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log2_test.txt
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log2_test.txt
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Begin
/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/ram_swin_large_14m.pth
--------------
load checkpoint from /scratch/aneesh/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'])
SAM loaded
Memory Init'ed
garbage_cans begin processed
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['stool', 'garbage', 'container']
ID: 0 | Names: [stool garbage container] | Num embs: 7 | Pcd size: (3, 21147)
['stool', 'garbage', 'black', 'crate', 'container']
ID: 1 | Names: [stool garbage black crate container] | Num embs: 7 | Pcd size: (3, 23221)
['stool', 'garbage', 'black', 'crate']
ID: 2 | Names: [stool garbage black crate] | Num embs: 7 | Pcd size: (3, 36125)
['stool', 'garbage', 'container']
ID: 3 | Names: [stool garbage container] | Num embs: 7 | Pcd size: (3, 9794)
Target pose: [ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Estimated pose: [ 0.50169644 0.90496947 6.00291454 0.18407788 0.68309023 -0.18226295
0.68284938]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'garbage', 'stool']
ID: 0 | Names: [container garbage stool] | Num embs: 7 | Pcd size: (3, 24377)
['container', 'garbage', 'black', 'crate']
ID: 1 | Names: [container garbage black crate] | Num embs: 7 | Pcd size: (3, 23852)
['container', 'garbage', 'black', 'crate']
ID: 2 | Names: [container garbage black crate] | Num embs: 7 | Pcd size: (3, 38297)
['container', 'garbage', 'stool']
ID: 3 | Names: [container garbage stool] | Num embs: 7 | Pcd size: (3, 11513)
Target pose: [ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Estimated pose: [ 0.5071308 1.008541 7.90231829 0.09178228 0.88283216 -0.26975501
0.37338402]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 21778)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 1 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 19788)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 2 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 36723)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 10701)
Target pose: [ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Estimated pose: [ 2.50496200e+00 9.03772724e-01 7.99804283e+00 4.73125652e-04
9.65850860e-01 -2.59095852e-01 -1.11001033e-03]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 24061)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 1 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 21135)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 2 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 36438)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 10628)
Target pose: [ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Estimated pose: [ 4.50301001 0.89459994 7.75172906 -0.09939043 0.89266374 -0.23739869
-0.37002007]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 22917)
['container', 'stool', 'garbage', 'crate']
ID: 1 | Names: [container stool garbage crate] | Num embs: 7 | Pcd size: (3, 19762)
['container', 'stool', 'garbage', 'crate', 'black']
ID: 2 | Names: [container stool garbage crate black] | Num embs: 7 | Pcd size: (3, 28445)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 9762)
Target pose: [ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Estimated pose: [ 4.44428489 0.95290385 6.2404642 0.19468787 -0.67864454 0.19759368
0.68006982]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 25236)
['container', 'stool', 'garbage', 'black']
ID: 1 | Names: [container stool garbage black] | Num embs: 7 | Pcd size: (3, 23647)
['container', 'stool', 'garbage', 'black']
ID: 2 | Names: [container stool garbage black] | Num embs: 7 | Pcd size: (3, 33338)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 11172)
Target pose: [ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Estimated pose: [ 4.47551928 0.95913202 3.7938938 0.25405646 -0.36990514 0.10464008
0.8875111 ]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 23097)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 1 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 23243)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 2 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 29080)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 8992)
Target pose: [2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Estimated pose: [ 2.54798647 0.89236116 3.74941076 0.25789794 -0.00683185 -0.01200569
0.96607341]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Objects stored in memory:
['container', 'stool', 'garbage']
ID: 0 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 24111)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 1 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 24423)
