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L2_KNN.log
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L2_KNN.log
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Starting imports
Imports completed in 3.387117862701416 seconds
LocalArgs(lora_path='models/vit_finegrained_5x40_procthor.pt', test_folder_path='/scratch/aneesh.chavan/8room/8-room-v1/1/', rearranged_test_folder_path='/scratch/aneesh.chavan/8room/8-room-v1/1/', device='cuda', sam_checkpoint_path='/scratch/aneesh.chavan/sam_vit_h_4b8939.pth', ram_pretrained_path='/scratch/aneesh.chavan/ram_swin_large_14m.pth', downsampling_rate=5, save_dir='/scratch/aneesh.chavan/results/8-room-new-icp', sampling_period=15, start_file_index=200, last_file_index=1500, rot_correction=0.0, look_around_range=0, save_point_clouds=True, save_individual_objects=True, save_localised_objects=True, add_pose_noise=True, down_sample_voxel_size=0.01, create_ext_mesh=False, fpfh_global_dist_factor=1.5, fpfh_local_dist_factor=0.4, fpfh_voxel_size=0.05, localise_times=1, loc_results_start_file_index=210, loc_results_last_file_index=1400, loc_results_sampling_period=13, useLora=True)
Created save directory /scratch/aneesh.chavan/results/8-room-new-icp
We have 3315 files
Begin Memory Initialization
/encoder/layer/0/crossattention/self/query is tied
/encoder/layer/0/crossattention/self/key is tied
/encoder/layer/0/crossattention/self/value is tied
/encoder/layer/0/crossattention/output/dense is tied
/encoder/layer/0/crossattention/output/LayerNorm is tied
/encoder/layer/0/intermediate/dense is tied
/encoder/layer/0/output/dense is tied
/encoder/layer/0/output/LayerNorm is tied
/encoder/layer/1/crossattention/self/query is tied
/encoder/layer/1/crossattention/self/key is tied
/encoder/layer/1/crossattention/self/value is tied
/encoder/layer/1/crossattention/output/dense is tied
/encoder/layer/1/crossattention/output/LayerNorm is tied
/encoder/layer/1/intermediate/dense is tied
/encoder/layer/1/output/dense is tied
/encoder/layer/1/output/LayerNorm is tied
--------------
/scratch/aneesh.chavan/ram_swin_large_14m.pth
--------------
load checkpoint from /scratch/aneesh.chavan/ram_swin_large_14m.pth
vit: swin_l
final text_encoder_type: bert-base-uncased
Model loaded from /home2/aneesh.chavan/.cache/huggingface/hub/models--ShilongLiu--GroundingDINO/snapshots/a94c9b567a2a374598f05c584e96798a170c56fb/groundingdino_swinb_cogcoor.pth
=> _IncompatibleKeys(missing_keys=[], unexpected_keys=['label_enc.weight', 'bert.embeddings.position_ids'])
SAM loaded
Memory Init'ed
Memory loaded
0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_0.ply
1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_1.ply
2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_2.ply
3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_3.ply
4 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_4.ply
5 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_5.ply
6 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_6.ply
7 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_7.ply
8 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_8.ply
9 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_9.ply
10 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_10.ply
11 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_11.ply
12 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_12.ply
13 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_13.ply
14 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_14.ply
15 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_15.ply
16 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_16.ply
17 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_17.ply
18 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_18.ply
19 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_19.ply
20 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_20.ply
21 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_21.ply
22 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_22.ply
23 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_23.ply
24 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_24.ply
25 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_25.ply
26 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_26.ply
27 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_27.ply
28 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_28.ply
29 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_29.ply
30 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_30.ply
31 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_31.ply
32 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_32.ply
33 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_33.ply
34 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_34.ply
35 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_35.ply
36 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_36.ply
37 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_37.ply
38 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_38.ply
39 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_39.ply
40 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_40.ply
41 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_41.ply
42 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_42.ply
43 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_43.ply
44 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_44.ply
45 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_45.ply
46 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_46.ply
47 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_47.ply
Memory's pointcloud saved to /home2/aneesh.chavan/Change_detection/pcds/L2_KNN_after_cons.ply
---------------------
Objects stored in memory:
ID: 0 | Names: [table ,stool ,armchair ,stool ,stool ,stool] | Num embs: 6 | Pcd size: (3, 11665)
ID: 1 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17193)
ID: 2 | Names: [armchair ,stool] | Num embs: 2 | Pcd size: (3, 5976)
ID: 3 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1562)
ID: 4 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 8233)
ID: 5 | Names: [chair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 4703)
ID: 6 | Names: [food ,chair ,stool ,beverage ,stool] | Num embs: 5 | Pcd size: (3, 9379)
ID: 7 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 11017)
ID: 8 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5183)
ID: 9 | Names: [cage ,cage ,table] | Num embs: 3 | Pcd size: (3, 13431)
ID: 10 | Names: [cage ,cage] | Num embs: 2 | Pcd size: (3, 31739)
ID: 12 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 41998)
ID: 13 | Names: [table ,chair ,stool ,table ,chair ,table] | Num embs: 6 | Pcd size: (3, 19300)
ID: 14 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 6622)
ID: 15 | Names: [armchair ,table] | Num embs: 2 | Pcd size: (3, 3487)
ID: 16 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair ,stool ,chair ,stool] | Num embs: 13 | Pcd size: (3, 28778)
ID: 17 | Names: [couch ,spiral] | Num embs: 2 | Pcd size: (3, 20544)
ID: 18 | Names: [box] | Num embs: 1 | Pcd size: (3, 18693)
ID: 19 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 19443)
ID: 20 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 16326)
ID: 21 | Names: [armchair ,handcart] | Num embs: 2 | Pcd size: (3, 6208)
ID: 22 | Names: [stool ,table] | Num embs: 2 | Pcd size: (3, 3455)
ID: 23 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,table ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table ,chair ,chair ,stool] | Num embs: 30 | Pcd size: (3, 137528)
ID: 24 | Names: [armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 7 | Pcd size: (3, 96248)
ID: 25 | Names: [table] | Num embs: 1 | Pcd size: (3, 1304)
ID: 26 | Names: [table] | Num embs: 1 | Pcd size: (3, 410)
ID: 27 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 15789)
ID: 28 | Names: [hassock ,armchair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 8604)
ID: 29 | Names: [lamp ,lamp ,lamp ,lamp] | Num embs: 4 | Pcd size: (3, 9438)
ID: 30 | Names: [lamp ,lamp ,lamp ,lamp ,lamp ,lamp ,lamp] | Num embs: 7 | Pcd size: (3, 7180)
ID: 31 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 74655)
ID: 32 | Names: [table ,table ,dinning table ,table ,table ,stool] | Num embs: 6 | Pcd size: (3, 29628)
ID: 33 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair ,chair ,armchair ,armchair ,armchair] | Num embs: 19 | Pcd size: (3, 22005)
ID: 34 | Names: [stool ,billiard table ,chair ,table ,table ,table ,table ,table ,billiard table] | Num embs: 9 | Pcd size: (3, 84320)
ID: 35 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 13 | Pcd size: (3, 90398)
ID: 36 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 17 | Pcd size: (3, 90369)
ID: 37 | Names: [lamp ,table ,armchair ,lamp] | Num embs: 4 | Pcd size: (3, 19402)
ID: 38 | Names: [armchair ,armchair ,armchair ,armchair ,pillow ,armchair ,armchair ,armchair] | Num embs: 8 | Pcd size: (3, 76700)
ID: 39 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 21620)
ID: 40 | Names: [stool ,hassock ,chair ,computer ,computer ,computer] | Num embs: 6 | Pcd size: (3, 13800)
ID: 41 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 7921)
ID: 42 | Names: [stool ,stool ,armchair ,stool] | Num embs: 4 | Pcd size: (3, 13222)
ID: 43 | Names: [table ,table ,stool] | Num embs: 3 | Pcd size: (3, 12821)
ID: 44 | Names: [lamp ,lamp ,chair ,stool ,lamp ,lamp ,stool ,lamp] | Num embs: 8 | Pcd size: (3, 41911)
ID: 45 | Names: [chair ,chair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 9454)
ID: 46 | Names: [stool] | Num embs: 1 | Pcd size: (3, 892)
ID: 47 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2118)
ID: 48 | Names: [stool] | Num embs: 1 | Pcd size: (3, 587)
Localizing image 210 currently
caption post ram and filtering: armchair . lamp . chair . couch . hassock . stool
Initial ICP point clouds saved
Getting assignments
(4, 48)
Phrases: ['armchair', 'armchair', 'lamp', 'stool']
[[ 0.39797935 0.87659574 0.6011919 0.45787734 0.68941873 0.61414003
0.5283069 0.35794193 0.4650867 0.14981316 0.43017522 0.10199399
0.45677823 0.0825495 0.48031422 -0.07051138 0.18820299 -0.20333269
-0.14296187 0.28673795 -0.12251388 -0.14946018 0.22783783 0.20772836
-0.11803839 -0.10274244 0.02839139 0.0732742 -0.00528823 0.19333148
0.7488476 0.04007598 -0.05493061 0.43069243 0.4620481 0.395249
0.46463934 0.48214078 0.09597921 -0.27493954 0.16694202 -0.02618162
-0.04641125 0.19473638 0.0337535 -0.07565968 -0.3623352 0.34783983]
[ 0.7228118 0.82183623 0.8943436 0.38141984 0.5566332 0.43975544
0.40501398 0.40683135 0.49469626 0.366002 0.5980835 0.1683525
0.6034841 0.33322406 0.3465278 0.21336986 0.03885624 0.15805456
0.19102067 0.3646617 0.18987331 -0.04825334 0.4456374 0.25122786
0.21653542 0.13703959 0.19386429 0.04726219 0.3167257 0.51201993
0.77252316 0.14375189 0.10600364 0.31481215 0.50035733 0.33794552
0.6121589 0.6674036 0.50874984 0.00831578 0.25828674 0.40123558
0.11542037 0.15829358 0.05730753 0.296615 -0.0157088 0.30563757]
[ 0.32186237 0.47822672 0.6182782 0.46241125 0.53032875 0.29831064
0.18908419 0.45891643 0.58505654 0.27694833 0.47016186 0.01701428
0.15684514 0.2149145 0.14005657 -0.15807787 0.13272625 0.20397423
0.17059365 0.5181083 -0.03994045 0.04275122 0.3820915 0.4625559
-0.05797847 -0.05112193 0.05804528 -0.16044593 -0.1344794 0.30815178
0.43221807 0.27414295 -0.03272221 0.4192071 0.2845534 0.2989191
0.26254278 0.23805286 0.16725594 -0.20170702 0.41338742 0.30696154
0.0382974 0.12248766 0.2020944 -0.17544174 -0.22032192 0.22936714]
[ 0.7847113 0.52233946 0.71750635 0.3515794 0.3536846 0.32257771
0.28434154 0.40943095 0.3841712 0.67186695 0.40373158 0.10105097
0.4498037 0.3747704 0.22667365 0.5438651 -0.10161549 0.287785
0.33473665 0.31402847 0.46241552 0.36371166 0.73996377 0.23761307
0.6889342 0.59141207 0.3336364 0.32155287 0.6137519 0.8298366
0.5013072 0.37080488 0.4254991 0.4023383 0.67684436 0.45819658
0.67199457 0.43208888 0.5726091 0.44468722 0.47475082 0.5093241
0.5372716 0.13888605 0.3080572 0.5802617 0.38741082 0.44572437]]
V?
