Robotics-at-Home-with-Raspberry-Pi-Pico/ch-13/4.3-monte-carlo/analyse_output.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "from matplotlib import pyplot as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import json\n",
    "from robot import arena"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "poses_raw_data = \"\"\"\n",
    "Received data: {\"poses\": [[1029, 243], [91, 1349], [1428, 74], [1428, 833], [27, 1127], [976, 1055], [63, 1147], [1336, 231], [853, 638], [1226, 285], [317, 371], [1402, 1025], [966, 1343], [1419, 165], [696, 1339], [885, 65], [844, 17], [142, 974], [830, 305], [1102, 1486]]}\n",
    "Received data: {\"poses\": [[875, 341], [465, 694], [423, 1000], [869, 21], [1319, 313], [270, 358], [555, 310], [550, 409], [264, 706], [1336, 313], [476, 19], [577, 764], [1351, 1352], [949, 1304], [625, 688], [881, 1102], [1361, 1135], [749, 475], [1184, 446], [1108, 549]]}\n",
    "Received data: {\"poses\": [[852, 902], [534, 1501], [375, 734], [712, 1143], [129, 1417], [1280, 225], [178, 399], [1412, 168], [773, 696], [1063, 666], [793, 526], [1493, 1046], [1015, 629], [1081, 515], [-44, 259], [1422, 367], [1393, -87], [526, 1134], [197, 641], [1092, 1399]]}\n",
    "Received data: {\"poses\": [[947, 839], [1573, 1118], [300, 613], [282, 1334], [626, 659], [795, 1155], [1235, 120], [1014, 964], [1073, 798], [685, 760], [227, 503], [128, -152], [1022, 673], [615, 558], [1015, 428], [-139, 313], [1503, 288], [1349, -186], [556, 400], [625, 945]]}\n",
    "Received data: {\"poses\": [[1032, 784], [1664, 1165], [317, 1162], [203, 231], [780, 949], [974, 52], [1201, 28], [919, 1016], [640, 1219], [210, 398], [171, -245], [1117, 718], [636, 458], [632, 466], [1286, 221], [218, 488], [892, 526], [1311, -280], [1344, 1446], [609, 1046]]}\n",
    "Received data: {\"poses\": [[1006, 283], [415, 1115], [514, 596], [78, 858], [968, 841], [610, 1256], [-113, 523], [502, 866], [191, 293], [339, 1371], [664, 350], [657, 348], [655, 361], [1386, 178], [-322, 409], [93, 1256], [167, 1392], [651, -82], [1481, 1340], [769, 571]]}\n",
    "Received data: {\"poses\": [[1011, 294], [427, 1116], [425, 1119], [80, 1196], [768, 1209], [1164, -82], [803, 1045], [502, 883], [196, 286], [1215, 783], [662, 346], [666, 349], [662, 354], [881, 253], [216, 605], [1288, 1053], [412, -27], [1328, 1560], [1492, 1343], [1262, 1119]]}\n",
    "Received data: {\"poses\": [[1767, 1325], [517, 1177], [1318, 595], [901, 746], [511, 1197], [716, 984], [832, 1233], [274, 817], [218, 1369], [1220, 883], [779, 320], [770, 307], [763, 325], [765, 317], [122, 661], [1384, 1100], [73, 1458], [344, 207], [1577, 1408], [789, 682]]}\n",
    "Received data: {\"poses\": [[1775, 1426], [597, 1228], [1221, 634], [849, 664], [781, -160], [632, 926], [915, 1285], [887, 234], [120, 1357], [1228, 982], [1219, 978], [868, 299], [857, 297], [863, 287], [38, 703], [1477, 1141], [-18, 1512], [1741, 1155], [1653, 1476], [1472, 1120]]}\n",
    "Received data: {\"poses\": [[1398, 871], [683, 1300], [-221, 1285], [1381, 406], [372, 1320], [222, 742], [449, 96], [11, 1345], [1231, 1086], [969, 251], [974, 278], [972, 260], [959, 258], [1005, -44], [1574, 1184], [-114, 1010], [1045, 1695], [320, 9], [325, 1175], [1576, 1125]]}\n",
    "Received data: {\"poses\": [[679, 1318], [679, 1320], [683, 1310], [1101, 651], [503, 1014], [329, 1066], [543, 850], [213, 732], [462, 95], [1218, 1105], [1218, 1095], [993, 278], [981, 255], [984, 263], [975, 261], [980, 269], [1582, 1194], [1031, 1694], [316, 1178], [269, 1243]]}\n",
    "Received data: {\"poses\": [[1405, 977], [663, 1416], [684, 1394], [1032, 587], [836, 471], [1309, 486], [338, 973], [555, 753], [203, 635], [549, 139], [1138, 1153], [1056, 345], [1053, 342], [1047, 337], [1032, 344], [1044, 338], [1045, 339], [1575, 1303], [956, 1635], [198, 1170]]}\n",
    "Received data: {\"poses\": [[769, 684], [644, 1528], [678, 1506], [950, 509], [-380, 1129], [529, 810], [356, 858], [348, 855], [295, 1112], [565, 650], [193, 527], [647, 190], [1036, 1202], [1131, 423], [1130, 405], [1130, 408], [1129, 409], [-244, 637], [865, 1567], [625, 1019]]}\n",
    "Received data: {\"poses\": [[674, 725], [678, 724], [523, 1155], [872, 446], [537, 704], [540, 700], [1159, 641], [352, 754], [353, 756], [577, 539], [574, 541], [182, 426], [951, 1256], [956, 1261], [1200, 497], [1193, 495], [1182, 502], [1194, 497], [898, 710], [508, 1064]]}\n",
    "Received data: {\"poses\": [[576, 768], [583, 772], [579, 770], [490, 1243], [549, 597], [544, 594], [544, 593], [549, 589], [380, 653], [360, 643], [587, 437], [581, 439], [581, 433], [587, 437], [858, 1313], [867, 1327], [1273, 575], [1271, 572], [906, 820], [417, 1123]]}\n",
    "Received data: {\"poses\": [[490, 816], [492, 814], [599, 1830], [709, 313], [551, 495], [556, 491], [550, 492], [559, 491], [559, 486], [390, 548], [359, 548], [591, 339], [588, 330], [589, 333], [593, 339], [771, 1371], [1360, 616], [1346, 645], [-115, 880], [326, 1180]]}\n",
    "Received data: {\"poses\": [[396, 860], [390, 865], [400, 861], [628, 232], [565, 387], [560, 388], [562, 385], [562, 390], [564, 393], [374, 439], [395, 444], [362, 430], [604, 222], [592, 220], [590, 238], [686, 1425], [1442, 685], [1417, 716], [-197, 810], [237, 1242]]}\n",
    "Received data: {\"poses\": [[304, 904], [302, 909], [536, 211], [572, 290], [567, 290], [572, 287], [555, 283], [578, 276], [403, 342], [400, 345], [610, 125], [593, 125], [602, 128], [591, 135], [603, 1481], [1508, 782], [1490, 790], [930, 1115], [152, 1294], [149, 1288]]}\n",
    "Received data: {\"poses\": [[296, 903], [298, 916], [533, 203], [567, 289], [556, 284], [583, 274], [575, 278], [579, 280], [577, 273], [407, 335], [404, 338], [363, 320], [616, 110], [595, 114], [621, 114], [121, 6], [1513, 793], [1498, 787], [931, 1139], [144, 1285]]}\n",
    "Received data: {\"poses\": [[215, 852], [222, 850], [560, 68], [667, 241], [668, 242], [668, 233], [654, 230], [666, 241], [785, 939], [493, 292], [500, 296], [492, 288], [695, 72], [690, 76], [708, 74], [522, 1467], [1489, 860], [851, 1193], [58, 1250], [61, 1261]]}\n",
