n",
      "update J to [[971.46247451 964.30894455]], max hitratio is  0.53263040185 ||er angle [ 27.96491119  70.71607599 324.56460879] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 105,reconstructed euler angle [ 27.96491119  70.71607599 324.56460879] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.530512428284 ,shape or rot is (1, 2, 3)||\n",
      "(0.02363477224110375, 0.9453908896441541, 0.47269544482208825)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.00722808 2012.13458999]], max hitratio is  0.522180181742 ||ngle [ 45.99993603  65.1879264  328.84863685]  \n",
      "update L to [[5.49895298 7.49813344]], max hitratio is  0.529888105392 ||uler angle [ 46.11349864  65.27433577 328.95461486]  \n",
      "update J to [[971.47742615 964.32389619]], max hitratio is  0.522123634815 || angle [ 45.96043823  65.22718546 328.88396281]  \n",
      "update K to [[2015.00722808 2011.99555577]], max hitratio is  0.520779830217 ||ngle [ 45.85870443  65.20218586 328.85713507]  \n",
      "update L to [[5.49895298 7.49894241]], max hitratio is  0.526100116968 ||uler angle [ 45.94050766  65.16085042 328.89784239]  \n",
      "update J to [[971.47742615 964.27658606]], max hitratio is  0.524371051788 || angle [ 45.90355423  65.18537181 328.80997614]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 93,reconstructed euler angle [ 45.96103433  65.18560373 328.86975729]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.518838328123 ,shape or rot is (1, 2, 3)||\n",
      "(0.020089556404938185, 0.803582256197531, 0.401791128098775)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.95252604 2011.94085373]], max hitratio is  0.514439582825 ||angle [15.3385086  81.38691529 13.04208469] ]  \n",
      "update L to [[5.49668222 7.49667165]], max hitratio is  0.525752794743 ||uler angle [215.31527825  77.90355359 164.85706623]  \n",
      "update J to [[971.46500446 964.26416438]], max hitratio is  0.518160426617 || angle [15.51353285 81.34149486 12.75244204] 2]  \n",
      "update K to [[2014.95252604 2011.95371303]], max hitratio is  0.51716273427 || angle [15.55987098 81.35345443 12.74533532] ]  \n",
      "update L to [[5.49668222 7.4959211 ]], max hitratio is  0.513117039204 ||uler angle [215.33208112  77.71384518 165.01216628]  \n",
      "update J to [[971.46500446 964.37996111]], max hitratio is  0.517256605625 ||r angle [15.28336181 81.44801861 13.09880633] ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 103,reconstructed euler angle [15.31680265 81.4221109  13.07235108] ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.514362454414 ,shape or rot is (1, 2, 3)||\n",
      "(0.017076122944197455, 0.6830449177679013, 0.3415224588839587)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.93754019 2011.93872718]], max hitratio is  0.508699369431 ||angle [208.82674833  70.9887363  152.79277953] \n",
      "update L to [[5.49802355 7.49726243]], max hitratio is  0.520962262154 ||euler angle [ 27.59747675  70.70856911 324.82926417] \n",
      "update J to [[971.47448249 964.38943914]], max hitratio is  0.499846953154 ||r angle [ 28.08448507  70.79742209 324.66001011] \n",
      "update K to [[2014.93754019 2011.90865065]], max hitratio is  0.502478247881 ||angle [208.60848322  70.95164825 152.70096804] \n",
      "update L to [[5.49802355 7.49795314]], max hitratio is  0.499100774527 ||euler angle [ 27.73580165  70.73589699 324.79016611] \n",
      "update J to [[971.47448249 964.6030991 ]], max hitratio is  0.50495159626 ||er angle [ 28.08448507  70.79742209 324.66001011] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 106,reconstructed euler angle [ 28.08448507  70.79742209 324.66001011] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.501872652769 ,shape or rot is (1, 2, 3)||\n",
      "(0.014514704502567836, 0.5805881801027161, 0.2902940900513649)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.95453253 2011.92564299]], max hitratio is  0.559988087416 ||ngle [215.43209064  78.04494506 165.08377365]  \n",
      "update L to [[5.49774321 7.4976728 ]], max hitratio is  0.558094424009 ||uler angle [215.30802575  77.89426324 165.05623431]  \n",
      "update J to [[971.48576105 964.61437766]], max hitratio is  0.559168386459 || angle [215.54244922  78.01881191 165.14054577]  \n",
      "update K to [[2014.95453253 2011.93739172]], max hitratio is  0.559249645472 ||gle [215.49219516  78.06219142 165.16853599]   \n",
      "update L to [[5.49774321 7.49674359]], max hitratio is  0.550969427824 ||euler angle [215.41184373  78.14578633 165.12746086] \n",
      "update J to [[971.48576105 964.8607951 ]], max hitratio is  0.559018534422 || angle [215.35515437  78.08182815 165.08279109]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [215.38461818  78.14865386 165.12869011] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.558422124386 ,shape or rot is (1, 2, 3)||\n",
      "(0.01233749882718266, 0.49349995308730865, 0.24674997654366018)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98200978 2011.96486897]], max hitratio is  0.523142760992 ||ngle [ 46.16142604  65.27007961 328.82000499]  \n",
      "update L to [[5.49591195 7.49491233]], max hitratio is  0.529469805956 ||[ 46.05578489  65.10556855 328.74000877] 1.7256497 ] \n",
      "update J to [[971.42853275 964.8035668 ]], max hitratio is  0.530260640383 || angle [ 46.17822815  65.26210148 328.74596604]  \n",
      "update K to [[2014.98200978 2012.04210678]], max hitratio is  0.531697952747 ||ngle [ 46.12378827  65.27032429 328.81205472]  \n",
      "update L to [[5.49591195 7.49408702]], max hitratio is  0.529619008303 ||uler angle [ 46.25593247  65.3160246  328.4722674 ]  \n",
      "update J to [[971.42853275 964.67486987]], max hitratio is  0.531652873755 || angle [ 46.16621349  65.21616052 328.78708136]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 46.17822815  65.26210148 328.74596604]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.526164966822 ,shape or rot is (1, 2, 3)||\n",
      "(0.010486874003105261, 0.41947496012421237, 0.20973748006211115)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.16875423 2012.22885122]], max hitratio is  0.494261473417 ||ngle [174.76941904  55.69737896 183.25826484]  \n",
      "update L to [[5.51029267 7.50846774]], max hitratio is  0.513040298223 ||uler angle [100.18305614  90.29363234 264.50749027]  \n",
      "update J to [[971.45408276 964.70041988]], max hitratio is  0.488328152895 || angle [100.31946903  90.21552912 264.46525301]  \n",
      "update K to [[2015.16875423 2012.16789209]], max hitratio is  0.478744459152 ||ngle [174.75965192  55.57988582 183.45396321]  \n",
      "update L to [[5.51029267 7.50906535]], max hitratio is  0.475585567951 ||uler angle [100.22627799  90.17848218 264.62655437]  \n",
      "update J to [[971.45408276 964.51792459]], max hitratio is  0.478410792351 ||100.22627799  90.17848218 264.62655437] 251136]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 78,reconstructed euler angle [100.22627799  90.17848218 264.62655437]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.470647960901 ,shape or rot is (1, 2, 3)||\n",
      "(0.07142975000000007, 2.857190000000003, 1.4285949999999048)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.01603309 2012.01517095]], max hitratio is  0.516073429585 ||ngle [345.35684987  89.22120382  11.91699784]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update L to [[5.51355766 7.51233033]], max hitratio is  0.515673232079 ||uler angle [344.11626856  86.97755514  21.50881122]  \n",
      "update J to [[971.70197345 964.76581528]], max hitratio is  0.538515079021 || angle [345.20150316  89.29751075  11.99148215]  \n",
      "update K to [[2015.01603309 2012.07956601]], max hitratio is  0.514717245102 ||angle [345.51629341  89.20634138  11.71280219] \n",
      "update L to [[5.51355766 7.51308275]], max hitratio is  0.513542932272 ||uler angle [343.95575997  87.11615998  21.47742349]  \n",
      "update J to [[971.70197345 964.96883591]], max hitratio is  0.523308146 ||ler angle [345.54033575  89.13744528  11.79689378]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [345.52200306  89.19437486  11.75754498] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.516539132595 ,shape or rot is (1, 2, 3)||\n",
      "(0.060715287500000055, 2.4286115000000024, 1.214305749999919)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.22871469 2012.29224761]], max hitratio is  0.559500682354 ||ngle [182.79450863  68.71842333 162.37879964] \n",
      "update L to [[5.50674521 7.5062703 ]], max hitratio is  0.586713302135 ||ler angle [215.00230331  78.18363177 165.20203209]   \n",
      "update J to [[971.35961299 964.62647544]], max hitratio is  0.565922129154 || angle [183.03058707  68.66802922 162.45058621]  \n",
      "update K to [[2015.22871469 2012.50016069]], max hitratio is  0.556841683388 ||ngle [182.87208564  68.63040297 162.51993979]  \n",
      "update L to [[5.50674521 7.50531063]], max hitratio is  0.556926739216 ||e [215.00180134  78.05755267 164.85802199] 8867466]  \n",
      "update J to [[971.35961299 963.99778598]], max hitratio is  0.558310902119 || angle [183.03800493  68.78470975 162.49543369]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [182.87412112  68.67145064 162.4742042 ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.554986798763 ,shape or rot is (1, 2, 3)||\n",
      "(0.05160799437500004, 2.0643197750000017, 1.0321598874999312)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.08130167 2012.35274767]], max hitratio is  0.52271258235 || angle [194.15180229  66.72688853 136.55890656] \n",
      "update L to [[5.51145903 7.51002445]], max hitratio is  0.547826164961 ||euler angle [194.16984751  66.78578695 136.52220223] \n",
      "update J to [[971.52043148 964.15860448]], max hitratio is  0.519529855251 ||r angle [194.15180229  66.72688853 136.55890656] \n",
      "update K to [[2015.08130167 2012.30615019]], max hitratio is  0.514982819557 ||angle [194.0650997   66.82743111 136.64351934] \n",
      "update L to [[5.51145903 7.51080205]], max hitratio is  0.519211345911 || [194.16984751  66.78578695 136.52220223] 96780396]  \n",
      "update J to [[971.52043148 964.30393938]], max hitratio is  0.521700751781 ||4.19390362  66.73934905 136.51270882] 89797242]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [194.01732947  66.87238016 136.75500544] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.511842471361 ,shape or rot is (1, 2, 3)||\n",
      "(0.04386679521875003, 1.7546718087500015, 0.8773359043749415)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.20642124 2012.43126976]], max hitratio is  0.522460091114 ||ngle [182.76970144  68.64312762 162.32027967]  \n",
      "update L to [[5.50447698 7.50382001]], max hitratio is  0.589291846752 ||uler angle [215.06168699  78.15353114 165.05682158]  \n",
      "update J to [[971.29260352 964.07611141]], max hitratio is  0.550619852543 || angle [182.76575336  68.68175174 162.37951173]  \n",
      "update K to [[2015.20642124 2012.57555673]], max hitratio is  0.54941547513 ||angle [182.76970144  68.64312762 162.32027967]  \n",
      "update L to [[5.50447698 7.50290737]], max hitratio is  0.547675919533 ||uler angle [214.93706418  78.06816055 164.8709314 ]  \n",
      "update J to [[971.29260352 964.21347629]], max hitratio is  0.540485131741 || angle [182.76970144  68.64312762 162.32027967]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [182.76970144  68.64312762 162.32027967]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.539728140831 ,shape or rot is (1, 2, 3)||\n",
      "(0.03728677593593752, 1.4914710374375013, 0.7457355187187003)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.15113141 2012.5202669 ]], max hitratio is  0.511027556658 ||ngle [ 11.64349688  74.71709139 340.64516591]  \n",
      "update L to [[5.50393628 7.50236667]], max hitratio is  0.507241421938 ||ler angle [142.6882622   61.49721244 203.27059552]   \n",
      "update J to [[971.08761137 964.00848414]], max hitratio is  0.516068637371 ||angle [ 11.45789855  74.88815983 340.69710264] ] \n",
      "update K to [[2015.15113141 2012.42070725]], max hitratio is  0.51252297163 ||angle [ 11.63677403  74.72372263 340.57208292]  \n",
      "update L to [[5.50393628 7.50310374]], max hitratio is  0.510028332472 ||uler angle [142.67397702  61.44310499 203.44063973]  \n",
      "update J to [[971.08761137 964.30441918]], max hitratio is  0.510948646069 || angle [142.5754869   61.39818872 203.44727928]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [142.63358346  61.40238219 203.29672996]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.507604968548 ,shape or rot is (1, 2, 3)||\n",
      "(0.031693759545546894, 1.267750381821876, 0.6338751909108952)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.11934576 2012.38892159]], max hitratio is  0.531842309237 ||ngle [289.2056168   80.84129287  96.79089101]  \n",
      "update L to [[5.5079585  7.50712596]], max hitratio is  0.546443760395 ||uler angle [289.07936936  81.00025171  96.88938241]  \n",
      "update J to [[971.24566304 964.46247085]], max hitratio is  0.543212723732 || angle [289.2056168   80.84129287  96.79089101]  \n",
      "update K to [[2015.11934576 2012.2875582 ]], max hitratio is  0.544301599264 ||056168   80.84129287  96.79089101] 2.3811759 ] \n",
      "update L to [[5.5079585 7.5079942]], max hitratio is  0.538645833731 || euler angle [289.2056168   80.84129287  96.79089101]  \n",