[[ 0.6210492 0.8765957 0.69344467 0.45787734 0.6894188 0.59465384
0.6187851 0.37408355 0.4650867 0.17705558 0.47466922 0.2575658
0.64672494 0.11684595 0.5299864 0.10434683 0.19561408 -0.20333266
-0.14296187 0.28673792 -0.05542835 -0.116386 0.6975298 0.2836498
-0.11803836 -0.10274247 0.45060265 0.12375313 0.11811899 0.5759386
0.74706304 0.11723311 0.25206006 0.5501609 0.7780287 0.61330986
0.5534295 0.7883532 0.09597918 0.17508395 0.23528384 0.15980494
0.02213848 0.34104177 0.12730034 -0.07565966 -0.36233523 0.34783983]
[ 0.87404037 0.8218361 0.9352155 0.38141978 0.55663323 0.5293074
0.48359892 0.4422366 0.49469617 0.44247007 0.5975921 0.20268615
0.65401006 0.35687664 0.42922556 0.5324158 0.15085518 0.15805455
0.19102067 0.36466166 0.17927676 -0.01591182 0.79173005 0.314284
0.21653542 0.13703959 0.6264315 0.14466548 0.4647259 0.7966167
0.74924743 0.18920341 0.2623404 0.43802714 0.6273433 0.6441078
0.6698804 0.75184643 0.50874996 0.3838156 0.3203373 0.5324879
0.1452214 0.32712722 0.14632185 0.2966151 -0.01570881 0.30563754]
[ 0.5671472 0.4782267 0.6036391 0.46241128 0.53032875 0.33562157
0.35677403 0.49823213 0.58505666 0.26982418 0.51731837 0.07729822
0.36349523 0.23197314 0.18429556 0.17980005 0.16265126 0.20397428
0.17059366 0.5181083 0.02017221 0.08261354 0.54499817 0.5302268
-0.05797847 -0.05112193 0.35357192 -0.01740496 0.00234546 0.5447646
0.49659804 0.36968854 0.469412 0.69288427 0.52639157 0.519042
0.4489784 0.3568576 0.16725591 0.09336288 0.43527603 0.4140623
0.13698111 0.2543259 0.21120243 -0.17544177 -0.22032192 0.2293671 ]
[ 0.8162631 0.52233946 0.69246507 0.35157943 0.3536846 0.4757287
0.5394196 0.40748173 0.3841713 0.7521767 0.4664952 0.20430404
0.5877101 0.38666925 0.25748262 0.75337243 0.13381644 0.28778505
0.33473668 0.31402844 0.4338073 0.4076183 0.7573696 0.32690468
0.6889342 0.59141207 0.50944626 0.46664122 0.68322146 0.7776681
0.63762695 0.46055835 0.4866217 0.6145493 0.69841766 0.5969864
0.65179694 0.47191733 0.57260925 0.7583469 0.5228101 0.5771997
0.5234825 0.3460591 0.4133734 0.58026177 0.38741088 0.44572425]]
Assignments being considered: [[[1, 2]], [[0, 1]], [[1, 0]], [[1, 1]], [[1, 29]], [[1, 22]], [[0, 1], [1, 2]], [[0, 1], [1, 0]], [[1, 2], [3, 0]], [[0, 37], [1, 2]], [[0, 34], [1, 2]], [[1, 2], [3, 29]]]
Assn: [[0, 1], [1, 2]] | chosen RMSE: 0.9992627225319187 | full RMSE: 0.9101083558737306 | chosen fitness: 0.006479175759069684 | full memory fitness: 0.9101083558737306
Assn: [[0, 1]] | chosen RMSE: 1.0 | full RMSE: 0.9001311932103464 | chosen fitness: 0.008161916287279846 | full memory fitness: 0.9001311932103464
Assn: [[0, 1], [1, 0]] | chosen RMSE: 0.867775579931667 | full RMSE: 0.8560275991642506 | chosen fitness: 0.006868120407127688 | full memory fitness: 0.8560275991642506
Assn: [[1, 2], [3, 29]] | chosen RMSE: 0.688947467520241 | full RMSE: 0.8227110024133072 | chosen fitness: 0.012695979360762662 | full memory fitness: 0.8227110024133072
Assn: [[1, 2]] | chosen RMSE: 0.9952400380796954 | full RMSE: 0.7954195753227191 | chosen fitness: 0.012785303930963976 | full memory fitness: 0.7954195753227191
Assn: [[1, 2], [3, 0]] | chosen RMSE: 0.8924872905290906 | full RMSE: 0.581347888761115 | chosen fitness: 0.008828186456446617 | full memory fitness: 0.581347888761115
Assn: [[0, 37], [1, 2]] | chosen RMSE: 0.7002697356590541 | full RMSE: 0.264232843653326 | chosen fitness: 0.012091425381392407 | full memory fitness: 0.264232843653326
Assn: [[0, 34], [1, 2]] | chosen RMSE: 0.6293652220823592 | full RMSE: 0.20819228713496704 | chosen fitness: 0.011558975567976214 | full memory fitness: 0.20819228713496704
Assn: [[1, 0]] | chosen RMSE: 0.6823065415476676 | full RMSE: 0.0538216096273141 | chosen fitness: 0.01132737880252494 | full memory fitness: 0.0538216096273141
Assn: [[1, 22]] | chosen RMSE: 0.6170270637834897 | full RMSE: 0.051813219740528986 | chosen fitness: 0.010484634997247163 | full memory fitness: 0.051813219740528986
Assn: [[1, 1]] | chosen RMSE: 0.7586019311845505 | full RMSE: 0.04301841563952641 | chosen fitness: 0.01246924030202477 | full memory fitness: 0.04301841563952641
Assn: [[1, 29]] | chosen RMSE: 0.3325173398612811 | full RMSE: 0.017055117345038142 | chosen fitness: 0.012389332142878363 | full memory fitness: 0.017055117345038142
Best assn: [[0, 1], [1, 2]]
R: [[-0.3200725 -0.47173378 -0.82159652]
[ 0.00271 0.86675879 -0.49872022]
[ 0.94738918 -0.16185315 -0.27614726]]
t: [ 0.21153921 0.0032057 -0.14561834]
caption post ram and filtering: armchair . lamp . chair . couch . hassock . stool
Img 210 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_0.ply
Img 210 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_1.ply
Img 210 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_2.ply
Img 210 obj 3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_3.ply
Target pose: [10.5 0.90099978 22.75 -0.15097649 0.78456024 -0.21022234
-0.56345177]
Estimated pose: [10.4988215 0.90511609 22.75323575 -0.14942888 0.78469398 -0.21045573
-0.56359095]
Translation error: 0.005366836144688648
Rotation_error: 0.001576958946483933
Localizing image 223 currently
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(2, 48)
Phrases: ['stool', 'stool']
[[ 0.7342893 0.7660086 0.954383 0.44205782 0.50402445 0.3573851
0.29424262 0.48238608 0.5653863 0.44038486 0.6353796 0.10485609
0.4973765 0.32226864 0.22720303 0.20357196 -0.02645399 0.24765329
0.25207442 0.45390204 0.20297089 0.01708488 0.55231905 0.3081406
0.2985661 0.21780828 0.19329147 0.01462773 0.29539314 0.59749115
0.7191864 0.24452227 0.12681141 0.26956406 0.48042625 0.33433372
0.56996953 0.600256 0.5052983 0.05290395 0.36077106 0.4727299
0.19921733 0.08957636 0.07150664 0.31024915 0.03275611 0.33953846]
[ 0.89526427 0.63669974 0.54019964 0.15307431 0.4835111 0.61163443
0.54992044 0.21762532 0.23059623 0.2404592 0.30026078 0.41825098
0.70538425 0.291119 0.3715599 0.36133367 -0.02584563 0.07747389
0.20337665 0.11886226 0.19822276 0.09643815 0.38273597 0.08652355
0.3470741 0.32165495 0.58158755 0.29668936 0.46495697 0.49660876
0.54743826 0.18197599 0.2432841 0.34511945 0.6064799 0.3679602
0.80570555 0.81184345 0.5309268 0.26075202 0.20893373 0.44259375
0.18013278 0.22079822 0.1125963 0.52636075 0.17731448 0.2388868 ]]
V?
