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[34mLoaded modules for object_memory.object_finder[0m
[34mLoaded modules for object_memory.object_memory[0m
/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
Making env from index 1/86 currently.
Using 7.071 GB of memory and 9.282 GB of GPU
Making env from index 2/86 currently.
Using 7.072 GB of memory and 9.366 GB of GPU
Making env from index 3/86 currently.
Using 7.076 GB of memory and 9.367 GB of GPU
Making env from index 4/86 currently.
Using 7.076 GB of memory and 9.368 GB of GPU
Making env from index 5/86 currently.
Using 7.077 GB of memory and 9.369 GB of GPU
Making env from index 6/86 currently.
Using 7.077 GB of memory and 9.369 GB of GPU
Making env from index 7/86 currently.
Using 7.077 GB of memory and 9.369 GB of GPU
Making env from index 8/86 currently.
Using 7.077 GB of memory and 9.369 GB of GPU
Making env from index 9/86 currently.
Using 7.085 GB of memory and 9.369 GB of GPU
Making env from index 10/86 currently.
Using 7.085 GB of memory and 9.369 GB of GPU
Making env from index 11/86 currently.
Using 7.085 GB of memory and 9.369 GB of GPU
Making env from index 12/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 13/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 14/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 15/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 16/86 currently.
Using 7.085 GB of memory and 9.369 GB of GPU
Making env from index 17/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 18/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 19/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 20/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 21/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 22/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 23/86 currently.
Using 7.086 GB of memory and 9.369 GB of GPU
Making env from index 24/86 currently.
Using 7.087 GB of memory and 9.369 GB of GPU
Making env from index 25/86 currently.
Using 7.086 GB of memory and 9.372 GB of GPU
Making env from index 26/86 currently.
Using 7.086 GB of memory and 9.372 GB of GPU
Making env from index 27/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 28/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 29/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 30/86 currently.
Using 7.086 GB of memory and 9.372 GB of GPU
Making env from index 31/86 currently.
Using 7.086 GB of memory and 9.372 GB of GPU
Making env from index 32/86 currently.
Using 7.088 GB of memory and 9.372 GB of GPU
Making env from index 33/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 34/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 35/86 currently.
Using 7.087 GB of memory and 9.372 GB of GPU
Making env from index 36/86 currently.
Using 7.088 GB of memory and 9.372 GB of GPU
Making env from index 37/86 currently.
Using 7.089 GB of memory and 9.372 GB of GPU
Making env from index 38/86 currently.
Using 7.088 GB of memory and 9.372 GB of GPU
Making env from index 39/86 currently.
Using 7.088 GB of memory and 9.372 GB of GPU
Making env from index 40/86 currently.
Using 7.088 GB of memory and 9.372 GB of GPU
Making env from index 41/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 42/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 43/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 44/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 45/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 46/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 47/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 48/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 49/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 50/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 51/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 52/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 53/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 54/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 55/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 56/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 57/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 58/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 59/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 60/86 currently.
Using 7.088 GB of memory and 9.373 GB of GPU
Making env from index 61/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 62/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 63/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 64/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 65/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 66/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 67/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 68/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 69/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 70/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 71/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 72/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 73/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 74/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 75/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 76/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 77/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 78/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 79/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 80/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 81/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 82/86 currently.
Using 7.090 GB of memory and 9.373 GB of GPU
Making env from index 83/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 84/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 85/86 currently.
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%Using 7.089 GB of memory and 9.373 GB of GPU
Making env from index 86/86 currently.
Using 7.089 GB of memory and 9.373 GB of GPU
Memory is
ObjectInfo == ID: 0, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 17004)
ObjectInfo == ID: 1, Names: ['armchair', 'stool'], Mean_Emb: (768,), Num. Points: (3, 5979)
ObjectInfo == ID: 2, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 1567)
ObjectInfo == ID: 3, Names: ['armchair', 'stool'], Mean_Emb: (768,), Num. Points: (3, 10486)
ObjectInfo == ID: 4, Names: ['handcart'], Mean_Emb: (768,), Num. Points: (3, 5586)
ObjectInfo == ID: 5, Names: ['chair', 'armchair'], Mean_Emb: (768,), Num. Points: (3, 6222)
ObjectInfo == ID: 6, Names: ['food', 'chair', 'stool', 'beverage'], Mean_Emb: (768,), Num. Points: (3, 8938)
ObjectInfo == ID: 7, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 16488)
ObjectInfo == ID: 8, Names: ['cage', 'table'], Mean_Emb: (768,), Num. Points: (3, 8696)
ObjectInfo == ID: 9, Names: ['cage'], Mean_Emb: (768,), Num. Points: (3, 32578)
ObjectInfo == ID: 10, Names: ['plaster bandage'], Mean_Emb: (768,), Num. Points: (3, 66812)
ObjectInfo == ID: 11, Names: ['armchair', 'chair'], Mean_Emb: (768,), Num. Points: (3, 45684)
ObjectInfo == ID: 12, Names: ['table', 'chair', 'stool'], Mean_Emb: (768,), Num. Points: (3, 9176)
ObjectInfo == ID: 13, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 6243)
ObjectInfo == ID: 14, Names: ['armchair', 'table'], Mean_Emb: (768,), Num. Points: (3, 2274)
ObjectInfo == ID: 15, Names: ['armchair', 'stool', 'table', 'chair'], Mean_Emb: (768,), Num. Points: (3, 24598)
ObjectInfo == ID: 16, Names: ['couch', 'spiral'], Mean_Emb: (768,), Num. Points: (3, 19547)
ObjectInfo == ID: 17, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 15805)
ObjectInfo == ID: 18, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 11401)