      "update J to [[971.24566304 964.56358553]], max hitratio is  0.543856060505 || angle [289.17605532  80.9085084   96.67364417]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [289.2056168   80.84129287  96.79089101]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.539113885164 ,shape or rot is (1, 2, 3)||\n",
      "(0.02693969561371486, 1.0775878245485946, 0.5387939122742609)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.10936188 2012.27757433]], max hitratio is  0.550435340405 ||ngle [182.87208564  68.63040297 162.51993979]  \n",
      "update L to [[5.50442403 7.50445972]], max hitratio is  0.552533769608 ||uler angle [215.26627901  78.00991299 164.94007992]  \n",
      "update J to [[971.26607322 964.58399572]], max hitratio is  0.554471099377 || angle [182.89823171  68.64117977 162.61135264]  \n",
      "update K to [[2015.10936188 2012.36920728]], max hitratio is  0.555593061447 ||ngle [183.04438393  68.78564468 162.62995966]  \n",
      "update L to [[5.50442403 7.50351334]], max hitratio is  0.554344558716 ||uler angle [215.2324968   78.11987867 164.76642915]  \n",
      "update J to [[971.26607322 964.49056388]], max hitratio is  0.55920522213 ||r angle [182.87412112  68.67145064 162.4742042 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [182.99983768  68.78755761 162.65023132] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.551266217232 ,shape or rot is (1, 2, 3)||\n",
      "(0.02289874127165763, 0.9159496508663054, 0.45797482543312173)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.0374669  2012.29731229]], max hitratio is  0.539451402426 ||angle [  6.99166243  80.78396685 331.7088486 ] \n",
      "update L to [[5.50752715 7.50661646]], max hitratio is  0.55852664113 || euler angle [  7.17847756  80.67826925 331.60030324] \n",
      "update J to [[971.21854366 964.44303431]], max hitratio is  0.537944954634 ||r angle [  7.0442824   80.64415282 331.69070709] \n",
      "update K to [[2015.0374669  2012.17654614]], max hitratio is  0.542373895645 ||angle [  7.19705872  80.65215759 331.63538117] \n",
      "update L to [[5.50752715 7.50748226]], max hitratio is  0.538140159845 ||euler angle [  7.0442824   80.64415282 331.69070709] \n",
      "update J to [[971.21854366 964.37266514]], max hitratio is  0.537106955051 ||r angle [  7.07362705  80.59619803 331.75042974] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [  7.19705872  80.65215759 331.63538117] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.535231554508 ,shape or rot is (1, 2, 3)||\n",
      "(0.019463930080908985, 0.7785572032363596, 0.3892786016181535)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98964083 2012.12872007]], max hitratio is  0.540567010641 ||ngle [174.56070146  55.42523307 183.10802798] \n",
      "update L to [[5.50919334 7.50914845]], max hitratio is  0.536111980677 ||ler angle [174.54798397  55.59076911 182.92526587]  \n",
      "update J to [[971.23188056 964.38600204]], max hitratio is  0.536210948229 || angle [174.55096218  55.48771168 182.92435027] \n",
      "update K to [[2014.98964083 2012.06953661]], max hitratio is  0.535213536024 ||ngle [174.43299066  55.64183677 182.97412881] \n",
      "update L to [[5.50919334 7.50997042]], max hitratio is  0.528903675079 ||uler angle [174.65001378  55.44618569 182.89797242] \n",
      "update J to [[971.23188056 964.44479202]], max hitratio is  0.53402479291 ||r angle [174.65001378  55.44618569 182.89797242] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [174.55096218  55.48771168 182.92435027] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.527758032084 ,shape or rot is (1, 2, 3)||\n",
      "(0.016544340568772638, 0.6617736227509056, 0.33088681137543047)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94687619 2012.02677197]], max hitratio is  0.505593854189 ||5519481  27.19319008 207.80693412] .62710341]  \n",
      "update L to [[5.51149223 7.51226931]], max hitratio is  0.51795219779 ||euler angle [177.89254982  27.24625914 207.86430856]  \n",
      "update J to [[971.14579038 964.35870184]], max hitratio is  0.506696683168 || angle [177.56504269  27.22606079 208.08757332]  \n",
      "update K to [[2014.94687619 2011.98182916]], max hitratio is  0.515474766493 ||ngle [177.57258307  27.22535032 208.07537396]  \n",
      "update L to [[5.51149223 7.51297268]], max hitratio is  0.50213265419 ||euler angle [177.71708246  27.4743419  208.27310972]  \n",
      "update J to [[971.14579038 964.31436213]], max hitratio is  0.513158607483 || angle [177.55646388  27.22584238 208.09194434]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [177.57258307  27.22535032 208.07537396]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.511117786169 ,shape or rot is (1, 2, 3)||\n",
      "(0.014062689483456741, 0.5625075793382697, 0.2812537896691159)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98227156 2012.01722453]], max hitratio is  0.501128804684 ||4.57131631  55.54193705 183.07969614] 463292]  \n",
      "update L to [[5.50950473 7.51098517]], max hitratio is  0.520890700817 ||uler angle [174.53549834  55.47293196 183.13758875]  \n",
      "update J to [[971.07482731 964.24339906]], max hitratio is  0.501535105705 || angle [174.61097209  55.4380975  182.98497543]  \n",
      "update K to [[2014.98227156 2012.12528185]], max hitratio is  0.505466061831 ||ngle [174.57552354  55.53941803 183.06477925]  \n",
      "update L to [[5.50950473 7.50886872]], max hitratio is  0.502635848522 ||uler angle [174.5124123   55.53156943 183.28204747]  \n",
      "update J to [[971.07482731 964.20784276]], max hitratio is  0.503291815519 || angle [174.61097209  55.4380975  182.98497543]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.53549834  55.47293196 183.13758875]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.500133216381 ,shape or rot is (1, 2, 3)||\n",
      "(0.01195328606093823, 0.4781314424375292, 0.2390657212187485)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.95009166 2012.09310195]], max hitratio is  0.557276374102 ||ngle [  7.11565127  80.69669749 331.5332032 ] \n",
      "update L to [[5.51067839 7.51004238]], max hitratio is  0.561189836264 ||uler angle [  7.18698202  80.67354954 331.63330516]  \n",
      "update J to [[971.14025726 964.27327272]], max hitratio is  0.560348135233 || angle [  7.20139442  80.74131934 331.50099132] \n",
      "update K to [[2014.95009166 2012.1346964 ]], max hitratio is  0.559826147556 ||ngle [  6.95921889  80.74579908 331.59836092]  \n",
      "update L to [[5.51067839 7.5091215 ]], max hitratio is  0.549321007729 ||ler angle [  7.30362769  80.70298821 331.58601432]   \n",
      "update J to [[971.14025726 964.64616919]], max hitratio is  0.559100615978 || angle [  6.95921889  80.74579908 331.59836092]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [  6.95921889  80.74579908 331.59836092] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.557097810507 ,shape or rot is (1, 2, 3)||\n",
      "(0.010160293151797496, 0.4064117260718998, 0.2032058630359362)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97010987 2012.15471461]], max hitratio is  0.50220130682 ||angle [174.65001378  55.44618569 182.89797242]  \n",
      "update L to [[5.50933041 7.50777351]], max hitratio is  0.510026377439 ||uler angle [174.56070146  55.42523307 183.10802798]  \n",
      "update J to [[971.16870977 964.6746217 ]], max hitratio is  0.501351457834 || angle [174.62804775  55.47230988 183.08679964]  \n",
      "update K to [[2014.97010987 2012.19720225]], max hitratio is  0.502003061771 ||ngle [174.56070146  55.42523307 183.10802798]  \n",
      "update L to [[5.50933041 7.50707105]], max hitratio is  0.501918447018 ||gle [174.72081523  55.65409949 183.26643393] 30599]  \n",
      "update J to [[971.16870977 964.70072827]], max hitratio is  0.506001329422 || angle [174.60045392  55.4388479  183.04808602]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]constructed euler angle [174.63247351  55.46593788 183.07822072] 38822]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.508175182343 ,shape or rot is (1, 2, 3)||\n",
      "(0.008636249179027871, 0.3454499671611148, 0.17272498358054578)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94697095 2012.17406333]], max hitratio is  0.511677122116 ||ngle [174.33978581  55.48675426 183.30263375]  \n",
      "update L to [[5.5091987  7.50693933]], max hitratio is  0.515837687254 ||uler angle [174.40143588  55.56536097 183.23460458]  \n",
      "update J to [[971.15329973 964.68531823]], max hitratio is  0.511501169205 || angle [174.21484873  55.35651288 183.03584646]  \n",
      "update K to [[2014.94697095 2012.10663539]], max hitratio is  0.508161348104 ||ngle [174.21937024  55.32021591 183.02174885]  \n",
      "update L to [[5.5091987 7.5062202]], max hitratio is  0.505856812 ||ed euler angle [174.27502245  55.35889634 182.84649993]   \n",
      "update J to [[971.15329973 964.56322205]], max hitratio is  0.522403544188 || angle [174.3817098   55.52370875 183.25625637]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.1922546   55.32171529 183.05835882]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.506566435099 ,shape or rot is (1, 2, 3)||\n",
      "(0.00734081180217369, 0.2936324720869476, 0.14681623604346392)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.16829717 2012.32796162]], max hitratio is  0.487025731802 ||angle [227.64572569  79.20083073 141.92329693] \n",
      "update L to [[5.50974339 7.50676489]], max hitratio is  0.534588545561 ||ler angle [162.98384608  77.41511973 217.78116887]   \n",
      "update J to [[971.16364251 964.57356484]], max hitratio is  0.493317675591 ||angle [227.70116862  79.11554252 141.87618137]   \n",
      "update K to [[2015.16829717 2012.38862   ]], max hitratio is  0.477955847979 ||angle [227.6207812   78.98895271 141.95741948] \n",
      "update L to [[5.50974339 7.5061729 ]], max hitratio is  0.474091023207 ||euler angle [163.16839763  77.20759088 217.63718638] \n",
      "update J to [[971.16364251 964.7588324 ]], max hitratio is  0.48082113266 ||er angle [163.17611457  77.33170279 217.65186924] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [227.65687141  79.21254549 141.84651052] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.473764258623 ,shape or rot is (1, 2, 3)||\n",
      "(0.05000082500000005, 2.000033000000002, 1.0000165000000492)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.03436107 2012.2546839 ]], max hitratio is  0.556346017122 ||ngle [ 72.85747681  61.38874118 274.76788262]  \n",
      "update L to [[5.51270891 7.50913843]], max hitratio is  0.56244751215 ||euler angle [ 72.83351695  61.39909601 274.66865399]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[971.35272321 964.9479131 ]], max hitratio is  0.554150223732 || angle [ 72.86878616  61.34620535 274.73212003]  \n",
      "update K to [[2015.03436107 2012.01639728]], max hitratio is  0.55200625062 ||angle [ 72.82120874  61.21756682 274.72766623]  \n",
      "update L to [[5.51270891 7.51009317]], max hitratio is  0.555972260237 ||uler angle [ 72.86878616  61.34620535 274.73212003]  \n",
      "update J to [[971.35272321 964.708771  ]], max hitratio is  0.552666050196 || angle [ 72.85747681  61.38874118 274.76788262]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [ 72.86878616  61.34620535 274.73212003]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.56115038991 ,shape or rot is (1, 2, 3)||\n",
      "(0.042500701250000036, 1.7000280500000016, 0.8500140250000418)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94257696 2011.92461317]], max hitratio is  0.517799901962 ||ngle [142.70639269  61.32420524 203.26152635] \n",
      "update L to [[5.51338994 7.5107742 ]], max hitratio is  0.524409425259 ||uler angle [142.64931999  61.47988386 203.29149828]  \n",
      "update J to [[971.48375845 964.83980624]], max hitratio is  0.517688089609 || angle [142.45405993  61.24018882 203.10860998]  \n",
      "update K to [[2014.94257696 2011.86766437]], max hitratio is  0.521562552452 ||ngle [142.26281167  61.01107691 203.17101212] \n",
      "update L to [[5.51338994 7.5115229 ]], max hitratio is  0.512696194649 ||uler angle [142.45807144  61.25693635 203.10814749]  \n",
      "update J to [[971.48375845 964.67702714]], max hitratio is  0.513220518827 || angle [142.45807144  61.25693635 203.10814749]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [142.65750295  61.37242447 203.19262321]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.51574742794 ,shape or rot is (1, 2, 3)||\n",
      "(0.03612559606250003, 1.4450238425000013, 0.7225119212500355)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.04704333 2011.97213074]], max hitratio is  0.524860423803 ||le [182.78252823  68.64881696 162.27185398] 3] \n",
      "update L to [[5.50719493 7.50532789]], max hitratio is  0.55557461977 ||euler angle [215.11737612  78.19185574 165.06429363]  \n",
      "update J to [[971.31649543 964.50976412]], max hitratio is  0.529935646057 || angle [182.74143809  68.67265312 162.31415884]  \n",
      "update K to [[2015.04704333 2012.02055436]], max hitratio is  0.521624130011 ||ngle [182.84917715  68.6230119  162.46609151]  \n",
      "update L to [[5.50719493 7.50292289]], max hitratio is  0.524512016773 ||uler angle [215.20462906  78.13754841 164.76774014]  \n",
