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semantic3.log
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Precompute neighbors.[=> ] 2%Precompute neighbors.[==> ] 5%Precompute neighbors.[===> ] 7%Precompute neighbors.[====> ] 10%Precompute neighbors.[=====> ] 12%Precompute neighbors.[======> ] 15%Precompute neighbors.[=======> ] 17%Precompute neighbors.[========> ] 20%Precompute neighbors.[=========> ] 22%Precompute neighbors.[==========> ] 25%Precompute neighbors.[===========> ] 27%Precompute neighbors.[============> ] 30%Precompute neighbors.[=============> ] 32%Precompute neighbors.[==============> ] 35%Precompute neighbors.[===============> ] 37%Precompute neighbors.[================> ] 40%Precompute neighbors.[=================> ] 42%Precompute neighbors.[==================> ] 45%Precompute neighbors.[===================> ] 47%Precompute neighbors.[====================> ] 50%Precompute neighbors.[=====================> ] 52%Precompute neighbors.[======================> ] 55%Precompute neighbors.[=======================> ] 57%Precompute neighbors.[========================> ] 60%Precompute neighbors.[=========================> ] 62%Precompute neighbors.[==========================> ] 65%Precompute neighbors.[===========================> ] 67%Precompute neighbors.[============================> ] 70%Precompute neighbors.[=============================> ] 72%Precompute neighbors.[==============================> ] 75%Precompute neighbors.[===============================> ] 77%Precompute neighbors.[================================> ] 80%Precompute neighbors.[=================================> ] 82%Precompute neighbors.[==================================> ] 85%Precompute neighbors.[===================================> ] 87%Precompute neighbors.[====================================> ] 90%Precompute neighbors.[=====================================> ] 92%Precompute neighbors.[======================================> ] 95%Precompute neighbors.[=======================================>] 97%Precompute neighbors.[========================================] 100%
Clustering[=> ] 2%Clustering[==> ] 5%Clustering[===> ] 7%Clustering[====> ] 10%Clustering[=====> ] 12%Clustering[======> ] 15%Clustering[=======> ] 17%Clustering[========> ] 20%Clustering[=========> ] 22%Clustering[==========> ] 25%Clustering[===========> ] 27%Clustering[============> ] 30%Clustering[=============> ] 32%Clustering[==============> ] 35%Clustering[===============> ] 37%Clustering[================> ] 40%Clustering[=================> ] 42%Clustering[==================> ] 45%Clustering[===================> ] 47%Clustering[====================> ] 50%Clustering[=====================> ] 52%Clustering[======================> ] 55%Clustering[=======================> ] 57%Clustering[========================> ] 60%Clustering[=========================> ] 62%Clustering[==========================> ] 65%Clustering[===========================> ] 67%Clustering[============================> ] 70%Clustering[=============================> ] 72%Clustering[==============================> ] 75%Clustering[===============================> ] 77%Clustering[================================> ] 80%Clustering[=================================> ] 82%Clustering[==================================> ] 85%Clustering[===================================> ] 87%Clustering[====================================> ] 90%Clustering[=====================================> ] 92%Clustering[======================================> ] 95%Clustering[=======================================>] 97%Starting imports
Imports completed in 3.4367167949676514 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=925, 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
(1662221, 3) (3, 16543) PointCloud with 1662221 points.
[-1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
47 48 49 50 51 52 53 54 55 56 57 58 59] (1662221,)
[ 0 0 1 2 3 0 4 0 0 2 0 5 6 7 9 10 7 10 9 11 11 5 5 5
6 12 12 13 6 12 14 15 6 13 13 6 14 12 15 13 13 13 17 19 17 20 21 17
22 18 17 17 24 17 17 24 17 17 18 17 17 17 17 25 25 22 26 25 30 32 26 32
30 26 33 32 30 34 25 25 35 27 30 36 26 33 30 32 26 33 37 38 39 41 38 42
41 44 42 37 38 40 39 42 45 46 40 37 38 40 39 37 40 39 37 40 42 41 40 38
39 42 37 40 39 46 52 37 46 40 39 38 37 45 40 39 38 45 42 37 40 39 38 44
37 45 40 37 40 37 37 44 37 37 44 40 39 40 39 38 37 44 40 39 37 44 40 37
26 40 39 26 33 34 25 25 35 25 36 30 54 25 54 28 34 25 25 25 36 34 25 25
35 28 36 34 25 25 35 25 36 34 25 25 35 36 25 25 54 25 25 25 25 25 34 25
25 35 25 42 42 37 38 43 46 55 56 55 55 57 55 58 7 9 55 55 56 55 55 56
56 59] 49
Label: 0
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Arr len: 6
to clusetr: [ID: 0 | Names: [table] | Num embs: 1 | Pcd size: (3, 16543), ID: 1 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1563), ID: 5 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1529), ID: 7 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1693), ID: 8 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3703), ID: 10 | Names: [stool] | Num embs: 1 | Pcd size: (3, 5206)]
ID: 1 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1563) ID: 0 | Names: [table] | Num embs: 1 | Pcd size: (3, 16543)
ID: 5 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1529) ID: 0 | Names: [table ,stool] | Num embs: 2 | Pcd size: (3, 18106)
ID: 7 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1693) ID: 0 | Names: [table ,stool ,armchair] | Num embs: 3 | Pcd size: (3, 19635)
ID: 8 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3703) ID: 0 | Names: [table ,stool ,armchair ,stool] | Num embs: 4 | Pcd size: (3, 21328)
ID: 10 | Names: [stool] | Num embs: 1 | Pcd size: (3, 5206) ID: 0 | Names: [table ,stool ,armchair ,stool ,stool] | Num embs: 5 | Pcd size: (3, 25031)
Label: 1
Added
Arr len: 1
to clusetr: [ID: 2 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17440)]
Label: 2
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Added
Arr len: 2
to clusetr: [ID: 3 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2988), ID: 9 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3064)]
ID: 9 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3064) ID: 3 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2988)
Label: 3
Added
Arr len: 1
to clusetr: [ID: 4 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1562)]
Label: 4
Added
Arr len: 1
to clusetr: [ID: 6 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 8084)]
Label: 5
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Added
Added
Added
Arr len: 4
to clusetr: [ID: 11 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1230), ID: 21 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2166), ID: 22 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1306), ID: 23 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1150)]
ID: 21 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2166) ID: 11 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1230)
ID: 22 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1306) ID: 11 | Names: [chair ,armchair] | Num embs: 2 | Pcd size: (3, 3396)
ID: 23 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1150) ID: 11 | Names: [chair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 4702)
Label: 6
Added
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Added
Added
Added
Arr len: 5
to clusetr: [ID: 12 | Names: [food] | Num embs: 1 | Pcd size: (3, 2686), ID: 24 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2543), ID: 28 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1251), ID: 32 | Names: [beverage] | Num embs: 1 | Pcd size: (3, 670), ID: 35 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1953)]
ID: 24 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2543) ID: 12 | Names: [food] | Num embs: 1 | Pcd size: (3, 2686)
ID: 28 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1251) ID: 12 | Names: [food ,chair] | Num embs: 2 | Pcd size: (3, 5229)
ID: 32 | Names: [beverage] | Num embs: 1 | Pcd size: (3, 670) ID: 12 | Names: [food ,chair ,stool] | Num embs: 3 | Pcd size: (3, 6480)