ObjectInfo == ID: 19, Names: ['armchair', 'handcart'], Mean_Emb: (768,), Num. Points: (3, 5363)
ObjectInfo == ID: 20, Names: ['stool', 'table'], Mean_Emb: (768,), Num. Points: (3, 2385)
ObjectInfo == ID: 21, Names: ['bed', 'tile', 'table', 'stool', 'pole'], Mean_Emb: (768,), Num. Points: (3, 180526)
ObjectInfo == ID: 22, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 87389)
ObjectInfo == ID: 23, Names: ['chair', 'table'], Mean_Emb: (768,), Num. Points: (3, 22224)
ObjectInfo == ID: 24, Names: ['table', 'stool'], Mean_Emb: (768,), Num. Points: (3, 2097)
ObjectInfo == ID: 25, Names: ['table'], Mean_Emb: (768,), Num. Points: (3, 15294)
ObjectInfo == ID: 26, Names: ['hassock', 'armchair', 'chair', 'stool'], Mean_Emb: (768,), Num. Points: (3, 6713)
ObjectInfo == ID: 27, Names: ['lamp'], Mean_Emb: (768,), Num. Points: (3, 9186)
ObjectInfo == ID: 28, Names: ['lamp'], Mean_Emb: (768,), Num. Points: (3, 5717)
ObjectInfo == ID: 29, Names: ['chair'], Mean_Emb: (768,), Num. Points: (3, 18725)
ObjectInfo == ID: 30, Names: ['table'], Mean_Emb: (768,), Num. Points: (3, 68583)
ObjectInfo == ID: 31, Names: ['table', 'dinning table', 'stool'], Mean_Emb: (768,), Num. Points: (3, 26932)
ObjectInfo == ID: 32, Names: ['armchair', 'chair'], Mean_Emb: (768,), Num. Points: (3, 22453)
ObjectInfo == ID: 33, Names: ['stool', 'billiard table', 'chair', 'table'], Mean_Emb: (768,), Num. Points: (3, 75576)
ObjectInfo == ID: 34, Names: ['stool', 'table'], Mean_Emb: (768,), Num. Points: (3, 80776)
ObjectInfo == ID: 35, Names: ['table'], Mean_Emb: (768,), Num. Points: (3, 79643)
ObjectInfo == ID: 36, Names: ['lamp', 'table', 'armchair'], Mean_Emb: (768,), Num. Points: (3, 16806)
ObjectInfo == ID: 37, Names: ['armchair', 'pillow'], Mean_Emb: (768,), Num. Points: (3, 67342)
ObjectInfo == ID: 38, Names: ['billiard table'], Mean_Emb: (768,), Num. Points: (3, 18511)
ObjectInfo == ID: 39, Names: ['stool', 'hassock', 'chair', 'laptop'], Mean_Emb: (768,), Num. Points: (3, 9727)
ObjectInfo == ID: 40, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 2378)
ObjectInfo == ID: 41, Names: ['stool'], Mean_Emb: (768,), Num. Points: (3, 3018)
ObjectInfo == ID: 42, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 5552)
ObjectInfo == ID: 43, Names: ['blind'], Mean_Emb: (768,), Num. Points: (3, 18047)
ObjectInfo == ID: 44, Names: ['table', 'stool'], Mean_Emb: (768,), Num. Points: (3, 8575)
ObjectInfo == ID: 45, Names: ['armchair'], Mean_Emb: (768,), Num. Points: (3, 5424)
ObjectInfo == ID: 46, Names: ['lamp', 'stool'], Mean_Emb: (768,), Num. Points: (3, 34696)
ObjectInfo == ID: 47, Names: ['chair', 'stool'], Mean_Emb: (768,), Num. Points: (3, 7298)
ObjectInfo == ID: 48, Names: ['stool'], Mean_Emb: (768,), Num. Points: (3, 917)
ObjectInfo == ID: 49, Names: ['stool'], Mean_Emb: (768,), Num. Points: (3, 1917)
ObjectInfo == ID: 50, Names: ['stool'], Mean_Emb: (768,), Num. Points: (3, 325)
Memory dumped
Begin localisation
Localistion 1/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['chair']
[[ 0.5422983 0.7299689 0.8012584 0.39580274 0.34444892 0.25151962
0.06911394 0.9332481 0.46128613 0.8086624 -0.04669603 -0.18795624
0.01689866 -0.09929247 -0.1044087 0.08169264 -0.03878918 -0.05026388
0.43895155 -0.0651165 0.12581283 0.414591 0.30817357 0.4746186
0.23826 0.08332774 0.13355608 0.18428624 0.6289204 0.91010356
0.2940114 0.39832127 0.01767113 0.19745323 0.34050828 0.3668402
0.272138 0.15670069 -0.00263381 0.2239296 0.5124471 0.1376186
0.599044 0.5122669 0.33975527 0.41525978 -0.17702794 0.0179079
0.19924025 0.06401861 0.67530036]]
V?
[[ 0.5422984 0.72681135 0.80125844 0.42117327 0.34444892 0.26872224
0.111296 0.92545795 0.5698129 0.81707704 -0.04669603 -0.1240282
0.09739103 -0.04074197 -0.07728166 0.2981928 0.0612157 -0.05026388
0.43895146 -0.04999006 0.12907496 0.38023806 0.33431122 0.73200226
0.24610743 0.38421032 0.3687985 0.20406325 0.8191 0.86213684
0.36066785 0.4372602 0.09658451 0.4241931 0.43290082 0.5388987
0.2739426 0.22074927 -0.00263383 0.44044462 0.52751154 0.15654711
0.59740156 0.5122669 0.36015213 0.41525984 0.03315436 0.10263795
0.19924025 0.06401859 0.6753005 ]]
Assignments being considered: [[[0, 7]], [[0, 29]], [[0, 28]], [[0, 9]]]
Assn: [[0, 9]] | chosen RMSE: 1.0 | full RMSE: 0.8782524895599101 | chosen fitness: 0.009162774739626192 | full memory fitness: 0.8782524895599101
Assn: [[0, 7]] | chosen RMSE: 0.9955027304850627 | full RMSE: 0.6996466431095406 | chosen fitness: 0.011689058645822866 | full memory fitness: 0.6996466431095406
Assn: [[0, 29]] | chosen RMSE: 0.9688403469322198 | full RMSE: 0.6890459363957597 | chosen fitness: 0.0102389632726286 | full memory fitness: 0.6890459363957597
Assn: [[0, 28]] | chosen RMSE: 0.34693221972373917 | full RMSE: 0.13138451654352715 | chosen fitness: 0.011107020798402511 | full memory fitness: 0.13138451654352715
Best assn: [[0, 9]]
R: [[-0.0889411 -0.49001689 -0.86716373]
[-0.89908863 0.41415877 -0.14181734]
[ 0.42863635 0.76704365 -0.47740435]]
t: [-0.02708931 -0.16984031 0.05907279]
Target pose: [ 7. 0.90099978 15.75 0.14777067 0.79301589 -0.21248802
0.5514875 ]
Estimated pose: [12.96670517 -2.23674807 18.6551278 -0.49353431 0.70365194 0.22213621
-0.46038389]
Translation error: 7.3407628860484015
Rotation_error: 1.3857622515970567
Localistion 2/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['stool']
[[ 0.052545 0.09477766 0.18478847 -0.22919886 0.28246385 0.00619163
0.03354659 0.24394602 0.01984445 0.09142201 0.04274467 -0.14105472
-0.13733752 0.04662739 0.02792463 -0.2957564 0.28514385 0.0109058
0.35596567 -0.14103407 -0.09212762 -0.10091242 0.4163711 -0.0945989
0.1258083 -0.14662321 -0.19080535 -0.36120418 -0.13485777 0.05771141
0.00428055 0.10370331 -0.22692728 0.35785863 -0.04224111 -0.04416533
-0.14961897 -0.15922637 -0.15127118 -0.29203433 0.1379583 -0.04637941
0.12175332 0.1467064 -0.09101631 -0.04220753 0.0877081 0.07886763
-0.4577511 -0.33333677 0.00372882]]
V?
[[ 0.052545 0.14452334 0.18478847 -0.12527746 0.28246388 0.13368808
0.33765793 0.30604297 0.15609422 0.12270825 0.04274467 0.01991991
0.04921017 0.05140545 0.0506111 -0.13455766 0.4449392 0.01090581
0.3559657 -0.03075213 -0.00717315 0.28885272 0.5055122 0.39964935
0.30002367 -0.02873219 0.06354181 -0.24489966 0.03628942 0.21818988
0.07336666 0.31476575 0.4812038 0.57205343 0.09339444 0.11634785
-0.02233962 -0.08055884 -0.15127116 0.04850838 0.17789946 0.16056247
0.14766265 0.14670639 -0.02837137 -0.04220751 0.34337866 0.1839585
-0.4577511 -0.33333683 0.00372881]]
Assignments being considered: [[[0, 33]], [[0, 22]], [[0, 32]], [[0, 16]]]
Assn: [[0, 33]] | chosen RMSE: 0.7478679504814305 | full RMSE: 0.6091127922971115 | chosen fitness: 0.005754458411641489 | full memory fitness: 0.6091127922971115
Assn: [[0, 22]] | chosen RMSE: 0.5684834938101788 | full RMSE: 0.515474552957359 | chosen fitness: 0.005049107206658014 | full memory fitness: 0.515474552957359
Assn: [[0, 16]] | chosen RMSE: 0.24097317744154056 | full RMSE: 0.09917469050894086 | chosen fitness: 0.01066933334633708 | full memory fitness: 0.09917469050894086
Assn: [[0, 32]] | chosen RMSE: 0.2299002751031637 | full RMSE: 0.07388239339752407 | chosen fitness: 0.011235723273688799 | full memory fitness: 0.07388239339752407
Best assn: [[0, 33]]
R: [[-3.76828341e-01 4.62418084e-01 8.02601967e-01]
[ 5.00344172e-04 8.66577362e-01 -4.99042509e-01]
[-9.26282976e-01 -1.87651783e-01 -3.26782277e-01]]
t: [ 0.00361284 -0.5067492 -0.16528144]
Target pose: [ 8.25 0.90099978 15.75 0.12052984 0.85479331 -0.22904124
0.44982336]
Estimated pose: [ 9.42573925 1.05408158 9.39014082 0.14437501 0.80159029 -0.21416623
0.53920468]
Translation error: 6.469436263687353
Rotation_error: 0.10779929611146277
Localistion 3/86 currently.