      "update J to [[971.31649543 964.07262554]], max hitratio is  0.522152608633 || angle [182.88257685  68.59628605 162.36108156]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033] 97,reconstructed euler angle [182.76668222  68.60427694 162.3713278 ] ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.518572378159 ,shape or rot is (1, 2, 3)||\n",
      "(0.030706756653125025, 1.2282702661250011, 0.6141351330625302)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.01328187 2011.9867929 ]], max hitratio is  0.548394185305 ||ngle [ 11.05228493  74.45329468 341.13188523]  \n",
      "update L to [[5.50662862 7.50235658]], max hitratio is  0.54956792593 ||euler angle [ 11.24308182  74.53411141 341.07688906]  \n",
      "update J to [[971.47407714 964.23020725]], max hitratio is  0.548426944017 || angle [ 11.23798228  74.38763733 341.11177778]  \n",
      "update K to [[2015.01328187 2011.94080433]], max hitratio is  0.541272044182 ||ngle [ 10.86357513  74.63055298 341.32337856]  \n",
      "update L to [[5.50662862 7.50147733]], max hitratio is  0.540912604332 ||uler angle [ 11.05886252  74.60064858 341.32302066]  \n",
      "update J to [[971.47407714 964.65641177]], max hitratio is  0.546584671736 || angle [ 11.25606052  74.51562823 341.04268363]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [ 11.0221672   74.53009493 341.2285201 ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.545552819967 ,shape or rot is (1, 2, 3)||\n",
      "(0.02610074315515627, 1.044029726206251, 0.5220148631031507)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.02330086 2011.95082331]], max hitratio is  0.556922155619 ||21692097  66.78503048 136.72527866] 50560483]  \n",
      "update L to [[5.5111222  7.50597092]], max hitratio is  0.556305456161 ||uler angle [215.76512867  77.84534651 165.2544196 ]  \n",
      "update J to [[971.57207064 964.75440527]], max hitratio is  0.552822399139 ||r angle [194.11117653  66.82678852 136.50960603] \n",
      "update K to [[2015.02330086 2012.07491768]], max hitratio is  0.551572871208 ||angle [194.15135095  66.81737679 136.58932743] \n",
      "update L to [[5.5111222  7.50685897]], max hitratio is  0.542713958025 ||uler angle [215.88517471  77.7842162  165.68879187]  \n",
      "update J to [[971.57207064 965.12652755]], max hitratio is  0.551493436098 ||r angle [194.11117653  66.82678852 136.50960603] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [194.17939524  66.82293706 136.56495909] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.551601040363 ,shape or rot is (1, 2, 3)||\n",
      "(0.02218563168188283, 0.8874252672753133, 0.4437126336376781)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.99749733 2012.04911416]], max hitratio is  0.55876968503 || angle [184.45255096  64.71739369 153.48751941] \n",
      "update L to [[5.51519112 7.51092789]], max hitratio is  0.568157833815 ||uler angle [343.79333769  87.1969749   21.82816181]  \n",
      "update J to [[971.73736179 965.29181871]], max hitratio is  0.57109182477 ||r angle [184.3165074   64.91630328 153.53061683]  \n",
      "update K to [[2014.99749733 2012.01159308]], max hitratio is  0.563652449846 ||angle [184.43772894  64.62177161 153.7230523 ] \n",
      "update L to [[5.51519112 7.51190466]], max hitratio is  0.560214745998 ||uler angle [344.02449824  87.32344252  21.80230083]  \n",
      "update J to [[971.73736179 965.40402327]], max hitratio is  0.563053160906 || angle [184.48082797  64.89045865 153.75221647]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [184.46902507  64.83124505 153.59180107] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.559069597721 ,shape or rot is (1, 2, 3)||\n",
      "(0.018857786929600405, 0.7543114771840164, 0.3771557385920264)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.02019999 2012.03429574]], max hitratio is  0.565230721235 ||angle [184.11671036  64.73298102 153.20100503] \n",
      "update L to [[5.51481863 7.51153217]], max hitratio is  0.562280130386 ||euler angle [184.33632827  64.61802152 153.38006646] \n",
      "update J to [[971.84530791 965.51196939]], max hitratio is  0.568765962124 ||r angle [184.30832481  64.65785354 153.29291264] \n",
      "update K to [[2015.02019999 2012.00177904]], max hitratio is  0.567303562164 ||angle [184.29910395  64.6076808  153.21795966] \n",
      "update L to [[5.51481863 7.51253756]], max hitratio is  0.565632939339 ||uler angle [184.49743854  64.73430644 153.4678777 ]  \n",
      "update J to [[971.84530791 965.41603884]], max hitratio is  0.564146500826 ||r angle [184.30832481  64.65785354 153.29291264] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [184.35735165  64.62272111 153.39708746] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.559320527315 ,shape or rot is (1, 2, 3)||\n",
      "(0.016029118890160343, 0.6411647556064138, 0.3205823778032224)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.03643136 2012.01801041]], max hitratio is  0.533554673195 ||ngle [163.77305864  77.31393625 218.14617079]  \n",
      "update L to [[5.5133962  7.51111512]], max hitratio is  0.542581951618 ||euler angle [ 27.61052498  70.47070132 324.96816169] \n",
      "update J to [[971.79018603 965.36091696]], max hitratio is  0.536878025532 ||.73563113  77.3196595  218.14499926] .02913213]  \n",
      "update K to [[2015.03643136 2012.04140361]], max hitratio is  0.536624193192 ||6251409  77.19431956 218.28498847] .12133837] \n",
      "update L to [[5.5133962  7.51028729]], max hitratio is  0.530155944824 ||ler angle [163.64683758  77.30742034 218.33305874]   \n",
      "update J to [[971.79018603 965.42914624]], max hitratio is  0.531606405973 ||r angle [ 27.61959509  70.59340553 324.83611948] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 96,reconstructed euler angle [163.66667389  77.2461069  218.19358742] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.531470012665 ,shape or rot is (1, 2, 3)||\n",
      "(0.013624751056636292, 0.5449900422654518, 0.27249502113273905)\n",
      "(5, 5, 5, 9)\n",
      "1000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2015.04911433 2012.05408658]], max hitratio is  0.518793547153 ||ngle [343.68197849  87.15563859  21.70775123]  \n",
      "update L to [[5.51128887 7.50817997]], max hitratio is  0.536785846949 ||uler angle [343.76189029  87.13510692  21.54310563]  \n",
      "update J to [[971.73170593 965.37066614]], max hitratio is  0.516719287634 || angle [343.68197849  87.15563859  21.70775123]  \n",
      "update K to [[2015.04911433 2012.07189772]], max hitratio is  0.517286676168 ||ngle [343.68197849  87.15563859  21.70775123]  \n",
      "update L to [[5.51128887 7.50744028]], max hitratio is  0.510631585121 ||uler angle [343.77003292  87.12399435  21.52704082]  \n",
      "update J to [[971.73170593 965.5331846 ]], max hitratio is  0.519661802053 || angle [343.68197849  87.15563859  21.70775123]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 87,reconstructed euler angle [343.61714599  87.07791781  21.72271544]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.512452888489 ,shape or rot is (1, 2, 3)||\n",
      "(0.011581038398140849, 0.463241535925634, 0.23162076796282818)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.01935077 2012.04213416]], max hitratio is  0.504625427723 ||ngle [174.19445322  55.51887097 182.95915697]  \n",
      "update L to [[5.51242451 7.50857592]], max hitratio is  0.501433068514 ||[174.24364423  55.38555303 182.9297463 ] .38154266]  \n",
      "update J to [[971.77678631 965.57826499]], max hitratio is  0.500159114599 ||r angle [174.2035238   55.48729079 182.9918052 ] \n",
      "update K to [[2015.01935077 2011.94323095]], max hitratio is  0.505512458086 ||ngle [174.20196683  55.45727747 182.95583751]  \n",
      "update L to [[5.51242451 7.50925176]], max hitratio is  0.495494782925 ||uler angle [174.34578305  55.5315329  182.99739235]  \n",
      "update J to [[971.77678631 965.53772094]], max hitratio is  0.498076832294 || angle [174.14018091  55.54615247 182.97867786]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [174.23443767  55.48513309 182.95228595] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.499192196131 ,shape or rot is (1, 2, 3)||\n",
      "(0.009843882638419722, 0.3937553055367889, 0.19687765276840394)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.995239   2011.91911918]], max hitratio is  0.539998292923 ||ngle [215.27978788  77.96583044 164.94868582]  \n",
      "update L to [[5.51260452 7.50943177]], max hitratio is  0.548011022806 ||uler angle [215.32859692  77.85818009 165.0331748 ]  \n",
      "update J to [[971.79730791 965.55824254]], max hitratio is  0.538726848364 || angle [215.18229286  77.92172171 164.84458005]  \n",
      "update K to [[2014.995239   2011.81429396]], max hitratio is  0.5440982759 || angle [215.27978788  77.96583044 164.94868582]  \n",
      "update L to [[5.51260452 7.50861066]], max hitratio is  0.528719335794 ||uler angle [215.30526395  77.81566191 165.02441887]  \n",
      "update J to [[971.79730791 965.42273379]], max hitratio is  0.545083516836 ||.27978788  77.96583044 164.94868582] .45283826]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [215.27978788  77.96583044 164.94868582] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.54255438447 ,shape or rot is (1, 2, 3)||\n",
      "(0.008367300242656764, 0.33469200970627055, 0.16734600485314335)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2015.01451227 2011.83356723]], max hitratio is  0.529047697783 ||gle [194.08395148  66.87576867 136.25955071]   \n",
      "update L to [[5.51129817 7.5073043 ]], max hitratio is  0.538466215134 ||ler angle [194.12303371  66.80400343 136.2315352 ]   \n",
      "update J to [[971.79179667 965.41722255]], max hitratio is  0.52919446826 ||r angle [194.19834229  66.79925616 136.19671205]  \n",
      "update K to [[2015.01451227 2011.89262694]], max hitratio is  0.530707919598 ||gle [289.21832207  80.62633284  97.13104791]   \n",
      "update L to [[5.51129817 7.50809739]], max hitratio is  0.52263468504 ||euler angle [194.08688854  66.79463196 136.17392963]  \n",
      "update J to [[971.79179667 965.7310125 ]], max hitratio is  0.527845573425 ||angle [194.03696042  66.86927864 136.25056843]   \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [194.03863985  66.83807172 136.26026233]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.519221574068 ,shape or rot is (1, 2, 3)||\n",
      "(0.007112205206258249, 0.28448820825032994, 0.14224410412517186)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.99010249 2011.86821716]], max hitratio is  0.555703604221 ||ngle [194.03519727  66.80485084 136.72193182]  \n",
      "update L to [[5.51249994 7.50929917]], max hitratio is  0.552848398685 ||uler angle [194.07228611  66.76622461 136.67989617]  \n",
      "update J to [[971.76512987 965.7043457 ]], max hitratio is  0.552577310801 || angle [193.94868628  66.82590009 136.60882177]  \n",
      "update K to [[2014.99010249 2011.76620905]], max hitratio is  0.552594071627 ||gle [194.00428394  66.8561445  136.6488761 ]   \n",
      "update L to [[5.51249994 7.51020302]], max hitratio is  0.545914375782 ||ler angle [194.12381217  66.74095474 136.52385494]   \n",
      "update J to [[971.76512987 965.7375595 ]], max hitratio is  0.548287004232 ||r angle [193.9295485   66.84391852 136.60271442] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033] 99,reconstructed euler angle [194.02656376  66.79417398 136.71613669]   \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.549890393019 ,shape or rot is (1, 2, 3)||\n",
      "(0.0060453744253195114, 0.24181497701278046, 0.12090748850639607)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97891513 2011.75502169]], max hitratio is  0.550193750858 ||ngle [100.37703404  90.3879436  264.33375768]  \n",
      "update L to [[5.51284063 7.51054371]], max hitratio is  0.552947849035 ||uler angle [100.35820981  90.36011738 264.35523222]  \n",
      "update J to [[971.74253834 965.71496797]], max hitratio is  0.551965141296 || angle [280.3646769   89.52906095  95.70747234]  \n",
      "update K to [[2014.97891513 2011.80177016]], max hitratio is  0.54710200429 ||angle [100.29158854  90.40343446 264.30304931]  \n",
      "update L to [[5.51284063 7.51319865]], max hitratio is  0.542086213827 ||uler angle [100.40862358  90.37907799 264.76083592]  \n",
      "update J to [[971.74253834 965.80066661]], max hitratio is  0.550443792343 || angle [100.28125455  90.3833742  264.5263146 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 80,reconstructed euler angle [100.41014013  90.43733272 264.30936034] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.544072759151 ,shape or rot is (1, 2, 3)||\n",
      "(0.005138568261521584, 0.20554273046086338, 0.10277136523043666)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97248431 2011.79533934]], max hitratio is  0.474787122011 ||ngle [215.48181342  77.73565408 165.15656973]  \n",
      "update L to [[5.51642104 7.51677906]], max hitratio is  0.4772742033 || euler angle [174.24884949  55.94115908 182.74462091]  \n",
      "update J to [[971.71651554 965.7746438 ]], max hitratio is  0.485191577673 || angle [174.43181618  55.58935354 182.80912514] \n",
      "update K to [[2014.97248431 2011.85100132]], max hitratio is  0.464455085993 ||gle [174.95835526  56.10083884 182.66987117]  \n",
      "update L to [[5.51642104 7.51619517]], max hitratio is  0.471919029951 ||ler angle [174.02837062  55.73309505 182.29343214]  \n",
