add pose filter

1 files changed, 1655 insertions, 0 deletions

diff --git a/megapixels/notebooks/datasets/vgg_face2/filter_pose.ipynb b/megapixels/notebooks/datasets/vgg_face2/filter_pose.ipynb
new file mode 100644
index 00000000..34068b82
--- /dev/null
+++ b/megapixels/notebooks/datasets/vgg_face2/filter_pose.ipynb
@@ -0,0 +1,1655 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Acessing CSV data"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%reload_ext autoreload\n",
+    "%autoreload 2\n",
+    "\n",
+    "import os\n",
+    "from os.path import join\n",
+    "from glob import glob\n",
+    "from random import randint\n",
+    "from pathlib import Path\n",
+    "\n",
+    "from tqdm import tqdm_notebook as tqdm\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "import cv2 as cv\n",
+    "%matplotlib inline\n",
+    "import matplotlib.pyplot as plt"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "DATA_STORE = '/data_store/'\n",
+    "dir_datasets = join(DATA_STORE, 'datasets/people')\n",
+    "dir_lfw = join(dir_datasets, 'vgg_face2')\n",
+    "dir_lfw_metadata = join(dir_lfw, 'metadata')"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Files"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# set fp_\n",
+    "fp_identities = join(dir_lfw_metadata, 'identities.csv')\n",
+    "fp_files = join(dir_lfw_metadata, 'file_meta_updated.csv')\n",
+    "fp_index = join(dir_lfw_metadata, 'shas.csv')\n",
+    "fp_rois = join(dir_lfw_metadata, 'rois_dlib_cnn_400.csv')\n",
+    "fp_uuids = join(dir_lfw_metadata, 'uuids.csv')\n",
+    "#fp_poses = join(dir_lfw_metadata, 'poses.csv')\n",
+    "fp_vecs = join(dir_lfw_metadata, 'vecs.csv')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# load csvs into dataframes\n",
+    "df_identities = pd.read_csv(fp_identities).set_index('index')\n",
+    "df_files = pd.read_csv(fp_files).set_index('index')\n",
+    "df_index = pd.read_csv(fp_index).set_index('index')\n",
+    "df_rois = pd.read_csv(fp_rois).set_index('index')\n",
+    "df_uuids = pd.read_csv(fp_uuids).set_index('index')\n",
+    "#df_poses = pd.read_csv(fp_pose).set_index('index')\n",
+    "#df_vecs = pd.read_csv(fp_vecs).set_index('index')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "fp_poses = join(dir_lfw_metadata, 'poses_0_10000.csv')\n",
+    "df_poses = pd.read_csv(fp_poses).set_index('index')"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Identity attributes\n",
+    "\n",
+    "- preview identities\n",
+    "- here the 'index' is unique and refers to the identity\n",
+    "- in other files it is referred to as 'identity_index'"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>class_id</th>\n",
+       "      <th>description</th>\n",
+       "      <th>gender</th>\n",
+       "      <th>images</th>\n",
+       "      <th>name</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>n000001</td>\n",
+       "      <td>Dalai Lama</td>\n",
+       "      <td>m</td>\n",
+       "      <td>424</td>\n",
+       "      <td>14th Dalai Lama</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>n000002</td>\n",
+       "      <td>American singer-songwriter</td>\n",
+       "      <td>f</td>\n",
+       "      <td>315</td>\n",
+       "      <td>A Fine Frenzy</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "      class_id                 description gender  images             name\n",
+       "index                                                                     \n",
+       "0      n000001                  Dalai Lama      m     424  14th Dalai Lama\n",
+       "1      n000002  American singer-songwriter      f     315    A Fine Frenzy"
+      ]
+     },
+     "execution_count": 7,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_identities.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### File attributes\n",
+    "\n",
+    "- preview files\n",
+    "- NB: this information is not needed for the website\n",
+    "- information needed to load an image from the local directory"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>ext</th>\n",
+       "      <th>fn</th>\n",
+       "      <th>subdir</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>jpg</td>\n",
+       "      <td>0194_01</td>\n",
+       "      <td>train/n004034</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>jpg</td>\n",
+       "      <td>0132_02</td>\n",
+       "      <td>train/n004034</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       ext       fn         subdir\n",
+       "index                             \n",
+       "0      jpg  0194_01  train/n004034\n",
+       "1      jpg  0132_02  train/n004034"
+      ]
+     },
+     "execution_count": 8,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_files.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Index\n",
+    "\n",