ID: 35 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1953) ID: 12 | Names: [food ,chair ,stool ,beverage] | Num embs: 4 | Pcd size: (3, 7150)
Label: 7
Added
Added
Added
Arr len: 3
to clusetr: [ID: 13 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3679), ID: 16 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5279), ID: 232 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 7145)]
ID: 16 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5279) ID: 13 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3679)
ID: 232 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 7145) ID: 13 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 8958)
Label: 8
Arr len: 0
to clusetr: []
Label: 9
Added
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Arr len: 3
to clusetr: [ID: 14 | Names: [cage] | Num embs: 1 | Pcd size: (3, 15707), ID: 18 | Names: [cage] | Num embs: 1 | Pcd size: (3, 17247), ID: 233 | Names: [table] | Num embs: 1 | Pcd size: (3, 33079)]
ID: 18 | Names: [cage] | Num embs: 1 | Pcd size: (3, 17247) ID: 14 | Names: [cage] | Num embs: 1 | Pcd size: (3, 15707)
ID: 233 | Names: [table] | Num embs: 1 | Pcd size: (3, 33079) ID: 14 | Names: [cage ,cage] | Num embs: 2 | Pcd size: (3, 32954)
Label: 10
Added
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Arr len: 2
to clusetr: [ID: 15 | Names: [cage] | Num embs: 1 | Pcd size: (3, 14277), ID: 17 | Names: [cage] | Num embs: 1 | Pcd size: (3, 18340)]
ID: 17 | Names: [cage] | Num embs: 1 | Pcd size: (3, 18340) ID: 15 | Names: [cage] | Num embs: 1 | Pcd size: (3, 14277)
Label: 11
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Added
Arr len: 2
to clusetr: [ID: 19 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 5523), ID: 20 | Names: [plaster bandage] | Num embs: 1 | Pcd size: (3, 81251)]
ID: 20 | Names: [plaster bandage] | Num embs: 1 | Pcd size: (3, 81251) ID: 19 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 5523)
Label: 12
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Added
Arr len: 4
to clusetr: [ID: 25 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 10763), ID: 26 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 14671), ID: 29 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 8671), ID: 37 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5862)]
ID: 26 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 14671) ID: 25 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 10763)
ID: 29 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 8671) ID: 25 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 25434)
ID: 37 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5862) ID: 25 | Names: [armchair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 34105)
Label: 13
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Arr len: 6
to clusetr: [ID: 27 | Names: [table] | Num embs: 1 | Pcd size: (3, 3240), ID: 33 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1902), ID: 34 | Names: [stool] | Num embs: 1 | Pcd size: (3, 922), ID: 39 | Names: [table] | Num embs: 1 | Pcd size: (3, 1712), ID: 40 | Names: [chair] | Num embs: 1 | Pcd size: (3, 7450), ID: 41 | Names: [table] | Num embs: 1 | Pcd size: (3, 3200)]
ID: 33 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1902) ID: 27 | Names: [table] | Num embs: 1 | Pcd size: (3, 3240)
ID: 34 | Names: [stool] | Num embs: 1 | Pcd size: (3, 922) ID: 27 | Names: [table ,chair] | Num embs: 2 | Pcd size: (3, 5142)
ID: 39 | Names: [table] | Num embs: 1 | Pcd size: (3, 1712) ID: 27 | Names: [table ,chair ,stool] | Num embs: 3 | Pcd size: (3, 6064)
ID: 40 | Names: [chair] | Num embs: 1 | Pcd size: (3, 7450) ID: 27 | Names: [table ,chair ,stool ,table] | Num embs: 4 | Pcd size: (3, 7776)
ID: 41 | Names: [table] | Num embs: 1 | Pcd size: (3, 3200) ID: 27 | Names: [table ,chair ,stool ,table ,chair] | Num embs: 5 | Pcd size: (3, 15226)
Label: 14
Added
Added
Arr len: 2
to clusetr: [ID: 30 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3053), ID: 36 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 4214)]
ID: 36 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 4214) ID: 30 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3053)
Label: 15
Added
Added
Arr len: 2
to clusetr: [ID: 31 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 916), ID: 38 | Names: [table] | Num embs: 1 | Pcd size: (3, 2917)]
ID: 38 | Names: [table] | Num embs: 1 | Pcd size: (3, 2917) ID: 31 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 916)
Label: 16
Arr len: 0
to clusetr: []
Label: 17
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 13
to clusetr: [ID: 42 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1396), ID: 44 | Names: [stool] | Num embs: 1 | Pcd size: (3, 983), ID: 47 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 866), ID: 50 | Names: [stool] | Num embs: 1 | Pcd size: (3, 747), ID: 51 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2261), ID: 53 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1717), ID: 54 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6625), ID: 56 | Names: [table] | Num embs: 1 | Pcd size: (3, 4438), ID: 57 | Names: [chair] | Num embs: 1 | Pcd size: (3, 4824), ID: 59 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2686), ID: 60 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2223), ID: 61 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2328), ID: 62 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1689)]
ID: 44 | Names: [stool] | Num embs: 1 | Pcd size: (3, 983) ID: 42 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1396)
ID: 47 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 866) ID: 42 | Names: [armchair ,stool] | Num embs: 2 | Pcd size: (3, 2379)
ID: 50 | Names: [stool] | Num embs: 1 | Pcd size: (3, 747) ID: 42 | Names: [armchair ,stool ,armchair] | Num embs: 3 | Pcd size: (3, 3245)
ID: 51 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2261) ID: 42 | Names: [armchair ,stool ,armchair ,stool] | Num embs: 4 | Pcd size: (3, 3992)
ID: 53 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1717) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair] | Num embs: 5 | Pcd size: (3, 6253)
ID: 54 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6625) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool] | Num embs: 6 | Pcd size: (3, 7970)
ID: 56 | Names: [table] | Num embs: 1 | Pcd size: (3, 4438) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair] | Num embs: 7 | Pcd size: (3, 14595)
ID: 57 | Names: [chair] | Num embs: 1 | Pcd size: (3, 4824) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table] | Num embs: 8 | Pcd size: (3, 19033)
ID: 59 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2686) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair] | Num embs: 9 | Pcd size: (3, 23857)
ID: 60 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2223) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair] | Num embs: 10 | Pcd size: (3, 26543)
ID: 61 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2328) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair ,stool] | Num embs: 11 | Pcd size: (3, 28766)
ID: 62 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1689) ID: 42 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair ,stool ,chair] | Num embs: 12 | Pcd size: (3, 31094)
Label: 18
Added
Added
Arr len: 2
to clusetr: [ID: 49 | Names: [couch] | Num embs: 1 | Pcd size: (3, 4028), ID: 58 | Names: [spiral] | Num embs: 1 | Pcd size: (3, 16802)]
ID: 58 | Names: [spiral] | Num embs: 1 | Pcd size: (3, 16802) ID: 49 | Names: [couch] | Num embs: 1 | Pcd size: (3, 4028)
Label: 19
Added
Arr len: 1
to clusetr: [ID: 43 | Names: [box] | Num embs: 1 | Pcd size: (3, 19932)]
Label: 20
Added
Arr len: 1
to clusetr: [ID: 45 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21532)]
Label: 21
Added
Arr len: 1
to clusetr: [ID: 46 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 16859)]
Label: 22
Added
Added
Arr len: 2
to clusetr: [ID: 48 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2150), ID: 65 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 5170)]
