Starting imports Imports completed in 11.913735151290894 seconds LocalArgs(lora_path='models/vit_finegrained_5x40_procthor.pt', test_folder_path='/scratch/aneesh.chavan/8-room-v1/1/', rearranged_test_folder_path='/scratch/aneesh.chavan/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', sampling_period=5, downsampling_rate=5, save_dir='/scratch/aneesh.chavan/results', start_file_index=2, last_file_index=250, rot_correction=0.0, look_around_range=0, save_individual_objects=False, down_sample_voxel_size=0.01, create_ext_mesh=False, save_point_clouds=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=1, loc_results_last_file_index=250, loc_results_sampling_period=10) Created save directory /scratch/aneesh.chavan/results 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
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']) SAM loaded Memory Init'ed
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caption post ram: armchair . bin . chair . container . stool
Memory usage: 9.766 GB
Max GPU memory usage: 9.282 GB
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Downsampling at 0 frame voxel size as 0.01
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caption post ram: armchair . chair
Memory usage: 9.766 GB
Max GPU memory usage: 9.366 GB
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caption post ram: armchair . barrel . bin . chair . container . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . barrel . bin . lamp . chair . container . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . stand . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . bin . chair . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 5 frame voxel size as 0.01
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caption post ram: armchair . chair . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . plaster bandage . chair . easel . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . plaster bandage . chair . stool
Memory usage: 9.767 GB
Max GPU memory usage: 9.367 GB
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caption post ram: chair . table . stool
Memory usage: 9.768 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . easel . pyramid
Memory usage: 9.775 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 10 frame voxel size as 0.01
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caption post ram: armchair . lamp . plaster bandage . chair . stool
Memory usage: 9.775 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . chair . stand . stool
Memory usage: 9.775 GB
Max GPU memory usage: 9.367 GB
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caption post ram: chair . stool
Memory usage: 9.775 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . stool
Memory usage: 9.775 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . chair . pole . stand . stool Memory usage: 9.777 GB Max GPU memory usage: 9.367 GB ---------------- Downsampling at 15 frame voxel size as 0.01
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caption post ram: armchair . lamp . chair . pillow . stool
Memory usage: 9.777 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . plaster bandage . lamp post . pole . stand Memory usage: 9.776 GB Max GPU memory usage: 9.367 GB ----------------
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caption post ram: lamp . plaster bandage . chair . stool
Memory usage: 9.777 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . chair . stool
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram:
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 20 frame voxel size as 0.01
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Memory usage: 9.778 GB
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Memory usage: 9.778 GB
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caption post ram: armchair . lamp . chair . couch
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . couch . stool
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . beach chair . chair . daybed . couch . stool
