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subv_test.log
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Starting imports
Imports completed in 3.3565785884857178 seconds
LocalArgs(lora_path='models/vit_finegrained_5x40_procthor.pt', test_folder_path='/scratch/aneesh.chavan/8room/8-room-v1/1/', rearranged_test_folder_path='/scratch/aneesh.chavan/8room/8-room-v1/1/', device='cuda', sam_checkpoint_path='/scratch/aneesh.chavan/sam_vit_h_4b8939.pth', ram_pretrained_path='/scratch/aneesh.chavan/ram_swin_large_14m.pth', downsampling_rate=5, save_dir='/scratch/aneesh.chavan/results/8-room-new-icp', sampling_period=15, start_file_index=200, last_file_index=1500, rot_correction=0.0, look_around_range=0, save_point_clouds=True, save_individual_objects=True, save_localised_objects=True, add_pose_noise=True, down_sample_voxel_size=0.01, create_ext_mesh=False, fpfh_global_dist_factor=1.5, fpfh_local_dist_factor=0.4, fpfh_voxel_size=0.05, localise_times=1, loc_results_start_file_index=210, loc_results_last_file_index=1400, loc_results_sampling_period=13, useLora=True)
Created save directory /scratch/aneesh.chavan/results/8-room-new-icp
We have 3315 files
Begin Memory Initialization
/encoder/layer/0/crossattention/self/query is tied
/encoder/layer/0/crossattention/self/key is tied
/encoder/layer/0/crossattention/self/value is tied
/encoder/layer/0/crossattention/output/dense is tied
/encoder/layer/0/crossattention/output/LayerNorm is tied
/encoder/layer/0/intermediate/dense is tied
/encoder/layer/0/output/dense is tied
/encoder/layer/0/output/LayerNorm is tied
/encoder/layer/1/crossattention/self/query is tied
/encoder/layer/1/crossattention/self/key is tied
/encoder/layer/1/crossattention/self/value is tied
/encoder/layer/1/crossattention/output/dense is tied
/encoder/layer/1/crossattention/output/LayerNorm is tied
/encoder/layer/1/intermediate/dense is tied
/encoder/layer/1/output/dense is tied
/encoder/layer/1/output/LayerNorm is tied
--------------
/scratch/aneesh.chavan/ram_swin_large_14m.pth
--------------
load checkpoint from /scratch/aneesh.chavan/ram_swin_large_14m.pth
vit: swin_l
final text_encoder_type: bert-base-uncased
Model loaded from /home2/aneesh.chavan/.cache/huggingface/hub/models--ShilongLiu--GroundingDINO/snapshots/a94c9b567a2a374598f05c584e96798a170c56fb/groundingdino_swinb_cogcoor.pth
=> _IncompatibleKeys(missing_keys=[], unexpected_keys=['label_enc.weight', 'bert.embeddings.position_ids'])
SAM loaded
Memory Init'ed
Memory loaded
0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_0.ply
1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_1.ply
2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_2.ply
3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_3.ply
4 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_4.ply
5 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_5.ply
6 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_6.ply
7 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_7.ply
8 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_8.ply
9 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_9.ply
10 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_10.ply
11 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_11.ply
12 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_12.ply
13 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_13.ply
14 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_14.ply
15 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_15.ply
16 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_16.ply
17 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_17.ply
18 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_18.ply
19 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_19.ply
20 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_20.ply
21 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_21.ply
22 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_22.ply
23 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_23.ply
24 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_24.ply
25 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_25.ply
26 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_26.ply
27 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_27.ply
28 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_28.ply
29 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_29.ply
30 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_30.ply
31 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_31.ply
32 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_32.ply
33 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_33.ply
34 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_34.ply
35 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_35.ply
36 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_36.ply
37 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_37.ply
38 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_38.ply
39 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_39.ply
40 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_40.ply
41 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_41.ply
42 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_42.ply
43 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_43.ply
44 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_44.ply
45 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_45.ply
46 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_46.ply
47 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/memory_47.ply
Memory's pointcloud saved to /home2/aneesh.chavan/Change_detection/pcds/subvolume_fix_after_cons.ply
---------------------
Objects stored in memory:
ID: 0 | Names: [table ,stool ,armchair ,stool ,stool ,stool] | Num embs: 6 | Pcd size: (3, 11665)
ID: 1 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 17193)
ID: 2 | Names: [armchair ,stool] | Num embs: 2 | Pcd size: (3, 5976)
ID: 3 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 1562)
ID: 4 | Names: [handcart] | Num embs: 1 | Pcd size: (3, 8233)
ID: 5 | Names: [chair ,armchair ,armchair] | Num embs: 3 | Pcd size: (3, 4703)
ID: 6 | Names: [food ,chair ,stool ,beverage ,stool] | Num embs: 5 | Pcd size: (3, 9379)
ID: 7 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 11017)
ID: 8 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 5183)
ID: 9 | Names: [cage ,cage ,table] | Num embs: 3 | Pcd size: (3, 13431)
ID: 10 | Names: [cage ,cage] | Num embs: 2 | Pcd size: (3, 31739)
ID: 12 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 41998)
ID: 13 | Names: [table ,chair ,stool ,table ,chair ,table] | Num embs: 6 | Pcd size: (3, 19300)