    "Received data: {\"poses\": [[130, 792], [127, 810], [140, 789], [1320, -132], [765, 199], [764, 201], [768, 190], [757, 190], [763, 197], [731, 171], [670, 917], [598, 253], [589, 256], [539, 217], [781, 30], [788, 34], [430, 1424], [1444, 987], [765, 1248], [-35, 1216]]}\n",
    "Received data: {\"poses\": [[43, 732], [59, 732], [578, -118], [857, 160], [821, 134], [852, 160], [854, 156], [854, 155], [856, 163], [578, 894], [680, 197], [692, 210], [674, 193], [896, -30], [846, -44], [899, -12], [1476, 1057], [1418, 1086], [678, 1305], [-128, 1150]]}\n",
    "Received data: {\"poses\": [[-39, 670], [-37, 665], [614, -245], [932, 74], [954, 113], [957, 105], [957, 110], [946, 105], [953, 108], [908, 68], [465, 874], [773, 151], [782, 173], [721, 109], [936, -101], [1003, -58], [241, 1339], [1433, 1157], [1410, 1204], [586, 1382]]}\n",
    "Received data: {\"poses\": [[-48, 662], [-45, 657], [613, -250], [970, 117], [972, 115], [969, 110], [967, 114], [967, 105], [463, 864], [450, 867], [786, 154], [785, 148], [782, 151], [781, 144], [989, -65], [989, -69], [1423, 1167], [1405, 1208], [581, 1369], [-226, 1095]]}\n",
    "Received data: {\"poses\": [[-31, 562], [-34, 561], [713, -287], [1046, 177], [1051, 158], [1045, 165], [1047, 167], [435, 780], [434, 771], [437, 769], [430, 775], [868, 211], [866, 204], [867, 209], [861, 194], [1067, -11], [1084, 7], [1328, 1190], [489, 1319], [-229, 994]]}\n",
    "Received data: {\"poses\": [[-29, 459], [-22, 453], [817, -325], [1121, 239], [1122, 236], [1131, 245], [401, 681], [400, 673], [403, 672], [407, 667], [393, 683], [394, 677], [958, 264], [956, 268], [952, 253], [1154, 49], [1160, 47], [1228, 1210], [392, 1268], [-225, 888]]}\n",
    "Received data: {\"poses\": [[-17, 353], [-13, 354], [-8, 351], [1207, 304], [1213, 278], [1204, 304], [367, 588], [364, 587], [364, 588], [365, 581], [354, 584], [360, 593], [366, 582], [1039, 316], [1038, 333], [990, 256], [1212, 35], [1125, 1247], [1099, 1279], [305, 1246]]}\n",
    "Received data: {\"poses\": [[7, 253], [4, 242], [1319, 338], [1292, 369], [328, 484], [328, 487], [328, 491], [322, 479], [327, 481], [313, 482], [316, 481], [322, 487], [329, 494], [335, 474], [1131, 382], [1087, 304], [1316, 99], [1020, 1273], [979, 1280], [208, 1193]]}\n",
    "Received data: {\"poses\": [[1, 156], [1360, 427], [1390, 392], [292, 391], [297, 397], [288, 391], [308, 382], [284, 383], [302, 381], [300, 377], [283, 392], [279, 388], [284, 394], [292, 399], [292, 384], [1211, 419], [1180, 346], [1404, 147], [927, 1293], [922, 1371]]}\n",
    "Received data: {\"poses\": [[19, 140], [288, 386], [290, 390], [296, 386], [285, 381], [310, 375], [290, 387], [302, 372], [302, 370], [286, 386], [282, 380], [276, 383], [283, 385], [292, 378], [1222, 431], [1215, 426], [1421, 226], [921, 1291], [912, 1370], [107, 1148]]}\n",
    "Received data: {\"poses\": [[91, 107], [1349, 522], [347, 310], [352, 309], [356, 310], [348, 312], [367, 308], [343, 308], [357, 303], [341, 305], [343, 312], [346, 311], [337, 304], [391, 290], [353, 306], [1203, 549], [1189, 450], [285, 733], [816, 1234], [106, 1044]]}\n",
    "Received data: {\"poses\": [[202, 66], [1384, 602], [418, 222], [410, 229], [419, 233], [421, 225], [435, 230], [410, 218], [409, 219], [458, 230], [419, 232], [414, 232], [401, 224], [464, 215], [411, 222], [421, 225], [1207, 629], [1417, 430], [779, 1159], [99, 938]]}\n",
    "Received data: {\"poses\": [[1306, 728], [1382, 706], [475, 143], [472, 149], [479, 154], [469, 144], [501, 150], [475, 146], [464, 145], [522, 159], [485, 156], [470, 149], [465, 145], [473, 150], [471, 142], [1205, 732], [1174, 796], [1200, 657], [699, 1088], [82, 827]]}\n",
    "Received data: {\"poses\": [[288, 9], [1386, 702], [480, 140], [482, 143], [477, 145], [487, 145], [496, 141], [494, 143], [477, 148], [449, 135], [467, 143], [467, 142], [455, 139], [462, 137], [476, 140], [483, 146], [1200, 732], [1202, 662], [1420, 458], [88, 838]]}\n",
    "Received data: {\"poses\": [[298, 26], [289, 12], [492, 156], [480, 149], [483, 147], [480, 152], [490, 153], [478, 137], [497, 145], [467, 139], [452, 139], [461, 145], [478, 148], [473, 140], [471, 146], [540, 140], [496, 149], [1198, 728], [1193, 663], [699, 1081]]}\n",
    "Received data: {\"poses\": [[1305, 651], [513, 238], [521, 247], [521, 247], [514, 229], [514, 229], [516, 251], [516, 251], [516, 251], [504, 237], [511, 245], [526, 236], [512, 233], [512, 233], [512, 233], [1090, 739], [1090, 739], [175, 895], [175, 895], [176, 885]]}\n",
    "Received data: {\"poses\": [[549, 331], [556, 337], [547, 326], [537, 319], [519, 328], [540, 335], [529, 329], [545, 342], [601, 325], [548, 323], [1049, 627], [1049, 627], [1010, 680], [1005, 677], [1009, 678], [1013, 681], [893, 1032], [877, 1119], [264, 947], [265, 932]]}\n",
    "Received data: {\"poses\": [[592, 436], [588, 414], [586, 416], [554, 431], [565, 437], [562, 425], [580, 438], [637, 425], [959, 573], [954, 570], [966, 575], [925, 622], [921, 615], [923, 622], [927, 621], [929, 623], [991, 1003], [975, 1090], [979, 1090], [361, 978]]}\n",
    "Received data: {\"poses\": [[632, 519], [624, 513], [635, 520], [587, 518], [598, 521], [615, 529], [669, 507], [624, 525], [872, 522], [871, 522], [884, 529], [846, 564], [844, 563], [844, 562], [838, 564], [847, 565], [848, 567], [1088, 972], [1069, 1063], [444, 1017]]}\n",
    "Received data: {\"poses\": [[966, 441], [645, 613], [676, 595], [668, 591], [635, 629], [643, 622], [703, 612], [708, 614], [781, 472], [782, 472], [790, 478], [756, 499], [755, 508], [753, 504], [750, 505], [763, 504], [770, 503], [1192, 929], [1166, 1026], [541, 1062]]}\n",
    "Received data: {\"poses\": [[713, 723], [726, 689], [708, 714], [656, 714], [699, 711], [682, 722], [699, 722], [739, 705], [696, 723], [689, 417], [706, 424], [670, 447], [672, 448], [673, 433], [654, 443], [685, 439], [1281, 903], [1268, 997], [635, 1109], [639, 1099]]}\n",