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 25 frame voxel size as 0.01
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caption post ram: ledge . skateboarder . trick Memory usage: 9.778 GB Max GPU memory usage: 9.367 GB ----------------
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caption post ram:
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: bed . pillow
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: bed . chair . couch . pillow
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . couch . table . dinning table . stool
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 30 frame voxel size as 0.01
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caption post ram: armchair . couch . pillow
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram:
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: skateboarder
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . couch . hassock . pillow
Memory usage: 9.778 GB
Max GPU memory usage: 9.367 GB
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caption post ram: couch . pillow
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 35 frame voxel size as 0.01
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caption post ram: armchair . lamp . chair . daybed . couch . hassock . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . lamp . chair . couch . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: box . cardboard box . chair . table . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram:
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: box . cardboard box
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 40 frame voxel size as 0.01
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caption post ram: armchair . lamp . chair . couch . hassock . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . chair . couch . hassock . pillow
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . bin . chair . couch . hassock
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: lamp . chair . table . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: bin . box . chair . container . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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Downsampling at 45 frame voxel size as 0.01
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caption post ram: chair . table . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: bed . cabinet
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: bin . chair . container . recycling bin . stool
Memory usage: 9.779 GB
Max GPU memory usage: 9.367 GB
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caption post ram: armchair . bed . lamp . chair . couch . futon . stool Memory usage: 9.779 GB Max GPU memory usage: 9.367 GB ---------------- Downsampling using voxel size as 0.01 Traversal completed in 115.08949184417725 seconds Memory's pointcloud saved to /scratch/aneesh.chavan/results/mem_2_250_5_0.pcd
---------------------
Objects stored in memory: ID: 0 | Names: [armchair ,lamp ,chair] | Num embs: 18 | Pcd size: (3, 8750) ID: 1 | Names: [container ,barrel ,armchair] | Num embs: 5 | Pcd size: (3, 8038) ID: 2 | Names: [plaster bandage] | Num embs: 1 | Pcd size: (3, 3692) ID: 3 | Names: [easel] | Num embs: 1 | Pcd size: (3, 8351) ID: 4 | Names: [pyramid] | Num embs: 1 | Pcd size: (3, 2105) ID: 5 | Names: [lamp] | Num embs: 1 | Pcd size: (3, 3392) ID: 6 | Names: [plaster bandage ,chair] | Num embs: 2 | Pcd size: (3, 35030) ID: 7 | Names: [armchair ,couch] | Num embs: 8 | Pcd size: (3, 32063) ID: 8 | Names: [lamp ,chair ,couch ,armchair ,beach chair ,bed] | Num embs: 16 | Pcd size: (3, 34958) ID: 9 | Names: [stool] | Num embs: 2 | Pcd size: (3, 5968) ID: 10 | Names: [stool ,bed] | Num embs: 3 | Pcd size: (3, 4412) ID: 11 | Names: [skateboarder] | Num embs: 2 | Pcd size: (3, 4519) ID: 12 | Names: [bed ,table ,armchair] | Num embs: 4 | Pcd size: (3, 32026) ID: 13 | Names: [pillow ,chair ,armchair] | Num