ID: 65 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 5170) ID: 48 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2150)
Label: 23
Arr len: 0
to clusetr: []
Label: 24
Added
Added
Arr len: 2
to clusetr: [ID: 52 | Names: [stool] | Num embs: 1 | Pcd size: (3, 675), ID: 55 | Names: [table] | Num embs: 1 | Pcd size: (3, 2781)]
ID: 55 | Names: [table] | Num embs: 1 | Pcd size: (3, 2781) ID: 52 | Names: [stool] | Num embs: 1 | Pcd size: (3, 675)
Label: 25
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 29
to clusetr: [ID: 63 | Names: [bed] | Num embs: 1 | Pcd size: (3, 84414), ID: 64 | Names: [bed] | Num embs: 1 | Pcd size: (3, 61737), ID: 67 | Names: [chair] | Num embs: 1 | Pcd size: (3, 612), ID: 78 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1308), ID: 79 | Names: [chair] | Num embs: 1 | Pcd size: (3, 865), ID: 174 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2491), ID: 175 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1129), ID: 177 | Names: [table] | Num embs: 1 | Pcd size: (3, 701), ID: 181 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3110), ID: 185 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3381), ID: 186 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1377), ID: 187 | Names: [table] | Num embs: 1 | Pcd size: (3, 1941), ID: 190 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1230), ID: 191 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1207), ID: 196 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2447), ID: 197 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1502), ID: 199 | Names: [table] | Num embs: 1 | Pcd size: (3, 2792), ID: 202 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1719), ID: 203 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1531), ID: 206 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2347), ID: 207 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2438), ID: 209 | Names: [pole] | Num embs: 1 | Pcd size: (3, 92345), ID: 210 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1974), ID: 211 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3921), ID: 212 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2101), ID: 213 | Names: [table] | Num embs: 1 | Pcd size: (3, 45355), ID: 215 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2163), ID: 216 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3937), ID: 218 | Names: [stool] | Num embs: 1 | Pcd size: (3, 6235)]
ID: 64 | Names: [bed] | Num embs: 1 | Pcd size: (3, 61737) ID: 63 | Names: [bed] | Num embs: 1 | Pcd size: (3, 84414)
ID: 67 | Names: [chair] | Num embs: 1 | Pcd size: (3, 612) ID: 63 | Names: [bed ,bed] | Num embs: 2 | Pcd size: (3, 146151)
ID: 78 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1308) ID: 63 | Names: [bed ,bed ,chair] | Num embs: 3 | Pcd size: (3, 146763)
ID: 79 | Names: [chair] | Num embs: 1 | Pcd size: (3, 865) ID: 63 | Names: [bed ,bed ,chair ,chair] | Num embs: 4 | Pcd size: (3, 148071)
ID: 174 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2491) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair] | Num embs: 5 | Pcd size: (3, 148936)
ID: 175 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1129) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair] | Num embs: 6 | Pcd size: (3, 151427)
ID: 177 | Names: [table] | Num embs: 1 | Pcd size: (3, 701) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair] | Num embs: 7 | Pcd size: (3, 152556)
ID: 181 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3110) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table] | Num embs: 8 | Pcd size: (3, 153257)
ID: 185 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3381) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair] | Num embs: 9 | Pcd size: (3, 156367)
ID: 186 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1377) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair] | Num embs: 10 | Pcd size: (3, 159748)
ID: 187 | Names: [table] | Num embs: 1 | Pcd size: (3, 1941) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair] | Num embs: 11 | Pcd size: (3, 161125)
ID: 190 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1230) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table] | Num embs: 12 | Pcd size: (3, 163066)
ID: 191 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1207) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair] | Num embs: 13 | Pcd size: (3, 164296)
ID: 196 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2447) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair] | Num embs: 14 | Pcd size: (3, 165503)
ID: 197 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1502) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair] | Num embs: 15 | Pcd size: (3, 167950)
ID: 199 | Names: [table] | Num embs: 1 | Pcd size: (3, 2792) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair] | Num embs: 16 | Pcd size: (3, 169452)
ID: 202 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1719) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table] | Num embs: 17 | Pcd size: (3, 172244)
ID: 203 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1531) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair] | Num embs: 18 | Pcd size: (3, 173963)
ID: 206 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2347) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair] | Num embs: 19 | Pcd size: (3, 175494)
ID: 207 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2438) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool] | Num embs: 20 | Pcd size: (3, 177841)
ID: 209 | Names: [pole] | Num embs: 1 | Pcd size: (3, 92345) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair] | Num embs: 21 | Pcd size: (3, 180279)
ID: 210 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1974) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole] | Num embs: 22 | Pcd size: (3, 272624)
ID: 211 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3921) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair] | Num embs: 23 | Pcd size: (3, 274598)
ID: 212 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2101) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair] | Num embs: 24 | Pcd size: (3, 278519)
ID: 213 | Names: [table] | Num embs: 1 | Pcd size: (3, 45355) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair] | Num embs: 25 | Pcd size: (3, 280620)
ID: 215 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2163) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table] | Num embs: 26 | Pcd size: (3, 325975)
ID: 216 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3937) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table ,chair] | Num embs: 27 | Pcd size: (3, 328138)
ID: 218 | Names: [stool] | Num embs: 1 | Pcd size: (3, 6235) ID: 63 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table ,chair ,chair] | Num embs: 28 | Pcd size: (3, 332075)
Label: 26
Added
Added
Added
Added
Added
Added
Added
Arr len: 7
to clusetr: [ID: 66 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 10998), ID: 70 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 12209), ID: 73 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21559), ID: 84 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 15968), ID: 88 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6269), ID: 168 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2021), ID: 171 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21441)]
ID: 70 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 12209) ID: 66 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 10998)
ID: 73 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21559) ID: 66 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 23207)
ID: 84 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 15968) ID: 66 | Names: [armchair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 44766)
ID: 88 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6269) ID: 66 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 60734)