    "Received data: {\"poses\": [[711, 804], [773, 772], [774, 773], [695, 813], [703, 816], [720, 817], [724, 815], [783, 799], [763, 788], [615, 375], [621, 374], [591, 399], [587, 397], [593, 369], [593, 397], [589, 397], [596, 401], [1377, 870], [710, 1192], [735, 1137]]}\n",
    "Received data: {\"poses\": [[816, 902], [830, 866], [822, 872], [754, 913], [776, 916], [815, 902], [501, 334], [516, 324], [522, 323], [495, 335], [495, 345], [493, 340], [492, 337], [497, 337], [490, 335], [493, 335], [516, 317], [497, 347], [1457, 916], [831, 1191]]}\n",
    "Received data: {\"poses\": [[599, 245], [886, 953], [744, 1029], [796, 1003], [877, 1000], [420, 277], [409, 285], [422, 274], [429, 281], [431, 271], [418, 287], [409, 287], [417, 265], [411, 289], [402, 286], [405, 282], [431, 263], [408, 293], [1554, 892], [922, 1227]]}\n",
    "Received data: {\"poses\": [[825, 1091], [881, 1100], [326, 234], [347, 237], [322, 230], [334, 231], [335, 241], [342, 238], [328, 235], [313, 247], [322, 230], [314, 235], [312, 233], [310, 230], [315, 228], [341, 206], [331, 239], [1669, 751], [1022, 1247], [1011, 1259]]}\n",
    "Received data: {\"poses\": [[937, 1049], [836, 1107], [327, 231], [325, 230], [315, 239], [327, 229], [317, 228], [336, 229], [331, 231], [324, 227], [302, 226], [316, 221], [318, 228], [304, 227], [306, 223], [310, 236], [340, 199], [323, 231], [1652, 840], [1024, 1274]]}\n",
    "Received data: {\"poses\": [[706, 1208], [777, 1186], [864, 1143], [317, 132], [307, 139], [327, 126], [325, 129], [327, 132], [324, 133], [313, 127], [329, 131], [327, 131], [311, 122], [312, 123], [317, 133], [325, 129], [322, 140], [320, 128], [1725, 903], [1028, 1365]]}\n",
    "Received data: {\"poses\": [[760, 1271], [707, 1270], [730, 1276], [309, 21], [332, 23], [306, 20], [314, 17], [303, 20], [323, 31], [321, 26], [335, 21], [301, 25], [320, 26], [315, 14], [318, 15], [327, 28], [322, 27], [319, 27], [319, 31], [1049, 1483]]}\n",
    "Received data: {\"poses\": [[750, 1276], [733, 1265], [722, 1281], [313, 12], [315, 13], [302, 24], [327, 2], [309, 14], [323, 25], [326, 16], [342, 9], [330, 16], [313, 11], [327, 17], [310, 14], [333, 20], [339, 15], [373, -16], [330, 13], [1044, 1479]]}\n",
    "Received data: {\"poses\": [[812, 1237], [697, 1273], [720, 1280], [798, 1239], [315, 16], [317, 13], [338, 11], [319, 8], [332, 21], [325, 25], [320, 11], [335, 12], [315, 11], [329, 17], [320, 16], [332, 11], [331, 20], [326, 18], [332, 13], [1048, 1482]]}\n",
    "Received data: {\"poses\": [[762, 1159], [664, 1186], [730, 1179], [398, 56], [400, 52], [398, 54], [419, 60], [403, 51], [395, 59], [418, 63], [405, 64], [421, 63], [414, 60], [403, 58], [410, 66], [400, 60], [396, 62], [409, 72], [401, 67], [414, 61]]}\n",
    "Received data: {\"poses\": [[716, 1062], [635, 1103], [705, 1060], [491, 102], [495, 99], [490, 113], [497, 94], [491, 109], [508, 107], [507, 107], [500, 111], [514, 115], [501, 113], [485, 110], [498, 112], [484, 116], [496, 124], [494, 123], [499, 123], [511, 117]]}\n",
    "Received data: {\"poses\": [[653, 990], [605, 995], [591, 995], [589, 1018], [593, 1011], [655, 976], [661, 977], [586, 149], [580, 141], [579, 155], [584, 136], [596, 148], [592, 144], [587, 167], [568, 159], [581, 163], [611, 147], [573, 180], [581, 177], [590, 169]]}\n",
    "Received data: {\"poses\": [[594, 907], [618, 882], [556, 903], [555, 906], [544, 899], [568, 910], [543, 914], [543, 917], [602, 888], [598, 881], [584, 898], [675, 194], [670, 187], [681, 188], [697, 191], [662, 234], [658, 237], [667, 220], [663, 235], [674, 220]]}\n",
    "Received data: {\"poses\": [[534, 822], [554, 804], [513, 816], [511, 823], [474, 825], [525, 820], [491, 842], [500, 833], [495, 832], [548, 806], [556, 799], [524, 813], [768, 233], [775, 217], [770, 235], [778, 216], [739, 260], [755, 267], [746, 288], [763, 276]]}\n",
    "Received data: {\"poses\": [[506, 712], [464, 725], [454, 728], [425, 736], [432, 734], [478, 732], [452, 739], [452, 738], [441, 743], [494, 715], [503, 712], [464, 728], [852, 268], [857, 268], [868, 271], [856, 325], [851, 307], [838, 323], [849, 329], [459, 1293]]}\n",
    "Received data: {\"poses\": [[415, 665], [410, 651], [415, 630], [378, 646], [385, 650], [438, 645], [405, 652], [397, 655], [481, 632], [439, 633], [446, 631], [942, 306], [946, 312], [949, 305], [956, 306], [935, 370], [922, 370], [937, 366], [924, 385], [936, 377]]}\n",
    "Received data: {\"poses\": [[414, 657], [441, 629], [410, 640], [375, 635], [383, 648], [437, 637], [389, 662], [406, 643], [407, 646], [403, 647], [437, 630], [434, 624], [452, 604], [959, 313], [954, 297], [974, 294], [925, 357], [931, 356], [941, 369], [937, 373]]}\n",
    "Received data: {\"poses\": [[432, 569], [495, 529], [483, 534], [462, 545], [427, 549], [435, 551], [490, 553], [435, 570], [456, 556], [456, 556], [453, 561], [547, 525], [477, 531], [498, 515], [976, 412], [974, 400], [955, 479], [935, 483], [927, 489], [933, 490]]}\n",
    "Received data: {\"poses\": [[471, 469], [468, 476], [536, 440], [505, 453], [518, 450], [478, 464], [488, 465], [491, 463], [478, 487], [505, 473], [501, 467], [506, 474], [469, 466], [523, 437], [524, 443], [993, 511], [987, 522], [969, 576], [919, 600], [959, 571]]}\n",
    "Received data: {\"poses\": [[490, 367], [583, 338], [585, 344], [570, 352], [534, 370], [535, 370], [543, 369], [593, 372], [509, 388], [560, 381], [557, 375], [561, 384], [558, 381], [636, 357], [568, 346], [537, 357], [992, 618], [1045, 587], [976, 665], [946, 700]]}\n",
    "Received data: {\"poses\": [[532, 275], [529, 280], [613, 247], [615, 254], [620, 261], [581, 286], [594, 284], [590, 283], [652, 285], [550, 296], [608, 291], [591, 280], [609, 301], [552, 275], [590, 241], [635, 236], [1004, 715], [1020, 735], [935, 799], [973, 791]]}\n",
    "Received data: {\"poses\": [[559, 177], [552, 177], [657, 157], [662, 158], [668, 192], [632, 203], [645, 195], [639, 195], [641, 201], [690, 192], [590, 191], [661, 200], [635, 187], [662, 213], [587, 184], [639, 149], [610, 173], [1038, 808], [1038, 830], [990, 883]]}\n",