+    "- every image has an index\n",
+    "- the `identity_index` refers back to the `identities.csv` file"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>sha256</th>\n",
+       "      <th>identity_index</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>a39a1df855cb0c70dc553c5e9afa35b4f7c00f4011ca10...</td>\n",
+       "      <td>6123</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>e360f93613baa68cede6731d2603873cdabd3993841cfd...</td>\n",
+       "      <td>6123</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "                                                  sha256  identity_index\n",
+       "index                                                                   \n",
+       "0      a39a1df855cb0c70dc553c5e9afa35b4f7c00f4011ca10...            6123\n",
+       "1      e360f93613baa68cede6731d2603873cdabd3993841cfd...            6123"
+      ]
+     },
+     "execution_count": 9,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_index.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### ROIs (regions of interest)\n",
+    "\n",
+    "- refers to the detected face in image files"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>h</th>\n",
+       "      <th>image_height</th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>image_width</th>\n",
+       "      <th>w</th>\n",
+       "      <th>x</th>\n",
+       "      <th>y</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0.38</td>\n",
+       "      <td>282</td>\n",
+       "      <td>0</td>\n",
+       "      <td>247</td>\n",
+       "      <td>0.435115</td>\n",
+       "      <td>0.28626</td>\n",
+       "      <td>0.316667</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>0.38</td>\n",
+       "      <td>235</td>\n",
+       "      <td>1</td>\n",
+       "      <td>206</td>\n",
+       "      <td>0.435115</td>\n",
+       "      <td>0.28626</td>\n",
+       "      <td>0.316667</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "          h  image_height  image_index  image_width         w        x  \\\n",
+       "index                                                                    \n",
+       "0      0.38           282            0          247  0.435115  0.28626   \n",
+       "1      0.38           235            1          206  0.435115  0.28626   \n",
+       "\n",
+       "              y  \n",
+       "index            \n",
+       "0      0.316667  \n",
+       "1      0.316667  "
+      ]
+     },
+     "execution_count": 10,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_rois.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### UUIDs\n",
+    "\n",
+    "- a separate file that includes the UUID for each image file\n",
+    "- separated to reduce file size for larger CSVs"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>uuid</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>88ac6abd-6039-442b-b31f-2db8d575363a</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>73acbc00-2cb5-4260-8db3-b88ca7c29c72</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "                                       uuid\n",
+       "index                                      \n",
+       "0      88ac6abd-6039-442b-b31f-2db8d575363a\n",
+       "1      73acbc00-2cb5-4260-8db3-b88ca7c29c72"
+      ]
+     },
+     "execution_count": 11,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_uuids.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Pose\n",
+    "\n",
+    "- a separate file that includes pose information\n",
+    "- used for filtering out images that are too angled"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>pitch</th>\n",
+       "      <th>roll</th>\n",
+       "      <th>yaw</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0</td>\n",
+       "      <td>-2.685769</td>\n",
+       "      <td>4.093920</td>\n",
+       "      <td>-7.937658</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>1</td>\n",
+       "      <td>-10.074321</td>\n",
+       "      <td>-5.795005</td>\n",
+       "      <td>-20.644645</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       image_index      pitch      roll        yaw\n",
+       "index                                             \n",
+       "0                0  -2.685769  4.093920  -7.937658\n",
+       "1                1 -10.074321 -5.795005 -20.644645"
+      ]
+     },
+     "execution_count": 12,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_poses.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Face vectors\n",
+    "\n",
+    "- each face vector is associated with an ROI\n",
+    "- each ROI is associated with an image and an identity"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#df_vecs.head(2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Utilities"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# convert above to function\n",