['container', 'stool', 'garbage', 'black', 'crate']
ID: 2 | Names: [container stool garbage black crate] | Num embs: 7 | Pcd size: (3, 36970)
['container', 'stool', 'garbage']
ID: 3 | Names: [container stool garbage] | Num embs: 7 | Pcd size: (3, 10437)
Target pose: [ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Estimated pose: [ 0.49272883 0.89236594 3.75586044 0.23993944 0.37050765 -0.0952577
0.89223266]
Object: garbage_cans
Pose: 0
Target pose: [ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Estimated pose: [ 0.50169644 0.90496947 6.00291454 0.18407788 0.68309023 -0.18226295
0.68284938]
Pose: 1
Target pose: [ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Estimated pose: [ 0.5071308 1.008541 7.90231829 0.09178228 0.88283216 -0.26975501
0.37338402]
Pose: 2
Target pose: [ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Estimated pose: [ 2.50496200e+00 9.03772724e-01 7.99804283e+00 4.73125652e-04
9.65850860e-01 -2.59095852e-01 -1.11001033e-03]
Pose: 3
Target pose: [ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Estimated pose: [ 4.50301001 0.89459994 7.75172906 -0.09939043 0.89266374 -0.23739869
-0.37002007]
Pose: 4
Target pose: [ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Estimated pose: [ 4.44428489 0.95290385 6.2404642 0.19468787 -0.67864454 0.19759368
0.68006982]
Pose: 5
Target pose: [ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Estimated pose: [ 4.47551928 0.95913202 3.7938938 0.25405646 -0.36990514 0.10464008
0.8875111 ]
Pose: 6
Target pose: [2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Estimated pose: [ 2.54798647 0.89236116 3.74941076 0.25789794 -0.00683185 -0.01200569
0.96607341]
Pose: 7
Target pose: [ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Estimated pose: [ 0.49272883 0.89236594 3.75586044 0.23993944 0.37050765 -0.0952577
0.89223266]
side_tables begin processed
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 4 | Pcd size: (3, 4595)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 18953)
['table', 'furniture', 'chair', 'cube', 'mat', 'yoga mat', 'stool']
ID: 2 | Names: [table furniture chair cube mat yoga mat stool] | Num embs: 11 | Pcd size: (3, 67958)
['chair']
ID: 3 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 4 | Names: [table] | Num embs: 1 | Pcd size: (3, 970)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Estimated pose: [ 0.44326337 0.7668221 5.98745421 0.18712951 0.68927464 -0.15243267
0.68311588]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 1 | Pcd size: (3, 6777)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 19052)
['furniture', 'chair', 'cube', 'mat', 'yoga mat', 'table', 'stool']
ID: 2 | Names: [furniture chair cube mat yoga mat table stool] | Num embs: 11 | Pcd size: (3, 68754)
['chair']
ID: 3 | Names: [chair] | Num embs: 3 | Pcd size: (3, 3471)
['chair']
ID: 4 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 970)
['table']
ID: 6 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Estimated pose: [ 0.57085984 1.05433678 7.99385505 0.10556736 0.88840411 -0.25868555
0.36424642]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7901)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 17076)
['furniture', 'table', 'chair', 'cube', 'mat', 'yoga mat', 'stool']
ID: 2 | Names: [furniture table chair cube mat yoga mat stool] | Num embs: 11 | Pcd size: (3, 66812)
['chair']
ID: 3 | Names: [chair] | Num embs: 2 | Pcd size: (3, 2406)
['chair']
ID: 4 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 974)
['table']
ID: 6 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Estimated pose: [ 2.43059269e+00 8.45551343e-01 8.00070852e+00 -5.82418972e-03
9.67934894e-01 -2.50643407e-01 1.56844763e-02]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7903)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 16616)
['furniture', 'table', 'cube', 'stool']
ID: 2 | Names: [furniture table cube stool] | Num embs: 8 | Pcd size: (3, 46897)
['chair']
ID: 3 | Names: [chair] | Num embs: 2 | Pcd size: (3, 3098)
['mat', 'yoga mat']
ID: 4 | Names: [mat yoga mat] | Num embs: 2 | Pcd size: (3, 15804)
['chair']
ID: 5 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 6 | Names: [table] | Num embs: 1 | Pcd size: (3, 969)
['table']
ID: 7 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Estimated pose: [ 4.49739499 0.91264622 7.74409332 -0.10184648 0.89128036 -0.24165374
-0.36993254]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7902)
['table']
ID: 1 | Names: [table] | Num embs: 6 | Pcd size: (3, 8311)
['furniture', 'table', 'chair', 'yoga mat', 'stool']
ID: 2 | Names: [furniture table chair yoga mat stool] | Num embs: 10 | Pcd size: (3, 44589)