embs: 3 | Pcd size: (3, 11518) ID: 14 | Names: [chair] | Num embs: 1 | Pcd size: (3, 3756) ID: 15 | Names: [table] | Num embs: 1 | Pcd size: (3, 13143) ID: 16 | Names: [armchair] | Num embs: 2 | Pcd size: (3, 2016) ID: 17 | Names: [pillow ,stool ,chair] | Num embs: 3 | Pcd size: (3, 6543) ID: 18 | Names: [armchair ,box ,stool ,chair] | Num embs: 11 | Pcd size: (3, 10340) ID: 19 | Names: [stool ,armchair ,chair] | Num embs: 5 | Pcd size: (3, 8121) ID: 20 | Names: [table] | Num embs: 1 | Pcd size: (3, 29586) ID: 21 | Names: [box] | Num embs: 1 | Pcd size: (3, 1034) ID: 22 | Names: [armchair] | Num embs: 3 | Pcd size: (3, 2872) ID: 23 | Names: [box] | Num embs: 1 | Pcd size: (3, 3789)
Localizing image 1 currently
caption post ram: armchair . handcart . bin . chair . container . stool
Phrases: ['armchair', 'handcart']
[[ 0.95736253 0.7741513 0.8023354 0.8738332 0.39538857 0.8460262
0.87247384 0.68519604 0.23706533 0.05320997 0.3121214 0.00735207
0.6368605 0.12615763 -0.2194957 0.5502488 0.09799755 0.13182943
0.5947074 0.44806504 0.4164306 0.62098074 -0.00613015 0.6003202 ]
[ 0.77994555 0.9814048 0.6413524 0.8966618 0.09717628 0.880713
0.83765376 0.67270446 0.3366208 -0.13136482 0.26403475 0.02832221
0.7937167 0.01412915 -0.38491958 0.60857177 -0.09549006 -0.0453226
0.3377287 0.3195543 0.37558568 0.41773736 -0.12362048 0.69196874]]
Assignments being considered: [[[0, 14]], [[0, 22]], [[1, 1]], [[0, 0]], [[1, 3]]]
[[[0, 0]], array([[ 9.99998904e-01, 8.85941695e-04, 1.18657550e-03, -7.18130565e-03], [-1.73116034e-04, 8.65738153e-01, -5.00497174e-01, -4.62104990e-02], [-1.47067499e-03, 5.00496420e-01, 8.65737357e-01, -5.49528351e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.003977636647809305] Target pose: [ 3.75000000e+00 9.00999784e-01 2.02500000e+01 2.58818961e-01 9.15674411e-04 -2.45354252e-04 9.65925384e-01] Estimated pose: [ 5.58751575e+00 3.86297246e-01 2.20479318e+01 2.59096215e-01 6.87800150e-04 -2.74125479e-04 9.65851232e-01] Translation error: 2.621820295262706 Rotation_error: 0.00036759022643410903
Localizing image 11 currently
caption post ram: barrel . bin . chair . container . plastic . recycling bin . stool
Phrases: ['barrel', 'chair']
[[ 0.814767 0.9780214 0.67407775 0.89207333 0.10987598 0.871325
0.849515 0.713852 0.2934895 -0.12846847 0.22600347 0.04605637
0.79810417 0.01623336 -0.37194526 0.662972 -0.07387792 -0.02642833
0.40972218 0.39047724 0.40677994 0.49078107 -0.11602022 0.71991503]
[ 0.8331471 0.47307366 0.8117466 0.57247794 0.21855071 0.5245879
0.62934434 0.5265841 0.12762281 0.36652377 0.34761414 -0.08800206
0.41315204 0.19678608 -0.05341908 0.48214048 0.21821532 0.35760576
0.74214363 0.4330144 0.4080201 0.656094 0.05882167 0.537782 ]]
Assignments being considered: [[[0, 1]], [[0, 1], [1, 0]], [[0, 3]], [[0, 1], [1, 2]], [[0, 5]]]
[[[0, 1]], array([[ 9.90698295e-01, 6.83509467e-02, 1.17664932e-01, 3.59119257e-03], [-3.17997216e-04, 8.65855732e-01, -5.00293663e-01, 5.90704944e-02], [-1.36076401e-01, 4.95602662e-01, 8.57823533e-01, -9.86451537e-03], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.0040248611190798] Target pose: [ 5.00000000e+00 9.00999784e-01 2.05000000e+01 2.58233088e-01 6.49638172e-02 -1.74070070e-02 9.63738746e-01] Estimated pose: [ 3.83290660e+00 9.92031797e-01 2.35159904e+01 2.58369420e-01 6.58291425e-02 -1.78150625e-02 9.63636026e-01] Translation error: 3.2352113086682275 Rotation_error: 0.000971820567562003
Localizing image 21 currently
caption post ram: armchair . chair . stool
Phrases: ['armchair']
[[ 0.9469627 0.8476794 0.84593284 0.9109906 0.14619839 0.86629736
0.9028307 0.6901984 0.27134448 0.00701564 0.35203555 -0.01549757
0.7000952 0.07523058 -0.2672148 0.62428457 -0.05895726 0.10721648
0.5670712 0.4169158 0.46887058 0.58687234 -0.12530296 0.6074869 ]]
Assignments being considered: [[[0, 0]], [[0, 3]], [[0, 6]], [[0, 5]], [[0, 1]]]