ID: 14 | Names: [armchair ,armchair] | Num embs: 2 | Pcd size: (3, 6622)
ID: 15 | Names: [armchair ,table] | Num embs: 2 | Pcd size: (3, 3487)
ID: 16 | Names: [armchair ,stool ,armchair ,stool ,armchair ,stool ,armchair ,table ,chair ,chair ,stool ,chair ,stool] | Num embs: 13 | Pcd size: (3, 28778)
ID: 17 | Names: [couch ,spiral] | Num embs: 2 | Pcd size: (3, 20544)
ID: 18 | Names: [box] | Num embs: 1 | Pcd size: (3, 18693)
ID: 19 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 19443)
ID: 20 | Names: [armchair] | Num embs: 1 | Pcd size: (3, 16326)
ID: 21 | Names: [armchair ,handcart] | Num embs: 2 | Pcd size: (3, 6208)
ID: 22 | Names: [stool ,table] | Num embs: 2 | Pcd size: (3, 3455)
ID: 23 | Names: [bed ,bed ,chair ,chair ,chair ,chair ,chair ,table ,chair ,table ,chair ,chair ,table ,chair ,chair ,chair ,chair ,table ,chair ,chair ,stool ,chair ,pole ,chair ,chair ,chair ,table ,chair ,chair ,stool] | Num embs: 30 | Pcd size: (3, 137528)
ID: 24 | Names: [armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair] | Num embs: 7 | Pcd size: (3, 96248)
ID: 25 | Names: [table] | Num embs: 1 | Pcd size: (3, 1304)
ID: 26 | Names: [table] | Num embs: 1 | Pcd size: (3, 410)
ID: 27 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 15789)
ID: 28 | Names: [hassock ,armchair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 8604)
ID: 29 | Names: [lamp ,lamp ,lamp ,lamp] | Num embs: 4 | Pcd size: (3, 9438)
ID: 30 | Names: [lamp ,lamp ,lamp ,lamp ,lamp ,lamp ,lamp] | Num embs: 7 | Pcd size: (3, 7180)
ID: 31 | Names: [table ,table ,table ,table ,table ,table] | Num embs: 6 | Pcd size: (3, 74655)
ID: 32 | Names: [table ,table ,dinning table ,table ,table ,stool] | Num embs: 6 | Pcd size: (3, 29628)
ID: 33 | Names: [armchair ,armchair ,chair ,chair ,armchair ,armchair ,armchair ,armchair ,armchair ,armchair ,chair ,lamp ,stair ,chair ,chair ,chair ,armchair ,armchair ,armchair] | Num embs: 19 | Pcd size: (3, 22005)
ID: 34 | Names: [stool ,billiard table ,chair ,table ,table ,table ,table ,table ,billiard table] | Num embs: 9 | Pcd size: (3, 84320)
ID: 35 | Names: [stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 13 | Pcd size: (3, 90398)
ID: 36 | Names: [table ,stool ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table ,table] | Num embs: 17 | Pcd size: (3, 90369)
ID: 37 | Names: [lamp ,table ,armchair ,lamp] | Num embs: 4 | Pcd size: (3, 19402)
ID: 38 | Names: [armchair ,armchair ,armchair ,armchair ,pillow ,armchair ,armchair ,armchair] | Num embs: 8 | Pcd size: (3, 76700)
ID: 39 | Names: [billiard table] | Num embs: 1 | Pcd size: (3, 21620)
ID: 40 | Names: [stool ,hassock ,chair ,computer ,computer ,computer] | Num embs: 6 | Pcd size: (3, 13800)
ID: 41 | Names: [armchair ,armchair ,armchair ,armchair] | Num embs: 4 | Pcd size: (3, 7921)
ID: 42 | Names: [stool ,stool ,armchair ,stool] | Num embs: 4 | Pcd size: (3, 13222)
ID: 43 | Names: [table ,table ,stool] | Num embs: 3 | Pcd size: (3, 12821)
ID: 44 | Names: [lamp ,lamp ,chair ,stool ,lamp ,lamp ,stool ,lamp] | Num embs: 8 | Pcd size: (3, 41911)
ID: 45 | Names: [chair ,chair ,chair ,stool] | Num embs: 4 | Pcd size: (3, 9454)
ID: 46 | Names: [stool] | Num embs: 1 | Pcd size: (3, 892)
ID: 47 | Names: [stool] | Num embs: 1 | Pcd size: (3, 2118)
ID: 48 | Names: [stool] | Num embs: 1 | Pcd size: (3, 587)
Localizing image 210 currently
caption before filtering: ['armchair ', ' lamp ', ' chair ', ' couch ', ' cube ', ' floor ', ' furniture ', ' hassock ', ' living room ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: armchair . lamp . chair . couch . hassock . stool
Initial ICP point clouds saved
Getting assignments
(4, 48)
shapes
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
Length: 1
Length: 2
Length: 3
Length: 4
Phrases: ['armchair', 'armchair', 'lamp', 'stool']
[[ 0.42426008 0.87457097 0.5996232 0.41636974 0.69663596 0.619678
0.54261607 0.31952333 0.4275897 0.14870633 0.4088881 0.12232664
0.49177024 0.10620981 0.49238664 -0.05389113 0.16835491 -0.18415251
-0.12012415 0.26440975 -0.09758554 -0.15029266 0.2148286 0.18682978
-0.10522673 -0.09356032 0.0501229 0.06844919 0.01954099 0.19223554
0.76937854 0.0237737 -0.0436979 0.42537823 0.47489083 0.3996774
0.49820355 0.51771915 0.13827637 -0.25911254 0.14326435 0.00614238
-0.05191958 0.19547473 0.04121571 -0.04661127 -0.3418395 0.31871957]
[ 0.7319206 0.80939496 0.9129167 0.39128762 0.5504889 0.4228799
0.37706697 0.42050707 0.5084611 0.39124942 0.6005862 0.15620725
0.58147675 0.34136778 0.31983998 0.20875867 0.01978933 0.18808727
0.21321873 0.39471436 0.19634692 -0.03149044 0.47517914 0.27335787
0.24269716 0.1615876 0.19943303 0.03525428 0.30844697 0.5338679
0.7622678 0.17675748 0.11178745 0.3076592 0.50110626 0.34057263
0.6073841 0.6509687 0.51843655 0.01640536 0.29082614 0.43267453
0.14014128 0.14272796 0.06618755 0.29896453 -0.00481287 0.3060915 ]
[ 0.32241982 0.48429054 0.6128346 0.44629398 0.5377785 0.30509335
0.19846082 0.44632006 0.5726102 0.26434427 0.4630643 0.01231168
0.16867238 0.20637129 0.14793564 -0.15449148 0.14182271 0.18387474
0.15446928 0.5152529 -0.04269082 0.04506423 0.3745214 0.47535875
-0.06188028 -0.04865173 0.06839001 -0.15045701 -0.13302407 0.29782254
0.43497667 0.2739209 -0.03144266 0.4241653 0.29297233 0.29755384
0.27496737 0.2519902 0.16527618 -0.20636636 0.41015747 0.29616272
0.03210716 0.13184585 0.20582864 -0.17185266 -0.22860639 0.21748917]
[ 0.77133036 0.57113284 0.7632675 0.46010175 0.39007512 0.3421897
0.27529854 0.50511074 0.48581845 0.6935045 0.47902468 0.06156484
0.40355304 0.32328823 0.21267368 0.4884606 -0.09294748 0.25766653
0.29239956 0.35789436 0.39994156 0.36373734 0.7827208 0.25705123
0.6611368 0.5678193 0.29854697 0.30624905 0.5661403 0.85595584
0.5295305 0.38840625 0.4043299 0.41454482 0.683048 0.5007842
0.649599 0.403975 0.5008094 0.41702077 0.5198239 0.46643126
0.5355041 0.11676644 0.30395702 0.5267687 0.33891946 0.5330899 ]]
V?
[[ 6.32574916e-01 8.74571085e-01 6.99532509e-01 4.16369706e-01
6.96636021e-01 5.99447191e-01 6.26348615e-01 3.36652368e-01
4.27589655e-01 1.74636409e-01 4.51350361e-01 2.72305548e-01
6.76466703e-01 1.35740876e-01 5.49760163e-01 1.35720804e-01
1.83701083e-01 -1.84152529e-01 -1.20124124e-01 2.64409751e-01
-3.41498591e-02 -1.12863645e-01 6.76943302e-01 2.63552010e-01
-1.05226725e-01 -9.35602933e-02 4.84136879e-01 1.21348903e-01
1.49430096e-01 5.68152189e-01 7.58289218e-01 9.81913581e-02
2.28367895e-01 5.47218740e-01 7.94338942e-01 6.27013981e-01
5.90146065e-01 8.02069902e-01 1.38276368e-01 1.86810419e-01
2.17085898e-01 1.91832408e-01 1.62259862e-02 3.45720589e-01
1.40699327e-01 -4.66112606e-02 -3.41839492e-01 3.18719566e-01]