['chair']
ID: 3 | Names: [chair] | Num embs: 2 | Pcd size: (3, 1433)
['chair']
ID: 4 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 968)
['table']
ID: 6 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
[1;33m[Open3D WARNING] Too few correspondences (3717) after mutual filter, fall back to original correspondences.[0;m
Target pose: [ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Estimated pose: [ 4.48568841 0.89761813 6.27628874 -0.18101244 0.69140605 -0.18269353
-0.67514091]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7903)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 18120)
['furniture', 'table', 'chair', 'cube', 'mat', 'stool']
ID: 2 | Names: [furniture table chair cube mat stool] | Num embs: 10 | Pcd size: (3, 62469)
['chair']
ID: 3 | Names: [chair] | Num embs: 3 | Pcd size: (3, 3468)
['chair']
ID: 4 | Names: [chair] | Num embs: 1 | Pcd size: (3, 25654)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 968)
['table']
ID: 6 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Estimated pose: [ 4.52670343 0.93320781 3.79478421 0.24567704 -0.3800968 0.10212138
0.88585577]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Processed
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7903)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 7 | Pcd size: (3, 19589)
['furniture', 'table', 'chair', 'cube', 'mat', 'yoga mat', 'stool']
ID: 2 | Names: [furniture table chair cube mat yoga mat stool] | Num embs: 10 | Pcd size: (3, 53663)
['chair']
ID: 3 | Names: [chair] | Num embs: 3 | Pcd size: (3, 3472)
['chair']
ID: 4 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2628)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 8262)
Target pose: [2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Estimated pose: [ 2.97320997 0.91614192 3.59856232 0.26195738 -0.12637709 0.03612987
0.95608671]
Processing img 0
[ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Processed
Processing img 1
[ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Processed
Processing img 2
[ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Processed
Processing img 3
[ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Processed
Processing img 4
[ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Processed
Processing img 5
[ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Processed
Processing img 6
[2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Processed
Processing img 7
[ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Objects stored in memory:
['chair']
ID: 0 | Names: [chair] | Num embs: 2 | Pcd size: (3, 7902)
['table', 'chair']
ID: 1 | Names: [table chair] | Num embs: 6 | Pcd size: (3, 19410)
['furniture', 'table', 'chair', 'cube', 'mat', 'yoga mat']
ID: 2 | Names: [furniture table chair cube mat yoga mat] | Num embs: 11 | Pcd size: (3, 68149)
['chair']
ID: 3 | Names: [chair] | Num embs: 3 | Pcd size: (3, 3466)
['chair']
ID: 4 | Names: [chair] | Num embs: 2 | Pcd size: (3, 28282)
['table']
ID: 5 | Names: [table] | Num embs: 1 | Pcd size: (3, 970)
Target pose: [ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588
0.89239892]
Estimated pose: [ 0.44558971 0.86885751 3.77454122 0.27662408 0.36877268 -0.03634504
0.88665939]
Object: side_tables
Pose: 0
Target pose: [ 0.5 0.90099978 6. 0.18301265 0.68301288 -0.18301275
0.68301252]
Estimated pose: [ 0.50169644 0.90496947 6.00291454 0.18407788 0.68309023 -0.18226295
0.68284938]
Pose: 1
Target pose: [ 0.5 0.90099978 8. 0.0990457 0.8923992 -0.23911764
0.36964357]
Estimated pose: [ 0.5071308 1.008541 7.90231829 0.09178228 0.88283216 -0.26975501
0.37338402]
Pose: 2
Target pose: [ 2.50000000e+00 9.00999784e-01 8.00000000e+00 -6.89276810e-08
9.65925826e-01 -2.58819045e-01 -2.57241608e-07]
Estimated pose: [ 2.50496200e+00 9.03772724e-01 7.99804283e+00 4.73125652e-04
9.65850860e-01 -2.59095852e-01 -1.11001033e-03]
Pose: 3
Target pose: [ 4.5 0.90099978 7.75 -0.09904586 0.89239895 -0.23911758
-0.36964417]
Estimated pose: [ 4.50301001 0.89459994 7.75172906 -0.09939043 0.89266374 -0.23739869
-0.37002007]
Pose: 4
Target pose: [ 4.5 0.90099978 6.25 -0.1830128 0.68301234 -0.1830126
-0.68301307]
Estimated pose: [ 4.44428489 0.95290385 6.2404642 0.19468787 -0.67864454 0.19759368
0.68006982]
Pose: 5
Target pose: [ 4.5 0.90099978 3.75 -0.23911764 0.36964357 -0.0990457
-0.8923992 ]
Estimated pose: [ 4.47551928 0.95913202 3.7938938 0.25405646 -0.36990514 0.10464008
0.8875111 ]
Pose: 6
Target pose: [2.5 0.90099978 3.75 0.25881905 0. 0.
0.96592583]
Estimated pose: [ 2.54798647 0.89236116 3.74941076 0.25789794 -0.00683185 -0.01200569
0.96607341]
Pose: 7
Target pose: [ 0.5 0.90099978 3.75 0.23911757 0.36964426 -0.09904588