[[[0, 0]], array([[ 8.12077780e-01, 2.92647512e-01, 5.04863460e-01, 1.46611722e-02], [-1.32028093e-04, 8.65252164e-01, -5.01336888e-01, -1.41511461e-02], [-5.83549194e-01, 4.07057891e-01, 7.02690694e-01, -5.58017913e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.004181444410614216] Target pose: [ 6.75 0.90099978 20.75 0.2463329 0.29639666 -0.07941926 0.91932677] Estimated pose: [ 5.33880431 0.7362584 18.96678276 0.24705006 0.29600831 -0.07962529 0.91924162] Translation error: 2.2800168225857274 Rotation_error: 0.0008454776984349227
Localizing image 31 currently
caption post ram: armchair . chair . stool
Phrases: ['armchair', 'armchair']
[[ 0.98170066 0.8045076 0.82775086 0.90754664 0.33080724 0.8848797
0.90683085 0.69013166 0.23517467 0.00819629 0.3240763 0.0061846
0.6633624 0.09040678 -0.22171158 0.59308964 -0.0011351 0.12366223
0.58999944 0.43878275 0.4694675 0.627703 -0.09110739 0.59245485]
[ 0.7429326 0.9330178 0.5858608 0.8578895 0.24729571 0.83959347
0.80730283 0.559687 0.2718937 -0.2034128 0.16723055 0.00484063
0.7169622 -0.04255394 -0.3653823 0.48473415 -0.11279693 -0.14217722
0.2777496 0.20201492 0.26884604 0.31086272 -0.12997603 0.67245555]]
Assignments being considered: [[[0, 0]], [[0, 6]], [[0, 5]], [[0, 14]], [[0, 16]]]
[[[0, 0]], array([[ 9.70797357e-01, 1.19803530e-01, 2.07845148e-01, -1.83960991e-02], [ 1.28031045e-04, 8.66119965e-01, -4.99836163e-01, -1.90171962e-02], [-2.39900969e-01, 4.85266237e-01, 8.40811635e-01, -5.99681529e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.004011970718020943] Target pose: [ 4.5 0.90099978 21.5 0.25691604 0.11691894 -0.03132834 0.95882357] Estimated pose: [ 4.18354959 0.94208986 16.56179058 0.25683933 0.11673793 -0.03120221 0.95887029] Translation error: 4.94850902123997 Rotation_error: 0.00023820167591546718
Localizing image 41 currently
caption post ram: armchair . lamp . plaster bandage . chair . stool
Phrases: ['armchair', 'plaster bandage']
[[ 9.77412820e-01 7.75795817e-01 8.48690391e-01 8.63055229e-01
2.72724807e-01 8.29254448e-01 8.80602896e-01 7.00756431e-01
1.93450481e-01 2.60141287e-02 3.17606390e-01 -9.82638448e-05
6.69991970e-01 9.24858004e-02 -2.15160459e-01 6.45643473e-01
-1.19965812e-02 1.51016325e-01 6.43649817e-01 4.73629504e-01
5.00379205e-01 6.70241416e-01 -1.06193386e-01 6.08507335e-01]
[ 8.57164264e-01 6.00179613e-01 9.79182005e-01 7.36239552e-01
2.42939383e-01 6.84038877e-01 8.22020113e-01 4.68558609e-01
1.87465444e-01 1.49968579e-01 2.52690524e-01 -5.95199913e-02
4.45098579e-01 6.62041232e-02 -7.84822255e-02 4.79509473e-01
1.30850691e-02 1.85661256e-01 6.76589251e-01 3.57312649e-01
4.27284390e-01 5.57277560e-01 -9.81146470e-02 5.07753313e-01]]
Assignments being considered: [[[0, 0]], [[0, 6]], [[0, 11]], [[0, 14]], [[0, 16]]]
[[[0, 0]], array([[ 8.80471946e-01, 2.36510889e-01, 4.10891411e-01, -4.00173049e-02], [ 6.36128110e-04, 8.66089737e-01, -4.99888150e-01, 1.45460993e-02], [-4.74097825e-01, 4.40398872e-01, 7.62417265e-01, -5.20152568e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.0039647550748071305] Target pose: [ 4.75 0.90099978 22.25 0.25093731 0.2365601 -0.0633861 0.93651054] Estimated pose: [ 4.43429943 0.94170524 17.31161886 0.25098055 0.23622051 -0.06295947 0.93661344] Translation error: 4.948629316958622 Rotation_error: 0.000556588592329379
Localizing image 51 currently
caption post ram: armchair . lamp . chair
Phrases: ['armchair']
[[ 0.9479252 0.82722384 0.82072634 0.9421319 0.25273198 0.90409815
0.93776596 0.64013296 0.23759228 -0.04475756 0.32346 -0.01611635
0.6480824 0.03617241 -0.23749746 0.5547484 -0.1278095 0.0497174
0.5274483 0.37181658 0.43831012 0.53035504 -0.1790738 0.52318406]]
Assignments being considered: [[[0, 0]], [[0, 3]], [[0, 6]], [[0, 5]], [[0, 1]]]
[[[0, 0]], array([[ 7.20802649e-01, 3.47194256e-01, 5.99916402e-01, -4.60769299e-04], [-3.44673522e-04, 8.65684381e-01, -5.00590085e-01, 1.98743508e-02], [-6.93140262e-01, 3.60619884e-01, 6.24107264e-01, -7.49395222e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.004088800369522619] Target pose: [ 6.25 0.90099978 21.75 0.23997695 0.36180445 -0.09694522 0.89560607] Estimated pose: [ 4.83898541 0.7345352 19.96548891 0.24031802 0.36082353 -0.09697968 0.89590657] Translation error: 2.2810419718195076 Rotation_error: 0.001081673222434685