[ 8.79734695e-01 8.09395015e-01 9.41707253e-01 3.91287684e-01
5.50488949e-01 5.16185105e-01 4.69536066e-01 4.58758771e-01
5.08461118e-01 4.65628773e-01 6.01163328e-01 1.79851145e-01
6.35412216e-01 3.64699662e-01 4.05535787e-01 5.45007110e-01
1.37339309e-01 1.88087285e-01 2.13218734e-01 3.94714355e-01
1.93560347e-01 6.69398461e-04 7.89545238e-01 3.39521289e-01
2.42697150e-01 1.61587626e-01 6.33679509e-01 1.34338111e-01
4.55983669e-01 8.06445360e-01 7.41566658e-01 2.20483422e-01
2.82114923e-01 4.44136590e-01 6.14056468e-01 6.45370007e-01
6.77957773e-01 7.30469227e-01 5.18436611e-01 3.88047218e-01
3.57723832e-01 5.60706735e-01 1.69389948e-01 3.09642851e-01
1.65105402e-01 2.98964530e-01 -4.81288228e-03 3.06091487e-01]
[ 5.57792425e-01 4.84290540e-01 5.95119119e-01 4.46293950e-01
5.37778497e-01 3.42156678e-01 3.65785182e-01 4.83478487e-01
5.72610140e-01 2.58891344e-01 5.11139512e-01 6.98586181e-02
3.73622566e-01 2.25563064e-01 1.93290025e-01 1.76913053e-01
1.69590861e-01 1.83874741e-01 1.54469296e-01 5.15252948e-01
1.55707188e-02 8.75083283e-02 5.35885096e-01 5.40673256e-01
-6.18802868e-02 -4.86517474e-02 3.65554601e-01 -5.00586070e-03
5.17200679e-05 5.29125690e-01 4.96192932e-01 3.73224974e-01
4.67177480e-01 7.01894581e-01 5.14420748e-01 5.13333559e-01
4.55290049e-01 3.68712068e-01 1.65276185e-01 7.97216892e-02
4.25070345e-01 4.05668288e-01 1.28776729e-01 2.63537884e-01
2.20340073e-01 -1.71852633e-01 -2.28606343e-01 2.17489168e-01]
[ 7.83545554e-01 5.71132779e-01 7.34820366e-01 4.60101753e-01
3.90075147e-01 4.67398673e-01 4.96643156e-01 5.03704906e-01
4.85818505e-01 7.72678733e-01 5.31343699e-01 1.54972643e-01
5.37804842e-01 3.42664421e-01 2.41418689e-01 7.00452507e-01
1.34672806e-01 2.57666558e-01 2.92399645e-01 3.57894421e-01
3.81250858e-01 4.07393187e-01 7.96306312e-01 3.32128078e-01
6.61136806e-01 5.67819417e-01 5.00509977e-01 4.73761231e-01
6.32586837e-01 7.82653987e-01 6.64747834e-01 4.75431859e-01
5.18018723e-01 6.03229702e-01 7.11039901e-01 5.78205466e-01
6.31090164e-01 4.65100050e-01 5.00809371e-01 7.52510846e-01
5.70572734e-01 5.46385348e-01 5.27749419e-01 3.30379784e-01
4.07485485e-01 5.26768565e-01 3.38919401e-01 5.33089876e-01]]
Assignments being considered: [[[1, 2]], [[1, 0]], [[0, 1]], [[1, 1]], [[0, 1], [1, 2]], [[0, 1], [1, 0]], [[0, 37], [1, 2]], [[1, 2], [3, 22]], [[0, 1], [1, 2], [3, 22]], [[0, 1], [1, 2], [3, 0]], [[0, 1], [1, 2], [3, 29]], [[0, 1], [1, 2], [3, 9]]]
Assn: [[0, 1], [1, 2]] | chosen RMSE: 0.9992447401546485 | full RMSE: 0.9101245525663659 | chosen fitness: 0.006473013963177417 | full memory fitness: 0.9101245525663659
Assn: [[0, 1], [1, 2], [3, 22]] | chosen RMSE: 0.9437660286349971 | full RMSE: 0.9100921591810952 | chosen fitness: 0.006475199628971096 | full memory fitness: 0.9100921591810952
Assn: [[0, 1], [1, 2], [3, 29]] | chosen RMSE: 0.9437830126191001 | full RMSE: 0.9097520286357526 | chosen fitness: 0.006496862163473603 | full memory fitness: 0.9097520286357526
Assn: [[0, 1], [1, 2], [3, 0]] | chosen RMSE: 0.9778359007455969 | full RMSE: 0.9095900617093989 | chosen fitness: 0.006450532426210903 | full memory fitness: 0.9095900617093989
Assn: [[0, 1], [1, 2], [3, 9]] | chosen RMSE: 0.9438339645714091 | full RMSE: 0.9093147179345977 | chosen fitness: 0.006554487966095605 | full memory fitness: 0.9093147179345977
Assn: [[1, 2]] | chosen RMSE: 0.994968040255678 | full RMSE: 0.9067070504203042 | chosen fitness: 0.0094991061573193 | full memory fitness: 0.9067070504203042
Assn: [[0, 1]] | chosen RMSE: 1.0 | full RMSE: 0.862052768824606 | chosen fitness: 0.00722497533105223 | full memory fitness: 0.862052768824606
Assn: [[0, 1], [1, 0]] | chosen RMSE: 0.867775579931667 | full RMSE: 0.7643705155407265 | chosen fitness: 0.008097349268697289 | full memory fitness: 0.7643705155407265
Assn: [[1, 2], [3, 22]] | chosen RMSE: 0.6890416117491998 | full RMSE: 0.7054469477332729 | chosen fitness: 0.012671749017865924 | full memory fitness: 0.7054469477332729
Assn: [[0, 37], [1, 2]] | chosen RMSE: 0.7909908289875922 | full RMSE: 0.4107319285401921 | chosen fitness: 0.010502123533255647 | full memory fitness: 0.4107319285401921
Assn: [[1, 1]] | chosen RMSE: 0.8642730858153135 | full RMSE: 0.059587632205503636 | chosen fitness: 0.01177761848988159 | full memory fitness: 0.059587632205503636
Assn: [[1, 0]] | chosen RMSE: 0.5578675370597035 | full RMSE: 0.02392251502243242 | chosen fitness: 0.012164912188508986 | full memory fitness: 0.02392251502243242
Best assn: [[0, 1], [1, 2]]
R: [[-0.32007358 -0.47174472 -0.82158981]
[ 0.00270753 0.86675246 -0.49873124]
[ 0.94738882 -0.16185517 -0.27614729]]
t: [ 0.21169029 0.00319417 -0.14572333]
caption before filtering: ['armchair ', ' lamp ', ' chair ', ' couch ', ' cube ', ' floor ', ' furniture ', ' hassock ', ' living room ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: armchair . lamp . chair . couch . hassock . stool
Img 210 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_0.ply
Img 210 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_1.ply
Img 210 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_2.ply
Img 210 obj 3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_0_3.ply
Target pose: [10.5 0.90099978 22.75 -0.15097649 0.78456024 -0.21022234
-0.56345177]
Estimated pose: [10.49895652 0.90511565 22.75312953 -0.14943331 0.78469314 -0.21046011
-0.5635893 ]
Translation error: 0.005274765427251574
Rotation_error: 0.001573051350264396
Localizing image 223 currently
caption before filtering: ['cube ', ' floor ', ' hardwood floor ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(2, 48)
shapes
(49, 49)
Length: 1
Length: 2
Phrases: ['stool', 'stool']
[[ 0.7833442 0.7276126 0.9294986 0.34706253 0.47255322 0.34714228
0.30705693 0.40886158 0.48302266 0.4375581 0.5835906 0.16242796
0.5612445 0.38503945 0.24199715 0.27924246 -0.03085307 0.29049003
0.31009093 0.41613287 0.27494216 0.0268185 0.5328564 0.29306495
0.34712702 0.2534557 0.25351584 0.03967705 0.36860034 0.6031561
0.69603896 0.23360018 0.16607657 0.26613954 0.49062043 0.30509955
0.61215883 0.65118533 0.5972504 0.10406983 0.32228684 0.53866315
0.20998825 0.11915542 0.0812477 0.38979572 0.0994259 0.27835482]
[ 0.90168285 0.62728536 0.53447384 0.14344208 0.47674876 0.6267169
0.55603755 0.2122494 0.21872751 0.26281705 0.28845745 0.40928125
0.71076137 0.29628566 0.3807883 0.38013488 -0.0325818 0.0678041
0.1977576 0.10126717 0.21852653 0.12654482 0.39489916 0.07933106
0.37318993 0.34595314 0.6021914 0.31996775 0.48343992 0.5120884
0.54275805 0.1795451 0.2677097 0.35169315 0.63009584 0.39470074
0.82196134 0.8101254 0.53146887 0.2822383 0.21830991 0.44264883
0.20746033 0.2295165 0.14885682 0.5470012 0.19818819 0.2494548 ]]
V?