    "Received data: {\"poses\": [[576, 169], [572, 169], [669, 145], [670, 151], [681, 184], [642, 196], [655, 194], [649, 189], [652, 195], [712, 189], [601, 197], [665, 187], [665, 198], [672, 207], [595, 174], [664, 152], [627, 165], [1034, 820], [1034, 842], [997, 873]]}\n",
    "Received data: {\"poses\": [[652, 143], [755, 128], [760, 133], [773, 164], [743, 183], [731, 175], [742, 173], [809, 187], [756, 179], [763, 189], [750, 188], [682, 157], [760, 142], [720, 147], [955, 894], [960, 899], [965, 910], [932, 947], [932, 939], [869, 963]]}\n",
    "Received data: {\"poses\": [[763, 122], [857, 108], [874, 153], [841, 182], [837, 169], [848, 166], [903, 186], [837, 159], [872, 197], [787, 136], [862, 132], [870, 952], [877, 965], [890, 946], [887, 969], [890, 980], [773, 1027], [844, 1002], [847, 1003], [779, 1024]]}\n",
    "Received data: {\"poses\": [[960, 108], [961, 92], [940, 170], [945, 165], [940, 161], [959, 185], [959, 169], [954, 166], [968, 172], [954, 166], [879, 115], [954, 111], [793, 1019], [799, 1017], [819, 1012], [813, 1038], [898, 1015], [681, 1086], [780, 1070], [700, 1082]]}\n",
    "Received data: {\"poses\": [[962, 72], [981, 58], [1064, 70], [1048, 160], [1046, 152], [1033, 147], [1055, 146], [1119, 178], [1062, 157], [1057, 157], [1069, 149], [1055, 159], [978, 86], [1065, 103], [713, 1091], [730, 1086], [741, 1111], [833, 1108], [614, 1146], [706, 1140]]}\n",
    "Received data: {\"poses\": [[965, 61], [1061, 69], [1052, 102], [1048, 183], [1060, 183], [1044, 150], [1056, 145], [1099, 139], [998, 133], [1080, 157], [1044, 128], [1076, 161], [1053, 160], [982, 87], [1071, 104], [717, 1083], [735, 1110], [830, 1109], [597, 1150], [704, 1148]]}\n",
    "Received data: {\"poses\": [[951, 50], [965, 64], [1069, 95], [1048, 108], [1085, 134], [1066, 181], [1058, 151], [1099, 141], [999, 136], [998, 135], [1064, 148], [1046, 131], [1067, 151], [1070, 165], [992, 86], [986, 94], [983, 90], [1072, 107], [727, 1110], [702, 1147]]}\n",
    "Received data: {\"poses\": [[947, 164], [941, 141], [947, 148], [1041, 183], [1014, 192], [1057, 215], [1022, 267], [1021, 237], [1030, 234], [971, 220], [971, 221], [1037, 236], [1039, 235], [1041, 250], [1049, 247], [973, 172], [968, 179], [964, 178], [1044, 191], [1027, 148]]}\n",
    "Received data: {\"poses\": [[931, 243], [924, 249], [925, 247], [924, 255], [1026, 263], [1024, 315], [977, 364], [989, 336], [998, 335], [1005, 326], [1004, 338], [1008, 352], [1009, 350], [949, 280], [952, 274], [944, 285], [943, 282], [1006, 251], [1005, 252], [1002, 257]]}\n",
    "Received data: {\"poses\": [[904, 342], [906, 340], [904, 341], [906, 338], [906, 345], [953, 375], [952, 379], [960, 425], [967, 427], [974, 428], [975, 425], [979, 439], [980, 436], [930, 370], [929, 373], [924, 381], [922, 372], [985, 344], [984, 343], [983, 352]]}\n",
    "Received data: {\"poses\": [[884, 439], [886, 437], [886, 438], [885, 437], [885, 444], [886, 438], [924, 468], [929, 523], [937, 519], [944, 519], [947, 532], [948, 534], [948, 530], [909, 469], [909, 470], [904, 480], [904, 473], [902, 467], [963, 440], [962, 453]]}\n",
    "Received data: {\"poses\": [[863, 531], [866, 531], [866, 533], [866, 527], [863, 544], [867, 530], [892, 562], [908, 611], [906, 612], [914, 614], [917, 622], [917, 625], [916, 620], [888, 560], [889, 561], [883, 571], [885, 557], [880, 563], [943, 533], [943, 543]]}\n",
    "Received data: {\"poses\": [[838, 625], [848, 626], [848, 624], [846, 627], [841, 633], [864, 653], [871, 707], [875, 699], [875, 710], [883, 713], [886, 709], [883, 712], [887, 709], [867, 659], [869, 658], [864, 665], [867, 653], [857, 661], [919, 627], [920, 641]]}\n",
    "Received data: {\"poses\": [[896, 731], [831, 726], [834, 727], [833, 728], [823, 726], [959, 751], [838, 762], [844, 803], [854, 808], [857, 802], [857, 811], [861, 820], [853, 813], [848, 756], [849, 760], [842, 769], [845, 762], [836, 767], [847, 750], [898, 728]]}\n",
    "Received data: {\"poses\": [[891, 834], [819, 836], [822, 825], [821, 828], [805, 827], [841, 850], [815, 861], [818, 900], [829, 910], [836, 915], [823, 910], [823, 912], [826, 906], [833, 860], [829, 854], [825, 867], [841, 856], [819, 869], [834, 854], [877, 828]]}\n",
    "Received data: {\"poses\": [[812, 932], [812, 930], [809, 932], [792, 931], [796, 930], [794, 930], [786, 947], [801, 1006], [783, 991], [794, 992], [797, 1002], [813, 1006], [791, 1003], [819, 955], [813, 962], [822, 961], [832, 950], [797, 958], [806, 952], [865, 928]]}\n",
    "Received data: {\"poses\": [[792, 1032], [794, 1021], [784, 1029], [781, 1038], [774, 1029], [766, 1051], [783, 1113], [753, 1093], [770, 1094], [773, 1105], [789, 1110], [780, 1115], [779, 1110], [825, 1065], [832, 1070], [814, 1060], [804, 1066], [789, 1069], [869, 1039], [871, 1046]]}\n",
    "Received data: {\"poses\": [[782, 1146], [806, 1144], [787, 1129], [770, 1144], [801, 1159], [781, 1146], [753, 1175], [749, 1202], [747, 1204], [745, 1206], [749, 1227], [750, 1219], [752, 1213], [792, 1176], [801, 1171], [777, 1182], [816, 1171], [776, 1179], [792, 1175], [866, 1153]]}\n",
    "Received data: {\"poses\": [[920, 1241], [774, 1250], [808, 1245], [752, 1247], [799, 1240], [751, 1244], [743, 1237], [784, 1260], [754, 1260], [730, 1304], [727, 1306], [723, 1308], [724, 1324], [727, 1318], [722, 1317], [822, 1272], [824, 1280], [823, 1272], [757, 1279], [825, 1235]]}\n",
    "Received data: {\"poses\": [[919, 1251], [748, 1252], [802, 1253], [780, 1241], [749, 1251], [740, 1241], [735, 1262], [726, 1306], [724, 1312], [713, 1322], [720, 1310], [739, 1326], [726, 1329], [723, 1328], [718, 1321], [780, 1280], [767, 1289], [821, 1277], [794, 1280], [822, 1240]]}\n",
    "Received data: {\"poses\": [[916, 1246], [797, 1264], [800, 1253], [775, 1237], [782, 1257], [738, 1241], [750, 1253], [735, 1321], [727, 1306], [721, 1312], [737, 1319], [725, 1314], [723, 1330], [722, 1322], [729, 1323], [762, 1333], [777, 1284], [781, 1277], [767, 1287], [819, 1239]]}\n",