(2, 51)
(768,) (1, 768)
Getting assignments
(2, 51)
shapes
(52, 52)
Length: 1
Length: 2
Phrases: ['armchair', 'lamp']
[[ 0.40396047 0.6234139 0.8467511 0.24905345 0.20443948 0.16981545
-0.05151891 0.9735073 0.42624754 0.8497302 -0.13156077 -0.28040677
-0.1254269 -0.1749177 -0.16553825 -0.04853189 -0.07701308 -0.09051941
0.38438833 -0.15594032 0.07470538 0.30486178 0.22906671 0.35784537
0.23246682 -0.02045856 0.03187313 0.06560607 0.5188159 0.8989165
0.18395087 0.3073154 -0.07243174 0.07117171 0.2976504 0.2291624
0.10304338 0.01576711 -0.12061971 0.2027662 0.48928326 0.08425459
0.54722714 0.4502332 0.27734354 0.2736104 -0.24699709 -0.04635793
0.06938656 0.06035038 0.707963 ]
[-0.03704868 0.30086026 0.09858707 0.3522623 -0.13104174 -0.03846998
-0.19933584 0.1753594 0.842487 0.06703629 -0.13309464 -0.11829656
0.01314442 0.21599911 -0.05242088 0.49908373 -0.33753866 0.35916543
0.19659807 0.58085793 0.5647863 0.5405487 0.20098652 0.7012824
0.572204 0.2618427 0.27892813 0.44952762 0.6760334 0.3174087
0.04362597 0.40480196 0.46542153 0.14572221 0.4531479 0.4790109
0.33086777 -0.04873926 0.38283044 0.5679061 0.3689822 0.46776348
0.45224327 0.617095 0.82466495 -0.12022483 -0.06532838 0.5132546
0.4481598 0.49029347 0.3200459 ]]
V?
[[ 4.03960526e-01 6.40389323e-01 8.46751034e-01 2.66218722e-01
2.04439431e-01 2.15444371e-01 4.53278311e-02 9.72921312e-01
5.31568289e-01 8.57976556e-01 -1.31560788e-01 -2.04187199e-01
-7.25458413e-02 -1.27372131e-01 -1.27830908e-01 1.67005777e-01
-2.28150133e-02 -9.05194357e-02 3.84388298e-01 -1.28458723e-01
8.20866227e-02 3.02066654e-01 2.78389990e-01 6.52679324e-01
2.73773760e-01 2.69619823e-01 2.67427564e-01 8.14552307e-02
7.42486954e-01 8.96638155e-01 2.28455395e-01 3.40380073e-01
-1.81729440e-04 2.66614825e-01 4.78610128e-01 5.30578017e-01
1.32385880e-01 7.06985444e-02 -1.20619684e-01 3.49804103e-01
5.13367653e-01 9.77101326e-02 5.30832887e-01 4.50233102e-01
3.19189340e-01 2.73610413e-01 -8.26243833e-02 5.80263510e-02
6.93865567e-02 6.03503808e-02 7.07962930e-01]
[-3.70486826e-02 3.81009310e-01 9.85870659e-02 4.10996169e-01
-1.31041750e-01 9.75328386e-02 1.14298970e-01 1.96169913e-01
8.91651452e-01 1.65308654e-01 -1.33094609e-01 2.79440414e-02
2.61803240e-01 2.22745642e-01 -1.45494593e-02 7.96050310e-01
-1.66115448e-01 3.59165430e-01 1.96598053e-01 6.33884072e-01
6.90868855e-01 8.43343735e-01 3.62141341e-01 7.86079347e-01
7.41787195e-01 3.30258310e-01 5.28580546e-01 5.44205904e-01
7.61919677e-01 4.52167571e-01 2.17578515e-01 4.58120972e-01
6.03628874e-01 5.23115516e-01 6.81351781e-01 6.74306512e-01
2.97286898e-01 1.30473211e-01 3.82830471e-01 5.93541682e-01
4.23722088e-01 4.74173635e-01 4.74487752e-01 6.17095053e-01
8.33459437e-01 -1.20224841e-01 -4.67305304e-03 7.11530924e-01
4.48159814e-01 4.90293443e-01 3.20045859e-01]]
Assignments being considered: [[[0, 7]], [[0, 29]], [[0, 9]], [[0, 2]], [[0, 7], [1, 8]], [[0, 7], [1, 21]], [[0, 7], [1, 44]], [[0, 29], [1, 8]]]
Assn: [[0, 7], [1, 21]] | chosen RMSE: 0.6547344577923391 | full RMSE: 0.5701977915301542 | chosen fitness: 0.008187624620716167 | full memory fitness: 0.5701977915301542
Assn: [[0, 7], [1, 44]] | chosen RMSE: 0.6061157626501639 | full RMSE: 0.37887796788415645 | chosen fitness: 0.012097053697793039 | full memory fitness: 0.37887796788415645
Assn: [[0, 7], [1, 8]] | chosen RMSE: 0.477409699470129 | full RMSE: 0.2530032763014197 | chosen fitness: 0.011917560913225867 | full memory fitness: 0.2530032763014197
Assn: [[0, 7]] | chosen RMSE: 0.9295325779036827 | full RMSE: 0.14476398495328238 | chosen fitness: 0.011961024958908476 | full memory fitness: 0.14476398495328238
Assn: [[0, 29]] | chosen RMSE: 0.884915014164306 | full RMSE: 0.14326740282328196 | chosen fitness: 0.009388578643673581 | full memory fitness: 0.14326740282328196
Assn: [[0, 29], [1, 8]] | chosen RMSE: 0.2023217247097844 | full RMSE: 0.1431865064919306 | chosen fitness: 0.009403218488547768 | full memory fitness: 0.1431865064919306
Assn: [[0, 9]] | chosen RMSE: 0.6928116147308782 | full RMSE: 0.09003761679407839 | chosen fitness: 0.011941923209061268 | full memory fitness: 0.09003761679407839
Assn: [[0, 2]] | chosen RMSE: 0.6513810198300283 | full RMSE: 0.08109857217975165 | chosen fitness: 0.012643577160246371 | full memory fitness: 0.08109857217975165
Best assn: [[0, 7], [1, 21]]
R: [[-0.79769875 0.29607519 0.52537242]
[-0.00955026 0.86487191 -0.50190176]
[-0.60298051 -0.40538385 -0.68707964]]
t: [ 0.15998748 -0.45088572 -1.08117351]
Target pose: [ 7. 0.90099978 16.25 0.13482443 0.8245187 -0.22092915
0.50317155]
Estimated pose: [ 2.27830852 0.88865862 8.8221972 0.07827673 0.91510249 -0.24786448
0.30825862]
Translation error: 8.801521296584916
Rotation_error: 0.22434430735383074
Localistion 4/86 currently.
(2, 51)
(768,) (1, 768)
Getting assignments
(2, 51)
shapes
(52, 52)
Length: 1
Length: 2
Phrases: ['armchair', 'armchair']
[[ 0.02586581 -0.23334141 -0.05139035 -0.33592454 0.10401089 0.05576137
0.20082606 -0.13891816 -0.39898616 -0.06221072 0.21424092 0.2290943
0.13456735 0.01231038 0.26885885 -0.01370871 0.7923579 -0.1507679
-0.16007827 -0.06989743 -0.35247555 -0.33575252 -0.09823935 -0.45011586
-0.37715584 -0.08843103 0.11150227 -0.11810642 -0.41643214 -0.22489813
0.0340368 -0.35912699 -0.11626153 0.0738555 -0.18807404 -0.22914027
-0.1950345 -0.01613039 -0.16464695 -0.23234314 -0.2857602 -0.35351437
-0.3332772 -0.3584897 -0.46371597 0.09248985 0.46625316 -0.11480454
-0.280805 -0.17325509 -0.11233827]
[ 0.44855177 0.4540338 0.791847 0.21079898 0.27149212 0.34807095
0.15470605 0.8391648 0.3889025 0.6110648 -0.04482216 -0.20298812
-0.04125059 -0.16668698 0.03803569 0.15386066 0.17537197 -0.19841273
0.34154582 -0.10845667 0.2329398 0.10800923 0.28414834 0.46051925
0.10396732 0.09105328 0.3868401 0.11845103 0.5063142 0.8032762
0.11112656 0.37634718 0.09071156 0.2811157 0.38122252 0.36840555
0.18438351 -0.05307297 -0.22713482 0.23227052 0.5465156 -0.10549948
0.6007587 0.51405495 0.34340465 0.32922196 -0.01539914 0.19251369
0.09791836 0.04351359 0.7093991 ]]
V?