[[0.8738612 0.7276127 0.935427 0.34706256 0.47255325 0.47931764
0.47423986 0.4497524 0.48302266 0.52799845 0.57466745 0.19248688
0.57369053 0.40681475 0.33046505 0.631258 0.11450452 0.29049003
0.31009096 0.41613293 0.2842758 0.05288314 0.76432246 0.37643874
0.34712705 0.2534557 0.6433934 0.14832851 0.4994575 0.8021586
0.711526 0.25876814 0.2908917 0.41864353 0.5715463 0.6167575
0.6657369 0.6554081 0.59725046 0.42110848 0.3797654 0.6336318
0.22117984 0.2890386 0.20284958 0.3897957 0.09942593 0.2783548 ]
[0.90827876 0.62728536 0.62167543 0.14344206 0.47674882 0.7841675
0.6804031 0.23126328 0.21872756 0.36700788 0.30627078 0.4488638
0.75234914 0.29721087 0.4544331 0.48645672 0.18447705 0.06780409
0.19775759 0.10126718 0.29252386 0.13363668 0.48128784 0.15882015
0.37319005 0.3459531 0.79638594 0.4358961 0.49047315 0.48719528
0.70201695 0.27079242 0.3365482 0.5700795 0.6679551 0.5111141
0.8321609 0.82813716 0.53146887 0.5536114 0.27609915 0.5805197
0.22035758 0.55280626 0.17622529 0.54700136 0.19818816 0.2494548 ]]
Assignments being considered: [[[0, 2]], [[0, 0]], [[0, 29]], [[0, 22]], [[0, 2], [1, 0]], [[0, 2], [1, 36]], [[0, 2], [1, 37]], [[0, 2], [1, 26]]]
Assn: [[0, 2], [1, 36]] | chosen RMSE: 0.5563943560708188 | full RMSE: 0.8215152332165004 | chosen fitness: 0.00828267460373661 | full memory fitness: 0.8215152332165004
Assn: [[0, 2]] | chosen RMSE: 0.9827039035226912 | full RMSE: 0.8212456187651658 | chosen fitness: 0.008653059681946556 | full memory fitness: 0.8212456187651658
Assn: [[0, 2], [1, 26]] | chosen RMSE: 0.5564842275545969 | full RMSE: 0.8210658757976094 | chosen fitness: 0.00791754255657691 | full memory fitness: 0.8210658757976094
Assn: [[0, 2], [1, 0]] | chosen RMSE: 0.8827177136694527 | full RMSE: 0.8202570324436056 | chosen fitness: 0.007013085008757983 | full memory fitness: 0.8202570324436056
Assn: [[0, 2], [1, 37]] | chosen RMSE: 0.5564842275545969 | full RMSE: 0.7558191785746383 | chosen fitness: 0.009830558273997016 | full memory fitness: 0.7558191785746383
Assn: [[0, 0]] | chosen RMSE: 0.7664233576642335 | full RMSE: 0.3094275186483329 | chosen fitness: 0.010357909065172187 | full memory fitness: 0.3094275186483329
Assn: [[0, 22]] | chosen RMSE: 0.6026658203744842 | full RMSE: 0.20634492675474073 | chosen fitness: 0.010854347035872004 | full memory fitness: 0.20634492675474073
Assn: [[0, 29]] | chosen RMSE: 0.3608378292605522 | full RMSE: 0.09175878493753932 | chosen fitness: 0.012183002408176376 | full memory fitness: 0.09175878493753932
Best assn: [[0, 2], [1, 36]]
R: [[-0.24469682 -0.48441324 -0.839921 ]
[-0.0034974 0.8666908 -0.49883346]
[ 0.96959333 -0.11912543 -0.21377067]]
t: [ 0.01796072 -0.51267005 9.59491789]
caption before filtering: ['cube ', ' floor ', ' hardwood floor ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Img 223 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_1_0.ply
Img 223 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_1_1.ply
Target pose: [10.25 0.90099978 23.25 -0.15844976 0.76375837 -0.20464849
-0.59134239]
Estimated pose: [10.24248225 0.90963664 23.25273387 -0.15998675 0.76242349 -0.2026298
-0.59334293]
Translation error: 0.011772251672851383
Rotation_error: 0.0034959256449871223
Localizing image 236 currently
caption before filtering: ['bed frame ', ' bedroom ', ' closet ', ' door ', ' doorway ', ' floor ', ' lead to ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(2, 48)
shapes
(49, 49)
Length: 1
Length: 2
Phrases: ['stool', 'stool']
[[ 2.38016099e-01 1.33627892e-01 3.28781128e-01 2.71892160e-01
1.91312060e-01 2.05159068e-01 -1.31157311e-02 2.59187430e-01
2.40098804e-01 7.25991130e-01 7.76229948e-02 -1.91281199e-01
9.73807089e-03 1.87511683e-01 1.55110985e-01 2.66874194e-01
-8.91317427e-02 1.53921843e-01 2.13645563e-01 3.62688601e-01
3.94374073e-01 6.16188645e-01 6.80546761e-01 4.44802105e-01
5.41722476e-01 5.63064814e-01 1.71591997e-01 3.78633738e-01
1.83763415e-01 5.58955431e-01 1.64925054e-01 5.00018179e-01
4.76040155e-01 5.58916688e-01 5.90583801e-01 5.61673224e-01
3.66660625e-01 -8.24798644e-02 1.55969799e-01 2.07338497e-01
5.69077015e-01 1.80621564e-01 7.78949738e-01 1.89245775e-01
7.55811453e-01 1.01422749e-01 1.59576088e-01 3.27519447e-01]
[ 9.65975970e-02 2.27810785e-01 -8.46876875e-02 3.30366194e-04
2.24439919e-01 4.03610617e-01 4.37658727e-01 -4.54821736e-02
-5.47832176e-02 -2.64001161e-01 -6.81918785e-02 3.61851215e-01
3.18758905e-01 -1.00714222e-01 3.42965871e-01 3.42630029e-01
6.74353659e-01 -4.37291980e-01 -2.67010599e-01 -2.26897746e-01
-1.45216314e-02 -6.62989318e-02 -1.72230184e-01 -1.47946373e-01
-1.69779003e-01 -8.91533121e-02 3.16639483e-01 5.16019344e-01
2.37047553e-01 -7.73967281e-02 7.41503686e-02 -1.73222676e-01
1.71296522e-01 2.10531950e-01 1.67002052e-01 5.28432354e-02
2.22431853e-01 2.49160215e-01 -1.21092916e-01 1.40103191e-01
-1.17064700e-01 -2.87894666e-01 -2.10893244e-01 4.59666073e-01
-7.72232562e-03 1.99590921e-01 2.29793862e-02 4.03400958e-02]]
V?
[[ 3.11102986e-01 1.33627877e-01 3.95842403e-01 2.71892130e-01
1.91312045e-01 2.17119992e-01 1.06955208e-01 2.63455629e-01
2.40098819e-01 7.75960207e-01 1.15125321e-01 -1.20421976e-01
1.35042518e-01 2.24390954e-01 1.88628346e-01 4.61390913e-01
-1.51824090e-03 1.53921857e-01 2.13645592e-01 3.62688541e-01
4.07461107e-01 6.65843308e-01 7.03536391e-01 5.57077110e-01
5.41722298e-01 5.63064814e-01 2.33249888e-01 5.56699514e-01
2.89778531e-01 5.92856586e-01 2.61939287e-01 5.46147764e-01
8.01246107e-01 6.72413945e-01 5.98237753e-01 5.70700407e-01
3.93306792e-01 2.09930763e-02 1.55969799e-01 4.63639945e-01
5.94916224e-01 2.38469109e-01 7.96558142e-01 4.07787025e-01
7.24334776e-01 1.01422735e-01 1.59576088e-01 3.27519447e-01]
[ 3.01428795e-01 2.27810830e-01 1.92148294e-02 3.30378301e-04
2.24439874e-01 3.99968445e-01 5.07105649e-01 1.78982951e-02
-5.47832251e-02 -1.95190340e-01 -5.12096100e-02 4.72463757e-01
3.72015595e-01 -9.24914107e-02 3.48647654e-01 6.29905999e-01
7.23640919e-01 -4.37291920e-01 -2.67010629e-01 -2.26897761e-01
2.29962364e-01 2.68385895e-02 8.75250846e-02 -3.45368721e-02
-1.69778988e-01 -8.91533121e-02 5.96094072e-01 6.34127438e-01
4.17649150e-01 1.98573858e-01 1.61767334e-01 -9.41610187e-02
4.48290050e-01 3.53578657e-01 3.00952077e-01 2.63884127e-01
2.78636575e-01 4.14421260e-01 -1.21092923e-01 3.24057370e-01
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2.73808062e-01 1.99590951e-01 2.29793750e-02 4.03400809e-02]]
Assignments being considered: [[[0, 32]], [[0, 42]], [[0, 9]], [[0, 44]], [[0, 32], [1, 16]], [[0, 42], [1, 16]], [[0, 9], [1, 16]], [[0, 44], [1, 16]]]
Assn: [[0, 42], [1, 16]] | chosen RMSE: 0.8343987215341591 | full RMSE: 0.7508989212944467 | chosen fitness: 0.005738662668901992 | full memory fitness: 0.7508989212944467
Assn: [[0, 44], [1, 16]] | chosen RMSE: 0.5791050739113064 | full RMSE: 0.4192968437874551 | chosen fitness: 0.006531401772320093 | full memory fitness: 0.4192968437874551
Assn: [[0, 44]] | chosen RMSE: 0.6412852112676056 | full RMSE: 0.41909708349980024 | chosen fitness: 0.006352795108063727 | full memory fitness: 0.41909708349980024
Assn: [[0, 32]] | chosen RMSE: 0.5992517605633803 | full RMSE: 0.3457850579304834 | chosen fitness: 0.010513871706026709 | full memory fitness: 0.3457850579304834
Assn: [[0, 32], [1, 16]] | chosen RMSE: 0.536556132640831 | full RMSE: 0.3455852976428286 | chosen fitness: 0.010378668441684813 | full memory fitness: 0.3455852976428286
Assn: [[0, 9]] | chosen RMSE: 0.6065140845070423 | full RMSE: 0.2512984418697563 | chosen fitness: 0.01004465295699058 | full memory fitness: 0.2512984418697563
Assn: [[0, 42]] | chosen RMSE: 0.6117957746478874 | full RMSE: 0.168797443068318 | chosen fitness: 0.011712261855120695 | full memory fitness: 0.168797443068318
Assn: [[0, 9], [1, 16]] | chosen RMSE: 0.306432281262485 | full RMSE: 0.1404314822213344 | chosen fitness: 0.009669971158794885 | full memory fitness: 0.1404314822213344
Best assn: [[0, 42], [1, 16]]
R: [[-0.33627328 -0.47270761 -0.81453533]
[-0.00155612 -0.86462338 0.50241815]
[-0.94176317 0.17021731 0.29001415]]
t: [-0.80090281 -0.04581892 -4.07416737]
caption before filtering: ['bed frame ', ' bedroom ', ' closet ', ' door ', ' doorway ', ' floor ', ' lead to ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Img 236 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_2_0.ply
Img 236 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_2_1.ply
Target pose: [ 7.5 0.90099978 20.25 0.03449203 0.95730993 -0.25651044
0.128726 ]
Estimated pose: [ 7.2678669 -1.59295896 6.98661809 -0.55640272 0.21309373 0.78913098
0.14926277]
Translation error: 13.497815217503444
Rotation_error: 1.5691973770203764
Localizing image 249 currently
caption before filtering: ['armchair ', ' lamp ', ' carpet ', ' chair ', ' floor ', ' furniture ', ' image ', ' lamp shade ', ' living room ', ' mat ', ' room ', ' stool']
caption post ram and filtering: armchair . lamp . chair . stool
Initial ICP point clouds saved
Getting assignments
(7, 48)
shapes
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
(49, 49, 49)
Length: 1
Length: 2
Length: 3
Length: 4
Length: 5
Length: 6
Length: 7
Phrases: ['armchair', 'armchair', 'armchair', 'lamp', 'lamp', 'chair', 'stool']
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V?