[[0.8814261 0.7660087 0.95912915 0.44205788 0.5040245 0.45705223
0.41535705 0.52605546 0.5653863 0.52103996 0.63677603 0.1243125
0.5526859 0.34969893 0.31421697 0.5576041 0.10331494 0.24765325
0.25207448 0.453902 0.21564586 0.04339235 0.7755088 0.37537527
0.29856616 0.21780822 0.61578804 0.11389311 0.4267386 0.8469532
0.7166022 0.28248793 0.326507 0.42581958 0.5490347 0.63293236
0.6444299 0.66579413 0.5052984 0.39107978 0.4207385 0.5796423
0.22372833 0.2548277 0.18830808 0.31024912 0.03275612 0.33953846]
[0.916732 0.6366997 0.6265445 0.15307432 0.48351118 0.7664463
0.66431266 0.23250394 0.23059624 0.34728158 0.31244415 0.45458224
0.7294102 0.29158998 0.449065 0.4738503 0.18609159 0.07747391
0.20337665 0.11886224 0.27297068 0.09985471 0.49312928 0.16783948
0.34707415 0.321655 0.78039384 0.4129477 0.46860003 0.47130093
0.694054 0.26847175 0.31416535 0.55711013 0.646167 0.48383853
0.8262577 0.81992257 0.5309268 0.53064483 0.2690974 0.5664809
0.19171728 0.5402131 0.14537674 0.52636063 0.17731446 0.2388868 ]]
Assignments being considered: [[[0, 2]], [[0, 0]], [[0, 29]], [[0, 22]], [[0, 1]], [[0, 2], [1, 0]], [[0, 2], [1, 36]], [[0, 2], [1, 37]], [[0, 29], [1, 0]], [[0, 2], [1, 26]], [[0, 2], [1, 5]]]
Assn: [[0, 2]] | chosen RMSE: 0.9827039035226912 | full RMSE: 0.8211557472813876 | chosen fitness: 0.00849054409947053 | full memory fitness: 0.8211557472813876
Assn: [[0, 2], [1, 26]] | chosen RMSE: 0.5564842275545969 | full RMSE: 0.8210658757976094 | chosen fitness: 0.00841965884702851 | full memory fitness: 0.8210658757976094
Assn: [[0, 2], [1, 5]] | chosen RMSE: 0.5563044845870405 | full RMSE: 0.8205266468949403 | chosen fitness: 0.008579752773079914 | full memory fitness: 0.8205266468949403
Assn: [[0, 2], [1, 0]] | chosen RMSE: 0.8827177136694527 | full RMSE: 0.8198076750247146 | chosen fitness: 0.006958407849103951 | full memory fitness: 0.8198076750247146
Assn: [[0, 2], [1, 36]] | chosen RMSE: 0.5565740990383751 | full RMSE: 0.8192684461220455 | chosen fitness: 0.008843306073048828 | full memory fitness: 0.8192684461220455
Assn: [[0, 1]] | chosen RMSE: 0.7856236115518883 | full RMSE: 0.30214792846229893 | chosen fitness: 0.01083572639128281 | full memory fitness: 0.30214792846229893
Assn: [[0, 2], [1, 37]] | chosen RMSE: 0.6965938707648063 | full RMSE: 0.2920823222791408 | chosen fitness: 0.011925750120768472 | full memory fitness: 0.2920823222791408
Assn: [[0, 22]] | chosen RMSE: 0.8594097112027927 | full RMSE: 0.2518198975465085 | chosen fitness: 0.010452053383715175 | full memory fitness: 0.2518198975465085
Assn: [[0, 0]] | chosen RMSE: 0.6518565534750873 | full RMSE: 0.1366945268266379 | chosen fitness: 0.012483710643766304 | full memory fitness: 0.1366945268266379
Assn: [[0, 29], [1, 0]] | chosen RMSE: 0.37781971780354096 | full RMSE: 0.1018243911206974 | chosen fitness: 0.012055786909229236 | full memory fitness: 0.1018243911206974
Assn: [[0, 29]] | chosen RMSE: 0.3624246271025071 | full RMSE: 0.0892423833917498 | chosen fitness: 0.012114797450332004 | full memory fitness: 0.0892423833917498
Best assn: [[0, 2]]
R: [[-0.24429894 -0.48083349 -0.84209096]
[-0.00207007 0.86866024 -0.49540398]
[ 0.96969776 -0.11928348 -0.21320813]]
t: [-0.05766516 -0.03121625 -0.03033765]
caption post ram and filtering: stool
Img 223 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_1_0.ply
Img 223 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_1_1.ply
Target pose: [10.25 0.90099978 23.25 -0.15844976 0.76375837 -0.20464849
-0.59134239]
Estimated pose: [10.2470027 0.90143728 23.24991021 -0.15831058 0.7625889 -0.20151338
-0.59395984]
Translation error: 0.0030303912756996913
Rotation_error: 0.004250531586213523
Localizing image 236 currently
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(2, 48)
Phrases: ['stool', 'stool']
[[ 2.50112891e-01 1.38547510e-01 3.32640827e-01 2.63693720e-01
1.93117902e-01 2.09971368e-01 -7.90853798e-03 2.43519545e-01
2.25142956e-01 7.38715768e-01 6.21493980e-02 -1.75514355e-01
2.30184887e-02 2.06993476e-01 1.61449909e-01 2.69125134e-01
-1.10421896e-01 1.65249825e-01 2.30752558e-01 3.66670549e-01
4.06297505e-01 6.16719365e-01 6.82374299e-01 4.36625719e-01
5.52487016e-01 5.75273633e-01 1.79123729e-01 3.66662920e-01
1.87800840e-01 5.66321850e-01 1.78983659e-01 5.02010942e-01
4.82079953e-01 5.53744912e-01 5.95996380e-01 5.71577907e-01
3.78904641e-01 -7.22712725e-02 1.71883732e-01 2.06389725e-01
5.67267001e-01 1.98978916e-01 7.79810429e-01 1.85303971e-01
7.61958838e-01 1.08152613e-01 1.59190953e-01 3.20055753e-01]
[ 1.03206947e-01 2.13993162e-01 -8.93366113e-02 6.02767244e-03
2.10710913e-01 3.97970438e-01 4.24058765e-01 -3.93128060e-02
-5.29672094e-02 -2.53789455e-01 -7.38688260e-02 3.50536525e-01
2.99938500e-01 -1.19299635e-01 3.20880413e-01 3.49676251e-01
6.43141270e-01 -4.43219274e-01 -2.71698296e-01 -2.35266894e-01
-1.73721798e-02 -3.97646613e-02 -1.57973707e-01 -1.60225064e-01
-1.48928732e-01 -6.40828758e-02 3.22679579e-01 5.22802472e-01
2.55893230e-01 -6.03412278e-02 5.56990914e-02 -1.62794963e-01
1.98692620e-01 2.04154700e-01 1.72396511e-01 5.77549823e-02
2.23962218e-01 2.41192400e-01 -1.33000433e-01 1.66001424e-01
-1.05915494e-01 -2.92149782e-01 -1.92235559e-01 4.35754538e-01
5.93487173e-04 2.14948505e-01 4.14894894e-02 4.99101803e-02]]
V?
[[ 0.31188953 0.13854754 0.398772 0.26369372 0.1931179 0.21460196
0.11854637 0.25020897 0.22514297 0.7882079 0.09778406 -0.1023836
0.14663213 0.24112703 0.18897803 0.470855 -0.01114719 0.16524985
0.23075259 0.36667052 0.4165113 0.67269444 0.69777787 0.5491242
0.552487 0.5752737 0.24165921 0.5524693 0.2947191 0.61132973
0.27412844 0.55393165 0.80085063 0.671512 0.6042622 0.58039385
0.40648073 0.02629699 0.17188375 0.46375054 0.6085733 0.26137105
0.7989814 0.3857682 0.7442285 0.10815261 0.15919095 0.3200557 ]
[ 0.32406414 0.21399316 0.01693377 0.00602767 0.21071093 0.3920796
0.50594884 0.02681597 -0.05296721 -0.1801944 -0.05632674 0.45718718
0.34455356 -0.10956839 0.3258223 0.6183579 0.70193475 -0.44321924
-0.2716983 -0.23526691 0.2318839 0.05111208 0.11638814 -0.03388237
-0.14892873 -0.06408289 0.60160154 0.6283609 0.45516798 0.22025687
0.15203437 -0.07376391 0.48593286 0.3429098 0.32235074 0.28638887
0.30391595 0.4191506 -0.13300043 0.3584476 -0.0733986 -0.07911906
-0.10831113 0.5443256 0.26643103 0.21494845 0.04148948 0.04991019]]
Assignments being considered: [[[0, 32]], [[0, 42]], [[0, 9]], [[0, 44]], [[0, 22]], [[0, 21]]]
Assn: [[0, 42]] | chosen RMSE: 0.9570862676056338 | full RMSE: 0.783 | chosen fitness: 0.0057654640400966 | full memory fitness: 0.783
Assn: [[0, 22]] | chosen RMSE: 0.9555457746478874 | full RMSE: 0.6416 | chosen fitness: 0.011327547306278557 | full memory fitness: 0.6416
Assn: [[0, 44]] | chosen RMSE: 0.7244718309859155 | full RMSE: 0.4194 | chosen fitness: 0.007452506692493662 | full memory fitness: 0.4194
Assn: [[0, 32]] | chosen RMSE: 0.6142165492957746 | full RMSE: 0.35 | chosen fitness: 0.010283028898927888 | full memory fitness: 0.35
Assn: [[0, 21]] | chosen RMSE: 0.5224471830985915 | full RMSE: 0.315 | chosen fitness: 0.006647450865759806 | full memory fitness: 0.315
Assn: [[0, 9]] | chosen RMSE: 0.589568661971831 | full RMSE: 0.1996 | chosen fitness: 0.010387393739720079 | full memory fitness: 0.1996
Best assn: [[0, 42]]
R: [[ 0.06341651 -0.50102456 -0.86310645]
[ 0.00226647 0.86491733 -0.50190923]
[ 0.99798457 0.02987312 0.0559856 ]]
t: [0.0698047 0.03504029 0.00602129]
caption post ram and filtering: stool
Img 236 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_2_0.ply