+    "def roi_idx_to_image(roi_idx):\n",
+    "  ds_roi = df_rois.iloc[roi_idx]\n",
+    "  image_idx = int(ds_roi.image_index)\n",
+    "  # use the image idx to get the file meta\n",
+    "  ds_file = df_files.iloc[image_idx]\n",
+    "  # construct filepath\n",
+    "  fp_match = join(dir_lfw_images, str(ds_file.subdir), f'{ds_file.fn}.{ds_file.ext}')\n",
+    "  im_match = cv.imread(fp_match)\n",
+    "  return im_match  "
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Operations"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# define min/max\n",
+    "yaw_minmax = (-25,25)\n",
+    "pitch_minmax = (-15,15)\n",
+    "roll_minmax = (-10,10)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>pitch</th>\n",
+       "      <th>roll</th>\n",
+       "      <th>yaw</th>\n",
+       "      <th>valid</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0</td>\n",
+       "      <td>-2.685769</td>\n",
+       "      <td>4.093920</td>\n",
+       "      <td>-7.937658</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>1</td>\n",
+       "      <td>-10.074321</td>\n",
+       "      <td>-5.795005</td>\n",
+       "      <td>-20.644645</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       image_index      pitch      roll        yaw  valid\n",
+       "index                                                    \n",
+       "0                0  -2.685769  4.093920  -7.937658      0\n",
+       "1                1 -10.074321 -5.795005 -20.644645      0"
+      ]
+     },
+     "execution_count": 16,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_poses['valid'] = [0] * len(df_poses)\n",
+    "df_poses.head(2)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "9347980a72ff4cb6906914338b458162",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "HBox(children=(IntProgress(value=0, max=9743), HTML(value='')))"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "# filter out extreme poses\n",
+    "for ds_pose in tqdm(df_poses.itertuples(), total=len(df_poses)):\n",
+    "  if ds_pose.yaw > yaw_minmax[0] and ds_pose.yaw < yaw_minmax[1] \\\n",
+    "    and ds_pose.roll > roll_minmax[0] and ds_pose.roll < roll_minmax[1] \\\n",
+    "    and ds_pose.pitch > pitch_minmax[0] and ds_pose.pitch < pitch_minmax[1]:\n",
+    "    df_poses.at[ds_pose.Index, 'valid'] = 1"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>pitch</th>\n",
+       "      <th>roll</th>\n",
+       "      <th>yaw</th>\n",
+       "      <th>valid</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0</td>\n",
+       "      <td>-2.685769</td>\n",
+       "      <td>4.093920</td>\n",
+       "      <td>-7.937658</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>1</td>\n",
+       "      <td>-10.074321</td>\n",
+       "      <td>-5.795005</td>\n",
+       "      <td>-20.644645</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>2</th>\n",
+       "      <td>2</td>\n",
+       "      <td>1.949778</td>\n",
+       "      <td>7.510585</td>\n",
+       "      <td>-1.153938</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>3</th>\n",
+       "      <td>3</td>\n",
+       "      <td>-5.881088</td>\n",
+       "      <td>3.305987</td>\n",
+       "      <td>-16.774452</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>4</th>\n",
+       "      <td>4</td>\n",
+       "      <td>1.323455</td>\n",
+       "      <td>3.552109</td>\n",
+       "      <td>10.937092</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>5</th>\n",
+       "      <td>5</td>\n",
+       "      <td>8.966770</td>\n",
+       "      <td>-20.319039</td>\n",
+       "      <td>-10.666622</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>6</th>\n",
+       "      <td>6</td>\n",
+       "      <td>6.377947</td>\n",
+       "      <td>-0.037838</td>\n",
+       "      <td>-28.297769</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>7</th>\n",
+       "      <td>7</td>\n",
+       "      <td>-5.590547</td>\n",
+       "      <td>-2.513488</td>\n",
+       "      <td>-5.573986</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>8</th>\n",
+       "      <td>8</td>\n",
+       "      <td>7.494141</td>\n",
+       "      <td>-0.587338</td>\n",
+       "      <td>-20.937242</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>9</th>\n",
+       "      <td>9</td>\n",
+       "      <td>-4.547006</td>\n",
+       "      <td>-0.429375</td>\n",
+       "      <td>4.637964</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>10</th>\n",
+       "      <td>10</td>\n",
+       "      <td>-15.974450</td>\n",
+       "      <td>-6.467474</td>\n",
+       "      <td>-0.046817</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>11</th>\n",
+       "      <td>11</td>\n",
+       "      <td>-3.349299</td>\n",