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6.22514486e-01 4.88008440e-01 3.14230740e-01 1.70204103e-01]]
Assignments being considered: [[[0, 7]], [[0, 8]], [[1, 3]], [[0, 3]], [[0, 7], [1, 3]], [[0, 8], [1, 3]], [[0, 8], [1, 7]], [[0, 22], [1, 3]], [[0, 7], [1, 3], [2, 16]], [[0, 8], [1, 3], [2, 16]], [[0, 7], [1, 3], [4, 36]], [[0, 8], [1, 3], [4, 36]]]
Assn: [[0, 8], [1, 3], [4, 36]] | chosen RMSE: 0.930439241155358 | full RMSE: 0.1509502825164238 | chosen fitness: 0.01034429581770376 | full memory fitness: 0.1509502825164238
Assn: [[0, 8], [1, 3], [2, 16]] | chosen RMSE: 0.5154816513761468 | full RMSE: 0.13406688474952014 | chosen fitness: 0.010378726067657846 | full memory fitness: 0.13406688474952014
Assn: [[0, 8], [1, 3]] | chosen RMSE: 0.9073588709677419 | full RMSE: 0.10724810078672038 | chosen fitness: 0.01230281896842662 | full memory fitness: 0.10724810078672038
Assn: [[0, 7], [1, 3], [4, 36]] | chosen RMSE: 0.6852674756451889 | full RMSE: 0.07084538646624672 | chosen fitness: 0.010304689349483582 | full memory fitness: 0.07084538646624672
Assn: [[1, 3]] | chosen RMSE: 1.0 | full RMSE: 0.06314039308983752 | chosen fitness: 0.012018380921798928 | full memory fitness: 0.06314039308983752
Assn: [[0, 7], [1, 3]] | chosen RMSE: 0.7214717741935484 | full RMSE: 0.043729216794182055 | chosen fitness: 0.011263837997979493 | full memory fitness: 0.043729216794182055
Assn: [[0, 7], [1, 3], [2, 16]] | chosen RMSE: 0.3485195996663887 | full RMSE: 0.04299927005325908 | chosen fitness: 0.012662166113212131 | full memory fitness: 0.04299927005325908
Assn: [[0, 8], [1, 7]] | chosen RMSE: 0.25221774193548385 | full RMSE: 0.034010111114115005 | chosen fitness: 0.011614676701505549 | full memory fitness: 0.034010111114115005
Assn: [[0, 8]] | chosen RMSE: 0.9140401146131805 | full RMSE: 0.031928411149260594 | chosen fitness: 0.011734802788509692 | full memory fitness: 0.031928411149260594
Assn: [[0, 7]] | chosen RMSE: 0.7965616045845272 | full RMSE: 0.03130660466625213 | chosen fitness: 0.009844337016277297 | full memory fitness: 0.03130660466625213
Assn: [[0, 3]] | chosen RMSE: 0.7765042979942693 | full RMSE: 0.024561356078834248 | chosen fitness: 0.013188054455381857 | full memory fitness: 0.024561356078834248
Assn: [[0, 22], [1, 3]] | chosen RMSE: 0.2762096774193548 | full RMSE: 0.02327719051609938 | chosen fitness: 0.012370701550037947 | full memory fitness: 0.02327719051609938
Best assn: [[0, 8], [1, 3], [4, 36]]
R: [[-6.75239991e-01 3.69333609e-01 6.38469764e-01]
[ 1.62933237e-04 8.65681242e-01 -5.00595605e-01]
[-7.37598080e-01 -3.37918144e-01 -5.84602771e-01]]
t: [-0.76980242 -0.06980528 4.66258613]
caption before filtering: ['armchair ', ' lamp ', ' carpet ', ' chair ', ' floor ', ' furniture ', ' image ', ' lamp shade ', ' living room ', ' mat ', ' room ', ' stool']
caption post ram and filtering: armchair . lamp . chair . stool
Img 249 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_0.ply
Img 249 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_1.ply
Img 249 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_2.ply
Img 249 obj 3 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_3.ply
Img 249 obj 4 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_4.ply
Img 249 obj 5 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_5.ply
Img 249 obj 6 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_3_6.ply
Target pose: [ 6.5 0.90099978 18.5 0.10440383 0.8838513 -0.2368273
0.38964028]
Estimated pose: [ 6.50058942 0.89553248 18.51510362 0.10450064 0.88395758 -0.23714762
0.38917813]
Translation error: 0.01607352224291085
Rotation_error: 0.0005803900370075107
Localizing image 262 currently
caption before filtering: ['blue ', ' ceiling ', ' floor ', ' room ', ' stool']
caption post ram and filtering: stool
caption before filtering: ['blue ', ' ceiling ', ' floor ', ' room ', ' stool']
caption post ram and filtering: stool
Target pose: [ 7.5 0.90099978 14.5 0.16496236 0.74430533 -0.19943604
0.61564784]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 16.349672798304383
Rotation_error: 0.9075885098502827
Localizing image 275 currently
caption before filtering: ['blue ', ' closet ', ' door ', ' doorway ', ' floor ', ' lead to ', ' room ', ' wood floor']
caption post ram and filtering:
caption before filtering: ['blue ', ' closet ', ' door ', ' doorway ', ' floor ', ' lead to ', ' room ', ' wood floor']
caption post ram and filtering:
Target pose: [ 7.5 0.90099978 13.25 0.15999718 0.75925183 -0.20344094
0.59711754]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 15.25202611496631
Rotation_error: 0.9308934516059019
Localizing image 288 currently
caption before filtering: ['armchair ', ' cage ', ' chair ', ' doorway ', ' floor ', ' furniture ', ' living room ', ' room']
caption post ram and filtering: armchair . cage . chair
Initial ICP point clouds saved
Getting assignments
(3, 48)
shapes
(49, 49, 49)
Length: 1
Length: 2
Length: 3
Phrases: ['armchair', 'cage', 'cage']
[[ 0.31213284 0.35184228 0.5374244 0.8764986 0.16055444 0.15596735
-0.05065075 0.9793377 0.92777437 0.42388755 0.75039864 -0.31205404
-0.17934468 -0.23193273 -0.17171137 0.0027873 -0.06910257 -0.03618358
-0.13634878 0.35497317 -0.16355449 0.17581666 0.6521986 0.20999303
0.30555475 0.24470808 -0.00641762 0.11726959 0.07533534 0.574698
0.10813782 0.35474494 0.03949398 0.09955818 0.26325026 0.33098754
0.08920002 -0.01062659 -0.16484973 0.20125498 0.5866002 0.02020514
0.3371138 -0.19521227 0.00747408 0.10617418 0.07323181 0.79236126]
[ 0.43034378 0.2977264 0.53932077 0.6120943 0.12613276 0.1972315
0.00633877 0.64983636 0.57336307 0.84082067 0.4055756 -0.17615065
0.01455596 0.06693268 0.03603709 0.417548 -0.09706426 0.13293894
0.14727637 0.399417 0.2878684 0.5227605 0.8583429 0.29437006
0.6903103 0.643258 0.19959304 0.40102887 0.4214458 0.8378102
0.19377023 0.51596606 0.45483726 0.29913756 0.57363224 0.55968714
0.3481592 -0.00589632 0.09922957 0.46334428 0.6939329 0.20293134
0.72596943 0.02918995 0.4301758 0.34842968 0.33933285 0.70245266]
[ 0.42693737 0.40957654 0.5821215 0.70606077 0.21028557 0.19497086
0.02577979 0.8585272 0.82584894 0.37080336 0.9346303 -0.20715952
0.01619717 -0.1463829 -0.08747529 0.10097489 -0.05610507 0.03246596
-0.04739515 0.24870864 -0.0827033 0.10945804 0.5656649 0.12340182
0.28016576 0.19801837 0.06742997 0.09065767 0.23015994 0.5755639
0.23359782 0.20453186 0.06793687 0.09875018 0.2868914 0.32214808
0.23296605 0.18251799 0.01997623 0.28618872 0.42690152 0.12625685
0.2238963 -0.13451357 -0.023035 0.26115018 0.17829816 0.6873026 ]]
V?