    "Received data: {\"poses\": [[825, 1206], [690, 1185], [666, 1186], [690, 1173], [701, 1192], [668, 1191], [669, 1189], [652, 1198], [648, 1232], [648, 1236], [638, 1254], [643, 1235], [647, 1257], [645, 1250], [641, 1252], [692, 1216], [729, 1225], [732, 1220], [710, 1217], [739, 1176]]}\n",
    "Received data: {\"poses\": [[732, 1162], [622, 1154], [621, 1138], [606, 1110], [619, 1129], [620, 1154], [569, 1116], [572, 1130], [576, 1158], [575, 1164], [590, 1173], [578, 1173], [578, 1185], [577, 1179], [600, 1200], [604, 1159], [648, 1156], [642, 1169], [632, 1161], [655, 1112]]}\n",
    "Received data: {\"poses\": [[633, 1115], [525, 1096], [528, 1081], [526, 1054], [531, 1065], [529, 1100], [489, 1048], [490, 1067], [469, 1082], [515, 1138], [479, 1097], [498, 1098], [496, 1106], [505, 1084], [529, 1081], [551, 1125], [503, 1072], [549, 1115], [531, 1091], [563, 1044]]}\n",
    "Received data: {\"poses\": [[534, 1072], [437, 1050], [440, 1043], [433, 987], [443, 1026], [417, 995], [406, 996], [423, 1000], [412, 1004], [420, 1011], [422, 1012], [440, 1033], [420, 1042], [415, 1049], [446, 1018], [458, 1064], [423, 1013], [463, 1051], [456, 1031], [486, 986]]}\n",
    "Received data: {\"poses\": [[450, 1020], [434, 1029], [347, 997], [345, 995], [350, 931], [348, 992], [324, 944], [337, 940], [324, 944], [322, 965], [340, 945], [357, 956], [341, 970], [348, 938], [361, 954], [367, 1013], [334, 951], [334, 950], [374, 998], [392, 935]]}\n",
    "Received data: {\"poses\": [[360, 982], [349, 981], [346, 998], [261, 950], [273, 947], [250, 883], [249, 875], [238, 889], [226, 912], [238, 886], [270, 938], [268, 881], [268, 885], [258, 901], [282, 895], [261, 930], [286, 949], [250, 889], [287, 948], [248, 915]]}\n",
    "Received data: {\"poses\": [[354, 974], [343, 973], [336, 982], [263, 924], [268, 939], [246, 874], [242, 855], [233, 880], [239, 878], [271, 875], [268, 942], [280, 878], [262, 894], [271, 864], [275, 897], [275, 957], [273, 957], [252, 886], [282, 941], [273, 893]]}\n",
    "Received data: {\"poses\": [[341, 882], [325, 887], [339, 878], [259, 830], [247, 855], [243, 832], [251, 765], [237, 787], [250, 790], [288, 782], [275, 850], [261, 787], [231, 834], [267, 798], [251, 838], [259, 829], [279, 871], [258, 794], [282, 851], [244, 809]]}\n",
    "Received data: {\"poses\": [[324, 774], [305, 777], [327, 773], [255, 723], [262, 744], [261, 667], [233, 730], [249, 747], [245, 686], [308, 676], [283, 744], [279, 685], [300, 701], [257, 754], [264, 722], [269, 759], [269, 684], [274, 752], [279, 741], [290, 695]]}\n",
    "Received data: {\"poses\": [[288, 683], [298, 683], [269, 621], [232, 642], [274, 582], [229, 621], [269, 567], [229, 561], [261, 593], [261, 603], [361, 585], [317, 586], [249, 628], [300, 590], [266, 628], [263, 591], [271, 587], [269, 644], [263, 611], [326, 568]]}\n",
    "Received data: {\"poses\": [[291, 672], [307, 671], [257, 622], [259, 628], [235, 644], [232, 614], [250, 641], [258, 583], [268, 588], [330, 575], [334, 589], [319, 580], [292, 600], [274, 616], [255, 650], [279, 581], [273, 638], [265, 589], [301, 589], [330, 560]]}\n",
    "Received data: {\"poses\": [[384, 613], [372, 618], [369, 624], [318, 586], [314, 594], [356, 516], [312, 573], [325, 592], [344, 542], [354, 549], [414, 542], [391, 549], [405, 547], [379, 568], [352, 569], [355, 542], [363, 537], [348, 548], [349, 563], [413, 520]]}\n",
    "Received data: {\"poses\": [[445, 547], [449, 557], [426, 516], [423, 522], [401, 540], [447, 474], [464, 492], [426, 486], [445, 485], [513, 505], [469, 548], [520, 523], [508, 516], [481, 497], [444, 533], [458, 494], [451, 493], [441, 507], [508, 482], [508, 472]]}\n",
    "Received data: {\"poses\": [[531, 494], [524, 499], [507, 466], [488, 485], [532, 427], [549, 447], [520, 510], [522, 453], [563, 469], [605, 474], [651, 509], [656, 508], [602, 477], [569, 455], [516, 493], [539, 452], [546, 456], [527, 483], [526, 463], [589, 432]]}\n",
    "Received data: {\"poses\": [[591, 425], [610, 435], [591, 411], [573, 421], [597, 396], [623, 389], [644, 405], [585, 433], [615, 402], [699, 439], [702, 437], [754, 486], [697, 442], [663, 408], [596, 442], [631, 404], [637, 406], [614, 426], [613, 429], [616, 416]]}\n",
    "Received data: {\"poses\": [[668, 354], [688, 368], [682, 355], [680, 356], [689, 347], [717, 341], [728, 350], [671, 377], [718, 340], [794, 395], [734, 406], [851, 456], [800, 412], [788, 424], [708, 384], [722, 358], [731, 357], [700, 369], [703, 372], [713, 372]]}\n",
    "Received data: {\"poses\": [[756, 284], [765, 301], [762, 304], [760, 300], [728, 309], [788, 275], [725, 288], [784, 366], [782, 312], [838, 354], [880, 357], [944, 427], [941, 427], [878, 360], [830, 323], [764, 317], [816, 314], [781, 317], [783, 320], [863, 275]]}\n",
    "Received data: {\"poses\": [[814, 218], [825, 209], [839, 225], [844, 224], [833, 232], [816, 240], [896, 251], [900, 246], [840, 261], [879, 254], [977, 319], [908, 302], [1037, 391], [985, 327], [926, 325], [877, 283], [898, 253], [896, 257], [869, 261], [897, 282]]}\n",
    "Received data: {\"poses\": [[885, 141], [896, 137], [913, 154], [927, 181], [925, 183], [895, 184], [964, 198], [992, 195], [924, 201], [961, 200], [1070, 273], [996, 246], [1134, 355], [1070, 288], [962, 226], [974, 191], [1003, 215], [968, 197], [941, 192], [987, 231]]}\n",
    "Received data: {\"poses\": [[954, 69], [963, 60], [977, 87], [1008, 118], [982, 136], [972, 109], [1060, 123], [1075, 143], [1055, 203], [1045, 150], [1064, 161], [1078, 188], [1230, 316], [1167, 233], [1101, 175], [994, 129], [1077, 158], [1069, 144], [1020, 124], [1073, 176]]}\n",
    "Received data: {\"poses\": [[1018, -8], [1028, -18], [1087, 49], [1078, 52], [1045, 36], [1145, 61], [1157, 78], [1121, 84], [1151, 58], [1256, 173], [1159, 121], [1330, 304], [1322, 274], [1246, 180], [1192, 101], [1068, 57], [1151, 71], [1106, 68], [1152, 113], [1132, 98]]}\n",
    "Received data: {\"poses\": [[1022, -12], [1031, -20], [1066, 24], [1065, 29], [1052, 36], [1154, 75], [1159, 75], [1065, 61], [1151, 101], [1261, 171], [1254, 162], [1324, 297], [1334, 303], [1333, 287], [1260, 184], [1250, 184], [1072, 56], [1153, 79], [1109, 66], [1161, 118]]}\n",