+       "      <td>-4.059317</td>\n",
+       "      <td>-4.709007</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>12</th>\n",
+       "      <td>12</td>\n",
+       "      <td>-0.824968</td>\n",
+       "      <td>1.082679</td>\n",
+       "      <td>-14.201574</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>13</th>\n",
+       "      <td>13</td>\n",
+       "      <td>7.317298</td>\n",
+       "      <td>-4.628597</td>\n",
+       "      <td>-5.503731</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>14</th>\n",
+       "      <td>14</td>\n",
+       "      <td>-0.250637</td>\n",
+       "      <td>7.168705</td>\n",
+       "      <td>3.593267</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>15</th>\n",
+       "      <td>15</td>\n",
+       "      <td>-1.247407</td>\n",
+       "      <td>-16.101818</td>\n",
+       "      <td>-19.072548</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>16</th>\n",
+       "      <td>16</td>\n",
+       "      <td>6.184959</td>\n",
+       "      <td>-18.960907</td>\n",
+       "      <td>-14.435108</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>17</th>\n",
+       "      <td>17</td>\n",
+       "      <td>0.695174</td>\n",
+       "      <td>10.411116</td>\n",
+       "      <td>18.099205</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>18</th>\n",
+       "      <td>18</td>\n",
+       "      <td>-1.394646</td>\n",
+       "      <td>1.553670</td>\n",
+       "      <td>-13.243177</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>19</th>\n",
+       "      <td>19</td>\n",
+       "      <td>10.329418</td>\n",
+       "      <td>6.057604</td>\n",
+       "      <td>17.509771</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>20</th>\n",
+       "      <td>20</td>\n",
+       "      <td>-6.514906</td>\n",
+       "      <td>-4.057685</td>\n",
+       "      <td>32.285918</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>21</th>\n",
+       "      <td>21</td>\n",
+       "      <td>-3.412718</td>\n",
+       "      <td>3.160722</td>\n",
+       "      <td>-15.998410</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>22</th>\n",
+       "      <td>22</td>\n",
+       "      <td>-2.710659</td>\n",
+       "      <td>3.482632</td>\n",
+       "      <td>8.059692</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>23</th>\n",
+       "      <td>23</td>\n",
+       "      <td>-6.922881</td>\n",
+       "      <td>15.771625</td>\n",
+       "      <td>32.097414</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>24</th>\n",
+       "      <td>24</td>\n",
+       "      <td>-12.692917</td>\n",
+       "      <td>0.502148</td>\n",
+       "      <td>39.767956</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>25</th>\n",
+       "      <td>25</td>\n",
+       "      <td>-3.050506</td>\n",
+       "      <td>26.288576</td>\n",
+       "      <td>22.474047</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>26</th>\n",
+       "      <td>26</td>\n",
+       "      <td>-6.742365</td>\n",
+       "      <td>2.603335</td>\n",
+       "      <td>-3.170223</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>27</th>\n",
+       "      <td>27</td>\n",
+       "      <td>-2.879908</td>\n",
+       "      <td>18.602692</td>\n",
+       "      <td>26.772543</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>28</th>\n",
+       "      <td>28</td>\n",
+       "      <td>-3.475686</td>\n",
+       "      <td>-4.734540</td>\n",
+       "      <td>-12.301176</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>29</th>\n",
+       "      <td>29</td>\n",
+       "      <td>-4.039427</td>\n",
+       "      <td>0.804975</td>\n",
+       "      <td>2.226219</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>...</th>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>70</th>\n",
+       "      <td>70</td>\n",
+       "      <td>9.677210</td>\n",
+       "      <td>-3.644432</td>\n",
+       "      <td>-3.558806</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>71</th>\n",
+       "      <td>71</td>\n",
+       "      <td>-6.304012</td>\n",
+       "      <td>-4.870216</td>\n",
+       "      <td>-35.114834</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>72</th>\n",
+       "      <td>72</td>\n",
+       "      <td>-22.009094</td>\n",
+       "      <td>-21.959437</td>\n",
+       "      <td>-27.393276</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>73</th>\n",
+       "      <td>73</td>\n",
+       "      <td>2.312746</td>\n",
+       "      <td>4.491569</td>\n",
+       "      <td>-2.417103</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>74</th>\n",
+       "      <td>74</td>\n",
+       "      <td>-13.938552</td>\n",
+       "      <td>-3.284886</td>\n",
+       "      <td>25.466661</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>75</th>\n",