ID: 168 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2021) ID: 66 | Names: [armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 5 | Pcd size: (3, 67003)
ID: 171 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21441) ID: 66 | Names: [armchair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 6 | Pcd size: (3, 69024)
Label: 27
Added
Arr len: 1
to clusetr: [ID: 81 | Names: [table] | Num embs: 1 | Pcd size: (3, 674)]
Label: 28
Added
Added
Arr len: 2
to clusetr: [ID: 183 | Names: [table] | Num embs: 1 | Pcd size: (3, 4210), ID: 193 | Names: [table] | Num embs: 1 | Pcd size: (3, 1882)]
ID: 193 | Names: [table] | Num embs: 1 | Pcd size: (3, 1882) ID: 183 | Names: [table] | Num embs: 1 | Pcd size: (3, 4210)
Label: 29
Arr len: 0
to clusetr: []
Label: 30
Added
Added
Added
Added
Added
Added
Arr len: 6
to clusetr: [ID: 68 | Names: [table] | Num embs: 1 | Pcd size: (3, 6160), ID: 72 | Names: [table] | Num embs: 1 | Pcd size: (3, 4275), ID: 76 | Names: [table] | Num embs: 1 | Pcd size: (3, 1967), ID: 82 | Names: [table] | Num embs: 1 | Pcd size: (3, 1430), ID: 86 | Names: [table] | Num embs: 1 | Pcd size: (3, 1635), ID: 179 | Names: [table] | Num embs: 1 | Pcd size: (3, 359)]
ID: 72 | Names: [table] | Num embs: 1 | Pcd size: (3, 4275) ID: 68 | Names: [table] | Num embs: 1 | Pcd size: (3, 6160)
ID: 76 | Names: [table] | Num embs: 1 | Pcd size: (3, 1967) ID: 68 | Names: [table ,table] | Num embs: 2 | Pcd size: (3, 10435)
ID: 82 | Names: [table] | Num embs: 1 | Pcd size: (3, 1430) ID: 68 | Names: [table ,table ,table] | Num embs: 3 | Pcd size: (3, 12402)
ID: 86 | Names: [table] | Num embs: 1 | Pcd size: (3, 1635) ID: 68 | Names: [table ,table ,table ,table] | Num embs: 4 | Pcd size: (3, 13832)
ID: 179 | Names: [table] | Num embs: 1 | Pcd size: (3, 359) ID: 68 | Names: [table ,table ,table ,table ,table] | Num embs: 5 | Pcd size: (3, 15467)
Label: 31
Arr len: 0
to clusetr: []
Label: 32
Added
Added
Added
Added
Arr len: 4
to clusetr: [ID: 69 | Names: [hassock] | Num embs: 1 | Pcd size: (3, 9288), ID: 71 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 8335), ID: 75 | Names: [chair] | Num embs: 1 | Pcd size: (3, 8508), ID: 87 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3551)]
ID: 71 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 8335) ID: 69 | Names: [hassock] | Num embs: 1 | Pcd size: (3, 9288)
ID: 75 | Names: [chair] | Num embs: 1 | Pcd size: (3, 8508) ID: 69 | Names: [hassock ,armchair] | Num embs: 2 | Pcd size: (3, 17623)
ID: 87 | Names: [stool] | Num embs: 1 | Pcd size: (3, 3551) ID: 69 | Names: [hassock ,armchair ,chair] | Num embs: 3 | Pcd size: (3, 26131)
Label: 33
Added
Added
Added
Added
Arr len: 4
to clusetr: [ID: 74 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 2737), ID: 85 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1964), ID: 89 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 548), ID: 172 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4294)]
ID: 85 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1964) ID: 74 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 2737)
ID: 89 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 548) ID: 74 | Names: [lamp ,lamp] | Num embs: 2 | Pcd size: (3, 4701)
ID: 172 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4294) ID: 74 | Names: [lamp ,lamp ,lamp] | Num embs: 3 | Pcd size: (3, 5249)
Label: 34
Added
Added
Added
Added
Added
Added
Added
Arr len: 7
to clusetr: [ID: 77 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 709), ID: 173 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1367), ID: 184 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1974), ID: 189 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1379), ID: 195 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 2004), ID: 201 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1777), ID: 214 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 995)]
ID: 173 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1367) ID: 77 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 709)
ID: 184 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1974) ID: 77 | Names: [lamp ,lamp] | Num embs: 2 | Pcd size: (3, 2076)
ID: 189 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1379) ID: 77 | Names: [lamp ,lamp ,lamp] | Num embs: 3 | Pcd size: (3, 4050)
ID: 195 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 2004) ID: 77 | Names: [lamp ,lamp ,lamp ,lamp] | Num embs: 4 | Pcd size: (3, 5429)
ID: 201 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1777) ID: 77 | Names: [lamp ,lamp ,lamp ,lamp ,lamp] | Num embs: 5 | Pcd size: (3, 7433)
ID: 214 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 995) ID: 77 | Names: [lamp ,lamp ,lamp ,lamp ,lamp ,lamp] | Num embs: 6 | Pcd size: (3, 9210)
Label: 35
Added
Added
Added
Added
Added
Added
Arr len: 6
to clusetr: [ID: 80 | Names: [table] | Num embs: 1 | Pcd size: (3, 2703), ID: 176 | Names: [table] | Num embs: 1 | Pcd size: (3, 7420), ID: 192 | Names: [table] | Num embs: 1 | Pcd size: (3, 8903), ID: 198 | Names: [table] | Num embs: 1 | Pcd size: (3, 23092), ID: 204 | Names: [table] | Num embs: 1 | Pcd size: (3, 16189), ID: 217 | Names: [table] | Num embs: 1 | Pcd size: (3, 19530)]
ID: 176 | Names: [table] | Num embs: 1 | Pcd size: (3, 7420) ID: 80 | Names: [table] | Num embs: 1 | Pcd size: (3, 2703)
ID: 192 | Names: [table] | Num embs: 1 | Pcd size: (3, 8903) ID: 80 | Names: [table ,table] | Num embs: 2 | Pcd size: (3, 10123)
ID: 198 | Names: [table] | Num embs: 1 | Pcd size: (3, 23092) ID: 80 | Names: [table ,table ,table] | Num embs: 3 | Pcd size: (3, 19026)
ID: 204 | Names: [table] | Num embs: 1 | Pcd size: (3, 16189) ID: 80 | Names: [table ,table ,table ,table] | Num embs: 4 | Pcd size: (3, 42118)
ID: 217 | Names: [table] | Num embs: 1 | Pcd size: (3, 19530) ID: 80 | Names: [table ,table ,table ,table ,table] | Num embs: 5 | Pcd size: (3, 58307)
Label: 36
Added
Added
Added
Added
Added
Added
Arr len: 6
to clusetr: [ID: 83 | Names: [table] | Num embs: 1 | Pcd size: (3, 3591), ID: 178 | Names: [table] | Num embs: 1 | Pcd size: (3, 7458), ID: 188 | Names: [dinning table] | Num embs: 1 | Pcd size: (3, 8095), ID: 194 | Names: [table] | Num embs: 1 | Pcd size: (3, 3773), ID: 200 | Names: [table] | Num embs: 1 | Pcd size: (3, 4549), ID: 205 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1029)]
ID: 178 | Names: [table] | Num embs: 1 | Pcd size: (3, 7458) ID: 83 | Names: [table] | Num embs: 1 | Pcd size: (3, 3591)
ID: 188 | Names: [dinning table] | Num embs: 1 | Pcd size: (3, 8095) ID: 83 | Names: [table ,table] | Num embs: 2 | Pcd size: (3, 11049)
ID: 194 | Names: [table] | Num embs: 1 | Pcd size: (3, 3773) ID: 83 | Names: [table ,table ,dinning table] | Num embs: 3 | Pcd size: (3, 19144)
ID: 200 | Names: [table] | Num embs: 1 | Pcd size: (3, 4549) ID: 83 | Names: [table ,table ,dinning table ,table] | Num embs: 4 | Pcd size: (3, 22917)
ID: 205 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1029) ID: 83 | Names: [table ,table ,dinning table ,table ,table] | Num embs: 5 | Pcd size: (3, 27466)
Label: 37
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
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Added
Added
Arr len: 19
to clusetr: [ID: 90 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3200), ID: 99 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1073), ID: 107 | Names: [chair] | Num embs: 1 | Pcd size: (3, 816), ID: 111 | Names: [chair] | Num embs: 1 | Pcd size: (3, 926), ID: 114 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3216), ID: 122 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 659), ID: 127 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1260), ID: 132 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1196), ID: 139 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1224), ID: 144 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1765), ID: 147 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2511), ID: 149 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 37912), ID: 150 | Names: [stair] | Num embs: 1 | Pcd size: (3, 4289), ID: 152 | Names: [chair] | Num embs: 1 | Pcd size: (3, 912), ID: 153 | Names: [chair] | Num embs: 1 | Pcd size: (3, 928), ID: 160 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1071), ID: 164 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1857), ID: 167 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 625), ID: 221 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 682)]