[[ 0.39446115 0.35184234 0.56697786 0.87649846 0.16055442 0.20066716
-0.01534726 0.9633964 0.9277744 0.516833 0.7555057 -0.2520741
-0.05546618 -0.18222457 -0.12540454 0.15901521 0.01234758 -0.03618357
-0.1363488 0.35497314 -0.14316817 0.19928168 0.93127966 0.2697996
0.30555475 0.24470812 0.18641683 0.35779905 0.11121953 0.7625184
0.20040643 0.38448226 0.48682725 0.26864645 0.48611778 0.5224727
0.11370164 0.2512033 -0.16484976 0.38547692 0.56510866 0.04084628
0.363566 0.00907764 0.08331287 0.10617417 0.0732318 0.79236114]
[ 0.54652894 0.29772633 0.6025028 0.6120943 0.12613279 0.22179098
0.1575881 0.6453619 0.573363 0.8888741 0.46988046 -0.0851092
0.23966043 0.10399588 0.07561915 0.56934094 0.0953321 0.13293894
0.14727642 0.399417 0.2800504 0.5838522 0.8427679 0.40275252
0.69031024 0.6432581 0.23159868 0.65444696 0.48982817 0.79538906
0.36068428 0.5888577 0.68803215 0.54908895 0.66910994 0.59078324
0.38049507 0.18970522 0.09922959 0.67024493 0.7215413 0.23775284
0.7240722 0.22921759 0.50322205 0.34842965 0.3393328 0.70245266]
[ 0.47082567 0.40957654 0.5574719 0.70606065 0.21028556 0.1995788
0.07838508 0.8514628 0.82584906 0.4981501 0.96062994 -0.13501531
0.10537373 -0.1087248 -0.07550976 0.27419144 0.03916665 0.03246596
-0.04739514 0.2487086 -0.05384334 0.12548698 0.82285064 0.14828558
0.28016573 0.1980184 0.30410355 0.24174938 0.24689938 0.75778806
0.30794346 0.23725656 0.37131512 0.3105501 0.41839075 0.40736318
0.24509336 0.35458004 0.01997622 0.44648182 0.42973214 0.1533559
0.2620482 0.02712133 0.05296582 0.26115018 0.17829816 0.6873026 ]]
Assignments being considered: [[[0, 7]], [[0, 22]], [[0, 8]], [[0, 3]], [[0, 7], [2, 10]], [[0, 22], [2, 10]], [[0, 8], [2, 10]], [[0, 7], [1, 9]], [[0, 7], [1, 9], [2, 10]], [[0, 22], [1, 9], [2, 10]], [[0, 8], [1, 9], [2, 10]], [[0, 7], [1, 22], [2, 10]]]
Assn: [[0, 7]] | chosen RMSE: 1.0 | full RMSE: 0.6652391828448166 | chosen fitness: 0.007651056291998741 | full memory fitness: 0.6652391828448166
Assn: [[0, 8]] | chosen RMSE: 1.0 | full RMSE: 0.6643192488262911 | chosen fitness: 0.004654531197027747 | full memory fitness: 0.6643192488262911
Assn: [[0, 8], [2, 10]] | chosen RMSE: 1.0 | full RMSE: 0.6472528866895064 | chosen fitness: 0.007025566289102863 | full memory fitness: 0.6472528866895064
Assn: [[0, 8], [1, 9], [2, 10]] | chosen RMSE: 0.7498413906864612 | full RMSE: 0.5778137292221799 | chosen fitness: 0.007288055570480323 | full memory fitness: 0.5778137292221799
Assn: [[0, 7], [1, 9], [2, 10]] | chosen RMSE: 0.7524108615657912 | full RMSE: 0.5768303514782388 | chosen fitness: 0.005953107157280813 | full memory fitness: 0.5768303514782388
Assn: [[0, 7], [1, 9]] | chosen RMSE: 0.5325458052073289 | full RMSE: 0.5747049866768177 | chosen fitness: 0.008796359363570566 | full memory fitness: 0.5747049866768177
Assn: [[0, 22], [1, 9], [2, 10]] | chosen RMSE: 0.6343738104301485 | full RMSE: 0.5512308082730618 | chosen fitness: 0.008115420545175073 | full memory fitness: 0.5512308082730618
Assn: [[0, 7], [1, 22], [2, 10]] | chosen RMSE: 0.5085966247938078 | full RMSE: 0.47557416571501077 | chosen fitness: 0.00737109576565408 | full memory fitness: 0.47557416571501077
Assn: [[0, 7], [2, 10]] | chosen RMSE: 0.9046497279712827 | full RMSE: 0.4534323055449816 | chosen fitness: 0.007233513493090544 | full memory fitness: 0.4534323055449816
Assn: [[0, 22], [2, 10]] | chosen RMSE: 0.8203488698188345 | full RMSE: 0.4473099860423804 | chosen fitness: 0.005646766981028087 | full memory fitness: 0.4473099860423804
Assn: [[0, 22]] | chosen RMSE: 0.8788401794960303 | full RMSE: 0.05395888846593072 | chosen fitness: 0.010468113104260452 | full memory fitness: 0.05395888846593072
Assn: [[0, 3]] | chosen RMSE: 0.5436658612357611 | full RMSE: 0.03705113564268494 | chosen fitness: 0.01170721365545778 | full memory fitness: 0.03705113564268494
Best assn: [[0, 7]]
R: [[-0.24329914 0.48684668 0.83891945]
[-0.00266016 0.86457066 -0.50250423]
[-0.96994766 -0.12449051 -0.2090542 ]]
t: [-0.02638505 0.00615201 -0.02675783]
caption before filtering: ['armchair ', ' cage ', ' chair ', ' doorway ', ' floor ', ' furniture ', ' living room ', ' room']
caption post ram and filtering: armchair . cage . chair
Img 288 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_0.ply
Img 288 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_1.ply
Img 288 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_6_2.ply
Target pose: [ 6. 0.90099978 16.25 0.15883746 0.76263584 -0.20434769
0.59278938]
Estimated pose: [ 6.00785547 0.91529154 16.22593203 0.15904748 0.76107227 -0.20595769
0.59418375]
Translation error: 0.029072840980377178
Rotation_error: 0.0026505176997586866
Localizing image 301 currently
caption before filtering: ['blue ', ' floor ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Initial ICP point clouds saved
Getting assignments
(1, 48)
shapes
(49,)
Length: 1
Phrases: ['stool']
[[-0.18431574 0.05363638 0.09672755 0.22485305 0.3151384 0.03448378
0.02710268 0.17696506 0.2803142 0.04630402 0.09946199 -0.12179516
-0.14335027 0.01498615 0.0497015 -0.291331 0.315503 0.04803988
-0.02630366 0.31053475 -0.14596082 -0.05138695 0.02293427 0.36340368
-0.29877174 -0.29078844 -0.15372212 -0.18973748 -0.35009357 -0.10663494
0.04531758 0.06790297 -0.17090821 0.3967179 -0.00845524 0.03070045
-0.14009874 -0.15105066 -0.1415716 -0.34330988 0.1170913 -0.06859664
-0.06808534 0.09681493 0.13302928 -0.45434776 -0.31770486 0.04165567]]
V?