+       "      <td>75</td>\n",
+       "      <td>16.797612</td>\n",
+       "      <td>-8.401607</td>\n",
+       "      <td>-6.680254</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>76</th>\n",
+       "      <td>76</td>\n",
+       "      <td>2.383204</td>\n",
+       "      <td>-2.540481</td>\n",
+       "      <td>-14.426500</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>77</th>\n",
+       "      <td>77</td>\n",
+       "      <td>-4.124593</td>\n",
+       "      <td>4.304958</td>\n",
+       "      <td>15.845530</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>78</th>\n",
+       "      <td>78</td>\n",
+       "      <td>-5.543218</td>\n",
+       "      <td>11.190563</td>\n",
+       "      <td>26.671579</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>79</th>\n",
+       "      <td>79</td>\n",
+       "      <td>0.397213</td>\n",
+       "      <td>-7.920712</td>\n",
+       "      <td>-28.444460</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>80</th>\n",
+       "      <td>80</td>\n",
+       "      <td>1.667942</td>\n",
+       "      <td>6.136289</td>\n",
+       "      <td>8.415116</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>81</th>\n",
+       "      <td>81</td>\n",
+       "      <td>4.624359</td>\n",
+       "      <td>17.670332</td>\n",
+       "      <td>-21.905138</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>82</th>\n",
+       "      <td>82</td>\n",
+       "      <td>-0.969493</td>\n",
+       "      <td>-0.082283</td>\n",
+       "      <td>-11.996788</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>83</th>\n",
+       "      <td>83</td>\n",
+       "      <td>0.471210</td>\n",
+       "      <td>-18.823352</td>\n",
+       "      <td>-26.938627</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>84</th>\n",
+       "      <td>84</td>\n",
+       "      <td>-6.293694</td>\n",
+       "      <td>-0.578364</td>\n",
+       "      <td>-26.848660</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>85</th>\n",
+       "      <td>85</td>\n",
+       "      <td>-13.958683</td>\n",
+       "      <td>1.119014</td>\n",
+       "      <td>10.599317</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>86</th>\n",
+       "      <td>86</td>\n",
+       "      <td>-10.010660</td>\n",
+       "      <td>-26.797436</td>\n",
+       "      <td>29.687103</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>87</th>\n",
+       "      <td>87</td>\n",
+       "      <td>-4.656348</td>\n",
+       "      <td>2.832306</td>\n",
+       "      <td>-25.907291</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>88</th>\n",
+       "      <td>88</td>\n",
+       "      <td>-9.667976</td>\n",
+       "      <td>8.499603</td>\n",
+       "      <td>22.987171</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>89</th>\n",
+       "      <td>89</td>\n",
+       "      <td>9.946922</td>\n",
+       "      <td>28.684677</td>\n",
+       "      <td>35.865612</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>90</th>\n",
+       "      <td>90</td>\n",
+       "      <td>-6.696606</td>\n",
+       "      <td>5.226573</td>\n",
+       "      <td>8.460641</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>91</th>\n",
+       "      <td>91</td>\n",
+       "      <td>-6.477469</td>\n",
+       "      <td>-1.916388</td>\n",
+       "      <td>-26.714840</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>92</th>\n",
+       "      <td>92</td>\n",
+       "      <td>-8.298155</td>\n",
+       "      <td>2.883102</td>\n",
+       "      <td>-14.612449</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>93</th>\n",
+       "      <td>93</td>\n",
+       "      <td>10.322117</td>\n",
+       "      <td>0.795814</td>\n",
+       "      <td>-28.988145</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>94</th>\n",
+       "      <td>94</td>\n",
+       "      <td>-2.210425</td>\n",
+       "      <td>-8.356827</td>\n",
+       "      <td>-14.543218</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>95</th>\n",
+       "      <td>95</td>\n",
+       "      <td>-3.996075</td>\n",
+       "      <td>3.014513</td>\n",
+       "      <td>-35.606501</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>96</th>\n",
+       "      <td>96</td>\n",
+       "      <td>-10.600538</td>\n",
+       "      <td>-8.428299</td>\n",
+       "      <td>-26.060704</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>97</th>\n",
+       "      <td>97</td>\n",
+       "      <td>-3.034676</td>\n",
+       "      <td>2.865267</td>\n",
+       "      <td>-0.071917</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>98</th>\n",
+       "      <td>98</td>\n",
+       "      <td>-0.054709</td>\n",
+       "      <td>1.202667</td>\n",