ID: 99 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1073) ID: 90 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3200)
ID: 107 | Names: [chair] | Num embs: 1 | Pcd size: (3, 816) ID: 90 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 4273)
ID: 111 | Names: [chair] | Num embs: 1 | Pcd size: (3, 926) ID: 90 | Names: [armchair ,armchair ,chair] | Num embs: 3 | Pcd size: (3, 5089)
ID: 114 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3216) ID: 90 | Names: [armchair ,armchair ,chair ,chair] | Num embs: 4 | Pcd size: (3, 6015)
ID: 122 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 659) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair] | Num embs: 5 | Pcd size: (3, 9231)
ID: 127 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1260) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair] | Num embs: 6 | Pcd size: (3, 9890)
ID: 132 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1196) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair] | Num embs: 7 | Pcd size: (3, 11150)
ID: 139 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1224) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair] | Num embs: 8 | Pcd size: (3, 12346)
ID: 144 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1765) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 9 | Pcd size: (3, 13570)
ID: 147 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2511) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 10 | Pcd size: (3, 15335)
ID: 149 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 37912) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair] | Num embs: 11 | Pcd size: (3, 17846)
ID: 150 | Names: [stair] | Num embs: 1 | Pcd size: (3, 4289) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp] | Num embs: 12 | Pcd size: (3, 55758)
ID: 152 | Names: [chair] | Num embs: 1 | Pcd size: (3, 912) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair] | Num embs: 13 | Pcd size: (3, 60047)
ID: 153 | Names: [chair] | Num embs: 1 | Pcd size: (3, 928) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair] | Num embs: 14 | Pcd size: (3, 60959)
ID: 160 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1071) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair] | Num embs: 15 | Pcd size: (3, 61887)
ID: 164 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1857) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair ,chair] | Num embs: 16 | Pcd size: (3, 62958)
ID: 167 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 625) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair ,chair ,armchair] | Num embs: 17 | Pcd size: (3, 64815)
ID: 221 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 682) ID: 90 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair ,chair ,armchair ,armchair] | Num embs: 18 | Pcd size: (3, 65440)
Label: 38
Added
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Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 10
to clusetr: [ID: 91 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2269), ID: 94 | Names: [table] | Num embs: 1 | Pcd size: (3, 4616), ID: 100 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 17279), ID: 108 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3417), ID: 119 | Names: [table] | Num embs: 1 | Pcd size: (3, 5895), ID: 131 | Names: [table] | Num embs: 1 | Pcd size: (3, 6963), ID: 136 | Names: [table] | Num embs: 1 | Pcd size: (3, 14512), ID: 142 | Names: [table] | Num embs: 1 | Pcd size: (3, 22641), ID: 159 | Names: [table] | Num embs: 1 | Pcd size: (3, 2833), ID: 222 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 11080)]
ID: 94 | Names: [table] | Num embs: 1 | Pcd size: (3, 4616) ID: 91 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2269)
ID: 100 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 17279) ID: 91 | Names: [stool ,table] | Num embs: 2 | Pcd size: (3, 6885)
ID: 108 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3417) ID: 91 | Names: [stool ,table ,billiard table] | Num embs: 3 | Pcd size: (3, 24164)
ID: 119 | Names: [table] | Num embs: 1 | Pcd size: (3, 5895) ID: 91 | Names: [stool ,table ,billiard table ,chair] | Num embs: 4 | Pcd size: (3, 27581)
ID: 131 | Names: [table] | Num embs: 1 | Pcd size: (3, 6963) ID: 91 | Names: [stool ,table ,billiard table ,chair ,table] | Num embs: 5 | Pcd size: (3, 33476)
ID: 136 | Names: [table] | Num embs: 1 | Pcd size: (3, 14512) ID: 91 | Names: [stool ,table ,billiard table ,chair ,table ,table] | Num embs: 6 | Pcd size: (3, 40439)
ID: 142 | Names: [table] | Num embs: 1 | Pcd size: (3, 22641) ID: 91 | Names: [stool ,table ,billiard table ,chair ,table ,table ,table] | Num embs: 7 | Pcd size: (3, 54951)
ID: 159 | Names: [table] | Num embs: 1 | Pcd size: (3, 2833) ID: 91 | Names: [stool ,table ,billiard table ,chair ,table ,table ,table ,table] | Num embs: 8 | Pcd size: (3, 77592)
ID: 222 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 11080) ID: 91 | Names: [stool ,table ,billiard table ,chair ,table ,table ,table ,table ,table] | Num embs: 9 | Pcd size: (3, 80425)
Label: 39
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 13
to clusetr: [ID: 92 | Names: [stool] | Num embs: 1 | Pcd size: (3, 713), ID: 102 | Names: [table] | Num embs: 1 | Pcd size: (3, 796), ID: 110 | Names: [table] | Num embs: 1 | Pcd size: (3, 23382), ID: 113 | Names: [table] | Num embs: 1 | Pcd size: (3, 29127), ID: 120 | Names: [table] | Num embs: 1 | Pcd size: (3, 3241), ID: 124 | Names: [table] | Num embs: 1 | Pcd size: (3, 12215), ID: 130 | Names: [table] | Num embs: 1 | Pcd size: (3, 11917), ID: 135 | Names: [table] | Num embs: 1 | Pcd size: (3, 6576), ID: 141 | Names: [table] | Num embs: 1 | Pcd size: (3, 3209), ID: 156 | Names: [table] | Num embs: 1 | Pcd size: (3, 6635), ID: 158 | Names: [table] | Num embs: 1 | Pcd size: (3, 4922), ID: 163 | Names: [table] | Num embs: 1 | Pcd size: (3, 837), ID: 170 | Names: [table] | Num embs: 1 | Pcd size: (3, 483)]
ID: 102 | Names: [table] | Num embs: 1 | Pcd size: (3, 796) ID: 92 | Names: [stool] | Num embs: 1 | Pcd size: (3, 713)
ID: 110 | Names: [table] | Num embs: 1 | Pcd size: (3, 23382) ID: 92 | Names: [stool ,table] | Num embs: 2 | Pcd size: (3, 1509)
ID: 113 | Names: [table] | Num embs: 1 | Pcd size: (3, 29127) ID: 92 | Names: [stool ,table ,table] | Num embs: 3 | Pcd size: (3, 24891)
ID: 120 | Names: [table] | Num embs: 1 | Pcd size: (3, 3241) ID: 92 | Names: [stool ,table ,table ,table] | Num embs: 4 | Pcd size: (3, 54018)
ID: 124 | Names: [table] | Num embs: 1 | Pcd size: (3, 12215) ID: 92 | Names: [stool ,table ,table ,table ,table] | Num embs: 5 | Pcd size: (3, 57259)
ID: 130 | Names: [table] | Num embs: 1 | Pcd size: (3, 11917) ID: 92 | Names: [stool ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 69474)
ID: 135 | Names: [table] | Num embs: 1 | Pcd size: (3, 6576) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table] | Num embs: 7 | Pcd size: (3, 81391)
ID: 141 | Names: [table] | Num embs: 1 | Pcd size: (3, 3209) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table ,table] | Num embs: 8 | Pcd size: (3, 87967)
ID: 156 | Names: [table] | Num embs: 1 | Pcd size: (3, 6635) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 9 | Pcd size: (3, 91176)
ID: 158 | Names: [table] | Num embs: 1 | Pcd size: (3, 4922) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 10 | Pcd size: (3, 97811)
ID: 163 | Names: [table] | Num embs: 1 | Pcd size: (3, 837) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 11 | Pcd size: (3, 102733)
ID: 170 | Names: [table] | Num embs: 1 | Pcd size: (3, 483) ID: 92 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 12 | Pcd size: (3, 103570)
Label: 40
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 17