    "Received data: {\"poses\": [[1030, -8], [1035, -13], [1066, 25], [1066, 30], [1049, 39], [1116, 89], [1160, 76], [1142, 142], [1116, 86], [1151, 100], [1261, 174], [1333, 281], [1335, 304], [1336, 287], [1260, 179], [1129, 108], [1078, 53], [1137, 78], [1110, 67], [1160, 109]]}\n",
    "Received data: {\"poses\": [[1082, 103], [1080, 97], [1085, 160], [1105, 149], [1069, 146], [1167, 175], [1176, 170], [1088, 154], [1129, 183], [1165, 199], [1262, 274], [1178, 217], [1323, 399], [1324, 384], [1262, 275], [1141, 204], [1097, 149], [1166, 183], [1134, 164], [1173, 204]]}\n",
    "Received data: {\"poses\": [[1099, 179], [1100, 180], [1116, 223], [1129, 240], [1095, 250], [1090, 236], [1183, 261], [1167, 348], [1145, 287], [1172, 305], [1267, 379], [1310, 491], [1317, 510], [1310, 487], [1317, 492], [1129, 250], [1121, 255], [1158, 281], [1162, 266], [1193, 322]]}\n",
    "Received data: {\"poses\": [[1135, 270], [1160, 314], [1145, 322], [1120, 347], [1114, 333], [1200, 378], [1178, 436], [1141, 356], [1185, 405], [1273, 484], [1267, 471], [1316, 608], [1307, 574], [1302, 587], [1314, 592], [1143, 361], [1216, 395], [1191, 363], [1209, 410], [1170, 405]]}\n",
    "Received data: {\"poses\": [[1185, 401], [1175, 371], [1175, 452], [1148, 447], [1148, 439], [1142, 446], [1223, 482], [1223, 477], [1160, 459], [1183, 488], [1283, 574], [1286, 576], [1278, 701], [1305, 674], [1299, 695], [1190, 508], [1216, 505], [1188, 478], [1214, 442], [1186, 506]]}\n",
    "Received data: {\"poses\": [[1223, 457], [1214, 461], [1204, 551], [1176, 538], [1169, 541], [1245, 579], [1228, 581], [1224, 644], [1181, 552], [1218, 596], [1289, 678], [1283, 788], [1315, 811], [1295, 789], [1289, 787], [1210, 617], [1271, 594], [1208, 576], [1244, 534], [1198, 605]]}\n",
    "Received data: {\"poses\": [[1274, 555], [1259, 556], [1250, 641], [1216, 644], [1198, 647], [1270, 683], [1266, 680], [1253, 752], [1213, 654], [1238, 700], [1323, 783], [1310, 790], [1322, 914], [1318, 925], [1314, 890], [1234, 706], [1302, 700], [1235, 685], [1297, 650], [1285, 716]]}\n",
    "Received data: {\"poses\": [[1264, 561], [1282, 602], [1228, 667], [1198, 650], [1220, 629], [1246, 687], [1235, 739], [1221, 660], [1236, 693], [1234, 717], [1322, 787], [1311, 796], [1319, 919], [1322, 924], [1312, 895], [1272, 645], [1279, 708], [1283, 658], [1271, 721], [1219, 716]]}\n",
    "Received data: {\"poses\": [[1265, 598], [1261, 561], [1254, 560], [1281, 603], [1226, 668], [1246, 645], [1196, 651], [1196, 652], [1198, 638], [1266, 688], [1233, 739], [1220, 661], [1231, 711], [1290, 903], [1285, 922], [1308, 924], [1284, 903], [1234, 699], [1282, 658], [1282, 658]]}\n",
    "Received data: {\"poses\": [[1164, 589], [1162, 550], [1153, 552], [1177, 595], [1125, 649], [1145, 623], [1100, 632], [1097, 633], [1106, 619], [1136, 707], [1111, 640], [1176, 682], [1226, 879], [1196, 871], [1218, 870], [1197, 851], [1180, 677], [1131, 654], [1184, 637], [1177, 708]]}\n",
    "Received data: {\"poses\": [[1052, 577], [1049, 540], [1051, 542], [1024, 628], [1041, 602], [994, 608], [993, 610], [996, 597], [1044, 611], [1051, 690], [1076, 650], [1075, 649], [1130, 836], [1129, 833], [1129, 817], [1039, 659], [1035, 635], [1032, 620], [1079, 615], [1075, 686]]}\n",
    "Received data: {\"poses\": [[947, 573], [943, 534], [970, 580], [921, 605], [938, 585], [891, 590], [891, 592], [901, 581], [943, 638], [951, 659], [975, 620], [1036, 796], [1042, 792], [1037, 764], [1018, 744], [977, 615], [935, 607], [937, 590], [978, 595], [970, 666]]}\n",
    "Received data: {\"poses\": [[851, 520], [841, 520], [812, 593], [843, 570], [788, 576], [786, 576], [798, 560], [865, 564], [832, 621], [796, 576], [901, 662], [943, 749], [942, 713], [932, 697], [841, 600], [878, 587], [839, 583], [831, 555], [872, 651], [863, 646]]}\n",
    "Received data: {\"poses\": [[753, 555], [753, 512], [738, 511], [727, 567], [683, 554], [688, 566], [698, 544], [744, 590], [744, 581], [732, 556], [785, 565], [836, 721], [828, 661], [857, 664], [843, 645], [747, 575], [780, 572], [744, 551], [774, 563], [765, 631]]}\n",
    "Received data: {\"poses\": [[642, 507], [640, 505], [636, 532], [585, 543], [582, 544], [597, 526], [675, 513], [644, 554], [622, 543], [706, 612], [748, 681], [743, 616], [767, 620], [754, 590], [748, 596], [688, 535], [642, 524], [668, 550], [671, 612], [667, 617]]}\n",
    "Received data: {\"poses\": [[553, 540], [526, 536], [566, 569], [531, 540], [485, 535], [487, 516], [565, 484], [554, 525], [537, 523], [519, 538], [652, 669], [655, 644], [676, 572], [661, 555], [552, 534], [573, 516], [544, 502], [568, 524], [562, 604], [562, 606]]}\n",
    "Received data: {\"poses\": [[449, 540], [449, 522], [428, 506], [411, 544], [427, 538], [392, 521], [454, 465], [447, 499], [443, 505], [415, 528], [503, 563], [530, 635], [547, 538], [557, 490], [554, 516], [493, 477], [445, 471], [442, 456], [462, 592], [451, 593]]}\n",
    "Received data: {\"poses\": [[338, 558], [322, 559], [327, 509], [325, 541], [284, 496], [291, 527], [366, 443], [347, 479], [340, 482], [316, 540], [378, 498], [452, 624], [456, 600], [489, 510], [463, 482], [338, 477], [356, 447], [342, 448], [337, 430], [355, 610]]}\n",
    "Received data: {\"poses\": [[247, 533], [219, 514], [227, 505], [163, 515], [188, 528], [260, 423], [247, 460], [233, 493], [218, 537], [200, 536], [300, 526], [327, 593], [352, 481], [382, 469], [368, 448], [277, 468], [247, 429], [239, 432], [232, 415], [253, 610]]}\n",
    "Received data: {\"poses\": [[221, 549], [201, 538], [220, 536], [174, 485], [257, 418], [229, 506], [242, 456], [234, 466], [211, 534], [194, 533], [294, 522], [355, 548], [352, 476], [344, 473], [223, 460], [238, 422], [226, 420], [230, 421], [251, 529], [235, 611]]}\n",
    "Received data: {\"poses\": [[225, 546], [255, 587], [219, 514], [218, 534], [176, 497], [176, 505], [229, 504], [242, 454], [231, 457], [211, 531], [262, 489], [298, 519], [327, 587], [349, 463], [363, 440], [229, 449], [237, 422], [228, 416], [227, 420], [247, 604]]}\n",