[[ 0.02586579 -0.1701582 -0.05139036 -0.26878938 0.1040109 0.18288815
0.321289 -0.12480944 -0.2999166 -0.02784719 0.21424088 0.3349817
0.34262645 0.04979693 0.267934 0.3465414 0.8512362 -0.1507679
-0.16007827 0.03403575 -0.20549081 0.04092322 -0.04954313 -0.10371263
-0.20901677 0.25581658 0.44277257 0.01533866 -0.12666832 -0.02958343
0.16261284 -0.23364998 0.3049453 0.24719083 -0.01897917 0.06507447
-0.0903291 0.0775056 -0.16464695 -0.08817712 -0.22367086 -0.24678522
-0.2662736 -0.3584897 -0.43381828 0.09248988 0.5290929 0.1546103
-0.28080502 -0.17325509 -0.11233829]
[ 0.44855183 0.47512013 0.7918471 0.3028902 0.27149206 0.43681818
0.2055372 0.8648081 0.49808642 0.6609493 -0.04482216 -0.14292133
0.08567031 -0.10034354 0.10873846 0.21048677 0.2500449 -0.19841278
0.34154582 -0.01429299 0.21474649 0.29651546 0.31992084 0.62813437
0.16518275 0.17811589 0.47657135 0.19403681 0.63030636 0.8211013
0.22393511 0.40373844 0.1830104 0.4372285 0.47867107 0.52691734
0.25089076 0.10707118 -0.22713484 0.42619997 0.5340054 -0.0689906
0.5710788 0.514055 0.3796406 0.3292219 0.21501765 0.2674514
0.09791834 0.04351359 0.70939916]]
Assignments being considered: [[[0, 16]], [[0, 46]], [[0, 26]], [[0, 15]], [[0, 16], [1, 7]], [[0, 16], [1, 29]], [[0, 16], [1, 2]], [[0, 16], [1, 50]]]
Assn: [[0, 16], [1, 50]] | chosen RMSE: 0.5952141802067947 | full RMSE: 0.4232791728212703 | chosen fitness: 0.00867275970592408 | full memory fitness: 0.4232791728212703
Assn: [[0, 16]] | chosen RMSE: 0.5922834948963215 | full RMSE: 0.3997636632200886 | chosen fitness: 0.01038203240620372 | full memory fitness: 0.3997636632200886
Assn: [[0, 16], [1, 2]] | chosen RMSE: 0.5802658788774003 | full RMSE: 0.39314623338257015 | chosen fitness: 0.01003603186096447 | full memory fitness: 0.39314623338257015
Assn: [[0, 16], [1, 29]] | chosen RMSE: 0.5544165435745938 | full RMSE: 0.35766617429837516 | chosen fitness: 0.010534285870962104 | full memory fitness: 0.35766617429837516
Assn: [[0, 16], [1, 7]] | chosen RMSE: 0.5865583456425406 | full RMSE: 0.3238404726735598 | chosen fitness: 0.012757555630067719 | full memory fitness: 0.3238404726735598
Assn: [[0, 15]] | chosen RMSE: 0.43862746356808113 | full RMSE: 0.18806499261447562 | chosen fitness: 0.011965387202378176 | full memory fitness: 0.18806499261447562
Assn: [[0, 26]] | chosen RMSE: 0.31363548821981124 | full RMSE: 0.15589364844903988 | chosen fitness: 0.010569720120711387 | full memory fitness: 0.15589364844903988
Assn: [[0, 46]] | chosen RMSE: 0.3548821981126019 | full RMSE: 0.0827178729689808 | chosen fitness: 0.01200242407324622 | full memory fitness: 0.0827178729689808
Best assn: [[0, 16], [1, 50]]
R: [[ 0.87675055 0.0806749 0.47413082]
[ 0.27074554 0.73199281 -0.62520666]
[-0.39749884 0.67651909 0.61993273]]
t: [ 0.22575517 -0.08589158 0.24867346]
Target pose: [ 5.5 0.90099978 17. 0.14002197 0.81236341 -0.21767215
0.52256902]
Estimated pose: [ 4.74308119 0.82523242 13.42975025 0.36222403 0.24254357 0.05288991
0.89842586]
Translation error: 3.6503903956365704
Rotation_error: 0.7873437560663059
Localistion 5/86 currently.
(2, 51)
(768,) (1, 768)
Getting assignments
(2, 51)
shapes
(52, 52)
Length: 1
Length: 2
Phrases: ['barrel', 'chair']
[[ 0.5622592 0.14772886 0.00134722 0.16486439 0.65829957 0.63731647
0.88648164 -0.06119374 -0.16200761 0.05825308 0.87814474 0.37518325
0.6999529 0.2912435 0.78437704 0.00879703 0.30391192 -0.13652433
-0.01482013 -0.07340224 -0.25700533 0.06459874 0.01501888 -0.21630085
-0.2998932 0.05812301 0.13281262 0.03309846 -0.11959861 -0.03857987
0.5363022 -0.17573385 -0.07081809 0.5199438 0.14566915 0.31525066
0.4542562 0.512064 0.1701351 -0.29020888 -0.1795648 -0.18298884
-0.14159474 -0.10875864 -0.26431236 0.62839246 0.5087719 0.009926
-0.12209837 -0.34371048 -0.02130633]
[ 0.5686598 0.32372752 0.13356586 0.49817663 0.5136989 0.9570243
0.6910202 0.13724472 0.13356154 0.19529343 0.73463756 0.25399333
0.6371074 0.13636962 0.6536659 0.16926605 0.10438795 -0.15095544
-0.06453223 0.01853026 0.06384397 0.2307297 -0.0233919 0.16878793
-0.23559867 0.41162464 0.3207564 0.24744534 0.24709311 0.20114243
0.5482547 -0.03668962 0.15790734 0.4668191 0.5592188 0.6654434
0.693947 0.569293 0.15536606 0.07072888 0.08325107 -0.05728625
0.12412718 0.17472972 0.05923755 0.73510075 0.29617524 0.2433142
0.18090081 -0.09318072 0.25295892]]
V?