[[ 7.1495667e-02 5.3636365e-02 1.2629402e-01 2.2485301e-01
3.1513837e-01 1.4255677e-01 2.9035914e-01 2.0751627e-01
2.8031415e-01 1.7791864e-01 1.4428103e-01 9.5850602e-04
6.8636104e-02 3.2163799e-02 7.6467663e-02 -1.2899151e-01
4.8603576e-01 4.8039876e-02 -2.6303686e-02 3.1053478e-01
-3.5099715e-02 -1.9249908e-04 4.7328937e-01 4.5928237e-01
-2.9877180e-01 -2.9078841e-01 -1.6803602e-02 7.2217688e-02
-2.4089761e-01 6.1648853e-02 1.1814804e-01 2.6045060e-01
5.3290552e-01 6.0478586e-01 1.7009629e-01 1.4413710e-01
2.3349281e-03 -3.4974799e-02 -1.4157163e-01 2.1421516e-02
1.5856473e-01 1.2991159e-01 1.5267752e-02 2.9684621e-01
2.2358386e-01 -4.5434767e-01 -3.1770480e-01 4.1655667e-02]]
Assignments being considered: [[[0, 33]], [[0, 32]], [[0, 16]], [[0, 22]]]
Assn: [[0, 22]] | chosen RMSE: 0.1181986819169067 | full RMSE: 0.08117303802306179 | chosen fitness: 0.011720233470572718 | full memory fitness: 0.08117303802306179
Assn: [[0, 16]] | chosen RMSE: 0.047382011055491856 | full RMSE: 0.033604593715335064 | chosen fitness: 0.008617358757280584 | full memory fitness: 0.033604593715335064
Assn: [[0, 33]] | chosen RMSE: 0.05353430837924252 | full RMSE: 0.0227728217604892 | chosen fitness: 0.011889746937853544 | full memory fitness: 0.0227728217604892
Assn: [[0, 32]] | chosen RMSE: 0.02870139918155802 | full RMSE: 0.012136804720489947 | chosen fitness: 0.011951921150631819 | full memory fitness: 0.012136804720489947
Best assn: [[0, 22]]
R: [[-0.49805292 0.32179523 0.80522737]
[ 0.86189276 0.28577072 0.41889851]
[-0.09531086 0.90265327 -0.41968192]]
t: [-3.07876853 1.1278046 -1.71202446]
caption before filtering: ['blue ', ' floor ', ' room ', ' stool ', ' wood floor']
caption post ram and filtering: stool
Img 301 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_7_0.ply
Target pose: [ 7.75 0.90099978 15.25 0.14269381 0.8058619 -0.2159301
0.53254039]
Estimated pose: [-0.75552444 0.77115458 8.06578393 0.39870361 0.74221048 0.44514051
0.3033298 ]
Translation error: 11.134350736237351
Rotation_error: 0.7663773370312166
Localizing image 314 currently
caption before filtering: ['closet ', ' door ', ' doorway ', ' floor ', ' room']
caption post ram and filtering:
caption before filtering: ['closet ', ' door ', ' doorway ', ' floor ', ' room']
caption post ram and filtering:
Target pose: [ 9. 0.90099978 16.5 0.0989891 0.89248667 -0.23914111
0.3694323 ]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 18.81652998327838
Rotation_error: 1.192398294126118
Localizing image 327 currently
caption before filtering: ['armchair ', ' cage ', ' chair ', ' doorway ', ' floor ', ' furniture ', ' glass box ', ' glass table ', ' image ', ' living room ', ' room ', ' stool']
caption post ram and filtering: armchair . cage . chair . glass box . glass table . stool
Initial ICP point clouds saved
Getting assignments
(3, 48)
shapes
(49, 49, 49)
Length: 1
Length: 2
Length: 3
Phrases: ['armchair', 'cage', 'cage']
[[ 0.3362942 0.5571057 0.67702955 0.87823486 0.35236144 0.25844383
0.07636236 0.9347521 0.97408885 0.35941467 0.78336656 -0.21100013
-0.05609357 -0.12307046 -0.0529828 -0.08150195 0.02281342 -0.00995116
-0.07918767 0.5108619 -0.19095355 0.0716693 0.6060283 0.3565241
0.13105735 0.10578384 -0.01870951 0.02524193 -0.03864606 0.51144445
0.31485206 0.3767748 -0.03359414 0.2086345 0.28928524 0.33443582
0.1436924 0.09999717 -0.1111638 -0.01908956 0.5686809 0.06710009
0.20298338 -0.10528795 0.00233505 -0.03210327 -0.13351892 0.67687964]
[ 0.61591893 0.54785824 0.7457671 0.46637985 0.31960127 0.23588237
0.11096422 0.6172527 0.68097484 0.21095373 0.8877796 0.0266612
0.2714311 0.0221832 -0.0366815 0.06321678 -0.02960307 0.17795047
0.11934715 0.2579213 -0.02087278 -0.09468746 0.40139055 0.13205272
0.15156686 0.05373568 0.17378 -0.09000208 0.2247585 0.46303406
0.44557905 0.09049809 -0.00409888 0.05786465 0.24379213 0.2030668
0.36274064 0.5228223 0.30494845 0.14602919 0.22223587 0.36629492
0.01699753 -0.10002672 -0.12339196 0.31703606 0.11085686 0.38696533]
[ 0.38603342 0.1618152 0.5429575 0.33273464 0.06164332 0.01899004
-0.1483609 0.34508654 0.3177662 0.9261075 0.21432269 -0.1771074
0.05276589 0.30471367 0.01783938 0.31912476 -0.234263 0.41882333
0.4054212 0.39750177 0.5041165 0.48088118 0.7717687 0.33146226
0.73776644 0.63822436 0.11419915 0.15142225 0.32381013 0.71885514
0.2790762 0.44401485 0.42632633 0.21166834 0.4751745 0.4799702
0.3269742 -0.0031209 0.38219073 0.31164575 0.53867114 0.43522298
0.7613852 0.01540672 0.53382856 0.28011754 0.32187563 0.39367875]]
V?