    "Received data: {\"poses\": [[264, 462], [297, 501], [270, 446], [267, 454], [232, 409], [227, 420], [307, 376], [307, 388], [300, 389], [264, 455], [244, 454], [325, 409], [383, 518], [414, 408], [435, 380], [292, 385], [302, 355], [294, 347], [291, 351], [297, 531]]}\n",
    "Received data: {\"poses\": [[340, 407], [339, 405], [323, 347], [322, 364], [298, 325], [285, 358], [350, 347], [380, 310], [375, 312], [317, 350], [384, 335], [488, 439], [458, 443], [496, 340], [365, 329], [373, 276], [370, 275], [373, 275], [367, 261], [326, 430]]}\n",
    "Received data: {\"poses\": [[386, 307], [358, 281], [369, 281], [359, 241], [336, 271], [409, 269], [455, 235], [435, 238], [371, 275], [351, 279], [500, 299], [552, 365], [527, 367], [571, 279], [414, 228], [441, 206], [438, 202], [444, 202], [437, 187], [367, 341]]}\n",
    "Received data: {\"poses\": [[390, 174], [431, 212], [422, 214], [426, 154], [431, 190], [398, 153], [475, 172], [504, 142], [526, 149], [430, 183], [410, 181], [572, 228], [624, 286], [604, 288], [675, 191], [475, 167], [513, 123], [515, 115], [488, 98], [436, 235]]}\n",
    "Received data: {\"poses\": [[469, 54], [426, 80], [464, 121], [478, 86], [449, 81], [472, 61], [543, 22], [542, 104], [592, 78], [571, 81], [473, 101], [433, 81], [689, 202], [657, 208], [726, 124], [742, 101], [525, 80], [572, 45], [587, 51], [501, 86]]}\n",
    "Received data: {\"poses\": [[464, -5], [503, 25], [496, 35], [482, -4], [535, -10], [487, 1], [607, 18], [657, 13], [639, 5], [520, 16], [494, -3], [692, 54], [749, 134], [734, 139], [790, 71], [810, 34], [621, -4], [642, -27], [580, -71], [554, -7]]}\n",
    "Received data: {\"poses\": [[466, -11], [500, 28], [499, 32], [483, -5], [519, 6], [474, -36], [586, 10], [622, -22], [657, 7], [638, 8], [487, -3], [695, 52], [723, 102], [722, 137], [809, 64], [794, 76], [585, 7], [643, -24], [656, -28], [550, -1]]}\n",
    "Received data: {\"poses\": [[468, -11], [502, 28], [509, 24], [485, -4], [542, 0], [604, -58], [604, -57], [671, 13], [665, 10], [661, 6], [525, 15], [715, 78], [724, 103], [717, 122], [737, 143], [802, 53], [656, -15], [645, -24], [658, -26], [559, -8]]}\n",
    "Received data: {\"poses\": [[525, 59], [565, 91], [565, 93], [580, 68], [540, 65], [643, 24], [633, 86], [701, 99], [694, 96], [691, 90], [571, 88], [736, 137], [761, 183], [754, 203], [767, 230], [766, 226], [628, 75], [686, 70], [678, 59], [687, 60]]}\n",
    "Received data: {\"poses\": [[588, 149], [625, 169], [634, 153], [604, 141], [621, 170], [687, 117], [714, 152], [733, 193], [729, 193], [725, 183], [624, 177], [834, 299], [799, 293], [801, 325], [802, 326], [799, 320], [683, 162], [717, 165], [710, 158], [718, 152]]}\n",
    "Received data: {\"poses\": [[648, 218], [703, 231], [683, 229], [684, 228], [657, 190], [763, 279], [767, 278], [758, 279], [755, 278], [769, 258], [821, 308], [875, 382], [841, 383], [833, 407], [830, 409], [937, 354], [731, 268], [746, 251], [749, 239], [752, 244]]}\n",
    "Received data: {\"poses\": [[714, 299], [754, 325], [741, 316], [734, 309], [720, 271], [799, 378], [799, 376], [790, 373], [790, 375], [876, 411], [921, 474], [889, 478], [868, 507], [873, 511], [867, 506], [791, 328], [769, 367], [787, 354], [787, 339], [788, 344]]}\n",
    "Received data: {\"poses\": [[854, 380], [801, 402], [798, 395], [827, 393], [832, 478], [834, 482], [826, 475], [862, 440], [967, 576], [973, 575], [937, 573], [912, 608], [905, 608], [905, 604], [989, 557], [805, 465], [822, 447], [827, 439], [828, 441], [825, 437]]}\n",
    "Received data: {\"poses\": [[846, 458], [853, 492], [850, 488], [844, 475], [876, 564], [875, 573], [863, 572], [859, 559], [841, 517], [1010, 661], [1006, 653], [986, 655], [941, 705], [944, 699], [937, 698], [853, 561], [838, 560], [857, 542], [865, 534], [863, 536]]}\n",
    "Received data: {\"poses\": [[1001, 524], [917, 572], [909, 573], [913, 508], [904, 672], [907, 670], [897, 665], [908, 658], [898, 603], [1059, 756], [1056, 752], [1021, 752], [987, 791], [998, 791], [1010, 793], [886, 654], [876, 653], [896, 640], [898, 631], [902, 628]]}\n",
    "Received data: {\"poses\": [[983, 615], [972, 669], [968, 656], [990, 590], [942, 757], [944, 767], [935, 758], [935, 749], [1005, 702], [1109, 847], [1098, 843], [1069, 841], [1032, 887], [1043, 877], [1034, 879], [1054, 879], [911, 753], [910, 747], [925, 709], [940, 723]]}\n",
    "Received data: {\"poses\": [[1033, 757], [1036, 736], [1011, 843], [983, 859], [973, 852], [976, 847], [979, 853], [1136, 840], [1147, 939], [1123, 941], [1086, 977], [1078, 988], [1048, 991], [1089, 972], [1057, 990], [1102, 969], [949, 848], [993, 810], [1002, 811], [990, 814]]}\n",
    "Received data: {\"poses\": [[1089, 838], [1075, 816], [1055, 928], [1017, 962], [1010, 944], [1017, 955], [1010, 948], [1106, 1001], [1190, 1016], [1204, 1023], [1170, 1029], [1130, 1063], [1120, 1074], [1087, 1084], [1140, 1060], [1103, 1070], [1037, 919], [1012, 894], [1049, 903], [1007, 917]]}\n",
    "Received data: {\"poses\": [[1228, 735], [1091, 847], [1124, 747], [1014, 961], [1010, 954], [1016, 964], [1012, 953], [1193, 932], [1189, 1026], [1194, 1035], [1212, 1014], [1129, 1068], [1124, 1077], [1119, 1083], [1137, 1063], [1109, 1079], [1151, 1065], [1013, 933], [996, 908], [1051, 909]]}\n",
    "Received data: {\"poses\": [[1210, 834], [1049, 937], [1035, 917], [946, 1043], [947, 1035], [952, 1022], [1049, 1094], [1153, 1114], [1138, 1108], [1154, 1117], [1169, 1099], [1125, 1113], [1077, 1156], [1026, 1173], [1088, 1152], [1090, 1152], [1048, 1163], [1104, 1157], [981, 991], [1002, 993]]}\n",
    "Received data: {\"poses\": [[1029, 1013], [1009, 1017], [897, 1122], [887, 1116], [886, 1118], [1095, 1105], [1100, 1198], [1091, 1214], [1099, 1208], [1127, 1196], [1064, 1213], [1074, 1201], [1023, 1246], [1040, 1242], [1036, 1242], [1037, 1246], [1026, 1239], [1042, 1250], [923, 1077], [960, 1098]]}\n",
    "Received data: {\"poses\": [[1184, 947], [997, 1043], [979, 1014], [881, 1127], [880, 1123], [881, 1132], [990, 1188], [1091, 1207], [1070, 1206], [1077, 1211], [1117, 1205], [1054, 1221], [1007, 1243], [1013, 1252], [1031, 1248], [1023, 1254], [985, 1247], [1033, 1254], [911, 1077], [937, 1091]]}\n",