      "update J to [[971.71651554 965.59521129]], max hitratio is  0.475719326735 || angle [174.43502653  55.58767077 182.76889512] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.36571367  55.64262661 182.82447932] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.471646344662 ,shape or rot is (1, 2, 3)||\n",
      "(0.035000577500000185, 1.400023099999953, 0.7000115499999765)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88011332 2011.75863033]], max hitratio is  0.553594315052 ||ngle [343.78057784  87.09667338  21.43175456]  \n",
      "update L to [[5.51308531 7.51285944]], max hitratio is  0.555643165112 ||uler angle [178.23576715  27.32754595 206.71206791]  \n",
      "update J to [[971.53195024 965.410646  ]], max hitratio is  0.553417772055 || angle [343.78057784  87.09667338  21.43175456]  \n",
      "update K to [[2014.88011332 2011.83789308]], max hitratio is  0.55162115097 ||angle [343.94958476  87.06672324  21.13485305]  \n",
      "update L to [[5.51308531 7.51375101]], max hitratio is  0.543429589272 ||uler angle [178.09093982  27.11149264 206.97662908]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[971.53195024 965.18356882]], max hitratio is  0.543211060762 || angle [343.90040662  87.04609605  21.18162743]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [343.70099143  86.97676277  21.44430752]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.548923796415 ,shape or rot is (1, 2, 3)||\n",
      "(0.029750490875000157, 1.19001963499996, 0.59500981749998)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.91015423 2011.86793399]], max hitratio is  0.533052611351 ||ngle [ 11.47679336  74.47137448 340.982851  ] \n",
      "update L to [[5.51160521 7.51227091]], max hitratio is  0.530443882942 ||uler angle [ 11.42394056  74.66971753 340.93856412]  \n",
      "update J to [[971.72306883 965.3746874 ]], max hitratio is  0.54356263876 ||r angle [ 11.32923511  74.51115413 341.00050105] \n",
      "update K to [[2014.91015423 2011.93102784]], max hitratio is  0.53968526125 ||angle [ 11.14588661  74.58920204 341.14297848]  \n",
      "update L to [[5.51160521 7.51143225]], max hitratio is  0.532460486889 ||uler angle [ 11.43982037  74.72968597 341.04525145] \n",
      "update J to [[971.72306883 965.56252972]], max hitratio is  0.538313919306 || angle [ 10.849203    74.63418617 341.3300988 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 11.10275636  74.49029455 341.19912167] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.534206056595 ,shape or rot is (1, 2, 3)||\n",
      "(0.02528791724375013, 1.0115166897499661, 0.5057583448749831)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.84813206 2011.86900567]], max hitratio is  0.496822559834 ||ngle [343.8263679   87.25068059  21.84381083]  \n",
      "update L to [[5.51491132 7.51473836]], max hitratio is  0.507537448406 ||uler angle [343.8263679   87.25068059  21.84381083]  \n",
      "update J to [[971.59097228 965.43043317]], max hitratio is  0.50734821558 ||r angle [343.77142651  87.16970888  21.84099334]  \n",
      "update K to [[2014.84813206 2011.74408873]], max hitratio is  0.496026951075 ||angle [184.29012864  64.78417991 153.62846749] \n",
      "update L to [[5.51491132 7.51541262]], max hitratio is  0.495108503103 ||uler angle [343.72626493  87.28445595  21.86317159]  \n",
      "update J to [[971.59097228 965.2992601 ]], max hitratio is  0.504173159599 ||angle [343.90704553  87.30136057  21.61462401]   \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [343.8263679   87.25068059  21.84381083]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.500441771746 ,shape or rot is (1, 2, 3)||\n",
      "(0.02149472965718761, 0.8597891862874711, 0.42989459314373557)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.8983451  2011.79430177]], max hitratio is  0.5315364182 || angle [289.76585572  80.45484659  96.87253914]  \n",
      "update L to [[5.51166976 7.51217106]], max hitratio is  0.53228084445 ||euler angle [289.69599711  80.52736276  96.99021651]  \n",
      "update J to [[971.71933036 965.42761817]], max hitratio is  0.530489844084 || angle [289.68307567  80.55100975  96.93661978]  \n",
      "update K to [[2014.8983451  2011.83688285]], max hitratio is  0.527559137344 ||ngle [289.38634512  80.63541681  96.61714455]  \n",
      "update L to [[5.51166976 7.51136049]], max hitratio is  0.526445162296 ||uler angle [289.67078     80.36576779  96.88199224]  \n",
      "update J to [[971.71933036 965.56297176]], max hitratio is  0.537834233046 || angle [289.73585838  80.38234489  96.73430961]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [289.6634312   80.54342086  96.87976521] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.524314153194 ,shape or rot is (1, 2, 3)||\n",
      "(0.01827052020860947, 0.7308208083443505, 0.36541040417217524)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.86049476 2011.79903251]], max hitratio is  0.510674840212 ||ngle [174.59854152  55.34492657 183.00375841]  \n",
      "update L to [[5.51306407 7.5127548 ]], max hitratio is  0.515972959995 ||ler angle [174.5433667   55.57028682 182.91925512]   \n",
      "update J to [[971.77284652 965.61648792]], max hitratio is  0.508919215202 ||r angle [174.50406594  55.4569243  183.18392505] \n",
      "update K to [[2014.86049476 2011.83069532]], max hitratio is  0.504555726051 ||ngle [174.25850687  55.44374405 182.76330808]  \n",
      "update L to [[5.51306407 7.51205623]], max hitratio is  0.50098939538 ||euler angle [174.33611145  55.37927748 182.860652  ]  \n",
      "update J to [[971.77284652 965.51974812]], max hitratio is  0.507637792826 || angle [174.5853043   55.42043986 183.04864591]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [174.54316227  55.53555497 183.15693177] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.508964860439 ,shape or rot is (1, 2, 3)||\n",
      "(0.015529942177318047, 0.6211976870926978, 0.3105988435463489)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.82046791 2011.79066847]], max hitratio is  0.505107569695 ||ngle [194.09099918  66.86876509 136.23586716] \n",
      "update L to [[5.51420819 7.51320035]], max hitratio is  0.509946751595 ||uler angle [194.0604554   66.82633798 136.24410388]  \n",
      "update J to [[971.85255349 965.59945509]], max hitratio is  0.504377257824 || angle [194.03055156  66.8371989  136.31713159] \n",
      "update K to [[2014.82046791 2011.81720802]], max hitratio is  0.50220862031 ||angle [289.01229632  80.89572984  97.05219317] \n",
      "update L to [[5.51420819 7.51386922]], max hitratio is  0.493785274029 ||uler angle [194.04478687  66.83503787 136.26289978]  \n",
      "update J to [[971.85255349 965.99582768]], max hitratio is  0.501484024525 || angle [194.03055156  66.8371989  136.31713159]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [194.03055156  66.8371989  136.31713159] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.489790487289 ,shape or rot is (1, 2, 3)||\n",
      "(0.01320045085072034, 0.5280180340287931, 0.26400901701439655)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.84291148 2011.83965159]], max hitratio is  0.534870409966 ||ngle [ 11.33767059  74.72000682 340.7665252 ]  \n",
      "update L to [[5.51307023 7.51273126]], max hitratio is  0.537366294861 ||uler angle [ 11.28439971  74.81647095 341.06344726]  \n",
      "update J to [[971.93451474 966.07778893]], max hitratio is  0.537427556515 || angle [ 11.05943283  74.86796953 341.13453553]  \n",
      "update K to [[2014.84291148 2011.97472416]], max hitratio is  0.533309185505 ||ngle [ 11.40096199  74.75256779 341.00293096]  \n",
      "update L to [[5.51307023 7.51190917]], max hitratio is  0.528927564621 ||uler angle [142.70255129  61.49112774 203.54346243]  \n",
      "update J to [[971.93451474 965.8345254 ]], max hitratio is  0.533406335115 || angle [ 11.34453037  74.85142782 341.02732913]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [ 11.270387    74.85812138 340.89651594]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.527874934673 ,shape or rot is (1, 2, 3)||\n",
      "(0.01122038322311229, 0.4488153289244741, 0.22440766446223706)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.87286585 2012.00467853]], max hitratio is  0.555719530582 ||ngle [343.78057784  87.09667338  21.43175456] \n",
      "update L to [[5.51146883 7.51030777]], max hitratio is  0.568258142471 ||uler angle [343.80912842  86.94149168  21.3409356 ] \n",
      "update J to [[971.90776769 965.80777835]], max hitratio is  0.563347637653 || angle [343.78057784  87.09667338  21.43175456] \n",
      "update K to [[2014.87286585 2012.0836724 ]], max hitratio is  0.558210170269 ||ngle [343.78057784  87.09667338  21.43175456] \n",
      "update L to [[5.51146883 7.50936136]], max hitratio is  0.554350984097 ||uler angle [178.21653342  27.23007545 206.67444887]  \n",
      "update J to [[971.90776769 965.88829767]], max hitratio is  0.561780464649 || angle [343.78057784  87.09667338  21.43175456] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [343.78057784  87.09667338  21.43175456] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.555351555347 ,shape or rot is (1, 2, 3)||\n",
      "(0.009537325739645447, 0.381493029585803, 0.1907465147929015)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.84416272 2012.05496928]], max hitratio is  0.531892907619 ||ngle [ 27.56962786  70.58051059 324.80959123]  \n",
      "update L to [[5.51299215 7.51088468]], max hitratio is  0.542569321394 ||euler angle [ 27.5828124   70.64829295 324.85999939] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[971.91425137 965.89478135]], max hitratio is  0.534801328182 || angle [ 27.61885525  70.62463951 324.82882619]  \n",
      "update K to [[2014.84416272 2011.99681389]], max hitratio is  0.532096368074 ||angle [ 27.82681117  70.73017197 324.7089406 ] \n",
      "update L to [[5.51299215 7.5133654 ]], max hitratio is  0.529960149527 ||euler angle [ 27.72011185  70.62980502 324.91559469] \n",
      "update J to [[971.91425137 966.18340694]], max hitratio is  0.530780857801 ||r angle [ 27.52286966  70.57101657 324.80549478] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033] 105,reconstructed euler angle [ 27.63930722  70.56613374 324.85136608]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.534704953432 ,shape or rot is (1, 2, 3)||\n",
      "(0.00810672687869863, 0.3242690751479325, 0.16213453757396626)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.81388899 2011.96654015]], max hitratio is  0.571562170982 ||ngle [194.19069365  66.76070589 136.54299451]  \n",
      "update L to [[5.51385523 7.51422848]], max hitratio is  0.576534664631 ||uler angle [194.17207421  66.78075289 136.52297989]  \n",
      "update J to [[971.96080268 966.22995825]], max hitratio is  0.569364368916 || angle [194.18431386  66.73429548 136.52982383]  \n",
      "update K to [[2014.81388899 2011.94644893]], max hitratio is  0.568455582857 ||ngle [194.19069365  66.76070589 136.54299451]  \n",
      "update L to [[5.51385523 7.51526682]], max hitratio is  0.571746760607 ||ler angle [194.17207421  66.78075289 136.52297989]   \n",
      "update J to [[971.96080268 966.16942348]], max hitratio is  0.569275254011 ||r angle [194.17207421  66.78075289 136.52297989] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [194.19069365  66.76070589 136.54299451]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.564180278778 ,shape or rot is (1, 2, 3)||\n",
      "(0.006890717846893835, 0.2756287138757426, 0.1378143569378713)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.81583572 2011.94839566]], max hitratio is  0.502826040983 ||angle [15.46642995 81.47926617 12.87375318] ]  \n",
      "update L to [[5.51298807 7.51439966]], max hitratio is  0.501123559475 ||euler angle [15.46642995 81.47926617 12.87375318] ]  \n",
      "update J to [[971.93361888 966.14223968]], max hitratio is  0.50239277482 ||er angle [15.44936533 81.43691855 12.87369025] ]  \n",
      "update K to [[2014.81583572 2011.93664637]], max hitratio is  0.501832276583 ||angle [15.46642995 81.47926617 12.87375318] ]  \n",
      "update L to [[5.51298807 7.51371331]], max hitratio is  0.49804905057 ||euler angle [194.30553547  66.96328267 136.14122443]  \n",
      "update J to [[971.93361888 966.10671353]], max hitratio is  0.503149545193 ||r angle [15.46642995 81.47926617 12.87375318] ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 103,reconstructed euler angle [15.46642995 81.47926617 12.87375318] ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.498271489143 ,shape or rot is (1, 2, 3)||\n",
      "(0.0058571101698597595, 0.23428440679438123, 0.11714220339719061)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.82359204 2011.94440269]], max hitratio is  0.583473551273 ||ngle [ 10.90776218  74.51298431 341.28832449] \n",
      "update L to [[5.51261129 7.51333654]], max hitratio is  0.57788169384 ||euler angle [ 10.95393757  74.48049921 341.33873149] \n",
      "update J to [[971.95859661 966.13169126]], max hitratio is  0.576802814007 || angle [ 10.87096005  74.65047672 341.40072085] \n",
      "update K to [[2014.82359204 2011.99089113]], max hitratio is  0.580973553658 ||ngle [ 10.88266437  74.51935102 341.36438449] \n",
      "update L to [[5.51261129 7.51225877]], max hitratio is  0.578893828392 ||uler angle [ 10.87215241  74.65014169 341.38952044]  \n",
      "update J to [[971.95859661 966.1772684 ]], max hitratio is  0.577152276039 ||.08273378  74.65840026 341.28796934] .17923331] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 93,reconstructed euler angle [ 10.86722747  74.72002862 341.37654382] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.571380472183 ,shape or rot is (1, 2, 3)||\n",