Img 236 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_2_1.ply
Target pose: [ 7.5 0.90099978 20.25 0.03449203 0.95730993 -0.25651044
0.128726 ]
Estimated pose: [ 7.23875206 1.17171247 6.88081945 0.18875486 -0.66058974 0.17864193
0.70432937]
Translation error: 13.37447286124989
Rotation_error: 0.95079456115071
Localizing image 249 currently
caption post ram and filtering: armchair . lamp . chair . stool
Initial ICP point clouds saved
Getting assignments
(7, 48)
Phrases: ['armchair', 'armchair', 'armchair', 'lamp', 'lamp', 'chair', 'stool']
[[ 2.52441227e-01 3.58934581e-01 5.27640939e-01 8.76660109e-01
2.15743721e-01 1.72129422e-01 -1.91347171e-02 9.41953063e-01
9.10805762e-01 4.06970263e-01 6.90093756e-01 -2.76172519e-01
-1.82304382e-01 -1.67717963e-01 -1.34146348e-01 3.66885960e-02
4.56743054e-02 -3.28034498e-02 -8.97090286e-02 4.26941037e-01
-1.35766879e-01 2.24558771e-01 6.55662060e-01 2.95343667e-01
2.54459172e-01 2.30731696e-01 -1.07131917e-02 1.79533035e-01
3.75536345e-02 5.61567545e-01 8.91647190e-02 4.12839681e-01
6.92799613e-02 1.74858004e-01 2.64881402e-01 3.11506510e-01
7.55095333e-02 -5.44494800e-02 -1.86234042e-01 1.57221437e-01
6.34317338e-01 6.62644766e-03 3.31122369e-01 -7.63424858e-02
7.65850469e-02 5.45524433e-02 2.34560911e-02 7.35612810e-01]
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2.67154336e-01 1.96469456e-01 4.96903807e-02 8.51083040e-01
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2.16833819e-02 -7.02241957e-02 -2.64819890e-01 -6.21230751e-02
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1.62861004e-01 -8.71810969e-03 2.57192641e-01 8.63071531e-02
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-1.60928220e-01 -1.47277534e-01 -1.08545914e-01 -1.00645028e-01]
[ 2.49035940e-01 2.81980634e-01 4.09892708e-01 2.52431810e-01
4.03729200e-01 2.36924797e-01 1.17810339e-01 2.28909031e-01
2.95374542e-01 5.65511405e-01 1.18743785e-01 -4.62359041e-02
1.24410935e-01 3.69024456e-01 2.11408645e-01 9.29395258e-02
-2.14143917e-02 2.84692377e-01 3.42203438e-01 5.18058121e-01
3.49619746e-01 3.89697552e-01 5.49624562e-01 5.59959173e-01
2.92855710e-01 3.37014943e-01 1.36634290e-01 1.23584703e-01
1.19696949e-02 4.29574579e-01 3.33668530e-01 4.84385908e-01
2.98100829e-01 5.94399750e-01 4.68521923e-01 4.51387107e-01
3.87481272e-01 3.94842401e-02 2.65235156e-01 -4.48862873e-02
5.07994354e-01 3.17554653e-01 4.67450380e-01 2.60739058e-01
6.15079343e-01 -6.80954978e-02 -4.79937941e-02 1.79300115e-01]
[ 1.88688383e-01 1.30045721e-02 -5.42379394e-02 3.15071158e-02
1.15156993e-02 3.51191759e-01 2.15464771e-01 8.49178433e-02
-1.44964978e-02 3.09166312e-01 -8.00544471e-02 4.82604206e-02
8.69460404e-02 5.08954152e-02 2.27371931e-01 4.80411470e-01
-7.86943175e-03 -9.60403755e-02 5.42866588e-02 2.38658674e-02
2.60438770e-01 7.79838741e-01 4.22283202e-01 9.65468511e-02
3.71394932e-01 5.67938745e-01 4.84818369e-01 6.13073945e-01
3.75170857e-01 4.30160254e-01 -4.92944457e-02 3.01105797e-01
6.02700889e-01 3.66348654e-01 5.11704862e-01 5.00494599e-01
4.33704495e-01 -2.93289442e-02 -3.49965468e-02 4.58372056e-01
4.49451715e-01 -1.02579184e-02 4.44143385e-01 3.06357086e-01
6.29320443e-01 3.07426512e-01 2.81775355e-01 2.18964487e-01]
[ 1.10656850e-01 -9.32609569e-03 -6.00397438e-02 2.75442488e-02
6.63416535e-02 3.29267532e-01 2.06439629e-01 7.19133615e-02
-3.93442903e-03 3.59710634e-01 -8.57888535e-02 1.38614420e-02
5.20675592e-02 1.21477634e-01 2.68996119e-01 4.03932780e-01
2.82169282e-02 -1.33595280e-02 1.07010499e-01 7.20160082e-02
2.93042034e-01 7.65589952e-01 4.19197470e-01 1.60122603e-01
3.16954345e-01 5.00380576e-01 4.12679732e-01 5.29056132e-01
2.68392742e-01 3.96770090e-01 -1.63572468e-02 2.84283191e-01
5.42506695e-01 4.88873243e-01 5.16454339e-01 5.28033018e-01
3.91919971e-01 -9.95166302e-02 -2.10965984e-02 3.58024299e-01
4.21783745e-01 4.61760908e-04 4.54808295e-01 3.38828504e-01
6.86158657e-01 1.64999038e-01 2.27505565e-01 2.07218930e-01]
[ 2.95922697e-01 9.20021906e-02 -4.73098308e-02 -2.10084729e-02
3.02312840e-02 3.56451154e-01 2.80651093e-01 3.42132933e-02
-6.57073855e-02 1.61684930e-01 -8.98616910e-02 1.06581114e-01
1.95339382e-01 -2.61577591e-02 1.93406433e-01 5.76177835e-01
2.10396666e-02 -2.19077095e-01 -6.47440851e-02 -1.16981432e-01
2.38857359e-01 5.87133765e-01 2.98877925e-01 -2.09281035e-02
3.65609407e-01 5.32487094e-01 4.77122039e-01 6.69957161e-01
5.29272795e-01 3.51749599e-01 -3.91512811e-02 2.19173849e-01
6.60209656e-01 2.57392794e-01 5.03967404e-01 3.42206120e-01
4.67387587e-01 1.44863456e-01 -7.74256326e-03 5.33452809e-01
2.66672254e-01 -4.80412692e-02 3.23747933e-01 2.36544207e-01
4.17214543e-01 4.90128875e-01 3.17866057e-01 1.66916654e-01]]
V?
[[ 3.48027885e-01 3.58934551e-01 5.76195002e-01 8.76660109e-01
2.15743691e-01 2.45028809e-01 3.51981148e-02 9.26738799e-01
9.10805643e-01 4.88220781e-01 6.86365664e-01 -2.42011636e-01
-6.77339584e-02 -1.09591223e-01 -8.45689550e-02 1.15523078e-01
1.14063591e-01 -3.28034572e-02 -8.97090286e-02 4.26941007e-01
-1.03422619e-01 2.03963727e-01 8.66552711e-01 3.35846007e-01
2.54459172e-01 2.30731696e-01 1.08762197e-01 3.57339621e-01
6.76902831e-02 7.18527794e-01 1.78321928e-01 4.23842490e-01
5.22132039e-01 3.10221553e-01 4.68479156e-01 4.96336132e-01
1.36257574e-01 2.28024125e-01 -1.86234012e-01 3.43558371e-01
6.20326042e-01 3.74895781e-02 3.55272740e-01 1.31678253e-01
1.28648520e-01 5.45524545e-02 2.34560817e-02 7.35612929e-01]
[ 2.68972963e-01 4.47067887e-01 4.81173307e-01 9.01745379e-01
2.67154306e-01 2.74424493e-01 1.68934435e-01 8.55398834e-01
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1.06243573e-01 7.58646205e-02 5.74616492e-02 2.34995186e-01
-5.25272936e-02 6.96092904e-01 3.28360111e-01 3.32193553e-01
4.72818434e-01 2.51751602e-01 4.62874115e-01 5.82829058e-01
4.09902409e-02 2.68313676e-01 -2.64819920e-01 2.28872418e-01
4.98990953e-01 -8.57019052e-02 2.67085999e-01 -1.65160783e-02
1.42548131e-02 -1.25340983e-01 -1.83967203e-01 7.54644275e-01]
[-8.70296583e-02 3.84538546e-02 -1.44190565e-01 -9.07226354e-02
1.06814861e-01 1.62926823e-01 2.87774056e-01 -1.24576375e-01
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3.33120137e-01 7.56924273e-04 2.76064396e-01 4.35954571e-01
8.08768928e-01 -2.53789723e-01 -1.97740778e-01 -2.12126434e-01
1.03568122e-01 -1.83808774e-01 -6.41522557e-02 -4.64907736e-02
-4.64509130e-01 -4.47572201e-01 2.50321239e-01 4.58249748e-01
5.19373715e-02 -1.75439060e-01 7.05598369e-02 -2.42969573e-01
3.34187984e-01 2.13170230e-01 3.99862155e-02 -2.78854128e-02
-6.17035069e-02 9.71249491e-02 -1.59475297e-01 4.96878996e-02
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2.22959444e-01 -1.47277519e-01 -1.08545937e-01 -1.00645043e-01]
[ 3.35442245e-01 2.81980634e-01 4.52338487e-01 2.52431840e-01
4.03729111e-01 2.68908173e-01 2.16563329e-01 2.68994689e-01
2.95374602e-01 6.22114658e-01 1.22812346e-01 1.22536719e-03
2.41056770e-01 4.00138468e-01 2.26296216e-01 4.09114093e-01
7.58306729e-03 2.84692347e-01 3.42203408e-01 5.18058181e-01
3.89983416e-01 3.84990454e-01 6.46259785e-01 6.00251496e-01
2.92855650e-01 3.37015003e-01 2.55613595e-01 2.47069016e-01
8.83560926e-02 5.21746457e-01 3.65821391e-01 4.84876037e-01
5.85739255e-01 6.85494423e-01 5.32706678e-01 5.21555066e-01
4.92622912e-01 1.25013560e-01 2.65235156e-01 2.11454734e-01
5.62828183e-01 4.09688354e-01 5.08690238e-01 4.22715306e-01
6.02559745e-01 -6.80955052e-02 -4.79937941e-02 1.79300100e-01]
[ 4.23756689e-01 1.30045656e-02 -2.27145534e-02 3.15071046e-02
1.15157049e-02 4.18810010e-01 3.39990407e-01 1.61863029e-01