+       "      <td>-11.361823</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>99</th>\n",
+       "      <td>99</td>\n",
+       "      <td>-10.377032</td>\n",
+       "      <td>4.902157</td>\n",
+       "      <td>29.375020</td>\n",
+       "      <td>0</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "<p>100 rows × 5 columns</p>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       image_index      pitch       roll        yaw  valid\n",
+       "index                                                     \n",
+       "0                0  -2.685769   4.093920  -7.937658      1\n",
+       "1                1 -10.074321  -5.795005 -20.644645      1\n",
+       "2                2   1.949778   7.510585  -1.153938      1\n",
+       "3                3  -5.881088   3.305987 -16.774452      1\n",
+       "4                4   1.323455   3.552109  10.937092      1\n",
+       "5                5   8.966770 -20.319039 -10.666622      0\n",
+       "6                6   6.377947  -0.037838 -28.297769      0\n",
+       "7                7  -5.590547  -2.513488  -5.573986      1\n",
+       "8                8   7.494141  -0.587338 -20.937242      1\n",
+       "9                9  -4.547006  -0.429375   4.637964      1\n",
+       "10              10 -15.974450  -6.467474  -0.046817      0\n",
+       "11              11  -3.349299  -4.059317  -4.709007      1\n",
+       "12              12  -0.824968   1.082679 -14.201574      1\n",
+       "13              13   7.317298  -4.628597  -5.503731      1\n",
+       "14              14  -0.250637   7.168705   3.593267      1\n",
+       "15              15  -1.247407 -16.101818 -19.072548      0\n",
+       "16              16   6.184959 -18.960907 -14.435108      0\n",
+       "17              17   0.695174  10.411116  18.099205      0\n",
+       "18              18  -1.394646   1.553670 -13.243177      1\n",
+       "19              19  10.329418   6.057604  17.509771      1\n",
+       "20              20  -6.514906  -4.057685  32.285918      0\n",
+       "21              21  -3.412718   3.160722 -15.998410      1\n",
+       "22              22  -2.710659   3.482632   8.059692      1\n",
+       "23              23  -6.922881  15.771625  32.097414      0\n",
+       "24              24 -12.692917   0.502148  39.767956      0\n",
+       "25              25  -3.050506  26.288576  22.474047      0\n",
+       "26              26  -6.742365   2.603335  -3.170223      1\n",
+       "27              27  -2.879908  18.602692  26.772543      0\n",
+       "28              28  -3.475686  -4.734540 -12.301176      1\n",
+       "29              29  -4.039427   0.804975   2.226219      1\n",
+       "...            ...        ...        ...        ...    ...\n",
+       "70              70   9.677210  -3.644432  -3.558806      1\n",
+       "71              71  -6.304012  -4.870216 -35.114834      0\n",
+       "72              72 -22.009094 -21.959437 -27.393276      0\n",
+       "73              73   2.312746   4.491569  -2.417103      1\n",
+       "74              74 -13.938552  -3.284886  25.466661      0\n",
+       "75              75  16.797612  -8.401607  -6.680254      0\n",
+       "76              76   2.383204  -2.540481 -14.426500      1\n",
+       "77              77  -4.124593   4.304958  15.845530      1\n",
+       "78              78  -5.543218  11.190563  26.671579      0\n",
+       "79              79   0.397213  -7.920712 -28.444460      0\n",
+       "80              80   1.667942   6.136289   8.415116      1\n",
+       "81              81   4.624359  17.670332 -21.905138      0\n",
+       "82              82  -0.969493  -0.082283 -11.996788      1\n",
+       "83              83   0.471210 -18.823352 -26.938627      0\n",
+       "84              84  -6.293694  -0.578364 -26.848660      0\n",
+       "85              85 -13.958683   1.119014  10.599317      1\n",
+       "86              86 -10.010660 -26.797436  29.687103      0\n",
+       "87              87  -4.656348   2.832306 -25.907291      0\n",
+       "88              88  -9.667976   8.499603  22.987171      1\n",
+       "89              89   9.946922  28.684677  35.865612      0\n",
+       "90              90  -6.696606   5.226573   8.460641      1\n",
+       "91              91  -6.477469  -1.916388 -26.714840      0\n",
+       "92              92  -8.298155   2.883102 -14.612449      1\n",
+       "93              93  10.322117   0.795814 -28.988145      0\n",
+       "94              94  -2.210425  -8.356827 -14.543218      1\n",
+       "95              95  -3.996075   3.014513 -35.606501      0\n",
+       "96              96 -10.600538  -8.428299 -26.060704      0\n",
+       "97              97  -3.034676   2.865267  -0.071917      1\n",