[[ 0.5622593 0.25508034 0.00134721 0.2807309 0.65829957 0.64819074
0.99117243 -0.03317453 -0.09666894 0.08269857 0.87814474 0.5593084
0.7495292 0.29177335 0.7944847 0.18747711 0.3155005 -0.13652435
-0.01482012 0.01479691 -0.18837622 0.34318095 0.08075205 0.05897134
-0.18729067 0.2770345 0.26443288 0.11730067 0.18772802 0.21550873
0.5901294 -0.1122708 0.14491196 0.6530466 0.32297435 0.69412625
0.5105094 0.6094369 0.17013511 0.02167546 -0.14244881 -0.09708521
-0.10121977 -0.10875866 -0.24294017 0.62839246 0.56180596 0.14304608
-0.12209836 -0.34371048 -0.02130634]
[ 0.5686598 0.42444038 0.1335659 0.5357084 0.5136988 0.97756886
0.66357833 0.17557648 0.15003657 0.20509765 0.7346375 0.3824682
0.7040849 0.15122458 0.6554262 0.21133208 0.16522548 -0.15095544
-0.06453224 0.12765466 0.07406282 0.34383738 0.04502302 0.28512493
-0.1723814 0.69224346 0.40177295 0.2924577 0.3647654 0.30007732
0.64110136 0.03074961 0.23963785 0.5256435 0.6755873 0.7614285
0.6788193 0.67482007 0.15536608 0.41302666 0.12654318 0.13678591
0.19343181 0.17472976 0.09794931 0.7351008 0.53965634 0.27399677
0.1809008 -0.09318074 0.25295895]]
Assignments being considered: [[[0, 6]], [[0, 10]], [[0, 14]], [[0, 12]], [[0, 6], [1, 5]], [[0, 10], [1, 5]], [[0, 14], [1, 5]], [[0, 6], [1, 35]]]
Assn: [[0, 6], [1, 35]] | chosen RMSE: 0.7607339449541285 | full RMSE: 0.99651376146789 | chosen fitness: 0.004982318104870169 | full memory fitness: 0.99651376146789
Assn: [[0, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9961467889908256 | chosen fitness: 0.004216027656789495 | full memory fitness: 0.9961467889908256
Assn: [[0, 6], [1, 5]] | chosen RMSE: 0.9998165137614679 | full RMSE: 0.9961467889908256 | chosen fitness: 0.0041907771746034755 | full memory fitness: 0.9961467889908256
Assn: [[0, 12]] | chosen RMSE: 0.8432223830197781 | full RMSE: 0.404954128440367 | chosen fitness: 0.011496386969343013 | full memory fitness: 0.404954128440367
Assn: [[0, 10], [1, 5]] | chosen RMSE: 0.5091743119266054 | full RMSE: 0.3471559633027523 | chosen fitness: 0.012639756544056214 | full memory fitness: 0.3471559633027523
Assn: [[0, 14], [1, 5]] | chosen RMSE: 0.6638532110091743 | full RMSE: 0.3322935779816514 | chosen fitness: 0.012906119953619063 | full memory fitness: 0.3322935779816514
Assn: [[0, 14]] | chosen RMSE: 0.7042932947419199 | full RMSE: 0.26990825688073394 | chosen fitness: 0.011562187691512429 | full memory fitness: 0.26990825688073394
Assn: [[0, 10]] | chosen RMSE: 0.22889532079112399 | full RMSE: 0.10422018348623853 | chosen fitness: 0.011540202619450272 | full memory fitness: 0.10422018348623853
Best assn: [[0, 6], [1, 35]]
R: [[ 9.98079033e-01 3.03146098e-02 5.40302565e-02]
[ 6.16475902e-04 8.67206146e-01 -4.97948914e-01]
[-6.19504975e-02 4.97025679e-01 8.65521583e-01]]
t: [-4.45888206 -0.16625936 13.82475955]
Target pose: [ 3.25000000e+00 9.00999784e-01 1.95000000e+01 2.58684684e-01
3.11275442e-02 -8.34060256e-03 9.65424127e-01]
Estimated pose: [ 3.25207362e+00 8.97084879e-01 1.94944336e+01 2.57561306e-01
3.00230324e-02 -7.68772407e-03 9.65764821e-01]
Translation error: 0.007114143067587353
Rotation_error: 0.0017390369538842082
Localistion 6/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['dune']
[[ 0.53873783 0.26168573 -0.07765003 0.28451633 0.55436087 0.67934
0.73799324 -0.10028155 -0.03422704 0.0578474 0.97633207 0.43706053
0.78443575 0.43469763 0.8299794 0.03512169 0.19763905 0.0576521
0.02973321 0.08315662 -0.22274782 0.2446113 0.04386565 -0.16742676
-0.1678414 0.17876202 0.08462781 0.08285116 -0.03912674 -0.05313323
0.6104144 -0.15297833 -0.01155368 0.43516046 0.22523707 0.36995095
0.5298799 0.588972 0.33223343 -0.21752599 -0.1447048 0.0188204
-0.0928937 -0.03047697 -0.18886271 0.6099154 0.5405412 0.08314553
-0.06521351 -0.2610626 -0.05826556]]
V?
[[ 0.5387379 0.35532197 -0.07765004 0.42250398 0.5543609 0.6750723
0.86232686 -0.06402747 0.02776876 0.0829092 0.97633207 0.56171745
0.8722694 0.43042552 0.86066043 0.1675185 0.20419516 0.0576521
0.02973322 0.1185277 -0.17254278 0.47305453 0.11710547 0.11562608
-0.12210429 0.4579169 0.23039776 0.24782068 0.250072 0.22891471
0.6527182 -0.0920238 0.2429429 0.5783188 0.48785567 0.71905065
0.6292844 0.689065 0.33223343 0.06590666 -0.1311683 0.08547646
-0.033201 -0.03047697 -0.14786583 0.6099154 0.55445105 0.22330092
-0.06521352 -0.2610626 -0.05826556]]
Assignments being considered: [[[0, 10]], [[0, 12]], [[0, 6]], [[0, 14]]]
Assn: [[0, 10]] | chosen RMSE: 0.9830508474576272 | full RMSE: 0.9615298840321141 | chosen fitness: 0.005104458223801863 | full memory fitness: 0.9615298840321141
Assn: [[0, 14]] | chosen RMSE: 0.08970413321439191 | full RMSE: 0.061671126969967294 | chosen fitness: 0.00602848535633994 | full memory fitness: 0.061671126969967294
Assn: [[0, 6]] | chosen RMSE: 0.1025795420755278 | full RMSE: 0.02925215581326197 | chosen fitness: 0.011840164804058338 | full memory fitness: 0.02925215581326197
Assn: [[0, 12]] | chosen RMSE: 0.07491822777282188 | full RMSE: 0.023572702943800178 | chosen fitness: 0.011614232361591323 | full memory fitness: 0.023572702943800178
Best assn: [[0, 10]]
R: [[-8.15854680e-01 -2.89368180e-01 -5.00646779e-01]
[-5.22917758e-04 -8.65416411e-01 5.01053053e-01]
[-5.78256748e-01 4.09048275e-01 7.05902714e-01]]
t: [ 9.40200521e-01 7.91188346e-05 -7.30316765e-02]
Target pose: [ 3. 0.90099978 22.75 0.2525312 0.21162158 -0.05670385
0.942459 ]
Estimated pose: [ 5.72465522 -2.25254625 22.68079581 -0.29311219 0.24725268 0.92021381
0.07847232]
Translation error: 4.168139617716184
Rotation_error: 1.5707150095762985
Localistion 7/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['stand']
[[ 0.48280537 0.21375756 -0.12858845 0.25784385 0.51844835 0.6286856
0.7069378 -0.13554814 -0.12260206 0.03018552 0.93289614 0.44297385
0.759792 0.40996608 0.7542001 -0.02997078 0.18659537 0.05017313
-0.00436802 0.0370395 -0.27322316 0.1886357 0.01653984 -0.24859029
-0.19288543 0.16717538 0.00603806 0.02941651 -0.11875925 -0.11451131
0.55605024 -0.19693914 -0.05906321 0.3648497 0.14412014 0.2813431
0.4729803 0.61520785 0.3101722 -0.2755238 -0.19540358 0.02000494
-0.15639393 -0.11909269 -0.27614442 0.5970198 0.48922825 0.01635635
-0.10162129 -0.29433775 -0.13469797]]
V?