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3.13721716e-01 7.81994164e-02 2.61762679e-01 6.07435346e-01
1.66051760e-01 -9.60403904e-02 5.42866476e-02 2.38658600e-02
4.16706979e-01 7.42978394e-01 6.93643689e-01 3.67851913e-01
3.71394932e-01 5.67938745e-01 5.63995600e-01 6.21287942e-01
5.27787805e-01 5.67972600e-01 1.11375391e-01 4.45125639e-01
6.56480312e-01 6.47591472e-01 7.46185958e-01 8.08815300e-01
8.19417715e-01 1.78479865e-01 -3.49965543e-02 6.15536928e-01
5.11368871e-01 1.24540247e-01 4.94382888e-01 6.98321521e-01
7.60388196e-01 3.07426482e-01 2.81775445e-01 2.18964487e-01]
[ 2.61083454e-01 -9.32608731e-03 -7.60945445e-03 2.75442339e-02
6.63416535e-02 4.12868321e-01 2.48056605e-01 1.31142780e-01
-3.93441226e-03 3.72330278e-01 -3.23698372e-02 5.88767156e-02
2.15095937e-01 1.51167780e-01 3.19344163e-01 5.00111699e-01
1.38899580e-01 -1.33595392e-02 1.07010521e-01 7.20160156e-02
3.86548787e-01 6.82313263e-01 6.08824611e-01 3.86332631e-01
3.16954315e-01 5.00380516e-01 5.13070643e-01 5.24006307e-01
3.58346283e-01 5.42408288e-01 1.01108223e-01 3.94009203e-01
5.26307404e-01 6.51669145e-01 7.31720805e-01 7.73824692e-01
7.44667768e-01 7.37067759e-02 -2.10965872e-02 4.99541223e-01
4.59263980e-01 6.40039518e-02 4.76162285e-01 6.54623032e-01
7.20138073e-01 1.64999053e-01 2.27505594e-01 2.07218915e-01]
[ 5.63690066e-01 9.20021981e-02 -1.31348800e-02 -2.10084822e-02
3.02312728e-02 3.46295178e-01 4.73684251e-01 1.19831391e-01
-6.57073781e-02 2.31370792e-01 -4.09343913e-02 1.82765931e-01
4.65373635e-01 -8.18180852e-03 2.08787173e-01 7.93903589e-01
2.29639158e-01 -2.19077110e-01 -6.47440776e-02 -1.16981417e-01
4.31675345e-01 5.73197246e-01 6.37391984e-01 2.62025744e-01
3.65609437e-01 5.32487154e-01 5.00288785e-01 6.75379872e-01
7.40615845e-01 5.52204728e-01 1.69187814e-01 4.02606666e-01
7.89662719e-01 6.32803440e-01 7.05386579e-01 6.94252372e-01
7.75772452e-01 3.69177401e-01 -7.74257584e-03 6.37495756e-01
3.59560311e-01 1.82266489e-01 4.07713503e-01 6.00471139e-01
6.20614946e-01 4.90128905e-01 3.17866027e-01 1.66916654e-01]]
Assignments being considered: [[[0, 7]], [[0, 8]], [[1, 3]], [[0, 3]], [[0, 22]], [[1, 7]], [[0, 7], [1, 3]], [[0, 8], [1, 3]], [[0, 22], [1, 3]], [[0, 8], [1, 7]], [[0, 7], [1, 8]], [[0, 7], [1, 22]]]
Assn: [[0, 8], [1, 3]] | chosen RMSE: 0.9214717741935484 | full RMSE: 0.1207926680905134 | chosen fitness: 0.0112737292617141 | full memory fitness: 0.1207926680905134
Assn: [[0, 7], [1, 3]] | chosen RMSE: 0.7452620967741935 | full RMSE: 0.07594149612046824 | chosen fitness: 0.009332761167232714 | full memory fitness: 0.07594149612046824
Assn: [[0, 7], [1, 22]] | chosen RMSE: 0.683366935483871 | full RMSE: 0.07239990267376788 | chosen fitness: 0.011496339739135086 | full memory fitness: 0.07239990267376788
Assn: [[1, 7]] | chosen RMSE: 1.0 | full RMSE: 0.06916921246857173 | chosen fitness: 0.010991347433578118 | full memory fitness: 0.06916921246857173
Assn: [[1, 3]] | chosen RMSE: 1.0 | full RMSE: 0.06332963854118792 | chosen fitness: 0.011874505806241414 | full memory fitness: 0.06332963854118792
Assn: [[0, 22], [1, 3]] | chosen RMSE: 0.6665322580645161 | full RMSE: 0.06261320933250426 | chosen fitness: 0.012562713976173643 | full memory fitness: 0.06261320933250426
Assn: [[0, 8], [1, 7]] | chosen RMSE: 0.5065524193548387 | full RMSE: 0.06035578144853875 | chosen fitness: 0.010302797024556767 | full memory fitness: 0.06035578144853875
Assn: [[0, 7], [1, 8]] | chosen RMSE: 0.683366935483871 | full RMSE: 0.05854443212847062 | chosen fitness: 0.011817668834765486 | full memory fitness: 0.05854443212847062
Assn: [[0, 7]] | chosen RMSE: 1.0 | full RMSE: 0.050744816026386225 | chosen fitness: 0.007014345911841593 | full memory fitness: 0.050744816026386225
Assn: [[0, 8]] | chosen RMSE: 0.9130850047755492 | full RMSE: 0.03244207737435454 | chosen fitness: 0.011670359831444639 | full memory fitness: 0.03244207737435454
Assn: [[0, 3]] | chosen RMSE: 0.7640878701050621 | full RMSE: 0.025480548271107628 | chosen fitness: 0.012640109575378847 | full memory fitness: 0.025480548271107628
Assn: [[0, 22]] | chosen RMSE: 0.8217128303088188 | full RMSE: 0.023723269079996757 | chosen fitness: 0.009880959253550401 | full memory fitness: 0.023723269079996757
Best assn: [[0, 8], [1, 3]]
R: [[-0.67703049 0.36765002 0.63754465]
[ 0.02174104 0.87589533 -0.48201109]
[-0.73563377 -0.31247532 -0.60100094]]
t: [-2.17026021 0.11747785 0.36730386]
caption post ram and filtering: armchair . lamp . chair . stool
Img 249 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_0.ply
Img 249 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_1.ply
Img 249 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_2.ply
Img 249 obj 3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_3.ply
Img 249 obj 4 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_4.ply
Img 249 obj 5 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_5.ply
Img 249 obj 6 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_6.ply
Target pose: [ 6.5 0.90099978 18.5 0.10440383 0.8838513 -0.2368273
0.38964028]
Estimated pose: [ 6.49551736 0.85401875 18.55019242 0.10963019 0.88796491 -0.22368181
0.3866083 ]
Translation error: 0.06889550505121307
Rotation_error: 0.015041206010147423
Localizing image 262 currently
caption post ram and filtering: stool
caption post ram and filtering: stool
Target pose: [ 7.5 0.90099978 14.5 0.16496236 0.74430533 -0.19943604
0.61564784]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 16.349672798304383
Rotation_error: 0.9075885098502827
Localizing image 275 currently
caption post ram and filtering:
caption post ram and filtering:
Target pose: [ 7.5 0.90099978 13.25 0.15999718 0.75925183 -0.20344094
0.59711754]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 15.25202611496631
Rotation_error: 0.9308934516059019
Localizing image 288 currently
caption post ram and filtering: armchair . cage . chair
Initial ICP point clouds saved
Getting assignments
(3, 48)
Phrases: ['armchair', 'cage', 'cage']
[[ 0.31456268 0.34322828 0.53234375 0.8724077 0.15992153 0.16318515
-0.04978156 0.9804162 0.9286455 0.42113674 0.7511221 -0.313796
-0.17962134 -0.23926067 -0.171334 0.00538745 -0.06331448 -0.04235624
-0.14184268 0.3452226 -0.16511804 0.17800814 0.6471935 0.20623118
0.30328342 0.24296464 0.00530203 0.12144688 0.07852925 0.5717881
0.09875053 0.34870973 0.04398469 0.10583421 0.2679991 0.33630162
0.09126047 -0.00795984 -0.1684479 0.20784736 0.58504415 0.0183941
0.33639604 -0.19395572 0.01377447 0.10925844 0.07963219 0.7931539 ]
[ 0.43819594 0.29939196 0.5432004 0.6048548 0.12469437 0.19336902
0.00856555 0.6436515 0.568314 0.83614075 0.40085682 -0.1669645
0.01906138 0.07313854 0.02920887 0.42597196 -0.09633176 0.13860321
0.15326265 0.39796028 0.29248452 0.51822287 0.85582733 0.291081
0.6960511 0.6492295 0.20512581 0.40286827 0.4269419 0.83903354
0.1901567 0.5176767 0.45882708 0.2877462 0.56858456 0.54512036
0.34930584 0.00150536 0.10784347 0.46863845 0.6901137 0.21271865
0.72314537 0.02954969 0.42062607 0.36107525 0.3453737 0.6917608 ]
[ 0.43942255 0.4463632 0.6028391 0.712304 0.23457122 0.21073815
0.04366287 0.85895586 0.83606946 0.35637903 0.94593215 -0.19742823
0.03692143 -0.1501075 -0.07474448 0.09214497 -0.04396501 0.01672774
-0.0593305 0.25152937 -0.09305704 0.08490773 0.55413496 0.12432823
0.2605302 0.17750591 0.06399637 0.08118941 0.22606623 0.5661479
0.26678282 0.19102219 0.05591678 0.10393953 0.29092914 0.32119954
0.24205089 0.208493 0.02294121 0.2617604 0.40870002 0.11802417
0.20148164 -0.13276766 -0.03953104 0.2565837 0.15222311 0.6870386 ]]
V?