[[ 0.46511745 0.5571058 0.6787528 0.87823486 0.35236135 0.31764904
0.18535718 0.9488347 0.9740888 0.43901014 0.79289114 -0.18800448
0.051844 -0.06614703 -0.04416577 0.09000546 0.065778 -0.00995117
-0.07918766 0.51086193 -0.1717481 0.06709189 0.8671876 0.4173808
0.13105732 0.10578385 0.24814625 0.2041367 -0.02181893 0.77727956
0.39312333 0.43080145 0.47528893 0.34697926 0.56319404 0.54577553
0.19043505 0.40605628 -0.11116379 0.26100183 0.5669894 0.14856201
0.25262734 0.03272795 0.04501082 -0.03210327 -0.1335189 0.67687976]
[ 0.68724173 0.54785836 0.7808341 0.46637988 0.3196013 0.29253557
0.19711673 0.62886524 0.68097484 0.3434368 0.8860713 0.10235877
0.34164494 0.03441223 0.03102272 0.3359516 0.06033313 0.17795047
0.11934714 0.25792128 -0.01510533 -0.0783872 0.72879875 0.18094884
0.15156686 0.05373565 0.5357853 -0.00331556 0.326406 0.71066225
0.47747016 0.13009764 0.17547795 0.27721414 0.43291906 0.4346593
0.47845048 0.613906 0.3049485 0.30192637 0.2322669 0.40421703
0.06507146 0.06755331 -0.01948066 0.317036 0.11085688 0.3869654 ]
[ 0.38735414 0.16181518 0.6119931 0.33273464 0.06164332 0.12192586
0.12247241 0.38013136 0.31776613 0.9288354 0.26771247 -0.06968985
0.17178643 0.30922374 0.02861265 0.67436504 -0.07888819 0.41882342
0.40542126 0.39750168 0.59431016 0.61356384 0.787747 0.39994094
0.7377664 0.63822436 0.26419696 0.41344398 0.42898938 0.77104867
0.38205338 0.50966585 0.7753214 0.37263876 0.615921 0.5978106
0.36908087 0.18226954 0.38219076 0.5068401 0.6092688 0.46643764
0.77738994 0.16526072 0.7281966 0.28011748 0.32187566 0.39367872]]
Assignments being considered: [[[0, 8]], [[0, 7]], [[0, 3]], [[0, 22]], [[0, 8], [2, 9]], [[0, 7], [2, 9]], [[0, 8], [1, 10]], [[0, 7], [1, 10]], [[0, 8], [1, 10], [2, 9]], [[0, 7], [1, 10], [2, 9]], [[0, 3], [1, 10], [2, 9]], [[0, 22], [1, 10], [2, 9]]]
Assn: [[0, 8], [1, 10]] | chosen RMSE: 0.9223074750517793 | full RMSE: 0.5461487076717537 | chosen fitness: 0.00649898572968377 | full memory fitness: 0.5461487076717537
Assn: [[0, 7], [1, 10]] | chosen RMSE: 0.9225899077386556 | full RMSE: 0.545717075175993 | chosen fitness: 0.005091814952791918 | full memory fitness: 0.545717075175993
Assn: [[0, 8]] | chosen RMSE: 0.9993256911665542 | full RMSE: 0.544504393402189 | chosen fitness: 0.0068510391139803275 | full memory fitness: 0.544504393402189
Assn: [[0, 7]] | chosen RMSE: 1.0 | full RMSE: 0.5389856636349623 | chosen fitness: 0.00858803391612148 | full memory fitness: 0.5389856636349623
Assn: [[0, 7], [1, 10], [2, 9]] | chosen RMSE: 0.6012435126663583 | full RMSE: 0.5000462463388315 | chosen fitness: 0.008820709298071874 | full memory fitness: 0.5000462463388315
Assn: [[0, 7], [2, 9]] | chosen RMSE: 0.44062540172258646 | full RMSE: 0.4761111967524793 | chosen fitness: 0.010401801582963196 | full memory fitness: 0.4761111967524793
Assn: [[0, 8], [2, 9]] | chosen RMSE: 0.4431160817585808 | full RMSE: 0.45964750012846206 | chosen fitness: 0.009744951983448888 | full memory fitness: 0.45964750012846206
Assn: [[0, 8], [1, 10], [2, 9]] | chosen RMSE: 0.6219104876419506 | full RMSE: 0.4485586557730846 | chosen fitness: 0.007676233109946611 | full memory fitness: 0.4485586557730846
Assn: [[0, 3], [1, 10], [2, 9]] | chosen RMSE: 0.5555521299008273 | full RMSE: 0.4299059657777093 | chosen fitness: 0.00914273896599421 | full memory fitness: 0.4299059657777093
Assn: [[0, 22], [1, 10], [2, 9]] | chosen RMSE: 0.5608961512769128 | full RMSE: 0.3666923590771286 | chosen fitness: 0.00942812204875442 | full memory fitness: 0.3666923590771286
Assn: [[0, 22]] | chosen RMSE: 0.8453135536075522 | full RMSE: 0.0435332202867273 | chosen fitness: 0.01149741039873668 | full memory fitness: 0.0435332202867273
Assn: [[0, 3]] | chosen RMSE: 0.6231962238705328 | full RMSE: 0.027059246698525257 | chosen fitness: 0.012868350111835942 | full memory fitness: 0.027059246698525257
Best assn: [[0, 8], [1, 10]]
R: [[-0.60201928 0.40004552 0.69104007]
[ 0.00229319 0.8663054 -0.49950945]
[-0.79847826 -0.29912963 -0.52244993]]
t: [0.16217744 0.03614254 0.08642116]
caption before filtering: ['armchair ', ' cage ', ' chair ', ' doorway ', ' floor ', ' furniture ', ' glass box ', ' glass table ', ' image ', ' living room ', ' room ', ' stool']
caption post ram and filtering: armchair . cage . chair . glass box . glass table . stool
Img 327 obj 0 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_0.ply
Img 327 obj 1 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_1.ply
Img 327 obj 2 pointcloud saved to /scratch/aneesh.chavan/results/8-room-new-icp/ind_mems/detected_img_9_2.ply
Target pose: [ 7.25 0.90099978 17. 0.11506835 0.86521283 -0.23183311
0.42944086]
Estimated pose: [ 7.24701887 0.91308824 16.99076677 0.11632417 0.86469281 -0.23090255
0.43064957]
Translation error: 0.015500664066118584
Rotation_error: 0.0020431478993101983
Localizing image 340 currently
caption before filtering: ['armchair ', ' bin ', ' box ', ' chair ', ' daybed ', ' couch ', ' cube ', ' floor ', ' furniture ', ' green ', ' hassock ', ' image ', ' living room ', ' room ', ' stool']
caption post ram and filtering: armchair . bin . box . chair . daybed . couch . hassock . stool
Initial ICP point clouds saved
Getting assignments
(3, 48)
shapes
(49, 49, 49)
Length: 1
Length: 2
Length: 3
Phrases: ['armchair', 'armchair', 'box']
[[ 0.32430714 0.31212503 0.20020467 -0.27165574 0.23888138 0.21445858
0.41874284 -0.27071196 -0.20399317 0.00510192 -0.06276346 0.7551444
0.7350302 0.85007596 0.51092255 0.39911005 0.25744912 0.41223252
0.61574024 0.21549141 0.49482077 -0.02956385 0.0110509 0.24438128
0.03114872 0.05639239 0.29619843 0.16937944 0.27659735 0.09732415
0.33895308 0.0848878 0.18026209 0.20865443 0.12554434 -0.06641652
0.4220456 0.48635426 0.6803071 -0.00775917 -0.03335012 0.51261175
-0.1079881 0.6607208 0.1299004 0.2385546 0.06824239 -0.2943069 ]
[ 0.48633385 0.30711132 0.14670202 0.12223434 0.24252304 0.73689115
0.4761401 0.15702486 0.06811907 0.28576934 0.0235101 0.1447761
0.3911667 0.04085957 0.4542088 0.47282016 0.09614474 -0.2731039
-0.10322125 -0.12967905 0.206707 0.46475405 0.3636669 -0.04786801
0.36310887 0.4540773 0.5343778 0.64976263 0.45735556 0.42882374
0.23757973 0.11028249 0.50538063 0.4039207 0.7159867 0.6091819
0.6306708 0.32728577 0.05625128 0.4146134 0.30531928 -0.01875927
0.35222542 0.3373355 0.49321187 0.4307167 0.21453449 0.35667968]
[ 0.32754937 0.585027 0.16656181 -0.00494128 0.6938376 0.70467925
0.92394066 -0.08341615 -0.02240376 -0.15227169 0.0495954 0.33041513
0.6911731 0.21152401 0.71720326 0.01400295 0.21092506 -0.27502614
-0.18279493 -0.06426822 -0.09180166 -0.20142522 -0.14258201 -0.02120828
-0.22631617 -0.19606137 0.11722012 0.15982847 0.05811712 -0.06843022
0.549111 -0.16004479 -0.0530986 0.49697495 0.37376606 0.19393155
0.5543671 0.63308847 0.17935115 -0.23571676 -0.14826065 -0.07164907
-0.23918913 0.38957232 -0.00638415 -0.02143623 -0.30580604 0.01247319]]
V?
[[ 0.43759155 0.3121251 0.20425826 -0.27165574 0.23888135 0.28845567
0.57610524 -0.23701271 -0.20399317 0.07759218 -0.05719982 0.76108456
0.7974548 0.84055495 0.5725849 0.5466467 0.3153048 0.41223258
0.6157403 0.21549141 0.49416658 0.07691471 0.38935468 0.3446153
0.0311487 0.05639239 0.34508497 0.3551274 0.47417182 0.31062773
0.41581935 0.10758021 0.32205573 0.30366066 0.2961659 0.21060772
0.45076364 0.5797627 0.68030715 0.17201626 0.00266905 0.5505334
-0.03687038 0.70137167 0.332012 0.23855457 0.06824238 -0.29430693]