to clusetr: [ID: 101 | Names: [table] | Num embs: 1 | Pcd size: (3, 576), ID: 106 | Names: [stool] | Num embs: 1 | Pcd size: (3, 720), ID: 109 | Names: [table] | Num embs: 1 | Pcd size: (3, 2884), ID: 112 | Names: [table] | Num embs: 1 | Pcd size: (3, 7379), ID: 115 | Names: [table] | Num embs: 1 | Pcd size: (3, 4724), ID: 118 | Names: [table] | Num embs: 1 | Pcd size: (3, 2431), ID: 123 | Names: [table] | Num embs: 1 | Pcd size: (3, 5858), ID: 129 | Names: [table] | Num embs: 1 | Pcd size: (3, 1295), ID: 134 | Names: [table] | Num embs: 1 | Pcd size: (3, 900), ID: 140 | Names: [table] | Num embs: 1 | Pcd size: (3, 650), ID: 146 | Names: [table] | Num embs: 1 | Pcd size: (3, 3174), ID: 148 | Names: [table] | Num embs: 1 | Pcd size: (3, 6778), ID: 155 | Names: [table] | Num embs: 1 | Pcd size: (3, 16818), ID: 157 | Names: [table] | Num embs: 1 | Pcd size: (3, 8342), ID: 162 | Names: [table] | Num embs: 1 | Pcd size: (3, 17723), ID: 166 | Names: [table] | Num embs: 1 | Pcd size: (3, 6910), ID: 169 | Names: [table] | Num embs: 1 | Pcd size: (3, 4703)]
ID: 106 | Names: [stool] | Num embs: 1 | Pcd size: (3, 720) ID: 101 | Names: [table] | Num embs: 1 | Pcd size: (3, 576)
ID: 109 | Names: [table] | Num embs: 1 | Pcd size: (3, 2884) ID: 101 | Names: [table ,stool] | Num embs: 2 | Pcd size: (3, 1296)
ID: 112 | Names: [table] | Num embs: 1 | Pcd size: (3, 7379) ID: 101 | Names: [table ,stool ,table] | Num embs: 3 | Pcd size: (3, 4180)
ID: 115 | Names: [table] | Num embs: 1 | Pcd size: (3, 4724) ID: 101 | Names: [table ,stool ,table ,table] | Num embs: 4 | Pcd size: (3, 11559)
ID: 118 | Names: [table] | Num embs: 1 | Pcd size: (3, 2431) ID: 101 | Names: [table ,stool ,table ,table ,table] | Num embs: 5 | Pcd size: (3, 16283)
ID: 123 | Names: [table] | Num embs: 1 | Pcd size: (3, 5858) ID: 101 | Names: [table ,stool ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 18714)
ID: 129 | Names: [table] | Num embs: 1 | Pcd size: (3, 1295) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table] | Num embs: 7 | Pcd size: (3, 24572)
ID: 134 | Names: [table] | Num embs: 1 | Pcd size: (3, 900) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table] | Num embs: 8 | Pcd size: (3, 25867)
ID: 140 | Names: [table] | Num embs: 1 | Pcd size: (3, 650) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table] | Num embs: 9 | Pcd size: (3, 26767)
ID: 146 | Names: [table] | Num embs: 1 | Pcd size: (3, 3174) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 10 | Pcd size: (3, 27417)
ID: 148 | Names: [table] | Num embs: 1 | Pcd size: (3, 6778) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 11 | Pcd size: (3, 30591)
ID: 155 | Names: [table] | Num embs: 1 | Pcd size: (3, 16818) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 12 | Pcd size: (3, 37369)
ID: 157 | Names: [table] | Num embs: 1 | Pcd size: (3, 8342) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 13 | Pcd size: (3, 54187)
ID: 162 | Names: [table] | Num embs: 1 | Pcd size: (3, 17723) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 14 | Pcd size: (3, 62529)
ID: 166 | Names: [table] | Num embs: 1 | Pcd size: (3, 6910) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 15 | Pcd size: (3, 80252)
ID: 169 | Names: [table] | Num embs: 1 | Pcd size: (3, 4703) ID: 101 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 16 | Pcd size: (3, 87162)
Label: 41
Added
Added
Added
Arr len: 3
to clusetr: [ID: 93 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 9764), ID: 96 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6420), ID: 117 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1179)]
ID: 96 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6420) ID: 93 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 9764)
ID: 117 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 1179) ID: 93 | Names: [lamp ,armchair] | Num embs: 2 | Pcd size: (3, 16184)
Label: 42
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 8
to clusetr: [ID: 95 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6318), ID: 98 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 15968), ID: 103 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17449), ID: 116 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 11050), ID: 121 | Names: [pillow] | Num embs: 1 | Pcd size: (3, 4035), ID: 138 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3508), ID: 219 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5346), ID: 220 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 14939)]
ID: 98 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 15968) ID: 95 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 6318)
ID: 103 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17449) ID: 95 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 22286)
ID: 116 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 11050) ID: 95 | Names: [armchair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 39735)
ID: 121 | Names: [pillow] | Num embs: 1 | Pcd size: (3, 4035) ID: 95 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 50785)
ID: 138 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3508) ID: 95 | Names: [armchair ,armchair ,armchair ,armchair ,pillow] | Num embs: 5 | Pcd size: (3, 54820)
ID: 219 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5346) ID: 95 | Names: [armchair ,armchair ,armchair ,armchair ,pillow ,armchair] | Num embs: 6 | Pcd size: (3, 58328)
ID: 220 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 14939) ID: 95 | Names: [armchair ,armchair ,armchair ,armchair ,pillow ,armchair ,armchair] | Num embs: 7 | Pcd size: (3, 63674)
Label: 43
Added
Arr len: 1
to clusetr: [ID: 223 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 23666)]
Label: 44
Added
Added
Added
Added
Added
Added
Arr len: 6
to clusetr: [ID: 97 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1934), ID: 143 | Names: [hassock] | Num embs: 1 | Pcd size: (3, 7685), ID: 151 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1347), ID: 154 | Names: [computer] | Num embs: 1 | Pcd size: (3, 1102), ID: 161 | Names: [computer] | Num embs: 1 | Pcd size: (3, 1106), ID: 165 | Names: [computer] | Num embs: 1 | Pcd size: (3, 865)]
ID: 143 | Names: [hassock] | Num embs: 1 | Pcd size: (3, 7685) ID: 97 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1934)
ID: 151 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1347) ID: 97 | Names: [stool ,hassock] | Num embs: 2 | Pcd size: (3, 9619)
ID: 154 | Names: [computer] | Num embs: 1 | Pcd size: (3, 1102) ID: 97 | Names: [stool ,hassock ,chair] | Num embs: 3 | Pcd size: (3, 10966)
ID: 161 | Names: [computer] | Num embs: 1 | Pcd size: (3, 1106) ID: 97 | Names: [stool ,hassock ,chair ,computer] | Num embs: 4 | Pcd size: (3, 12068)
ID: 165 | Names: [computer] | Num embs: 1 | Pcd size: (3, 865) ID: 97 | Names: [stool ,hassock ,chair ,computer ,computer] | Num embs: 5 | Pcd size: (3, 13174)
Label: 45
Added
Added
Added
Added
Arr len: 4
to clusetr: [ID: 104 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1752), ID: 133 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1462), ID: 137 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 923), ID: 145 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3337)]
ID: 133 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1462) ID: 104 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1752)
ID: 137 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 923) ID: 104 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 3214)
ID: 145 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3337) ID: 104 | Names: [armchair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 4137)
Label: 46
Added
Added
Added
Added
Arr len: 4
to clusetr: [ID: 105 | Names: [stool] | Num embs: 1 | Pcd size: (3, 6280), ID: 125 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2369), ID: 128 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3526), ID: 224 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1618)]
ID: 125 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2369) ID: 105 | Names: [stool] | Num embs: 1 | Pcd size: (3, 6280)