[[ 0.40101916 0.34322834 0.56102955 0.87240785 0.15992156 0.2061957
-0.01064255 0.9678722 0.9286455 0.5146154 0.7563917 -0.24994975
-0.05444788 -0.19009523 -0.12226182 0.15841357 0.01664302 -0.04235624
-0.1418427 0.34522253 -0.14301074 0.20092668 0.92857313 0.2662112
0.3032834 0.24296463 0.19570825 0.3588441 0.11587957 0.7559762
0.19098672 0.37731603 0.48665515 0.27560663 0.4920298 0.5286639
0.11806727 0.25280553 -0.16844791 0.39101642 0.5630139 0.03827742
0.3644443 0.01651837 0.08545077 0.10925847 0.07963222 0.7931539 ]
[ 0.54711044 0.29939196 0.6056156 0.6048549 0.12469437 0.22256231
0.16456984 0.6383616 0.56831396 0.8903929 0.46301156 -0.07414323
0.24866521 0.11036 0.06644392 0.5746794 0.09839525 0.13860324
0.15326266 0.39796025 0.2851239 0.57798344 0.8427587 0.4004287
0.69605124 0.64922965 0.23317194 0.65667224 0.49227694 0.79831296
0.35703278 0.5939045 0.6781961 0.54496974 0.6698247 0.58396715
0.37925023 0.19059664 0.10784348 0.66622734 0.71820444 0.24441338
0.72337645 0.22698101 0.4979602 0.36107528 0.3453737 0.69176066]
[ 0.48077297 0.44636315 0.5813803 0.712304 0.23457125 0.2137345
0.08745254 0.85034263 0.8360695 0.48403886 0.9656692 -0.12863886
0.11490987 -0.11182964 -0.06723867 0.26350054 0.04839001 0.01672775
-0.0593305 0.25152934 -0.06032099 0.10307217 0.8061784 0.1516492
0.26053017 0.17750594 0.32207936 0.22570944 0.241003 0.7704334
0.33448717 0.22080272 0.36279738 0.30704123 0.4292943 0.41550842
0.26196486 0.39217743 0.02294121 0.43834084 0.41154766 0.15245315
0.24243002 0.03309718 0.03676081 0.2565837 0.15222308 0.6870386 ]]
Assignments being considered: [[[0, 7]], [[0, 8]], [[0, 22]], [[1, 9]], [[0, 3]], [[1, 22]], [[0, 7], [2, 10]], [[0, 8], [2, 10]], [[0, 22], [2, 10]], [[0, 7], [1, 9]], [[1, 9], [2, 10]], [[0, 3], [2, 10]]]
Assn: [[0, 7]] | chosen RMSE: 1.0 | full RMSE: 0.6648902423550311 | chosen fitness: 0.007369716289353434 | full memory fitness: 0.6648902423550311
Assn: [[0, 8], [2, 10]] | chosen RMSE: 0.9991586740703349 | full RMSE: 0.6447151376728841 | chosen fitness: 0.006841753340671479 | full memory fitness: 0.6447151376728841
Assn: [[0, 7], [2, 10]] | chosen RMSE: 0.967020023557126 | full RMSE: 0.5198578860550691 | chosen fitness: 0.006575822777921127 | full memory fitness: 0.5198578860550691
Assn: [[1, 9], [2, 10]] | chosen RMSE: 0.7205784748663849 | full RMSE: 0.49597132343611217 | chosen fitness: 0.006921581663446198 | full memory fitness: 0.49597132343611217
Assn: [[0, 7], [1, 9]] | chosen RMSE: 0.5203712632594021 | full RMSE: 0.46922979317345515 | chosen fitness: 0.011161354956678637 | full memory fitness: 0.46922979317345515
Assn: [[0, 3], [2, 10]] | chosen RMSE: 0.8315104604857255 | full RMSE: 0.4512752188808527 | chosen fitness: 0.005724797991918279 | full memory fitness: 0.4512752188808527
Assn: [[0, 22], [2, 10]] | chosen RMSE: 0.8306130461607494 | full RMSE: 0.4487374698642304 | chosen fitness: 0.005737006558763606 | full memory fitness: 0.4487374698642304
Assn: [[1, 9]] | chosen RMSE: 0.5357429718875502 | full RMSE: 0.08783783783783784 | chosen fitness: 0.011381881274730292 | full memory fitness: 0.08783783783783784
Assn: [[0, 8]] | chosen RMSE: 0.8746979634104246 | full RMSE: 0.07435604618703211 | chosen fitness: 0.009910520620157575 | full memory fitness: 0.07435604618703211
Assn: [[1, 22]] | chosen RMSE: 0.2844833880978459 | full RMSE: 0.07403882755995432 | chosen fitness: 0.011334846672525222 | full memory fitness: 0.07403882755995432
Assn: [[0, 22]] | chosen RMSE: 0.8709009319986193 | full RMSE: 0.052467960918665145 | chosen fitness: 0.010383969937466616 | full memory fitness: 0.052467960918665145
Assn: [[0, 3]] | chosen RMSE: 0.5433206765619607 | full RMSE: 0.0374000761324705 | chosen fitness: 0.011849561308924306 | full memory fitness: 0.0374000761324705
Best assn: [[0, 7]]
R: [[-0.24267221 0.48601959 0.83958034]
[-0.00245027 0.86514024 -0.50152403]
[-0.97010525 -0.12376314 -0.20875462]]
t: [-0.02624133 0.00460076 -0.02682329]
caption post ram and filtering: armchair . cage . chair
Img 288 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_0.ply
Img 288 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_1.ply
Img 288 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_2.ply
Target pose: [ 6. 0.90099978 16.25 0.15883746 0.76263584 -0.20434769
0.59278938]
Estimated pose: [ 6.00761822 0.90876114 16.22298514 0.15885698 0.76101365 -0.2054126
0.5944984 ]
Translation error: 0.0291217871012363
Rotation_error: 0.002585868312494084
Localizing image 301 currently
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(1, 48)
Phrases: ['stool']
[[-0.1840021 0.05539748 0.10413627 0.23592667 0.31553596 0.03819445
0.02381789 0.19058987 0.2929918 0.05553896 0.1069519 -0.13346836
-0.15424429 0.00939714 0.04547029 -0.29436347 0.30988336 0.04803324
-0.02963188 0.31529194 -0.14775114 -0.04010354 0.03630627 0.36853456
-0.29269093 -0.28116876 -0.15499274 -0.18914518 -0.3547371 -0.09726353
0.04327262 0.07778028 -0.16584402 0.39858955 -0.00251337 0.04116366
-0.14092116 -0.15779242 -0.148381 -0.33946443 0.13140017 -0.06870537
-0.05871359 0.09260811 0.14337851 -0.45729715 -0.31747895 0.05112661]]
V?
[[ 0.07306764 0.05539748 0.13568906 0.23592663 0.31553593 0.14919911
0.28894278 0.22083269 0.29299176 0.18650284 0.15283848 -0.00970884
0.05944907 0.02804653 0.07398199 -0.13209075 0.47914895 0.04803325
-0.02963188 0.31529194 -0.03596974 0.00862987 0.4842627 0.46400505
-0.29269093 -0.28116876 -0.01930812 0.06833359 -0.24912563 0.0674538
0.11837467 0.26769245 0.5317427 0.6062162 0.18229169 0.15406716
0.00142769 -0.03553759 -0.148381 0.02298439 0.1711266 0.13242896
0.02515134 0.29440373 0.22819945 -0.4572971 -0.31747895 0.0511266 ]]
Assignments being considered: [[[0, 33]], [[0, 32]], [[0, 22]], [[0, 16]], [[0, 23]], [[0, 4]]]
Assn: [[0, 23]] | chosen RMSE: 0.23057132470147376 | full RMSE: 0.1364225323228651 | chosen fitness: 0.009141129875553298 | full memory fitness: 0.1364225323228651
Assn: [[0, 16]] | chosen RMSE: 0.047382011055491856 | full RMSE: 0.033604593715335064 | chosen fitness: 0.008617358757280568 | full memory fitness: 0.033604593715335064
Assn: [[0, 22]] | chosen RMSE: 0.09943417507946717 | full RMSE: 0.032458029214090627 | chosen fitness: 0.011007287617233222 | full memory fitness: 0.032458029214090627
Assn: [[0, 33]] | chosen RMSE: 0.052173345637927984 | full RMSE: 0.021150852466045846 | chosen fitness: 0.012533345166627704 | full memory fitness: 0.021150852466045846
Assn: [[0, 32]] | chosen RMSE: 0.02870139918155802 | full RMSE: 0.012136804720489947 | chosen fitness: 0.01195192115063184 | full memory fitness: 0.012136804720489947
Assn: [[0, 4]] | chosen RMSE: 0.011614791614232314 | full RMSE: 0.0036074834307447076 | chosen fitness: 0.011750591567120452 | full memory fitness: 0.0036074834307447076
Best assn: [[0, 23]]
R: [[ 0.97924372 0.15249645 0.13351621]
[-0.06755011 0.86661648 -0.49438128]
[-0.19109874 0.47510073 0.8589299 ]]
t: [-0.11694265 -0.08313473 -0.03341488]
caption post ram and filtering: stool
Img 301 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_7_0.ply
Target pose: [ 7.75 0.90099978 15.25 0.14269381 0.8058619 -0.2159301
0.53254039]
Estimated pose: [ 3.9814022 1.47594125 0.44358649 0.25184188 0.08432507 -0.05716139
0.96239157]
Translation error: 15.289302407997864
Rotation_error: 0.8908569501590382
Localizing image 314 currently
caption post ram and filtering:
caption post ram and filtering:
Target pose: [ 9. 0.90099978 16.5 0.0989891 0.89248667 -0.23914111
0.3694323 ]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 18.81652998327838
Rotation_error: 1.192398294126118
Localizing image 327 currently
caption post ram and filtering: armchair . cage . chair . glass box . glass table . stool
Initial ICP point clouds saved
Getting assignments
(3, 48)
Phrases: ['armchair', 'cage', 'cage']
[[ 3.3459967e-01 5.4819930e-01 6.9878042e-01 8.4848487e-01
3.5179201e-01 2.3509279e-01 6.2929489e-02 9.1016597e-01
9.6195185e-01 3.6706233e-01 7.6806265e-01 -1.9636619e-01
-4.8871294e-02 -7.8237087e-02 -5.9263211e-02 -7.6911062e-02
3.7844338e-02 4.4191565e-02 -3.0897398e-02 5.5350780e-01
-1.6557468e-01 6.3106716e-02 6.0616660e-01 3.9614111e-01
1.2646940e-01 9.6937515e-02 -2.0757899e-02 4.0237792e-04
-4.3161593e-02 5.0733340e-01 3.1305167e-01 3.9585602e-01
-3.6009967e-02 2.1166851e-01 2.7895537e-01 3.1319538e-01
1.3567710e-01 1.0374619e-01 -7.5838387e-02 -3.1319775e-02
5.7457334e-01 1.1475117e-01 2.0316464e-01 -9.3744621e-02
1.2442830e-02 -4.1581079e-02 -1.3052960e-01 6.3305521e-01]
[ 5.9822345e-01 5.6610310e-01 7.3567498e-01 4.8097327e-01
3.2894206e-01 2.4780214e-01 1.2533489e-01 6.2823212e-01
6.9062567e-01 1.8924928e-01 8.9566678e-01 5.1591825e-03
2.6431054e-01 -8.2586557e-03 -2.9727327e-02 4.0182516e-02
-3.3931792e-02 1.3492589e-01 7.5812854e-02 2.5190949e-01
-6.0171209e-02 -1.0948088e-01 3.8689053e-01 1.2578294e-01
1.2677747e-01 3.3038765e-02 1.4977431e-01 -9.4817348e-02
2.0865932e-01 4.4520175e-01 4.5117009e-01 8.1958182e-02
-2.7497094e-02 5.3997431e-02 2.3893288e-01 1.9888784e-01
3.5016569e-01 5.2205515e-01 2.6476476e-01 1.2007348e-01
2.1636525e-01 3.2296893e-01 -1.2736358e-03 -1.1175755e-01
-1.4823920e-01 2.9525274e-01 7.5210765e-02 4.0004569e-01]
[ 3.8884979e-01 1.5352035e-01 5.4214424e-01 3.1113520e-01
4.8988670e-02 1.4376862e-02 -1.5078613e-01 3.3017004e-01
3.0358449e-01 9.2829120e-01 2.0982687e-01 -1.6220248e-01
6.4573854e-02 3.3027056e-01 2.3820626e-02 3.2558060e-01
-2.4612872e-01 4.4806179e-01 4.3478003e-01 4.0886322e-01
5.2019083e-01 4.8678726e-01 7.6636863e-01 3.3539864e-01
7.3173368e-01 6.3969249e-01 1.2867007e-01 1.3499075e-01
3.2794619e-01 7.2047228e-01 2.8132021e-01 4.4669572e-01
4.3285671e-01 2.0168535e-01 4.6695995e-01 4.7787428e-01
3.2833806e-01 5.0126296e-03 4.0015572e-01 3.1239659e-01
5.3785813e-01 4.6055955e-01 7.5140524e-01 2.0110676e-02
5.3646320e-01 2.7683726e-01 3.2624245e-01 3.7396494e-01]]
V?