      "(0.0049785436443807955, 0.19914174577522403, 0.09957087288761202)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.82185377 2011.98915286]], max hitratio is  0.5396048069 || angle [ 72.86668488  61.36683064 274.76993147] \n",
      "update L to [[5.5126995  7.51234697]], max hitratio is  0.542255264521 ||uler angle [ 72.86668488  61.36683064 274.76993147]  \n",
      "update J to [[971.9411112  966.15978298]], max hitratio is  0.540665578842 || angle [ 72.86668488  61.36683064 274.76993147]  \n",
      "update K to [[2014.82185377 2011.93453687]], max hitratio is  0.54583170414 ||angle [ 72.86668488  61.36683064 274.76993147] \n",
      "update L to [[5.5126995  7.51320916]], max hitratio is  0.53739118576 ||euler angle [ 72.86234686  61.39837276 274.7521185 ]  \n",
      "update J to [[971.9411112  966.19138276]], max hitratio is  0.539257764816 || angle [ 72.86668488  61.36683064 274.76993147] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [ 72.86668488  61.36683064 274.76993147] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.543459534645 ,shape or rot is (1, 2, 3)||\n",
      "(0.004231762097723676, 0.16927048390894042, 0.08463524195447021)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.82864326 2011.94132636]], max hitratio is  0.524629670382 ||ngle [289.32602045  80.8566406   96.57690064] \n",
      "update L to [[5.51236328 7.51287294]], max hitratio is  0.522946065664 ||ler angle [289.11876504  81.09606569  96.77994232]  \n",
      "update J to [[971.9169634  966.16723497]], max hitratio is  0.522514975071 || angle [289.5436294   80.71760472  96.66686123] \n",
      "update K to [[2014.82864326 2011.99858484]], max hitratio is  0.523258668184 ||ngle [289.27965744  80.97377834  96.66769476] \n",
      "update L to [[5.51236328 7.51211943]], max hitratio is  0.513792544603 ||uler angle [289.61917039  80.49939332  96.89238766]  \n",
      "update J to [[971.9169634 966.2405392]], max hitratio is  0.522514128685 ||er angle [289.51404144  80.81389657  96.69804121] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [289.44609563  80.72748778  96.69664078] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.519221186638 ,shape or rot is (1, 2, 3)||\n",
      "(0.0035969977830651247, 0.14387991132259936, 0.07193995566129968)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.9124898  2012.08243138]], max hitratio is  0.536596775055 ||angle [ 27.64685266  70.46932882 324.84587528] \n",
      "update L to [[5.51556595 7.51532209]], max hitratio is  0.530487430096 ||euler angle [ 27.63895314  70.52591008 324.82833182] \n",
      "update J to [[972.04507009 966.36864589]], max hitratio is  0.534628671408 ||r angle [ 27.6289281   70.46270192 324.5868739 ] \n",
      "update K to [[2014.9124898  2012.16506528]], max hitratio is  0.529838591814 ||ngle [163.61764699  77.34017778 218.27341877]  \n",
      "update L to [[5.51556595 7.51447814]], max hitratio is  0.533576953411 ||uler angle [ 27.48194961  70.55687864 324.76276666]  \n",
      "update J to [[972.04507009 966.12514511]], max hitratio is  0.526684498787 ||7.58958761  70.55497838 324.748531  ] .00509693] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]structed euler angle [ 27.54170667  70.4885634  324.62435497] 98843139]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.532766127586 ,shape or rot is (1, 2, 3)||\n",
      "(0.02450040424999975, 0.9800161700000444, 0.4900080850000222)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.90468529 2012.15726078]], max hitratio is  0.523353248835 ||ngle [289.15594676  80.69963486  96.8594109 ]  \n",
      "update L to [[5.51673201 7.5156442 ]], max hitratio is  0.522665178776 ||uler angle [289.08324879  80.96810904  96.84267687]  \n",
      "update J to [[971.99843456 966.07850958]], max hitratio is  0.52263879776 ||r angle [289.15165797  80.80103574  96.77695014]  \n",
      "update K to [[2014.90468529 2012.22087646]], max hitratio is  0.512632250786 ||ngle [227.68393004  79.01182682 142.31258856]  \n",
      "update L to [[5.51673201 7.51642364]], max hitratio is  0.519616955519 ||uler angle [289.24561418  80.79236831  96.94190643]  \n",
      "update J to [[971.99843456 965.88142471]], max hitratio is  0.518157601357 ||.17605532  80.9085084   96.67364417] 9473474] ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [289.2056168   80.84129287  96.79089101] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.512266242504 ,shape or rot is (1, 2, 3)||\n",
      "(0.020825343612499787, 0.8330137445000377, 0.41650687225001887)\n",
      "(5, 5, 5, 9)\n",
      "1000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2014.89857408 2012.21476525]], max hitratio is  0.509232336283 ||ngle [289.54106262  80.81145855  96.68966766]  \n",
      "update L to [[5.51384334 7.51353497]], max hitratio is  0.517648786306 ||uler angle [289.47956377  80.67650102  96.68219514]  \n",
      "update J to [[971.96351373 965.84650388]], max hitratio is  0.501015549898 || angle [289.35918818  80.77325711  96.68992746]  \n",
      "update K to [[2014.89857408 2012.0651187 ]], max hitratio is  0.499030047655 ||89.15042999  81.17334313  96.68907282] 66985]  \n",
      "update L to [[5.51384334 7.51419975]], max hitratio is  0.492776930332 ||uler angle [289.55422995  80.48722238  96.94840198]  \n",
      "update J to [[971.96351373 965.42302752]], max hitratio is  0.489411050081 || angle [289.60570281  80.78212302  96.53992245]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 100,reconstructed euler angle [289.25900282  80.91591195  96.6395612 ] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.500764024258 ,shape or rot is (1, 2, 3)||\n",
      "(0.01770154207062482, 0.708061682825032, 0.354030841412516)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.90530839 2012.07185302]], max hitratio is  0.555262386799 ||ngle [343.79333769  87.1969749   21.82816181]  \n",
      "update L to [[5.51350995 7.51386635]], max hitratio is  0.55343016386 ||euler angle [343.73703035  87.17674389  21.87776078]  \n",
      "update J to [[971.92241034 965.38192413]], max hitratio is  0.55843924284 ||r angle [343.6209152   87.22551815  21.92069006]  \n",
      "update K to [[2014.90530839 2012.01372208]], max hitratio is  0.55438015461 ||angle [343.8263679   87.25068059  21.84381083]  \n",
      "update L to [[5.51350995 7.51295042]], max hitratio is  0.548333883286 ||uler angle [343.6209152   87.22551815  21.92069006]  \n",
      "update J to [[971.92241034 965.55717875]], max hitratio is  0.555291867256 || angle [343.68492894  87.40499509  21.87368069]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [343.6209152   87.22551815  21.92069006]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.558380949497 ,shape or rot is (1, 2, 3)||\n",
      "(0.015046310760031096, 0.6018524304012772, 0.3009262152006386)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.91028053 2012.01869422]], max hitratio is  0.529795843363 ||ngle [174.5188738   55.50441773 183.17923938]  \n",
      "update L to [[5.51325421 7.51269468]], max hitratio is  0.534814715385 ||uler angle [174.52442044  55.55950682 182.86249647]  \n",
      "update J to [[971.87167815 965.50644655]], max hitratio is  0.533361983299 || angle [174.62617629  55.48522866 183.04208928]  \n",
      "update K to [[2014.91028053 2012.06125323]], max hitratio is  0.527467995882 ||angle [174.39329407  55.44032404 182.78336169] \n",
      "update L to [[5.51325421 7.51350257]], max hitratio is  0.5258646667 || euler angle [174.32421354  55.31112387 182.87873846]  \n",
      "update J to [[971.87167815 966.14719884]], max hitratio is  0.528119134903 || angle [174.35770821  55.32151432 182.86447691]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [174.57907479  55.4507218  183.03476727] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.527195692062 ,shape or rot is (1, 2, 3)||\n",
      "(0.012789364146026432, 0.5115745658410856, 0.2557872829205428)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94580167 2012.09677438]], max hitratio is  0.517848432064 ||ngle [182.97268069  68.67428525 162.5335992 ]  \n",
      "update L to [[5.51113409 7.51138245]], max hitratio is  0.549334812164 ||uler angle [215.26627901  78.00991299 164.94007992]  \n",
      "update J to [[971.94077098 966.21629167]], max hitratio is  0.5130677104 ||er angle [182.98026235  68.71701068 162.69048805]  \n",
      "update K to [[2014.94580167 2012.20038569]], max hitratio is  0.519383251667 ||ngle [182.98508448  68.73712409 162.61673619]  \n",
      "update L to [[5.51113409 7.51062181]], max hitratio is  0.515407216549 ||uler angle [215.06187932  78.13588878 164.82510025]  \n",
      "update J to [[971.94077098 965.46589918]], max hitratio is  0.525310021639 || angle [183.03792263  68.78926613 162.63386696]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [182.85532469  68.63595536 162.51156408]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.513688635826 ,shape or rot is (1, 2, 3)||\n",
      "(0.010870959524122467, 0.4348383809649228, 0.2174191904824614)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.92903569 2012.18361971]], max hitratio is  0.517767202854 ||angle [194.41147195  66.83602904 136.97006903] \n",
      "update L to [[5.5113001  7.51078782]], max hitratio is  0.516063499451 ||ler angle [174.38523468  55.78577946 182.85410872] ] \n",
      "update J to [[971.92047005 965.44559825]], max hitratio is  0.519321674109 ||4.41364406  66.75274777 137.05827707] .00929208] \n",
      "update K to [[2014.92903569 2012.26748332]], max hitratio is  0.510979813337 ||48515512  66.69633138 136.9564923 ] .05450593] \n",
      "update L to [[5.5113001  7.51005348]], max hitratio is  0.509396111965 ||uler angle [174.22805812  55.47235312 182.6728901 ]  \n",
      "update J to [[971.92047005 965.35704605]], max hitratio is  0.520330184698 ||r angle [194.36393448  66.79740474 136.89189118] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [194.37443891  66.80765685 137.03132389] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.511464929581 ,shape or rot is (1, 2, 3)||\n",
      "(0.009240315595504096, 0.36961262382018434, 0.18480631191009217)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94282218 2012.28126981]], max hitratio is  0.512078380585 ||angle [194.43015943  66.87207423 136.76352915] \n",
      "update L to [[5.51034715 7.50910053]], max hitratio is  0.509928435087 ||euler angle [194.50761415  66.65961309 136.84078889] \n",
      "update J to [[971.93687577 965.37345178]], max hitratio is  0.510649973154 ||r angle [194.41581604  66.78973547 136.75440185] \n",
      "update K to [[2014.94282218 2012.30480501]], max hitratio is  0.509353554249 ||angle [194.20865647  66.72431484 136.81191148] \n",
      "update L to [[5.51034715 7.50840325]], max hitratio is  0.500681680441 ||uler angle [174.18176328  55.47477631 182.54069839]  \n",
      "update J to [[971.93687577 965.59302923]], max hitratio is  0.515499699116 ||r angle [194.37146084  66.74980418 136.92097777] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]structed euler angle [194.46179751  66.85322231 136.81196606] 74401527]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.503432369232 ,shape or rot is (1, 2, 3)||\n",
      "(0.007854268256178482, 0.3141707302471567, 0.15708536512357835)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.92027257 2012.28225541]], max hitratio is  0.523601740599 ||ngle [ 21.11800713  56.15612002 317.25797135]  \n",
      "update L to [[5.51072439 7.50878048]], max hitratio is  0.524255168438 ||uler angle [ 21.33198931  56.14153597 317.15319618]  \n",
      "update J to [[971.89212603 965.54827948]], max hitratio is  0.522245788574 || angle [ 21.45780676  56.20559658 317.09254287]  \n",
      "update K to [[2014.92027257 2012.12476836]], max hitratio is  0.529691046476 ||ngle [ 21.42262628  56.20421341 317.22764385]  \n",
      "update L to [[5.51072439 7.50958113]], max hitratio is  0.524290984869 ||ler angle [177.57196821  27.16337273 208.14851233]   \n",
      "update J to [[971.89212603 965.7474512 ]], max hitratio is  0.52678745389 ||r angle [ 21.33166778  56.14757915 317.14382265]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 21.31483796  56.1549124  317.12767668]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.525069147348 ,shape or rot is (1, 2, 3)||\n",
      "(0.00667612801775171, 0.2670451207100832, 0.1335225603550416)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.90778661 2012.11228239]], max hitratio is  0.493557029963 ||ngle [ 72.86790504  61.36971403 274.73731052]  \n",
      "update L to [[5.50993241 7.50878916]], max hitratio is  0.491356229782 ||uler angle [ 72.86790504  61.36971403 274.73731052]  \n",
      "update J to [[971.91023702 965.76556219]], max hitratio is  0.496070438623 || angle [ 72.87675731  61.3822394  274.76618915]  \n",
      "update K to [[2014.90778661 2012.12801836]], max hitratio is  0.496362012625 ||ngle [ 72.86668488  61.36683064 274.76993147]  \n",
      "update L to [[5.50993241 7.50946919]], max hitratio is  0.496517974138 ||uler angle [ 72.86790504  61.36971403 274.73731052]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[971.91023702 965.62029777]], max hitratio is  0.500579404831 || angle [ 72.87574716  61.43155304 274.84055611]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [ 72.86790504  61.36971403 274.73731052]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.494346189499 ,shape or rot is (1, 2, 3)||\n",