ID: 128 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 3526) ID: 105 | Names: [stool ,stool] | Num embs: 2 | Pcd size: (3, 8649)
ID: 224 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1618) ID: 105 | Names: [stool ,stool ,armchair] | Num embs: 3 | Pcd size: (3, 12175)
Label: 47
Arr len: 0
to clusetr: []
Label: 48
Arr len: 0
to clusetr: []
Label: 49
Arr len: 0
to clusetr: []
Label: 50
Arr len: 0
to clusetr: []
Label: 51
Arr len: 0
to clusetr: []
Label: 52
Added
Arr len: 1
to clusetr: [ID: 126 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2225)]
Label: 53
Arr len: 0
to clusetr: []
Label: 54
Added
Added
Added
Arr len: 3
to clusetr: [ID: 180 | Names: [table] | Num embs: 1 | Pcd size: (3, 1714), ID: 182 | Names: [table] | Num embs: 1 | Pcd size: (3, 10242), ID: 208 | Names: [stool] | Num embs: 1 | Pcd size: (3, 648)]
ID: 182 | Names: [table] | Num embs: 1 | Pcd size: (3, 10242) ID: 180 | Names: [table] | Num embs: 1 | Pcd size: (3, 1714)
ID: 208 | Names: [stool] | Num embs: 1 | Pcd size: (3, 648) ID: 180 | Names: [table ,table] | Num embs: 2 | Pcd size: (3, 11956)
Label: 55
Added
Added
Added
Added
Added
Added
Added
Added
Arr len: 8
to clusetr: [ID: 225 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 8479), ID: 227 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4343), ID: 228 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1327), ID: 230 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1208), ID: 234 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 12566), ID: 235 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 8877), ID: 237 | Names: [stool] | Num embs: 1 | Pcd size: (3, 5558), ID: 238 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4359)]
ID: 227 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4343) ID: 225 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 8479)
ID: 228 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1327) ID: 225 | Names: [lamp ,lamp] | Num embs: 2 | Pcd size: (3, 12822)
ID: 230 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1208) ID: 225 | Names: [lamp ,lamp ,chair] | Num embs: 3 | Pcd size: (3, 14149)
ID: 234 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 12566) ID: 225 | Names: [lamp ,lamp ,chair ,stool] | Num embs: 4 | Pcd size: (3, 15357)
ID: 235 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 8877) ID: 225 | Names: [lamp ,lamp ,chair ,stool ,lamp] | Num embs: 5 | Pcd size: (3, 27923)
ID: 237 | Names: [stool] | Num embs: 1 | Pcd size: (3, 5558) ID: 225 | Names: [lamp ,lamp ,chair ,stool ,lamp ,lamp] | Num embs: 6 | Pcd size: (3, 36800)
ID: 238 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 4359) ID: 225 | Names: [lamp ,lamp ,chair ,stool ,lamp ,lamp ,stool] | Num embs: 7 | Pcd size: (3, 42358)
Label: 56
Added
Added
Added
Added
Arr len: 4
to clusetr: [ID: 226 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3694), ID: 236 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2345), ID: 239 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1974), ID: 240 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1249)]
ID: 236 | Names: [chair] | Num embs: 1 | Pcd size: (3, 2345) ID: 226 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3694)
ID: 239 | Names: [chair] | Num embs: 1 | Pcd size: (3, 1974) ID: 226 | Names: [chair ,chair] | Num embs: 2 | Pcd size: (3, 6039)
ID: 240 | Names: [stool] | Num embs: 1 | Pcd size: (3, 1249) ID: 226 | Names: [chair ,chair ,chair] | Num embs: 3 | Pcd size: (3, 8013)
Label: 57
Added
Arr len: 1
to clusetr: [ID: 229 | Names: [stool] | Num embs: 1 | Pcd size: (3, 912)]
Label: 58
Added
Arr len: 1
to clusetr: [ID: 231 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2254)]
Label: 59
Added
Arr len: 1
to clusetr: [ID: 241 | Names: [stool] | Num embs: 1 | Pcd size: (3, 563)]
ctr: 242
asdf: 49
asdf: 49
Traversal completed in 154.73080730438232 seconds
154.73080730438232 seconds per image for 1 images
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/semantic3_after_cons.ply
---------------------
Objects stored in memory:
ID: 0 | Names: [table ,stool ,armchair ,stool ,stool ,stool] | Num embs: 6 | Pcd size: (3, 11474)
ID: 1 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17209)
ID: 2 | Names: [armchair ,stool] | Num embs: 2 | Pcd size: (3, 5907)
ID: 3 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1562)
ID: 4 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 8072)
ID: 5 | Names: [chair ,armchair ,armchair ,chair] | Num embs: 4 | Pcd size: (3, 5789)
ID: 6 | Names: [food ,chair ,stool ,beverage ,stool] | Num embs: 5 | Pcd size: (3, 9098)
ID: 7 | Names: [armchair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 16081)
ID: 8 | Names: [cage ,cage ,table] | Num embs: 3 | Pcd size: (3, 13734)
ID: 9 | Names: [cage ,cage] | Num embs: 2 | Pcd size: (3, 31795)
ID: 11 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 39967)
ID: 12 | Names: [table ,chair ,stool ,table ,chair ,table] | Num embs: 6 | Pcd size: (3, 17977)
ID: 13 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 7133)
ID: 14 | Names: [armchair ,table] | Num embs: 2 | Pcd size: (3, 3535)
ID: 15 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair ,stool ,chair ,stool] | Num embs: 13 | Pcd size: (3, 28416)
ID: 16 | Names: [couch ,spiral] | Num embs: 2 | Pcd size: (3, 19704)
ID: 17 | Names: [box] | Num embs: 1 | Pcd size: (3, 18965)
ID: 18 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 21427)
ID: 19 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 16859)
ID: 20 | Names: [armchair ,handcart] | Num embs: 2 | Pcd size: (3, 6628)
ID: 21 | Names: [stool ,table] | Num embs: 2 | Pcd size: (3, 3171)
ID: 22 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table ,chair ,chair ,stool] | Num embs: 29 | Pcd size: (3, 133530)
ID: 23 | Names: [armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 7 | Pcd size: (3, 89752)
ID: 24 | Names: [table] | Num embs: 1 | Pcd size: (3, 431)
ID: 25 | Names: [table ,table] | Num embs: 2 | Pcd size: (3, 2407)
ID: 26 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 15613)
ID: 27 | Names: [hassock ,armchair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 8302)
ID: 28 | Names: [lamp ,lamp ,lamp ,lamp] | Num embs: 4 | Pcd size: (3, 9412)
ID: 29 | Names: [lamp ,lamp ,lamp ,lamp ,lamp ,lamp ,lamp] | Num embs: 7 | Pcd size: (3, 7570)
ID: 30 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 77252)
ID: 31 | Names: [table ,table ,dinning table ,table ,table ,stool] | Num embs: 6 | Pcd size: (3, 28275)
ID: 32 | 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, 21951)
ID: 33 | Names: [stool ,table ,billiard table ,chair ,table ,table ,table ,table ,table ,billiard table] | Num embs: 10 | Pcd size: (3, 90821)
ID: 34 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 13 | Pcd size: (3, 92705)
ID: 35 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 17 | Pcd size: (3, 89770)
ID: 36 | Names: [lamp ,armchair ,lamp] | Num embs: 3 | Pcd size: (3, 14978)
ID: 37 | Names: [armchair ,armchair ,armchair ,armchair ,pillow ,armchair ,armchair ,armchair] | Num embs: 8 | Pcd size: (3, 78139)
ID: 38 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 23105)
ID: 39 | Names: [stool ,hassock ,chair ,computer ,computer ,computer] | Num embs: 6 | Pcd size: (3, 13979)
ID: 40 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 7434)
ID: 41 | Names: [stool ,stool ,armchair ,stool] | Num embs: 4 | Pcd size: (3, 12864)
ID: 42 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 2188)
ID: 43 | Names: [table ,table ,stool] | Num embs: 3 | Pcd size: (3, 12459)
ID: 44 | Names: [lamp ,lamp ,chair ,stool ,lamp ,lamp ,stool ,lamp] | Num embs: 8 | Pcd size: (3, 41324)
ID: 45 | Names: [chair ,chair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 8976)
ID: 46 | Names: [stool] | Num embs: 1 | Pcd size: (3, 895)
ID: 47 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2088)
ID: 48 | Names: [stool] | Num embs: 1 | Pcd size: (3, 563)
Localizing image 925 currently
caption post ram and filtering: chair . table . dinning table . stool