[[ 0.4823733 0.5481993 0.7110923 0.8484849 0.35179198 0.2930284
0.1816802 0.9330015 0.961952 0.44575414 0.7824087 -0.17470703
0.06226674 -0.02285089 -0.05423106 0.11266631 0.07131962 0.04419158
-0.0308974 0.55350786 -0.14248438 0.05604457 0.8366752 0.4571115
0.12646942 0.09693752 0.24693303 0.17437738 -0.01869776 0.7604614
0.39098597 0.45546862 0.47947568 0.37656707 0.5596472 0.5124367
0.20262685 0.39165634 -0.07583839 0.24508396 0.5789951 0.19118603
0.25301245 0.05764238 0.06016141 -0.04158109 -0.13052958 0.63305515]
[ 0.6748524 0.56610304 0.7739791 0.48097327 0.328942 0.29784527
0.1893902 0.6376072 0.69062567 0.324718 0.89616597 0.0769003
0.34669232 0.01002782 0.03554346 0.30320868 0.0508377 0.13492587
0.07581285 0.25190946 -0.05438378 -0.0889878 0.7456932 0.17710143
0.12677747 0.03303879 0.5283357 -0.00673438 0.3028033 0.70749354
0.48622578 0.125347 0.16368158 0.26346493 0.41982904 0.41371334
0.4653545 0.6014667 0.26476476 0.29201064 0.22502957 0.36515868
0.04729264 0.06133287 -0.04784736 0.29525274 0.07521078 0.4000456 ]
[ 0.3882943 0.15352035 0.6146124 0.31113514 0.04898867 0.11600102
0.12355084 0.36787722 0.30358452 0.9333263 0.26382956 -0.0576019
0.17458272 0.334488 0.03548717 0.69138134 -0.09024771 0.44806173
0.43478006 0.40886328 0.6139911 0.61299133 0.78210866 0.41230294
0.73173356 0.63969266 0.2679774 0.3956262 0.43374664 0.7815727
0.38079625 0.5073838 0.75646716 0.3623944 0.61077905 0.60022783
0.37807006 0.20350514 0.40015572 0.49412483 0.6060549 0.48825404
0.76623386 0.16631618 0.7305801 0.27683732 0.32624245 0.37396497]]
Assignments being considered: [[[0, 8]], [[0, 7]], [[1, 10]], [[0, 3]], [[0, 22]], [[0, 10]], [[0, 8], [2, 9]], [[0, 7], [2, 9]], [[0, 8], [1, 10]], [[0, 7], [1, 10]], [[1, 10], [2, 9]], [[0, 3], [2, 9]]]
Assn: [[0, 8], [1, 10]] | chosen RMSE: 0.922401619280738 | full RMSE: 0.545809567853656 | chosen fitness: 0.005398305859090437 | full memory fitness: 0.545809567853656
Assn: [[0, 7], [1, 10]] | chosen RMSE: 0.9203775183581246 | full RMSE: 0.5356662042032784 | chosen fitness: 0.007038794233361091 | full memory fitness: 0.5356662042032784
Assn: [[1, 10], [2, 9]] | chosen RMSE: 0.5895427745021693 | full RMSE: 0.46218591028210265 | chosen fitness: 0.008560822675841765 | full memory fitness: 0.46218591028210265
Assn: [[1, 10]] | chosen RMSE: 0.9048555869187124 | full RMSE: 0.4459688607985201 | chosen fitness: 0.007785716770657455 | full memory fitness: 0.4459688607985201
Assn: [[0, 7], [2, 9]] | chosen RMSE: 0.47657153875819513 | full RMSE: 0.43344124145727353 | chosen fitness: 0.008455316546148995 | full memory fitness: 0.43344124145727353
Assn: [[0, 7]] | chosen RMSE: 1.0 | full RMSE: 0.4316324957607523 | chosen fitness: 0.006930103406921694 | full memory fitness: 0.4316324957607523
Assn: [[0, 8], [2, 9]] | chosen RMSE: 0.4755913356472554 | full RMSE: 0.4315091721905349 | chosen fitness: 0.009125389900657534 | full memory fitness: 0.4315091721905349
Assn: [[0, 8]] | chosen RMSE: 0.999055967633176 | full RMSE: 0.396639432711577 | chosen fitness: 0.01142456696668539 | full memory fitness: 0.396639432711577
Assn: [[0, 3], [2, 9]] | chosen RMSE: 0.5249389381668595 | full RMSE: 0.11377627048969734 | chosen fitness: 0.011659659374984397 | full memory fitness: 0.11377627048969734
Assn: [[0, 22]] | chosen RMSE: 0.8633850303438975 | full RMSE: 0.04525975026977031 | chosen fitness: 0.009812243293312008 | full memory fitness: 0.04525975026977031
Assn: [[0, 3]] | chosen RMSE: 0.6190155091031693 | full RMSE: 0.03473613894455578 | chosen fitness: 0.011699686967140618 | full memory fitness: 0.03473613894455578
Assn: [[0, 10]] | chosen RMSE: 0.5197572488199595 | full RMSE: 0.024407789938852065 | chosen fitness: 0.012493600111442044 | full memory fitness: 0.024407789938852065
Best assn: [[0, 8], [1, 10]]
R: [[-0.60195824 0.39995423 0.69114607]
[ 0.01067965 0.86948052 -0.49385177]
[-0.79845615 -0.28989694 -0.52766233]]
t: [0.16207262 0.03479924 0.09297389]
caption post ram and filtering: armchair . cage . chair . glass box . glass table . stool
Img 327 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_0.ply
Img 327 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_1.ply
Img 327 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_2.ply
Target pose: [ 7.25 0.90099978 17. 0.11506835 0.86521283 -0.23183311
0.42944086]
Estimated pose: [ 7.24681452 0.9060849 17.00200771 0.11855756 0.86589565 -0.22628267
0.43007556]
Translation error: 0.006327446526283055
Rotation_error: 0.006622028559611255
Localizing image 340 currently
caption post ram and filtering: armchair . bin . box . chair . daybed . couch . hassock . stool
Initial ICP point clouds saved
Getting assignments
(3, 48)
Phrases: ['armchair', 'armchair', 'box']
[[ 0.32535705 0.29354244 0.1907318 -0.28249308 0.2229757 0.203651
0.40300706 -0.28029817 -0.2137149 0.0060885 -0.06733012 0.7663056
0.7348023 0.84150296 0.50464296 0.40904623 0.2620622 0.41815144
0.62466383 0.18661606 0.51256347 -0.0377337 -0.00156072 0.21577792
0.03256661 0.04758516 0.3039177 0.1631796 0.29360265 0.09287894
0.34055358 0.05866619 0.18438739 0.1961276 0.11975511 -0.06133159
0.41820973 0.48615748 0.6905707 0.00944646 -0.0558799 0.51680005
-0.11135182 0.6554862 0.12970465 0.24801293 0.09407414 -0.29325634]
[ 0.47780806 0.32308793 0.13941415 0.1172587 0.2461558 0.7272626
0.497943 0.13980839 0.05117986 0.27821004 0.01403974 0.16935328
0.423761 0.06206677 0.48478594 0.5162853 0.12588254 -0.28722572
-0.10451708 -0.13220465 0.22889525 0.43589854 0.34715393 -0.04746936
0.3728072 0.449862 0.5120934 0.6874606 0.48455125 0.41719067
0.24120942 0.10906143 0.51298356 0.4103387 0.71483666 0.5815578
0.63656855 0.33293444 0.0706979 0.42187425 0.27843428 -0.0363823
0.3563369 0.3791804 0.47646132 0.45105582 0.22074549 0.34967667]
[ 0.33665073 0.57543683 0.17822526 -0.00739068 0.69666624 0.69694716
0.9081822 -0.08337662 -0.02005403 -0.13770232 0.04457629 0.32858068
0.69242346 0.22937617 0.700033 0.00806368 0.19258498 -0.25433302
-0.15762623 -0.05277909 -0.07810031 -0.19227041 -0.12839839 -0.00795586
-0.21105593 -0.18320885 0.12633693 0.14054517 0.05165992 -0.05552573
0.5429961 -0.14339928 -0.04392501 0.49390346 0.37534368 0.19661163
0.5619637 0.63919485 0.20063156 -0.2334831 -0.13048139 -0.04021616
-0.23133442 0.38538152 0.00776925 -0.02273615 -0.30017 0.00453429]]
V?