      "(0.0056747088150889535, 0.2269883526035707, 0.11349417630178535)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.90185992 2012.12209168]], max hitratio is  0.539079856873 ||ngle [142.47184226  61.21619845 203.16736533] \n",
      "update L to [[5.50922732 7.50876411]], max hitratio is  0.542600780725 ||uler angle [142.61934646  61.3435966  203.27035123]  \n",
      "update J to [[971.94655088 965.65661163]], max hitratio is  0.542862206697 || angle [142.45023211  61.23318021 203.1089656 ]  \n",
      "update K to [[2014.90185992 2012.10496544]], max hitratio is  0.538991320133 ||ngle [142.61934646  61.3435966  203.27035123]  \n",
      "update L to [[5.50922732 7.50790937]], max hitratio is  0.535839378834 ||uler angle [142.5781357   61.47851224 203.19068423]  \n",
      "update J to [[971.94655088 965.50161486]], max hitratio is  0.539992582798 || angle [142.61934646  61.3435966  203.27035123]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [142.61934646  61.3435966  203.27035123] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.533229058981 ,shape or rot is (1, 2, 3)||\n",
      "(0.0048235024928256105, 0.19294009971303508, 0.09647004985651754)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89092357 2012.09402908]], max hitratio is  0.526269501448 ||angle [194.36748539  66.79877106 136.85718329] \n",
      "update L to [[5.50961743 7.50829948]], max hitratio is  0.52605355382 || euler angle [194.43322004  66.79304802 137.02240463] \n",
      "update J to [[971.9496751  965.50473908]], max hitratio is  0.526244151592 ||r angle [194.40270145  66.8732412  136.9501527 ] \n",
      "update K to [[2014.89092357 2012.05295925]], max hitratio is  0.528066539764 ||angle [194.42423075  66.82614093 136.97616497] \n",
      "update L to [[5.50961743 7.5091025 ]], max hitratio is  0.524807482958 ||uler angle [174.36508524  55.4680521  182.69648157]  \n",
      "update J to [[971.9496751  965.29935189]], max hitratio is  0.528099155426 ||r angle [194.50081091  66.67903631 136.9107567 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]structed euler angle [194.45482886  66.78233761 137.0640126 ] 62848758]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.521150827408 ,shape or rot is (1, 2, 3)||\n",
      "(0.004099977118901769, 0.1639990847560798, 0.0819995423780399)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88965066 2012.05168635]], max hitratio is  0.518890416622 ||ngle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update L to [[5.5100647  7.50954977]], max hitratio is  0.5195707798 || euler angle [182.84492909  68.88529841 162.37731068]  \n",
      "update J to [[971.94714412 965.29682091]], max hitratio is  0.517880743742 || angle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update K to [[2014.88965066 2012.04071035]], max hitratio is  0.517880743742 ||gle [182.76063083  68.6383382  162.3811759 ]   \n",
      "update L to [[5.5100647  7.51033124]], max hitratio is  0.520068621635 ||uler angle [182.7246084   68.78162384 162.20449255]  \n",
      "update J to [[971.94714412 965.19746181]], max hitratio is  0.518883877993 || angle [182.76063083  68.6383382  162.3811759 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [182.76063083  68.6383382  162.3811759 ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.514658647776 ,shape or rot is (1, 2, 3)||\n",
      "(0.0034849805510665036, 0.13939922204266783, 0.06969961102133392)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89828455 2012.04934424]], max hitratio is  0.54205095768 ||angle [174.62939975  55.52445424 183.01530129]  \n",
      "update L to [[5.50949841 7.50976495]], max hitratio is  0.545689535141 ||uler angle [174.58744922  55.56350025 183.04023137]  \n",
      "update J to [[971.96487996 965.21519765]], max hitratio is  0.546905070543 || angle [174.58744922  55.56350025 183.04023137]  \n",
      "update K to [[2014.89828455 2011.99598464]], max hitratio is  0.541613727808 ||ngle [174.58744922  55.56350025 183.04023137]  \n",
      "update L to [[5.50949841 7.50887932]], max hitratio is  0.542218607664 ||uler angle [174.6671983   55.24525406 183.05039462]  \n",
      "update J to [[971.96487996 965.11869912]], max hitratio is  0.542460626364 ||angle [174.67163796  55.50130582 183.0489329 ] ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [174.58744922  55.56350025 183.04023137]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.543783968687 ,shape or rot is (1, 2, 3)||\n",
      "(0.002962233468406528, 0.11848933873626766, 0.05924466936813383)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.90755328 2012.00525337]], max hitratio is  0.538836497068 ||gle [215.16440957  77.99786493 165.02455488] ] \n",
      "update L to [[5.50987142 7.50925233]], max hitratio is  0.545022243261 ||ler angle [215.22841148  77.97391096 164.95393136] ] \n",
      "update J to [[971.95036086 965.10418002]], max hitratio is  0.540092748404 || angle [215.37856801  78.05784068 165.26633053]  \n",
      "update K to [[2014.90755328 2011.99614088]], max hitratio is  0.542435759306 ||gle [215.29552568  78.00803523 165.03346132]   \n",
      "update L to [[5.50987142 7.51012727]], max hitratio is  0.54002943635 ||euler angle [215.71421608  77.96568709 165.36902782]  \n",
      "update J to [[971.95036086 965.30793894]], max hitratio is  0.55390458703 ||r angle [215.20753792  78.03161307 165.00806825]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [215.2732317   77.98837693 165.04344734]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.543956774473 ,shape or rot is (1, 2, 3)||\n",
      "(0.0025178984481455486, 0.1007159379258275, 0.05035796896291375)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94015095 2012.02873854]], max hitratio is  0.514872848988 ||ngle [343.79333769  87.1969749   21.82816181] \n",
      "update L to [[5.50852875 7.50878461]], max hitratio is  0.542759591341 ||uler angle [343.81125869  87.32859263  21.72908496]  \n",
      "update J to [[971.92073402 965.2783121 ]], max hitratio is  0.510495644808 || angle [343.79333769  87.1969749   21.82816181] \n",
      "update K to [[2014.94015095 2012.10273506]], max hitratio is  0.510694593191 ||ngle [184.42980601  64.83419791 154.00832097]  \n",
      "update L to [[5.50852875 7.50951579]], max hitratio is  0.508665519953 ||uler angle [343.79333769  87.1969749   21.82816181]  \n",
      "update J to [[971.92073402 965.05230557]], max hitratio is  0.513756603003 || angle [343.81125869  87.32859263  21.72908496]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [343.79333769  87.1969749   21.82816181] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.506375807524 ,shape or rot is (1, 2, 3)||\n",
      "(0.017150282975000052, 0.6860113189999538, 0.3430056594999769)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89019902 2012.05278313]], max hitratio is  0.526118594408 ||ngle [ 63.2836141   88.00879063 274.75886696] \n",
      "update L to [[5.50993896 7.51092599]], max hitratio is  0.528965955973 ||uler angle [ 63.2836141   88.00879063 274.75886696]  \n",
      "update J to [[972.0237479  965.15531945]], max hitratio is  0.53152230382 ||r angle [ 63.27889481  87.99056777 274.75528798] \n",
      "update K to [[2014.89019902 2011.98694958]], max hitratio is  0.518521726131 ||ngle [ 63.20315416  87.9886552  274.86569111] \n",
      "update L to [[5.50993896 7.5117072 ]], max hitratio is  0.520012164116 ||uler angle [100.34490504  89.97137035 264.49571558]  \n",
      "update J to [[972.0237479  965.36074235]], max hitratio is  0.525364100933 || angle [ 63.27336953  88.02971157 274.80107741]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 83,reconstructed euler angle [ 63.27336953  88.02971157 274.80107741] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.516113162041 ,shape or rot is (1, 2, 3)||\n",
      "(0.014577740528750044, 0.5831096211499608, 0.2915548105749804)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.84938974 2011.9461403 ]], max hitratio is  0.564582931995 ||ngle [ 46.17734222  65.2492262  328.82782045]  \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update L to [[5.51082894 7.51259719]], max hitratio is  0.567899250984 ||uler angle [ 46.01822018  65.07399784 328.70665122]  \n",
      "update J to [[972.05852881 965.39552325]], max hitratio is  0.563513040543 || angle [ 46.05797826  65.08888016 328.80776466]  \n",
      "update K to [[2014.84938974 2012.01755358]], max hitratio is  0.562433552742 ||ngle [ 45.94024297  65.07078038 328.78525438]  \n",
      "update L to [[5.51082894 7.5135408 ]], max hitratio is  0.553803145885 ||uler angle [ 46.10063398  65.10745985 328.74850555]  \n",
      "update J to [[972.05852881 965.61186004]], max hitratio is  0.564262592793 || angle [ 46.20765594  65.10116722 328.73506627]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 93,reconstructed euler angle [ 46.04429676  65.09190702 328.82880309]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.55540189743 ,shape or rot is (1, 2, 3)||\n",
      "(0.012391079449437537, 0.49564317797746665, 0.24782158898873333)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.83660424 2012.00476809]], max hitratio is  0.536908006668 ||angle [194.1805429   66.74888385 136.77542574] \n",
      "update L to [[5.50857251 7.51128437]], max hitratio is  0.566810160875 ||euler angle [194.23351902  66.70064744 136.7894664 ] \n",
      "update J to [[972.13795265 965.69128388]], max hitratio is  0.543159335852 ||r angle [194.2491731   66.65779537 136.7936487 ] \n",
      "update K to [[2014.83660424 2012.16447326]], max hitratio is  0.538357973099 ||angle [194.1805429   66.74888385 136.77542574] \n",
      "update L to [[5.50857251 7.51040741]], max hitratio is  0.540443694592 ||euler angle [194.38389269  66.80933693 136.89421415] \n",
      "update J to [[972.13795265 965.85262867]], max hitratio is  0.540194058418 || angle [194.22876463  66.64147214 136.80461726]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [194.16171974  66.77361548 136.53403362] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.53677470088 ,shape or rot is (1, 2, 3)||\n",
      "(0.010532417532021906, 0.4212967012808466, 0.2106483506404233)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.85341987 2012.18128889]], max hitratio is  0.52377229929 ||angle [  7.15603488  80.69454573 331.63612009]  \n",
      "update L to [[5.50806243 7.50989733]], max hitratio is  0.525707453489 ||uler angle [  7.35517047  80.62201655 331.43397469]  \n",
      "update J to [[972.1446521  965.85932812]], max hitratio is  0.52307574749 ||r angle [  7.15603488  80.69454573 331.63612009]  \n",
      "update K to [[2014.85341987 2012.13905927]], max hitratio is  0.526103663445 ||ngle [  7.18544908  80.69111076 331.72308306]  \n",
      "update L to [[5.50806243 7.5107122 ]], max hitratio is  0.527375245094 ||uler angle [  7.38773757  80.64745835 331.22521516]  \n",
      "update J to [[972.1446521 965.9809116]], max hitratio is  0.518939465284 ||r angle [  7.17067554  80.70307011 331.65117223]   \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [  7.15603488  80.69454573 331.63612009]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.514910364151 ,shape or rot is (1, 2, 3)||\n",
      "(0.00895255490221862, 0.3581021960887196, 0.1790510980443598)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88272453 2012.16836393]], max hitratio is  0.546999049187 ||ngle [ 10.85829076  74.41820244 341.48148213] \n",
      "update L to [[5.50853978 7.51118954]], max hitratio is  0.542837190628 ||uler angle [ 10.82160053  74.37403711 341.49645326] \n",
      "update J to [[972.16400761 966.00026711]], max hitratio is  0.54530518055 ||r angle [ 10.8958574   74.51766474 341.52511482] \n",
      "update K to [[2014.88272453 2012.05290781]], max hitratio is  0.538465476036 ||ngle [ 11.28763343  74.49082074 341.34720012] \n",
      "update L to [[5.50853978 7.51203057]], max hitratio is  0.532958233356 ||[ 10.68424055  74.55477875 341.49047101] 79490325]  \n",
      "update J to [[972.16400761 966.3421372 ]], max hitratio is  0.536124300957 || angle [ 10.75219107  74.49816946 341.46965344] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 10.7495575   74.44452539 341.51011333] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.538533699512 ,shape or rot is (1, 2, 3)||\n",
      "(0.007609671666885827, 0.30438686667541165, 0.15219343333770582)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89800908 2012.06819235]], max hitratio is  0.505437040329 ||4.6111494   55.36252277 182.89007669] 8006646] \n",
      "update L to [[5.5086466  7.51213739]], max hitratio is  0.501778417826 ||ler angle [174.72966751  55.23821632 182.9102118 ] ] \n",
      "update J to [[972.19404019 966.37216979]], max hitratio is  0.502462619543 || angle [174.73701623  55.47324798 182.98957849]  \n",
      "update K to [[2014.89800908 2012.04177643]], max hitratio is  0.50142762661 ||angle [174.53869474  55.31280952 182.73104216]  \n",
      "update L to [[5.5086466  7.51143526]], max hitratio is  0.501837927103 ||uler angle [174.69305767  55.12681954 182.89164757]  \n",
      "update J to [[972.19404019 965.64309035]], max hitratio is  0.50511470437 ||er angle [174.71780981  55.20476206 182.90204304] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [174.72851988  55.30144673 182.90265771]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.504047912359 ,shape or rot is (1, 2, 3)||\n",