Initial ICP point clouds saved
Getting assignments
(5, 48)
Phrases: ['chair', 'chair', 'table', 'table', 'table']
[[ 0.36429366 -0.02863761 0.02961766 -0.02191811 -0.14437103 0.14856215
0.02703155 -0.00629784 0.3721254 -0.10485403 0.04695346 0.10889171
-0.00161776 0.01026023 0.6574564 -0.03084103 -0.02377047 0.14252877
-0.11233196 0.5699407 0.58912814 0.45717305 -0.05253809 0.7254722
0.31903288 0.50518477 0.5924633 0.60607624 0.52427256 -0.03489918
0.26601 0.8472122 0.12593068 0.47012272 0.37498087 0.424088
0.06773268 0.1337865 0.6696037 0.28146303 0.13677798 0.19976807
0.52441615 0.1103211 0.48860836 0.64820075 0.5338173 0.22157398]
[ 0.33616504 -0.25280362 -0.06140141 -0.14601772 -0.34020796 -0.08778368
-0.10606691 -0.0742511 0.27812213 -0.07150635 0.18533874 0.07798106
0.05996598 -0.14564715 0.7158047 -0.05374494 0.25667894 0.31501642
-0.20252013 0.5358614 0.43361795 0.34400925 -0.17246397 0.6718434
0.43423444 0.48302877 0.42420217 0.7476283 0.46205553 -0.21897525
0.12272406 0.5957667 -0.0526884 0.25162765 0.17019826 0.30971497
0.02821882 0.2864899 0.92739856 0.17073832 0.34108388 0.11451731
0.44255036 0.01169319 0.26384795 0.7809478 0.89334106 0.16292222]
[ 0.37743324 0.28199852 0.40157098 0.45809743 0.25648564 0.5665642
0.15567613 0.4757123 0.5473826 0.32286412 -0.12633112 0.04092826
-0.07098532 0.23324385 0.014138 -0.09761223 -0.03814571 -0.04844114
0.15192223 0.0212993 0.35280097 0.5175947 0.08161646 0.2362757
0.20561916 0.34510076 0.18807021 0.08815621 0.47691423 0.3469216
0.1612355 0.20923877 0.38915443 0.63990366 0.8699619 0.40473384
0.07743822 -0.05919863 0.17984319 0.43860972 0.0893373 0.34348625
0.38863155 -0.01350664 0.49337378 0.04005858 0.04994608 0.58493674]
[ 0.07822037 0.36690924 0.30885178 0.38387418 0.5618 0.30825743
0.26909444 0.3356769 0.44769567 0.19472083 -0.12177792 0.0270272
0.13216159 0.3218313 -0.07480855 0.14967553 0.02776253 0.04080668
0.388344 0.04599893 0.18427654 0.37128678 0.35713392 -0.00598915
0.13704589 -0.03764736 0.11092588 -0.0989811 0.26450828 0.44180843
0.22319394 0.09889552 0.7459963 0.45864934 0.47605252 0.22204007
-0.07939918 0.00191656 -0.17434391 0.2894174 -0.03233393 0.31401715
0.26603135 0.18389508 0.38182005 -0.2855678 -0.23191474 0.3770832 ]
[ 0.6002973 0.300389 0.45520633 0.15493323 0.20305525 0.3906601
0.18737872 0.1987234 0.74566567 0.1501548 0.03182329 0.37075502
0.25328326 0.31867635 0.5865878 -0.07712695 0.1528928 0.26630217
0.18861383 0.5544877 0.49884808 0.6667 0.21743083 0.64516234
0.46508574 0.51346445 0.46220088 0.55688107 0.6836164 0.41230038
0.29583693 0.58673984 0.5218055 0.8684876 0.7258585 0.6668803
0.254673 0.42800003 0.4322698 0.4193351 0.3380884 0.33437705
0.6964699 0.19156884 0.6364411 0.48185885 0.33982792 0.39108187]]
Assignments being considered: [[[1, 38]], [[1, 46]], [[2, 34]], [[0, 31]], [[1, 45]], [[1, 27]], [[1, 38], [2, 34]], [[1, 38], [4, 33]], [[0, 31], [1, 38]], [[1, 46], [2, 34]], [[1, 46], [4, 33]], [[0, 31], [1, 46]]]
Assn: [[1, 46], [4, 33]] | chosen RMSE: 0.6655607703511895 | full RMSE: 0.2364319932084167 | chosen fitness: 0.007831705812428143 | full memory fitness: 0.2364319932084167
Assn: [[1, 38], [4, 33]] | chosen RMSE: 0.7097426768085451 | full RMSE: 0.23291492329149233 | chosen fitness: 0.007017988055521742 | full memory fitness: 0.23291492329149233
Assn: [[1, 38], [2, 34]] | chosen RMSE: 0.9737966391341498 | full RMSE: 0.189163786307683 | chosen fitness: 0.008366047596337496 | full memory fitness: 0.189163786307683
Assn: [[2, 34]] | chosen RMSE: 1.0 | full RMSE: 0.08656236735188891 | chosen fitness: 0.006082502823377752 | full memory fitness: 0.08656236735188891
Assn: [[1, 46], [2, 34]] | chosen RMSE: 0.5941327257191683 | full RMSE: 0.03726274937844885 | chosen fitness: 0.011788442768167623 | full memory fitness: 0.03726274937844885
Assn: [[0, 31], [1, 46]] | chosen RMSE: 0.5552884615384616 | full RMSE: 0.01637256685464799 | chosen fitness: 0.010252961648970622 | full memory fitness: 0.01637256685464799
Assn: [[0, 31], [1, 38]] | chosen RMSE: 0.8565705128205128 | full RMSE: 0.015705536353162332 | chosen fitness: 0.01136673519896742 | full memory fitness: 0.015705536353162332
Assn: [[1, 38]] | chosen RMSE: 0.9365079365079365 | full RMSE: 0.01491722757867928 | chosen fitness: 0.01120186548153021 | full memory fitness: 0.01491722757867928
Assn: [[1, 46]] | chosen RMSE: 0.9595959595959596 | full RMSE: 0.012673579528227518 | chosen fitness: 0.0111451916123644 | full memory fitness: 0.012673579528227518
Assn: [[1, 27]] | chosen RMSE: 0.8484848484848485 | full RMSE: 0.012370383845734037 | chosen fitness: 0.00925693726719244 | full memory fitness: 0.012370383845734037
Assn: [[1, 45]] | chosen RMSE: 0.963924963924964 | full RMSE: 0.010460251046025104 | chosen fitness: 0.012644714729206783 | full memory fitness: 0.010460251046025104
Assn: [[0, 31]] | chosen RMSE: 0.7225225225225225 | full RMSE: 0.009853859681038142 | chosen fitness: 0.011654971534170598 | full memory fitness: 0.009853859681038142
Best assn: [[1, 46], [4, 33]]
R: [[-0.86224146 0.26927761 0.42898629]
[-0.00790215 -0.85401512 0.52018816]
[ 0.5064358 0.44513789 0.73849512]]
t: [ 0.19445807 0.09874295 -0.0047713 ]
caption post ram and filtering: chair . table . dinning table . stool
Img 925 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_0.ply
Img 925 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_1.ply
Img 925 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_2.ply
Img 925 obj 3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_3.ply
Img 925 obj 4 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_4.ply
Target pose: [12. 0.90099978 8. -0.10237948 0.88714343 -0.2377094
-0.38208537]
Estimated pose: [ 9.54384467 -0.90512952 4.65771491 0.25163393 0.25967827 0.92934812
-0.07456295]
Translation error: 4.523900056498698
Rotation_error: 1.5586116735187974
Localizing image 938 currently
caption post ram and filtering: armchair . chair . table . office chair . stool . swivel chair
Initial ICP point clouds saved
Getting assignments
(1, 48)
Phrases: ['armchair']
[[ 0.4037724 0.03096788 0.11612599 -0.05321764 -0.11298738 0.15792546
0.05502063 -0.0144059 0.42857063 -0.05793116 0.12888318 0.22141524
0.19090396 0.09102974 0.7385167 -0.04164315 0.13245475 0.31300637
-0.02221885 0.72575104 0.5573549 0.48441935 0.03228071 0.7128266
0.36573762 0.50719434 0.5550277 0.6645163 0.56704086 0.06936944
0.30991653 0.92898333 0.1586932 0.49218085 0.37896082 0.48631597
0.13838908 0.27135438 0.66151625 0.30933237 0.27928758 0.22237876
0.4837444 0.20958221 0.5185331 0.64815557 0.5511291 0.16885534]]
Assignments being considered: [[[0, 31]], [[0, 14]], [[0, 19]], [[0, 23]], [[0, 27]], [[0, 38]]]
Assn: [[0, 19]] | chosen RMSE: 0.9008264462809917 | full RMSE: 0.6395422759059123 | chosen fitness: 0.011801656306420728 | full memory fitness: 0.6395422759059123
Assn: [[0, 31]] | chosen RMSE: 0.8747616020343293 | full RMSE: 0.5263827082008901 | chosen fitness: 0.01005859728043105 | full memory fitness: 0.5263827082008901
Assn: [[0, 14]] | chosen RMSE: 0.8601398601398601 | full RMSE: 0.4005085823267641 | chosen fitness: 0.01072283935379235 | full memory fitness: 0.4005085823267641
Assn: [[0, 38]] | chosen RMSE: 0.8760330578512396 | full RMSE: 0.3585505403687222 | chosen fitness: 0.011350792974844053 | full memory fitness: 0.3585505403687222
Assn: [[0, 23]] | chosen RMSE: 0.3000635727908455 | full RMSE: 0.2326764144945963 | chosen fitness: 0.012068126509057238 | full memory fitness: 0.2326764144945963
Assn: [[0, 27]] | chosen RMSE: 0.6344564526382708 | full RMSE: 0.18499682136045772 | chosen fitness: 0.012343525320022794 | full memory fitness: 0.18499682136045772
Best assn: [[0, 19]]
R: [[-0.32814493 -0.54156223 -0.77397109]
[ 0.0385406 0.81098228 -0.58379994]
[ 0.94384084 -0.2214003 -0.24524759]]
t: [ 0.07498846 -0.05278069 -0.04633537]
caption post ram and filtering: armchair . chair . table . office chair . stool . swivel chair
Img 938 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_1_0.ply
Target pose: [11.25 0.90099978 6. -0.14756914 0.79353834 -0.21262797