[[ 0.43668544 0.29354241 0.19971757 -0.2824931 0.22297573 0.28171703
0.56534237 -0.24740335 -0.2137149 0.07702069 -0.05921311 0.7629633
0.81022865 0.8250124 0.5678576 0.56632745 0.32332003 0.41815138
0.62466383 0.18661606 0.51051426 0.06296181 0.39846265 0.31780136
0.03256661 0.04758517 0.35570723 0.35069978 0.50106883 0.3164116
0.41667134 0.08003092 0.32919675 0.28865853 0.2939211 0.21721202
0.448951 0.5952932 0.69057065 0.18760026 -0.0187485 0.5505791
-0.04148313 0.7062456 0.31860614 0.24801293 0.09407415 -0.29325628]
[ 0.66007966 0.3230879 0.19561753 0.11725867 0.2461558 0.7323584
0.58894736 0.2163637 0.05117985 0.30687714 0.0706439 0.25135985
0.630677 0.0792327 0.4798509 0.6159953 0.32107744 -0.28722572
-0.10451705 -0.13220468 0.40390223 0.41634113 0.5515923 0.18942335
0.3728072 0.44986206 0.49087948 0.71641934 0.54160684 0.63600636
0.46222237 0.26377544 0.62604487 0.6499871 0.75368786 0.7758154
0.62486625 0.5477966 0.0706979 0.63870984 0.36067253 0.19442576
0.40591037 0.6280564 0.519541 0.45105582 0.22074546 0.3496767 ]
[ 0.38569236 0.57543695 0.3022914 -0.00739067 0.69666624 0.6916727
0.927439 -0.07267579 -0.02005403 -0.10688309 0.06219473 0.52021295
0.777302 0.23922762 0.7425477 0.11714013 0.1703512 -0.25433302
-0.15762624 -0.05277909 0.01678287 -0.13122043 0.3302169 0.05548408
-0.21105593 -0.18320888 0.40942028 0.20495974 0.09531069 0.14610986
0.6024535 -0.10181117 0.08434194 0.6454191 0.683792 0.39230505
0.56027067 0.70170623 0.20063157 0.12293979 -0.05788056 0.08104901
-0.20897414 0.54345083 0.12709726 -0.02273616 -0.30017003 0.00453429]]
Assignments being considered: [[[0, 13]], [[0, 12]], [[1, 35]], [[0, 11]], [[1, 34]], [[1, 5]], [[0, 13], [2, 6]], [[0, 12], [2, 6]], [[1, 35], [2, 6]], [[0, 11], [2, 6]], [[1, 34], [2, 6]], [[1, 5], [2, 6]]]
Assn: [[1, 5], [2, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9039996125110495 | chosen fitness: 0.010077915484298768 | full memory fitness: 0.9039996125110495
Assn: [[0, 11], [2, 6]] | chosen RMSE: 0.9542207318851145 | full RMSE: 0.9037332138575735 | chosen fitness: 0.006534951653826015 | full memory fitness: 0.9037332138575735
Assn: [[0, 11]] | chosen RMSE: 0.9532699762410904 | full RMSE: 0.8905343714808133 | chosen fitness: 0.006880338223152188 | full memory fitness: 0.8905343714808133
Assn: [[0, 12], [2, 6]] | chosen RMSE: 0.5258419594693104 | full RMSE: 0.6465616410157055 | chosen fitness: 0.009081094622057365 | full memory fitness: 0.6465616410157055
Assn: [[1, 34], [2, 6]] | chosen RMSE: 0.8947569843092231 | full RMSE: 0.6050155601031689 | chosen fitness: 0.01020901614442111 | full memory fitness: 0.6050155601031689
Assn: [[1, 35], [2, 6]] | chosen RMSE: 0.8947569843092231 | full RMSE: 0.5471707252097889 | chosen fitness: 0.012280299787437736 | full memory fitness: 0.5471707252097889
Assn: [[0, 12]] | chosen RMSE: 0.49842440915343256 | full RMSE: 0.3066006320913505 | chosen fitness: 0.010409969145391629 | full memory fitness: 0.3066006320913505
Assn: [[0, 13]] | chosen RMSE: 0.49453545079404776 | full RMSE: 0.26656817989174525 | chosen fitness: 0.012155098634700691 | full memory fitness: 0.26656817989174525
Assn: [[0, 13], [2, 6]] | chosen RMSE: 0.49532244739272 | full RMSE: 0.20880810820628942 | chosen fitness: 0.012637075144125837 | full memory fitness: 0.20880810820628942
Assn: [[1, 35]] | chosen RMSE: 0.9454545454545454 | full RMSE: 0.0029303851882348667 | chosen fitness: 0.005027195962994963 | full memory fitness: 0.0029303851882348667
Assn: [[1, 5]] | chosen RMSE: 0.8763636363636363 | full RMSE: 0.0019253357228485282 | chosen fitness: 0.01236106794973017 | full memory fitness: 0.0019253357228485282
Assn: [[1, 34]] | chosen RMSE: 0.6254545454545455 | full RMSE: 0.0018405725149243791 | chosen fitness: 0.008112312417910036 | full memory fitness: 0.0018405725149243791
Best assn: [[1, 5], [2, 6]]
R: [[ 0.95366285 0.15269293 0.25925285]
[-0.00170834 0.86439036 -0.50281844]
[-0.30087249 0.47907638 0.82459782]]
t: [-0.32451654 -0.03921685 -0.44045407]
caption post ram and filtering: armchair . bin . box . chair . daybed . couch . hassock . stool
Img 340 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_10_0.ply
Img 340 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_10_1.ply
Img 340 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_10_2.ply
Target pose: [ 4.25 0.90099978 18.5 0.25584763 0.14594682 -0.03910634
0.95483622]
Estimated pose: [ 4.24648783 0.91441961 18.50737229 0.25723271 0.1467393 -0.0404494
0.95428652]
Translation error: 0.015709159679248123
Rotation_error: 0.002156956851277708
Localizing image 353 currently
caption post ram and filtering: pole . stand
Initial ICP point clouds saved
Getting assignments
(1, 48)
Phrases: ['stand']
[[ 0.29571646 0.55389357 0.24209413 -0.06095719 0.5530634 0.6982807
0.72777426 -0.13168064 -0.04485159 -0.03521371 0.0447112 0.3440137
0.70479167 0.36005932 0.803936 -0.01118761 0.20384617 -0.08849739
0.00101944 0.02624582 0.05207048 -0.23087195 -0.12912314 0.0449088
-0.22785102 -0.24544545 0.11857295 0.03995332 0.01603717 -0.08516355
0.63578147 -0.17512807 -0.05235295 0.43760353 0.3496298 0.2743223
0.486972 0.5452015 0.28342134 -0.29496178 -0.1418353 0.06241432
-0.20193061 0.427193 0.08911455 -0.10406076 -0.2814682 -0.04108873]]
V?
[[ 0.4561781 0.55389357 0.34599182 -0.06095717 0.55306345 0.7090466
0.8641087 -0.11359183 -0.04485159 0.02195105 0.06130321 0.49617213
0.84246624 0.3578452 0.8426363 0.15042448 0.20801291 -0.08849741
0.00101944 0.02624583 0.07994151 -0.19245408 0.48168302 0.10000125
-0.22785105 -0.24544547 0.4283571 0.20213953 0.18512596 0.2111457
0.6778992 -0.10555448 0.2644394 0.6233549 0.7258048 0.51846486
0.6361086 0.6249379 0.28342134 0.04032731 -0.04956556 0.21089587
-0.15265341 0.5372578 0.27374172 -0.10406074 -0.28146827 -0.04108873]]
Assignments being considered: [[[0, 6]], [[0, 14]], [[0, 12]], [[0, 34]], [[0, 5]], [[0, 30]]]
Assn: [[0, 30]] | chosen RMSE: 0.5201566637246249 | full RMSE: 0.4670233892321271 | chosen fitness: 0.005541420443068694 | full memory fitness: 0.4670233892321271
Assn: [[0, 12]] | chosen RMSE: 0.3154567519858782 | full RMSE: 0.19858781994704325 | chosen fitness: 0.00985763662832461 | full memory fitness: 0.19858781994704325
Assn: [[0, 5]] | chosen RMSE: 0.16590909090909092 | full RMSE: 0.12426081200353045 | chosen fitness: 0.011442571204953324 | full memory fitness: 0.12426081200353045
Assn: [[0, 14]] | chosen RMSE: 0.11077890556045895 | full RMSE: 0.0905891438658429 | chosen fitness: 0.0074737324087328074 | full memory fitness: 0.0905891438658429
Assn: [[0, 34]] | chosen RMSE: 0.07063106796116504 | full RMSE: 0.04891879964695499 | chosen fitness: 0.009855655141927468 | full memory fitness: 0.04891879964695499
Assn: [[0, 6]] | chosen RMSE: 0.11283097969991174 | full RMSE: 0.03620917917034422 | chosen fitness: 0.011584235230926564 | full memory fitness: 0.03620917917034422
Best assn: [[0, 30]]
R: [[-0.85169177 0.26139154 0.45419775]
[-0.00113702 0.86579459 -0.50039828]
[-0.52404183 -0.42670152 -0.73709292]]
t: [-0.74129895 0.03993223 0.38973133]
caption post ram and filtering: pole . stand
Img 353 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_11_0.ply
Target pose: [ 3.25 0.90099978 23.5 0.24765218 0.28066728 -0.07520459
0.92425026]
Estimated pose: [ 0.53248172 1.67539333 6.52610096 0.07001171 0.92932493 -0.24940141
0.26315865]
Translation error: 17.20749370347162
Rotation_error: 1.0001807130205502
Localizing image 366 currently
caption post ram and filtering: stand
Initial ICP point clouds saved
Getting assignments
(1, 48)
Phrases: ['stand']
[[ 0.27316818 0.5093864 0.17430298 -0.1098349 0.50720257 0.6743196
0.7505127 -0.16969013 -0.1012853 -0.06712094 -0.00263486 0.3983374
0.74671006 0.39488912 0.8408562 0.0622888 0.2549417 -0.10943648
-0.01480889 -0.00135805 0.09075892 -0.21362394 -0.15815099 0.04237455
-0.20267749 -0.22013804 0.13628063 0.1428896 0.06194538 -0.10662867
0.53236 -0.16521579 -0.01125732 0.44012833 0.32054383 0.19793552
0.48047674 0.54495573 0.28642195 -0.25002727 -0.15621954 0.03724638
-0.18566597 0.5136231 0.09854844 -0.05771672 -0.23763639 -0.07589856]]
V?
[[ 3.89509082e-01 5.09386361e-01 2.74718195e-01 -1.09834924e-01
5.07202625e-01 6.83922648e-01 8.78088892e-01 -1.58884361e-01
-1.01285279e-01 -2.22126413e-02 8.43321264e-04 5.61700881e-01
8.31744313e-01 3.91374797e-01 8.61396015e-01 1.91928700e-01
2.50324398e-01 -1.09436497e-01 -1.48089137e-02 -1.35804899e-03
1.37059033e-01 -1.65363938e-01 3.76312494e-01 1.01430804e-01
-2.02677488e-01 -2.20138133e-01 3.87096941e-01 3.01408529e-01
2.02951223e-01 1.37646168e-01 5.82351446e-01 -1.05655804e-01
2.33346820e-01 5.95859766e-01 6.46181345e-01 4.39972669e-01
5.75283229e-01 6.17848158e-01 2.86421955e-01 4.71061766e-02
-8.07009712e-02 1.64497584e-01 -1.58482432e-01 6.22853220e-01
2.27014646e-01 -5.77167049e-02 -2.37636447e-01 -7.58985430e-02]]
Assignments being considered: [[[0, 6]], [[0, 14]], [[0, 12]], [[0, 5]], [[0, 34]], [[0, 43]]]
Assn: [[0, 5]] | chosen RMSE: 0.09159410459260789 | full RMSE: 0.06714541660829751 | chosen fitness: 0.012030796895860726 | full memory fitness: 0.06714541660829751
Assn: [[0, 43]] | chosen RMSE: 0.11955231473630659 | full RMSE: 0.05632930524732546 | chosen fitness: 0.008038509550237672 | full memory fitness: 0.05632930524732546
Assn: [[0, 14]] | chosen RMSE: 0.037484056004895634 | full RMSE: 0.033119272142799215 | chosen fitness: 0.00810141062676292 | full memory fitness: 0.033119272142799215
Assn: [[0, 34]] | chosen RMSE: 0.029631868820549873 | full RMSE: 0.03082628602605599 | chosen fitness: 0.011947544285813249 | full memory fitness: 0.03082628602605599
Assn: [[0, 12]] | chosen RMSE: 0.0793476417633137 | full RMSE: 0.028489062235034765 | chosen fitness: 0.012383618906028659 | full memory fitness: 0.028489062235034765
Assn: [[0, 6]] | chosen RMSE: 0.04366258451239024 | full RMSE: 0.012548753603527217 | chosen fitness: 0.011575800500677197 | full memory fitness: 0.012548753603527217
Best assn: [[0, 5]]
R: [[ 0.94780706 -0.18199536 -0.26180044]
[-0.04176223 -0.88487856 0.46394597]
[-0.31609761 -0.42879789 -0.84629467]]
t: [ 0.50079419 -0.18190164 -1.0318113 ]