[[ 0.48280543 0.31488344 -0.12858845 0.38881397 0.5184483 0.6350143
0.8419884 -0.09503418 -0.05398051 0.07256341 0.93289614 0.54572546
0.8656079 0.4139678 0.795909 0.10264558 0.21487677 0.05017313
-0.00436802 0.06766998 -0.20207083 0.45531815 0.08303671 0.047587
-0.13048795 0.45298028 0.17345713 0.21109404 0.19266672 0.19897486
0.61582565 -0.12755094 0.22096501 0.5475825 0.43843082 0.6569092
0.5917448 0.73279834 0.3101722 -0.01837753 -0.17934714 0.07681333
-0.10239821 -0.11909268 -0.235552 0.5970198 0.48901594 0.18589541
-0.10162127 -0.2943378 -0.13469799]]
Assignments being considered: [[[0, 10]], [[0, 12]], [[0, 6]], [[0, 14]]]
Assn: [[0, 10]] | chosen RMSE: 0.986125470410653 | full RMSE: 0.9775960464827758 | chosen fitness: 0.004886492321148895 | full memory fitness: 0.9775960464827758
Assn: [[0, 14]] | chosen RMSE: 0.1410921798105951 | full RMSE: 0.11089284975807452 | chosen fitness: 0.006474610230035779 | full memory fitness: 0.11089284975807452
Assn: [[0, 12]] | chosen RMSE: 0.13978950415615565 | full RMSE: 0.035182581365534926 | chosen fitness: 0.011971992144983233 | full memory fitness: 0.035182581365534926
Assn: [[0, 6]] | chosen RMSE: 0.1296989371820851 | full RMSE: 0.03452090484264505 | chosen fitness: 0.012115262180211563 | full memory fitness: 0.03452090484264505
Best assn: [[0, 10]]
R: [[-7.76092888e-01 -3.15585069e-01 -5.45972430e-01]
[-5.50945638e-04 -8.65433139e-01 5.01024130e-01]
[-6.30618368e-01 3.89142065e-01 6.71482633e-01]]
t: [ 9.95885840e-01 1.03540237e-04 -4.94050798e-02]
Target pose: [ 2.75 0.90099978 23.5 0.24141972 0.34817914 -0.09329433
0.90099055]
Estimated pose: [ 6.14409011 -2.2522723 22.98248435 -0.32320954 0.24452869 0.9100836
0.08653989]
Translation error: 4.66163007239632
Rotation_error: 1.5706197180041848
Localistion 8/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['stool']
[[ 0.20408519 0.24027541 0.399493 0.28625447 0.162992 0.58174825
0.1445447 0.47572643 0.27958322 0.32023445 0.0988338 -0.08441848
-0.0036295 -0.13727938 0.12755151 -0.0765558 -0.01736078 -0.15176594
0.06987439 -0.1564627 0.27324855 0.05062591 0.04903768 0.30032885
-0.0600608 0.35370165 0.15028709 0.00596342 0.30994588 0.40141213
0.14241886 0.11989328 0.09566607 0.20247509 0.5932523 0.3810736
0.25382087 0.0495515 -0.2086692 0.1644417 0.4081084 -0.02093264
0.3796737 0.3311789 0.17629527 0.29279655 -0.07852329 0.28057224
0.00095813 -0.00356796 0.4537753 ]]
V?
[[ 2.04085216e-01 2.35896319e-01 3.99493039e-01 4.01263922e-01
1.62991971e-01 5.97470880e-01 2.31118053e-01 5.29377997e-01
3.10795844e-01 3.28614056e-01 9.88338292e-02 -9.94537771e-03
8.47440511e-02 -1.26732990e-01 1.36803821e-01 2.72788107e-03
-6.63676299e-04 -1.51765943e-01 6.98743910e-02 -8.85317251e-02
2.52748996e-01 1.14850506e-01 1.06682710e-01 4.39007908e-01
-5.10152616e-02 4.83125091e-01 2.80016065e-01 9.54066813e-02
3.33423853e-01 5.50204277e-01 2.27999315e-01 1.57825202e-01
1.83957502e-01 3.71693194e-01 7.66008079e-01 6.46221519e-01
3.24538946e-01 1.29425034e-01 -2.08669245e-01 2.78118968e-01
4.83895034e-01 3.73224542e-02 3.97424638e-01 3.31178904e-01
2.53950626e-01 2.92796612e-01 8.82961452e-02 3.33445877e-01
9.58122313e-04 -3.56797501e-03 4.53775346e-01]]
Assignments being considered: [[[0, 34]], [[0, 35]], [[0, 5]], [[0, 29]]]
Assn: [[0, 34]] | chosen RMSE: 1.0 | full RMSE: 0.9725400457665904 | chosen fitness: 0.007937887560214267 | full memory fitness: 0.9725400457665904
Assn: [[0, 35]] | chosen RMSE: 1.0 | full RMSE: 0.9725400457665904 | chosen fitness: 0.007836386592236276 | full memory fitness: 0.9725400457665904
Assn: [[0, 29]] | chosen RMSE: 0.9405034324942791 | full RMSE: 0.8604118993135011 | chosen fitness: 0.007861542343097758 | full memory fitness: 0.8604118993135011
Assn: [[0, 5]] | chosen RMSE: 0.9382151029748284 | full RMSE: 0.8192219679633868 | chosen fitness: 0.007874727653466754 | full memory fitness: 0.8192219679633868
Best assn: [[0, 34]]
R: [[ 0.05174382 -0.57975258 0.81314791]
[-0.99865961 -0.03105776 0.04140532]
[ 0.00124971 -0.81420044 -0.58058253]]
t: [ 0.24262514 0.05379842 -0.06349152]
Target pose: [ 2. 0.90099978 21.25 0.25546551 0.15499174 -0.04152993
0.95340977]
Estimated pose: [ 7.90963896 3.42013962 6.6705449 0.64486125 -0.61191931 0.31572591
-0.3317015 ]
Translation error: 15.932056022226678
Rotation_error: 1.3083310814784095
Localistion 9/86 currently.
Target pose: [ 1.75 0.90099978 20.75 0.25654304 0.12781844 -0.03424885
0.95743153]
Estimated pose: [0. 0. 0. 0. 0. 0. 1.]
Translation error: 20.843147569683765
Rotation_error: 0.2928274567893394
Localistion 10/86 currently.
(1, 51)
(768,) (1, 768)
Getting assignments
(1, 51)
shapes
(52,)
Length: 1
Phrases: ['armchair']
[[ 0.50149107 0.19805601 0.25373924 0.22512114 0.4307294 0.87337446
0.5918282 0.270706 0.11685253 0.23528749 0.5237605 0.14175734
0.37622043 0.10300231 0.62223864 0.11420053 0.26097608 -0.16602853
0.11865869 -0.06863547 0.23345369 0.03717848 0.13860983 0.23788995
-0.18042086 0.30611676 0.39390022 0.07313961 0.21074754 0.24761379
0.36584508 0.09978615 0.13740158 0.5071603 0.53185767 0.5200897
0.4891424 0.21476397 -0.08036341 0.0047311 0.3547634 -0.17624468
0.30980211 0.23022403 0.03488786 0.54171896 0.35811478 0.35408327
-0.04220992 -0.17256479 0.30370012]]
V?
[[ 0.50149107 0.2293398 0.25373924 0.26975963 0.4307294 0.9897283
0.6069152 0.32256693 0.14707397 0.25180608 0.5237605 0.2697737
0.41500103 0.13986865 0.6131097 0.23212036 0.27460143 -0.16602853
0.11865868 0.08651421 0.3070333 0.15224 0.189181 0.4032595
-0.11550535 0.3744299 0.3849945 0.16810752 0.26387227 0.2823531
0.41214007 0.1427601 0.21606614 0.5214577 0.53399044 0.62477785
0.44932985 0.33935302 -0.08036342 0.26716095 0.3571294 -0.1011479
0.31095588 0.23022409 0.07892313 0.5417191 0.5542578 0.41960195
-0.04220992 -0.17256479 0.30370012]]
Assignments being considered: [[[0, 5]], [[0, 35]], [[0, 14]], [[0, 6]]]
Assn: [[0, 5]] | chosen RMSE: 1.0 | full RMSE: 0.9869186046511628 | chosen fitness: 0.004986906281870586 | full memory fitness: 0.9869186046511628
Assn: [[0, 35]] | chosen RMSE: 0.7972383720930233 | full RMSE: 0.7252906976744186 | chosen fitness: 0.007382165231826111 | full memory fitness: 0.7252906976744186
Assn: [[0, 14]] | chosen RMSE: 0.6518895348837209 | full RMSE: 0.48619186046511625 | chosen fitness: 0.007257921121652921 | full memory fitness: 0.48619186046511625
Assn: [[0, 6]] | chosen RMSE: 0.6075581395348837 | full RMSE: 0.24273255813953487 | chosen fitness: 0.011148939071953816 | full memory fitness: 0.24273255813953487
Best assn: [[0, 5]]
R: [[ 0.96241424 0.13819545 0.23379658]
[-0.00125068 0.86310338 -0.50502573]
[-0.27158287 0.48575155 0.83083583]]
t: [-0.00119155 -0.00450738 0.00835821]
Target pose: [ 1.5 0.90099978 20. 0.25644463 0.13054078 -0.03497831
0.95706414]
Estimated pose: [ 1.48936017 0.94353386 20.02798895 0.25907288 0.13214888 -0.036463
0.95607968]
Translation error: 0.0520166744157464
Rotation_error: 0.003559097061985829
Localistion 11/86 currently.