      "(0.006468220916852953, 0.2587288366740999, 0.12936441833704995)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89149821 2012.03526556]], max hitratio is  0.532494616508 ||ngle [ 72.85952684  61.40087232 274.73157326]  \n",
      "update L to [[5.50875617 7.51154483]], max hitratio is  0.534218686819 ||ler angle [ 72.86759942  61.38144783 274.73345832]   \n",
      "update J to [[972.17159589 965.62064604]], max hitratio is  0.538490402699 || angle [ 72.85747681  61.38874118 274.76788262]  \n",
      "update K to [[2014.89149821 2012.06211476]], max hitratio is  0.532219111919 ||ngle [ 72.86645918  61.39074174 274.77247261]  \n",
      "update L to [[5.50875617 7.51233721]], max hitratio is  0.522479301691 ||uler angle [ 72.82289691  61.36389311 274.66318945]  \n",
      "update J to [[972.17159589 965.54253813]], max hitratio is  0.526790493727 || angle [ 72.86266559  61.39752716 274.75911281]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [ 72.86266559  61.39752716 274.75911281] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.528204339743 ,shape or rot is (1, 2, 3)||\n",
      "(0.00549798777932501, 0.21991951117298492, 0.10995975558649246)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88659304 2012.05720959]], max hitratio is  0.511501771212 ||ngle [142.42091611  61.64159531 203.22117162]  \n",
      "update L to [[5.50797446 7.5115555 ]], max hitratio is  0.521931570768 ||uler angle [142.37713569  61.42529789 203.3154162 ]  \n",
      "update J to [[972.14778955 965.51873179]], max hitratio is  0.518232256174 || angle [142.32695818  61.49659654 203.27028187]  \n",
      "update K to [[2014.88659304 2012.16804214]], max hitratio is  0.527075481415 ||ngle [142.44491878  61.45116418 203.37218712]  \n",
      "update L to [[5.50797446 7.51077295]], max hitratio is  0.520309960842 ||uler angle [143.0193808   61.85194542 203.39461994]  \n",
      "update J to [[972.14778955 965.84249581]], max hitratio is  0.5224196136 ||er angle [142.63612387  61.64438295 203.32011447]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 90,reconstructed euler angle [142.49706048  61.62843443 203.17759668]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.518005955219 ,shape or rot is (1, 2, 3)||\n",
      "(0.004673289612426259, 0.18693158449703717, 0.09346579224851859)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89510214 2012.17655125]], max hitratio is  0.547227430344 ||ngle [174.5727642   55.52485334 182.96119266] \n",
      "update L to [[5.50854857 7.51134706]], max hitratio is  0.540552902222 ||uler angle [174.5487493   55.5539075  182.90416046] \n",
      "update J to [[972.15110036 965.84580662]], max hitratio is  0.542206412554 || angle [174.5641447   55.53073295 182.9730086 ] \n",
      "update K to [[2014.89510214 2012.15635748]], max hitratio is  0.539394491911 ||ngle [174.5152402   55.62409519 182.95557792] \n",
      "update L to [[5.50854857 7.51221326]], max hitratio is  0.538224697113 ||uler angle [174.5618492   55.55301165 182.95579647]  \n",
      "update J to [[972.15110036 965.78562345]], max hitratio is  0.538210278749 || angle [174.53910521  55.49081363 182.89218014] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [174.5152402   55.62409519 182.95557792] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.537096756697 ,shape or rot is (1, 2, 3)||\n",
      "(0.00397229617056232, 0.15889184682248159, 0.07944592341124079)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.89147899 2012.15273433]], max hitratio is  0.515282523632 ||ngle [ 63.27336953  88.02971157 274.80107741]  \n",
      "update L to [[5.50800822 7.5116729 ]], max hitratio is  0.514294469357 ||uler angle [ 63.2836141   88.00879063 274.75886696]  \n",
      "update J to [[972.17231719 965.80684029]], max hitratio is  0.51112408638 ||r angle [ 63.27336953  88.02971157 274.80107741]  \n",
      "update K to [[2014.89147899 2012.25541521]], max hitratio is  0.511868333817 ||ngle [ 63.31366715  88.02125586 274.83738651]  \n",
      "update L to [[5.50800822 7.51092668]], max hitratio is  0.512131625414 ||uler angle [ 63.32967653  88.14641905 274.80424656]  \n",
      "update J to [[972.17231719 966.03167267]], max hitratio is  0.515565222502 || angle [ 63.2836141   88.00879063 274.75886696]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 85,reconstructed euler angle [ 63.17790349  87.93318738 274.71408792]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.50871643424 ,shape or rot is (1, 2, 3)||\n",
      "(0.0033764517449779716, 0.13505806979910934, 0.06752903489955467)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88782183 2012.25175804]], max hitratio is  0.54566373229 ||angle [215.47924453  78.00406641 165.16833112]  \n",
      "update L to [[5.50782865 7.51074711]], max hitratio is  0.542372441292 ||uler angle [215.60023234  77.97352796 165.17622676]  \n",
      "update J to [[972.16028078 966.01963626]], max hitratio is  0.543354165554 || angle [215.50422849  78.10951139 165.09819987]  \n",
      "update K to [[2014.88782183 2012.29640499]], max hitratio is  0.542973041534 ||ngle [215.9670834   77.9658987  165.53358215]  \n",
      "update L to [[5.50782865 7.50987398]], max hitratio is  0.539654457569 ||uler angle [ 11.08008063  74.75766902 341.27600222]  \n",
      "update J to [[972.16028078 966.0645581 ]], max hitratio is  0.544085156918 || angle [215.76512867  77.84534651 165.2544196 ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 98,reconstructed euler angle [215.76512867  77.84534651 165.2544196 ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.536644214392 ,shape or rot is (1, 2, 3)||\n",
      "(0.002869983983231276, 0.11479935932924293, 0.057399679664621464)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88677685 2012.29536001]], max hitratio is  0.547200274467 ||ngle [289.01205161  80.835453    97.00208716]  \n",
      "update L to [[5.50832012 7.51036545]], max hitratio is  0.555314189196 ||uler angle [288.97052365  80.7945739   96.95140739]  \n",
      "update J to [[972.1582248  966.06250212]], max hitratio is  0.544219630957 || angle [289.01205161  80.835453    97.00208716]  \n",
      "update K to [[2014.88677685 2012.28255175]], max hitratio is  0.545228403807 ||gle [288.90345173  80.77304559  96.91498856]   \n",
      "update L to [[5.50832012 7.511259  ]], max hitratio is  0.543830907345 ||uler angle [289.01205161  80.835453    97.00208716]  \n",
      "update J to [[972.1582248  966.10093998]], max hitratio is  0.545290344954 || angle [289.04253839  80.67345452  96.92950297]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [289.01205161  80.835453    97.00208716]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.538006359339 ,shape or rot is (1, 2, 3)||\n",
      "(0.0024394863857465847, 0.0975794554298565, 0.04878972771492825)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88033114 2012.27610604]], max hitratio is  0.509308451414 ||ngle [142.42060126  61.15814377 203.06513026]  \n",
      "update L to [[5.50813551 7.51107439]], max hitratio is  0.514528715611 ||uler angle [142.6373247   61.31276405 203.28317943]  \n",
      "update J to [[972.15385014 966.09656533]], max hitratio is  0.512352567911 || angle [142.45405993  61.24018882 203.10860998]  \n",
      "update K to [[2014.88033114 2012.30335937]], max hitratio is  0.513304334879 ||ngle [142.48838769  61.23464067 203.07080002]  \n",
      "update L to [[5.50813551 7.51033364]], max hitratio is  0.510874831676 ||uler angle [142.45405993  61.24018882 203.10860998]  \n",
      "update J to [[972.15385014 966.06876396]], max hitratio is  0.516722178459 || angle [142.49221402  61.20793619 203.08460882]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 94,reconstructed euler angle [142.48385195  61.21012834 203.10632937]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.505223399401 ,shape or rot is (1, 2, 3)||\n",
      "(0.0020735634278845967, 0.08294253711537802, 0.04147126855768901)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.88224425 2012.30527248]], max hitratio is  0.517255014181 ||ngle [174.59060461  55.51871251 183.07856243]  \n",
      "update L to [[5.5078458  7.51004394]], max hitratio is  0.518897259235 ||uler angle [174.65408426  55.32455023 183.04542239]  \n",
      "update J to [[972.15761677 966.0725306 ]], max hitratio is  0.514555621147 || angle [174.69644496  55.34194885 183.00847094]  \n",
      "update K to [[2014.88224425 2012.29721409]], max hitratio is  0.520657217503 ||74.72214078  55.56535445 182.94056536] 36197]  \n",
      "update L to [[5.5078458  7.50927842]], max hitratio is  0.51650711298 ||euler angle [174.43740366  55.52292812 183.57667445]  \n",
      "update J to [[972.15761677 965.89792181]], max hitratio is  0.526119959354 || angle [174.68813931  55.6143091  183.01745944]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 96,reconstructed euler angle [174.74936569  55.53331284 183.08761943]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.517052835226 ,shape or rot is (1, 2, 3)||\n",
      "(0.001762528913701907, 0.07050115654807132, 0.03525057827403566)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.94591081 2012.36088066]], max hitratio is  0.50470443368 ||angle [177.88831548  27.21844275 207.90934638] \n",
      "update L to [[5.50759599 7.50902861]], max hitratio is  0.525235539675 ||uler angle [177.67503584  27.24475798 208.00129539]  \n",
      "update J to [[972.26924864 966.00955368]], max hitratio is  0.50622497201 ||r angle [177.56504269  27.22606079 208.08757332] \n",
      "update K to [[2014.94591081 2012.29115283]], max hitratio is  0.500679200888 ||gle [142.56660636  61.67436721 203.57354144]   \n",
      "update L to [[5.50759599 7.50826246]], max hitratio is  0.516648942232 ||uler angle [177.814727    27.26063734 207.96301939]  \n",
      "update J to [[972.26924864 966.22666445]], max hitratio is  0.506925576925 || angle [142.20781531  61.66280937 203.03281008] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [177.90174332  27.28512803 207.85695898] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.506815499067 ,shape or rot is (1, 2, 3)||\n",
      "(0.012005198082499734, 0.48020792330002565, 0.24010396165006112)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97372911 2012.31897113]], max hitratio is  0.530100947618 ||ngle [ 11.0175303   74.56439642 341.21256445]  \n",
      "update L to [[5.50615196 7.50681842]], max hitratio is  0.536765152216 ||uler angle [ 10.92040433  74.51749183 341.26980152]  \n",
      "update J to [[972.24467446 966.20209027]], max hitratio is  0.535455864668 || angle [ 10.80495106  74.60883301 341.47309438]  \n",
      "update K to [[2014.97372911 2012.24777946]], max hitratio is  0.532223755121 ||ngle [ 10.81490666  74.82428385 341.67289076]  \n",
      "update L to [[5.50615196 7.50600448]], max hitratio is  0.527175569534 ||uler angle [ 11.00686373  74.54138398 341.26220556]  \n",
      "update J to [[972.24467446 965.98498422]], max hitratio is  0.535140824318 || angle [ 11.06834186  74.642991   341.33217446]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [ 11.00680713  74.55863762 341.27873546]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.524171704054 ,shape or rot is (1, 2, 3)||\n",
      "(0.010204418370124774, 0.4081767348050218, 0.20408836740255196)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97711497 2012.25116531]], max hitratio is  0.530514860153 ||angle [ 27.55787779  70.58811866 324.80147792] \n",
      "update L to [[5.50473281 7.50458534]], max hitratio is  0.518099087477 ||euler angle [ 27.5828124   70.64829295 324.85999939] \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update J to [[972.28948786 966.02979761]], max hitratio is  0.52067656517 ||er angle [ 27.61959509  70.59340553 324.83611948] \n",
      "update K to [[2014.97711497 2012.19539812]], max hitratio is  0.517930084467 ||angle [208.69798596  70.93102146 152.68610574] \n",
      "update L to [[5.50473281 7.50532381]], max hitratio is  0.510351872444 ||uler angle [ 27.53639198  70.59418368 324.82398938]  \n",
      "update J to [[972.28948786 965.86101697]], max hitratio is  0.519451910257 ||r angle [ 27.61959509  70.59340553 324.83611948] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 106,reconstructed euler angle [ 27.61959509  70.59340553 324.83611948] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.514862978458 ,shape or rot is (1, 2, 3)||\n",
      "(0.008673755614606059, 0.34695022458426855, 0.17347511229216916)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.96353583 2012.18181899]], max hitratio is  0.520358324051 ||ngle [ 10.88371146  74.66204098 341.40241642]  \n",
      "update L to [[5.50603042 7.50662142]], max hitratio is  0.530858379602 ||uler angle [ 10.87096005  74.65047672 341.40072085]  \n",
      "update J to [[972.31687818 965.8884073 ]], max hitratio is  0.521836179495 || angle [ 10.93981584  74.49959736 341.35821033]  \n",
      "update K to [[2014.96353583 2012.2288541 ]], max hitratio is  0.516589963436 ||ngle [215.43506436  77.91513794 164.88098515]  \n",
      "update L to [[5.50603042 7.50738246]], max hitratio is  0.515498608351 ||uler angle [ 10.87215241  74.65014169 341.38952044]  \n",
      "update J to [[972.31687818 966.30413575]], max hitratio is  0.513484877348 || angle [ 10.88244043  74.67050913 341.41954575]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 91,reconstructed euler angle [ 11.03461645  74.58079443 341.34192749]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.51534897089 ,shape or rot is (1, 2, 3)||\n",