+       "98              98  -0.054709   1.202667 -11.361823      1\n",
+       "99              99 -10.377032   4.902157  29.375020      0\n",
+       "\n",
+       "[100 rows x 5 columns]"
+      ]
+     },
+     "execution_count": 18,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_poses.head(100)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#df_poses_valid = df_poses[df_poses['valid'] == 1]\n",
+    "df_poses_valid = df_poses.drop(df_poses[df_poses.valid == 0].index, axis=0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>pitch</th>\n",
+       "      <th>roll</th>\n",
+       "      <th>yaw</th>\n",
+       "      <th>valid</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0</td>\n",
+       "      <td>-2.685769</td>\n",
+       "      <td>4.093920</td>\n",
+       "      <td>-7.937658</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>1</td>\n",
+       "      <td>-10.074321</td>\n",
+       "      <td>-5.795005</td>\n",
+       "      <td>-20.644645</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>2</th>\n",
+       "      <td>2</td>\n",
+       "      <td>1.949778</td>\n",
+       "      <td>7.510585</td>\n",
+       "      <td>-1.153938</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>3</th>\n",
+       "      <td>3</td>\n",
+       "      <td>-5.881088</td>\n",
+       "      <td>3.305987</td>\n",
+       "      <td>-16.774452</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>4</th>\n",
+       "      <td>4</td>\n",
+       "      <td>1.323455</td>\n",
+       "      <td>3.552109</td>\n",
+       "      <td>10.937092</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       image_index      pitch      roll        yaw  valid\n",
+       "index                                                    \n",
+       "0                0  -2.685769  4.093920  -7.937658      1\n",
+       "1                1 -10.074321 -5.795005 -20.644645      1\n",
+       "2                2   1.949778  7.510585  -1.153938      1\n",
+       "3                3  -5.881088  3.305987 -16.774452      1\n",
+       "4                4   1.323455  3.552109  10.937092      1"
+      ]
+     },
+     "execution_count": 24,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_poses.head()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "pandas.core.frame.DataFrame"
+      ]
+     },
+     "execution_count": 25,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "type(df_poses_valid)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
+       "    <tr style=\"text-align: right;\">\n",
+       "      <th></th>\n",
+       "      <th>image_index</th>\n",
+       "      <th>pitch</th>\n",
+       "      <th>roll</th>\n",
+       "      <th>yaw</th>\n",
+       "      <th>valid</th>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>index</th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "      <th></th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>0</th>\n",
+       "      <td>0</td>\n",
+       "      <td>-2.685769</td>\n",
+       "      <td>4.093920</td>\n",
+       "      <td>-7.937658</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>1</th>\n",
+       "      <td>1</td>\n",
+       "      <td>-10.074321</td>\n",
+       "      <td>-5.795005</td>\n",
+       "      <td>-20.644645</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>2</th>\n",
+       "      <td>2</td>\n",
+       "      <td>1.949778</td>\n",
+       "      <td>7.510585</td>\n",
+       "      <td>-1.153938</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>3</th>\n",
+       "      <td>3</td>\n",
+       "      <td>-5.881088</td>\n",
+       "      <td>3.305987</td>\n",
+       "      <td>-16.774452</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>4</th>\n",
+       "      <td>4</td>\n",
+       "      <td>1.323455</td>\n",
+       "      <td>3.552109</td>\n",
+       "      <td>10.937092</td>\n",
+       "      <td>1</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "       image_index      pitch      roll        yaw  valid\n",
+       "index                                                    \n",
+       "0                0  -2.685769  4.093920  -7.937658      1\n",
+       "1                1 -10.074321 -5.795005 -20.644645      1\n",
+       "2                2   1.949778  7.510585  -1.153938      1\n",
+       "3                3  -5.881088  3.305987 -16.774452      1\n",
+       "4                4   1.323455  3.552109  10.937092      1"
+      ]
+     },
+     "execution_count": 26,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df_poses_valid.head()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python [conda env:megapixels]",
+   "language": "python",
+   "name": "conda-env-megapixels-py"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.6.6"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}