Localizing image 61 currently
caption post ram: stand Phrases: ['stand'] [[ 0.92177224 0.8159634 0.83324003 0.9483202 0.26148558 0.94322824 0.9736952 0.68935996 0.22055797 -0.05390273 0.28476822 0.04853361 0.67749244 0.06130277 -0.175538 0.6579542 -0.08832957 0.11863375 0.58554006 0.47445196 0.55369616 0.6111516 -0.15624708 0.53070474]] Assignments being considered: [[[0, 6]], [[0, 3]], [[0, 5]], [[0, 0]], [[0, 2]]]
[[[0, 6]], array([[ 9.77920461e-01, 1.04458758e-01, 1.80997073e-01, -1.84972665e-01], [ 1.20446553e-04, 8.65826291e-01, -5.00344700e-01, 1.07051531e-04], [-2.08977410e-01, 4.89319120e-01, 8.46696664e-01, 7.78177616e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.014114511240211942] Target pose: [ 3.75 0.90099978 22.75 0.25440954 0.17754135 -0.04757207 0.9494692 ] Estimated pose: [ 3.70097126 0.90152945 22.2123507 0.25758373 0.1015002 -0.02715655 0.96052634] Translation error: 0.5398804211702143 Rotation_error: 0.07959100717634206
Localizing image 71 currently
caption post ram: armchair . chair . stool
Phrases: ['armchair']
[[ 0.9528961 0.84442437 0.7905706 0.9390195 0.31773242 0.91210806
0.92290413 0.6882325 0.25251377 -0.05189375 0.31995335 0.03088203
0.6837735 0.07868868 -0.22920057 0.5821719 -0.04963499 0.07887791
0.54054534 0.40770984 0.46912837 0.5764464 -0.11417384 0.56875324]]
Assignments being considered: [[[0, 0]], [[0, 3]], [[0, 6]], [[0, 5]], [[0, 1]]]
[[[0, 0]], array([[ 6.68478651e-01, 3.71141755e-01, 6.44507634e-01, -3.10013463e-02], [ 2.21903639e-04, 8.66487068e-01, -4.99199470e-01, 3.40561267e-02], [-7.43731298e-01, 3.33847207e-01, 5.79145749e-01, -5.63274795e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.0039733466293044055] Target pose: [ 5.5 0.90099978 22.75 0.23632976 0.39382524 -0.10552517 0.88199454] Estimated pose: [ 4.08581269 0.73281684 20.96385285 0.23603275 0.39333912 -0.10509523 0.88234226] Translation error: 2.2844108407691173 Rotation_error: 0.0007939044790742362
Localizing image 81 currently
caption post ram: lamp . chair . stool
Phrases: ['lamp']
[[ 0.94708556 0.8543959 0.80051464 0.95167494 0.30603203 0.92657924
0.9448405 0.7042434 0.25780833 -0.07185189 0.28965503 0.05642345
0.6931375 0.06445979 -0.22148712 0.6072148 -0.06537091 0.05772799
0.5536666 0.43862286 0.48721775 0.5809339 -0.12444355 0.5592258 ]]
Assignments being considered: [[[0, 3]], [[0, 0]], [[0, 6]], [[0, 5]], [[0, 1]]]
[[[0, 0]], array([[ 5.83110768e-01, 4.05510501e-01, 7.03948198e-01, -3.31303814e-02], [ 4.60896321e-04, 8.66346990e-01, -4.99442369e-01, 6.75762431e-02], [-8.12392528e-01, 2.91554670e-01, 5.04989361e-01, -5.56395224e-02], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 0.00397676125551154] Target pose: [ 5.75 0.90099978 23. 0.2301735 0.44170004 -0.11835319 0.85901907] Estimated pose: [ 4.3356575 0.73347001 21.214021 0.23009477 0.4410915 -0.11782572 0.85942526] Translation error: 2.2843274502852506 Rotation_error: 0.0009053870981303068
Localizing image 91 currently
caption post ram: lamp . plaster bandage . chair . stool
Phrases: ['lamp']
[[ 0.93446195 0.8549724 0.7675145 0.9502458 0.3087718 0.9347393
0.9509197 0.76465374 0.22543937 -0.11226466 0.2734243 0.0812773
0.7198745 0.0790823 -0.22560273 0.6785209 -0.06363774 0.07629472
0.57292306 0.4923495 0.5404151 0.63093567 -0.12054613 0.5660489 ]]
Assignments being considered: [[[0, 6]], [[0, 3]], [[0, 5]], [[0, 0]], [[0, 1]]]
[[[0, 0]], array([[ 0.58010082, 0.39203486, 0.713997 , -0.10423939], [-0.03067902, 0.88645342, -0.46179987, 0.06324898], [-0.81396673, 0.24598576, 0.5262596 , 0.0877145 ], [ 0. , 0. , 0. , 1. ]]), 0.004312689030112931] Target pose: [ 5. 0.90099978 23.75 0.22983601 0.44414124 -0.11900732 0.85775942] Estimated pose: [ 3.55875864 0.72916741 21.8886274 0.20456527 0.44161437 -0.1221734 0.86498755] Translation error: 2.3603836473713766 Rotation_error: 0.026595241813680653