(3, 51)
(768,) (1, 768)
Getting assignments
(3, 51)
shapes
(52, 52, 52)
Length: 1
Length: 2
Length: 3
Phrases: ['armchair', 'stool', 'stool']
[[ 0.5028494 0.29755694 0.17049439 0.5313074 0.44892678 0.94339657
0.5998072 0.19411805 0.16204262 0.20404536 0.57632434 0.20097135
0.5208243 0.06380975 0.52671003 0.19652231 0.07726309 -0.16214906
-0.0702343 0.01202917 0.20036907 0.19476941 -0.03121938 0.28584987
-0.20430964 0.4845381 0.36918885 0.2685098 0.32701057 0.24501783
0.44774526 0.02520792 0.22311303 0.42288628 0.5958958 0.670465
0.68145096 0.5164006 0.09030724 0.1573627 0.20224872 -0.03861945
0.2071712 0.21156192 0.11579771 0.67783713 0.21903457 0.30357903
0.23938558 -0.0247712 0.30168486]
[ 0.5016079 0.22560903 0.0669587 0.56138587 0.45408556 0.8845903
0.7132033 0.06697711 0.04335948 0.12557292 0.677419 0.3103006
0.65323925 0.12658232 0.5966178 0.26048356 0.11287493 -0.17022711
-0.12715302 0.01068445 0.11605765 0.15187293 -0.0734375 0.20798816
-0.25467974 0.46917838 0.40736026 0.31837225 0.25139877 0.14956847
0.41580218 -0.00991608 0.21219257 0.39469403 0.4386198 0.5951202
0.696133 0.6163447 0.1553978 0.1303109 0.08612521 -0.05494421
0.09230219 0.09214014 0.04977055 0.68872494 0.28982174 0.21109307
0.3181338 -0.01404792 0.20111379]
[ 0.53619945 0.16615961 0.00399744 0.20576699 0.6586691 0.6724648
0.8687227 -0.04898011 -0.12200868 0.06415035 0.8775445 0.34208444
0.66072464 0.2711892 0.749222 -0.04483877 0.21231547 -0.11730269
0.00260201 -0.08696482 -0.23716557 0.09179562 0.00586376 -0.18499252
-0.25356245 0.09713905 0.05824251 0.01764147 -0.08450866 -0.02129567
0.55447966 -0.14740483 -0.08275443 0.5249636 0.20271935 0.34444144
0.48054823 0.50681674 0.17322852 -0.26229236 -0.14554691 -0.12524006
-0.10118941 -0.0815977 -0.23387802 0.5963379 0.4179074 0.00198633
-0.13387558 -0.31933397 0.00270533]]
V?
[[ 0.50284946 0.3859567 0.1704944 0.55863017 0.44892675 0.95424175
0.61073637 0.2591917 0.20035851 0.22343452 0.57632434 0.28941327
0.5903672 0.0819815 0.533077 0.25778478 0.16650812 -0.16214909
-0.07023429 0.13910972 0.18250418 0.26005235 0.05255226 0.3383339
-0.1337496 0.6898192 0.4481526 0.29888773 0.44930148 0.3589317
0.588572 0.11543107 0.3386544 0.5142488 0.6406457 0.6744989
0.6321185 0.65793157 0.09030725 0.45377782 0.2556499 0.1639768
0.25322723 0.21156196 0.15109113 0.6778372 0.50437886 0.2939837
0.23938559 -0.0247712 0.30168486]
[ 0.50160795 0.33186647 0.06695873 0.5885557 0.4540856 0.9014662
0.6957276 0.12932932 0.11297014 0.14669037 0.67741895 0.4123154
0.7166709 0.14625914 0.59482825 0.33944356 0.20762467 -0.17022714
-0.12715305 0.15646166 0.10418713 0.22841434 0.02311181 0.31360137
-0.17442878 0.6441589 0.48580632 0.34579524 0.42999572 0.23938146
0.55342793 0.09162237 0.34877154 0.5168309 0.5183593 0.625798
0.65748227 0.78545153 0.15539782 0.407234 0.12223589 0.18753909
0.1349879 0.09214018 0.09751604 0.688725 0.5789419 0.2831627
0.3181338 -0.01404793 0.20111378]
[ 0.53619957 0.26639527 0.00399744 0.3119837 0.658669 0.681738
0.94683456 -0.01875073 -0.06068804 0.08801316 0.87754434 0.49806798
0.73690593 0.26930156 0.7658394 0.10324081 0.229965 -0.11730269
0.002602 -0.01540436 -0.17645115 0.35102054 0.06195903 0.09722261
-0.15504116 0.3453459 0.14991726 0.1013701 0.20324028 0.2263722
0.6022574 -0.08794621 0.13086244 0.6565941 0.38868588 0.72096443
0.51458573 0.60209274 0.17322853 0.04468209 -0.1177785 -0.04682807
-0.05425321 -0.08159774 -0.2062121 0.59633785 0.4927802 0.152387
-0.1338756 -0.31933394 0.00270533]]
Assignments being considered: [[[0, 5]], [[0, 25]], [[0, 45]], [[0, 35]], [[0, 5], [2, 6]], [[0, 5], [2, 10]], [[0, 5], [1, 37]], [[0, 5], [2, 14]], [[0, 5], [1, 37], [2, 6]], [[0, 5], [1, 37], [2, 10]], [[0, 5], [1, 12], [2, 6]], [[0, 5], [1, 45], [2, 6]]]
Assn: [[0, 5], [1, 37], [2, 6]] | chosen RMSE: 1.0 | full RMSE: 0.996578947368421 | chosen fitness: 0.004368879668366696 | full memory fitness: 0.996578947368421
Assn: [[0, 5], [1, 12], [2, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9963157894736843 | chosen fitness: 0.0043405902373122385 | full memory fitness: 0.9963157894736843
Assn: [[0, 5], [1, 45], [2, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9963157894736843 | chosen fitness: 0.004346097190558286 | full memory fitness: 0.9963157894736843
Assn: [[0, 5], [2, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9952631578947368 | chosen fitness: 0.00438554459293851 | full memory fitness: 0.9952631578947368
Assn: [[0, 5]] | chosen RMSE: 1.0 | full RMSE: 0.8755263157894737 | chosen fitness: 0.007696916348639759 | full memory fitness: 0.8755263157894737
Assn: [[0, 5], [2, 10]] | chosen RMSE: 0.7221905305191101 | full RMSE: 0.4560526315789474 | chosen fitness: 0.01159907538074814 | full memory fitness: 0.4560526315789474
Assn: [[0, 5], [1, 37], [2, 10]] | chosen RMSE: 0.8507894736842105 | full RMSE: 0.4371052631578947 | chosen fitness: 0.011630389419868803 | full memory fitness: 0.4371052631578947
Assn: [[0, 5], [2, 14]] | chosen RMSE: 0.7082144894466629 | full RMSE: 0.435 | chosen fitness: 0.01157059693571792 | full memory fitness: 0.435
Assn: [[0, 25]] | chosen RMSE: 0.8896907216494845 | full RMSE: 0.23342105263157895 | chosen fitness: 0.008733001600935804 | full memory fitness: 0.23342105263157895
Assn: [[0, 5], [1, 37]] | chosen RMSE: 0.8204113924050633 | full RMSE: 0.19605263157894737 | chosen fitness: 0.010835787547802853 | full memory fitness: 0.19605263157894737
Assn: [[0, 35]] | chosen RMSE: 0.7896907216494845 | full RMSE: 0.19447368421052633 | chosen fitness: 0.007959610191610372 | full memory fitness: 0.19447368421052633
Assn: [[0, 45]] | chosen RMSE: 0.8195876288659794 | full RMSE: 0.15842105263157893 | chosen fitness: 0.010747826286663981 | full memory fitness: 0.15842105263157893
Best assn: [[0, 5], [1, 37], [2, 6]]
R: [[ 9.62727483e-01 1.34215335e-01 2.34823416e-01]
[ 8.29518084e-04 8.66725285e-01 -4.98785116e-01]
[-2.70472003e-01 4.80388930e-01 8.34308919e-01]]
t: [-5.99442874 -0.12624506 11.08485145]
Target pose: [ 2. 0.90099978 19.5 0.25637782 0.1323551 -0.03546445
0.95681493]
Estimated pose: [ 2.00111343 0.89675164 19.4937494 0.25577983 0.13199326 -0.03484304
0.95704776]
Translation error: 0.007639139104337268
Rotation_error: 0.0009637835444154198
Localistion 12/86 currently.