    "Received data: {\"poses\": [[922, 1048], [902, 1055], [880, 1025], [784, 1128], [772, 1124], [831, 1119], [1000, 1134], [990, 1210], [967, 1203], [980, 1222], [1007, 1219], [954, 1223], [965, 1211], [911, 1257], [932, 1254], [927, 1258], [936, 1254], [827, 1125], [819, 1087], [851, 1110]]}\n",
    "Received data: {\"poses\": [[993, 1026], [794, 1070], [721, 1109], [689, 1110], [727, 1127], [905, 1151], [889, 1210], [885, 1215], [863, 1216], [882, 1228], [905, 1235], [852, 1230], [861, 1223], [809, 1266], [787, 1258], [824, 1262], [810, 1251], [832, 1251], [706, 1089], [735, 1113]]}\n",
    "Received data: {\"poses\": [[718, 1063], [634, 1128], [586, 1104], [561, 1084], [803, 1164], [788, 1221], [782, 1218], [770, 1222], [773, 1236], [815, 1259], [748, 1245], [756, 1234], [710, 1254], [714, 1257], [640, 1224], [679, 1252], [705, 1258], [729, 1254], [599, 1088], [647, 1132]]}\n",
    "Received data: {\"poses\": [[593, 1096], [492, 1097], [597, 1223], [687, 1215], [694, 1220], [687, 1224], [667, 1215], [675, 1233], [708, 1264], [650, 1218], [603, 1262], [605, 1273], [613, 1261], [546, 1219], [630, 1270], [582, 1258], [612, 1261], [633, 1264], [650, 1272], [528, 1099]]}\n",
    "Received data: {\"poses\": [[491, 1099], [691, 1216], [694, 1222], [688, 1221], [686, 1222], [672, 1228], [674, 1235], [649, 1238], [651, 1218], [612, 1254], [603, 1272], [611, 1260], [586, 1265], [543, 1216], [617, 1262], [607, 1257], [611, 1261], [630, 1259], [492, 1112], [462, 1065]]}\n",
    "Received data: {\"poses\": [[468, 1116], [691, 1212], [685, 1210], [687, 1209], [687, 1217], [656, 1223], [705, 1258], [647, 1212], [606, 1251], [605, 1258], [611, 1256], [611, 1256], [544, 1212], [542, 1214], [607, 1253], [607, 1254], [609, 1256], [630, 1255], [500, 1090], [525, 1093]]}\n",
    "Received data: {\"poses\": [[514, 1039], [738, 1131], [733, 1128], [735, 1128], [732, 1129], [726, 1135], [711, 1152], [740, 1176], [653, 1165], [651, 1184], [657, 1176], [657, 1176], [658, 1175], [633, 1180], [599, 1139], [654, 1172], [655, 1173], [655, 1175], [681, 1170], [565, 1012]]}\n",
    "Received data: {\"poses\": [[642, 949], [792, 1037], [791, 1035], [785, 1035], [787, 1037], [790, 1047], [780, 1041], [755, 1059], [782, 1077], [709, 1082], [708, 1087], [709, 1083], [712, 1084], [709, 1084], [668, 1047], [717, 1080], [710, 1076], [709, 1084], [708, 1081], [577, 926]]}\n",
    "Received data: {\"poses\": [[624, 856], [843, 949], [843, 951], [837, 943], [836, 945], [843, 958], [831, 954], [825, 981], [774, 965], [765, 989], [764, 994], [763, 1002], [762, 995], [741, 998], [723, 973], [766, 997], [764, 995], [764, 989], [784, 997], [682, 831]]}\n",
    "Received data: {\"poses\": [[733, 767], [892, 866], [898, 859], [889, 859], [889, 856], [895, 875], [882, 872], [866, 892], [839, 866], [815, 910], [778, 894], [817, 903], [817, 909], [788, 912], [793, 890], [824, 912], [816, 903], [813, 908], [810, 903], [716, 748]]}\n",
    "Received data: {\"poses\": [[732, 685], [939, 781], [942, 779], [946, 776], [946, 779], [934, 786], [886, 788], [904, 781], [861, 818], [863, 826], [864, 821], [859, 818], [860, 823], [849, 810], [862, 818], [867, 823], [864, 815], [864, 816], [867, 818], [787, 666]]}\n",
    "Received data: {\"poses\": [[844, 593], [778, 595], [1000, 690], [979, 674], [983, 677], [973, 682], [987, 699], [926, 695], [945, 709], [925, 692], [910, 742], [924, 749], [907, 725], [909, 720], [895, 735], [855, 706], [915, 726], [912, 730], [913, 726], [913, 724]]}\n",
    "Received data: {\"poses\": [[828, 515], [1051, 606], [1025, 590], [1035, 601], [1020, 597], [966, 604], [984, 608], [968, 607], [962, 643], [958, 651], [961, 638], [966, 646], [938, 649], [962, 643], [905, 622], [964, 652], [972, 646], [962, 641], [964, 642], [886, 495]]}\n",
    "Received data: {\"poses\": [[873, 425], [1105, 516], [1074, 513], [1083, 511], [1063, 513], [1022, 513], [1017, 509], [1000, 551], [1002, 555], [1025, 579], [1011, 546], [996, 555], [987, 559], [1020, 573], [1016, 557], [1011, 546], [1004, 564], [1006, 557], [994, 544], [935, 411]]}\n",
    "\"\"\""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "163"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "poses_lines = poses_raw_data.split(\"\\n\")\n",
    "poses_lines = [line.replace(\"Received data: \", \"\") for line in poses_lines if line]\n",
    "len(poses_lines)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([1029,  243])"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "poses_dicts = [json.loads(line) for line in poses_lines]\n",
    "poses_over_time = np.array([poses_dict[\"poses\"] for poses_dict in poses_dicts])\n",
    "# ThreeD array = time, pose number, [x, y]\n",
    "poses_over_time[0,0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "\n",
    "time_index = 0\n",
    "ax.scatter(poses_over_time[time_index, :, 0], poses_over_time[time_index, :, 1])\n",
    "for line in arena.boundary_lines:\n",
    "    plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color=\"black\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "\n",
    "time_index = 1\n",
    "ax.scatter(poses_over_time[time_index, :, 0], poses_over_time[time_index, :, 1])\n",
    "for line in arena.boundary_lines:\n",
    "    plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color=\"black\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "\n",
    "time_index = 100\n",
    "ax.scatter(poses_over_time[time_index, :, 0], poses_over_time[time_index, :, 1])\n",
    "for line in arena.boundary_lines:\n",
    "    plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color=\"black\")"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "modelling-space-PK-9Kbkb-py3.9",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.15"
  },
  "orig_nbformat": 4,
  "vscode": {
   "interpreter": {
    "hash": "0e849ea89ee47e1132ea7296f1ee1190d374e3d2d90c5960d8a36248408ee6b5"
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}