      "(0.00737269227241515, 0.29490769089662827, 0.14745384544834378)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98323612 2012.24855439]], max hitratio is  0.55588760376 ||angle [343.67408329  87.191504    21.63309381]  \n",
      "update L to [[5.5046186  7.50597064]], max hitratio is  0.576391792297 ||uler angle [343.67408329  87.191504    21.63309381]  \n",
      "update J to [[972.31116252 966.29842009]], max hitratio is  0.558737266064 || angle [343.67408329  87.191504    21.63309381]  \n",
      "update K to [[2014.98323612 2012.40696281]], max hitratio is  0.566784465313 ||ngle [343.77003292  87.12399435  21.52704082]  \n",
      "update L to [[5.5046186  7.50492379]], max hitratio is  0.573305869102 ||uler angle [343.7457167   87.13081762  21.44309747]  \n",
      "update J to [[972.31116252 966.14486293]], max hitratio is  0.560938441753 || angle [343.76888538  87.16138278  21.58577997]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 86,reconstructed euler angle [343.77003292  87.12399435  21.52704082]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.560860955715 ,shape or rot is (1, 2, 3)||\n",
      "(0.006266788431552877, 0.25067153726213404, 0.12533576863109222)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.96928483 2012.39301152]], max hitratio is  0.585154622793 ||ngle [174.50798679  55.38442064 183.17993612]  \n",
      "update L to [[5.50503739 7.50534258]], max hitratio is  0.585271185637 ||uler angle [174.59788558  55.47629152 183.10530962]  \n",
      "update J to [[972.32831165 966.16201206]], max hitratio is  0.589865136147 || angle [174.44818138  55.39463159 183.13704265] \n",
      "update K to [[2014.96928483 2012.44232605]], max hitratio is  0.584858673811 ||angle [174.46510684  55.48728901 182.94152159] \n",
      "update L to [[5.50503739 7.50637018]], max hitratio is  0.569769078493 ||uler angle [174.69158207  55.2413946  182.90687878]  \n",
      "update J to [[972.32831165 966.01342259]], max hitratio is  0.585708528757 ||[174.66010861  55.49841565 183.04602347] 01928] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [174.5802499   55.46344971 183.02088826] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.582647526264 ,shape or rot is (1, 2, 3)||\n",
      "(0.005326770166819946, 0.21307080667281392, 0.10653540333642839)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.9852838  2012.45832502]], max hitratio is  0.531536054611 ||ngle [182.96265395  68.63497137 162.56242282]  \n",
      "update L to [[5.50512706 7.50645985]], max hitratio is  0.533105129004 ||uler angle [182.8912924   68.98385048 162.44760682]  \n",
      "update J to [[972.35357864 966.03868958]], max hitratio is  0.534225583076 || angle [182.97161531  68.81472895 162.49070722]  \n",
      "update K to [[2014.9852838  2012.42679316]], max hitratio is  0.531907600164 ||ngle [183.04169303  68.73704241 162.63627109]  \n",
      "update L to [[5.50512706 7.5056477 ]], max hitratio is  0.526787960529 ||uler angle [214.99562352  78.04539591 164.9489311 ]  \n",
      "update J to [[972.35357864 965.76080655]], max hitratio is  0.528193223476 || angle [183.13477479  68.77488792 162.63603951]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 92,reconstructed euler angle [182.8433441   68.82471317 162.44986079]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.52410852313 ,shape or rot is (1, 2, 3)||\n",
      "(0.004527754641796953, 0.18111018567189183, 0.09055509283596412)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97712356 2012.41863292]], max hitratio is  0.48750398159 ||angle [345.1382015   89.36038265  12.00663181]  \n",
      "update L to [[5.50542066 7.5059413 ]], max hitratio is  0.488707602024 ||uler angle [345.12820251  89.30703889  11.98372723]  \n",
      "update J to [[972.37000987 965.77723778]], max hitratio is  0.488604277372 || angle [345.15360941  89.34610068  11.95785369]  \n",
      "update K to [[2014.97712356 2012.31357702]], max hitratio is  0.490452355146 ||ngle [345.15360941  89.34610068  11.95785369]  \n",
      "update L to [[5.50542066 7.50659376]], max hitratio is  0.489713186026 ||uler angle [343.82052133  87.33096961  21.62947091]  \n",
      "update J to [[972.37000987 965.95719324]], max hitratio is  0.482415044308 || angle [345.1382015   89.36038265  12.00663181]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 99,reconstructed euler angle [345.15360941  89.34610068  11.95785369]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.485098421574 ,shape or rot is (1, 2, 3)||\n",
      "(0.0038485914455274103, 0.15394365782110805, 0.0769718289105695)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.97356006 2012.31001352]], max hitratio is  0.517871558666 ||ngle [ 72.86878616  61.34620535 274.73212003]  \n",
      "update L to [[5.50597799 7.50715109]], max hitratio is  0.525133442879 ||uler angle [ 72.86668488  61.36683064 274.76993147]  \n",
      "update J to [[972.36765243 965.95483579]], max hitratio is  0.51654419899 ||r angle [ 72.86266559  61.39752716 274.75911281]  \n",
      "update K to [[2014.97356006 2012.11929767]], max hitratio is  0.519224435091 ||ngle [ 72.85630924  61.33318777 274.80583104]  \n",
      "update L to [[5.50597799 7.5079397 ]], max hitratio is  0.521648037434 ||uler angle [ 72.86878616  61.34620535 274.73212003]  \n",
      "update J to [[972.36765243 965.62988562]], max hitratio is  0.523056823015 || angle [ 72.86266559  61.39752716 274.75911281]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 89,reconstructed euler angle [ 72.86266559  61.39752716 274.75911281]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.519244736433 ,shape or rot is (1, 2, 3)||\n",
      "(0.0032713027286982986, 0.13085210914794185, 0.06542605457398408)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.96563682 2012.11137443]], max hitratio is  0.537979364395 ||angle [194.57064326  66.75971593 136.90640131] \n",
      "update L to [[5.50580671 7.50776842]], max hitratio is  0.539547526836 ||euler angle [194.40421786  66.67681093 136.96815735] \n",
      "update J to [[972.36083815 965.62307134]], max hitratio is  0.53858397007 ||er angle [194.18999723  66.74395318 136.93373801] \n",
      "update K to [[2014.96563682 2012.05233937]], max hitratio is  0.534765809774 ||angle [194.34524677  66.72766188 136.87353339] \n",
      "update L to [[5.50580671 7.50698848]], max hitratio is  0.519731098413 ||uler angle [174.39802027  55.48321027 182.73927967]  \n",
      "update J to [[972.36083815 965.91058491]], max hitratio is  0.530098313093 ||r angle [194.35997293  66.77097299 136.78125767] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 101,reconstructed euler angle [194.38010861  66.73422618 136.84544493] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.532415097952 ,shape or rot is (1, 2, 3)||\n",
      "(0.0027806073193935537, 0.11122429277575056, 0.05561214638788647)\n",
      "(5, 5, 5, 9)\n",
      "1000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "update K to [[2014.97413134 2012.06083389]], max hitratio is  0.534551763535 ||angle [15.5862873  81.38443653 12.70820267] ]  \n",
      "update L to [[5.50613725 7.50731902]], max hitratio is  0.534657549858 ||euler angle [15.5240254  81.41741264 12.76930397] ]  \n",
      "update J to [[972.36273726 965.91248402]], max hitratio is  0.535629111528 ||r angle [15.56725812 81.40448937 12.71033595] ]  \n",
      "update K to [[2014.97413134 2011.90331466]], max hitratio is  0.542906171083 ||angle [15.60276594 81.4732281  12.69879807] ]  \n",
      "update L to [[5.50613725 7.50815802]], max hitratio is  0.532530522346 ||uler angle [215.30526395  77.81566191 165.02441887]  \n",
      "update J to [[972.36273726 966.27121252]], max hitratio is  0.538530051708 ||r angle [15.70725105 81.35100876 12.70501691] ]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 103,reconstructed euler angle [15.51539344 81.34917892 12.79212487] ]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.532583647966 ,shape or rot is (1, 2, 3)||\n",
      "(0.002363516221484521, 0.09454064885938798, 0.0472703244297035)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.9800594  2011.90924272]], max hitratio is  0.54428063035 ||angle [178.21856871  27.60282009 207.14661934]  \n",
      "update L to [[5.50635116 7.50837192]], max hitratio is  0.546148461103 ||ler angle [178.21919704  27.38663444 207.37728714]   \n",
      "update J to [[972.37767622 966.28615148]], max hitratio is  0.540630596876 || angle [178.28207588  27.50042252 207.16991017]  \n",
      "update K to [[2014.9800594  2012.04693738]], max hitratio is  0.547998839617 ||gle [178.21919704  27.38663444 207.37728714]   \n",
      "update L to [[5.50635116 7.50752528]], max hitratio is  0.534141498804 ||uler angle [177.90799999  27.28693814 207.45317182]  \n",
      "update J to [[972.37767622 966.24227088]], max hitratio is  0.539848488569 || angle [178.26549212  27.46545687 207.34707114]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033] 97,reconstructed euler angle [178.21919704  27.38663444 207.37728714]   \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.542714601755 ,shape or rot is (1, 2, 3)||\n",
      "(0.0020089887882618427, 0.08035955153047979, 0.04017977576524797)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98184911 2012.04872709]], max hitratio is  0.511248832941 ||ngle [182.76970144  68.64312762 162.32027967]  \n",
      "update L to [[5.50638113 7.50755526]], max hitratio is  0.512094789743 ||uler angle [182.75655977  68.619632   162.37657337] \n",
      "update J to [[972.36693005 966.23152471]], max hitratio is  0.511374115944 || angle [182.76970144  68.64312762 162.32027967] \n",
      "update K to [[2014.98184911 2012.14772211]], max hitratio is  0.518249315023 ||ngle [182.75655977  68.619632   162.37657337]  \n",
      "update L to [[5.50638113 7.50684144]], max hitratio is  0.504608434439 ||ler angle [215.27126381  78.02893459 164.99545895]   \n",
      "update J to [[972.36693005 966.39224011]], max hitratio is  0.51373270154 ||r angle [182.76970144  68.64312762 162.32027967]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 95,reconstructed euler angle [182.76970144  68.64312762 162.32027967] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.509910273552 ,shape or rot is (1, 2, 3)||\n",
      "(0.0017076404700225663, 0.06830561880090781, 0.034152809400460775)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.98138708 2012.14726007]], max hitratio is  0.495637631416 ||ngle [174.69640394  55.57229443 182.98873189]  \n",
      "update L to [[5.50654106 7.50700136]], max hitratio is  0.49380671978 ||euler angle [174.70063908  55.52531378 183.00879891]  \n",
      "update J to [[972.36967358 966.39498364]], max hitratio is  0.493922024965 || angle [174.68741594  55.62857234 183.0392343 ]  \n",
      "update K to [[2014.98138708 2012.18719075]], max hitratio is  0.491723591089 ||ngle [174.69031163  55.55437865 183.02856545]  \n",
      "update L to [[5.50654106 7.50500811]], max hitratio is  0.492686837912 ||uler angle [175.02822839  55.77825503 183.31714091]  \n",
      "update J to [[972.36967358 966.22095533]], max hitratio is  0.49782384038 ||r angle [174.58870566  55.53176845 182.90640063]  \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 97,reconstructed euler angle [174.58766754  55.56019066 182.89631952]  \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.492855972052 ,shape or rot is (1, 2, 3)||\n",
      "(0.0014514943995191814, 0.05805977598077164, 0.02902988799039166)\n",
      "(5, 5, 5, 9)\n",
      "1000\n",
      "update K to [[2014.9831651  2012.18896877]], max hitratio is  0.479499566555 ||gle [ 63.08214367  87.75502185 274.84347899]  \n",
      "update L to [[5.50641762 7.50488467]], max hitratio is  0.478185939789 ||uler angle [ 63.0909744   87.69383008 274.73903194] \n",
      "update J to [[972.36896557 966.22024732]], max hitratio is  0.478781175613 || angle [ 63.02446321  87.76557455 274.89514269] \n",
      "update K to [[2014.9831651 2012.1951723]], max hitratio is  0.477179962397 || angle [ 63.11287408  87.84157409 274.80940995] \n",
      "update L to [[5.50641762 7.50427661]], max hitratio is  0.478344666958 ||uler angle [ 72.87574716  61.43155304 274.84055611]  \n",
      "update J to [[972.36896557 966.27539774]], max hitratio is  0.475230842829 || angle [ 63.11609019  87.81449904 274.8893511 ] \n",
      "update rot to [[[89.7739212  90.7694346  -0.12662033]: 85,reconstructed euler angle [ 62.99477926  87.73244125 274.81227888] \n",
      "  [89.81791158 90.31760014 -0.23845468]]], max hitratio is  0.471755713224 ,shape or rot is (1, 2, 3)||\n",
      "(0.0012337702395913042, 0.04935080958365589, 0.02467540479183291)\n",
      "(array([[5.50641762, 7.50427661]]), array([[972.36896557, 966.27539774]]), array([[2014.9831651, 2012.1951723]]))\n"
     ]
    }
   ],
   "source": [
    "# fine tune parameters, usally max hitratio will >0.5, can iterate phase1 and phase2 multiple times until reconstruction is good enough\n",
    "S.set_Q(10)\n",
    "centerL, centerJ, centerK, centerRot = S.geo_opt_phase_2(aIdxVoxel,centerL, centerJ, centerK, centerRot)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Reconstruction"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.14"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}