(4, 51)
(768,) (1, 768)
Getting assignments
(4, 51)
shapes
(52, 52, 52)
(52, 52, 52)
(52, 52, 52)
(52, 52, 52)
Length: 1
Length: 2
Length: 3
Length: 4
Phrases: ['armchair', 'hassock', 'stool', 'stool']
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-0.11541113 -0.0855213 -0.22315766 0.67025256 0.45930204 0.02606086
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V?
[[ 0.41263667 0.34621888 0.21263185 0.6496485 0.31060955 0.8506341
0.5189066 0.34194666 0.3272011 0.2830603 0.40934277 0.22954232
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0.29217717 0.28460026 0.31266397 0.60383236 0.44809645 0.40344247
0.41259348 0.16400537 0.4125655 ]
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-0.22582033 -0.3484391 -0.34116286 0.17763975 0.5558901 0.14393657
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0.55246526 0.15040064 0.4185875 0.61643755 0.6646143 0.64270157
0.6254576 0.7080961 0.0942574 0.56976306 0.22824094 0.19569579
0.19372909 0.20042174 0.2473376 0.62810516 0.4844596 0.2788736
0.3975742 0.11114983 0.39608252]
[ 0.5591398 0.25948864 0.02408106 0.32185277 0.6574273 0.70852387
0.9738414 -0.01425555 -0.09966108 0.08139327 0.86960125 0.53312856
0.7534934 0.24109769 0.76481944 0.20187429 0.27127025 -0.19115597
-0.06159696 0.01726433 -0.16350725 0.29539487 0.04761441 0.05132855
-0.23152368 0.3501893 0.25251603 0.14139605 0.18756504 0.19580077
0.5605589 -0.11866449 0.0700728 0.6230193 0.35594532 0.7017575
0.5510464 0.65499234 0.14740124 0.1043152 -0.12568697 -0.0670545
-0.07305512 -0.08552131 -0.20168607 0.6702528 0.57377535 0.13659093
-0.05043134 -0.30070534 0.03626201]]
Assignments being considered: [[[1, 11]], [[0, 5]], [[0, 34]], [[0, 35]], [[1, 11], [3, 6]], [[0, 5], [3, 6]], [[1, 11], [3, 10]], [[0, 5], [1, 11]], [[0, 5], [1, 11], [3, 6]], [[1, 11], [2, 5], [3, 6]], [[0, 5], [1, 11], [3, 10]], [[0, 34], [1, 11], [3, 6]]]
Assn: [[0, 5], [1, 11]] | chosen RMSE: 0.9944280343716434 | full RMSE: 0.9476100777019072 | chosen fitness: 0.007187606158339255 | full memory fitness: 0.9476100777019072
Assn: [[0, 5], [1, 11], [3, 6]] | chosen RMSE: 0.9949479940564636 | full RMSE: 0.946432776077231 | chosen fitness: 0.007846561333669589 | full memory fitness: 0.946432776077231
Assn: [[0, 5], [1, 11], [3, 10]] | chosen RMSE: 0.880297176820208 | full RMSE: 0.9451377442900871 | chosen fitness: 0.008093760431814926 | full memory fitness: 0.9451377442900871
Assn: [[1, 11], [2, 5], [3, 6]] | chosen RMSE: 0.9948708554680344 | full RMSE: 0.9431951966093713 | chosen fitness: 0.007370526552973306 | full memory fitness: 0.9431951966093713
Assn: [[1, 11], [3, 6]] | chosen RMSE: 0.9946342666831134 | full RMSE: 0.9395455615728749 | chosen fitness: 0.008485942797561954 | full memory fitness: 0.9395455615728749
Assn: [[0, 34], [1, 11], [3, 6]] | chosen RMSE: 0.9586329866270431 | full RMSE: 0.9392512361667059 | chosen fitness: 0.007586913409276881 | full memory fitness: 0.9392512361667059
Assn: [[0, 5], [3, 6]] | chosen RMSE: 1.0 | full RMSE: 0.9378973392983282 | chosen fitness: 0.005458376650532371 | full memory fitness: 0.9378973392983282
Assn: [[1, 11]] | chosen RMSE: 0.9942597129856493 | full RMSE: 0.9029314810454439 | chosen fitness: 0.007794010632138036 | full memory fitness: 0.9029314810454439
Assn: [[1, 11], [3, 10]] | chosen RMSE: 0.8752312816084865 | full RMSE: 0.8442429950553332 | chosen fitness: 0.00687310003551593 | full memory fitness: 0.8442429950553332
Assn: [[0, 35]] | chosen RMSE: 0.8036006546644845 | full RMSE: 0.030374381916647045 | chosen fitness: 0.00609559273410656 | full memory fitness: 0.030374381916647045
Assn: [[0, 34]] | chosen RMSE: 0.8903436988543372 | full RMSE: 0.029550270779373677 | chosen fitness: 0.008717042843193199 | full memory fitness: 0.029550270779373677
Assn: [[0, 5]] | chosen RMSE: 0.7855973813420621 | full RMSE: 0.02719566753002119 | chosen fitness: 0.00963844981506843 | full memory fitness: 0.02719566753002119
Best assn: [[0, 5], [1, 11]]
R: [[ 0.96118003 0.13412325 0.24113045]
[ 0.00843348 0.85921931 -0.51153793]
[-0.27579307 0.49371362 0.82473332]]
t: [-0.50422222 -0.11715893 0.03370256]
Target pose: [ 2.5 0.90099978 19. 0.25631012 0.13416893 -0.03595046
0.95656227]
Estimated pose: [ 2.49416058 0.92189346 19.01581943 0.26326195 0.13537536 -0.03291647
0.95461153]
Translation error: 0.02684955790245106
Rotation_error: 0.007924277145397271
Localistion 13/86 currently.
(3, 51)
(768,) (1, 768)
Getting assignments
(3, 51)
shapes
(52, 52, 52)
Length: 1
Length: 2
Length: 3
Phrases: ['armchair', 'armchair', 'stool']
[[ 1.42074004e-01 -8.28448981e-02 -3.11278224e-01 2.83513308e-01
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1.85561031e-01 1.35200411e-01 -2.83094883e-01]
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[ 5.46506166e-01 1.94478273e-01 1.39126495e-01 4.76467669e-01